CN219451572U - Automatic measurement equipment for verticality of clamping type vertical prefabricated component - Google Patents
Automatic measurement equipment for verticality of clamping type vertical prefabricated component Download PDFInfo
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- CN219451572U CN219451572U CN202320430476.3U CN202320430476U CN219451572U CN 219451572 U CN219451572 U CN 219451572U CN 202320430476 U CN202320430476 U CN 202320430476U CN 219451572 U CN219451572 U CN 219451572U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The utility model discloses automatic measurement equipment for verticality of a clamping type vertical prefabricated part, which is arranged on a telescopic auxiliary arm of a mechanical arm and comprises a clamp and a rotary leveling mechanism for driving the clamp, wherein the clamp comprises a speed reducing motor, a clamping gear set, a parallelogram mechanism and a clamping plate; the quantity of parallelogram mechanism is two sets of and symmetry setting, and parallelogram mechanism includes first bull stick, second bull stick and centre gripping gag lever post, and the one end and the drive gear coaxial fixed of first bull stick, the other end are articulated mutually with the upper end of centre gripping gag lever post, and the one end and the encapsulation casing of second bull stick are articulated mutually, and the other end is articulated mutually with the middle part of centre gripping gag lever post. The utility model has the advantages that: the vertical prefabricated member can be automatically installed in a clamping mode and the verticality is measured, and the construction efficiency is high.
Description
Technical Field
The utility model relates to the technical field of prefabricated part assembly, in particular to automatic measurement equipment for verticality of a clamping type vertical prefabricated part.
Background
At present, in the installation process of vertical prefabricated components, all the prefabricated components are basically measured by using tools such as a worker holding a line, a guiding ruler, a tape measure and the like to measure the verticality of the components.
The perpendicularity of the vertical prefabricated component is measured manually, and the main construction process sequence is as follows: hanging the vertical prefabricated part from a stacking point to an installation operation surface, butt-installing the vertical prefabricated part and a reserved steel bar, installing a diagonal brace member fixing member, placing a line drop on the top surface of the prefabricated part, manually measuring the distance from the upper point to the lower point of the prefabricated part to the line drop by using a tape measure, adjusting the perpendicularity of the prefabricated part according to measurement settlement, placing the line drop again after adjustment is completed, measuring the distance from the last 2 points of the prefabricated part to the line drop again, rechecking the perpendicularity, and adjusting the perpendicularity until the perpendicularity is completed.
The working flow has the advantages that the labor intensity of workers is high, and tools for measuring verticality are easy to deviate due to the interference of environment and human factors, so that the installation quality of the vertical prefabricated components cannot meet the design requirement. The wall body at the elevator shaft and the stair opening part is narrow in working space, inconvenient to operate and high in working danger when being used for measuring verticality.
Disclosure of Invention
According to the defects of the prior art, the utility model provides automatic measuring equipment for the verticality of a clamping type vertical prefabricated part, which realizes automatic clamping of the vertical prefabricated part by adopting a clamp with a clamping gear set, monitors the clamping force and the verticality of the vertical prefabricated part by adopting a force sensor and an angle sensor, and adjusts by a rotary leveling mechanism.
The utility model is realized by the following technical scheme:
the automatic measurement equipment for the verticality of the clamping type vertical prefabricated component is arranged on a telescopic auxiliary arm of a mechanical arm and is characterized by comprising a clamp and a rotary leveling mechanism for driving the clamp, wherein the clamp comprises a speed reduction motor, a clamping gear set, a parallelogram mechanism and a clamping plate, the clamping gear set comprises a driving gear, two transmission gears and a packaging shell, the output end of the speed reduction motor is connected with and drives the driving gear to rotate, the driving gear is meshed with and drives any one of the two transmission gears, and the two transmission gears are meshed with each other for transmission; the quantity of parallelogram mechanism is two sets of and symmetry setting, parallelogram mechanism includes first bull stick, second bull stick and centre gripping gag lever post, the one end of first bull stick with drive gear coaxial fixed, the other end with the upper end of centre gripping gag lever post articulates mutually, the one end of second bull stick with encapsulation casing articulates mutually, the other end with the middle part of centre gripping gag lever post articulates mutually, the lower tip of centre gripping gag lever post is provided with splint.
