Method for automatically plumb vertical precast components by using a clamping bionic robotic arm

Abstract

The present invention discloses a method for automatically adjusting the verticality of vertical prefabricated components by using a clamping bionic robotic arm, which comprises the following steps: Based on the position of the embedded steel bars reserved at the position where the vertical prefabricated component is to be installed, extend the telescopic arm on the clamping bionic robotic arm forward to directly above the embedded steel bars; Use a vertical transportation device to hoist the vertical prefabricated component onto the telescopic arm; The robotic arm clamps the vertical prefabricated component to the required value, and the vertical transportation device releases the hoisting of the vertical prefabricated component; Adjust the verticality of the vertical prefabricated component; The telescopic arm retracts to disengage from the contact with the vertical prefabricated component; The robotic arm controls the vertical prefabricated component to drop to the elevation, checks its verticality again and makes fine adjustments using the fixture mechanism. After that, the construction workers set up diagonal braces to support and fix the vertical prefabricated component. The advantages of the present invention are: It can realize the automatic verticality adjustment and installation of vertical prefabricated components, effectively improving the construction efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of prefabricated building component assembly, and particularly relates to a method for automatically adjusting the verticality of vertical prefabricated components by using a clamping bionic robotic arm. Background Art

[0002] With the popularization of prefabricated buildings, on-site hoisting operations of prefabricated components are increasing. Hoisting operations are characterized by "large quantity, diverse types, high installation accuracy, and high hoisting risks". Under the current technical conditions, these characteristics have caused certain troubles to construction to a certain extent. Without improving the performance of construction machinery and upgrading construction measures, the advantages of prefabricated assembly construction cannot be brought into play.

[0003] At present, the installation of prefabricated components mostly adopts the method of lifting by tower crane, manual pushing and pulling to adjust the verticality, and manual installation of temporary supports for fixation. This not only has safety risks, but also has low efficiency and is difficult to control the construction accuracy. With the large-scale popularization and application of prefabricated buildings, the hoisting operations on the construction site are increasing, and the application of construction robots for prefabricated component installation is not extensive, which is mainly restricted by the complex environment of the construction site and the lack of power supply conditions. Under the existing technical conditions, it is very necessary to develop an intelligent device with automatic verticality adjustment for prefabricated components. Summary of the Invention

[0004] The purpose of the present invention is to provide a method for automatically adjusting the verticality of vertical prefabricated components by using a clamping bionic robotic arm according to the deficiencies of the above-mentioned prior art. This method uses a telescopic arm set on the base slewing mechanism of the mobile vehicle frame to support and quickly position the vertical prefabricated components for the first time. Then, when the hoisting is released and clamping is implemented, an angle sensor is used to make a second adjustment to the vertical prefabricated components. Finally, after canceling the support of the telescopic arm and slowly lowering it into place, a third fine adjustment is made to the vertical prefabricated components, realizing rapid installation and multiple precise adjustments.

[0005] The purpose of the present invention is achieved by the following technical solutions:

[0006] A method for automatically adjusting the verticality of vertical prefabricated components by using a clamping bionic robotic arm, characterized in that the method comprises the following steps:

[0007] S1: Hoist the clamping bionic robotic arm to the corresponding floor and self-travel to the installation position of the vertical prefabricated component;

[0008] S2: Based on the position of the embedded steel bars reserved at the installation position of the vertical prefabricated component, extend the telescopic arm on the clamping bionic robotic arm forward to directly above the embedded steel bars; a horizontal support is fixedly arranged at the front end of the telescopic arm, and a guiding and positioning component is arranged on the horizontal support;

[0009] S3: using the vertical transportation equipment at the construction site to hoist the vertical prefabricated component above the horizontal support, and then gradually lowering it under the guidance of the guide positioning assembly until it is fully supported on the horizontal support;

[0010] S4: the clamping bionic mechanical arm adjusts the mechanical arm thereon so that the clamp mechanism starts to clamp the vertical prefabricated component. When the clamping force of the clamp mechanism on the vertical prefabricated component reaches the required value, the vertical transport device releases the hoisting of the vertical prefabricated component.

