Special-shaped steel structure frame reticulated shell roof construction device and method

Abstract

The invention discloses a special-shaped steel structure frame reticulated shell roof construction device and method.The special-shaped steel structure frame reticulated shell roof construction device comprises a mounting disc, an annular guide rail is mounted at the bottom of the mounting disc, a fixing shaft is fixedly connected to the bottom of the center of the mounting disc, the outer wall, close to the bottom, of the fixing shaft is rotationally sleeved with a sleeve, and an infrared positioning assembly is mounted at the bottom of the sleeve; the outer wall of the annular guide rail is slidably sleeved with a cross beam fixedly connected with the outer wall of the sleeve, a driving mechanism is installed on the cross beam, a linear transmission assembly is installed at the bottom of the cross beam and is in transmission connection with a posture adjusting mechanism, and a strip-shaped plate is in transmission connection with the posture adjusting mechanism. A marker post positioning driving mechanism is installed at the center of the bottom of the strip-shaped plate, marker post clamping mechanisms are installed at the positions, close to the two ends, of the bottom of the strip-shaped plate, and two welding mechanisms which are symmetrically arranged are installed at the two ends of the strip-shaped plate. According to the method, the problems that when a traditional special-shaped steel structure frame reticulated shell roof is constructed, errors are large, and calibration is tedious are solved.

Description

Technical Field

[0001] The invention relates to the technical field of frame lattice shells, and in particular to a construction device and method for a special-shaped steel structure frame lattice shell roof. Background Art

[0002] In today's construction field, the construction of special-shaped steel structure frame lattice shell roof is highly complex and challenging. With the continuous innovation and development of architectural design, the construction requirements for this type of roof are also increasing.

[0003] When constructing a traditional special-shaped steel structure frame lattice shell roof, it is necessary to first locate an initial connection ball, then weld the steel structure connecting rod on the initial connection ball, and then weld them alternately in sequence. When welding each connection ball and steel structure connecting rod, the position needs to be calibrated, otherwise accumulated errors will occur, making the errors larger and larger, the operational flexibility is insufficient, and it is difficult to adapt to the complex and changeable construction environment and diversified construction needs.

[0004] In order to meet the urgent demand for high precision, high efficiency and high quality in the construction of special-shaped steel structure frame lattice shell roof, it is particularly important to overcome the various limitations of existing construction technologies and equipment and develop a new type of construction device and method with precise positioning, efficient construction and stable welding functions. Summary of the invention

[0005] In order to solve the problems of large error and complicated calibration during the construction of traditional special-shaped steel structure frame lattice shell roof, the purpose of the present invention is to provide a special-shaped steel structure frame lattice shell roof construction device and method.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a special-shaped steel structure frame grid shell roof construction device, comprising a mounting plate, an annular guide rail is installed at the bottom of the mounting plate, a fixed shaft is fixedly connected to the bottom at the center of the mounting plate, a sleeve is rotatably sleeved on the outer wall of the fixed shaft near the bottom, an infrared positioning component is installed at the bottom of the sleeve, a crossbeam fixedly connected to the outer wall of the sleeve is slidably sleeved on the outer wall of the annular guide rail, a driving mechanism for driving the crossbeam to move on the annular guide rail is installed on the crossbeam, a linear transmission component is installed at the bottom of the crossbeam, a posture adjustment mechanism is transmission-connected to the linear transmission component, a strip plate is transmission-connected to the posture adjustment mechanism, a benchmark positioning driving mechanism is installed at the center of the bottom of the strip plate for pressing and rotating the benchmark; a benchmark holding mechanism is installed at the bottom of the strip plate near both ends for holding the benchmark and the benchmark can be rotated; two symmetrically arranged welding mechanisms are installed at both ends of the strip plate;

[0007] The top of the annular guide rail is fixedly connected to a large annular gear;

[0008] The infrared positioning component includes a first infrared distance sensor and a second infrared sensor arranged directly below the sleeve, and the detection directions of the first infrared distance sensor and the second infrared sensor are synchronously maintained on the same vertical plane;

[0009] The welding mechanism comprises a fourth U-shaped frame which can rotate around the benchmark pole, a third cylinder with an adjustable angle is installed inside the fourth U-shaped frame, and a welding gun is fixedly installed at the bottom of the telescopic end of the third cylinder.

[0010] Preferably, the mounting plate comprises a circular plate, the outer wall of which is fixedly connected to a plurality of support plates arranged in a circular array, and the top of the large ring gear is fixedly connected to the bottom of the plurality of support plates.

