CN115635581A - Automatic tensioning trolley for prestressed precast beam - Google Patents

Abstract

The invention relates to the field of prestress tensioning, in particular to an automatic prestressed precast beam tensioning trolley which comprises an X-axis movement mechanism, a Y-axis movement mechanism, a Z-axis movement mechanism, a U-axis pitching mechanism, a V-axis swinging mechanism, a W-axis rotation mechanism and a Z-axis auxiliary movement mechanism; the invention realizes the grabbing and placing of the tool anchor and the adjustment of the tool anchor on the X axis, the Y axis, the Z axis, the U axis pitching mechanism, the V axis swinging mechanism, the W axis rotating mechanism and the Z axis auxiliary moving mechanism, automatically sends the jack to the anchor hole of the working anchor, automatically threads a steel strand, automatically finishes the tensioning, and then automatically moves to the anchor hole of the next working anchor, thus completely avoiding the need of auxiliary workers; therefore, the invention can move the tensioning jack in place and realize automatic operation of installing the jack, thereby reducing the number of tensioning operation people and labor cost.

Description

Automatic tensioning trolley for prestressed precast beam

Technical Field

The invention relates to the field of prestress tensioning, in particular to an automatic tensioning trolley for a prestress precast beam.

Background

At present, the tensioning of the prestressed beam has realized the automation of the whole process of load holding, anchoring, back jacking and tensioning data recording. But the tensioning jack still needs manual operation to move in place and install the jack, and the number of tensioning operation persons and the labor cost are not reduced in fact.

Disclosure of Invention

The invention aims to solve the technical problem of providing an automatic tensioning trolley for a prestressed precast beam, which enables a tensioning jack to move in place and realizes automatic operation of installing the jack, and can reduce the number of tensioning operation people and labor cost.

The technical scheme for solving the technical problems is as follows: the automatic prestressed precast beam tensioning trolley comprises an automatic prestressed precast beam tensioning multi-axis movement device, wherein the automatic prestressed precast beam tensioning multi-axis movement device is used for installing a jack with a built-in tool anchor and driving the jack to perform multi-axis movement so that an anchor hole of the tool anchor is aligned with an anchor hole of a working anchor on a precast beam and then the tool anchor and the working anchor are combined; specifically, the automatic prestressed precast beam tensioning multi-axis movement device comprises an X-axis movement mechanism, a Y-axis movement mechanism, a Z-axis movement mechanism, a U-axis pitching mechanism, a V-axis swinging mechanism, a W-axis rotation mechanism and a Z-axis auxiliary movement mechanism; the X-axis motion mechanism is used for driving the jack to move left and right back and forth along an X axis; the Y-axis movement mechanism is used for driving the jack to move up and down along a Y axis; the Z-axis movement mechanism is used for driving the jack to move back and forth along a Z axis; the U-axis pitching mechanism is used for driving the jack to pitch up and down around an X axis; the V-axis swinging mechanism is used for driving the jack to swing left and right around a Y axis; the W-axis rotating mechanism is used for driving the jack or a tool anchor arranged in the jack to rotate around a direction axis jointly determined by the U-axis pitching mechanism and the V-axis swinging mechanism; the Z-axis auxiliary motion mechanism is used for driving the jack to move back and forth along a direction axis jointly determined by the U-axis pitching mechanism and the V-axis swinging mechanism.

