CN216577863U

CN216577863U - Intelligent tensioning robot

Info

Publication number: CN216577863U
Application number: CN202122110892.9U
Authority: CN
Inventors: 李建强; 廖嵘; 杨帆; 谢运灵; 张振麒
Original assignee: Liuzhou Taimu Prestressing Force Machinery Co ltd
Current assignee: Liuzhou Taimu Prestressing Force Machinery Co ltd
Priority date: 2021-09-02
Filing date: 2021-09-02
Publication date: 2022-05-24
Anticipated expiration: 2031-09-02

Abstract

An intelligent tensioning robot comprises an XYZA four-axis positioning control system composed of an X, Y, Z moving mechanism and a rotating mechanism A, wherein a jack component is fixed with a laser range finder which is used for measuring distance data between the jack component and a bridge and data of a limiting plate and inputting the data into the XYZA four-axis positioning control system; the edge of the end face of the limiting plate is provided with a sudden change step, and when the laser range finder measures the position of the step, the edge position is judged through the jumping change of the laser displacement value; the edge of the end face of the limiting plate is of a step structure. The automatic tensioning device has the advantages that the automatic alignment, the automatic steel strand threading, the automatic tensioning and the one-time tensioning of the whole beam can be realized according to the working conditions of different beams, the manual operation time is saved, and the efficiency is high.

Description

Intelligent tensioning robot

Technical Field

The utility model relates to the technical field of tensioning of prestress construction, in particular to an intelligent tensioning robot.

Background

In the prestressed construction, steel strands need to be penetrated and tensioned between a jack assembly and a beam, the jack assembly is installed at the front end of the beam manually by a construction method, and the tensioning is carried out after the strands are penetrated.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an intelligent tensioning robot which can realize automatic alignment, automatic steel strand threading and automatic tensioning and can complete the tensioning work of the whole beam at one time aiming at the working conditions of different beams.

The technical scheme disclosed by the utility model is as follows:

an intelligent tensioning robot comprises an XYZA four-axis positioning control system and a limiting plate, wherein the XYZA four-axis positioning control system consists of an X, Y, Z moving mechanism and a rotating mechanism A, and the X, Y, Z moving mechanism and the rotating mechanism A are installed on a traveling system platform and move along with a traveling system; the jack assembly is connected to the four-axis positioning control system, the laser range finder is fixed on the jack assembly and used for measuring distance data between the jack assembly and a bridge and data of the limiting plate and inputting the data into the XYZA four-axis positioning control system, and the XYZA four-axis positioning control system is used for controlling the jack assembly to be aligned to the position of the hole to be tensioned and sending the jack into the hole to be tensioned.

As a preferred scheme, the rotating mechanism A realizes the rotation of the rotating lifting frame by adopting a structure that a Y-axis guide rail is hinged with a rotating lifting frame pin; the rotating lifting frame is provided with a rod end joint bearing supported by the spring force of the spring assembly, and the swinging end of the rod end joint bearing is connected with the jack assembly; the lifting frame is rotated to fix the pressure head assembly, the lower end of the pressure head assembly is contacted with the rear end of the jack assembly and offsets with the gravity of the front end of the jack, and the jack assembly is maintained to be balanced.

Preferably, the rotating mechanism A comprises a top mounting bracket fixed on the Y-axis assembly, a rotating bracket, a rotating pin, a cam connecting rod and an electric cylinder assembly; the rotating support is hinged with the top mounting support, one end of the rotating support is connected with the top mounting support through a spring assembly, and the other end of the rotating support is hinged with a jack assembly; the cam is connected and hinged with the rotating support, the middle part of the cam connecting rod is connected with the electric cylinder assembly, and the electric cylinder assembly pushes the lower cam assembly to swing so as to push the jack assembly to rotate.

Preferably, the laser distance measuring device is mounted outside the jack assembly or on a piston of the jack assembly.