[0011] S5: according to the real-time monitoring of the verticality of the vertical prefabricated component by the angle sensor in the clamp mechanism, the verticality of the vertical prefabricated component is adjusted by using the mechanical arm and the clamp mechanism until the verticality target value is reached;

[0012] S6: When the verticality of the vertical prefabricated component reaches the target value, the mechanical arm and the clamp mechanism stop at the current position, slide the guide positioning assembly out from the upper side of the retractable support arm, and retract the retractable support arm backward to make the horizontal support disengage from the vertical prefabricated component;

[0013] S7: Using the mechanical arm and the clamp mechanism to control the vertical prefabricated component to fall vertically. After the vertical prefabricated component falls to the elevation, the angle sensor checks the verticality of the vertical prefabricated component again and uses the clamp mechanism to make fine adjustments. After the verticality of the vertical prefabricated component meets the requirements, the construction personnel set diagonal braces between the vertical prefabricated component and the floor to support and fix the vertical prefabricated component.

[0014] S8: adjusting the position of the robotic arm to the installation position of the next vertical prefabricated component through the base rotation mechanism on the clamping bionic robotic arm, and repeating steps S2-S7 to perform construction.

[0015] In step S2, the method for judging whether the retractable support arm extends forward to the position directly above the embedded steel bars is as follows: a plurality of camera groups are provided on the lower surface of the horizontal support, and the camera groups capture real-time images below the horizontal support in real time; a data storage system to which the camera groups are connected stores a standard image when the horizontal support is directly above the embedded steel bars; at least two groups of the embedded steel bars in the real-time image are compared with the corresponding embedded steel bars in the standard image; if the images match, it indicates that the support is directly above the embedded steel bars.

[0016] The rear end of the telescopic support arm is fixed to the base slewing mechanism of the clamping bionic robotic arm; the guiding and positioning assembly consists of a collar and a U-shaped card slot fixedly arranged above the collar. At least two groups of the guiding and positioning assemblies are sleeved on the horizontal support. The collar is slidably sleeved on the horizontal support laterally, and the width of the U-shaped card slot corresponds to the bottom width of the vertical precast member.

[0017] The telescopic support arm is located at a height position 300 mm - 400 mm above the installation working surface of the vertical precast member.

[0018] The clamping bionic robotic arm includes a mobile vehicle frame, a base slewing mechanism, a robotic arm, and a fixture mechanism. The robotic arm includes a main arm and a sub-arm that are hinged to each other. A main arm hydraulic cylinder is arranged between the main arm and the sub-arm. A sub-arm hydraulic cylinder is arranged on the sub-arm. The base slewing mechanism is installed on the mobile vehicle frame, and the lower end of the main arm is arranged on the base slewing mechanism. The upper end of the main arm is hinged to the rear end of the sub-arm. The lower end of the main arm hydraulic cylinder is hinged to the lower part of the main arm, and the upper end is hinged to the vicinity of the rear end of the sub-arm. The sub-arm consists of a main and sub-arm and a telescopic sub-arm that are sleeved with each other. The cylinder barrel of the sub-arm hydraulic cylinder is fixed to the main and sub-arm, and the front end of the piston rod of the sub-arm hydraulic cylinder is connected to the telescopic sub-arm to drive the telescopic sub-arm to perform forward and backward telescopic movements.

[0019] A main arm pitching angle adjustment mechanism is fixedly arranged on the base slewing mechanism. The lower end of the main arm is hinged to the base slewing mechanism. The main arm pitching angle adjustment mechanism is connected to the main arm to drive and adjust the pitching angle of the main arm.

[0020] The fixture mechanism includes a fixture and a rotary leveling mechanism for driving the fixture. The fixture includes a reduction motor, a clamping gear set, a parallelogram mechanism, and a clamping plate. The rotary leveling mechanism is installed at the front end of the telescopic sub-arm; wherein, the clamping gear set includes a driving gear, two transmission gears, and a packaging housing. The output end of the reduction motor is connected to and drives the driving gear to rotate. The driving gear meshes and drives any one of the two transmission gears, and the two transmission gears mesh and drive each other; the number of the parallelogram mechanisms is two and they are symmetrically arranged. The parallelogram mechanism includes a first rotating rod, a second rotating rod, and a clamping limiting rod. One end of the first rotating rod is coaxially fixed to the transmission gear, and the other end is hinged to the upper end of the clamping limiting rod. One end of the second rotating rod is hinged to the packaging housing, and the other end is hinged to the middle part of the clamping limiting rod. The lower end of the clamping limiting rod is provided with the clamping plate; the lengths of the first rotating rod and the rotating rod are the same and they are arranged parallel to each other.