The gear motor comprises a clamping motor and a speed reducer which are connected with each other.
The packaging shell comprises two side plates which are vertically arranged in parallel, the gear motor is fixedly arranged on the outer wall surface of one side plate, the clamping gear set is arranged in the space enclosed by the two side plates, two ends of a rotating shaft of the transmission gear are arranged in bearings arranged on the side plates, and the output end of the gear motor penetrates through the side plates and drives the driving gear to rotate.
The first rotating rod and the rotating rod are identical in length and are arranged in parallel.
The clamping plate is provided with an angle sensor, the clamping plate is hinged with the lower end part of the clamping limiting rod through a rotating shaft, and a force sensor is arranged at the position of the rotating shaft.
The rotary leveling mechanism comprises a mounting platform, a horizontal adjustment servo speed reducing motor and a rotary servo speed reducing motor, wherein the horizontal adjustment servo speed reducing motor comprises a first speed reducer and a horizontal adjustment servo motor for driving the first speed reducer, a shell of the first speed reducer is fixed on a telescopic auxiliary arm of the mechanical arm, and the output end of the first speed reducer drives the mounting platform to adjust the horizontal angle; the rotary servo speed reducing motor comprises a second speed reducer and a rotary servo motor for driving the second speed reducer, a shell of the second speed reducer is fixedly connected with the mounting platform, and the output end of the second speed reducer is fixedly connected with the packaging shell in the clamp gear set.
The utility model has the advantages that:
(1) The automatic equipment is adopted, so that the service time of the operation team on the tower crane can be reduced, the service efficiency of the tower crane is improved, meanwhile, the measurement of the perpendicularity is replaced by manpower, at least 2 labors can be liberated for the hoisting team, and the labor construction cost is reduced;
(2) The automatic measurement system for the vertical prefabricated part installation verticality correction is more optimized, the angle sensor with the precision of 0.01 degree is selected to measure the angle of the embedded part, meanwhile, the control period has a certain influence on the adjustment of the control system, the adjustment time of the vertical angle is considered to be less than 30s, the sampling period of the vertical measurement system adopts 500Hz, namely 2ms, and the rapid measurement is realized;
(3) The power supply is provided with a lead-acid battery and an inverter and is used for converting commercial power into direct current, so that the application range of the mechanical arm is expanded.
Drawings
FIG. 1 is a schematic diagram of a structure of an automated measurement apparatus for verticality of a clamped vertical prefabricated member in the present utility model;
FIG. 2 is a schematic diagram of the transmission of a clamping gearset driving a parallelogram structure according to the utility model;
fig. 3 is a schematic structural view of the verticality automatic measurement apparatus mounted on a mechanical arm with a four-wheel drive trolley.
Description of the embodiments
The features of the present utility model and other related features are described in further detail below by way of example in conjunction with the following drawings, to facilitate understanding by those skilled in the art:
as shown in fig. 1-3, the labels in the figures are respectively: the device comprises a parallelogram mechanism 1, a first rotating rod 11, a second rotating rod 12, a clamping limiting rod 13, a rotary leveling mechanism 2, a mounting platform 21, a horizontal adjustment servo speed reducing motor 22, a rotary servo speed reducing motor 23, a clamping plate 3, a clamping gear set 4, a transmission gear 41, a driving gear 42, a packaging shell 43, a verticality automatic measuring device 5, a mechanical arm 6 and a moving trolley 7.