Preferably, the edge of the end face of the limiting plate is provided with a sudden step, and when the laser range finder measures the position of the step, the edge position is judged through the jump change of the laser displacement value.

Preferably, the edge of the end face of the limiting plate is of a step structure, and a judgment point for measuring the sudden change displacement jump value by the laser range finder is formed.

As a preferred scheme, the walking system platform is provided with a tensioning system, and the tensioning system comprises an oil tank and a hydraulic pump station.

As the preferred scheme, the walking system platform is provided with a control system.

The utility model has the beneficial effects that: the automatic tensioning device can realize automatic alignment, automatic steel strand penetrating, automatic tensioning and one-time completion of tensioning of the whole beam according to working conditions of different beams, saves manual operation time and is high in efficiency.

Drawings

Fig. 1-1 to 1-4 are control schematic block diagrams of the present invention.

Fig. 2 is a schematic structural diagram of the intelligent robot of the utility model.

Fig. 3 is a structural view of a first embodiment of a rotating mechanism a of the present invention.

Fig. 4 is a block diagram of the release jack downward degree of freedom mechanism shown in fig. 3.

Fig. 5 is a structural view of a second embodiment of a rotating mechanism a of the present invention.

Fig. 6 is a block diagram of the release jack downward degree of freedom mechanism shown in fig. 5.

Fig. 7 is a structural diagram of the movement of the XYZA four-axis positioning control system.

Fig. 8 is a front view of fig. 7.

Fig. 9 is a right side view of fig. 8.

Fig. 10 is a schematic diagram of the coordinates of the rough positioning tension holes of the beam 31.

Fig. 11 is a schematic diagram of the laser range finder spot measurement being located at the lower right of the limiting plate.

Fig. 12 is a schematic view of the position of fig. 11 measured by the laser range finder on the position limiting plate.

Fig. 13 is a schematic view of goniometry.

Fig. 14 is a schematic diagram of the relative distance determination in the coarse positioning step of the four-axis positioning system.

Fig. 15 is a schematic structural view of the laser range finder mounted on the piston of the jack assembly.

Fig. 16 is a front view of the laser rangefinder of fig. 15 in operation.

Fig. 17 is a front view of the laser rangefinder of fig. 15 shown in rest.

Fig. 18 is a schematic view of the steel strand being tensioned to its longest state.

Fig. 19 is a schematic structural view of the limiting plate 30 of the present invention.

Fig. 20 is a schematic diagram of the coordinates set by the stopper plate 30.

The parts of the drawings are detailed as follows: 1. a walking system, a four-axis positioning system 2, X, Y, Z, A, a tensioning system 3, a tensioning system 4, a control system 5, a laser range finder 6, a transverse moving base 7, an electric cylinder rotating pin 8, an electric cylinder assembly 9, a rotating lifting frame 10, a rotating lifting frame 11, a jack assembly 12, a rotating lifting frame pin 13, an electric cylinder rotating pin 14, a first electric cylinder assembly 15, a rotating support 16, a cam shaft 17, a cam 18, a cam connecting rod 19, a jack rotating pin 20, a cam touch plate 21, a top mounting support 101, a top mounting support 102, a spring assembly 103, a pressure head assembly 104, a first rod end joint bearing 111, a first top mounting support 112, a first spring assembly 113, a rotating pin 114, a jack rotating pin 22, a Z-axis moving base 23, an X-axis guide rail 24, a laser range finder 22, a transverse moving base 24, a transverse moving head assembly 104, a first electric cylinder assembly 104, a cam shaft assembly 18, a cam connecting rod 19, a jack rotating pin, a cam contact plate 20, a cam contact plate 21, a top mounting support 101, a top mounting support 102, a spring assembly 103, a pressure head assembly 104, a first rod end joint bearing assembly, a second spring assembly, a third shaft assembly, a fourth shaft assembly, an X-axis moving base, 25, a Z-axis servo motor and a speed reducer, 26, a Z-axis rack, 27, a Z-axis driving gear, 28, an X-axis servo motor and a speed reducer, 29, an X-axis driving gear, 210, an X-axis rack, 211, a Y-axis guide rail, 212, a steel wheel, 213, a chain, 214, a chain guide wheel, 215, a Y-axis servo motor and an electric cylinder, 216, a Z-axis guide rail, 30, a limiting plate, 31, a beam, 32, a jack, 33, a mounting bracket, 34, a steering engine, 35, a steel strand, 36 and a tool anchor component,