[0021] The slewing leveling mechanism includes an installation platform, a horizontal adjustment servo reduction motor, and a slewing servo reduction motor. The horizontal adjustment servo reduction motor includes a first reducer and a horizontal adjustment servo motor that drives the first reducer. The housing of the first reducer is fixed to the telescopic secondary boom, and the output end of the first reducer drives the horizontal angle adjustment of the installation platform. The slewing servo reduction motor includes a second reducer and a slewing servo motor that drives the second reducer. The housing of the second reducer is fixedly connected to the installation platform, and the output end of the second reducer is fixedly connected to the encapsulation housing in the fixture gear set.

[0022] The encapsulation housing includes two vertically parallel side plates. The reduction motor is fixedly arranged on the outer wall surface of one of the side plates. The clamping gear set is arranged in the space enclosed by the two side plates. The two ends of the rotating shaft of the transmission gear are arranged in the bearings opened on the side plates. The output end of the reduction motor penetrates through the side plate and drives the driving gear to rotate.

[0023] The angle sensor is arranged on the clamping plate. The clamping plate and the lower end of the clamping limit rod are hinged through a rotating shaft, and the force sensor is arranged at the position of the rotating shaft.

[0024] The advantages of the present invention are as follows:

[0025] (1) By adopting the combination of the main boom and the secondary boom, the angle adjustment of prefabricated components at multiple positions can be completed at a fixed point position, and the operation efficiency is high;

[0026] (2) After the fixture has clamped the prefabricated component, the tower crane can unhook, without occupying the working time of the tower crane, and improving the working efficiency of the on-site tower crane;

[0027] (3) In the non-working state, all mechanical arms can be in the retracted state, which is beneficial to reducing the center of gravity of the equipment. At this time, the transfer work of the equipment can be completed through the lifting lugs of the four-wheel trolley;

[0028] (4) It can store the relevant information of prefabricated components during the construction process and interact with the system, facilitating the system data collection;

[0029] (5) The fixture is equipped with high-precision angle sensors and force sensors, and adopts an intelligent control scheme, which can automatically adjust the verticality of components. By using devices such as laser rangefinders or cameras for auxiliary operations, the efficiency of clamping and tracing between the fixture and the prefabricated component is improved;

[0030] (6)For construction operations that may be carried out in rainy days, the following measures are mainly taken: all joints such as cables are treated with a sealing and moisture-proof process, electrical equipment and the like are treated with a closed ventilation box, and for mechanical devices, on the basis of spraying, additional protective covers are used for rotating mechanisms such as joints to achieve that the operation in light rain is not affected;

[0031] (7)Conduct anti-overturning design to ensure the stability of equipment operation within the working range. Brief Description of the Drawings

[0032] Figure 1 It is a three-dimensional view of the clamping bionic robotic arm in the present invention;

[0033] Figure 2 It is a side view of the clamping bionic robotic arm in the present invention;

[0034] Figure 3 It is a schematic diagram of the clamping bionic robotic arm in the present invention for supporting and clamping a vertical precast member;

[0035] Figure 4 It is a schematic diagram of setting a diagonal bracing rod on a vertical precast member for support and fixation in the present invention;

[0036] Figure 5 It is a schematic diagram of the fixture mechanism in the present invention;

[0037] Figure 6 It is a transmission schematic diagram of the clamping gear set driving a parallelogram structure in the present invention. Embodiment

[0038] The features of the present invention and other related features are further described in detail below with reference to the accompanying drawings through embodiments for the understanding of those skilled in the same industry:

[0039] As Figure 1-6 , the marks in the figure are respectively: mobile vehicle frame 1, vehicle frame 11, auxiliary support leg 12, lifting lug 13; pedestal slewing mechanism 2; robotic arm 3, main arm 31, main and sub arms 32, main arm hydraulic cylinder 33, sub arm hydraulic cylinder 34, telescopic sub arm 35, main arm pitch angle adjustment mechanism 36; fixture mechanism 4, horizontal adjustment servo reduction motor 41, slewing servo reduction motor 42, installation platform 43, clamping gear set 44, transmission gear 441, driving gear 442, encapsulation housing 443, parallelogram mechanism 45, first rotating rod 451, second rotating rod 452, clamping limit rod 453, clamping plate 46; telescopic arm 5, horizontal support 6, embedded steel bar 7, vertical precast member 8, diagonal bracing rod 9.

