CN116378423A - Method for automatically adjusting vertical prefabricated part to hang down by using clamping bionic mechanical arm - Google Patents
Method for automatically adjusting vertical prefabricated part to hang down by using clamping bionic mechanical arm Download PDFInfo
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- CN116378423A CN116378423A CN202310220932.6A CN202310220932A CN116378423A CN 116378423 A CN116378423 A CN 116378423A CN 202310220932 A CN202310220932 A CN 202310220932A CN 116378423 A CN116378423 A CN 116378423A
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 87
- 238000010276 construction Methods 0.000 claims abstract description 18
- 238000009434 installation Methods 0.000 claims abstract description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 26
- 230000005540 biological transmission Effects 0.000 claims description 17
- 238000004806 packaging method and process Methods 0.000 claims description 15
- 238000012544 monitoring process Methods 0.000 claims description 5
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 238000013500 data storage Methods 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 claims 1
- 239000010959 steel Substances 0.000 claims 1
- 230000008569 process Effects 0.000 description 5
- 230000009467 reduction Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000009423 ventilation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
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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
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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
- E04G21/18—Adjusting tools; Templates
Abstract
The invention discloses a method for automatically adjusting vertical prefabricated parts by using a clamping bionic mechanical arm, which comprises the following steps: based on the position of the embedded bars reserved at the position to be installed of the vertical prefabricated part, a telescopic support arm on the clamping type bionic mechanical arm extends forwards to the position right above the embedded bars; hoisting the vertical prefabricated part to the telescopic support arm by using vertical transportation equipment; the mechanical arm clamps the vertical prefabricated part to a required value, and the vertical transportation equipment releases hoisting of the vertical prefabricated part; adjusting the verticality of the vertical prefabricated part; the telescopic support arm is retracted and separated from contact with the vertical prefabricated part; the mechanical arm controls the vertical prefabricated part to fall to the elevation, the perpendicularity of the vertical prefabricated part is checked again, fine adjustment is carried out by utilizing the clamp mechanism, and then, a constructor sets the diagonal brace to support and fix the vertical prefabricated part. The invention has the advantages that: the automatic vertical adjustment and installation of the vertical prefabricated parts can be realized, and the construction efficiency is effectively improved.
Description
Technical Field
The invention belongs to the technical field of prefabricated building component assembly, and particularly relates to a method for automatically adjusting vertical prefabricated components by using a clamping type bionic mechanical arm.
Background
Along with the popularization of the assembly type building, the on-site prefabricated part hoisting operation is more and more, and the hoisting operation has the characteristics of large quantity, multiple types, high installation precision and large hoisting risk. Under the current technical conditions, the characteristics cause trouble to construction to a certain extent. If the advantages of prefabricated construction cannot be exerted under the condition of not improving the performance of construction tools and upgrading construction measures, the method is inconsistent with the development direction and the major trend of the technology in the national policy and industry field.
At present, the prefabricated components are installed by a tower crane for hoisting, manual pushing and pulling is adopted for adjusting the verticality, and a temporary supporting and fixing mode is adopted for manual installation, so that safety risks exist, the efficiency is low, and the construction precision is difficult to control. With the large-area popularization and application of the assembly type building, the hoisting operation of the construction site is more and more, and the application of the building robot for installing the prefabricated parts is not wide, which is mainly limited by the condition that the environment of the construction site is complex and power supply is not always provided. Under the prior art conditions, it is necessary to develop an intelligent device with automatic sagging adjustment of prefabricated parts.
Disclosure of Invention
According to the defects of the prior art, the invention provides a method for automatically adjusting vertical prefabricated parts by using a clamping type bionic mechanical arm.