B. the laser point initial position point, the angle measurement second position point, the limiting plate edge position coordinates 1 and D, the limiting plate edge position coordinates 2 and E, the limiting plate edge position coordinates 3 and F and the angle measurement first position point.

Detailed Description

The utility model will be further elucidated and described with reference to the embodiments and drawings of the specification:

the intelligent tensioning robot comprises an XYZA four-axis positioning control system (shown in figures 7, 8 and 9) consisting of an X, Y, Z moving mechanism and a rotating mechanism A, and a limiting plate 30, wherein the X, Y, Z moving mechanism and the rotating mechanism A are arranged on a platform of a walking system 1 and move along with the walking system 1; the walking system platform is provided with a tensioning system 3 and a control system 4, and the tensioning system comprises an oil tank and a hydraulic pump station so as to form a whole; the jack assembly 11 is connected with a four-axis positioning control system, a laser range finder 5 is fixed on the jack assembly 11, the laser range finder 5 is used for measuring distance data between a jack 32 and a bridge 31 and data of a limiting plate 30, the data are input into an XYZA four-axis positioning control system, and the XYZA four-axis positioning control system is used for controlling the jack 32 to be aligned with a hole to be tensioned and sending the jack 32 into the hole to be tensioned; the edge of the end face of the limiting plate 30 is provided with a sudden change step, and when the laser range finder 5 measures the position of the step, the edge position is judged through the jump change of the laser displacement value.

As shown in fig. 19 and 20, the edge of the end surface of the limiting plate 30 is of a step structure, and forms a determination point for the laser range finder to measure the jump value of the sudden change displacement; the values in fig. 19 are used for explanation: this limiting plate increases a bellied step at its rear face on the basis of traditional limiting plate, mainly makes things convenient for laser range finder to effectively discern the jump of distance to discern the edge of external diameter, look for three different position edge coordinates, realize the purpose in the automated inspection limiting plate centre of a circle, its theory of operation is: on the basis of the traditional limiting plate, a raised step is added, generally, the outer diameter of a single side needs to be increased by 5-10mm, and the depth is more than or equal to 20 mm; the laser rangefinder emits laser to be shot on the initial point of the limiting plate, the numerical value of the distance measurement is recorded, the laser moves horizontally, when the laser sweeps the edge position coordinate 1, the increment of the laser distance measurement is larger than the value set by the program, the laser rangefinder stops moving forwards, and the coordinate value is recorded. For example: the judgment value set by the program is more than or equal to 15mm, the distance measurement at the initial point is 300mm, when the edge position coordinate 1 is swept, the distance measurement is 320mm, the increment value is 20mm, the requirement of the judgment value is met, and the laser distance measuring instrument stops advancing. In the same way, the coordinates of the

edge position coordinates

2 and 3 are sequentially found, and the circle center coordinate of the limiting plate can be calculated by three coordinate values; the front surface of the limiting plate is sprayed with light color, such as: white or milk white, the limiting plate is convenient for laser identification, and the distance measurement precision is improved.

The laser range finder 5 is installed at two positions:

first, as shown in fig. 2, a laser rangefinder 5 is mounted on top of the jack assembly.

