A prestressed prefabricated beam automatic tensioning trolley

Abstract

The invention relates to the field of prestressed tensioning, and in particular to an automatic tensioning trolley for prestressed prefabricated beams, comprising an X-axis motion mechanism, a Y-axis motion mechanism, a Z-axis motion mechanism, a U-axis pitching mechanism, a V-axis swinging mechanism, a W-axis rotating mechanism and a Z-axis auxiliary motion mechanism; the invention realizes the grasping and placing of tool anchors and the adjustment of tool anchors on the X-axis, Y-axis, Z-axis, up and down deflection and left and right deflection through the X-axis motion mechanism, the Y-axis motion mechanism, the Z-axis motion mechanism, the U-axis pitching mechanism, the V-axis swinging mechanism, the W-axis rotating mechanism and the Z-axis auxiliary motion mechanism, automatically sends a jack to a working anchor hole, automatically passes a steel strand, automatically completes tensioning, and then automatically moves to the next working anchor hole position, so that auxiliary workers are no longer needed; therefore, the invention can realize automatic operation of moving the tensioning jack into position and installing the jack, thereby reducing the number of tensioning operators and reducing labor costs.

Description

Technical Field

[0001] The invention relates to the field of prestressed tensioning, and in particular to an automatic tensioning trolley for prestressed prefabricated beams. Background Art

[0002] At present, the tensioning of prestressed beams has realized the automation of the whole process of load holding, anchoring, top return, and tensioning data recording. However, the movement and installation of the tensioning jacks still require manual operation, which does not actually reduce the number of tensioning operators and labor costs. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an automatic prestressed precast beam tensioning trolley, which enables the tensioning jack to be moved into place and the installation of the jack to be automatically operated, thereby reducing the number of tensioning operators and reducing labor costs.

[0004] The technical solution of the present invention to solve the above technical problems is as follows: a prestressed precast beam automatic tensioning trolley, comprising a prestressed precast beam automatic tensioning multi-axis motion device, the prestressed precast beam automatic tensioning multi-axis motion device is used to install a jack with a built-in tool anchor and drive the jack to perform multi-axis motion so that the anchor hole of the tool anchor is aligned with the anchor hole of the working anchor on the precast beam and then the anchor is closed; specifically, the prestressed precast beam automatic tensioning multi-axis motion device comprises an X-axis motion mechanism, a Y-axis motion mechanism, a Z-axis motion mechanism, a U-axis pitch mechanism, a V-axis swing mechanism, a W-axis rotation mechanism and a Z-axis auxiliary motion mechanism; the X-axis motion mechanism is used to drive the jack to move left and right along the X-axis The Y-axis motion mechanism is used to drive the jack to move back and forth up and down along the Y-axis; the Z-axis motion mechanism is used to drive the jack to move back and forth along the Z-axis; the U-axis pitch mechanism is used to drive the jack to pitch up and down around the X-axis; the V-axis swing mechanism is used to drive the jack to swing left and right around the Y-axis; the W-axis rotation mechanism is used to drive the jack or the tool anchor built into the jack to rotate around the direction axis jointly determined by the U-axis pitch mechanism and the V-axis swing mechanism; the Z-axis auxiliary motion mechanism is used to drive the jack to move back and forth along the direction axis jointly determined by the U-axis pitch mechanism and the V-axis swing mechanism.

