CN217997744U - Mobile intelligent visual road surface plate mounting equipment - Google Patents

Abstract

The utility model discloses a visual guidance tape erection equipment of portable intelligence relates to airport pavement assembled construction technical field, including 2 primary and secondary tracks that are parallel to each other, primary and secondary track include the base, set up in the primary track in the inboard secondary track in base upper end and the outside, secondary track and primary track be parallel to each other, be equipped with the delivery truck on 2 secondary tracks, be equipped with mounting plate body on 2 primary tracks, mounting plate body including the U-shaped frame of inversion, U-shaped frame's top be equipped with hoisting machine and construct. The hoisting mechanism comprises a hoisting device, a fine adjustment mechanism and a moving mechanism, an intelligent positioning mechanism is arranged on the rear side of the middle lower part in the U-shaped frame, a material taking area is arranged on the front side in the U-shaped frame and matched with the feeding trolley, and a control mechanism is further arranged on the U-shaped frame. The utility model discloses can show installation accuracy and the installation effectiveness that improves road surface board, the manual or automatic procedure of whole journey accessible is accomplished.

Description

Visual guidance tape board erection equipment of portable intelligence

Technical Field

The utility model relates to an airport pavement assembled construction technical field, concretely relates to visual guidance tape panel erection equipment of portable intelligence.

Background

The fabricated concrete pavement slab used in the airport is prefabricated and molded in a factory through a high-precision steel mold, the quality is reliable, the precision can reach within 1mm, and the assembly requirement can be fully met.

The construction of the prior airport pavement lacks the construction precedent of prefabricated plate installation, and simultaneously lacks corresponding professional construction machinery in the aspect of the installation of the prefabricated plate of the airport. Generally, the existing fabricated pavement slab construction has the following disadvantages:

1. the installation equipment is immature and weak in pertinence;

2. the installation position of the prefabricated plate is inaccurately positioned;

3. the used machines are mostly ultra-large equipment, so that the movement is inconvenient and the requirement on the site is high;

4. the adjustability in the installation process of the plate blocks is poor, and the monitoring function is not available;

5. the shaping effect of plate installation is poor, and is efficient.

SUMMERY OF THE UTILITY MODEL

The utility model provides a visual road surface board erection equipment of portable intelligence, the problem that exists among the prior art is solved to the purpose.

In order to achieve the above purpose, the utility model adopts the technical scheme that:

a movable intelligent visual road panel installation device comprises 2 primary and secondary rails which are parallel to each other, wherein each primary and secondary rail comprises a base, a primary rail and a secondary rail, wherein the primary rail is arranged on the inner side of the upper end of the base;

the sub-tracks and the main track are parallel to each other, the feeding trolley is arranged on the 2 sub-tracks, and the mounting machine body is arranged on the 2 main tracks;

the mounting machine body comprises an inverted U-shaped frame, a hoisting mechanism is arranged at the top end of the U-shaped frame and comprises a hoisting device, a fine adjustment mechanism and a moving mechanism, an intelligent positioning mechanism is arranged on the rear side of the middle lower part in the U-shaped frame, a visual sensor is arranged at the top in the U-shaped frame opposite to the intelligent positioning mechanism, and a material taking area is arranged on the front side in the U-shaped frame;

the material taking area is matched with the feeding trolley for use, the U-shaped frame is also provided with a control mechanism, and the control mechanism is connected with a human-computer interaction device in a wired or wireless mode;

the control mechanism is electrically connected with the power supply and is electrically connected with the lifting device, the fine adjustment mechanism, the moving mechanism, the intelligent positioning mechanism, the visual sensor and a first driving mechanism for driving the mounting machine body to move along the female track through leads respectively.

Preferably, the bottom ends of the left and right side walls of the U-shaped frame are provided with rail wheels, the rail wheels are driven by a first driving mechanism, and the first driving mechanism comprises a first servo motor;

the first servo motor is electrically connected with the control mechanism through a lead; a first cross beam is connected between the inner surfaces of the left side wall and the right side wall of the U-shaped frame, the front side of the U-shaped frame is set as a material taking area and the rear side of the U-shaped frame is set as an installation area by taking the first cross beam as a boundary; and a channel for the passage of the hoisted road panel is formed between the top end of the first cross beam and the top end of the U-shaped frame.