[0040] Embodiment: As Figure 1-6As shown in the figure, this embodiment specifically relates to a method for automatically vertical-aligning vertical precast components using a clamping bionic robotic arm. First, an explanation of the structural composition of the clamping bionic robotic arm involved is provided. The clamping bionic robotic arm in this embodiment mainly includes a mobile vehicle frame 1, a base slewing mechanism 2, a robotic arm 3, and a fixture mechanism 4. The robotic arm 3 includes a main arm 31 and a sub-arm that are hinged to each other. A main arm hydraulic cylinder 33 is arranged between the main arm 31 and the sub-arm. A sub-arm hydraulic cylinder 34 is arranged on the sub-arm. The base slewing mechanism 2 is installed on the mobile vehicle frame 1, and the lower end of the main arm 31 is arranged on the base slewing mechanism 2. The upper end of the main arm 31 is hinged to the rear end of the sub-arm. The lower end of the main arm hydraulic cylinder 33 is hinged to the lower part of the main arm 31, and the upper end is hinged to the vicinity of the rear end of the sub-arm. The sub-arm is composed of a main and sub-arm 32 and a telescopic sub-arm 35 that are sleeved with each other. The cylinder barrel of the sub-arm hydraulic cylinder 34 is fixed to the main and sub-arm 32, and the front end of the piston rod of the sub-arm hydraulic cylinder 34 is connected to the telescopic sub-arm 35 to drive the telescopic sub-arm 35 to move back and forth telescopically.

[0041] As Figure 1 , 2 shown in the figure, the main body of the mobile vehicle frame 1 is a vehicle frame 11, and the vehicle frame 11 is driven by four running wheels to run; and four lifting lugs 13 are distributed at the four corners of the vehicle frame 11. When the operation at one site ends and the transfer operation is carried out, first operate the robotic arm to be in the retracted state, and then lift the lifting lugs 13 on the vehicle frame 11 by a crane to complete the transfer work. In addition, four groups of auxiliary legs 12 are also arranged on the vehicle frame 11. The auxiliary legs 12 can be retracted during movement, and the auxiliary legs 12 are deployed and supported on the ground during work to ensure the stability of the whole machine during work and ensure the working safety of the equipment. A control system is also built in the vehicle frame 11 to complete the control of the robotic arm 3, which is realized by an embedded system. A set of batteries is configured; at the same time, an inverter is configured to realize the conversion from commercial power to direct current, so as to expand the applicable range of the robotic arm 3.

[0042] As Figure 1 , 2 shown in the figure, the base slewing mechanism 2 is fixed on the vehicle frame 11 and can drive the robotic arm 3 installed thereon to slewing within a range of 360°. When the position of the mobile vehicle frame 1 is fixed, the azimuth angle of the robotic arm 3 can be adjusted through the base slewing mechanism 2 to realize the clamping and adjustment of multiple vertical precast components 8 at the same position. In addition, a main arm pitch angle adjustment mechanism 36 is also fixedly arranged on the base slewing mechanism 2. The lower end of the main arm 31 is hinged to the base slewing mechanism 2, and the main arm pitch angle adjustment mechanism 36 is connected to the lower end of the main arm 31 to drive and adjust the pitch angle of the main arm 21.

[0043] As Figure 1-6As shown, the fixture mechanism 4 mainly includes a rotary leveling mechanism, a reduction motor, a clamping gear set 44, a parallelogram mechanism 45, and a clamping plate 46. Among them, the clamping gear set 44 includes a sealed housing 443 and two transmission gears 441 and a driving gear 442 arranged in the sealed housing 443. The sealed housing 443 includes two vertically and parallel side plates. The reduction motor is fixedly arranged on the outer wall surface of one of the side plates, and its output shaft penetrates into the sealed housing 443 to drive the driving gear 442 to rotate. The reduction motor is specifically composed of a clamping motor and a reducer connected to each other; the two transmission gears 441 are meshed with each other, and the two ends of the rotating shaft of each transmission gear 441 are arranged in the bearings opened on the side plates. The driving gear 442 meshes and drives any one of the two transmission gears 441. The number of parallelogram mechanisms 45 is two and they are symmetrically arranged. Each parallelogram mechanism 45 includes a first rotating rod 451, a second rotating rod 452, and a clamping and limiting rod 453. The upper end of the first rotating rod 451 is fixedly coaxial with the transmission gear 441, and the lower end is hinged to the upper end of the clamping and limiting rod 453. The upper end of the second rotating rod 452 is hinged to the sealed housing 443 through a rotating shaft, and the lower end is hinged to the middle of the clamping and limiting rod 453. At the same time, a clamping plate 46 is hinged to the lower end of the clamping and limiting rod 453. It should be noted that the lengths of the first rotating rod 451 and the second rotating rod 452 are the same and they are arranged parallel to each other. When the reduction motor drives the driving gear 442 to rotate, the driving gear 442 drives one of the transmission gears 441 to rotate. Then, this transmission gear 441 drives the other meshing transmission gear 441 to rotate synchronously. Different rotation directions of the transmission gear 441 will drive the parallelogram mechanism 45 to perform clamping or loosening actions. The clamping and perpendicularity measurement of the fixture mechanism 4 and the vertical prefabricated member 8 lay the foundation for subsequent vertical angle adjustment. Only when the fixture mechanism 4 is effectively clamped with the vertical prefabricated member 8 can it be ensured that the vertical prefabricated member 8 is in a follow-up state during the working process of the robotic arm 3, so as to ensure the effectiveness of the vertical adjustment of the robotic arm 3.