[0005] The beneficial effects of the present invention are as follows: in an automatic prestressed prefabricated beam tensioning trolley of the present invention, a jack with a built-in tool anchor is installed on a multi-axis motion device for automatic prestressed prefabricated beam tensioning; the position of the jack on the X-axis is adjusted by an X-axis motion mechanism, so that the anchor hole of the tool anchor in the jack corresponds to the position of the anchor hole of the working anchor on the prestressed prefabricated beam on the X-axis; the position of the jack on the Y-axis is adjusted by a Y-axis motion mechanism, so that the anchor hole of the tool anchor in the jack corresponds to the position of the anchor hole of the working anchor on the prestressed prefabricated beam on the Y-axis; the position of the jack on the Z-axis is adjusted by a Z-axis motion mechanism, Make the anchor hole of the tool anchor in the jack roughly correspond to the position of the anchor hole of the working anchor on the prestressed precast beam on the Z axis; due to construction errors, the anchor holes of the working anchor on the prestressed precast beam are not all perpendicular to the end face of the precast beam, and there will be more or less deviations, including upward or downward deviations, or / and, left or right deviations, resulting in directional deviations in the steel strands extending from the working anchor holes, which are not all perpendicular to the end face of the precast beam; therefore, when the hole axis of the tool anchor hole does not coincide with the hole axis of the working anchor hole, the steel strands extending from the working anchor hole cannot be smoothly inserted into the tool anchor hole; therefore, when the jack is in X, After the positions on the Y and Z axes are determined, the up and down pitching movement of the jack is adjusted by the U-axis pitch mechanism, so that the up and down deflection angles of the anchor shaft of the tool anchor hole in the jack are the same as the up and down deflection angles of the anchor shaft of the working anchor hole; the left and right swinging movement of the jack is adjusted by the V-axis swing mechanism, so that the left and right deflection angles of the anchor shaft of the tool anchor hole in the jack are the same as the left and right deflection angles of the anchor shaft of the working anchor hole; when the up and down deflection angles and left and right deflection angles of the anchor shaft of the tool anchor hole in the jack are equal to the up and down deflection angles and left and right deflection angles of the anchor shaft of the working anchor hole, it means that the hole axis of the tool anchor hole is aligned with the working anchor hole The hole axes of the tool anchor and the working anchor need to be matched one by one; since there are multiple anchor holes on the tool anchor, the anchor holes on the tool anchor need to be matched one by one with the anchor holes on the working anchor during tensioning. Therefore, the tool anchor is driven to rotate by the W-axis rotation mechanism to make the anchor holes on the tool anchor and the anchor holes on the working anchor match one by one; finally, when the hole axes of the tool anchor holes and the working anchor holes coincide and the anchor holes on the tool anchor and the working anchor holes match one by one, the Z-axis auxiliary motion mechanism is used to push the jack toward the working anchor on the prestressed precast beam, and the steel strands extending from the working anchor holes on the precast beam can be smoothly inserted into the tool anchor holes in the jack for tensioning tests. As can be seen from the above, the present invention can enable the tensioning jack to be moved into place and the installation of the jack to be automatically operated, thereby reducing the number of tensioning operators and reducing labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 This is a three-dimensional diagram of the overall structure of an automatic tensioning trolley for prestressed prefabricated beams of the present invention;

[0007] Figure 2 It is a partial structural stereogram of an automatic tensioning trolley for prestressed prefabricated beams of the present invention;

[0008] Figure 3 It is a partial initial state plane diagram of an automatic tensioning trolley for prestressed prefabricated beams of the present invention;

[0009] Figure 4 The present invention is a plan view of a partial tensioning state of an automatic tensioning trolley for prestressed prefabricated beams.

[0010] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0011] 100, jack; 200, tool anchor; 300, working anchor;

[0012] 1. X-axis motion mechanism, 11. X-axis track, 12. X-axis trolley;

[0013] 2. Y-axis motion mechanism, 21. Y-axis fixing frame, 22. Y-axis CNC servo drive device;

[0014] 3. Z-axis motion mechanism, 31. Z-axis fixing frame, 32. Z-axis trolley, 33. Z-axis CNC servo drive device;

[0015] 4. U-axis pitch mechanism, 41. rotating beam, 42. U-axis lead screw, 43. U-axis CNC servo drive motor;

[0016] 5. V-axis swing mechanism, 51. V-axis rotation axis, 52. V-axis rotation motor;

[0017] 6. W-axis rotating mechanism, 61. driving gear, 62. driven gear, 63. W-axis CNC motor;

[0018] 7. Z-axis auxiliary motion mechanism, 71. Inner hanging beam, 72. Hydraulic cylinder. DETAILED DESCRIPTION

[0019] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0020] like Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, a prestressed precast beam automatic tensioning trolley includes a prestressed precast beam automatic tensioning multi-axis motion device, the prestressed precast beam automatic tensioning multi-axis motion device is used to install a jack 100 with a built-in tool anchor 200 and drive the jack 100 to perform multi-axis motion so that the anchor hole of the tool anchor 200 is aligned with the anchor hole of the working anchor 300 on the precast beam and then the anchor is closed; specifically, the prestressed precast beam automatic tensioning multi-axis motion device includes an X-axis motion mechanism 1, a Y-axis motion mechanism 2, a Z-axis motion mechanism 3, a U-axis pitch mechanism 4, a V-axis swing mechanism 5, a W-axis rotation mechanism 6 and a Z-axis auxiliary motion mechanism 7; the X-axis motion mechanism 1 is used to drive the jack 100 to move back and forth along the X-axis; the Y-axis motion mechanism 2 is used to drive the jack 100 to move up and down along the Y axis; the Z-axis motion mechanism 3 is used to drive the jack 100 to move back and forth along the Z axis; the U-axis pitch mechanism 4 is used to drive the jack 100 to pitch up and down around the X axis; the V-axis swing mechanism 5 is used to drive the jack 100 to swing left and right around the Y axis; the W-axis rotation mechanism 6 is used to drive the jack 100 or the tool anchor 200 built into the jack 100 to rotate around the direction axis jointly determined by the U-axis pitch mechanism 4 and the V-axis swing mechanism 5; the Z-axis auxiliary motion mechanism 7 is used to drive the jack 100 to move back and forth along the direction axis jointly determined by the U-axis pitch mechanism 4 and the V-axis swing mechanism 5.