[0011] Preferably, the infrared positioning assembly includes a first U-shaped frame fixedly installed on the bottom of the sleeve, and the side walls of the first U-shaped frame are respectively fixedly installed with a first motor and a second motor, the first motor is axially connected to the side wall of the first infrared distance sensor, the second motor is axially connected to the side wall of the second infrared sensor, and the first infrared distance sensor and the second infrared sensor are both arranged inside the first U-shaped frame.

[0012] Preferably, a guide groove is provided on the top of the beam, and the inner wall of the guide groove is slidably connected to the outer wall of the annular guide rail. The driving mechanism includes a third motor fixedly arranged on the top surface of the beam, and the output end shaft of the third motor is connected to a first gear, and the first gear is meshed with the large ring gear.

[0013] Preferably, the linear transmission assembly includes two rectangular plates fixedly arranged at the bottom of the crossbeam, the side walls of the rectangular plates are fixedly connected with guide rods, the side walls of the rectangular plates are fixedly installed with a fourth motor, the output end shaft of the fourth motor is connected with a lead screw, the outer wall of the lead screw is threadedly connected with a transmission platform, and the guide rod slides through the side walls of the transmission platform.

[0014] Preferably, the posture adjustment mechanism includes a hydraulic cylinder fixedly installed at the bottom of the transmission platform, the telescopic end of the bottom of the hydraulic cylinder is fixedly connected to the fifth motor, the output end of the bottom of the fifth motor is axially connected to the second U-shaped frame, the side wall of the second U-shaped frame is fixedly installed with a sixth motor, the output end of the sixth motor is axially connected to a connecting block arranged inside the second U-shaped frame, and the bottom of the connecting block is fixedly connected to the middle of the top surface of the strip plate.

[0015] Preferably, the benchmark positioning drive mechanism includes a first cylinder, the telescopic end at the bottom of the first cylinder is fixedly connected to a third U-shaped frame, a seventh motor is fixedly installed on the side wall of the third U-shaped frame, the output end shaft of the seventh motor is connected to all the second gears arranged inside the third U-shaped frame, and the first cylinder is fixedly embedded in the bottom of the strip plate.

[0016] Preferably, the benchmark holding mechanism includes a second cylinder fixedly mounted on the strip plate, the telescopic end of the second cylinder moves vertically downward through the bottom of the strip plate, and a pneumatic clamp is fixedly installed on the bottom of the telescopic end; arc grooves are respectively provided on the two clamps facing each other, and a rectangular hole is provided at the arc groove on the clamp of the pneumatic clamp, and the inner wall of the rectangular hole is rotatably connected to two symmetrically arranged rollers through a pin shaft.

[0017] Preferably, the welding mechanism includes a notched annular guide rail, the side wall of the notched annular guide rail is fixedly connected with a notched tooth ring, the outer wall of the notched tooth ring is slidably hooked with an arc sleeve, the outer walls of the arc sleeve near the two ends are fixedly installed with two symmetrically arranged eighth motors, the output end shaft of the eighth motor is axially connected with a third gear meshing with the notched tooth ring, the notched tooth ring is fixedly connected to the end of the strip plate, the two ends of the notched annular guide rail and the notched tooth ring are on the same plane, the arc length of the arc sleeve is greater than the arc length at the notch of the notched annular guide rail, the side wall of the fourth U-shaped frame is fixedly installed with a ninth motor, and the output end of the ninth motor is axially connected to the side wall of the third cylinder.

[0018] A construction method for a special-shaped steel structure frame lattice shell roof comprises the following steps:

[0019] Step 1: fix the top of the mounting plate, place the shelf with the benchmark on the periphery of the annular guide rail, and place the steel structure connecting rod with the frame grid shell on the periphery of the annular guide rail. The outer wall of the benchmark is provided with teeth. The linear transmission assembly sends the posture adjustment mechanism to the benchmark shelf. The posture adjustment mechanism adjusts the posture of the strip plate, and the benchmark holding mechanism holds the benchmark;

[0020] Step 2: The second infrared sensor adjusts its starting angle to emit infrared laser towards the ground, and the laser point illuminates the pole for pre-positioning;

[0021] Set the ground coordinate set (X, Y) of the pre-positioning of the benchmark, the distance between the second infrared sensor monitoring the pre-positioning and the benchmark is L1, the angle between the infrared laser emitted by the second infrared sensor and the ground is θ1, and the rotation angle of the second infrared sensor on the horizontal plane is θ2;