The beneficial effects of the invention are: in the automatic tensioning trolley for the prestressed precast beam, a jack with a built-in tool anchor is arranged on an automatic tensioning multi-shaft movement device for the prestressed precast beam; adjusting the position of the jack on the X axis through the X axis movement mechanism to enable the anchor hole of the tool anchor in the jack to correspond to the anchor hole of the working anchor on the prestressed precast beam on the X axis; adjusting the position of the jack on the Y axis through the Y-axis movement mechanism to enable the anchor hole of the tool anchor in the jack to correspond to the anchor hole of the working anchor on the prestressed precast beam on the Y axis; adjusting the position of the jack on the Z axis through the Z axis movement mechanism to enable the anchor hole of the tool anchor in the jack to approximately correspond to the position of the anchor hole of the working anchor on the prestressed precast beam on the Z axis; due to construction errors, anchor holes of working anchors on the prestressed precast beam are not all vertical to the end face of the precast beam, and more or less deviation exists, including upward or downward deviation, or/and leftward or rightward deviation, so that steel stranded wires extending out of the anchor holes of the working anchors also have direction deviation, and are not all vertical to the end face of the precast beam; therefore, when the hole axis of the tool anchor hole is not coincident with the hole axis of the working anchor hole, the steel strand extending out of the working anchor hole cannot be smoothly inserted into the tool anchor hole; therefore, after the position of the jack on the X, Y and Z axes is determined, the vertical pitching motion of the jack is adjusted through the U-axis pitching mechanism, so that the vertical deflection angle of the anchor shaft of the anchor hole of the tool in the jack is the same as the vertical deflection angle of the anchor shaft of the anchor hole of the working anchor; the left-right swinging motion of the jack is adjusted through the V-axis swinging mechanism, so that the left-right deflection angle of an anchor shaft of a tool anchor hole in the jack is the same as the left-right deflection angle of the anchor shaft of a working anchor hole; when the up-down deflection angle and the left-right deflection angle of the anchor shaft of the tool anchor hole in the jack are correspondingly equal to the up-down deflection angle and the left-right deflection angle of the anchor shaft of the working anchor hole, the hole shaft of the tool anchor hole is coincident to the hole shaft of the working anchor hole; because a plurality of anchor holes are formed in the tool anchor, the anchor holes in the tool anchor are required to be in one-to-one correspondence with the anchor holes in the working anchor during tensioning, and therefore the tool anchor is driven to rotate by the W-axis rotating mechanism to enable the anchor holes in the tool anchor to be in one-to-one correspondence with the anchor holes in the working anchor; and finally, after the hole axis of the anchor hole of the tool anchor is superposed with the hole axis of the anchor hole of the working anchor and the anchor holes on the tool anchor are in one-to-one correspondence with the anchor holes on the working anchor, pushing the jack to the working anchor on the prestressed precast beam through the Z-axis auxiliary motion mechanism, and smoothly inserting the steel strand which extends outwards from the anchor hole of the working anchor on the precast beam into the anchor hole of the tool anchor in the jack so as to perform a tension test. Therefore, the invention can move the tensioning jack in place and realize automatic operation of installing the jack, thereby reducing the number of tensioning operation people and labor cost.

Drawings

FIG. 1 is a perspective view of the overall structure of an automatic tensioning trolley for prestressed precast beams according to the present invention;

FIG. 2 is a perspective view of a partial structure of an automatic tensioning trolley for prestressed precast beams according to the present invention;

FIG. 3 is a plan view of the initial state of the local part of the automatic pre-stressed precast beam tensioning trolley according to the invention;

fig. 4 is a plan view of a local stretching state of the automatic prestressed precast beam tensioning trolley according to the present invention.

In the drawings, the reference numbers indicate the following list of parts:

100. a jack; 200. a tool anchor; 300. a working anchor;

1. an X-axis movement mechanism 11, an X-axis track 12 and an X-axis trolley;

2. a Y-axis motion mechanism 21, a Y-axis fixing frame 22 and a Y-axis numerical control servo driving device;

3. a Z-axis movement mechanism 31, a Z-axis fixing frame 32, a Z-axis trolley 33 and a Z-axis numerical control servo driving device;

4. the U-axis pitching mechanism 41, the rotating beam 42, the U-axis screw rod 43 and the U-axis numerical control servo driving motor;

5. a V-axis swing mechanism 51, a V-axis rotating shaft 52 and a V-axis rotating motor;

6. the W-axis rotating mechanism 61, the driving gear 62, the driven gear 63 and the W-axis numerical control motor;

7. the auxiliary Z-axis movement mechanism 71, the inner hanging beam 72 and the hydraulic oil cylinder.

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.

As shown in fig. 1, 2, 3 and 4, an automatic tensioning trolley for a prestressed precast beam comprises an automatic tensioning multi-axis movement device for a prestressed precast beam, wherein the automatic tensioning multi-axis movement device for a prestressed precast beam is used for installing a jack 100 with a tool anchor 200 built therein and driving the jack 100 to perform multi-axis movement so that an anchor hole of the tool anchor 200 is aligned with an anchor hole of a working anchor 300 on the prestressed precast beam and then is anchored; specifically, the automatic prestressed precast beam tensioning multi-axis movement device comprises an X-axis movement mechanism 1, a Y-axis movement mechanism 2, a Z-axis movement mechanism 3, a U-axis pitching mechanism 4, a V-axis swinging mechanism 5, a W-axis rotation mechanism 6 and a Z-axis auxiliary movement mechanism 7; the X-axis movement mechanism 1 is used for driving the jack 100 to move left and right back and forth along an X axis; the Y-axis motion mechanism 2 is used for driving the jack 100 to move up and down along a Y axis; the Z-axis movement mechanism 3 is used for driving the jack 100 to move back and forth along a Z axis; the U-axis pitching mechanism 4 is used for driving the jack 100 to pitch up and down around the X axis; the V-axis swinging mechanism 5 is used for driving the jack 100 to swing left and right around a Y axis; the W-axis rotating mechanism 6 is used for driving the jack 100 or the tool anchor 200 arranged in the jack 100 to rotate around a direction axis jointly determined by the U-axis pitching mechanism 4 and the V-axis swinging mechanism 5; the Z-axis auxiliary motion mechanism 7 is configured to drive the jack 100 to move back and forth along a direction axis jointly determined by the U-axis pitch mechanism 4 and the V-axis yaw mechanism 5.

