Automatically positionable tensioning machine and method for automatically positioning the same

Abstract

The application relates to an automatic positioning tensioning machine and an automatic positioning method thereof. The tensioning machine comprises a tensioning device, a driving unit and a control unit. The tensioning device comprises a machine shell, a tensioning rod assembly and a detection assembly. One end of the tensioning rod assembly is movably coaxially inserted into the machine shell, and the end is provided with a tensioning head for tensioning a to-be-tensioned piece. One end of the machine shell in the axial direction is defined as a machine head end, and the detection assembly is arranged at the machine head end. The driving unit is transmissionally connected to the tensioning device, and the control unit is communicatively connected to the detection assembly. In the automatic positioning process, the detection assembly can measure the size parameters of the tensioning screw rod of the to-be-tensioned piece and the relative position between the tensioning head and the tensioning screw rod, and can convert the measurement results into measurement signals. The control unit can control the driving unit to drive the tensioning device to move relative to the to-be-tensioned piece based on the measurement signals, so that the tensioning head is coaxially located on the tensioning screw rod, and the tensioning head is controlled to engage the tensioning screw rod to a preset length.

Description

Technical Field

[0001] This application relates to the field of building pipe pile production technology, and in particular to an automatically positioning tensioning machine and its automatic positioning method. Background Technology

[0002] With the development of concrete technology, concrete pipe pile technology has become increasingly mature. Besides its application in industrial and civil buildings, it is also widely used in bridges, ports, railways, and water conservancy projects. In the production of concrete pipe piles, firstly, a reinforcing cage with end plates is placed in a pipe pile mold (hereinafter referred to as the mold); then, concrete is fed into the mold, followed by centrifugation, primary steam curing, demolding, and advanced steam curing steps to obtain the pipe pile. To enable the prepared pipe piles to withstand higher loads during use, a prestressing tensioning step must be added during the production of concrete pipe piles. Specifically, the prestress of the pipe pile is controlled by the tensioning value of the tensioning machine. The distance parameter between the tensioning screw of the pipe pile and the tensioning connection kit of the tensioning machine is extremely critical. Whether the kit connection is in place not only affects the tensioning value of the pipe pile but also relates to the smooth completion of the pipe pile tensioning process. Therefore, before tensioning, it is necessary to position the tensioning connection kit of the tensioning machine to ensure that the connection kit is aligned with the tensioning screw of the mold.

[0003] However, in existing technologies, the positioning of the tensioning screw of the pipe mold and the tensioning connection kit of the tensioning machine relies on the operator's visual inspection and experience. This places strict demands on the operator, and the manual positioning method is unstable, failing to guarantee successful connection every time, resulting in low positioning efficiency. More seriously, if the connection between the tensioning screw of the pipe mold and the tensioning kit of the tensioning machine fails, the entire pipe pile will be scrapped. Furthermore, the tensioning screw and related equipment will suffer varying degrees of damage, leading to abnormal quality or scrapping of the pipe pile product and causing unnecessary economic losses. Summary of the Invention

[0004] Therefore, it is necessary to address the problem that existing technologies mainly rely on manual visual inspection to position the tensioning connection kit and the tensioning screw of the tube mold, resulting in low connection efficiency between the tensioning connection kit and the tube mold and easy to cause unnecessary economic losses. To address this issue, it is necessary to provide a tensioning machine with automatic positioning and its automatic positioning method.

[0005] According to one aspect of this application, an automatically positioning tensioning machine is provided, comprising:

[0006] The tensioning device includes a housing, a tensioning rod assembly, and a detection assembly. One end of the tensioning rod assembly is movably coaxially inserted into the housing along its own axial direction, and the end of the tensioning rod assembly inserted into the housing has a tensioning head for tensioning the member to be tensioned. The axial end of the housing is defined as the head end, and the detection assembly is located at the head end. The detection assembly is used to measure the dimensional parameters of the tensioning screw of the member to be tensioned and the relative position between the tensioning head and the tensioning screw, and can convert the measurement results into measurement signals.

[0007] A drive unit is connected to the tensioning device, and the drive unit is used to drive the tensioning device to move relative to the member to be tensioned.

[0008] The control unit is communicatively connected to the detection component. The control unit can control the drive unit to drive the tensioning device to move relative to the member to be tensioned based on the measurement signal, so that the tensioning head is coaxially aligned with the tensioning screw, and control the tensioning head to engage the tensioning screw to a preset length.