The invention is realized by the following technical scheme:
the method for automatically adjusting the vertical prefabricated part by using the clamping type bionic mechanical arm is characterized by comprising the following steps of:
s1: hoisting the clamping bionic mechanical arm to a corresponding floor and moving the clamping bionic mechanical arm to a position to be installed of the vertical prefabricated member;
s2: based on the position of the embedded bars reserved at the position to be installed of the vertical prefabricated part, extending a telescopic support arm on the clamping type bionic mechanical arm to the position right above the embedded bars; the front end of the telescopic support arm is fixedly provided with a horizontal support, and the horizontal support is provided with a guiding and positioning assembly;
s3: hoisting the vertical prefabricated part above the horizontal support by using vertical transportation equipment at a construction site, and gradually lowering the vertical prefabricated part under the guidance of the guiding and positioning assembly until the vertical prefabricated part is completely supported on the horizontal support;
s4: the clamping type bionic mechanical arm starts clamping operation on the vertical prefabricated part by adjusting the mechanical arm on the clamping type bionic mechanical arm, and when the clamping force of the clamping mechanism on the vertical prefabricated part reaches a required value, the vertical transportation equipment releases hoisting of the vertical prefabricated part;
s5: according to real-time monitoring of the verticality of the vertical prefabricated part by an angle sensor in the clamp mechanism, the verticality of the vertical prefabricated part is adjusted by the mechanical arm and the clamp mechanism until a verticality target value is reached;
s6: when the verticality of the vertical prefabricated part reaches a target value, the mechanical arm and the clamp mechanism stop at the current position, slide out of the guide positioning assembly from the upper side of the telescopic support arm, and retract the telescopic support arm backwards so as to enable the horizontal support to be out of contact with the vertical prefabricated part;
s7: controlling the vertical prefabricated part to vertically fall by using the mechanical arm and the clamp mechanism, checking the verticality of the vertical prefabricated part again by using the angle sensor after the vertical prefabricated part falls to the elevation, and performing fine adjustment by using the clamp mechanism, wherein after the verticality of the vertical prefabricated part meets the requirement, a constructor sets an inclined stay rod between the vertical prefabricated part and the floor so as to support and fix the vertical prefabricated part;
s8: and adjusting the azimuth of the mechanical arm to the position to be installed of the next vertical prefabricated component through a base rotation mechanism on the clamping type bionic mechanical arm, and repeating the steps S2-S7 for construction.
In step S2, the method for judging that the telescopic support arm extends to the position right above the embedded bar includes: the lower surface of the horizontal support is provided with a plurality of groups of camera devices, the camera devices shoot real-time pictures below the horizontal support in real time, a standard picture when the horizontal support is positioned right above the embedded bars is stored in a data storage system connected with the camera devices, at least two groups of embedded bars in the real-time picture are compared with the corresponding embedded bars in the standard picture, and if the pictures are identical, the camera devices are positioned right above the embedded bars.
The rear end of the telescopic support arm is fixed on a base rotating mechanism of the clamping type bionic mechanical arm; the guide positioning assembly is composed of a ferrule and a U-shaped clamping groove fixedly arranged above the ferrule, at least two groups of guide positioning assemblies are sleeved on the horizontal support, the ferrule is correspondingly and slidably sleeved on the horizontal support in a lateral mode, and the width of the U-shaped clamping groove corresponds to the bottom width of the vertical prefabricated component.
The telescopic support arm is positioned at a height position 300mm-400mm above the installation working surface of the vertical prefabricated component.
The clamping bionic mechanical arm comprises a moving frame, a base slewing mechanism, a mechanical arm and a clamp mechanism, wherein the mechanical arm comprises a main arm and an auxiliary arm which are mutually hinged, a main arm hydraulic cylinder is arranged between the main arm and the auxiliary arm, an auxiliary arm hydraulic cylinder is arranged on the auxiliary arm, the base slewing mechanism is arranged on the moving frame, the lower end of the main arm is arranged on the base slewing mechanism, the upper end of the main arm is hinged with the rear end of the auxiliary arm, the lower end of the main arm hydraulic cylinder is hinged to the lower part of the main arm, the upper end of the main arm hydraulic cylinder is hinged to the position, close to the rear end, of the auxiliary arm, the auxiliary arm consists of a main auxiliary arm and a telescopic auxiliary arm which are mutually sleeved, and a cylinder barrel of the auxiliary arm hydraulic cylinder is fixed on the main auxiliary arm, and the front end of a piston rod of the auxiliary arm hydraulic cylinder is connected with the telescopic auxiliary arm so as to drive the telescopic auxiliary arm to stretch back and forth.
The base slewing mechanism is fixedly provided with a main arm pitching angle adjusting mechanism, the lower end of the main arm is hinged to the base slewing mechanism, and the main arm pitching angle adjusting mechanism is connected with the main arm to drive and adjust the pitching angle of the main arm.
The clamp mechanism comprises a clamp and a rotary leveling mechanism for driving the clamp, the clamp comprises a speed reducing motor, a clamping gear set, a parallelogram mechanism and a clamping plate, and the rotary leveling mechanism is arranged at the front end of the telescopic auxiliary arm; the clamping gear set comprises a driving gear, two transmission gears and a packaging shell, wherein the output end of the speed reducing motor is connected with and drives the driving gear to rotate, the driving gear is engaged with and drives any one of the two transmission gears, and the two transmission gears are engaged with and driven with each other; the number of the parallelogram mechanisms is two, the parallelogram mechanisms are symmetrically arranged, each parallelogram mechanism comprises a first rotating rod, a second rotating rod and a clamping limiting rod, one end of each first rotating rod is coaxially fixed with the transmission gear, the other end of each first rotating rod is hinged with the upper end part of each clamping limiting rod, one end of each second rotating rod is hinged with the packaging shell, the other end of each second rotating rod is hinged with the middle part of each clamping limiting rod, and the lower end part of each clamping limiting rod is provided with a clamping plate; the first rotating rod and the rotating rod are identical in length and are arranged in parallel.