The working principle of the automatic prestressed precast beam tensioning trolley provided by the invention is as follows:

firstly, a jack with a built-in tool anchor is installed on an automatic prestressed precast beam tensioning multi-axis movement device, and then the following operations are carried out: adjusting the position of the jack on the X axis through the X axis movement mechanism to enable the anchor hole of the tool anchor in the jack to correspond to the anchor hole of the working anchor on the prestressed precast beam on the X axis; adjusting the position of the jack on the Y axis through the Y-axis movement mechanism to enable the anchor hole of the tool anchor in the jack to correspond to the anchor hole of the working anchor on the prestressed precast beam on the Y axis; adjusting the position of the jack on the Z axis through the Z axis movement mechanism to enable the anchor hole of the tool anchor in the jack to approximately correspond to the position of the anchor hole of the working anchor on the prestressed precast beam on the Z axis; due to construction errors, anchor holes of working anchors on the prestressed precast beam are not all vertical to the end face of the precast beam, and more or less deviation exists, including upward or downward deviation, or/and leftward or rightward deviation, so that steel stranded wires extending out of the anchor holes of the working anchors also have direction deviation, and are not all vertical to the end face of the precast beam; therefore, when the hole axis of the anchor hole of the tool anchor is not coincident with the hole axis of the anchor hole of the working anchor, the steel strand extending outwards from the inside of the anchor hole of the working anchor cannot be smoothly inserted into the anchor hole of the tool anchor; therefore, after the position of the jack on the X, Y and Z axes is determined, the vertical pitching motion of the jack is adjusted through the U-axis pitching mechanism, so that the vertical deflection angle of the anchor shaft of the anchor hole of the tool in the jack is the same as the vertical deflection angle of the anchor shaft of the anchor hole of the working anchor; the left-right swinging motion of the jack is adjusted through the V-axis swinging mechanism, so that the left-right deflection angle of an anchor shaft of a tool anchor hole in the jack is the same as the left-right deflection angle of the anchor shaft of a working anchor hole; when the up-down deflection angle and the left-right deflection angle of the anchor shaft of the tool anchor hole in the jack are correspondingly equal to the up-down deflection angle and the left-right deflection angle of the anchor shaft of the working anchor hole, the hole shaft of the tool anchor hole is coincident with the hole shaft of the working anchor hole; because the tool anchor is provided with a plurality of anchor holes, the anchor holes on the tool anchor are required to be in one-to-one correspondence with the anchor holes on the working anchor during tensioning, and the tool anchor is driven to rotate by the W-axis rotating mechanism so that the anchor holes on the tool anchor are in one-to-one correspondence with the anchor holes on the working anchor; and finally, after the hole axis of the anchor hole of the tool anchor is superposed with the hole axis of the anchor hole of the working anchor and the anchor holes on the tool anchor and the anchor holes on the working anchor are in one-to-one correspondence, the jack is pushed to the working anchor on the prestressed precast beam through the Z-axis auxiliary motion mechanism, and the steel strand which extends outwards from the anchor hole of the working anchor on the precast beam can be smoothly inserted into the anchor hole of the tool anchor in the jack for the tension test. Therefore, the invention can move the tensioning jack in place and automatically install the jack, thereby reducing the number of tensioning operation persons and labor cost.

In the invention, the installation sequence of the X-axis motion mechanism 1, the Y-axis motion mechanism 2, the Z-axis motion mechanism 3, the U-axis pitching mechanism 4, the V-axis swinging mechanism 5, the W-axis rotating mechanism 6 and the Z-axis auxiliary motion mechanism 7 can be set according to the actual situation. For example: the Y-axis movement mechanism 2 is arranged on a movement component of the X-axis movement mechanism 1, and the Z-axis movement mechanism 3 is arranged on a movement component of the Y-axis movement mechanism 2; or, the X-axis movement mechanism 1 is arranged on the movement component of the Y-axis movement mechanism 2, and the Z-axis movement mechanism 3 is arranged on the movement component of the X-axis movement mechanism 1; or the Y-axis movement mechanism 2 is arranged on a movement component of the Z-axis movement mechanism 3, and the X-axis movement mechanism 1 is arranged on a movement component of the Y-axis movement mechanism 2; and so on. For another example: the Z-axis auxiliary motion mechanism 7 is arranged on a pitching assembly of the U-axis pitching mechanism 4, the V-axis swinging mechanism 5 is arranged on a motion assembly of the Z-axis auxiliary motion mechanism 7, and the W-axis rotating mechanism 6 is arranged on a swinging assembly of the V-axis swinging mechanism 5; or, the U-axis pitching mechanism 4 is installed on the swinging component of the V-axis swinging mechanism 5, the Z-axis auxiliary motion mechanism 7 is installed on the pitching component of the U-axis pitching mechanism 4, and the W-axis rotating mechanism 6 is installed on the motion component of the Z-axis auxiliary motion mechanism 7; and so on.