[0022] Then the ground coordinate set of the benchmark position is f(X, Y) = f[cosθ2(L1cosθ1), sinθ2(L1cosθ1)];

[0023] Step 3, adjusting the first infrared distance sensor to a tilt angle θ3;

[0024] The coordinate set of the top of the pole is the same as the ground coordinate set f(X, Y) of the pole position, then f(X, Y)=f[tanθ3(Hh), sinθ2tanθ3(Hh)], where h is the predetermined height of the top of the pole, and H is the height of the first infrared distance sensor;

[0025] The posture adjustment mechanism adjusts the pole to a vertical state, inserts the pole into the infrared laser point, and at the same time, the pole positioning drive mechanism presses and rotates the pole to vertically insert it into the ground. When the laser point of the second infrared sensor is located at the center of the top of the pole, the insertion stops;

[0026] Step 4: After all the poles are inserted into the ground, a support frame for supporting the grid shell roof is installed at the poles. The top of the support frame is flush with the top of the poles. After the installation is completed, the connection ball of the grid shell roof is fixed to the top of the support frame;

[0027] Step 5: Send the posture adjustment mechanism to the steel structure connecting rod shelf through the linear transmission assembly, the posture adjustment mechanism adjusts the posture of the strip plate, the benchmark holding mechanism holds the steel structure connecting rod, and sends the steel structure connecting rod to the connecting ball, the posture adjustment mechanism adjusts the posture of the steel structure connecting rod, and fits its two ends with the two connecting balls;

[0028] Step six, adjust the angle of the welding gun, bring the muzzle of the welding gun close to the connection between the steel structure connecting rod and the connecting ball, and weld the connection around the welding gun.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. The present invention can greatly improve the construction efficiency by first locating the positions of all the connection balls and then performing uninterrupted welding of the steel structure connection rods.

[0031] 2. The present invention, through the cooperation of the first infrared distance sensor and the angle adjustment of the first infrared distance sensor, can meet the positioning of different connection ball heights, and the positioning is efficient and high-precision, thereby providing an accurate support foundation for subsequent roof construction.

[0032] 3. The present invention uses two welding guns to synchronously weld the connection, which increases the welding efficiency and avoids asynchronous welding errors.

[0033] 4. The present invention, through the adjustability and coordinated operation of various components, enables the construction device to adapt to the construction needs of special-shaped steel structure frame lattice shell roofs of different shapes and specifications. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0035] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0036] Figure 2 It is a structural schematic diagram of the infrared positioning component of the present invention;

[0037] Figure 3For the present invention Figure 1 The structural diagram of part A in the figure;

[0038] Figure 4 It is a structural schematic diagram of the linear transmission assembly of the present invention;

[0039] Figure 5 It is a structural schematic diagram of the posture adjustment mechanism of the present invention;

[0040] Figure 6 It is a structural schematic diagram of the benchmark holding mechanism of the present invention;

[0041] Figure 7 It is a structural schematic diagram of the welding mechanism of the present invention;

[0042] Figure 8 It is a structural schematic diagram of the benchmark positioning drive mechanism of the present invention;

[0043] Fig. 9 is a schematic diagram of θ1 and θ3 of the present invention;

[0044] Fig.10 is a schematic diagram of θ2 of the present invention;

[0045] Fig.11 Schematic diagram of the benchmark of the present invention.

[0046] In the figure: 1, mounting plate; 2, annular guide rail; 3, fixed shaft; 4, sleeve; 5, infrared positioning assembly; 6, crossbeam; 7, driving mechanism; 8, linear transmission assembly; 9, posture adjustment mechanism; 10, strip plate; 11, benchmark positioning driving mechanism; 12, benchmark holding mechanism; 13, welding mechanism; 101, round plate; 102, support plate; 201, large ring gear; 501, first infrared distance sensor; 502, second infrared sensor; 503, first U-shaped frame; 504, first motor; 505, second motor; 701, third motor; 702, first gear; 801, rectangular plate; 802, guide rod; 803, fourth motor; 804, wire bar; 805, transmission platform; 901, hydraulic cylinder; 902, fifth motor; 903, second U-shaped frame; 904, sixth motor; 905, connecting block; 1101, first cylinder; 1102, third U-shaped frame; 1103, seventh motor; 1104, second gear; 1201, second cylinder; 1202, pneumatic gripper; 1203, arc groove; 1204, rectangular hole; 1205, roller; 1301, fourth U-shaped frame; 1302, third cylinder; 1303, welding gun; 1304, notched annular guide rail; 1305, notched gear ring; 1306, arc sleeve; 1307, eighth motor; 1308, third gear; 1309, ninth motor. DETAILED DESCRIPTION