Preferably, a square opening is formed in the top end of the U-shaped frame, 2 linear sliding rails are symmetrically arranged in the square opening along the central line in the front-back direction, and a guide groove is formed between the 2 linear sliding rails;

the moving mechanism comprises a lead screw arranged in a guide groove, the front end of the lead screw is rotatably connected with the inner surface of the front end of the square opening, the rear end of the lead screw rotatably penetrates through the rear end of the square opening and is fixedly connected with an output shaft of a second servo motor fixedly connected to the top of the rear end of the U-shaped frame, a sliding block is slidably connected in the guide groove, and the sliding block is in threaded connection with the lead screw and is driven by the lead screw to do linear motion along the guide groove;

the lifting device comprises a U-shaped seat which stretches across and is connected to the top ends of the 2 linear sliding rails in a sliding mode, the bottom end of the U-shaped seat is connected with a fixed plate, the top end of the fixed plate is separated from the bottom ends of the 2 linear sliding rails, 4 servo cylinders are longitudinally arranged at the bottom end of the fixed plate, the mounting positions of the servo cylinders are matched with the positions of lifting holes in the top end of the pavement slab, the fixed ends of the servo cylinders are fixedly connected with the fixed plate, and the telescopic ends of the servo cylinders are connected with lifting hooks; the fine adjustment mechanism comprises concentric arc-shaped sliding chutes symmetrically arranged at the left end and the right end of the U-shaped seat;

the groove wall of the arc-shaped sliding groove is of a step-shaped structure and penetrates through the bottom end of the U-shaped seat, an arc-shaped sliding block is connected in the arc-shaped sliding groove in a sliding mode, the bottom end of the arc-shaped sliding block is fixedly connected with the upper surface of the fixing plate, a third servo motor is arranged in the middle of the top end of the U-shaped seat, an output shaft of the third servo motor extends upwards along the longitudinal direction, and L-shaped rods are fixedly connected to the left wall and the right wall of the output shaft;

one end of the horizontal section of the L-shaped rod is fixedly connected with the outer wall of the output shaft, the bottom end of the vertical section is fixedly connected with the top end of the arc-shaped sliding block on the same side, and the fixed plate is driven by a third servo motor to adjust the rotating angle; the second servo motor, the servo cylinder and the third servo motor are respectively and electrically connected with the control mechanism through leads.

Preferably, the feeding car comprises a supporting plate and supporting plates arranged at the left end and the right end of the lower surface of the supporting plate, the supporting plates are connected with the sub-track through walking wheels, the walking wheels drive the supporting plate to move back and forth along the sub-track through the driving of a second driving mechanism, and the second driving mechanism comprises a fourth servo motor;

the top end of the supporting plate is provided with an annular sliding groove, a loading plate is arranged above the annular sliding groove, the bottom end of the loading plate is rotatably connected with the annular sliding groove through an annular sliding block, the bottom end of the supporting plate is also fixedly connected with a fifth servo motor, an output shaft of the fifth servo motor rotatably penetrates through the supporting plate and is fixedly connected with the center of the lower surface of the loading plate, and the top end of the loading plate is provided with a limiting groove for limiting the position of the road panel;

the groove bottom of spacing groove be equipped with pressure sensor, the layer board on still install the controller, fourth servo motor, fifth servo motor and pressure sensor be connected with the controller electricity through the wire respectively, the controller still have hand-held type control panel through cable junction, the controller pass through the wire and be connected with the power electricity.

Preferably, vertical plates are fixedly connected to two sides of the upper surface of the supporting plate, infrared emission devices are arranged at outer side ends of the vertical plates, photoelectric sensors are arranged on the inner surfaces of the U-shaped frames where the material taking areas are located, and the infrared emission devices are matched with the photoelectric sensors for use;

the infrared transmitting device and the photoelectric sensor are respectively electrically connected with the controller and the controller mechanism; a positioning cylinder is embedded in the inner wall of the U-shaped frame where the material taking area is located;

the output end of the positioning cylinder stretches along the inner wall of the U-shaped frame, the outer surface of the side wall of the supporting plate opposite to the output end is provided with a positioning hole, the positioning cylinder is matched with the positioning hole for use, and when the infrared ray emitting device triggers the photoelectric sensor, the positioning cylinder is inserted into the positioning hole through the stretching end to position the feeding car;

the positioning cylinder is electrically connected with the control mechanism through a lead; the controller is in signal connection with the control mechanism through the wireless transmitting module.

Preferably, a second cross beam is fixedly connected to the inner side of the rear end of the U-shaped frame opposite to the first cross beam, a square guide rail is arranged between the first cross beam and the second cross beam, and the square guide rail is fixedly connected with the inner surfaces of the first cross beam, the second cross beam and the side wall of the U-shaped frame respectively.