The present embodiment illustrates the present invention in the following installation order: the Y-axis movement mechanism 2 is arranged on a movement component of the X-axis movement mechanism 1, and the Z-axis movement mechanism 3 is arranged on a movement component of the Y-axis movement mechanism 2; the U-axis pitching mechanism 4 is arranged on a moving component of the Z-axis moving mechanism 3; the Z-axis auxiliary motion mechanism 7 is arranged on a pitching assembly of the U-axis pitching mechanism 4, the V-axis swinging mechanism 5 is arranged on a motion assembly of the Z-axis auxiliary motion mechanism 7, and the W-axis rotating mechanism 6 is arranged on a swinging assembly of the V-axis swinging mechanism 5.

In this particular embodiment, it is preferred that: the X-axis movement mechanism 1 comprises an X-axis track 11, an X-axis trolley 12 and an X-axis numerical control servo driving device; the X-axis track 11 is fixedly arranged (namely horizontally fixedly arranged) along an X-axis, the X-axis trolley 12 is clamped and placed on the X-axis track 11, and the X-axis numerical control servo device is arranged on the X-axis trolley 12 and used for driving the X-axis trolley 12 to move left and right back and forth along the X-axis track 11.

Further, a boss is arranged at the upper end of the X-axis track 11 along the extending direction of the X-axis track 11, a first roller and a second roller are arranged at the bottom of the X-axis trolley 12, the first roller is horizontally arranged and clamped below the boss of the X-axis track 11 and rolls along the side wall of the X-axis track 11, and the second roller is vertically arranged and placed at the upper end of the X-axis track 11 and rolls along the upper end of the X-axis track 11. The arrangement of the first roller wheel not only can firmly clamp the X-axis device 12 on the X-axis rail 11, but also can enable the X-axis device 12 to slide more smoothly on the X-axis rail 11.

In this particular embodiment, it is preferred that: y axle motion 2 includes Y axle mount 21 and Y axle numerical control servo drive device 22, Y axle mount 21 is in along the fixed setting of Y axle (vertical fixation setting promptly) on X axle platform truck 12 of X axle motion 1, the side of Y axle mount 21 is followed the direction that Y axle mount 21 extends is equipped with Y axle motion subassembly, Y axle numerical control servo drive device 22 drive Y axle motion subassembly is followed Y axle mount 21 round trip movement from top to bottom.

Specifically, the Y-axis movement assembly can be realized through the matching of a gear and a rack, and can also be realized through a screw rod.

In this particular embodiment, it is preferred that: the Z-axis movement mechanism 3 comprises a Z-axis fixing frame 31, a Z-axis trolley 32 and a Z-axis numerical control servo driving device 33; the Z-axis fixing frame 31 is disposed along the Z-axis (i.e. horizontally disposed and perpendicular to the X-axis rail 11 and the Y-axis fixing frame 21 at the same time) on the Y-axis moving component of the Y-axis fixing frame 21, the Z-axis trolley 32 is slidably clamped on the Z-axis fixing frame 31, and the Z-axis numerically-controlled servo driving device 33 drives the Z-axis trolley 32 to move back and forth along the Z-axis fixing frame 31.

Specifically, two opposite inner sides of the Z-axis fixing frame 31 are provided with Z-axis U-shaped rails along the direction in which the Z-axis fixing frame 31 extends, wheels are arranged on the Z-axis trolley 32, and the Z-axis trolley 32 is slidably clamped on the Z-axis U-shaped rails through the wheels, so that the Z-axis trolley 32 is slidably clamped on the Z-axis fixing frame 31.

Due to construction errors, the anchor holes of the working anchor 300 in the prestressed precast beam are not all vertical to the end surface of the precast beam, and have more or less deviation, including upward or downward deviation, or/and leftward or rightward deviation, so that the hole axis of the anchor hole of the tool anchor 200 is not coincident with the hole axis of the anchor hole of the working anchor 300, and thus, the steel strand in the anchor hole of the tool anchor 200 cannot be smoothly inserted into the anchor hole of the working anchor. Therefore, the U-axis pitch mechanism is required to adjust the vertical deflection angle of the jack, and the V-axis yaw mechanism 300 is required to adjust the horizontal deflection angle of the jack.