[0047] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0048] See also Figures 1 to 11 . It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings in this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0049] The present invention provides a technical solution: a construction device for a special-shaped steel structure frame lattice shell roof, comprising a mounting plate 1, a ring-shaped guide rail 2 is mounted on the bottom of the mounting plate 1, a fixed shaft 3 is fixedly connected to the bottom at the center of the mounting plate 1, a sleeve 4 is rotatably sleeved on the outer wall of the fixed shaft 3 near the bottom, an infrared positioning component 5 is mounted on the bottom of the sleeve 4, a crossbeam 6 which is fixedly connected to the outer wall of the sleeve 4 is slidably sleeved on the outer wall of the ring-shaped guide rail 2, a driving mechanism 7 for driving the crossbeam 6 to move on the ring-shaped guide rail 2 is mounted on the crossbeam 6, a linear transmission component 8 is mounted on the bottom of the crossbeam 6, a posture adjustment mechanism 9 is transmission-connected to the linear transmission component 8, a strip plate 10 is transmission-connected to the posture adjustment mechanism 9, a benchmark positioning driving mechanism 11 is mounted at the center of the bottom of the strip plate 10 for pressing and rotating the benchmark; a benchmark holding mechanism 12 is mounted on the bottom of the strip plate 10 near both ends for holding the benchmark and allowing the benchmark to rotate; two symmetrically arranged welding mechanisms 13 are mounted on both ends of the strip plate 10;

[0050] The outer wall of the pole is provided with teeth.

[0051] The top of the annular guide rail 2 is fixedly connected to a large annular gear 201;

[0052] The infrared positioning assembly 5 includes a first infrared distance sensor 501 and a second infrared sensor 502 which are arranged directly below the sleeve 4. The detection directions of the first infrared distance sensor 501 and the second infrared sensor 502 are synchronously maintained on the same vertical plane.

[0053] The welding mechanism 13 includes a fourth U-shaped frame 1301 that can rotate around the benchmark. The fourth U-shaped frame 1301 is internally installed with a third cylinder 1302 with an adjustable angle. A welding gun 1303 is fixedly installed at the bottom of the telescopic end of the third cylinder 1302; the muzzle of the welding gun 1303 is used to drive the welding gun 1303 close to the welding point.

[0054] The welding mechanism 13 includes a notched annular guide rail 1304, the side wall of which is fixedly connected with a notched toothed ring 1305, the outer wall of which is slidably hooked with an arc sleeve 1306, the outer walls of which are close to both ends are fixedly mounted with two symmetrically arranged eighth motors 1307, the output end shaft of the eighth motor 1307 is connected with a third gear 1308 meshing with the notched toothed ring 1305, the notched toothed ring 1305 is fixedly connected to the end of the strip plate 10, the notched annular guide rail 1304 and the two ends of the notched toothed ring 1305 are on the same plane, and the arc length of the arc sleeve 1306 is greater than the arc length at the notch of the notched annular guide rail 1304.

[0055] The eighth motor 1307 drives the third gear 1308 to rotate, and the arc sleeve 1306 slides on the notched annular guide rail 1304 through the cooperation between the third gear 1308 and the notched toothed ring 1305. When the arc sleeve 1306 crosses the notch of the notched annular guide rail 1304, at least one of the third gears 1308 engages with the notched toothed ring 1305, so that the arc sleeve 1306 can move continuously.

[0056] A ninth motor 1309 is fixedly mounted on the side wall of the fourth U-shaped frame 1301 , and an output end of the ninth motor 1309 is axially connected to the side wall of the third cylinder 1302 for adjusting the angle of the third cylinder 1302 .

[0057] The mounting plate 1 includes a circular plate 101 , and a plurality of support plates 102 arranged in a circular array are fixedly connected to the outer wall of the circular plate 101 . The top of the large ring gear 201 is fixedly connected to the bottom of the plurality of support plates 102 .