[0021] The working principle of the automatic tensioning trolley for prestressed prefabricated beams of the present invention is as follows:

[0022] First, install the jack with built-in tool anchor on the prestressed precast beam automatic tensioning multi-axis motion device, and then perform the following operations: adjust the position of the jack on the X-axis through the X-axis motion mechanism, so that the anchor hole of the tool anchor in the jack corresponds to the position of the anchor hole of the working anchor on the prestressed precast beam on the X-axis; adjust the position of the jack on the Y-axis through the Y-axis motion mechanism, so that the anchor hole of the tool anchor in the jack corresponds to the position of the anchor hole of the working anchor on the prestressed precast beam on the Y-axis; adjust the position of the jack on the Z-axis through the Z-axis motion mechanism, so that the anchor hole of the tool anchor in the jack corresponds to the position of the anchor hole of the working anchor on the prestressed precast beam on the Y-axis. The positions of the anchor holes of the working anchors on the prestressed precast beams on the Z axis roughly correspond; due to construction errors, the anchor holes of the working anchors on the prestressed precast beams are not all perpendicular to the end faces of the precast beams, and there will be more or less deviations, including upward or downward deviations, and / or left or right deviations, resulting in directional deviations in the steel strands extending from the working anchor holes, which are not all perpendicular to the end faces of the precast beams; therefore, when the hole axis of the tool anchor hole does not coincide with the hole axis of the working anchor hole, the steel strands extending from the working anchor hole cannot be smoothly inserted into the tool anchor hole; therefore, when the position of the jack on the X, Y, and Z axes is confirmed After fixing, the up and down pitching movement of the jack is adjusted by the U-axis pitching mechanism, so that the up and down deflection angles of the anchor shaft of the tool anchor hole in the jack are the same as the up and down deflection angles of the anchor shaft of the working anchor hole; the left and right swinging movement of the jack is adjusted by the V-axis swinging mechanism, so that the left and right deflection angles of the anchor shaft of the tool anchor hole in the jack are the same as the left and right deflection angles of the anchor shaft of the working anchor hole; when the up and down deflection angles and the left and right deflection angles of the anchor shaft of the tool anchor hole in the jack are equal to the up and down deflection angles and the left and right deflection angles of the anchor shaft of the working anchor hole, it means that the hole axis of the tool anchor hole coincides with the hole axis of the working anchor hole. ; Since there are multiple anchor holes on the tool anchor, it is necessary to make the anchor holes on the tool anchor correspond one-to-one with the anchor holes on the working anchor during tensioning, so the tool anchor is driven to rotate by the W-axis rotation mechanism to make the anchor holes on the tool anchor correspond one-to-one with the anchor holes on the working anchor; finally, when the hole axis of the tool anchor hole coincides with the hole axis of the working anchor hole and the anchor holes on the tool anchor correspond one-to-one with the anchor holes on the working anchor, the Z-axis auxiliary motion mechanism is used to push the jack toward the working anchor on the prestressed precast beam, and the steel strands extending from the working anchor hole on the precast beam can be smoothly inserted into the tool anchor hole in the jack for tensioning test. As can be seen from the above, the present invention can enable the tensioning jack to be moved into place and the installation of the jack to be automatically operated, thereby reducing the number of tensioning operators and reducing labor costs.

[0023] In the present invention, the installation order of the X-axis motion mechanism 1, the Y-axis motion mechanism 2, the Z-axis motion mechanism 3, the U-axis pitch mechanism 4, the V-axis swing mechanism 5, the W-axis rotation mechanism 6 and the Z-axis auxiliary motion mechanism 7 can be set according to actual conditions. For example: the Y-axis motion mechanism 2 is installed on the motion component of the X-axis motion mechanism 1, and the Z-axis motion mechanism 3 is installed on the motion component of the Y-axis motion mechanism 2; or, the X-axis motion mechanism 1 is installed on the motion component of the Y-axis motion mechanism 2, and the Z-axis motion mechanism 3 is installed on the motion component of the X-axis motion mechanism 1; or, the Y-axis motion mechanism 2 is installed on the motion component of the Z-axis motion mechanism 3, and the X-axis motion mechanism 1 is installed on the motion component of the Y-axis motion mechanism 2; and so on. For another example: the Z-axis auxiliary motion mechanism 7 is installed on the pitch component of the U-axis pitch mechanism 4, the V-axis swing mechanism 5 is installed on the motion component of the Z-axis auxiliary motion mechanism 7, and the W-axis rotation mechanism 6 is installed on the swing component of the V-axis swing mechanism 5; or, the U-axis pitch mechanism 4 is installed on the swing component of the V-axis swing mechanism 5, the Z-axis auxiliary motion mechanism 7 is installed on the pitch component of the U-axis pitch mechanism 4, and the W-axis rotation mechanism 6 is installed on the motion component of the Z-axis auxiliary motion mechanism 7; and so on.