In this particular embodiment, it is preferred that: the U-axis pitching mechanism 4 comprises a rotating beam 41, a U-axis screw rod 42 and a U-axis numerical control servo driving motor 43; the projections of the rotating beam 41 and the U-axis screw 42 in the horizontal direction are both parallel to the Z axis; a nut is arranged on the U-axis screw rod 42, one end of the U-axis screw rod 42 is a free end, and the other end of the U-axis screw rod 42 is a hinged end; one end of the rotating beam 41 is a first hinged end, and the other end of the rotating beam 41 is a second hinged end and is hinged with the nut on the U-axis screw rod 42; an output shaft of the U-axis numerical control servo drive motor 43 is connected with the U-axis lead screw 42 and is used for driving the U-axis lead screw 42 to rotate, so as to drive the nut to move back and forth on the U-axis lead screw 42, and further enable the rotating beam 41 to pitch up and down around the X-axis with the first hinged end of the rotating beam 41 as a winding point.

Specifically, the first hinged end of the rotating beam 41 and the hinged end of the U-axis screw 42 are both hinged to the Z-axis trolley 32 of the Z-axis movement mechanism 3.

Further, the rotating beam 41 is movably arranged at the bottom of the Z-axis trolley 32, a first hinged end of the rotating beam 41 is hinged at the front end of the bottom of the Z-axis trolley 32 through a hinged support, and a hinged end of the U-axis screw rod 42 is hinged at the rear end of the Z-axis trolley 32.

When the U-axis numerically controlled servo drive motor 43 drives the U-axis lead screw 42 to rotate, the nut on the U-axis lead screw 42 moves along the U-axis lead screw, and since the second hinged end of the turning beam 41 is connected with the nut on the U-axis lead screw 42, when the nut moves upward along the lead screw, the nut drives the second hinged end of the turning beam 41 to lift upward, and when the nut moves downward along the U-axis lead screw, the nut drives the second hinged end of the turning beam 41 to lower downward; the first hinged end of the rotating beam 41 is hinged with the front end of the bottom of the Z-axis trolley 32 through a hinged support; therefore, the pitch angle (up-down deflection angle) of the swing beam 41 can be adjusted by lifting up or lowering down the second hinge end of the swing beam 41.

In this particular embodiment, it is preferred that: the Z-axis auxiliary movement mechanism 7 comprises an inner hanging beam 71 and a hydraulic oil cylinder 72, and the inner hanging beam 71 and the hydraulic oil cylinder 72 are both arranged in the rotating beam 41; one end of the hydraulic oil cylinder 72 is hinged to the rotating beam 41, the other end of the hydraulic oil cylinder 72 is hinged to the inner hanging beam 71, and the hydraulic oil cylinder 72 is used for pushing the inner hanging beam 71 to move back and forth along the rotating beam 41 through extension and retraction.

Specifically, four pairs of rolling bearings are arranged on two side walls in the rotating beam 41 in a front-back and up-down opposite manner; two pairs of inner hanging beam guide rails are arranged on two sides of the inner hanging beam 71 in an up-down opposite mode, and the inner hanging beam 71 is slidably clamped between four pairs of rolling bearings through the two pairs of inner hanging beam guide rails; the front end of the inner hanging beam 71 is positioned outside the front end of the rotating beam 41, and the rear end of the inner hanging beam 71 is positioned in the rotating beam 41 and hinged with the hydraulic oil cylinder 72.

The Z-axis auxiliary motion mechanism 7 arranged in the rotating beam 41 can be lifted upwards or lowered downwards along with the rear end of the rotating beam 41 to realize the adjustment of the pitch angle; the Z-axis auxiliary motion mechanism 7 is used for assisting the Z-axis motion mechanism, when the Z-axis motion mechanism is used for rough adjustment in the Z-axis direction, when the hole axis of the anchor hole of the tool anchor 200 is overlapped with the hole axis of the anchor hole of the working anchor 300, and the anchor holes of the tool anchor 200 are in one-to-one correspondence with the anchor holes of the working anchor 300, the jack 100 is pushed to the working anchor 300 on the prestressed precast beam through the Z-axis auxiliary motion mechanism 7, so that the steel stranded wires penetrating through the anchor hole of the tool anchor 200 can be smoothly inserted into the anchor hole of the working anchor 300 to perform a tension test.

In this particular embodiment, it is preferred that: the V-axis swinging mechanism 5 includes a V-axis rotating shaft 51 and a V-axis rotating motor 52, the V-axis rotating shaft 51 is disposed along the Y-axis, the jack 100 is suspended on the V-axis rotating shaft 51, the V-axis rotating motor 52 is connected with the V-axis rotating shaft 51 and is used for driving the V-axis rotating shaft 51 to rotate, and the V-axis rotating shaft 51 rotates, namely, the left-right swinging motion around the Y-axis is realized.

