CN217998985U - Four-axis positioning intelligent tensioning robot - Google Patents

Abstract

A four-axis positioning intelligent tensioning robot comprises an XYZA four-axis positioning control system consisting of an X moving mechanism, a Y moving mechanism, a Z moving mechanism and a rotating mechanism A which are arranged on a traveling system platform, wherein a laser range finder is fixed on a jack component and 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 jump change of the laser displacement value. The automatic tensioning device has the advantages that the automatic alignment, the automatic steel strand threading, the automatic tensioning and the one-time completion of the 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

Four-axis positioning intelligent tensioning robot

Technical Field

The utility model relates to a stretch-draw technical field of prestressing force construction, specifically speaking relates to a four-axis location intelligence stretch-draw 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

An object of the utility model is to provide a can be to the operating mode of different roof beams, realize automatic alignment, automatic steel strand wires, automatic stretch-draw, once only accomplish the four-axis location intelligence stretch-draw robot of the stretch-draw work of whole roof beam.

The utility model discloses a technical scheme is:

a four-axis positioning intelligent tensioning robot comprises an XYZA four-axis positioning control system consisting of an X moving mechanism, a Y moving mechanism, a Z moving mechanism and a rotating mechanism A, wherein the X moving mechanism, the Y moving mechanism, the Z moving mechanism and the rotating mechanism A are arranged on a traveling system platform and move along with the traveling system; the jack assembly is connected to the four-axis positioning control system, a laser range finder is fixed on the jack assembly, the laser range finder is used for measuring distance data between the jack assembly and a bridge and data of a limiting plate, the data are input into the XYZA four-axis positioning control system, and the XYZA four-axis positioning control system is used for controlling the jack assembly to align at a position of a hole to be tensioned and sending the jack into the hole to be tensioned; the walking system platform is provided with a tensioning system and a control system; the rotating mechanism A adopts a structure that a Y-axis guide rail is hinged with a rotating lifting frame pin to realize the rotation of the rotating lifting frame; the top mounting bracket extending out of the rotary 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 rotary lifting frame fixes the pressure head assembly through the top mounting support, the lower end of the pressure head assembly is in contact with the rear end of the jack assembly and offsets with the gravity of the front end of the jack assembly, and the jack assembly is maintained to be balanced.

Preferably, the laser range finder is mounted outside the jack assembly.

As a preferred scheme, the tensioning system comprises an oil tank and a hydraulic pump station.

Preferably, the laser rangefinder is mounted on a piston of the jack assembly.

As an optimal scheme, a mounting support is fixed on a piston of a jack assembly, a steering engine is fixed on the mounting support, a laser range finder is fixedly connected with an output shaft of the steering engine, and the steering engine drives the laser range finder to rotate around the circle center of the jack.

Preferably, the upper end of a spring in the spring assembly abuts against the upper end of the rod end joint bearing, the lower end of the spring abuts against the mounting bracket, and the rod end joint bearing penetrates through the inner diameter of the spring and penetrates through the mounting bracket to extend downwards.

As the preferred scheme, the pressure head assembly comprises a screw rod, the screw rod is connected with the top mounting support through a threaded structure, an arc-shaped contact block is arranged at the lower end of the screw rod, and the arc-shaped contact block is in contact with the outer circle of the jack assembly.

The utility model has the advantages that: the automatic beam tensioning device can achieve 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 fig. 1-4 are control schematic block diagrams of the present invention.

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

Fig. 3 is a structural diagram of a first embodiment of the 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 diagram of the movement of the XYZA four-axis positioning control system.

Fig. 6 is a front view of fig. 5.

Fig. 7 is a right side view of fig. 6.

Fig. 8 is a schematic diagram of the coordinates of the rough positioning tension holes of the beam 31.

Fig. 9 is a schematic diagram of the laser range finder spot measurement being located at the lower right of the limiting plate.

Fig. 10 is a schematic diagram of the position-limiting plate measured by the laser range finder in the position of fig. 9.

Fig. 11 is a schematic view of goniometry.

Fig. 12 is a schematic diagram of the relative distance determination in the coarse positioning step of the four-axis positioning system.

Fig. 13 is a schematic diagram of the laser rangefinder mounted to the jack assembly piston.