[0024] This specific embodiment illustrates the present invention with the following installation order: the Y-axis motion mechanism 2 is installed on the motion component of the X-axis motion mechanism 1, and the Z-axis motion mechanism 3 is installed on the motion component of the Y-axis motion mechanism 2; the U-axis pitch mechanism 4 is installed on the motion component of the Z-axis motion mechanism 3; the Z-axis auxiliary motion mechanism 7 is installed on the pitch component of the U-axis pitch mechanism 4, the V-axis swing mechanism 5 is installed on the motion component of the Z-axis auxiliary motion mechanism 7, and the W-axis rotation mechanism 6 is installed on the swing component on the V-axis swing mechanism 5.

[0025] In this specific embodiment, preferably: the X-axis motion mechanism 1 includes an X-axis rail 11, an X-axis trolley 12 and an X-axis CNC servo drive device; the X-axis rail 11 is fixedly arranged along the X-axis (i.e., fixedly arranged horizontally), the X-axis trolley 12 is clamped and placed on the X-axis rail 11, and the X-axis CNC servo device is arranged on the X-axis trolley 12 and is used to drive the X-axis trolley 12 to move back and forth along the X-axis rail 11.

[0026] Furthermore, a boss is provided at the upper end of the X-axis track 11 in the direction in which the X-axis track 11 extends, and a first roller and a second roller are provided at the bottom of the X-axis trolley 12. The first roller is provided horizontally and clamped under the boss of the X-axis track 11 and rolls along the side wall of the X-axis track 11, and the second roller is provided vertically and placed on the upper end of the X-axis track 11 and rolls along the upper end of the X-axis track 11. The provision of the first roller can not only firmly clamp the X-axis trolley 12 on the X-axis track 11, but also make the X-axis trolley 12 slide more smoothly on the X-axis track 11.

[0027] In this specific embodiment, preferably: the Y-axis motion mechanism 2 includes a Y-axis fixed frame 21 and a Y-axis CNC servo drive device 22, the Y-axis fixed frame 21 is fixedly arranged along the Y-axis (i.e., vertically fixedly arranged) on the X-axis trolley 12 of the X-axis motion mechanism 1, and a Y-axis motion component is provided on the side of the Y-axis fixed frame 21 along the direction in which the Y-axis fixed frame 21 extends, and the Y-axis CNC servo drive device 22 drives the Y-axis motion component to move back and forth up and down along the Y-axis fixed frame 21.

[0028] Specifically, the Y-axis motion assembly can be realized by the cooperation of gears and racks, or by a screw rod.

[0029] In this specific embodiment, preferably: the Z-axis motion mechanism 3 includes a Z-axis fixed frame 31, a Z-axis trolley 32 and a Z-axis CNC servo drive device 33; the Z-axis fixed frame 31 is arranged along the Z-axis (that is, horizontally arranged, and perpendicular to the X-axis track 11 and the Y-axis fixed frame 21 at the same time) on the Y-axis motion component of the Y-axis fixed frame 21, the Z-axis trolley 32 is slidably mounted on the Z-axis fixed frame 31, and the Z-axis CNC servo drive device 33 drives the Z-axis trolley 32 to move back and forth along the Z-axis fixed frame 31.

[0030] Specifically, Z-axis U-shaped rails are provided on two opposite inner sides of the Z-axis fixing frame 31 along the direction in which the Z-axis fixing frame 31 extends, and wheels are provided on the Z-axis trolley 32. The Z-axis trolley 32 is slidably mounted on the Z-axis U-shaped rails through the wheels, thereby realizing the sliding mounting of the Z-axis trolley 32 on the Z-axis fixing frame 31.

[0031] Due to construction errors, the anchor holes of the working anchor 300 on the prestressed precast beam are not all perpendicular to the end face of the precast beam, and there will be more or less deviations, including upward or downward deviations, or / and, left or right deviations, so the hole axis of the tool anchor 200 anchor hole does not coincide with the hole axis of the working anchor 300 anchor hole, so that the steel strand in the tool anchor 200 anchor hole cannot be smoothly inserted into the working anchor hole. Therefore, the U-axis pitch mechanism is required to adjust the up and down deflection angle of the jack, and the V-axis swing mechanism 300 is used to adjust the left and right deflection angle of the jack.