The rotary leveling mechanism comprises a mounting platform, a horizontal adjustment servo speed reducing motor and a rotary servo speed reducing motor, wherein the horizontal adjustment servo speed reducing motor comprises a first speed reducer and a horizontal adjustment servo motor for driving the first speed reducer, a shell of the first speed reducer is fixed on the telescopic auxiliary arm, and the output end of the first speed reducer drives the mounting platform to adjust the horizontal angle; the rotary servo speed reducing motor comprises a second speed reducer and a rotary servo motor for driving the second speed reducer, a shell of the second speed reducer is fixedly connected with the mounting platform, and the output end of the second speed reducer is fixedly connected with the packaging shell in the clamp gear set.
The packaging shell comprises two side plates which are vertically arranged in parallel, the gear motor is fixedly arranged on the outer wall surface of one side plate, the clamping gear set is arranged in the space enclosed by the two side plates, two ends of a rotating shaft of the transmission gear are arranged in bearings arranged on the side plates, and the output end of the gear motor penetrates through the side plates and drives the driving gear to rotate.
The angle sensor is arranged on the clamping plate, the clamping plate is hinged with the lower end part of the clamping limiting rod through a rotating shaft, and the force sensor is arranged at the position of the rotating shaft.
The invention has the advantages that:
(1) The angle of the multi-position prefabricated part can be adjusted at the fixed point by adopting a main arm and auxiliary arm combination mode, so that the operation efficiency is high;
(2) After the clamp clamps the prefabricated member, the tower crane can be unhooked, so that the working time of the tower crane is not required to be occupied, and the working efficiency of the on-site tower crane is improved;
(3) All mechanical arms can be in a retracted state in a non-working state, so that the gravity center of the equipment is lowered, and the equipment can be transferred through lifting lugs of the four-wheel trolley;
(4) Related information of the prefabricated component in the construction process can be stored, and the prefabricated component interacts with a system, so that system data acquisition is facilitated;
(5) The clamp is provided with a high-precision angle sensor and a force sensor, the perpendicularity of the component can be automatically adjusted by adopting an intelligent control scheme, and the efficiency of clamping and tracking between the clamp and the prefabricated member is improved by adopting a mode of auxiliary operation of equipment such as a laser range finder or a camera;
(6) Aiming at the possible rainy days of construction operation, the method mainly comprises the following steps: the joints of cables and the like are treated by adopting a sealing and dampproof process, the electrical equipment and the like are treated by adopting a closed ventilation box, and the mechanical device protects the rotating mechanisms of joints and the like by adopting a mode of externally adding a protective cover and the like on the basis of spraying, so that the operation in small rain can be not influenced;
(7) And the anti-overturning design is carried out, so that the stability of equipment operation in the working range is ensured.
Drawings
FIG. 1 is a perspective view of a clamp-on bionic robot arm according to the present invention;
FIG. 2 is a side view of a clamp-on bionic robot arm according to the present invention;
FIG. 3 is a schematic view of a clamping type bionic mechanical arm for supporting and clamping a vertical prefabricated member;
FIG. 4 is a schematic view of the present invention in which diagonal braces are provided on a vertical preform for support securing;
FIG. 5 is a schematic view of a clamp mechanism according to the present invention;
FIG. 6 is a schematic diagram of the transmission of the clamping gearset driving the parallelogram structure of the present invention.
Description of the embodiments
The features of the present invention and other related features are described in further detail below by way of example in conjunction with the following drawings, to facilitate understanding by those skilled in the art:
as shown in fig. 1-6, the labels in the figures are respectively: the vehicle frame 1, the vehicle frame 11, the auxiliary supporting legs 12 and the lifting lugs 13 are moved; a base swivel mechanism 2; the mechanical arm 3, the main arm 31, the main and auxiliary arms 32, the main arm hydraulic cylinder 33, the auxiliary arm hydraulic cylinder 34, the telescopic auxiliary arm 35 and the main arm pitching angle adjusting mechanism 36; the clamping mechanism 4, the horizontal adjustment servo speed reducing motor 41, the rotary servo speed reducing motor 42, the mounting platform 43, the clamping gear set 44, the transmission gear 441, the driving gear 442, the packaging shell 443, the parallelogram mechanism 45, the first rotating rod 451, the second rotating rod 452, the clamping limiting rod 453 and the clamping plate 46; the telescopic support arm 5, the horizontal support 6, the embedded bars 7, the vertical prefabricated parts 8 and the diagonal brace 9.