Fig. 14 is a front view of the laser rangefinder of fig. 13 in operation.

Fig. 15 is a front view of the laser rangefinder of fig. 13 shown out of operation.

Fig. 16 is a schematic view of the steel strand being tensioned to its longest state.

The parts of the drawings are detailed as follows: 1. a traveling system, 2, X, Y, Z and A four-axis positioning systems, 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 top mounting bracket, 11, a jack assembly, 12, a rotating lifting frame pin, 102, a spring assembly, 103, a pressure head assembly, 104, a first rod end joint bearing, 22, a Z axis moving base, 23, an X axis guide rail, 24, an X axis moving base, 25, a Z axis servo motor and reducer, 26, a Z axis rack, 27, a Z axis driving gear, 28, an X axis servo motor and 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 limit plate, 31, a bridge, 32, a jack, 33, a mounting bracket, 34, a steering engine, 35, a steel wire twisting tool assembly, 36 and an anchor assembly,

B. a laser point initial position point and an angle measurement second position point, C, a limit plate edge position coordinate 1, D, a limit plate edge position coordinate 2, E, a limit plate edge position coordinate 3, F and an angle measurement first position point.

Detailed Description

The invention will be further elucidated and described with reference to a specific embodiment and a drawing of the description, in which:

the utility model discloses a four-axis positioning intelligent tensioning robot, which comprises an XYZA four-axis positioning control system (as shown in figures 5,6 and 7) consisting of an X, Y, Z moving mechanism and a rotating mechanism A, 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, the tensioning system comprises an oil tank and a hydraulic pump station, and the control system comprises a PLC control center or a computer control center so as to form a whole; the jack assembly 11 is connected to a four-axis positioning control system, the laser range finder 5 is fixed on the jack assembly 11, the laser range finder 5 is used for measuring distance data between the jack 32 and the bridge 31 and data of the 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 to a hole to be tensioned and sending the jack 32 into the hole to be tensioned.

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. 13, 14, 15 and 16, a mounting bracket 33 is fixed on a piston of a jack assembly, 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 drives the laser range finder 5 to rotate outwards from the center of the piston of the jack assembly, 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 center detection are performed; 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, and when the steel strand 35 is pulled to the longest length, the laser range finder cannot interfere with the steel strand, so that 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 outer part, a protection device is required to be added, and the laser range finder is placed at the inner part without worrying about collision.

The structure of the rotating mechanism A is as follows:

as shown in fig. 3 and 4, the lifting device comprises a transverse moving base 6, an electric cylinder rotating pin 7, an electric cylinder assembly 8, a rotating lifting frame 9, a top mounting bracket 10, a jack assembly 11 and a rotating lifting frame pin 12, wherein the rotating mechanism A adopts a structure that the rotating lifting frame 9 of a Y-axis guide rail is hinged with the rotating lifting frame pin 12 to realize the rotation of the rotating lifting frame; 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 10 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 a jack assembly 11; the rotary lifting frame 9 fixes the pressure head assembly 103 through the top mounting bracket 10, the lower end of the pressure head assembly 103 is contacted with the rear end of the jack assembly 11 and offsets 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 upper end of a spring in the spring assembly 102 is propped against the upper end of the rod end joint bearing 104, the lower end of the spring is propped against the mounting bracket 10, and the rod end joint bearing 104 penetrates through the inner diameter of the spring and penetrates through the mounting bracket 10 to extend downwards; the spring assembly 102 is fixed on the jack mounting bracket, the pretightening force is slightly larger than the weight of the lower-end jack assembly, the position of the gravity center of the jack assembly is close to the front end, the pressure head assembly 103 is contacted with the rear end of the jack assembly 11, the pressure head assembly 103 comprises a screw rod, the screw rod is connected with the jack mounting bracket 10 through a thread structure, an arc-shaped contact block is arranged at the lower end of the screw rod, and the arc-shaped contact block is contacted with the excircle of the jack assembly 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.

Referring to fig. 2, the utility model discloses install X, Y, Z, A four-axis positioning system 2, stretch-draw system 3, control system 4 on traveling system 1's platform, form an independent construction equipment to the convenience removes the construction position with the robot.