[0032] In this specific embodiment, preferably: the U-axis pitch mechanism 4 includes a rotating beam 41, a U-axis screw 42 and a U-axis CNC servo drive motor 43; the projections of the rotating beam 41 and the U-axis screw 42 in the horizontal direction are parallel to the Z axis; a nut is provided on the U-axis screw 42, one end of the U-axis screw 42 is a free end, and the other end of the U-axis screw 42 is a hinged end; one end of the rotating beam 41 is a first hinged end, and the other end of the rotating beam 41 is a second hinged end and is hinged to the nut on the U-axis screw 42; the output shaft of the U-axis CNC servo drive motor 43 is connected to the U-axis screw 42 and is used to drive the U-axis screw 42 to rotate, thereby driving the nut to move back and forth on the U-axis screw 42, and then causing the rotating beam 41 to pitch up and down around the X-axis with the first hinged end of the rotating beam 41 as the revolving point.

[0033] Specifically, the first hinged end of the rotating beam 41 and the hinged end of the U-axis screw rod 42 are both hinged on the Z-axis trolley 32 of the Z-axis motion mechanism 3 .

[0034] Furthermore, the rotating beam 41 is movably arranged at the bottom of the Z-axis trolley 32 , the first hinged end of the rotating beam 41 is hinged to the bottom front end of the Z-axis trolley 32 through a hinge seat, and the hinged end of the U-axis screw rod 42 is hinged to the rear end of the Z-axis trolley 32 .

[0035] When the U-axis CNC servo drive motor 43 drives the U-axis screw 42 to rotate, the nut on the U-axis screw 42 will move along the U-axis screw. Since the second hinged end of the rotating beam 41 is connected to the nut on the U-axis screw 42, when the nut moves upward along the screw, it will lift the second hinged end of the rotating beam 41 upward, and when the nut moves downward along the U-axis screw, it will lower the second hinged end of the rotating beam 41 downward. Since the first hinged end of the rotating beam 41 is hinged to the bottom front end of the Z-axis trolley 32 through a hinge seat, the pitch angle (upper and lower deflection angles) of the rotating beam 41 can be adjusted by lifting the second hinged end of the rotating beam 41 upward or lowering it downward.

[0036] In this specific embodiment, preferably: the Z-axis auxiliary motion mechanism 7 includes an inner suspension beam 71 and a hydraulic cylinder 72, and the inner suspension beam 71 and the hydraulic cylinder 72 are both arranged in the rotating beam 41; one end of the hydraulic cylinder 72 is hingedly installed on the rotating beam 41, and the other end of the hydraulic cylinder 72 is hingedly connected to the inner suspension beam 71, and the hydraulic cylinder 72 is used to push the inner suspension beam 71 to move back and forth along the rotating beam 41 by extending and retracting.

[0037] Specifically, four pairs of rolling bearings are installed on the inner side walls of the rotating beam 41 in a front-to-back and up-down manner; two pairs of inner suspension beam guide rails are installed on both sides of the inner suspension beam 71 in a up-to-down manner, and the inner suspension beam 71 is slidably mounted between the four pairs of rolling bearings through the two pairs of inner suspension beam guide rails; the front end of the inner suspension beam 71 is located outside the front end of the rotating beam 41, and the rear end of the inner suspension beam 71 is located inside the rotating beam 41 and is hinged to the hydraulic cylinder 72.

[0038] The Z-axis auxiliary motion mechanism 7 installed in the rotating beam 41 can adjust the pitch angle as the rear end of the rotating beam 41 is lifted upward or lowered downward; the Z-axis auxiliary motion mechanism 7 is an auxiliary Z-axis motion mechanism. During the initial adjustment, the Z-axis motion mechanism is first used to perform coarse adjustment in the Z-axis direction. When the hole axis of the anchor hole of the tool anchor 200 coincides with the hole axis of the anchor hole of the working anchor 300, and the anchor hole on the tool anchor 200 corresponds to the anchor hole on the working anchor 300 one by one, the Z-axis auxiliary motion mechanism 7 is used to push the jack 100 toward the working anchor 300 on the prestressed prefabricated beam, so that the steel strand passing through the anchor hole of the tool anchor 200 can be smoothly inserted into the anchor hole of the working anchor 300 for tensioning test.

[0039] In this specific embodiment, preferably: the V-axis swing mechanism 5 includes a V-axis rotating shaft 51 and a V-axis rotating motor 52, the V-axis rotating shaft 51 is arranged along the Y-axis, the jack 100 is suspended and installed on the V-axis rotating shaft 51, the V-axis rotating motor 52 is connected to the V-axis rotating shaft 51 and is used to drive the V-axis rotating shaft 51 to rotate, and the rotation of the V-axis rotating shaft 51 realizes left and right swinging motion around the Y-axis.