[0044] As Figure 1-6As shown, an angle sensor is provided on the clamping plate 46. The angle sensor can detect the verticality of the clamping plate 46 in real time. Since the clamping plate 46 is completely attached to the surface of the vertical precast member 8 during clamping, the verticality of the clamping plate 46 is equivalent to that of the vertical precast member 8. The angle sensor is realized by a dual-axis output angle sensor with a precision of 0.01°. Considering the requirements of the equipment working conditions, the motor is realized by a servo motor with a power supply voltage of 48V, a rated power of 400W, and a rated torque of 1.27 Nm, and a reducer is configured at the same time. In addition, a hinge is formed between the lower end of the clamping plate 46 and the clamping limit rod 453 through a rotating shaft, and a force sensor is arranged at the position where the rotating shaft is located. When the clamping plate 46 clamps the vertical precast member 8, a clamping force perpendicular to the vertical precast member 8 is applied at the rotating shaft, and the force sensor detects the magnitude of the clamping force value. Specifically, a pin-type force sensor is selected for the force sensor with a measuring range of 100 kg.

[0045] As Figure 1-6 shown, the rotary leveling mechanism includes an installation platform 43, a horizontal adjustment servo reduction motor 41, and a rotary servo reduction motor 42. The horizontal adjustment servo reduction motor 41 is mainly used to adjust the pitching state of the fixture mechanism 4, and the rotary servo reduction motor 42 is mainly used to drive the azimuth adjustment of the fixture mechanism 4. Among them, the horizontal adjustment servo reduction motor 41 includes a first reducer and a horizontal adjustment servo motor that drives the first reducer. The housing of the first reducer is fixed on the telescopic sub-arm 34 of the robotic arm 3, and the output end of the first reducer drives the installation platform 43 to adjust the horizontal angle; the rotary servo reduction motor 42 includes a second reducer and a rotary servo motor that drives the second reducer. The housing of the second reducer is fixedly connected to the installation platform 43, and the output end of the second reducer is fixedly connected to the encapsulation housing 443 in the fixture gear set 44.

[0046] As Figure 1 、 2 As shown in Figures 3 and 4, a telescopic support arm 5 pointing forward is provided on the base slewing mechanism 2. The telescoping of the telescopic support arm 5 is driven by a hydraulic cylinder provided thereon. A horizontal support 6 is fixedly provided at its front end, and the length of the horizontal support 6 is the same as or greater than the length of the vertical precast member 8. In addition, a guiding and positioning assembly (not shown in the figure) is sleeved on both sides of the horizontal support 6. The guiding and positioning assembly is composed of a collar and a U-shaped card slot fixedly provided above the collar. At least two groups of guiding and positioning assemblies are sleeved on the horizontal support, and the collar is slidably sleeved on the horizontal support laterally. The width of the U-shaped card slot corresponds to the bottom width of the vertical precast member 8. In addition, a camera device is prefabricated on the lower surface of the horizontal support 6 for shooting the real-time picture below it.

[0047] As Figure 1-6As shown in the figure, the method for automatically adjusting the verticality of vertical prefabricated components by using a clamping bionic robotic arm in this embodiment includes the following steps:

[0048] (S1) Before preparing to hoist the vertical prefabricated component 8 of the Nth floor, use a tower crane to hoist the clamping bionic robotic arm to the corresponding floor; check the power supply. If there is a 220V Ac alternating current power supply on-site, it can be connected to the system, and the control system is started through the control power supply of the control cabinet. At the same time, the software enters the self-check state. When the self-check is completed, the system gives a prompt, indicating that the system self-check is completed.