[0009] In one embodiment, the detection assembly includes a bracket and a first detection element and a second detection element disposed on the bracket. The bracket is connected to the housing. The first detection element is disposed on the bracket directly above the head end. The second detection element is disposed on both sides of the head end along the radial direction of the housing.

[0010] The first detection element is used to measure the distance between the tensioning screw and the first detection element, and the second detection element is used to detect the diameter of the tensioning screw and the starting position of the thread on the tensioning screw, so that the control unit can control the tensioning head to be coaxially aligned with the tensioning screw based on the measurement results of the first detection element and the measurement results of the second detection element.

[0011] In one embodiment, the detection assembly further includes a third detection element and a fourth detection element, the third detection element and the fourth detection element being disposed on the bracket, the fourth detection element being spaced apart from the second detection element in the axial direction, and being disposed on both sides of the bracket along the radial direction of the housing;

[0012] The third detection element is used to detect the distance between the head end and the tensioning baffle of the member to be tensioned, and the fourth detection element is used to detect the position of the tensioning head inside the housing and the distance the tensioning screw extends into the housing.

[0013] In one embodiment, the support includes a first arm, two second arms, and two light curtain frames. The first arm is connected to the housing on the upper side of the head end and extends outward from the head end relative to the housing. The two second arms are respectively connected to the housing on both sides of the head end along the radial direction of the housing. Each second arm extends outward from the head end relative to the housing. The two light curtain frames are respectively connected to both sides of the housing along the radial direction of the housing. One end of each light curtain frame is connected to a corresponding second arm, and the other end is connected to the housing.

[0014] The first detection element is disposed on the first support arm, a portion of the second detection element is disposed on one of the second support arms and another portion is disposed on the other second support arm, the third detection element is disposed on one of the second support arms, and a portion of the fourth detection element is disposed on one of the light curtain frames and another portion is disposed on the other light curtain frame.

[0015] In one embodiment, the first and third detection elements are laser rangefinders, and the second and fourth detection elements are through-beam measurement light curtains.

[0016] In one embodiment, the tensioning device further includes a nut locking assembly disposed at the head end. The nut locking assembly has a nut sleeve coaxially disposed with the housing. The nut sleeve is used to be sleeved on the tensioning nut of the member to be tensioned and can be controllably rotated about its own central axis to lock the tensioning nut.

[0017] According to another aspect of this application, an automatic positioning method for a tensioning machine as described above is provided, comprising the following steps:

[0018] S1. Obtain a first measurement value and a second measurement value, and control the tensioning device to move relative to the tensioning member based on the first measurement value and the second measurement value, so that the tensioning head of the tensioning device is coaxially aligned with the tensioning screw located on the tensioning member;

[0019] S2. Obtain a third measurement value, and based on the third measurement value, control the tensioning device to move along its own axis to approach the member to be tensioned and lock the tensioning nut of the member to be tensioned;

[0020] S3. Obtain a fourth measurement value, and based on the first measurement value and the fourth measurement value, control the tensioning head to move along the axial direction and engage the tensioning screw to a preset length.

[0021] In one embodiment, step S1 includes:

[0022] S11. Obtain the first measurement value using the second detection element. The first measurement value includes the end position of the tensioning screw, the diameter of the tensioning screw, the thread start position, and the length of the wrench position.

[0023] S12. Based on the measured diameter of the tensioning screw, the tensioning device is moved radially along the tensioning device. During the movement, multiple second measurement values ​​are obtained using a first detection element. The second measurement value is the distance from the first detection element to the outer circumferential surface of the tensioning screw.

[0024] S13. Extract the minimum value from the multiple second measurement values ​​obtained;

[0025] S14. Based on the extracted minimum value, adjust the tensioning device radially along the housing so that the tensioning head is aligned with the tensioning screw in the radial direction;

[0026] S15. Compare the extracted minimum value with the theoretical value;

[0027] S16. Based on the comparison results, adjust the tensioning device along the height direction so that the tensioning head is aligned with the tensioning screw in the height direction.

[0028] In one embodiment, step S2 includes:

[0029] S21. Obtain the third measurement value using a third detection element, wherein the third measurement value is the distance between the head end of the machine and the tensioning baffle of the member to be tensioned;

[0030] S22. Based on the third measurement value and the first measurement value, adjust the speed at which the tensioning device moves along its own axis;

[0031] S23. Move the tensioning device until it touches the tensioning baffle of the member to be tensioned, so that the nut sleeve is fitted onto the tensioning nut;

[0032] S24. Tighten the tension nut.