[0058] The infrared positioning component 5 includes a first U-shaped frame 503 fixedly installed at the bottom of the sleeve 4, and the side walls of the first U-shaped frame 503 are respectively fixedly installed with a first motor 504 and a second motor 505. The first motor 504 is axially connected to the side wall of the first infrared distance sensor 501, and the second motor 505 is axially connected to the side wall of the second infrared sensor 502. The first infrared distance sensor 501 and the second infrared sensor 502 are both arranged inside the first U-shaped frame 503.

[0059] A guide groove is provided at the top of the beam 6, and the inner wall of the guide groove is slidably connected to the outer wall of the annular guide rail 2. The driving mechanism 7 includes a third motor 701 fixedly arranged on the top surface of the beam 6. The output end shaft of the third motor 701 is connected to the first gear 702, and the first gear 702 is meshed with the large ring gear 201.

[0060] The third motor 701 drives the first gear 702 to rotate, and through cooperation with the large ring gear 201, the crossbeam 6 can be moved, the sleeve 4 rotates on the fixed shaft 3, and the infrared positioning component 5 rotates accordingly.

[0061] The linear transmission assembly 8 includes two rectangular plates 801 fixedly arranged at the bottom of the crossbeam 6, the side walls of the rectangular plates 801 are fixedly connected with guide rods 802, the side walls of the rectangular plates 801 are fixedly installed with a fourth motor 803, the output end shaft of the fourth motor 803 is connected with a lead screw 804, the outer wall of the lead screw 804 is threadedly connected with a transmission platform 805, and the guide rod 802 slides through the side walls of the transmission platform 805.

[0062] The posture adjustment mechanism 9 includes a hydraulic cylinder 901 fixedly installed at the bottom of the transmission platform 805, the telescopic end at the bottom of the hydraulic cylinder 901 is fixedly connected to the fifth motor 902, the output end of the bottom of the fifth motor 902 is axially connected to the second U-shaped frame 903, the side wall of the second U-shaped frame 903 is fixedly installed with a sixth motor 904, the output end of the sixth motor 904 is axially connected to a connecting block 905 arranged inside the second U-shaped frame 903, and the bottom of the connecting block 905 is fixedly connected to the middle of the top surface of the strip plate 10.

[0063] The hydraulic cylinder 901 can adjust the height of the fifth motor 902 , the fifth motor 902 can drive the second U-shaped frame 903 to rotate, and the sixth motor 904 can adjust the inclination angle of the strip plate 10 .

[0064] The benchmark positioning drive mechanism 11 includes a first cylinder 1101, the telescopic end at the bottom of the first cylinder 1101 is fixedly connected to the third U-shaped frame 1102, the side wall of the third U-shaped frame 1102 is fixedly installed with a seventh motor 1103, the output end of the seventh motor 1103 is axially connected to the second gear 1104 arranged inside the third U-shaped frame 1102, and the first cylinder 1101 is fixedly embedded in the bottom of the strip plate 10.

[0065] The first cylinder 1101 can drive the third U-shaped frame 1102 to move, so that the second gear 1104 meshes with the teeth on the pole, and the seventh motor 1103 drives the second gear 1104 to rotate, thereby rotating the pole, so that when the pole is inserted into the ground, it is convenient to screw the pole into the ground.

[0066] The benchmark holding mechanism 12 includes a second cylinder 1201 fixedly arranged on the strip plate 10, the telescopic end of the second cylinder 1201 moves vertically downward through the bottom of the strip plate 10, and a pneumatic clamp 1202 is fixedly installed at the bottom of the telescopic end; arc grooves 1203 are respectively provided on the two clamps facing each other on the two clamps of the pneumatic clamp 1202, and a rectangular hole 1204 is provided at the arc groove 1203 on the clamp of the pneumatic clamp 1202, and the inner wall of the rectangular hole 1204 is rotatably connected to two symmetrically arranged rollers 1205 through a pin shaft.

[0067] When the pneumatic clamp 1202 clamps its two clamps, the four rollers 1205 on the two clamps can be pressed against the outer wall of the benchmark, and the benchmark can rotate synchronously with the rollers 1205 , but the benchmark cannot slide between the four rollers 1205 .

[0068] The special-shaped steel structure frame lattice shell roof construction device also includes a controller for processing data and controlling the operation of each unit.

[0069] All coordinate data of the frame lattice shell connecting ball are input into the controller.