Examples: as shown in fig. 1, 2 and 3, the present embodiment relates specifically to an automatic measurement apparatus for verticality of a vertical prefabricated member in a clamping type, the automatic measurement apparatus 5 for verticality is mounted on a telescopic auxiliary arm of a mechanical arm 6, the mechanical arm 6 is mounted on a traveling carriage 7 driven by four wheels, and the automatic measurement apparatus for verticality 5 includes a jig and a rotary leveling mechanism 2 for driving the jig.
As shown in fig. 1 and 2, the fixture mainly comprises a gear motor, a clamping gear set 4, a parallelogram mechanism 1 and a clamping plate 3, wherein the clamping gear set 4 comprises a packaging shell 43, two transmission gears 41 and a driving gear 42 which are arranged in the packaging shell 43, the packaging shell 43 comprises two side plates which are vertically and parallelly arranged, the gear motor is fixedly arranged on the outer side wall surface of one side plate, and an output shaft of the gear motor penetrates into the packaging shell 43 to drive the driving gear 42 to rotate, and the gear motor is specifically composed of the clamping motor and a speed reducer which are connected with each other; the two transmission gears 41 are meshed with each other, two ends of a rotating shaft of each transmission gear 41 are arranged in bearings arranged on the side plates, and the driving gear 42 is meshed with any one of the two transmission gears 41. The number of the parallelogram mechanisms 1 is two and the parallelogram mechanisms are symmetrically arranged, each parallelogram mechanism 1 comprises a first rotating rod 11, a second rotating rod 12 and a clamping limiting rod 13, the upper end of the first rotating rod 11 is coaxially fixed with a transmission gear 41, the lower end of the first rotating rod is hinged with the upper end of the clamping limiting rod 13, the upper end of the second rotating rod 12 is hinged with a packaging shell 43 through a rotating shaft, the lower end of the second rotating rod is hinged with the middle of the clamping limiting rod 13, and meanwhile, a clamping plate 3 is hinged at the lower end of the clamping limiting rod 13. The first rotating lever 11 and the second rotating lever 12 have the same length and are disposed parallel to each other. When the gear motor drives the driving gear 42 to rotate, the driving gear 42 drives one of the transmission gears 41 to rotate, and then the transmission gear 41 drives the other transmission gear 41 meshed with the driving gear 41 to synchronously rotate, and different steering directions of the transmission gears 41 drive the parallelogram mechanism 1 to perform clamping or loosening actions. The clamp and the vertical prefabricated part are clamped and the verticality is measured to lay a foundation for subsequent vertical angle adjustment, and the clamp and the vertical prefabricated part are effectively clamped to ensure that the mechanical arm 6 can be in a follow-up state in the working process, so that the effectiveness of vertical adjustment of the mechanical arm 6 is ensured.
As shown in fig. 1 and 2, the clamping plate 3 is provided with an angle sensor, and the angle sensor can detect the verticality of the clamping plate 3 in real time, and the verticality of the clamping plate 3 is equivalent to that of the vertical prefabricated part because the clamping plate 3 is completely attached to the surface of the vertical prefabricated part when clamping the vertical prefabricated part; the angle sensor is realized by adopting a double-shaft output angle sensor, the progress is 0.01 degree, the motor is realized by adopting a servo motor in consideration of the requirements of equipment working conditions, the 48V power supply voltage is 400W rated power, the rated torque is 1.27Nm, and meanwhile, the speed reducer is configured. In addition, constitute the articulated through a pivot between splint 3 and the lower tip of centre gripping gag lever post 13, the pivot place is provided with force transducer, and when splint 3 centre gripping vertical prefabricated part, the pivot department applys the clamping force of perpendicular to vertical prefabricated part, and force transducer detects the force value size of this clamping force, and specifically, force transducer selects the round pin axle formula force transducer, range 100kg. Meanwhile, the difference between the height of the person and the height of the vertical prefabricated member is considered, and the problem of low efficiency and the like possibly exists by adopting a manual clamp adjusting method, so that the efficiency of tracking is improved by adopting a mode of auxiliary operation of equipment such as a laser range finder or a camera and the like.