Secondly, as shown in fig. 16, 17 and 18, a mounting bracket 33 is fixed on a piston of a jack, a steering engine 34 is fixed on the mounting bracket 33, the laser range finder 5 is fixedly connected with an output shaft of the steering engine, the steering engine 34 can be positioned at any angle within the range of 0-180 degrees, the positioning precision is more than 0.3, and angle detection and circle center detection are carried out; after the laser range finder 5 finishes working, adjusting the angle of the steering engine to rotate the laser range finder to the edge of the inner hole of the jack piston; during tensioning, the steel strand 35 is elongated, when the steel strand 35 is pulled to the longest, the laser range finder cannot interfere with the steel strand, and the laser range finder penetrates through the hole of the tool anchor assembly and emits to the limiting plate to detect the angle and the circle center of the detected quantity.

The laser range finder is placed inside the piston: after the angle is detected and adjusted, the jack needs to be moved back to the laser initial position point and the jack needs to be moved to the circle center position after the circle center position is detected, the jack needs to be lifted and moved on the Y axis in the two moving actions, and the laser range finder is arranged inside and has smaller moving distance than the laser range finder arranged outside, so that the moving time can be shortened, and the efficiency can be improved; the external space is saved; the laser range finder is easy to collide when being installed at the outside, a protection device is also needed to be added, and the laser range finder is placed at the inside without worrying about collision.

The rotating mechanism A has the following two structures:

the first structure is as follows: as shown in fig. 3 and 4, the device comprises a transverse moving base 6, an electric cylinder rotating pin 7, an electric cylinder assembly 8, a rotating lifting frame 9, a rotating lifting frame 10, a jack assembly 11 and a rotating lifting frame pin 12; the rotating mechanism A realizes the rotation of the rotating lifting frame by adopting a structure that the rotating lifting frame 9 of the Y-axis guide rail is hinged with a rotating lifting frame pin 12; the transverse moving base 6 is hinged with an electric cylinder assembly 8, the moving end of the electric cylinder assembly 8 is connected with a lifting frame 9, and the electric cylinder assembly 8 moves to push the rotary lifting frame 9 to rotate around a rotary lifting frame pin 12; the top mounting bracket 101 extending out of the rotary lifting frame 9 is provided with a rod end joint bearing 104 supported by the spring force of a spring assembly 102, and the swinging end of the rod end joint bearing 104 is connected with the jack assembly 11; the lifting frame 9 is rotated to fix the pressure head assembly 103, the lower end of the pressure head assembly 103 is contacted with the rear end of the jack assembly 11 and is counteracted with the gravity of the front end of the jack, and the jack assembly is maintained to be balanced; the jack assembly 11 is connected with the spring assembly 102 through a rod end joint bearing 104; the spring assembly 102 is fixed on the top mounting bracket, and the pretightening force is slightly larger than the weight of the lower-end jack assembly; the gravity center of the jack component is close to the front end, and the pressure head component 103 is contacted with the rear end of the jack component 11; when the jack assembly 11 needs to move downwards or swing during tensioning, the generated downward force is larger than the pretightening force of the spring assembly, the spring is compressed and releases the downward degree of freedom, and the jack can have the downward degree of freedom when the jack can move downwards or swing and generate a large downward force in the tensioning process, so that the whole equipment is prevented from being damaged.