[0033] In one embodiment, step S3 includes:

[0034] S31. The fourth measurement value is obtained using the fourth detection element. The fourth measurement value includes the position of the tensioning head inside the housing of the tensioning device and the length of the tensioning screw extending into the housing.

[0035] S32. Based on the first measurement value and the fourth measurement value, control the tensioning head to move along the axial direction to engage the tensioning screw, and simultaneously control the speed at which the tensioning screw is engaged;

[0036] S33. Use the fourth detection element to obtain the fourth measurement value in real time until the engagement length between the tensioning head and the tensioning screw reaches the preset length.

[0037] The aforementioned automatically positioning tensioning machine and its automatic positioning method, by setting up a control unit and a drive unit, and by setting up a detection component on the tensioning device, enable the tensioning machine to automatically measure the dimensional parameters of the tensioning screw and the relative position between the tensioning head and the tensioning screw during the positioning and alignment process with the member to be tensioned. The detection component can convert the measurement results into measurement signals. The control unit can control the drive unit to move the tensioning device relative to the member to be tensioned based on the measurement signals, so that the tensioning head of the tensioning device can be accurately coaxially aligned and sleeved onto the tensioning screw of the member to be tensioned, and can accurately control the tensioning head to engage with the tensioning screw to a preset length. This achieves fully automatic positioning of the tensioning machine. Compared with manual positioning, it eliminates the need for manual visual positioning, thus resulting in high positioning efficiency and effectively improving positioning accuracy to achieve accurate positioning in one go. It prevents equipment damage and subsequent abnormalities or scrapping of the pipe pile product due to unsuccessful engagement of the tensioning head and the tensioning screw, effectively avoiding unnecessary economic losses. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the structure of a tube mold provided in an embodiment of this application.

[0039] Figure 2 This is a schematic diagram of the tensioning machine and the tube mold being aligned according to an embodiment of this application.

[0040] Figure 3 This is an axonometric view of a tensioning device provided in an embodiment of this application.

[0041] Figure 4 This is an axonometric view showing the connection between the tension rod assembly and the tail section component according to an embodiment of this application.

[0042] Figure 5 This is a cross-sectional view of the casing structure provided in one embodiment of this application.

[0043] Figure 6 This is an axonometric view of a detection component provided in an embodiment of this application.

[0044] Figure 7 This is an isometric view of a nut locking assembly provided in an embodiment of this application.

[0045] Figure 8 A flowchart of an automatic positioning method provided in an embodiment of this application.

[0046] Explanation of reference numerals in the attached figures:

[0047] 10. Tube mold; 11. Bottom mold; 12. Cover mold; 13. Tensioning baffle; 131. Tensioning screw; 14. Tensioning nut; 20. Tensioning machine; 200. Frame; 300. Tensioning device; 301. Head end; 302. Tail end; 310. Housing; 311. Body; 3111. Cavity; 3112. Jack cylinder; 3113. Head assembly; 312. Piston rod; 3121. Piston hole; 313. Linear bearing; 320. Tensioning rod assembly; 321. Tensioning head; 322. Tensioning rod; 323. Tail nut; 324. Mounting base; 325. Guide shaft; 3 30. Detection component; 331. Bracket; 3311. First arm; 3312. Second arm; 3313. Light curtain frame; 332. First detection element; 333. Second detection element; 334. Third detection element; 335. Fourth detection element; 340. Tail assembly; 350. Cable displacement sensor; 360. Nut locking assembly; 361. Base; 362. Inner seat; 363. Nut sleeve; 364. Transmission mechanism; 3641. First drive wheel; 3641a. Second connecting block; 3642. Second drive wheel; 3643. Drive component; 400. Drive unit. Detailed Implementation

[0048] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0049] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0050] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0051] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0052] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0053] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0054] This application provides an automatically positioning tensioning machine and its automatic positioning method. The tensioning machine is used to pull the member to be tensioned backward to complete the automatic tensioning, so as to ensure that the prepared member can withstand higher loads during use. It is also used to automatically position itself with the member to be tensioned before tensioning based on the automatic positioning method, so that the tensioning machine can be aligned and engaged with the member to be tensioned in one go, thereby improving the positioning efficiency.

[0055] The following description uses the pipe pile mold (hereinafter referred to as the pipe mold) as an example to illustrate the structure of the automatically positioned tensioning machine and the steps of the automatic positioning method in this application. It is understood that in other embodiments, the tensioning machine of this application is not limited to tensioning only the pipe mold, but can also tension any other component to be tensioned. Furthermore, the automatic positioning method is not limited to automatically positioning the tensioning machine with the pipe mold, but can also automatically position the tensioning machine with any component to be tensioned; no limitation is made here.