Preferably, the intelligent positioning mechanism comprises a moving block which is slidably connected to each side edge segment of the square guide rail, the moving block moves back and forth on the side edge segment through a third driving mechanism, and the third driving mechanism comprises a sixth servo motor; an ultrasonic ranging sensor is arranged at one end of the moving block, and a reflecting plate is arranged at the end part of the side edge section opposite to the ultrasonic ranging sensor;

the reflecting plates are matched with the ultrasonic ranging sensor for use, an installation plate is arranged on the end face, facing the inner side of the square guide rail, of the moving block, a seventh servo motor is fixedly connected to one end of the installation plate, an output shaft of the seventh servo motor can rotatably penetrate through the installation plate, a visible light beam emitting device is fixedly connected to the end portion of the output shaft, a light beam emitted by the visible light beam emitting device rotates around the output shaft or is positioned under the control of the seventh servo motor, and 4 reflecting plates are uniformly distributed on the square guide rail;

and the sixth servo motor, the ultrasonic ranging sensor, the seventh servo motor and the visible light beam emitting device are respectively and electrically connected with the control mechanism through leads.

Preferably, the number of the visual sensors is 4, the visual sensors are respectively arranged on the inner surface of the corresponding U-shaped frame right above the square guide rail and are used for monitoring whether the visible light column emitted by one visible light column emitting device is shielded by the road panel; the diameter of the visible light column is matched with the precision of the gap between the road surface plates.

The utility model has the advantages that:

1. the utility model discloses a set up the installation and the pay-off of primary and secondary rail messenger road plate and go on in coordination, needn't return again behind road plate of mounting plate installation and feed to be favorable to improving road plate installation's streamlined operation level, improve the installation effectiveness, road plate mounting plate body can carry out the installation location of polylith road plate in the settlement position moreover, has avoided the loaded down with trivial details operation of removal location repeatedly.

2. The utility model discloses a mounting plate body is equipped with gets material district and installing zone, and wherein the installing zone can carry out automatic accurate location to the mounted position of each road plate through the visible light post according to drawing information, because the installing zone is unmovable during the installation road plate, so can carry out the road plate installation of next installing zone again after the whole installations of road plate of an installing zone finishes, avoided the precision error that frequent removal mounting plate body brought.

3. The utility model discloses a stack pallet can be along sub-track round trip movement, is equipped with the spacing groove on the stack pallet top, conveniently in the quick hoist and mount of guidance tape board, and then the stack pallet sends the guidance tape board to the material district time of getting of mounting plate body, can accomplish hoist and mount of hoisting accessory to the guidance tape board through simple connection to the automation level of guidance tape board installation has effectively been improved.

4. The utility model discloses the intelligent positioning mechanism who sets up mutually supports with visual sensor, can provide whole monitoring information for control mechanism, under the condition that the regulation was controlled through man-machine interaction device in automation or manual work, can effectively improve road surface board's installation effectiveness and installation accuracy.

5. The utility model discloses a set up the inhomogeneous condition of joint seam width or other required circumstances that fine-tuning can lead to railway plate self problem and adjust the installation angle of railway plate, compare current rotation regulation mode, the utility model discloses a rotation is adjusted the precision height, and is efficient.

6. The utility model discloses a servo cylinder lifts by crane the guidance tape, has avoided the defect that traditional hoist cable rocked easily, has ensured to lift by crane perpendicular installation perpendicularly, combines vision sensor's signal simultaneously, can take notes the flexible volume of servo cylinder when with guidance tape installation to ground to indirectly obtain guidance tape's height information, and then can compare the difference in height between the guidance tape, correct error in the installation, avoid repeated rework, guarantee difference in height accords with installation accuracy standard.

Drawings

FIG. 1 is a partial sectional view of the front structure of the present invention;

fig. 2 is a top view of the present invention (the feeding carriage is located outside the material taking area);

FIG. 3 isbase:Sub>A sectional view taken along the direction A-A of the present invention;

FIG. 4 is a sectional view taken along the direction B-B of the present invention;

fig. 5 is a schematic view of a partial structure at the position C of the present invention;

1. a primary rail and a secondary rail; 1-1, a mother track; 1-2, sub-track; 1-3, a base; 2. a U-shaped frame; 3. a servo cylinder; 4. a vision sensor; 5. a hook; 6. hanging a ring; 7. a stud; 8. a third servo motor; 9. an L-shaped rod; 10. positioning the air cylinder; 11. positioning holes; 12. a vertical plate; 13. an infrared emitting device; 14. a photosensor; 15. a stiffening rib plate; 16. a pavement slab; 17. pre-burying a threaded sleeve; 18. loading a plate; 19. an annular chute; 20. a fifth servo motor; 21. an annular slider; 22. a top end of the U-shaped frame; 23. a joist of a linear slide rail; 24. a guide groove; 25. a lead screw; 26. a linear slide rail; 27. a second servo motor; 28. a first cross member; 29. an arc-shaped chute; 30. an arc-shaped sliding block; 31. a U-shaped seat; 32. a fixing plate; 33. a limiting groove; 34. a pallet; 35. a support plate; 36. a material taking area; 37. a mounting area; 38. a square guide rail; 39. a moving block; 40. an ultrasonic ranging sensor; 41. a reflective plate; 42. the mounting area is defined by the positioning frame; 43. a light pillar A; 44. a light pillar B; 45. a light pillar C; 46. a light pillar D; 47. a slider; 48. a second cross member; 49. mounting a plate; 50. a seventh servo motor; 51. a visible light column emitting device.