[0070] A construction method for a special-shaped steel structure frame lattice shell roof comprises the following steps:

[0071] Step 1: The top of the mounting plate 1 is fixedly installed, the shelf with the benchmark is placed on the periphery of the annular guide rail 2, and the steel structure connecting rod with the frame grid shell is also placed on the periphery of the annular guide rail 2. The linear transmission component 8 sends the posture adjustment mechanism 9 to the benchmark shelf, the posture adjustment mechanism 9 adjusts the posture of the strip plate 10, and the benchmark holding mechanism 12 holds the benchmark;

[0072] Step 2: The second infrared sensor 502 adjusts its starting angle to emit infrared laser towards the ground, and the laser point illuminates the pole for pre-positioning;

[0073] Set the ground coordinate set (X, Y) of the pre-position of the benchmark, the distance between the second infrared sensor 502 monitoring the pre-position and it is L1, the angle between the infrared laser emitted by the second infrared sensor 502 and the ground is θ1, and the rotation angle of the second infrared sensor 502 on the horizontal plane is θ2;

[0074] Then the ground coordinate set of the benchmark position is f(X, Y) = f[cosθ2(L1cosθ1), sinθ2(L1cosθ1)];

[0075] The controller can deduce the values ​​of θ1 and θ2 according to the input coordinates of the connection ball, thereby achieving the purpose of adjusting the tilt angle of the second infrared sensor 502;

[0076] Step 3, adjusting the first infrared distance sensor 501 to a tilt angle θ3;

[0077] The coordinate set of the top of the pole is the same as the ground coordinate set f(X, Y) of the pole position, then f(X, Y)=f[tanθ3(Hh), sinθ2tanθ3(Hh)], where h is the predetermined height of the top of the pole, and H is the height of the first infrared distance sensor 501;

[0078] Then the controller can deduce the value of θ3, thereby achieving the purpose of adjusting the tilt angle of the first infrared distance sensor 501;

[0079] The posture adjustment mechanism 9 adjusts the pole to a vertical state, inserts the pole into the infrared laser point, and at the same time, the pole positioning drive mechanism 11 presses and rotates the pole to vertically insert it into the ground. When the laser point of the second infrared sensor 502 is located at the center of the top of the pole, the insertion stops;

[0080] Step 4: After all the poles are inserted into the ground, a support frame for supporting the grid shell roof is installed at the poles. The top of the support frame is flush with the top of the poles. After the installation is completed, the connection ball of the grid shell roof is fixed to the top of the support frame;

[0081] Step 5: The position adjustment mechanism 9 is sent to the steel structure connecting rod shelf through the linear transmission assembly 8, the position adjustment mechanism 9 adjusts the posture of the strip plate 10, the benchmark holding mechanism 12 holds the steel structure connecting rod, and sends the steel structure connecting rod to the connecting ball, the position adjustment mechanism 9 adjusts the posture of the steel structure connecting rod, and fits its two ends with the two connecting balls;

[0082] Step six, adjust the angle of the welding gun 1303, bring the muzzle of the welding gun 1303 close to the connection between the steel structure connecting rod and the connecting ball, and weld the connection around the welding gun 1303.

[0083] The first infrared distance sensor 501 and the second infrared sensor 502 are also respectively equipped with angle sensors for monitoring their tilt angles and rotation angles.

[0084] The infrared emission points of the first infrared distance sensor 501 and the second infrared sensor 502 are assumed to coincide with each other. In the actual calculation process of the controller, the height difference redundancy between the first infrared distance sensor 501 and the second infrared sensor 502 has been eliminated, so it is not considered when viewing the diagram.

[0085] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A construction device for a special-shaped steel structure frame lattice shell roof, comprising a mounting plate (1), characterized in that: The bottom of the mounting plate (1) is provided with an annular guide rail (2), the bottom of the mounting plate (1) is fixedly connected with a fixed shaft (3), the outer wall of the fixed shaft (3) close to the bottom is rotatably sleeved with a sleeve (4), the bottom of the sleeve (4) is provided with an infrared positioning component (5), the outer wall of the annular guide rail (2) is slidably sleeved with a crossbeam (6) fixedly connected with the outer wall of the sleeve (4), the crossbeam (6) is provided with a driving mechanism (7) for driving the crossbeam to move on the annular guide rail (2), and the bottom of the crossbeam (6) is provided with a A linear transmission assembly (8) is provided, the linear transmission assembly (8) is in driving connection with a posture adjustment mechanism (9), the posture adjustment mechanism (9) is in driving connection with a strip plate (10), a pole positioning drive mechanism (11) is installed at the center of the bottom of the strip plate (10) for pressing and rotating the pole; a pole holding mechanism (12) is installed at the bottom of the strip plate (10) near both ends for holding the pole and allowing the pole to rotate; two symmetrically arranged welding mechanisms (13) are installed at both ends of the strip plate (10); The top of the annular guide rail (2) is fixedly connected to a large annular gear (201); The infrared positioning component (5) comprises a first infrared distance sensor (501) and a second infrared sensor (502) which are arranged directly below the sleeve (4), and the detection directions of the first infrared distance sensor (501) and the second infrared sensor (502) are synchronously maintained on the same vertical plane; The welding mechanism (13) comprises a fourth U-shaped frame (1301) rotatable around a pole, a third cylinder (1302) with an adjustable angle is installed inside the fourth U-shaped frame (1301), and a welding gun (1303) is fixedly installed at the bottom of the telescopic end of the third cylinder (1302).