[0056] See Figure 1 and Figure 2 , Figure 1 A schematic diagram of the entire pipe mold 10 is shown. The pipe mold 10 includes a bottom mold 11, a top mold 12, a tensioning baffle 13, and a tensioning nut 14. The bottom mold 11 and the top mold 12 are fixedly connected to each other by clamping bolts. The tensioning baffle 13 is located at the end of the pipe mold 10 and has a tensioning screw 131. The tensioning nut 14 is sleeved on the tensioning screw 131 and threadedly connected to it. When assembling the pipe mold 10, the reinforcing bars are first placed inside the bottom mold and concrete is poured. Then, the top mold 12 is closed, and the bottom mold 11 and the top mold 12 are assembled together using clamping bolts. After assembly, the pipe mold 10 is sent to the tensioning station, where the tensioning machine 20 tensions the pipe mold 10. During the tensioning process, the bottom mold 11, the top mold 12, and the tensioning baffle 13 remain stationary, while the tensioning machine 20 pulls the tensioning screw 131 along... Figure 2 Tensioning is performed in the direction indicated by the middle arrow. At the same time, the tensioning machine 20 turns the tensioning nut 14, causing the tensioning nut 14 to rotate relative to the tensioning screw 131 and abut against the tensioning baffle 13, so that the tensioning baffle 13 is fastened to the tube mold 10 and the tension force is locked on the tube mold 10.

[0057] See Figure 2 , Figure 2 A schematic diagram of the overall structure of a tensioning machine 20 according to an embodiment of this application is shown. The tensioning machine 20 provided in this embodiment includes a frame 200, a tensioning device 300, a drive unit 400, and a control unit (not shown in the figure). The tensioning device 300 is mounted on the frame 200 and is used to engage with the tensioning screw 131 of the tube mold 10 and perform tensioning. The drive unit 400 is partially driven to the frame 200 and partially driven to the tensioning device 300. It is used to drive the frame 200 to move relative to the tube mold 10 and to drive the tensioning device 300 to move independently relative to the frame 200, so that the tensioning device 300 can be coaxially aligned with the tensioning screw 131 of the tube mold 10 before tensioning the tube mold 10. The control unit is used to control the engagement of the tensioning device 300 with the tensioning screw 131 and pull the tensioning screw 131 backward in the tensioning direction indicated by the arrow to complete the tensioning.

[0058] In one embodiment, see Figure 3 and Figure 4 The tensioning device 300 includes a housing 310, a tensioning rod assembly 320, a detection assembly 330, and a tail component 340. The housing 310 has a tail end 302 and a head end 301 arranged opposite each other in its axial direction (i.e., the X direction shown in the figure). The head end 301 is close to the tube mold 10, while the tail end 302 is away from the tube mold 10. The tensioning rod assembly 320 is movably coaxially inserted into the housing 310, and one end of the tensioning rod assembly 320 inserted into the housing 310 has a tensioning head 321. The tensioning head 321 is used to engage the tensioning screw 131. The tensioning rod assembly 320 can rotate relative to the housing 310 about its own central axis under the drive of the tail component 340 and move in the X direction toward the tube mold 10 to engage the tensioning screw 131, or it can move relative to the housing 310 away from the tube mold 10 to tension the tube mold 10. The detection component 330 is disposed on the housing 310 and located at the head end 301. The detection component 330 is used to measure the relative position between the tensioning head 321 and the tensioning screw 131, and sends a control signal to the control unit based on the measured relative position, so that the control unit can control the drive unit 400 to move the position of the tensioning device 300 based on the measurement signal, so that the tensioning head 321 is coaxially aligned with the tensioning screw 131, and after controlling the tensioning head 321 and the tensioning screw 131 to mesh with each other to a preset length, the tensioning rod assembly 320 is controlled to retract in the X direction to tension the tube mold 10.