[0049] Control the mobile frame 1 of the clamping bionic robotic arm to self-travel to the installation position of the vertical prefabricated component 8 through a remote controller, and manually operate to unfold the four auxiliary legs 12 on the mobile frame 1 and support them on the floor surface of the floor where it is located to ensure the stable posture of the frame 11 during operation.

[0050] (S2) Based on the position of the embedded steel bars 7 reserved at the installation position of the vertical prefabricated component 8, the telescopic arm 5 extends forward to directly above the embedded steel bars 7; a horizontal support 6 is fixedly arranged at the front end of the telescopic arm 5, and a guiding and positioning component is also arranged on the horizontal support 6. Based on the approximate dimension information of the vertical prefabricated component 8, control the telescopic arm 5 to be at a height position 300 mm - 400 mm above the installation operation surface of the vertical prefabricated component 8.

[0051] Among them, the judgment method for the telescopic arm 5 to extend forward to directly above the embedded steel bars 7 is as follows: Several groups of camera devices are arranged on the lower surface of the horizontal support 6. The camera devices capture the real-time image below the horizontal support 6 in real time. The standard image when the horizontal support is directly above the embedded steel bars is stored in the data storage system connected to the camera devices. Compare at least two groups of embedded steel bars 7 in the real-time image with the corresponding embedded steel bars 7 in the standard image. If the images match, it indicates that it is directly above the embedded steel bars 7; if the connection lines between the embedded steel bars 7 in the real-time image cannot coincide with the connection lines between the embedded steel bars 7 in the standard image, it indicates that it has not reached directly above the embedded steel bars 7.

[0052] (S3) Use the vertical transportation equipment at the construction site to hoist the vertical prefabricated component 8 above the horizontal support 6, and then gradually lower the vertical prefabricated component 8 under the guidance of the guiding and positioning component until its lower bottom surface is completely supported on the horizontal support 6.

[0053] (S4) Adjust the robotic arm 3 to make the clamping mechanism 4 start to clamp the vertical precast component 8. To avoid damage to the clamped part of the vertical precast component 8 caused by excessive clamping force, monitor the clamping force in real time, and control the clamping force within 80 Kg. When the clamping force of the clamping mechanism 4 on the vertical precast component 8 reaches the required value, the vertical transportation equipment releases the lifting of the vertical precast component 8. Here, for the monitoring of the clamping force parameter, it is realized by relying on the force sensor on the clamping plate 46.

[0054] (S5) According to the real-time monitoring of the perpendicularity of the vertical precast component 8 by the angle sensor in the clamping mechanism 4, use the robotic arm 3 and the clamping mechanism 4 to adjust the perpendicularity of the vertical precast component 8 until the perpendicularity target value is reached and the requirements are met.

[0055] (S6) After the perpendicularity of the vertical precast component 8 reaches the target value, the robotic arm and the clamping mechanism stop at the current position, that is, keep the posture of the vertical precast component 8 unchanged, slide out the guiding and positioning components from both sides of the horizontal support 6 of the telescopic boom 5, and retract the telescopic boom 5 backward so that its horizontal support 6 is disengaged from the vertical precast component 8 to achieve the preliminary positioning of the vertical precast component 8.

[0056] (S7) Use the robotic arm 4 and the clamping mechanism 4 to control the vertical precast component 8 to slowly fall vertically. After the vertical precast component 8 falls to the elevation, the angle sensor checks the perpendicularity of the vertical precast component 8 again and uses the clamping mechanism 4 for fine adjustment. After the perpendicularity of the vertical precast component 8 meets the requirements, the construction workers set up a diagonal brace 9 between the vertical precast component 8 and the floor to support and fix the vertical precast component 8.

[0057] (S8) Adjust the orientation of the robotic arm 3 to the installation position of the next vertical precast component 8 through the base slewing mechanism 2 on the clamping bionic robotic arm, and repeat steps S2 - S7 for construction.

[0058] (S9) After the perpendicularity adjustment work of the 4 vertical precast components 8 at the current position is completed, operate the robotic arm 3 to enter the initial retracted state, operate the mobile carriage 1 to move to the next position for new work, and repeat steps S1 - S8.