The second structure is as follows: as shown in fig. 5 and 6, the lifting device comprises a transverse moving base 6, a rotary lifting frame 9, an electric cylinder rotating pin 13, a first electric cylinder assembly 14, a rotating support 15, a cam shaft 16, a cam 17, a cam connecting rod 18, a jack rotating pin 19, a cam touch plate 20 and a top mounting support 21, wherein the rotating support 15 is hinged with the top mounting support 21, one end of the rotating support 15 is connected with a first top mounting support 111 through a first spring assembly 112, and the other end of the rotating support 15 is hinged with a jack assembly 11; the cam 17 is connected and hinged with the rotating bracket 15, the middle part of the connecting rod of the cam 17 is connected with the first electric cylinder assembly 14, and the lifting jack assembly 11 is pushed to rotate around the lifting jack rotating pin 114 by the swing of the pushing cam assembly of the first electric cylinder assembly 14; the rotating bracket 15 is connected with the first top mounting bracket 111 through a rotating pin 113; the jack assembly 11 is connected with the rotating bracket 15 through the jack rotating pin 114 and the cam mechanism; one end of the rotating bracket 15 is connected with the jack component 11, and the other end is connected with the first spring component 112, so that the jack component is installed on the rotating bracket 15, and certain pretightening force is applied, and the applied pretightening force is slightly larger than the gravity of the jack through lever force, so that the jack component is balanced; when the jack assembly needs to move downwards or swing during tensioning, the generated downward force is larger than the lever force of the pretightening force of the spring assembly, the spring is compressed, the rotating support rotates clockwise around the rotating pin, and the downward degree of freedom of the jack is released; when the jack is possible to move or swing downwards and generate a great downward force in the tensioning process, the jack can have the freedom degree of moving downwards so as to prevent the whole equipment from being damaged.

Referring to fig. 2, the X, Y, Z, A four-axis positioning system 2, the tensioning system 3 and the control system 4 are arranged on the platform of the walking system 1 to form an independent construction device, so that the robot can be conveniently moved to a construction position.

Referring to fig. 7, 8 and 9, the Z-axis guide rail 216 is connected to the Z-axis moving base 22, and the Z-axis servo motor and reducer 25, the Z-axis rack 26 and the Z-axis driving gear 27 form a Z-axis driving unit; the X-axis guide rail 23 is connected with an X-axis moving base 24, and an X-axis servo motor, a speed reducer 28, an X-axis driving gear 29 and an X-axis rack 210 form an X-axis driving unit; the Y-axis guide 211, the steel pulley 212, the chain 213, the chain guide pulley 214, the Y-axis servo motor, and the electric cylinder 215 constitute a Y-axis driving unit.

The control method adopted by the utility model is as follows:

referring to fig. 1, the control method includes the steps of:

(1) four-axis positioning mechanism sets up the step: establishing two X, Y, Z moving mechanisms side by side, respectively arranging a rotating mechanism A at the output end of each X, Y, Z moving mechanism, establishing an XYZA four-axis positioning control system, connecting a jack to the four-axis positioning control system, and fixing a laser range finder on the jack;

(2) positioning the horizontal distance between the walking trolley and the tensioning beam hole: moving the XYZA four-axis positioning system to one side of the beam, and measuring relative distances L1 and L2 between the beam and two ends of the tensioning beam by using a laser range finder, wherein L1-L2 are ensured to be less than or equal to 5 mm; see fig. 14;

(3) a four-axis positioning system positions a beam hole: manually adjusting the light spot of the laser range finder to an initial position point B of an AA hole limiting plate of the tensioning beam, operating a touch screen of a four-axis positioning control system to read and store current absolute position data of an X axis, a Y axis, a Z axis and an A axis of the four-axis positioning control system, setting coordinates of the X axis and the Y axis to be (0, 0), inputting the size of each hole pattern paper, and calculating to obtain the coordinates of the rest holes; referring to fig. 10, setting the AA hole as a starting point (or setting other holes as starting points), manually adjusting the top position to an AA hole limiting plate initial position point B, setting the coordinates to (0, 0), inputting the size of each hole drawing, and automatically obtaining the coordinates of the remaining holes, wherein the right hole has the same positioning method as the left hole.