[0059] In one specific implementation, see Figure 5 The housing 310 includes a body 311 and a piston rod 312 coaxially arranged. The body 311 has cavities 3111 extending through opposite ends in the X direction. The piston rod 312 is movably inserted into the cavity 3111 and closes the tail end 302. The piston rod 312 has piston holes 3121 extending through opposite ends in the X direction. The body 311 includes a jack cylinder 3112 and a head component 3113 connected end to end. The end of the jack cylinder 3112 away from the head component 3113 is the tail end 302, and the end of the head component 3113 away from the jack is the head end 301. The piston rod 312 is movably inserted into the jack cylinder 3112 and closes the tail end 302. When the tension rod assembly 320 needs to engage the tension screw 131, the tension rod assembly 320 can rotate independently around its own central axis relative to the machine body 311 and piston rod 312 under the drive of the tail component 340 and move in the X direction toward the tube mold 10; when the tension rod assembly 320 tensions the tube mold 10, the tension rod assembly 320 engages with the tension screw 131 and moves together with the piston rod 312 relative to the machine body 311 toward the direction away from the tube mold 10.

[0060] Preferably, the tensioning device 300 also includes a rope displacement sensor 350. One end of the rope displacement sensor 350 is disposed on the housing 310, and the other end is connected to the piston rod 312. The rope displacement sensor 350 is used to detect the displacement of the piston rod 312 relative to the housing 310, so that the user can know the tensioning displacement and thus more intuitively know whether the actual elongation of the pipe pile cage reinforcement meets the requirements.

[0061] For further information, please refer to [link / reference]. Figure 3 and Figure 4 In addition to the tensioning head 321, the tensioning rod assembly 320 also includes a tensioning rod 322. One end of the tensioning rod 322 is movably inserted into the piston rod 312, and the tensioning head 321 is connected to the end of the tensioning rod 322 inserted into the piston rod 312. Preferably, the tensioning rod assembly 320 also includes a tail nut 323, which is fixedly connected to the end of the piston rod 312 away from the head end 301. The outer circumferential surface of the tensioning rod 322 and the inner circumferential surface of the tail nut 323 are respectively provided with threads extending helically in the X direction. The tensioning rod 322 passes through the tail nut 323 and the piston rod 312 in sequence and is threadedly connected to the tail nut 323. In this way, driven by the tail component 340, the tensioning rod 322 can move independently relative to the tail nut 323 and the piston rod 312 in the X direction to approach the tensioning nut 14 while rotating around its own central axis under the transmission of the threaded connection.

[0062] Preferably, the tension rod assembly 320 also includes a mounting base 324, the tail section 340 is mounted on the mounting base 324, the mounting base 324 is provided with a guide shaft 325 extending in the X direction, and the housing 310 is provided with a linear bearing 313. The guide shaft 325 can move relative to the housing 310 under the guidance of the linear bearing 313, so that the tension rod assembly 320 can move more smoothly when it moves alone relative to the housing 310.

[0063] Furthermore, such as Figure 6 As shown, in one embodiment, the detection component 330 includes a bracket 331 and a first detection element 332, a second detection element 333, a third detection element 334, and a fourth detection element 335 disposed on the bracket 331. The bracket 331 is connected to the housing 310, specifically to the head component 3113 of the housing 310. The first detection element 332 is disposed above the head end 301 of the bracket 331 along the Z direction in the figure. The second detection element 333 is disposed on both sides of the head end 301 along the radial direction (i.e., the Y direction) of the housing 310. The fourth detection element 335 is spaced apart from the second detection element 333 in the X direction and disposed on both sides of the bracket 331 along the Y direction.

[0064] The first detection element 332 is used to measure the distance between the tensioning screw 131 and the first detection element 332; the second detection element 333 is used to measure the diameter of the tensioning screw 131 and the starting position of the thread on the tensioning screw 131; the third detection element 334 is used to measure the distance between the head end 301 and the tensioning baffle 13 of the member to be tensioned; and the fourth detection element 335 is used to measure the position of the tensioning head 321 inside the housing 310 and the distance by which the tensioning screw 131 extends into the housing 310.

[0065] In one embodiment, the first detection element 332 and the third detection element 334 are laser rangefinders, and the second detection element 333 and the fourth detection element 335 are through-beam measurement light curtains. The second detection element 333 and the fourth detection element 335 each have a transmitting part and a receiving part, and the measurement result is obtained by emitting a light beam from the transmitting part to the receiving part.

[0066] Specifically, the bracket 331 includes a first arm 3311, two second arms 3312, and two light curtain frames 3313. The first arm 3311 is connected to the upper side of the head end 301 of the housing 310 and extends outward from the head end 301 in sequence along the Z and X directions relative to the cavity 3111 of the housing 310. The two second arms 3312 are respectively connected to the two sides of the head end 301 of the housing 310 along the Y direction. Each second arm 3312 extends outward from the head end 301 in sequence along the Y and X directions relative to the cavity 3111. The two light curtain frames 3313 are respectively connected to the two sides of the housing 310 along the radial direction. Each light curtain frame 3313 is arranged parallel to the X direction, and one end of each light curtain frame 3313 is connected to a corresponding second arm 3312, and the other end is connected to the housing 310.