Specifically, the V-axis rotating shaft 51 vertically and rotatably penetrates through the front end of the inner hanging beam 71, the V-axis rotating motor 52 is mounted at the front end of the inner hanging beam 71, connected to the top end of the V-axis rotating shaft 51 and used for driving the V-axis rotating shaft 51 to rotate, and the jack 100 is suspended at the bottom end of the V-axis rotating shaft 51. When the V-axis rotating shaft 51 rotates, the jack 100 can be driven to swing left and right.

Because a plurality of anchor holes are formed in the tool anchor 200, the anchor holes in the tool anchor 200 and the anchor holes in the work anchor 300 need to be in one-to-one correspondence during tensioning, and therefore the tool anchor 200 is driven to rotate by the W-axis rotating mechanism 6 to enable the anchor holes in the tool anchor 200 and the anchor holes in the work anchor 300 to be in one-to-one correspondence.

In this particular embodiment, it is preferred that: the W-axis rotating mechanism 6 comprises a driving gear 61, a driven gear 62 and a W-axis numerical control motor 63, wherein the driven gear 62 is fixedly arranged on the rear end face of the jack 100 or the rear end face of the tool anchor 200, the driving gear 61 is fixedly sleeved on an output shaft of the W-axis numerical control motor 63 and is meshed with the driven gear 62, the W-axis numerical control motor 63 is used for driving the driving gear 61 to rotate so as to drive the driven gear 62 to rotate, and the driven gear 62 rotates to drive the jack 100 or the tool anchor 200 to rotate.

In the W-axis rotating mechanism 6, the W-axis numerical control motor 63 drives the main gear 61 to rotate, the main gear 61 rotates to drive the driven gear 62, and the driven gear 62 rotates to drive the jack 100 and the tool anchor 200 to integrally rotate or drive the tool anchor 200 to rotate around the anchor axis in the jack 100, so that the positions of the anchor holes in the tool anchor 200 are adjusted, and the anchor holes in the tool anchor 200 correspond to the anchor holes in the work anchor 300 one by one.

In this particular embodiment, it is preferred that: the automatic prestressed precast beam tensioning trolley further comprises a numerical control platform 8, and the automatic prestressed precast beam tensioning multi-axis motion device is installed on the numerical control platform 8 and moves along with the numerical control platform 8.

Specifically, the numerical control platform 8 may be a self-walking trolley or other platform capable of freely moving.

In the automatic prestressed precast beam tensioning trolley of the invention:

the whole automatic prestressed precast beam tensioning multi-axis motion device can be moved to a position to be tensioned of the prestressed precast beam through the numerical control platform; mounting a jack on the V-axis rotating shaft in a suspension manner; adjusting the position of the jack on the X axis through the X axis movement mechanism to enable the anchor hole of the tool anchor in the jack to correspond to the anchor hole of the working anchor on the prestressed precast beam on the X axis; adjusting the position of the jack on the Y axis through the Y-axis movement mechanism to enable the anchor hole of the tool anchor in the jack to correspond to the anchor hole of the working anchor on the prestressed precast beam on the Y axis; adjusting the position of the jack on the Z axis through the Z axis movement mechanism to enable the anchor hole of the tool anchor in the jack to approximately correspond to the position of the anchor hole of the working anchor on the prestressed precast beam on the Z axis; at this time, the state of the jack with respect to the working anchor on the prestressed precast beam is as shown in fig. 3.

Due to construction errors, the anchor holes of the working anchor on the prestressed precast beam are not all vertical to the end surface of the precast beam, and have more or less deviation, including upward or downward deviation, or/and leftward or rightward deviation, so that the hole axis of the anchor hole of the tool anchor is not coincident with the hole axis of the anchor hole of the working anchor, and the steel strand extending in the anchor hole of the working anchor cannot be smoothly inserted into the anchor hole of the tool anchor; therefore, after the position of the jack on the X, Y and Z axes is determined, the vertical pitching motion of the jack is adjusted through the U-axis pitching mechanism, so that the vertical deflection angle of the anchor shaft of the anchor hole of the tool in the jack is the same as the vertical deflection angle of the anchor shaft of the anchor hole of the working anchor; the left-right swinging motion of the jack is adjusted through the V-axis swinging mechanism, so that the left-right deflection angle of an anchor shaft of a tool anchor hole in the jack is the same as the left-right deflection angle of the anchor shaft of a working anchor hole; when the up-down deflection angle and the left-right deflection angle of the anchor shaft of the tool anchor hole in the jack are correspondingly equal to the up-down deflection angle and the left-right deflection angle of the anchor shaft of the working anchor hole, the hole shaft of the tool anchor hole is coincident with the hole shaft of the working anchor hole; because a plurality of anchor holes are formed in the tool anchor, the anchor holes in the tool anchor are required to be in one-to-one correspondence with the anchor holes in the working anchor during tensioning, and therefore the tool anchor is driven to rotate by the W-axis rotating mechanism to enable the anchor holes in the tool anchor to be in one-to-one correspondence with the anchor holes in the working anchor; finally, the jack is pushed to a working anchor on the prestressed precast beam through the Z-axis auxiliary motion mechanism, and the steel strand penetrating through the anchor hole of the tool anchor can be smoothly inserted into the anchor hole of the working anchor to perform a tension test; at this time, the state of the jack with respect to the working anchor on the prestressed precast beam is as shown in fig. 4.