Examples: as shown in fig. 1-6, the embodiment specifically relates to a method for automatically adjusting vertical prefabricated components by using a clamping type bionic mechanical arm, firstly, a description is made of the structural composition of the clamping type bionic mechanical arm, the clamping type bionic mechanical arm in the embodiment mainly comprises a moving frame 1, a base revolving mechanism 2, a mechanical arm 3 and a clamp mechanism 4, the mechanical arm 3 comprises a main arm 31 and an auxiliary arm hinged with each other, a main arm hydraulic cylinder 33 is arranged between the main arm 31 and the auxiliary arm, an auxiliary arm hydraulic cylinder 34 is arranged on the auxiliary arm, the base revolving mechanism 2 is mounted on the moving frame 1, the lower end of the main arm 31 is arranged on the base revolving mechanism 2, the upper end of the main arm 31 is hinged with the rear end of the auxiliary arm, the lower end of the main arm hydraulic cylinder 33 is hinged with the lower part of the auxiliary arm 31, the upper end of the auxiliary arm is hinged with the auxiliary arm at the position close to the rear end of the auxiliary arm, the auxiliary arm is composed of a main auxiliary arm 32 and an telescopic auxiliary arm 35 which are mutually sleeved, the auxiliary arm hydraulic cylinder 34 is fixed on the auxiliary arm 32, and the front end of the auxiliary arm 34 is connected with the telescopic cylinder 35 to the telescopic cylinder rod.
As shown in fig. 1 and 2, the main body of the movable frame 1 is a frame 11, and the frame 11 is driven by four running wheels to run; and four lifting lugs 13 are distributed at four corners of the frame 11, when the transfer operation is finished from one site operation, the mechanical arm is firstly operated to be in a retracted state, and then the lifting lugs 13 on the frame 11 are lifted by the crane, so that the transfer operation is finished. In addition, four groups of auxiliary supporting legs 12 are further arranged on the frame 11, the auxiliary supporting legs 12 can be retracted when moving, and the auxiliary supporting legs 12 are unfolded and supported on the ground when working, so that the working stability of the whole machine is ensured, and the working safety of equipment is ensured. The frame 11 is also internally provided with a control system 1 sleeve for completing the control of the mechanical arm 3, and is realized by an embedded system. Configuring a group of batteries; meanwhile, the inverter 1 is configured for converting commercial power into direct current, so that the application range of the mechanical arm 3 is expanded.
As shown in fig. 1 and 2, the base swivel mechanism 2 is fixed on the frame 11, and can drive the mechanical arm 3 mounted thereon to swivel within 360 ° range, and under the condition that the position of the moving frame 1 is fixed, the base swivel mechanism 2 can realize the azimuth angle adjustment of the mechanical arm 3, so as to realize the clamping adjustment of a plurality of vertical prefabricated members 8 at the same position. In addition, a main arm pitching angle adjusting mechanism 36 is fixedly arranged on the base revolving mechanism 2, the lower end of the main arm 31 is hinged on the base revolving mechanism 2, and the main arm pitching angle adjusting mechanism 36 is connected with the lower end of the main arm 31 to drive and adjust the pitching angle of the main arm 21.
As shown in fig. 1-6, the fixture mechanism 4 mainly includes a rotation leveling mechanism, a gear motor, a clamping gear set 44, a parallelogram mechanism 45 and a clamping plate 46, wherein the clamping gear set 44 includes a packaging housing 443, two transmission gears 441 and a driving gear 442 disposed in the packaging housing 443, the packaging housing 443 includes two side plates disposed vertically and in parallel, the gear motor is fixedly disposed on an outer side wall surface of one of the side plates, and an output shaft thereof penetrates into the packaging housing 443 to drive the driving gear 442 to rotate, and the gear motor is specifically composed of a clamping motor and a speed reducer which are connected with each other; the two transmission gears 441 are meshed with each other, two ends of the rotating shaft of each transmission gear 441 are arranged in bearings arranged on the side plates, and the driving gear 442 is meshed with any one of the two transmission gears 41. The number of the parallelogram mechanisms 45 is two and the parallelogram mechanisms are symmetrically arranged, each parallelogram mechanism 45 comprises a first rotating rod 451, a second rotating rod 452 and a clamping limiting rod 453, the upper end of the first rotating rod 451 is coaxially fixed with the transmission gear 441, the lower end of the first rotating rod 451 is hinged with the upper end of the clamping limiting rod 453, the upper end of the second rotating rod 452 is hinged with the packaging shell 443 through a rotating shaft, the lower end of the second rotating rod 452 is hinged with the middle of the clamping limiting rod 453, and meanwhile, the clamping plate 46 is hinged at the lower end of the clamping limiting rod 453. The first rotating lever 451 and the second rotating lever 452 have the same length and are disposed parallel to each other. When the gear motor drives the driving gear 442 to rotate, the driving gear 442 drives one of the driving gears 441 to rotate, and then the driving gear 441 drives the other driving gear 441 engaged with the driving gear 441 to rotate synchronously, so that different turning directions of the driving gears 441 drive the parallelogram mechanism 45 to perform clamping or unclamping actions. The clamping and verticality measurement of the clamp mechanism 4 and the vertical prefabricated part 8 lays a foundation for subsequent vertical angle adjustment, and the clamp mechanism 4 and the vertical prefabricated part 8 can be effectively clamped to ensure that the mechanical arm 3 can enable the vertical prefabricated part 8 to be in a follow-up state in the working process, so that the effectiveness of the vertical adjustment of the mechanical arm 3 is ensured.