[0067] The first detection element 332 is disposed on the first support arm 3311, the transmitting part and the receiving part of the second detection element 333 are respectively disposed on a corresponding second support arm 3312, the third detection element 334 is disposed on one of the second support arms 3312, and the transmitting part and the receiving part of the fourth detection element 335 are respectively disposed on a corresponding light curtain frame 3313.

[0068] As a further improvement, such as Figure 3 and Figure 7 As shown, the tensioning device 300 also includes a nut locking assembly 360 located at the head end 301. The nut locking assembly 360 has a nut sleeve 363 coaxially arranged with the housing 310. The nut sleeve 363 is used to be sleeved on the tensioning nut 14 of the tube mold 10 and can be rotated controllably around its own central axis to automatically lock the tensioning nut 14 without manual locking of the tensioning nut 14.

[0069] Specifically, see Figure 7 The nut locking assembly 360 includes a base 361, an inner seat 362, a nut sleeve 363, and a transmission mechanism 364. The inner seat 362 is coaxially arranged with the base 361 and rotatably connected to the base 361 via bearings. The nut sleeve 363 is coaxially engaged with one side of the base 361 along the X-direction (i.e., the axial direction of the base 361 itself). The nut sleeve 363 has an inner cavity for engaging the tension nut 14. The transmission mechanism 364 is drively connected to one side of the inner seat 362 along the X-direction (i.e., the axial direction of the inner seat 362 itself). The transmission mechanism 364 can drive the inner seat 362 to rotate relative to the base 361 around its own central axis and synchronously drive the nut sleeve 363 to rotate around its own central axis.

[0070] In one embodiment, the transmission mechanism 364 includes a first drive wheel 3641, a second drive wheel 3642, and a drive member 3643. The first drive wheel 3641 is fixedly connected to the inner seat 362, and the second drive wheel 3642 is tractively connected to the first drive wheel 3641. The first drive member 3643 is a drive source such as a motor and is tractively connected to the second drive wheel 3642. The drive member 3643 is configured to drive the second drive wheel 3642 to rotate around its own central axis, so that the first drive wheel 3641 can synchronously drive the inner seat 362 and the nut sleeve 363 to rotate around their own central axis.

[0071] It is understood that the transmission method between the first drive wheel 3641 and the second drive wheel 3642 can be belt drive, chain drive, or gear drive. It is also understood that the transmission mechanism 364 can consist of only the first drive wheel 3641 and the first drive member 3643, with the drive member 3643 directly driving the first drive wheel 3641 to rotate around its own central axis; this is not limited here.

[0072] Thus, through the above settings, the detection component 330 can measure the required measurement results, convert the measurement results into measurement signals, and send them to the control unit. The control unit controls the drive unit 400 to drive the tensioning head 321 of the tensioning device 300 to be aligned with the tensioning screw 131, and causes the nut sleeve 363 of the nut locking component 360 to be fitted onto the tensioning nut 14 and automatically lock the tensioning nut 14. Then, the tail component 340 of the tensioning device 300 is activated, so that the tensioning head 321 can engage with the tensioning screw 131 to a preset length and then stop. This ensures that the tensioning head 321 of the tensioning device 300 can be accurately coaxially aligned and fitted onto the tensioning screw 131 of the member to be tensioned, and that the engagement of the tensioning head 321 with the tensioning screw 131 can be accurately controlled to the preset length.

[0073] Furthermore, the following combination Figures 1 to 8 The automatic positioning and tensioning process of the tensioning machine 20 provided in this application will be further explained.

[0074] First, in the automatic positioning process, in step S1, the detection component 330 is used to obtain the first measurement value and the second measurement value. Based on the first measurement value and the second measurement value, the control unit controls the tensioning device 300 to move relative to the tube mold 10, so that the tensioning head 321 of the tensioning device 300 is coaxially aligned with the tensioning screw 131 of the tube mold 10.

[0075] Specifically, this step includes the following steps:

[0076] S11. Obtain a first measurement value using the second detection element 333. The first measurement value includes the end position of the tensioning screw 131, the diameter of the tensioning screw 131, the thread start position of the tensioning screw 131, and the length of the tensioning screw 131 at the wrench position.