In other embodiments, the order of installation of the mechanisms may also be changed, for example: the V-axis swinging mechanism 5 is arranged on a moving component of the Z-axis moving mechanism 3; the first hinged end of the rotating beam 41 and the hinged end of the U-axis screw rod 42 are hinged to the swinging assembly of the V-axis swinging mechanism 5; the Z-axis auxiliary motion mechanism 7 is arranged in the rotating beam 41; the W-axis rotating mechanism 6 is installed on the inner suspension beam 71 of the Z-axis auxiliary moving mechanism 7, and the jack installation 100 is installed on the inner suspension beam 71 of the Z-axis auxiliary moving mechanism 7.

The invention realizes the grabbing and placing of the tool anchor and the adjustment of the tool anchor on the X axis, the Y axis, the Z axis, the vertical deflection and the left and right deflection through the X axis motion mechanism, the Y axis motion mechanism, the Z axis motion mechanism, the U axis pitching mechanism, the V axis swinging mechanism, the W axis rotation mechanism and the Z axis auxiliary motion mechanism, automatically sends the jack to the anchor hole of the tool anchor, automatically penetrates through a steel strand, automatically completes the tensioning, and then automatically moves to the next anchor hole of the tool anchor, thus completely avoiding the need of auxiliary workers; therefore, the invention can move the tensioning jack in place and realize automatic operation of installing the jack, thereby reducing the number of tensioning operation people and labor cost.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention.

Claims (10)

1. The utility model provides an automatic stretch-draw platform truck of prestressing force precast beam which characterized in that: the device comprises an automatic prestressed precast beam tensioning multi-axis movement device, wherein the automatic prestressed precast beam tensioning multi-axis movement device is used for installing a jack (100) with a built-in tool anchor (200) and driving the jack (100) to perform multi-axis movement so that an anchor hole of the tool anchor (200) is aligned with an anchor hole of a working anchor (300) on a precast beam and then is anchored; specifically, the automatic prestressed precast beam tensioning multi-axis movement device comprises an X-axis movement mechanism (1), a Y-axis movement mechanism (2), a Z-axis movement mechanism (3), a U-axis pitching mechanism (4), a V-axis swinging mechanism (5), a W-axis rotation mechanism (6) and a Z-axis auxiliary movement mechanism (7); the X-axis movement mechanism (1) is used for driving the jack (100) to move left and right back and forth along an X axis; the Y-axis movement mechanism (2) is used for driving the jack (100) to move up and down along a Y axis; the Z-axis movement mechanism (3) is used for driving the jack (100) to move back and forth along a Z axis; the U-axis pitching mechanism (4) is used for driving the jack (100) to pitch up and down around an X axis; the V-axis swinging mechanism (5) is used for driving the jack (100) to swing left and right around the Y axis; the W-axis rotating mechanism (6) is used for driving the jack (100) or a tool anchor (200) arranged in the jack (100) to rotate around a direction axis jointly determined by the U-axis pitching mechanism (4) and the V-axis swinging mechanism (5); the Z-axis auxiliary motion mechanism (7) is used for driving the jack (100) to move back and forth along a direction axis jointly determined by the U-axis pitching mechanism (4) and the V-axis swinging mechanism (5).

2. The automatic prestressed precast beam tensioning trolley according to claim 1, wherein: the U-axis pitching mechanism (4) comprises a rotating beam (41), a U-axis lead screw (42) and a U-axis numerical control servo driving motor (43); the projections of the rotating beam (41) and the U-axis screw rod (42) in the horizontal direction are parallel to the Z axis; a nut is arranged on the U-axis screw rod (42), one end of the U-axis screw rod (42) is a free end, and the other end of the U-axis screw rod (42) is a hinged end; one end of the rotating beam (41) is a first hinged end, and the other end of the rotating beam (41) is a second hinged end and is hinged with a nut on the U-axis screw rod (42); an output shaft of the U-axis numerical control servo drive motor (43) is connected with the U-axis screw rod (42) and used for driving the U-axis screw rod (42) to rotate, so that the nut is driven to move back and forth on the U-axis screw rod (42), and the rotating beam (41) is enabled to move up and down in a pitching mode around an X axis by taking the first hinged end of the rotating beam (41) as a winding point.