[0059] The beneficial effects of this embodiment are:

[0060] (1) Adopting the combination of the main and auxiliary arms, the angle adjustment of precast components at multiple positions can be completed at a fixed point position, and the operation efficiency is high;

[0061] (2) When the fixture has clamped the precast part, the tower crane can unhook, without occupying the working time of the tower crane, improving the working efficiency of the on-site tower crane;

[0062] (3)In the non - working state, all robotic arms can be in a retracted state, which helps to lower the center of gravity of the equipment. At this time, the equipment can be transferred through the lifting lugs of the four - wheel trolley;

[0063] (4)It can store the relevant information of precast components during the construction process and interact with the system, facilitating system data collection;

[0064] (5)The fixture is equipped with high - precision angle sensors and force sensors, and adopts an intelligent control scheme. It can automatically adjust the verticality of components and uses devices such as laser rangefinders or cameras for auxiliary operations to improve the efficiency of clamping and tracing of the fixture and precast components;

[0065] (6)For construction operations that may be carried out in rainy days, the following measures are mainly taken: all joints such as cables are treated with a sealed moisture - proof process, electrical equipment is treated with a closed ventilation box, and for mechanical devices, on the basis of spraying, additional protective covers are used for rotating mechanisms such as joints for protection, so that operations in light rain are not affected;

[0066] (7)An anti - overturning design is carried out to ensure the stability of the equipment during operation within the working range.

Claims

1. A method for automatically plumb vertical precast components using a clamping bionic robotic arm, characterized in that The method includes the following steps: S1: Hoist the clamping bionic robotic arm to the corresponding floor and self-travel it to the installation position of the vertical precast component; S2: Based on the position of the embedded steel bars reserved at the installation position of the vertical precast component, extend the telescopic boom on the clamping bionic robotic arm forward to directly above the embedded steel bars; a horizontal support is fixedly arranged at the front end of the telescopic boom, and a guiding and positioning assembly is arranged on the horizontal support; S3: Use the vertical transportation equipment at the construction site to hoist the vertical precast component above the horizontal support, and then gradually lower it under the guidance of the guiding and positioning assembly until it is completely supported on the horizontal support; S4: The clamping bionic robotic arm adjusts the robotic arm thereon to enable the clamping mechanism to start clamping the vertical precast component. When the clamping force of the clamping mechanism on the vertical precast component reaches the required value, the vertical transportation equipment releases the hoisting of the vertical precast component; S5: According to the real-time monitoring of the verticality of the vertical precast component by the angle sensor in the clamping mechanism, use the robotic arm and the clamping mechanism to adjust the verticality of the vertical precast component until the verticality target value is reached; S6: When the verticality of the vertical precast component reaches the target value, the robotic arm and the clamping mechanism stop at the current position, slide out the guiding and positioning assembly from the upper side of the telescopic boom, and retract the telescopic boom backward to disengage the horizontal support from the vertical precast component; S7: Use the robotic arm and the clamping mechanism to control the vertical precast component to fall vertically. After the vertical precast component falls to the elevation, the angle sensor checks the verticality of the vertical precast component again and uses the clamping mechanism for fine adjustment. After the verticality of the vertical precast component meets the requirements, the construction workers set up diagonal braces between the vertical precast component and the floor to support and fix the vertical precast component; S8: Adjust the orientation of the robotic arm to the installation position of the next vertical precast component through the base slewing mechanism on the clamping bionic robotic arm, and repeat steps S2 - S7 for construction.

2. A method for automatically adjusting the verticality of vertical precast components using a clamping bionic robotic arm according to claim 1, characterized in that In step S2, the judgment method for the telescopic boom to extend forward to directly above the embedded steel bars is as follows: Several groups of camera devices are arranged on the lower surface of the horizontal support. The camera devices capture the real-time images below the horizontal support in real time. The standard images when the horizontal support is directly above the embedded steel bars are stored in the data storage system connected to the camera devices. Compare at least two groups of the embedded steel bars in the real-time images with the corresponding embedded steel bars in the standard images. If the images match, it indicates that it is directly above the embedded steel bars.

3. A method for automatically vertical-aligning vertical precast components using a clamping bionic robotic arm according to claim 1, characterized in that The rear end of the telescopic support arm is fixed to the base slewing mechanism of the clamping bionic robotic arm; the guiding and positioning assembly consists of a collar and a U-shaped card slot fixedly arranged above the collar. At least two groups of the guiding and positioning assemblies are sleeved on the horizontal support. The collar is slidably sleeved on the horizontal support laterally, and the width of the U-shaped card slot corresponds to the bottom width of the vertical precast member.