2. The construction device of a special-shaped steel structure frame lattice shell roof according to claim 1 is characterized in that: The mounting plate (1) comprises a circular plate (101), the outer wall of the circular plate (101) being fixedly connected to a plurality of support plates (102) arranged in a circular array, and the top of the large ring gear (201) is fixedly connected to the bottom of the plurality of support plates (102).

3. The construction device of a special-shaped steel structure frame lattice shell roof according to claim 1 is characterized in that: The infrared positioning component (5) comprises a first U-shaped frame (503) fixedly mounted on the bottom of the sleeve (4); a first motor (504) and a second motor (505) are respectively fixedly mounted on the side walls of the first U-shaped frame (503); the first motor (504) is axially connected to the side wall of the first infrared distance sensor (501); the second motor (505) is axially connected to the side wall of the second infrared sensor (502); and the first infrared distance sensor (501) and the second infrared sensor (502) are both arranged inside the first U-shaped frame (503).

4. The construction device of a special-shaped steel structure frame lattice shell roof according to claim 1 is characterized in that: A guide groove is provided on the top of the cross beam (6), and the inner wall of the guide groove is slidably connected to the outer wall of the annular guide rail (2). The driving mechanism (7) comprises a third motor (701) fixedly arranged on the top surface of the cross beam (6). The output end shaft of the third motor (701) is connected to a first gear (702), and the first gear (702) is meshed with a large annular gear (201).

5. The construction device of a special-shaped steel structure frame lattice shell roof according to claim 1 is characterized in that: The linear transmission assembly (8) comprises two rectangular plates (801) fixedly arranged at the bottom of the crossbeam (6); the side walls of the rectangular plates (801) are fixedly connected to guide rods (802); the side walls of the rectangular plates (801) are fixedly mounted with a fourth motor (803); the output end of the fourth motor (803) is axially connected to a lead screw (804); the outer wall of the lead screw (804) is threadedly connected to a transmission platform (805); and the guide rod (802) slides through the side wall of the transmission platform (805).

6. The construction device of a special-shaped steel structure frame lattice shell roof according to claim 1, characterized in that: The posture adjustment mechanism (9) comprises a hydraulic cylinder (901) fixedly mounted on the bottom of the transmission platform (805); the telescopic end at the bottom of the hydraulic cylinder (901) is fixedly connected to a fifth motor (902); the output end at the bottom of the fifth motor (902) is axially connected to a second U-shaped frame (903); a sixth motor (904) is fixedly mounted on the side wall of the second U-shaped frame (903); the output end of the sixth motor (904) is axially connected to a connecting block (905) arranged inside the second U-shaped frame (903); and the bottom of the connecting block (905) is fixedly connected to the middle of the top surface of the strip plate (10).

7. The construction device of a special-shaped steel structure frame lattice shell roof according to claim 1, characterized in that: The pole positioning drive mechanism (11) comprises a first cylinder (1101), the telescopic end at the bottom of the first cylinder (1101) is fixedly connected to a third U-shaped frame (1102), a seventh motor (1103) is fixedly mounted on the side wall of the third U-shaped frame (1102), the output end of the seventh motor (1103) is axially connected to all second gears (1104) arranged inside the third U-shaped frame (1102), and the first cylinder (1101) is fixedly embedded in the bottom of the strip plate (10).