(4) Determining an initial position point B of the limiting plate: the setting rule of the initial position point B is that the horizontal and vertical moving paths can not intersect with the hole of the limiting plate, and the initial position point B is set at any point of the lower right corner, the upper left corner or the lower left corner: referring to fig. 12, the lower right corner is taken as the point B of the initial position in this embodiment

(5) Operation downloading of an initial coordinate position of a hole to be tensioned: a hole to be stretched is selected through a previous hole button or a next hole button, an XYZA four-axis positioning system automatically positions an initial coordinate position, and after all stretching holes are positioned and recorded, initial coordinate parameters are loaded into a PLC (programmable logic controller), as shown in figure 11;

(6) measuring the angle of the limiting plate: control four-axis positioning system, with automatic skew, the lower skew of going up of laser range finder light point, lower point laser rangefinder displacement in the record, four-axis positioning system automatic calculation jack cross section is for the angle of limiting plate cross section: referring to fig. 12, the upper point is a first position point F of the angle measurement in the drawing, and the lower point is an initial position point B of the laser point in the drawing;

the four-axis positioning system automatically calculates the angle of the cross section of the jack relative to the cross section of the limiting plate, automatically adjusts the angles of the cross section of the jack and the limiting plate, enables the distances between the upper point and the lower point of the light spot of the laser range finder to be equal, keeps the cross section of the jack and the limiting plate in a parallel state, and is shown in figure 13,

(7) adjusting the angle of the jack: at the moment, the laser range finder light spot is separated from the position of the B point, and the laser range finder light spot is automatically adjusted to return to the position of the B point through calculation;

(8) measuring the circle center of the limiting plate: automatically scanning the edge of the contour of the limiting plate by a laser range finder, automatically reading three coordinates of the edge of the contour of the limiting plate, and then automatically calculating the coordinates of the circle center of the limiting plate and the radius R of the limiting plate by a commonly used circle center calculation formula according to the three measured coordinates; the four-axis positioning system automatically judges whether the calculated radius of the limiting plate is consistent with the preset radius of the limiting plate, if not, the calculated radius of the limiting plate is sent to a circle center counter for calculation, after calculation, the operation of automatically reading three coordinates of the outline edge of the limiting plate is input, and the steps are repeated until whether the radius of the limiting plate is consistent with the preset radius of the limiting plate;

(9) according to the calculated circle center coordinate, adding the distance between the laser instrument and the center of the top circle to the y-axis coordinate value, and automatically moving the jack to the position of the hole to be tensioned;

(10) the jack moves forward: the four-axis positioning system automatically moves forwards along the steel strand according to the angle measured before, calculates the forward movement distance according to the distance measured by the laser at the initial position point B, automatically moves forwards, and moves the jack to the position of the hole to be tensioned.

In the step (3), the touch screen of the four-axis positioning control system reads the current absolute position data of the X axis, the Y axis, the Z axis and the A axis of the four-axis positioning control system to be used as the initial position of the XYZA axis automatic control.

In the step (6), the calculation method adopted by the four-axis positioning system for automatically calculating the angle of the cross section of the jack relative to the cross section of the limiting plate is as follows: angle a = ATAN (coordinate difference between two points on Z axis/distance difference between two points on Y axis), and the measurement mode is as shown in fig. 13;

the adjusting step comprises:

1) the XYZA servo system first moves the laser spot to an initial coordinate position, see laser spot initial position point B in fig. 11;

2) the XYVA servo system records laser displacement through upward deviation, then records laser displacement through downward deviation, and calculates the angle deviation of the laser jack and the limiting plate through a trigonometric function formula;

3) the XYZA servo system automatically corrects the angles of the jack and the limiting plate to keep the jack and the limiting plate in a parallel state through the calculated angle deviation;

4) the XYZA servo system compares the center of the limiting plate calculated by a trigonometric function formula with the offset distance of the jack center preset by the system, and automatically corrects the center of the jack and the center of the limiting plate to keep the center of the jack and the center of the limiting plate concentric.

In the step (8), the setting method of the three coordinates of the contour edge of the limiting plate comprises the following steps: scanning to the right from the initial position coordinate to the edge of the limit plate, automatically recording and storing the edge position coordinate 1 (X1, Y1); scanning to the left from the initial position coordinate to the edge of the limit plate, automatically recording and storing an edge position coordinate 2 (X2, Y2); starting from the initial position coordinates, scanning upwards to the edge of the limit plate, automatically recording and storing the edge position coordinates 3 (X3, Y3), see fig. 12, where the three coordinates of the limit plate profile edge are: a limiting plate edge position coordinate 1C, a limiting plate edge position coordinate 2D and a limiting plate edge position coordinate 3E.