4. A method for automatically plumb-aligning vertical precast components using a clamping bionic robotic arm according to claim 1, characterized in that The telescopic support arm is located at a height position of 300 mm - 400 mm above the installation working surface of the vertical precast member.

5. A method for automatically adjusting the verticality of vertical precast components using a clamping bionic robotic arm according to claim 1, characterized in that The clamping bionic robotic arm includes a mobile vehicle frame, a base slewing mechanism, a robotic arm, and a fixture mechanism. The robotic arm includes a main arm and a sub-arm hinged to each other. A main arm hydraulic cylinder is arranged between the main arm and the sub-arm, and a sub-arm hydraulic cylinder is arranged on the sub-arm. The base slewing mechanism is installed on the mobile vehicle frame, and the lower end of the main arm is arranged on the base slewing mechanism. The upper end of the main arm is hinged to the rear end of the sub-arm. The lower end of the main arm hydraulic cylinder is hinged to the lower part of the main arm, and the upper end is hinged to the vicinity of the rear end of the sub-arm. The sub-arm consists of a main and sub-arm sleeved with each other and a telescopic sub-arm. The cylinder barrel of the sub-arm hydraulic cylinder is fixed to the main and sub-arm, and the front end of the piston rod of the sub-arm hydraulic cylinder is connected to the telescopic sub-arm to drive the telescopic sub-arm to perform forward and backward telescopic movement.

6. A method for automatically vertical-aligning vertical precast components using a clamping bionic robotic arm according to claim 5, characterized in that A main arm pitch angle adjustment mechanism is fixedly arranged on the base slewing mechanism. The lower end of the main arm is hinged to the base slewing mechanism, and the main arm pitch angle adjustment mechanism is connected to the main arm to drive and adjust the pitch angle of the main arm.

7. A method for automatically adjusting the verticality of vertical precast components using a clamping bionic robotic arm according to claim 5, characterized in that The fixture mechanism includes a fixture and a rotary leveling mechanism for driving the fixture. The fixture includes a reduction motor, a clamping gear set, a parallelogram mechanism, and a clamping plate. The rotary leveling mechanism is installed at the front end of the telescopic sub-arm. Among them, the clamping gear set includes a driving gear, two transmission gears, and a packaging housing. The output end of the reduction motor is connected to and drives the driving gear to rotate. The driving gear meshes and drives any one of the two transmission gears, and the two transmission gears mesh and drive each other. The number of the parallelogram mechanisms is two and they are symmetrically arranged. The parallelogram mechanism includes a first rotating rod, a second rotating rod, and a clamping limit rod. One end of the first rotating rod is coaxially fixed to the transmission gear, and the other end is hinged to the upper end of the clamping limit rod. One end of the second rotating rod is hinged to the packaging housing, and the other end is hinged to the middle of the clamping limit rod. The clamping plate is arranged at the lower end of the clamping limit rod. The lengths of the first rotating rod and the rotating rod are the same and they are arranged parallel to each other.

8. A method for automatically adjusting the verticality of vertical precast components using a clamping bionic robotic arm according to claim 7, characterized in that The rotary leveling mechanism includes an installation platform, a horizontal adjustment servo reduction motor, and a rotary servo reduction motor. The horizontal adjustment servo reduction motor includes a first reducer and a horizontal adjustment servo motor that drives the first reducer. The housing of the first reducer is fixed to the telescopic secondary boom, and the output end of the first reducer drives the horizontal angle adjustment of the installation platform. The rotary servo reduction motor includes a second reducer and a rotary servo motor that drives the second reducer. The housing of the second reducer is fixedly connected to the installation platform, and the output end of the second reducer is fixedly connected to the encapsulation housing in the clamping gear set.

9. A method for automatically adjusting the verticality of vertical precast components using a clamping bionic robotic arm according to claim 7, characterized in that The encapsulation housing includes two vertically parallel side plates. The reduction motor is fixedly arranged on the outer wall surface of one of the side plates. The clamping gear set is arranged in the space enclosed by the two side plates. The two ends of the rotating shaft of the transmission gear are arranged in the bearings opened on the side plates. The output end of the reduction motor penetrates through the side plate and drives the driving gear to rotate.

10. A method for automatically adjusting the verticality of vertical precast components using a clamping bionic robotic arm according to claim 7, characterized in that The angle sensor is arranged on the clamping plate. The clamping plate and the lower end of the clamping and limiting rod are hinged through a rotating shaft, and a force sensor is arranged at the position of the rotating shaft.

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