Detailed Description

In the following, the embodiments of the present invention are described in detail in a stepwise manner, which is merely a preferred embodiment of the present invention and is not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "top", "bottom", "inner", "outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for the purpose of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation and a specific orientation configuration and operation, and thus, should not be construed as limiting the present invention.

Examples 1,

A movable intelligent visual road panel installation device is shown in figures 1-4 and comprises 2 primary and secondary rails 1 which are parallel to each other, wherein each primary and secondary rail 1 comprises a base 1-3, a secondary rail 1-2 arranged on the inner side of the upper end of the base 1-3 and a primary rail 1-1 arranged on the outer side of the upper end of the base, the secondary rail and the primary rail are parallel to each other, a feed carriage is arranged on the 2 secondary rails, an installation machine body is arranged on the 2 primary rails, and the installation machine body comprises an inverted U-shaped frame 2.

The top of U-shaped frame 2 is equipped with hoisting machine and constructs, hoisting machine construct including hoisting accessory, fine-tuning, moving mechanism, be equipped with intelligent positioning mechanism in the rear side of the well lower part in U-shaped frame 2, the top in the U-shaped frame 2 relative with intelligent positioning mechanism is equipped with visual sensor.

The front side in the U-shaped frame is provided with a material taking area, the material taking area is matched with the feeding cart for use, the U-shaped frame 2 is further provided with a control mechanism, the control mechanism is connected with a human-computer interaction device in a wired or wireless mode, and the control mechanism is electrically connected with a power supply and is respectively electrically connected with a lifting device, a fine adjustment mechanism, a moving mechanism, an intelligent positioning mechanism, a visual sensor and a first driving mechanism for driving the mounting machine body to move along a female track through wires.

As shown in fig. 1, the bottom ends of the left and right side walls of the U-shaped frame 2 are provided with rail wheels, the rail wheels are driven by a first driving mechanism, the first driving mechanism includes a first servo motor (not shown), and the first servo motor is electrically connected to the control mechanism through a wire.

The technology for driving the wheels to rotate on the track is the prior content and is not described in detail; as shown in fig. 2 and 3, a first cross beam 28 is connected between the inner surfaces of the left and right side walls of the U-shaped frame 2, the front side of the U-shaped frame is set as a material taking area 36 and the rear side is set as an installation area 37 by taking the first cross beam 28 as a boundary; a channel for the passage of the hoisted pavement slab 16 is formed between the top end of the first cross beam 28 and the inner surface of the top end of the U-shaped frame.

As shown in fig. 2 and 4, a square opening is formed at the top end 22 of the U-shaped frame, 2 linear slide rails 26 are symmetrically arranged in the square opening along the central line in the front-back direction, and a guide groove 24 is formed between the 2 linear slide rails 26; the moving mechanism comprises a lead screw 25 arranged in a guide groove 24, the front end of the lead screw 25 is rotatably connected with the inner surface of the front end of the square opening, the rear end of the lead screw rotatably penetrates through the rear end of the square opening and is fixedly connected with an output shaft of a second servo motor 27 fixedly connected to the top of the rear end of the U-shaped frame, a sliding block 47 is connected in the guide groove in a sliding mode, and the sliding block 47 is in threaded connection with the lead screw and is driven by the lead screw to move linearly along the guide groove 24.

Hoisting accessory is including crossing and sliding connection in the U-shaped seat 31 on 2 linear slide rail 26 tops, the bottom of U-shaped seat 31 be connected with fixed plate 32, the top of fixed plate 32 break away from with 2 linear slide rail's bottom, the bottom of fixed plate along vertically being equipped with 4 servo jar 3, the mounted position of servo jar 3 match with the lewis hole position on road surface board top, servo jar stiff end and fixed plate fixed connection, flexible end is connected with the lifting hook.