As shown in fig. 1, 2 and 3, the rotary leveling mechanism 2 comprises a mounting platform 21, a horizontal adjustment servo speed reduction motor 22 and a rotary servo speed reduction motor 23, wherein the horizontal adjustment servo speed reduction motor 22 is mainly used for adjusting the pitching state of a clamp, the rotary servo speed reduction motor 23 is mainly used for driving the azimuth adjustment of the clamp, the horizontal adjustment servo speed reduction motor 22 comprises a first speed reducer and a horizontal adjustment servo motor for driving the first speed reducer, a shell of the first speed reducer is fixed on a telescopic auxiliary arm of the mechanical arm 6, and the output end of the first speed reducer drives the mounting platform 21 to adjust the horizontal angle; the rotary servo speed reducing motor 23 comprises a second speed reducer and a rotary servo motor for driving the second speed reducer, a shell of the second speed reducer is fixedly connected with the mounting platform 21, and an output end of the second speed reducer is fixedly connected with the packaging shell 43 in the fixture gear set 4.
As shown in fig. 3, the auxiliary arm driving and the telescopic mechanism on the mechanical arm 6 are realized by adopting a servo oil cylinder driving, the servo oil cylinder is realized by adopting a 50/36 combined sealing single-rod hydraulic cylinder according to structural parameter analysis, the effective stroke is 700mm, and the servo valve is configured. The main function is to realize the pitching angle adjustment and the telescopic adjustment of the auxiliary arm so as to adapt to different prefabricated member positions. And a servo pump station with the working pressure of 7MPa and the flow of 15L/min is configured for providing hydraulic energy. The base between the mechanical arm 6 and the movable trolley 7 is rotated by adopting a rotation support and a low-voltage high-torque servo motor, the rated torque is 3.18Nm, and the main function of the rotation support is that the mechanical arm rotates by 360 degrees; the main arm rotation mechanism mainly plays a role in realizing the angle adjustment of the main arm, and is still realized by adopting a servo motor and a speed reducer.
As shown in fig. 3, a four wheel drive mobile cart 7 can achieve a maximum of 4km/h of motion. The control system 1 is built in to complete the control of the intelligent mechanical arm 6, and the intelligent mechanical arm is realized by an embedded system. A group of 48V+32A lead-acid batteries is configured, so that 5 Kw-8 Kw of power distribution can be realized; meanwhile, the 220V-to-48V inverter 1 is configured for realizing the conversion from the commercial power to the direct current, so that the application range of the mechanical arm is expanded.
Considering different operation needs, 4 hanging rings are arranged on the four-wheel drive mobile trolley 7, when the transfer operation is finished from one site operation, the mechanical arm is firstly operated to be in a retracted state, and then the transfer operation is finished through the crane. Aiming at the possible rainy days of construction operation, the method mainly comprises the following steps: the joints of cables and the like are treated by adopting a sealing and dampproof process, the electrical equipment and the like are treated by adopting a closed ventilation box, and the mechanical device protects the rotating mechanisms of joints and the like by adopting an external protection cover and the like on the basis of spraying, so that the operation in small rain can be realized without being influenced.
The beneficial effects of this embodiment lie in:
(1) The automatic equipment is adopted, so that the service time of the operation team on the tower crane can be reduced, the service efficiency of the tower crane is improved, meanwhile, the measurement of the perpendicularity is replaced by manpower, at least 2 labors can be liberated for the hoisting team, and the labor construction cost is reduced;
(2) The automatic measurement system for the vertical prefabricated part installation verticality correction is more optimized, the angle sensor with the precision of 0.01 degree is selected to measure the angle of the embedded part, meanwhile, the control period has a certain influence on the adjustment of the control system, the adjustment time of the vertical angle is considered to be less than 30s, the sampling period of the vertical measurement system adopts 500Hz, namely 2ms, and the rapid measurement is realized;
(3) The power supply is provided with a lead-acid battery and an inverter and is used for converting commercial power into direct current, so that the application range of the mechanical arm is expanded.