8. The construction device of a special-shaped steel structure frame lattice shell roof according to claim 1, characterized in that: The pole holding mechanism (12) comprises a second cylinder (1201) fixedly arranged on the strip plate (10), the telescopic end of the second cylinder (1201) moves vertically downward through the bottom of the strip plate (10), and a pneumatic gripper (1202) is fixedly installed at the bottom of the telescopic end; arc grooves (1203) are respectively provided on two opposing sides of the pneumatic gripper (1202), and a rectangular hole (1204) is provided at the arc groove (1203) on the gripper of the pneumatic gripper (1202), and the inner wall of the rectangular hole (1204) is rotatably connected to two symmetrically arranged rollers (1205) via a pin shaft.

9. The construction device of a special-shaped steel structure frame lattice shell roof according to claim 1, characterized in that: The welding mechanism (13) comprises a notched annular guide rail (1304), a notched toothed ring (1305) being fixedly connected to the side wall of the notched annular guide rail (1304), an arc sleeve (1306) being slidably sleeved on the outer wall of the notched toothed ring (1305), two symmetrically arranged eighth motors (1307) being fixedly mounted on the outer walls of the arc sleeve (1306) near both ends, and an output end shaft of the eighth motor (1307) being connected to a third gear (1306) meshing with the notched toothed ring (1305). 308), the notched toothed ring (1305) is fixedly connected to the end of the strip plate (10), the notched annular guide rail (1304) and the two ends of the notched toothed ring (1305) are on the same plane, the arc length of the arc sleeve (1306) is greater than the arc length at the notch of the notched annular guide rail (1304), and a ninth motor (1309) is fixedly mounted on the side wall of the fourth U-shaped frame (1301), and the output end of the ninth motor (1309) is axially connected to the side wall of the third cylinder (1302).

10. A construction method for a special-shaped steel structure frame lattice shell roof, characterized in that: The construction device for a special-shaped steel structure frame lattice shell roof according to any one of claims 1 to 9 comprises the following steps: Step 1: The top of the mounting plate (1) is fixedly installed, and the shelf equipped with the benchmark is placed on the outer periphery of the annular guide rail (2). At the same time, the steel structure connecting rod equipped with the frame grid shell is also placed on the outer periphery of the annular guide rail (2). The outer wall of the benchmark is provided with teeth. The linear transmission component (8) sends the posture adjustment mechanism (9) to the benchmark shelf. The posture adjustment mechanism (9) adjusts the posture of the strip plate (10), and the benchmark holding mechanism (12) holds the benchmark; Step 2: the second infrared sensor (502) adjusts its starting angle to emit infrared laser light obliquely toward the ground, and the laser point illuminates the pole for pre-positioning; A ground coordinate set (X, Y) of the pre-position of the benchmark is set, the distance between the second infrared sensor (502) monitoring the pre-position and the benchmark is L1, the angle between the infrared laser emitted by the second infrared sensor (502) and the ground is θ1, and the rotation angle of the second infrared sensor (502) on the horizontal plane is θ2; Then the ground coordinate set of the benchmark position is f(X, Y) = f[cosθ2(L1cosθ1), sinθ2(L1cosθ1)]; Step 3, adjusting the first infrared distance sensor (501) to a tilt angle θ3; The coordinate set of the top of the pole is the same as the ground coordinate set f(X, Y) of the pole position, then f(X, Y)=f[tanθ3(Hh), sinθ2tanθ3(Hh)], where h is the predetermined height of the top of the pole, and H is the height of the first infrared distance sensor (501); The posture adjustment mechanism (9) adjusts the pole to a vertical state, inserts the pole into the infrared laser point, and at the same time the pole positioning drive mechanism (11) presses and rotates the pole so that it is vertically inserted into the ground, and stops inserting when the laser point of the second infrared sensor (502) is located at the center of the top of the pole; Step 4: After all the poles are inserted into the ground, a support frame for supporting the grid shell roof is installed at the poles. The top of the support frame is flush with the top of the poles. After the installation is completed, the connection ball of the grid shell roof is fixed to the top of the support frame; Step 5: The position adjustment mechanism (9) is sent to the steel structure connecting rod rack through the linear transmission component (8), the position adjustment mechanism (9) adjusts the position of the strip plate (10), the benchmark holding mechanism (12) holds the steel structure connecting rod, and sends the steel structure connecting rod to the connecting ball, the position adjustment mechanism (9) adjusts the position of the steel structure connecting rod, and fits its two ends with the two connecting balls; Step six, adjusting the angle of the welding gun (1303), placing the muzzle of the welding gun (1303) close to the connection between the steel structure connecting rod and the connecting ball, and surrounding the connection to weld the connection.

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