As shown in fig. 1 to 6, the clamping plate 46 is provided with an angle sensor, and the angle sensor can detect the verticality of the clamping plate 46 in real time, and the verticality of the clamping plate 46 is equivalent to the verticality of the vertical prefabricated part 8 because the clamping plate 46 is completely attached to the surface of the vertical prefabricated part 8 when clamping the vertical prefabricated part 8; the angle sensor is realized by adopting a double-shaft output angle sensor, the progress is 0.01 degree, the motor is realized by adopting a servo motor in consideration of the requirements of equipment working conditions, the 48V power supply voltage is 400W rated power, the rated torque is 1.27Nm, and meanwhile, the speed reducer is configured. In addition, a hinge is formed between the clamping plate 46 and the lower end part of the clamping limiting rod 453 through a rotating shaft, a force sensor is arranged at the position of the rotating shaft, when the clamping plate 46 clamps the vertical prefabricated part 8, clamping force perpendicular to the vertical prefabricated part 8 is applied to the rotating shaft, the force sensor detects the force value of the clamping force, and specifically, the force sensor is a pin shaft type force sensor, and the measuring range is 100kg.
As shown in fig. 1-6, the rotation leveling mechanism comprises a mounting platform 43, a horizontal adjustment servo speed reduction motor 41 and a rotation servo speed reduction motor 42, wherein the horizontal adjustment servo speed reduction motor 41 is mainly used for adjusting the pitching state of the clamp mechanism 4, the rotation servo speed reduction motor 42 is mainly used for driving the azimuth adjustment of the clamp mechanism 4, the horizontal adjustment servo speed reduction motor 41 comprises a first speed reducer and a horizontal adjustment servo motor for driving the first speed reducer, a shell of the first speed reducer is fixed on a telescopic auxiliary arm 34 of the mechanical arm 3, and the output end of the first speed reducer drives the mounting platform 43 to adjust the horizontal angle; the rotary servo speed reducing motor 42 comprises a second speed reducer and a rotary servo motor for driving the second speed reducer, wherein a shell of the second speed reducer is fixedly connected with the mounting platform 43, and an output end of the second speed reducer is fixedly connected with the packaging shell 443 in the fixture gear set 44.
As shown in fig. 1, 2, 3 and 4, a telescopic supporting arm 5 pointing forward is arranged on the base swivel mechanism 2, the telescopic supporting arm 5 is driven by a hydraulic cylinder arranged on the telescopic supporting arm, a horizontal support 6 is fixedly arranged at the front end of the telescopic supporting arm, and the length of the horizontal support 6 is the same as or longer than that of a vertical prefabricated member 8; in addition, guiding and positioning components (not shown in the figure) are sleeved on two sides of the horizontal support 6, the guiding and positioning components are composed of a ferrule and a U-shaped clamping groove fixedly arranged above the ferrule, at least two groups of guiding and positioning components are sleeved on the horizontal support, the ferrule is correspondingly sleeved on the horizontal support in a sliding type laterally, and the width of the U-shaped clamping groove corresponds to the bottom width of the vertical prefabricated part 8. Furthermore, an imaging device for capturing a real-time image of the underside of the horizontal support 6 is also prefabricated on the lower surface thereof.
As shown in fig. 1 to 6, the method for automatically adjusting the vertical prefabricated member by using the clamping type bionic mechanical arm in the embodiment comprises the following steps:
(S1) before the vertical prefabricated part 8 on the nth layer is ready to be hoisted, hoisting the clamping type bionic mechanical arm to the corresponding floor by using a tower crane; checking the power supply, if a 220VAc alternating current power supply exists on the site, accessing the system, starting the control system through the control power supply of the control cabinet, enabling the software to enter a self-checking state, giving a prompt by the system after the self-checking is finished, and completing the self-checking of the system.
The movable frame 1 of the clamping type bionic mechanical arm is controlled by a remote controller to move to the position to be mounted of the vertical prefabricated member 8, and four auxiliary supporting legs 12 on the movable frame 1 are unfolded and supported on the floor surface in a manual operation mode, so that the stable posture of the frame 11 during working is ensured.