Fine-tuning 29 including the symmetry locate the concentric arc spout of U-shaped seat 31 left and right ends, the cell wall of arc spout for the notch cuttype structure and link up the bottom of U-shaped seat 31, sliding connection has arc slider 30 in the arc spout, arc slider 30's bottom pass through connecting rod and fixed plate fixed connection, be located the top middle part of U-shaped seat 31 and be equipped with third servo motor 8, third servo motor 8's output shaft along vertically upwards extending to wall fixedly connected with L shape pole 9 about the output shaft.

One end of the horizontal section of the L-shaped rod 9 is fixedly connected with the outer wall of the output shaft, the bottom end of the vertical section is fixedly connected with the top end of the arc-shaped sliding block on the same side, and the fixed plate is driven by a third servo motor to adjust the rotating angle; the second servo motor 27, the servo cylinder 3 and the third servo motor 8 are electrically connected with the control mechanism through wires respectively.

As shown in fig. 1 and 2, the feeding cart comprises a supporting plate 34 and supporting plates 35 arranged at the left end and the right end of the lower surface of the supporting plate, the supporting plates 35 are connected with the sub-rail through traveling wheels, the traveling wheels drive the supporting plate to move back and forth along the sub-rail through the driving of a second driving mechanism, and the second driving mechanism comprises a fourth servo motor (not shown in the figure).

The top end of the supporting plate 34 is provided with an annular chute 19 (a cross section in fig. 1), a loading plate 18 is arranged above the annular chute, the bottom end of the loading plate 18 is rotatably connected with the annular chute 19 through an annular slide block 21, the bottom end of the supporting plate 34 is also fixedly connected with a fifth servo motor 20, an output shaft of the fifth servo motor rotatably penetrates through the supporting plate 34 and is fixedly connected with the center of the lower surface of the loading plate, and the top end of the loading plate 18 is provided with a limiting groove 33 for limiting the position of the pavement slab 16.

The groove bottom of spacing groove be equipped with pressure sensor, the layer board on still install the controller, fifth servo motor and pressure sensor be connected with the controller electricity through the wire respectively, the controller still have hand-held type control panel through cable connection, the controller pass through the wire and be connected with the power electricity. Spacing groove in-service use should slightly be greater than the pavement slab size, avoids mutual interference and wearing and tearing, and through the spacing to the pavement slab, can make the stack pallet reach get to hoist the pavement slab to the construction position fast through simple connection after the material district.

As shown in fig. 1, two sides of the upper surface of the pallet are fixedly connected with risers 12, the outer side ends of the risers 12 are provided with infrared emission devices 13, the inner surface of the U-shaped frame where the material taking area 36 is located is provided with a photoelectric sensor 14, and the infrared emission devices are matched with the photoelectric sensor for use; the infrared emitting device and the photoelectric sensor are respectively electrically connected with the controller and the controller mechanism.

The inner wall of the U-shaped frame where the material taking area 36 is located is embedded with a positioning cylinder 10, the output end of the positioning cylinder 10 stretches along the inner wall of the U-shaped frame, the outer surface of the side wall of the supporting plate, opposite to the output end, is provided with a positioning hole 11, the positioning cylinder 10 is matched with the positioning hole 11 for use, and when the infrared ray emitting device 13 triggers the photoelectric sensor 14, the positioning cylinder 10 is inserted into the positioning hole 11 through the stretching end to position the feeding car.

The positioning cylinder 10 is electrically connected with the control mechanism through a lead; the controller is in signal connection with the control mechanism through the wireless transmitting module. When getting the material, be in the same place the stack pallet with mounting plate body is fixed, can ensure to get the positioning accuracy of material in-process to it is more smooth and easy to make automated operation. When the road panel is lifted, the pressure sensor sends a signal, and the controller can control the material taking vehicle to return to take materials. When the material taking vehicle needs to return to take materials, wireless signals can be sent to the control mechanism, and the control mechanism withdraws the positioning cylinder. Alternatively, the control mechanism may retract the positioning cylinder after the servo cylinder is actuated.

As shown in fig. 3 and 5, a second cross beam 48 is fixedly connected to the inner side of the rear end of the U-shaped frame 2 opposite to the first cross beam 28, a square guide rail 38 (a square structure surrounded by 4 linear guide rails) is arranged between the first cross beam 28 and the second cross beam 48, and the square guide rail 38 is fixedly connected to the first cross beam 28, the second cross beam 48 and the inner surface of the side wall of the U-shaped frame 2.

The intelligent positioning mechanism comprises a moving block 39 slidably connected to each side segment of the square guide rail, the moving block 39 moves back and forth on the side segment through a third driving mechanism (the implementation manner is various, for example, the utility model discloses a manner that the slider moves back and forth along the lead screw, or the moving block is driven by the motor through the arrangement of the rack to move, which is not repeated because of the existing content), and the third driving mechanism comprises a sixth servo motor (not shown in the figure); an ultrasonic distance measuring sensor 40 is provided at one end of the moving block 39, and a reflecting plate 41 is provided at the end of the side segment opposite to the ultrasonic distance measuring sensor 40.