In the step (8), the three coordinate setting methods of the edge of the limiting plate contour are determined by adopting a laser displacement value jump change method, namely, abrupt steps are arranged on the edge of the end face of the limiting plate, the PLC reads the displacement value of the laser displacement sensor in real time through an MODBUS communication protocol, when the situation that the laser displacement is in the abrupt step position and the jump change of the laser displacement value exceeds a preset value is monitored, the PLC judges that the edge position coordinate setting is successful, and the record and the storage are carried out, referring to fig. 19 and 20, the edge of the end face of the limiting plate 30 is of a step structure, and a judgment point for the laser range finder to measure the abrupt displacement jump value is formed; the values in fig. 19 are used for explanation: this limiting plate increases a bellied step at its rear face on the basis of traditional limiting plate, mainly makes things convenient for laser range finder to effectively discern the jump of distance to discern the edge of external diameter, look for three different position edge coordinates, realize the purpose in the automated inspection limiting plate centre of a circle, its theory of operation is: on the basis of the traditional limiting plate, a raised step is added, generally, the outer diameter of a single side needs to be increased by 5-10mm, and the depth is more than or equal to 20 mm; the laser rangefinder emits laser to be shot on the initial point of the limiting plate, the numerical value of the distance measurement is recorded, the laser moves horizontally, when the laser sweeps the edge position coordinate 1, the increment of the laser distance measurement is larger than the value set by the program, the laser rangefinder stops moving forwards, and the coordinate value is recorded. For example: the judgment value set by the program is more than or equal to 15mm, the distance measurement at the initial point is 300mm, when the edge position coordinate 1 is swept, the distance measurement is 320mm, the increment value is 20mm, the requirement of the judgment value is met, and the laser distance measuring instrument stops advancing. And in the same way, the coordinates of the edge position coordinates 2 and 3 are sequentially found, and the circle center coordinate of the limiting plate can be calculated by three coordinate values.

With reference to fig. 1-1, 1-2, 1-3, 1-4, 2, 3, 4, 5, 6, 7, an embodiment of a system of the present invention is as follows:

the system consists of a walking trolley system, an XYZA four-axis positioning control system and an intelligent tensioning system.

The combination of fig. 1-1 to fig. 1-4 in sequence is the overall control schematic block diagram of the present invention.

The walking system is responsible for moving the XYZA four-axis positioning system and the intelligent tensioning system to the position near a bridge to be tensioned, the relative distances between the walking trolley and the two ends of the bridge are measured to be equal through laser displacement sensors on the left side and the right side of the four-axis positioning system, so that the four-axis positioning control system is ensured to keep a parallel posture relative to the bridge, the walking system supports the supporting feet at the moment, and the intelligent tensioning robot system is kept in a relatively static state relative to the tensioning beam.

When the intelligent tensioning jack needs to be automatically inserted into the tensioning hole, the XYZA four-axis positioning control system is operated according to the following steps:

1. moving the light spot of the laser displacement sensor to the lower right of the limiting plate by using a handheld remote controller;

2. and operating a touch screen of the four-axis positioning control system to read and store the current servo coordinate of the four-axis positioning control system.

3. And (3) repeating the steps (1) and (2) for other holes needing to be tensioned, and after all the tensioning holes are recorded, loading the initial coordinate parameters into the PLC.

4. And operating the button of the 'last hole' or 'next hole' of the XYZA four-axis positioning system to select the hole to be stretched.

5. The XYZA four-axis positioning system automatically measures the angle of the limit plate through a laser displacement sensor,

6. the XYZA four-axis positioning system automatically adjusts the cross section of the jack and the angle of the limiting plate to keep the jack in a parallel state.