[0040] Specifically, the V-axis rotating shaft 51 vertically and rotatably penetrates the front end of the inner hanging beam 71, the V-axis rotating motor 52 is installed at the front end of the inner hanging beam 71 and connected to the top end of the V-axis rotating shaft 51 and is used to drive the V-axis rotating shaft 51 to rotate, and the jack 100 is suspended and installed at the bottom end of the V-axis rotating shaft 51. When the V-axis rotating shaft 51 rotates, it can drive the jack installed on the jack 100 to swing left and right.

[0041] Since there are multiple anchor holes on the tool anchor 200, the anchor holes on the tool anchor 200 need to correspond one-to-one with the anchor holes on the working anchor 300 during tensioning. Therefore, the present invention also needs to drive the tool anchor 200 to rotate through the W-axis rotation mechanism 6 to make the anchor holes on the tool anchor 200 correspond one-to-one with the anchor holes on the working anchor 300.

[0042] In this specific embodiment, preferably: the W-axis rotating mechanism 6 includes a driving gear 61, a driven gear 62 and a W-axis CNC motor 63, the driven gear 62 is fixedly arranged on the rear end face of the jack 100 or the rear end face of the tool anchor 200, the driving gear 61 is set and fixed on the output shaft of the W-axis CNC motor 63 and meshes with the driven gear 62, the W-axis CNC motor 63 is used to drive the driving gear 61 to rotate, thereby driving the driven gear 62 to rotate, and the rotation of the driven gear 62 drives the jack 100 or the tool anchor 200 to rotate.

[0043] In the W-axis rotating mechanism 6, the W-axis CNC motor 63 drives the main gear 61 to rotate, and the driving gear 61 rotates to drive the driven gear 62. The driven gear 62 rotates to drive the jack 100 and the tool anchor 200 to rotate as a whole or drive the tool anchor 200 to rotate around the anchor axis in the jack 100, thereby adjusting the position of the anchor hole on the tool anchor 200 so that the anchor hole on the tool anchor 200 corresponds one by one to the anchor hole on the working anchor 300.

[0044] In this specific embodiment, preferably: the prestressed prefabricated beam automatic tensioning trolley also includes a numerical control platform 8, and the prestressed prefabricated beam automatic tensioning multi-axis motion device is installed on the numerical control platform 8 and moves with the numerical control platform 8.

[0045] Specifically, the numerical control platform 8 can be a self-propelled vehicle or other freely movable platform.

[0046] In the automatic tensioning trolley for prestressed prefabricated beams of the present invention:

[0047] The entire multi-axis motion device for automatic tensioning of prestressed precast beams can be moved to the position of the prestressed precast beams to be tensioned by the numerical control platform; the jack is suspended and installed on the V-axis rotating axis; the position of the jack on the X-axis is adjusted by the X-axis motion mechanism, so that the anchor hole of the tool anchor in the jack corresponds to the position of the anchor hole of the working anchor on the prestressed precast beam on the X-axis; the position of the jack on the Y-axis is adjusted by the Y-axis motion mechanism, so that the anchor hole of the tool anchor in the jack corresponds to the position of the anchor hole of the working anchor on the prestressed precast beam on the Y-axis; the position of the jack on the Z-axis is adjusted by the Z-axis motion mechanism, so that the anchor hole of the tool anchor in the jack corresponds to the position of the anchor hole of the working anchor on the prestressed precast beam on the Z-axis; at this time, the state of the jack relative to the working anchor on the prestressed precast beam is as follows: Figure 3 shown.

[0048] Due to construction errors, the anchor holes of the working anchors on the prestressed precast beams are not all perpendicular to the end faces of the precast beams, and there will be more or less deviations, including upward or downward deviations, and / or left or right deviations. Therefore, the hole axis of the tool anchor hole does not coincide with the hole axis of the working anchor hole, so that the steel strands extending inside and outside the working anchor hole cannot be smoothly inserted into the tool anchor hole; therefore, after the position of the jack on the X, Y, and Z axes is determined, the up and down pitch movement of the jack is adjusted by the U-axis pitch mechanism, so that the up and down deflection angles of the anchor axis of the tool anchor hole in the jack are the same as the up and down deflection angles of the anchor axis of the working anchor hole; the left and right swing movement of the jack is adjusted by the V-axis swing mechanism, so that the left and right deflection angles of the anchor axis of the tool anchor hole in the jack are the same as the left and right deflection angles of the anchor axis of the working anchor hole The deflection angles are the same; when the upper and lower deflection angles and the left and right deflection angles of the anchor axis of the tool anchor hole in the jack are equal to the upper and lower deflection angles and the left and right deflection angles of the anchor axis of the working anchor hole, it means that the hole axis of the tool anchor hole coincides with the hole axis of the working anchor hole; since there are multiple anchor holes on the tool anchor, the anchor holes on the tool anchor need to correspond one by one with the anchor holes on the working anchor during tensioning, so the tool anchor is driven to rotate by the W-axis rotation mechanism to make the anchor holes on the tool anchor correspond one by one with the anchor holes on the working anchor; finally, the jack is pushed toward the working anchor on the prestressed precast beam by the Z-axis auxiliary motion mechanism, and the steel strand running through the tool anchor hole can be smoothly inserted into the working anchor hole for tensioning test; at this time, the state of the jack relative to the working anchor on the prestressed precast beam is as follows Figure 4 shown.