Claims (6)
1. The automatic measurement equipment for the verticality of the clamping type vertical prefabricated component is arranged on a telescopic auxiliary arm of a mechanical arm and is characterized by comprising a clamp and a rotary leveling mechanism for driving the clamp, wherein the clamp comprises a speed reduction motor, a clamping gear set, a parallelogram mechanism and a clamping plate, the clamping gear set comprises a driving gear, two transmission gears and a packaging shell, the output end of the speed reduction motor is connected with and drives the driving gear to rotate, the driving gear is meshed with and drives any one of the two transmission gears, and the two transmission gears are meshed with each other for transmission; the quantity of parallelogram mechanism is two sets of and symmetry setting, parallelogram mechanism includes first bull stick, second bull stick and centre gripping gag lever post, the one end of first bull stick with drive gear coaxial fixed, the other end with the upper end of centre gripping gag lever post articulates mutually, the one end of second bull stick with encapsulation casing articulates mutually, the other end with the middle part of centre gripping gag lever post articulates mutually, the lower tip of centre gripping gag lever post is provided with splint.
2. An automated measuring device for verticality of a vertical prefabricated member in a clamping manner according to claim 1, wherein the speed reducing motor comprises a clamping motor and a speed reducer which are connected with each other.
3. The automatic measurement device for the verticality of the clamping type vertical prefabricated component according to claim 1, wherein the packaging shell comprises two side plates which are vertically arranged in parallel, the gear motor is fixedly arranged on the outer wall surface of one side plate, the clamping gear set is arranged in the space surrounded by the two side plates, two ends of a rotating shaft of the transmission gear are arranged in bearings arranged on the side plates, and the output end of the gear motor penetrates through the side plates and drives the driving gear to rotate.
4. An automated measuring device for verticality of a vertical prefabricated member in a clamping manner according to claim 3, wherein the first rotating rod and the rotating rod are identical in length and are disposed parallel to each other.
5. The automatic measurement device for verticality of clamping type vertical prefabricated components according to claim 1, wherein an angle sensor is arranged on the clamping plate, the clamping plate is hinged with the lower end part of the clamping limiting rod through a rotating shaft, and a force sensor is arranged at the position of the rotating shaft.
6. The automatic measurement device for the verticality of the clamping type vertical prefabricated component according to claim 1, wherein the rotary leveling mechanism comprises a mounting platform, a horizontal adjustment servo speed reducing motor and a rotary servo speed reducing motor, the horizontal adjustment servo speed reducing motor comprises a first speed reducer and a horizontal adjustment servo motor for driving the first speed reducer, a shell of the first speed reducer is fixed on a telescopic auxiliary arm of the mechanical arm, and an output end of the first speed reducer drives the mounting platform to adjust the horizontal angle; the rotary servo speed reducing motor comprises a second speed reducer and a rotary servo motor for driving the second speed reducer, a shell of the second speed reducer is fixedly connected with the mounting platform, and the output end of the second speed reducer is fixedly connected with the packaging shell in the clamp gear set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320430476.3U CN219451572U (en) | 2023-03-09 | 2023-03-09 | Automatic measurement equipment for verticality of clamping type vertical prefabricated component |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320430476.3U CN219451572U (en) | 2023-03-09 | 2023-03-09 | Automatic measurement equipment for verticality of clamping type vertical prefabricated component |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219451572U true CN219451572U (en) | 2023-08-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320430476.3U Active CN219451572U (en) | 2023-03-09 | 2023-03-09 | Automatic measurement equipment for verticality of clamping type vertical prefabricated component |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219451572U (en) |
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2023
- 2023-03-09 CN CN202320430476.3U patent/CN219451572U/en active Active
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