7. The XYZA four-axis positioning system automatically scans the contour edge of the limiting plate through the laser displacement sensor, automatically reads three coordinates of the contour edge of the limiting plate, and then automatically calculates the coordinates of the circle center of the limiting plate.

8. And the XYZA four-axis positioning system automatically calculates the offset distance of the center of the limiting plate relative to the center of the jack.

9. The XYZA four-axis positioning system automatically moves the jack to the position of the tensioning hole to be penetrated, and automatically adjusts the distance between the center of the jack and the center of the limiting plate to keep the jack in a concentric state.

10. The XYZA four-axis positioning system automatically transmits the jack into the tensioning hole.

11. And the XYZA four-axis positioning system informs the intelligent tensioning system of tensioning according to a preset tensioning flow.

12. And the intelligent tensioning system informs the XYZA four-axis positioning system of completion of tensioning after tensioning.

13. And the XYZA four-axis positioning system automatically withdraws the jack out of the tensioning hole.

14. If other holes need to be tensioned, the operation of step 4 is repeated through AB of FIG. 1.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. The utility model provides an intelligence stretch-draw robot, includes XYZA four-axis positioning control system, the limiting plate that X, Y, Z moving mechanism, slewing mechanism A constitute, its characterized in that: the X, Y, Z moving mechanism and the rotating mechanism A are arranged on the traveling system platform and move along with the traveling system; the jack assembly is connected to the four-axis positioning control system, the laser range finder is fixed on the jack assembly and used for measuring distance data between the jack assembly and a bridge and data of the limiting plate and inputting the data into the XYZA four-axis positioning control system, and the XYZA four-axis positioning control system is used for controlling the jack assembly to be aligned to the position of the hole to be tensioned and sending the jack into the hole to be tensioned.

2. The intelligent tensioning robot of claim 1, wherein: the rotating mechanism A realizes the rotation of the rotating lifting frame by adopting a structure that a Y-axis guide rail is hinged with a rotating lifting frame pin; the rotating lifting frame is provided with a rod end joint bearing supported by the spring force of the spring assembly, and the swinging end of the rod end joint bearing is connected with the jack assembly; the lifting frame is rotated to fix the pressure head assembly, the lower end of the pressure head assembly is contacted with the rear end of the jack assembly and offsets with the gravity of the front end of the jack, and the jack assembly is maintained to be balanced.

3. The intelligent tensioning robot of claim 1, wherein: the rotating mechanism A comprises a top mounting bracket fixed on the Y shaft assembly, a rotating bracket, a rotating pin, a cam connecting rod and an electric cylinder assembly; the rotating support is hinged with the top mounting support, one end of the rotating support is connected with the top mounting support through a spring assembly, and the other end of the rotating support is hinged with a jack assembly; the cam is connected and hinged with the rotating support, the middle part of the cam connecting rod is connected with the electric cylinder assembly, and the electric cylinder assembly pushes the lower cam assembly to swing so as to push the jack assembly to rotate.

4. The intelligent tensioning robot of claim 1, wherein: the laser range finder is mounted outside the jack assembly or on a piston of the jack assembly.

5. The intelligent tensioning robot of claim 1, wherein: the edge of the end face of the limiting plate is provided with a sudden change step, and when the laser range finder measures the position of the step, the edge position is judged through the jump change of the laser displacement value.

6. The intelligent tensioning robot of claim 5, wherein: the edge of the end face of the limiting plate is of a step structure, and a judgment point for measuring the jump value of the sudden change displacement by the laser range finder is formed.

7. The intelligent tensioning robot of claim 1, wherein: the traveling system platform is provided with a tensioning system, and the tensioning system comprises an oil tank and a hydraulic pump station.

8. The intelligent tensioning robot of claim 1, wherein: and the walking system platform is provided with a control system.