[0077] S12. Based on the measured diameter of the tensioning screw 131, the control unit controls the drive unit 400 to drive the first frame 200 to move the tensioning device 300 along the X direction. During the movement, the first detection element 332 acquires multiple second measurement values. The second measurement value is the distance from the first detection element 332 to the outer circumference of the tensioning screw 131. This is because, since the tensioning screw 131 is cylindrical, its surface is arc-shaped. Therefore, as the tensioning device 300 moves along the X direction, the distance from the first detection element 332 to the outer surface of the tensioning screw 131 will change, showing a trend of gradually decreasing and then gradually increasing.

[0078] S13. Extract the minimum value from the multiple second measurement values. Since the distance between the first detection element 332 and the outer surface of the tensioning screw 131 will gradually decrease and then gradually increase, there must be a minimum value of this distance. When this distance is the minimum, the coordinates of the central axis of the surface tensioning screw 131 and the central axis of the tensioning device 300 in the X direction are the same. At this time, the tensioning screw 131 and the tensioning head 321 are aligned with each other in the X direction.

[0079] S14. Based on the minimum value of the extracted second measurement, the control unit controls the drive unit 400 again to drive the tensioning device 300 to adjust its position along the X direction, so that the tensioning device 300 is aligned with the tensioning screw 131 in the X direction.

[0080] S15. The control unit compares the minimum value of the extracted second measured value with the theoretical value.

[0081] S16. Based on the comparison results, the control unit controls the drive unit 400 to adjust the position of the tensioning device 300 along the Z direction until the minimum value of the second measurement is equal to the theoretical value. At this time, the coordinate of the central axis of the tensioning device 300 in the height direction is the same as the coordinate of the central axis of the tensioning screw 131 in the height direction, that is, the tensioning head 321 and the tensioning screw 131 are also aligned with each other in the height direction.

[0082] In the second step S2, the detection component 330 is used to obtain a third measurement value. Based on the third measurement value, the control unit controls the tensioning device 300 to move along the Y direction (i.e., along its own axis) to approach the tube mold 10 and lock the tensioning nut 14 of the tube mold 10.

[0083] Specifically, this step includes the following steps:

[0084] S21. A third measurement value is obtained using the third detection element 334. The third measurement value is the distance between the head end 301 and the tensioning baffle 13 of the tube mold 10.

[0085] S22. Based on the third measurement value and the first measurement value obtained in step S11 above, the control unit adjusts the speed at which the tensioning device 300 moves along the Y direction.

[0086] S23. Move the tensioning device 300 along the Y direction until the head end 301 touches the tensioning baffle 13, indicating that the tensioning device 300 is adjusted in the Y direction. At this time, the nut sleeve 363 of the nut locking assembly 360 is sleeved on the tensioning nut 14 of the tube mold 10.

[0087] S24. Nut sleeve 363 rotates around its own central axis until the motor detects that the torque of nut sleeve 363 has reached the set value and then stops rotating.

[0088] In the third step S3, the detection component 330 is used to obtain a fourth measurement value. Based on the fourth measurement value and the first measurement value obtained in the aforementioned step S1, the control unit controls the tensioning head 321 to move along the Y direction and engage the tensioning screw 131 to the preset length.

[0089] Specifically, this step includes the following steps:

[0090] S31. A fourth measurement value is obtained using the fourth detection element 335. The fourth measurement value includes the position of the tensioning head 321 inside the housing 310 and the length of the tensioning screw 131 extending into the housing 310.

[0091] S32. Based on the fourth measurement value and the first measurement value obtained by the second detection element 333 in the aforementioned step S1, the control unit controls the tensioning head 321 to move along the Y direction to engage the tensioning screw 131, and at the same time controls the speed at which the tensioning head 321 engages the tensioning screw 131.

[0092] S33. Use the fourth detection element 335 to obtain the fourth measurement value in real time until the engagement length between the tensioning head 321 and the tensioning screw 131 reaches the preset length.

[0093] At this point, the tensioning device 300 and the tensioning screw 131 of the tube mold 10 are engaged, and the entire automatic positioning process is completed. Then, the tensioning rod assembly 320 and the piston rod 312 can move backward relative to the machine body 311 in a direction away from the tube mold 10 to tension the tube mold 10 until the tensioning process ends.