(S2) based on the position of the pre-buried bar 7 reserved at the position to be installed of the vertical prefabricated member 8, the telescopic support arm 5 extends forward to the position right above the pre-buried bar 7; the front end of the telescopic support arm 5 is fixedly provided with a horizontal support 6, and the horizontal support 6 is also provided with a guiding and positioning assembly. Based on the general dimensional information of the vertical prefabricated elements 8, the telescopic support arms 5 are controlled to be located at a height position of 300mm-400mm above the installation work surface of the vertical prefabricated elements 8.
The judging method for the telescopic support arm 5 extending to the right above the embedded bar 7 comprises the following steps: the lower surface of the horizontal support 6 is provided with a plurality of groups of camera devices, the camera devices shoot real-time pictures below the horizontal support 6 in real time, a standard picture when the horizontal support is positioned right above the embedded bars is stored in a data storage system connected with the camera devices, at least two groups of embedded bars 7 in the real-time pictures are compared with the corresponding embedded bars 7 in the standard picture, and if the pictures are matched, the pictures are positioned right above the embedded bars 7; if the connection line between the embedded bars 7 in the real-time picture cannot be overlapped with the connection line between the embedded bars 7 in the standard picture, the fact that the embedded bars 7 are not right above the embedded bars 7 is indicated.
(S3) hoisting the vertical prefabricated parts 8 above the horizontal support 6 by using vertical transportation equipment at the construction site, and then gradually lowering the vertical prefabricated parts 8 under the guidance of the guiding and positioning assembly until the lower bottom surface thereof is completely supported on the horizontal support 6.
(S4) adjusting the mechanical arm 3 to enable the clamp mechanism 4 to start clamping operation on the vertical prefabricated part 8, and monitoring the clamping force in real time to prevent damage to the clamping part of the vertical prefabricated part 8 caused by overlarge force provided by clamping, wherein the clamping force is controlled within 80 Kg; when the clamping force of the clamp mechanism 4 on the vertical prefabricated element 8 reaches a required value, the vertical transportation device releases the hoisting of the vertical prefabricated element 8. Here, the monitoring of the clamping force parameters is achieved by means of a force sensor on the clamping plate 46.
And (S5) according to real-time monitoring of the verticality of the vertical prefabricated part 8 by the angle sensor in the clamp mechanism 4, the verticality of the vertical prefabricated part 8 is adjusted by using the mechanical arm 3 and the clamp mechanism 4 until reaching a verticality target value, so that the requirement is met.
(S6) when the verticality of the vertical prefabricated part 8 reaches the target value, the mechanical arm and the clamp mechanism are stopped at the current position, namely the posture of the vertical prefabricated part 8 is kept unchanged, the guiding and positioning assemblies are slipped out from two sides on the horizontal support 6 of the telescopic support arm 5, and the telescopic support arm 5 is retracted backwards to enable the horizontal support 6 of the telescopic support arm to be separated from contact with the vertical prefabricated part 8, so that the preliminary positioning of the vertical prefabricated part 8 is realized.
(S7) controlling the vertical prefabricated part 8 to slowly and vertically fall by using the mechanical arm 4 and the clamp mechanism 4, checking the verticality of the vertical prefabricated part 8 again by using the angle sensor after the vertical prefabricated part 8 falls to the elevation, and performing fine adjustment by using the clamp mechanism 4, wherein after the verticality of the vertical prefabricated part 8 meets the requirement, a constructor sets an inclined stay bar 9 between the vertical prefabricated part 8 and the floor surface so as to support and fix the vertical prefabricated part 8;
and (S8) adjusting the azimuth of the mechanical arm 3 to the position to be installed of the next vertical prefabricated member 8 through the base slewing mechanism 2 on the clamping type bionic mechanical arm, and repeating the steps S2-S7 for construction.
And (S9) finishing the perpendicularity adjustment work of the 4 vertical prefabricated members 8 at the current position, operating the mechanical arm 3 to enter an initial retraction state, operating the movable frame 1 to move to the next position for performing new work, and repeating the steps S1-S8.
The beneficial effects of this embodiment are:
(1) The angle of the multi-position prefabricated part can be adjusted at the fixed point by adopting a main arm and auxiliary arm combination mode, so that the operation efficiency is high;
(2) After the clamp clamps the prefabricated member, the tower crane can be unhooked, so that the working time of the tower crane is not required to be occupied, and the working efficiency of the on-site tower crane is improved;
(3) All mechanical arms can be in a retracted state in a non-working state, so that the gravity center of the equipment is lowered, and the equipment can be transferred through lifting lugs of the four-wheel trolley;
(4) Related information of the prefabricated component in the construction process can be stored, and the prefabricated component interacts with a system, so that system data acquisition is facilitated;
(5) The clamp is provided with a high-precision angle sensor and a force sensor, the perpendicularity of the component can be automatically adjusted by adopting an intelligent control scheme, and the efficiency of clamping and tracking between the clamp and the prefabricated member is improved by adopting a mode of auxiliary operation of equipment such as a laser range finder or a camera;
(6) Aiming at the possible rainy days of construction operation, the method mainly comprises the following steps: the joints of cables and the like are treated by adopting a sealing and dampproof process, the electrical equipment and the like are treated by adopting a closed ventilation box, and the mechanical device protects the rotating mechanisms of joints and the like by adopting a mode of externally adding a protective cover and the like on the basis of spraying, so that the operation in small rain can be not influenced;
(7) And the anti-overturning design is carried out, so that the stability of equipment operation in the working range is ensured.