[0049] In other embodiments, the installation order of each mechanism can also be changed, for example: the V-axis swing mechanism 5 is installed on the motion component of the Z-axis motion mechanism 3; the first hinged end of the rotating beam 41 and the hinged end of the U-axis screw 42 are both hinged on the swing component of the V-axis swing mechanism 5; the Z-axis auxiliary motion mechanism 7 is installed in the rotating beam 41; the W-axis rotation mechanism 6 is installed on the inner suspension beam 71 of the Z-axis auxiliary motion mechanism 7, and the jack installation 100 is installed on the inner suspension beam 71 of the Z-axis auxiliary motion mechanism 7.

[0050] The present invention realizes the grasping and placing of the tool anchor and the adjustment of the tool anchor in the X-axis, Y-axis, Z-axis, up and down deflection and left and right deflection through an X-axis motion mechanism, a Y-axis motion mechanism, a Z-axis motion mechanism, a U-axis pitch mechanism, a V-axis swing mechanism, a W-axis rotation mechanism and a Z-axis auxiliary motion mechanism, automatically sends the jack to the tool anchor hole, automatically threads the steel strand, automatically completes the tensioning, and then automatically moves to the next tool anchor hole, so that auxiliary workers are no longer needed; therefore, the present invention can realize automatic operation of moving the tensioning jack into place and installing the jack, reduce the number of tensioning operators and reduce labor costs.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic prestressed prefabricated beam tensioning trolley, characterized in that: The invention comprises a multi-axis motion device for automatically tensioning a prestressed precast beam, wherein the multi-axis motion device is used to install a jack (100) with a built-in tool anchor (200) and drive the jack (100) to perform multi-axis motion so that the anchor hole of the tool anchor (200) is aligned with the anchor hole of a working anchor (300) on the precast beam and then the anchors are closed; specifically, the multi-axis motion device for automatically tensioning a prestressed precast beam comprises an X-axis motion mechanism (1), a Y-axis motion mechanism (2), a Z-axis motion mechanism (3), a U-axis pitch mechanism (4), a V-axis swing mechanism (5), a W-axis rotation mechanism (6) and a Z-axis auxiliary motion mechanism (7); the X-axis motion mechanism (1) is used to drive the jack (100) to move back and forth along the X-axis; the Y-axis motion mechanism (2) is used to drive the jack (100) to move back and forth along the X-axis; The jack (100) is used to move up and down along the Y axis; the Z axis motion mechanism (3) is used to drive the jack (100) to move back and forth along the Z axis; the U axis pitch mechanism (4) is used to drive the jack (100) to move up and down around the X axis; the V axis swing mechanism (5) is used to drive the jack (100) to swing left and right around the Y axis; the W axis rotation mechanism (6) is used to drive the jack (100) or the tool anchor (200) built into the jack (100) to rotate around a direction axis jointly determined by the U axis pitch mechanism (4) and the V axis swing mechanism (5); the Z axis auxiliary motion mechanism (7) is used to drive the jack (100) to move back and forth along a direction axis jointly determined by the U axis pitch mechanism (4) and the V axis swing mechanism (5); The X-axis motion mechanism (1) comprises an X-axis track (11), an X-axis trolley (12) and an X-axis numerical control servo drive device; the Y-axis motion mechanism (2) comprises a Y-axis fixed frame (21) and a Y-axis numerical control servo drive device (22); and the Z-axis motion mechanism (3) comprises a Z-axis fixed frame (31), a Z-axis trolley (32) and a Z-axis numerical control servo drive device (33); the X-axis track (11) is fixedly arranged along the X-axis, the X-axis trolley (12) is slidably mounted on the X-axis track (11), and the X-axis numerical control servo drive device is used to drive the X-axis trolley (12) along the X-axis The track (11) moves back and forth left and right; the Y-axis fixed frame (21) is fixedly mounted on the X-axis trolley (12) along the Y-axis; the Z-axis fixed frame (31) is slidably mounted in the Y-axis fixed frame (21) along the Z-axis; the Y-axis numerical control servo drive device (22) is used to drive the Z-axis fixed frame (31) to move up and down along the Y-axis fixed frame (21); the Z-axis trolley (32) is slidably mounted on the Z-axis fixed frame (31); the Z-axis numerical control servo drive device (33) is used to drive the Z-axis trolley (32) to move back and forth along the Z-axis fixed frame (31); The prestressed prefabricated beam automatic tensioning trolley also includes a numerical control platform (8), and the prestressed prefabricated beam automatic tensioning multi-axis motion device is installed on the numerical control platform (8) and moves with the numerical control platform (8).