The reflecting plates are matched with the ultrasonic ranging sensor for use, an installation plate 49 is arranged on the end face, facing the inner side of the square guide rail, of the moving block 39, a seventh servo motor 50 is fixedly connected to one end of the installation plate 49, an output shaft of the seventh servo motor 50 rotatably penetrates through the installation plate, a visible light column emitting device 51 is fixedly connected to the end portion of the output shaft, a light column emitted by the visible light column emitting device 51 rotates or is positioned around the output shaft under the control of the seventh servo motor 50, the 4 reflecting plates 41 are uniformly distributed on the square guide rail, and the sixth servo motor, the ultrasonic ranging sensor 40, the seventh servo motor 50 and the visible light column emitting device 51 are respectively and electrically connected with a control mechanism through conducting wires.

As shown in fig. 1, there are 4 visual sensors, which are respectively disposed on the inner surface of the corresponding U-shaped frame right above the square guide rail and are respectively used for monitoring whether the visible light beam emitted by one of the visible light beam emitting devices is blocked by the road surface plate; the diameter of the visible light beam is matched to the accuracy of the gap between the pavement slabs 16. The visible light beam emitting device can be a laser pen, an infrared light emitter and the like.

The principle of use of this example is described in examples 2 and 3.

Examples 2,

On the basis of embodiment 1, the present embodiment further discloses:

the content of the mobile intelligent visual road panel installation equipment, as shown in fig. 1-5, includes the following:

(1) Installing a track on the foundation of the pavement slab according to a design drawing, and ensuring that the upper end of the track is kept horizontal and 2 primary and secondary tracks are parallel to each other;

(2) The mounting machine body is moved to a specified construction position along the main track through the control mechanism, and the feeding car is moved to a material storage position of the pavement panel along the sub track through the controller;

(3) The pavement slab is horizontally lifted to be right above a supporting plate of the feeding car through the crane, an operator controls the loading plate to rotate through the handheld control panel, the limiting groove is aligned with the lower end of the pavement slab, and the pavement slab is placed into the limiting groove through the crane;

(4) The feeding trolley runs into the material taking area 36 of the mounting machine body along the sub-track under the manual or automatic control of the controller, and when the infrared emission device triggers the photoelectric sensor, the positioning cylinder fixes and positions the feeding trolley and the mounting machine body into a whole;

(5) The control mechanism controls the second servo motor to rotate, the lifting device is moved to a set position of the material taking area, an operator connects a lifting hook at the telescopic end of the servo cylinder with a lifting connecting piece at the top end of the road panel, and a road panel installation program is started through the man-machine interaction device;

(6) The lifting device pulls the road panel to pass through the channel and reach the installation area, and the control mechanism controls the lifting device to reach the installation position according to the pre-input drawing information; meanwhile, the positioning cylinder is retracted, the pressure sensor sends a signal to the controller, and the feeding car returns to the charging position under the control of the controller;

(7) The control mechanism controls the 4 moving blocks to move to the specified positions by controlling the sixth servo motor, the visible light column emitting devices on the 4 moving blocks simultaneously emit visible light columns to form a positioning frame for installing the pavement slab, and the control mechanism finely adjusts the position of the hoisting device through the indication of the positioning frame to enable the pavement slab to be vertically opposite to the positioning frame; in an initial state, 4 visible light columns are emitted horizontally, and a positioning frame formed by enclosing the 4 visible light columns limits a vertically downward mounting area of the road panel; when the road panel moves downwards along the positioning frame under the driving of the servo cylinder, the 4 visible light columns incline downwards under the driving of the seventh servo motor respectively, and the side surface of each road panel is limited under the prompting of one visible light column all the time; in the process, the control mechanism judges whether the pavement slab is limited in an area enclosed by 4 visible light columns or not according to the visual information of each visual sensor, if so, the pavement slab is continuously lowered, and if not, the position of the pavement slab is continuously finely adjusted until 4 side surfaces of the pavement slab are positioned by the 4 visible light columns;

(8) After the pavement slab is installed on the foundation, the control mechanism records the telescopic length of the servo cylinder so as to compare the height of the top end of the subsequently installed pavement slab;

(9) Repeating the steps (3) to (7), installing each road panel according to drawing information, and prompting an operator to perform manual detection through a human-computer interaction device when the control mechanism detects that the difference between the height of the top end of a certain road panel and the set height or the height of the adjacent road panel exceeds a certain limit so as to enable the height difference between the road panels to accord with the installation precision;

(10) And after all the pavement panels in the installation area are installed, the control mechanism controls the installation machine body to move backwards for a set distance to install the next batch of pavement panels.