Claims (10)
1. The method for automatically adjusting the vertical prefabricated part by using the clamping type bionic mechanical arm is characterized by comprising the following steps of:
s1: hoisting the clamping bionic mechanical arm to a corresponding floor and moving the clamping bionic mechanical arm to a position to be installed of the vertical prefabricated member;
s2: based on the position of the embedded bars reserved at the position to be installed of the vertical prefabricated part, extending a telescopic support arm on the clamping type bionic mechanical arm to the position right above the embedded bars; the front end of the telescopic support arm is fixedly provided with a horizontal support, and the horizontal support is provided with a guiding and positioning assembly;
s3: hoisting the vertical prefabricated part above the horizontal support by using vertical transportation equipment at a construction site, and gradually lowering the vertical prefabricated part under the guidance of the guiding and positioning assembly until the vertical prefabricated part is completely supported on the horizontal support;
s4: the clamping type bionic mechanical arm starts clamping operation on the vertical prefabricated part by adjusting the mechanical arm on the clamping type bionic mechanical arm, and when the clamping force of the clamping mechanism on the vertical prefabricated part reaches a required value, the vertical transportation equipment releases hoisting of the vertical prefabricated part;
s5: according to real-time monitoring of the verticality of the vertical prefabricated part by an angle sensor in the clamp mechanism, the verticality of the vertical prefabricated part is adjusted by the mechanical arm and the clamp mechanism until a verticality target value is reached;
s6: when the verticality of the vertical prefabricated part reaches a target value, the mechanical arm and the clamp mechanism stop at the current position, slide out of the guide positioning assembly from the upper side of the telescopic support arm, and retract the telescopic support arm backwards so as to enable the horizontal support to be out of contact with the vertical prefabricated part;
s7: controlling the vertical prefabricated part to vertically fall by using the mechanical arm and the clamp mechanism, checking the verticality of the vertical prefabricated part again by using the angle sensor after the vertical prefabricated part falls to the elevation, and performing fine adjustment by using the clamp mechanism, wherein after the verticality of the vertical prefabricated part meets the requirement, a constructor sets an inclined stay rod between the vertical prefabricated part and the floor so as to support and fix the vertical prefabricated part;
s8: and adjusting the azimuth of the mechanical arm to the position to be installed of the next vertical prefabricated component through a base rotation mechanism on the clamping type bionic mechanical arm, and repeating the steps S2-S7 for construction.
2. The method for automatically adjusting vertical prefabricated parts by using a clamping type bionic mechanical arm according to claim 1, wherein in the step S2, the judging method that the telescopic support arm extends to the position right above the embedded steel bar is as follows: the lower surface of the horizontal support is provided with a plurality of groups of camera devices, the camera devices shoot real-time pictures below the horizontal support in real time, a standard picture when the horizontal support is positioned right above the embedded bars is stored in a data storage system connected with the camera devices, at least two groups of embedded bars in the real-time picture are compared with the corresponding embedded bars in the standard picture, and if the pictures are identical, the camera devices are positioned right above the embedded bars.
3. The method for automatically adjusting vertical prefabricated parts by using a clamping type bionic mechanical arm according to claim 1, wherein the rear end of the telescopic support arm is fixed on a base rotating mechanism of the clamping type bionic mechanical arm; the guide positioning assembly is composed of a ferrule and a U-shaped clamping groove fixedly arranged above the ferrule, at least two groups of guide positioning assemblies are sleeved on the horizontal support, the ferrule is correspondingly and slidably sleeved on the horizontal support in a lateral mode, and the width of the U-shaped clamping groove corresponds to the bottom width of the vertical prefabricated component.
4. The method for automatically adjusting vertical prefabricated parts by using clamping type bionic mechanical arms according to claim 1, wherein the telescopic support arms are located at a height position 300-400 mm above an installation working surface of the vertical prefabricated parts.