2. The automatic prestressed prefabricated beam tensioning trolley according to claim 1 is characterized in that: The U-axis pitch mechanism (4) comprises a rotating beam (41), a U-axis screw rod (42) and a U-axis numerical control servo drive motor (43); the projections of the rotating beam (41) and the U-axis screw rod (42) in the horizontal direction are both parallel to the Z axis; a nut is provided on the U-axis screw rod (42); one end of the U-axis screw rod (42) is a free end, and the other end of the U-axis screw rod (42) is a hinged end; one end of the rotating beam (41) is a first hinged end, and the other end of the rotating beam (41) is a second hinged end and is hinged to the nut on the U-axis screw rod (42); an output shaft of the U-axis numerical control servo drive motor (43) is connected to the U-axis screw rod (42) and is used to drive the U-axis screw rod (42) to rotate, thereby driving the nut to move back and forth on the U-axis screw rod (42), thereby causing the rotating beam (41) to pitch up and down around the X-axis with the first hinged end of the rotating beam (41) as a revolving point.

3. The automatic prestressed prefabricated beam tensioning trolley according to claim 2 is characterized in that: The Z-axis auxiliary motion mechanism (7) comprises an inner hanging beam (71) and a hydraulic cylinder (72), wherein the inner hanging beam (71) and the hydraulic cylinder (72) are both arranged in the rotating beam (41); one end of the hydraulic cylinder (72) is hingedly mounted on the rotating beam (41), and the other end of the hydraulic cylinder (72) is hingedly connected to the inner hanging beam (71), and the hydraulic cylinder (72) is used to push the inner hanging beam (71) to move back and forth along the rotating beam (41) by extending and retracting.

4. The automatic prestressed prefabricated beam tensioning trolley according to claim 3 is characterized in that: The X-axis motion mechanism (1) is arranged along the X-axis; the Y-axis motion mechanism (2) is arranged on the motion component of the X-axis motion mechanism (1) along the Y-axis; and the Z-axis motion mechanism (3) is arranged on the motion component of the Y-axis motion mechanism (2) along the Z-axis.

5. The automatic prestressed prefabricated beam tensioning trolley according to claim 4 is characterized in that: The first hinged end of the rotating beam (41) and the hinged end of the U-axis screw rod (42) are both hinged on the motion component of the Z-axis motion mechanism (3); the V-axis swing mechanism (5) is installed on the inner suspension beam (71) of the Z-axis auxiliary motion mechanism (7); and the W-axis rotating mechanism (6) is installed on the rotating component of the V-axis swing mechanism (5).

6. The automatic prestressed prefabricated beam tensioning trolley according to claim 4, characterized in that: The V-axis swing mechanism (5) is mounted on the motion component of the Z-axis motion mechanism (3); the first hinged end of the rotating beam (41) and the hinged end of the U-axis screw rod (42) are both hinged on the swing component of the V-axis swing mechanism (5); and the W-axis rotation mechanism (6) is mounted on the inner suspension beam (71) of the Z-axis auxiliary motion mechanism (7).

7. The automatic prestressed prefabricated beam tensioning trolley according to any one of claims 1 to 6, characterized in that: The V-axis swing mechanism (5) comprises a V-axis rotating shaft (51) and a V-axis rotating motor (52); the V-axis rotating shaft (51) is arranged along the Y-axis; the V-axis rotating motor (52) is connected to the V-axis rotating shaft (51) and is used to drive the V-axis rotating shaft (51) to rotate; the rotation of the V-axis rotating shaft (51) realizes left-right swinging motion around the Y-axis.

8. The automatic prestressed prefabricated beam tensioning trolley according to any one of claims 1 to 6, characterized in that: The W-axis rotating mechanism (6) comprises a driving gear (61), a driven gear (62) and a W-axis numerically controlled motor (63); the driven gear (62) is fixedly arranged on the rear end surface of the jack (100) or the rear end surface of the tool anchor (200); the driving gear (61) is fixedly mounted on the output shaft of the W-axis numerically controlled motor (63) and meshes with the driven gear (62); the W-axis numerically controlled motor (63) is used to drive the driving gear (61) to rotate, thereby driving the driven gear (62) to rotate; the driven gear (62) rotates, thereby driving the jack (100) or the tool anchor (200) to rotate.

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