Examples 3,

On the basis of embodiment 2, this embodiment further discloses:

as shown in fig. 1-5, in step (7), when the vision sensor detects that the widths of the gaps between the adjacent 2 track panels are obviously uneven, the control mechanism drives the fixing plate to rotate through the third servo motor to perform fine adjustment on the installation position of the track panel.

Claims (8)

1. The utility model provides a visual guidance tape erection equipment of portable intelligence which characterized in that: the device comprises 2 primary and secondary rails which are parallel to each other, wherein each primary and secondary rail comprises a base, a primary rail and a secondary rail, wherein the primary rail is arranged on the inner side of the upper end of the base;

the sub-tracks and the main track are parallel to each other, the feeding trolley is arranged on the 2 sub-tracks, and the mounting machine body is arranged on the 2 main tracks;

the mounting machine body comprises an inverted U-shaped frame, a hoisting mechanism is arranged at the top end of the U-shaped frame and comprises a hoisting device, a fine adjustment mechanism and a moving mechanism, an intelligent positioning mechanism is arranged on the rear side of the middle lower part in the U-shaped frame, a visual sensor is arranged at the top in the U-shaped frame opposite to the intelligent positioning mechanism, and a material taking area is arranged on the front side in the U-shaped frame;

the material taking area is matched with the feeding trolley for use, the U-shaped frame is also provided with a control mechanism, and the control mechanism is connected with a human-computer interaction device in a wired or wireless mode;

the control mechanism is electrically connected with the power supply and is electrically connected with the lifting device, the fine adjustment mechanism, the moving mechanism, the intelligent positioning mechanism, the visual sensor and a first driving mechanism for driving the mounting machine body to move along the female track through leads respectively.

2. A mobile intelligent visual pavement slab mounting apparatus according to claim 1, wherein: the bottom ends of the left side wall and the right side wall of the U-shaped frame are provided with track wheels, the track wheels are driven by a first driving mechanism, and the first driving mechanism comprises a first servo motor;

the first servo motor is electrically connected with the control mechanism through a lead; a first cross beam is connected between the inner surfaces of the left side wall and the right side wall of the U-shaped frame, the front side of the U-shaped frame is set as a material taking area and the rear side of the U-shaped frame is set as an installation area by taking the first cross beam as a boundary; and a channel for the passage of the hoisted road panel is formed between the top end of the first cross beam and the top end of the U-shaped frame.

3. A mobile intelligent visual pavement slab mounting apparatus according to claim 2, wherein: the top end of the U-shaped frame is provided with a square opening, 2 linear sliding rails are symmetrically arranged in the square opening along the central line in the front-back direction, and a guide groove is arranged between the 2 linear sliding rails;

the moving mechanism comprises a lead screw arranged in a guide groove, the front end of the lead screw is rotatably connected with the inner surface of the front end of the square opening, the rear end of the lead screw rotatably penetrates through the rear end of the square opening and is fixedly connected with an output shaft of a second servo motor fixedly connected to the top of the rear end of the U-shaped frame, a sliding block is slidably connected in the guide groove, and the sliding block is in threaded connection with the lead screw and is driven by the lead screw to do linear motion along the guide groove;

the lifting device comprises a U-shaped seat which stretches across and is connected to the top ends of 2 linear sliding rails in a sliding mode, the bottom end of the U-shaped seat is connected with a fixed plate, the top end of the fixed plate is separated from the bottom ends of the 2 linear sliding rails, 4 servo cylinders are longitudinally arranged at the bottom end of the fixed plate, the mounting positions of the servo cylinders are matched with the positions of lifting holes in the top end of the pavement slab, the fixed ends of the servo cylinders are fixedly connected with the fixed plate, and the telescopic ends of the servo cylinders are connected with lifting hooks; the fine adjustment mechanism comprises concentric arc-shaped sliding chutes symmetrically arranged at the left end and the right end of the U-shaped seat;

the groove wall of the arc-shaped sliding groove is of a step-shaped structure and penetrates through the bottom end of the U-shaped seat, an arc-shaped sliding block is connected in the arc-shaped sliding groove in a sliding mode, the bottom end of the arc-shaped sliding block is fixedly connected with the upper surface of the fixing plate, a third servo motor is arranged in the middle of the top end of the U-shaped seat, an output shaft of the third servo motor extends upwards along the longitudinal direction, and L-shaped rods are fixedly connected to the left wall and the right wall of the output shaft;

one end of the horizontal section of the L-shaped rod is fixedly connected with the outer wall of the output shaft, the bottom end of the vertical section is fixedly connected with the top end of the arc-shaped sliding block on the same side, and the fixed plate is driven by a third servo motor to adjust the rotating angle; the second servo motor, the servo cylinder and the third servo motor are respectively and electrically connected with the control mechanism through leads.