5. The method for automatically adjusting vertical prefabricated parts by using the clamping type bionic mechanical arm according to claim 1, wherein the clamping type bionic mechanical arm comprises a moving frame, a base rotating mechanism, a mechanical arm and a clamp mechanism, the mechanical arm comprises a main arm and an auxiliary arm which are mutually hinged, a main arm hydraulic cylinder is arranged between the main arm and the auxiliary arm, an auxiliary arm hydraulic cylinder is arranged on the auxiliary arm, the base rotating mechanism is arranged on the moving frame, the lower end of the main arm is arranged on the base rotating mechanism, the upper end of the main arm is hinged with the rear end of the auxiliary arm, the lower end of the main arm hydraulic cylinder is hinged with the lower part of the main arm, the upper end of the main arm hydraulic cylinder is hinged with the position, close to the rear end, of the auxiliary arm, the auxiliary arm consists of a main auxiliary arm and an telescopic auxiliary arm which are mutually sleeved, a cylinder barrel of the auxiliary arm hydraulic cylinder is fixed on the main auxiliary arm, and the front end of the auxiliary arm hydraulic cylinder is connected with the telescopic auxiliary arm to drive the telescopic piston rod to move forwards and backwards.
6. The method for automatically adjusting vertical prefabricated parts by using a clamping type bionic mechanical arm according to claim 5, wherein a main arm pitching angle adjusting mechanism is fixedly arranged on the base rotating mechanism, the lower end of the main arm is hinged on the base rotating mechanism, and the main arm pitching angle adjusting mechanism is connected with the main arm to drive and adjust the pitching angle of the main arm.
7. The method for automatically adjusting vertical prefabricated parts by using a clamping type bionic mechanical arm according to claim 5, wherein the clamp mechanism comprises a clamp and a rotary leveling mechanism for driving the clamp, the clamp comprises a gear motor, a clamping gear set, a parallelogram mechanism and a clamping plate, and the rotary leveling mechanism is arranged at the front end of the telescopic auxiliary arm; the clamping gear set comprises a driving gear, two transmission gears and a packaging shell, wherein the output end of the speed reducing motor is connected with and drives the driving gear to rotate, the driving gear is engaged with and drives any one of the two transmission gears, and the two transmission gears are engaged with and driven with each other; the number of the parallelogram mechanisms is two, the parallelogram mechanisms are symmetrically arranged, each parallelogram mechanism comprises a first rotating rod, a second rotating rod and a clamping limiting rod, one end of each first rotating rod is coaxially fixed with the transmission gear, the other end of each first rotating rod is hinged with the upper end part of each clamping limiting rod, one end of each second rotating rod is hinged with the packaging shell, the other end of each second rotating rod is hinged with the middle part of each clamping limiting rod, and the lower end part of each clamping limiting rod is provided with a clamping plate; the first rotating rod and the rotating rod are identical in length and are arranged in parallel.
8. The method for automatically adjusting vertical prefabricated parts by using a clamping type bionic mechanical arm according to claim 7, wherein the rotation leveling mechanism comprises a mounting platform, a horizontal adjustment servo speed reducing motor and a rotation servo speed reducing motor, the horizontal adjustment servo speed reducing motor comprises a first speed reducer and a horizontal adjustment servo motor for driving the first speed reducer, a shell of the first speed reducer is fixed on the telescopic auxiliary arm, and an output end of the first speed reducer drives the mounting platform to adjust the horizontal angle; the rotary servo speed reducing motor comprises a second speed reducer and a rotary servo motor for driving the second speed reducer, a shell of the second speed reducer is fixedly connected with the mounting platform, and the output end of the second speed reducer is fixedly connected with the packaging shell in the clamp gear set.
9. The method for automatically adjusting vertical prefabricated parts by using a clamping type bionic mechanical arm according to claim 7, wherein the packaging shell comprises two side plates which are vertically arranged in parallel, the gear motor is fixedly arranged on the outer wall surface of one of the side plates, the clamping gear set is arranged in a space surrounded by the two side plates, two ends of a rotating shaft of the transmission gear are arranged in bearings arranged on the side plates, and the output end of the gear motor penetrates through the side plates and drives the driving gear to rotate.
10. The method for automatically adjusting vertical prefabricated parts by using the clamping type bionic mechanical arm according to claim 7, wherein the angle sensor is arranged on the clamping plate, the clamping plate is hinged with the lower end part of the clamping limiting rod through a rotating shaft, and the force sensor is arranged at the position of the rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310220932.6A CN116378423A (en) | 2023-03-09 | 2023-03-09 | Method for automatically adjusting vertical prefabricated part to hang down by using clamping bionic mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310220932.6A CN116378423A (en) | 2023-03-09 | 2023-03-09 | Method for automatically adjusting vertical prefabricated part to hang down by using clamping bionic mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116378423A true CN116378423A (en) | 2023-07-04 |
Family
ID=86964759
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310220932.6A Pending CN116378423A (en) | 2023-03-09 | 2023-03-09 | Method for automatically adjusting vertical prefabricated part to hang down by using clamping bionic mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116378423A (en) |
-
2023
- 2023-03-09 CN CN202310220932.6A patent/CN116378423A/en active Pending
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