3. The automatic prestressed precast beam tensioning trolley according to claim 2, wherein: the Z-axis auxiliary movement mechanism (7) comprises an inner hanging beam (71) and a hydraulic oil cylinder (72), and the inner hanging beam (71) and the hydraulic oil cylinder (72) are both arranged in the rotating beam (41); one end of the hydraulic oil cylinder (72) is hinged to the rotating beam (41), the other end of the hydraulic oil cylinder (72) is hinged to the inner hanging beam (71), and the hydraulic oil cylinder (72) is used for pushing the inner hanging beam (71) to move back and forth along the rotating beam (41) through extending and retracting.

4. The automatic prestressed precast beam tensioning trolley according to claim 3, wherein: the X-axis movement mechanism (1) is arranged along an X axis; the Y-axis movement mechanism (2) is arranged on a movement assembly of the X-axis movement mechanism (1) along a Y axis; and the Z-axis movement mechanism (3) is arranged on a movement assembly of the Y-axis movement mechanism (2) along a Z axis.

5. The automatic prestressed precast beam tensioning trolley according to claim 4, wherein: the first hinged end of the rotating beam (41) and the hinged end of the U-axis screw rod (42) are hinged to a moving assembly of the Z-axis moving mechanism (3); the V-axis swing mechanism (5) is arranged on an inner hanging beam (71) of the Z-axis auxiliary motion mechanism (7); and the W-axis rotating mechanism (6) is arranged on a rotating component of the V-axis swinging mechanism (5).

6. The automatic prestressed precast beam tensioning trolley according to claim 4, wherein: the V-axis swing mechanism (5) is arranged on a motion assembly of the Z-axis motion mechanism (3); the first hinged end of the rotating beam (41) and the hinged end of the U-axis screw rod (42) are hinged to a swinging assembly of the V-axis swinging mechanism (5); the W-axis rotating mechanism (6) is arranged on an inner hanging beam (71) of the Z-axis auxiliary moving mechanism (7).

7. The automatic prestressed precast beam tensioning trolley according to any one of claims 1 to 6, wherein: the V-axis swing mechanism (5) comprises a V-axis rotating shaft (51) and a V-axis rotating motor (52), the V-axis rotating shaft (51) is arranged along the Y axis, the V-axis rotating motor (52) is connected with the V-axis rotating shaft (51) and used for driving the V-axis rotating shaft (51) to rotate, and the V-axis rotating shaft (51) rotates to realize left-right swing motion around the Y axis.

8. The automatic prestressed precast beam tensioning trolley according to any one of claims 1 to 6, wherein: the W-axis rotating mechanism (6) comprises a driving gear (61), a driven gear (62) and a W-axis numerical control motor (63), the driven gear (62) is fixedly arranged on the rear end face of the jack (100) or the rear end face of the tool anchor (200), the driving gear (61) is fixedly sleeved on an output shaft of the W-axis numerical control motor (63) and is meshed with the driven gear (62), the W-axis numerical control motor (63) is used for driving the driving gear (61) to rotate so as to drive the driven gear (62) to rotate, and the driven gear (62) rotates to drive the jack (100) or the tool anchor (200) to rotate.

9. The automatic prestressed precast beam tensioning trolley according to any one of claims 1 to 6, wherein: the X-axis movement mechanism (1) comprises an X-axis track (11), an X-axis trolley (12) and an X-axis numerical control servo driving device, the Y-axis movement mechanism (2) comprises a Y-axis fixing frame (21) and a Y-axis numerical control servo driving device (22), and the Z-axis movement mechanism (3) comprises a Z-axis fixing frame (31), a Z-axis trolley (32) and a Z-axis numerical control servo driving device (33); the X-axis track (11) is fixedly arranged along an X axis, the X-axis trolley (12) is slidably clamped on the X-axis track (11), and the X-axis numerical control servo device is used for driving the X-axis trolley (12) to move left and right back and forth along the X-axis track (11); the Y-axis fixing frame (21) is fixedly arranged on the X-axis trolley (12) along a Y axis, the Z-axis fixing frame (31) is slidably clamped in the Y-axis fixing frame (21) along a Z axis, and the Y-axis numerical control servo driving device (22) is used for driving the Z-axis fixing frame (31) to move up and down along the Y-axis fixing frame (21); the Z-axis trolley (32) is slidably clamped on the Z-axis fixing frame (31), and the Z-axis numerical control servo driving device (33) is used for driving the Z-axis trolley (32) to move back and forth along the Z-axis fixing frame (31).

10. The automatic prestressed precast beam tensioning trolley according to any one of claims 1 to 6, wherein: the automatic prestressed precast beam tensioning trolley further comprises a numerical control platform (8), and the automatic prestressed precast beam tensioning multi-axis motion device is installed on the numerical control platform (8) and moves along with the numerical control platform (8).

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