4. A mobile intelligent visual pavement slab mounting apparatus according to claim 3, wherein: the feeding car comprises a supporting plate and supporting plates arranged at the left end and the right end of the lower surface of the supporting plate, the supporting plates are connected with the sub-tracks through traveling wheels, the traveling wheels drive the supporting plate to move back and forth along the sub-tracks through the driving of a second driving mechanism, and the second driving mechanism comprises a fourth servo motor;

the top end of the supporting plate is provided with an annular sliding groove, a loading plate is arranged above the annular sliding groove, the bottom end of the loading plate is rotatably connected with the annular sliding groove through an annular sliding block, the bottom end of the supporting plate is also fixedly connected with a fifth servo motor, an output shaft of the fifth servo motor rotatably penetrates through the supporting plate and is fixedly connected with the center of the lower surface of the loading plate, and the top end of the loading plate is provided with a limiting groove for limiting the position of the road panel;

the groove bottom of spacing groove be equipped with pressure sensor, the layer board on still install the controller, fourth servo motor, fifth servo motor and pressure sensor be connected with the controller electricity through the wire respectively, the controller still have hand-held type control panel through cable junction, the controller pass through the wire and be connected with the power electricity.

5. The mobile intelligent visual pavement slab installation apparatus of claim 4, wherein: vertical plates are fixedly connected to two sides of the upper surface of the supporting plate, infrared emission devices are arranged at the outer side ends of the vertical plates, photoelectric sensors are arranged on the inner surfaces of the U-shaped frames where the material taking areas are located, and the infrared emission devices are matched with the photoelectric sensors for use;

the infrared transmitting device and the photoelectric sensor are respectively and electrically connected with the controller and the controller mechanism; a positioning cylinder is embedded in the inner wall of the U-shaped frame where the material taking area is located;

the output end of the positioning cylinder stretches along the inner wall of the U-shaped frame, the outer surface of the side wall of the supporting plate opposite to the output end is provided with a positioning hole, the positioning cylinder is matched with the positioning hole for use, and when the infrared ray emitting device triggers the photoelectric sensor, the positioning cylinder is inserted into the positioning hole through the stretching end to position the feeding car;

the positioning cylinder is electrically connected with the control mechanism through a lead; the controller is in signal connection with the control mechanism through the wireless transmitting module.

6. The mobile intelligent visual pavement slab installation apparatus of claim 5, wherein: the inner side of the rear end of the U-shaped frame opposite to the first cross beam is fixedly connected with a second cross beam, a square guide rail is arranged between the first cross beam and the second cross beam, and the square guide rail is fixedly connected with the inner surfaces of the first cross beam, the second cross beam and the side wall of the U-shaped frame respectively.

7. A mobile intelligent visual pavement slab installation apparatus, as recited in claim 6, wherein: the intelligent positioning mechanism comprises a moving block which is connected to each side edge section of the square guide rail in a sliding mode, the moving block moves back and forth on the side edge sections through a third driving mechanism, and the third driving mechanism comprises a sixth servo motor; an ultrasonic ranging sensor is arranged at one end of the moving block, and a reflecting plate is arranged at the end part of the side edge section opposite to the ultrasonic ranging sensor;

the reflecting plates are matched with the ultrasonic ranging sensor for use, an installation plate is arranged on the end face, facing the inner side of the square guide rail, of the moving block, a seventh servo motor is fixedly connected to one end of the installation plate, an output shaft of the seventh servo motor can rotatably penetrate through the installation plate, a visible light beam emitting device is fixedly connected to the end portion of the output shaft, a light beam emitted by the visible light beam emitting device rotates around the output shaft or is positioned under the control of the seventh servo motor, and 4 reflecting plates are uniformly distributed on the square guide rail;

and the sixth servo motor, the ultrasonic ranging sensor, the seventh servo motor and the visible light column transmitting device are respectively and electrically connected with the control mechanism through leads.

8. A mobile intelligent visual pavement slab mounting apparatus according to claim 7, wherein: the number of the visual sensors is 4, the visual sensors are respectively arranged on the inner surface of the corresponding U-shaped frame right above the square guide rail and are used for monitoring whether the visible light column emitted by one visible light column emitting device is shielded by the road panel; the diameter of the visible light column is matched with the precision of the gap between the road panels.

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