Referring to fig. 5,6 and 7, 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 and 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 214, the Y-axis servo motor, and the electric cylinder 215 constitute a Y-axis driving unit.

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 whole control principle block diagram of the utility model is formed by combining the figures 1-1 to 1-4 in sequence.

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 by the laser displacement sensors on the left side and the right side of the four-axis positioning system to be equal, 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 four-axis positioning intelligent tensioning robot system is kept in a relatively static state relative to the tensioning beam.

When the intelligent tensioning jack automatically penetrates into the tensioning hole, firstly 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, measuring relative distances L1 and L2 between the two ends of the beam and the beam by using a laser range finder, and ensuring that L1-L2 | is less than or equal to 5mm; see fig. 12; and then positioning the beam hole by a four-axis positioning system: 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. 8, 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, automatically obtaining the coordinates of the remaining holes, and using the same method for positioning the right hole as the left hole; the XYZA four-axis positioning control system is then operated as follows.

1. Moving the light spot of the laser displacement sensor to the lower right of the limiting plate by using the hand-held remote controller, as shown in fig. 9;

2. the touch screen of the four-axis positioning control system is operated to read and store the current servo coordinate of the four-axis positioning control system, as shown in fig. 8;

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 'upper hole' or 'lower hole' of the XYZA four-axis positioning system to select the hole to be tensioned.

5. The XYZA four-axis positioning system automatically measures the angle of the limiting plate through a laser displacement sensor, as shown in FIG. 11.

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 to perform 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.

It should be finally noted that the above embodiments are only intended to illustrate the technical solutions of the present invention, and not to limit the scope of the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present invention can be modified or replaced with equivalents without departing from the spirit and scope of the technical solutions of the present invention.

Claims (7)

1. The utility model provides a four-axis location intelligence tensioning robot, includes the XYZA four-axis positioning control system that X, Y, Z moving mechanism, slewing mechanism A constitute, its characterized in that: the X, Y and Z moving mechanisms 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, a laser range finder is fixed on the jack assembly, the laser range finder is used for measuring distance data between the jack assembly and a bridge and data of a limiting plate, the data are input into the XYZA four-axis positioning control system, and the XYZA four-axis positioning control system is used for controlling the jack assembly to align at a position of a hole to be tensioned and sending the jack into the hole to be tensioned; the walking system platform is provided with a tensioning system and a control system; the rotating mechanism A adopts a structure that a Y-axis guide rail is hinged with a rotating lifting frame pin to realize the rotation of the rotating lifting frame; the top mounting bracket extending out of the rotary lifting frame is provided with a rod end joint bearing supported by spring force of a spring assembly, and the swinging end of the rod end joint bearing is connected with a jack assembly; the rotary lifting frame fixes the pressure head assembly through the top mounting bracket, the lower end of the pressure head assembly is contacted with the rear end of the jack assembly and is offset with the gravity of the front end of the jack, and the jack assembly is maintained to be balanced.

2. The four-axis positioning intelligent tensioning robot of claim 1, characterized in that: the laser range finder is arranged outside the jack assembly.

3. The four-axis positioning intelligent tensioning robot of claim 1, characterized in that: the tensioning system comprises an oil tank and a hydraulic pump station.

4. The four-axis positioning intelligent tensioning robot of claim 1, characterized in that: the laser range finder is mounted on a piston of the jack assembly.

5. The four-axis positioning intelligent tensioning robot of claim 4, wherein: a mounting support is fixed on a piston of the jack assembly, a steering engine is fixed on the mounting support, a laser range finder is fixedly connected with an output shaft of the steering engine, and the steering engine drives the laser range finder to rotate outwards from the center of the jack.

6. The four-axis positioning intelligent tensioning robot of claim 1, characterized in that: the upper end of a spring in the spring assembly props against the upper end of the rod end joint bearing, the lower end of the spring props against the mounting support, and the rod end joint bearing penetrates through the inner diameter of the spring and penetrates through the mounting support to extend downwards.

7. The four-axis positioning intelligent tensioning robot of claim 1, characterized in that: the pressure head assembly comprises a screw rod, the screw rod is connected with the top mounting support through a threaded structure, an arc contact block is arranged at the lower end of the screw rod, and the arc contact block is in contact with the outer circle of the jack assembly.

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