[0094] Therefore, the tensioning machine 20 with automatic positioning provided in this application can achieve fully automatic positioning of the tensioning machine 20 based on the above-mentioned automatic positioning method. Compared with the manual positioning operation, it does not require manual visual positioning, so the positioning efficiency is high and the positioning accuracy can be effectively improved to achieve accurate positioning in one go. It will not cause equipment damage due to the unsuccessful connection between the tensioning head 321 and the tensioning screw 131, which would lead to abnormal or scrapped quality of the pipe pile product, thus effectively avoiding unnecessary economic losses.

[0095] Finally, it should be noted that the technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0096] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A tensioning machine capable of automatic positioning, characterized in that, include: The tensioning device includes a housing, a tensioning rod assembly, and a detection assembly. One end of the tensioning rod assembly is movably coaxially inserted into the housing along its own axial direction, and the end of the tensioning rod assembly inserted into the housing has a tensioning head for tensioning the member to be tensioned. One end of the housing along the axial direction is defined as the head end, and the detection assembly is located at the head end. The detection assembly includes a bracket, a first detection element, a second detection element, a third detection element, and a fourth detection element. The bracket includes a first support arm and two second... The device includes a support arm and two light curtain frames. The first support arm is connected to the upper side of the machine housing at the head end and extends outward from the head end relative to the machine housing. The two second support arms are respectively connected to the two sides of the machine housing at the head end along the radial direction of the machine housing. Each second support arm extends outward from the head end relative to the machine housing. The two light curtain frames are respectively connected to the two sides of the machine housing along the radial direction of the machine housing. One end of each light curtain frame is connected to a corresponding second support arm, and the other end is connected to the machine housing. The first detection element is disposed on the first support arm, the second detection element is partially disposed on one second support arm and partially disposed on another second support arm, the third detection element is disposed on one second support arm, and the fourth detection element is partially disposed on one light curtain frame and partially disposed on another light curtain frame. The first detection element, the second detection element, the third detection element and the fourth detection element are used to measure the dimensional parameters of the tensioning screw of the member to be tensioned and the relative position between the tensioning head and the tensioning screw, and can convert the measurement results into measurement signals. A drive unit is connected to the tensioning device, and the drive unit is used to drive the tensioning device to move relative to the member to be tensioned. The control unit is communicatively connected to the detection component. The control unit can control the drive unit to drive the tensioning device to move relative to the member to be tensioned based on the measurement signal, so that the tensioning head is coaxially aligned with the tensioning screw, and control the tensioning head to engage the tensioning screw to a preset length.

2. The tensioning machine according to claim 1, characterized in that, The first detection element is used to measure the distance between the tensioning screw and the first detection element, and the second detection element is used to detect the diameter of the tensioning screw and the starting position of the thread on the tensioning screw, so that the control unit can control the tensioning head to be coaxially aligned with the tensioning screw based on the measurement results of the first detection element and the measurement results of the second detection element. The third detection element is used to detect the distance between the head end and the tensioning baffle of the member to be tensioned, and the fourth detection element is used to detect the position of the tensioning head inside the housing and the distance the tensioning screw extends into the housing.

3. The tensioning machine according to claim 1, characterized in that, The housing includes a body and a piston rod arranged coaxially. The body has a cavity extending through its opposite ends. The piston rod is movably inserted into the cavity and closes the tail end of the machine. The tension rod assembly can rotate independently about its own central axis relative to the machine body and the piston rod and move toward the tube mold; or it can move together with the piston rod relative to the machine body toward the direction away from the tube mold.

4. The tensioning machine according to claim 3, characterized in that, The tension rod assembly also includes a tension rod and a tail nut, the tail nut being fixedly connected to the end of the piston rod away from the head end; the tension rod is sequentially passed through the tail nut and the piston rod, and is threadedly connected to the tail nut.

5. The tensioning machine according to claim 1, characterized in that, The first and third detection elements are laser rangefinders, and the second and fourth detection elements are through-beam measuring light curtains.

6. The tensioning machine according to claim 1, characterized in that, The tensioning device further includes a nut locking assembly located at the head end. The nut locking assembly has a nut sleeve coaxially arranged with the housing. The nut sleeve is used to be sleeved on the tensioning nut of the member to be tensioned and can be controllably rotated around its own central axis to lock the tensioning nut.

7. An automatic positioning method for a tensioning machine as described in any one of claims 1-6, characterized in that, Includes the following steps: S1. Obtain a first measurement value using a second detection element, and obtain a second measurement value using the first detection element. Based on the first and second measurement values, control the tensioning device to move relative to the member to be tensioned, so that the tensioning head of the tensioning device is coaxially aligned with the tensioning screw located on the member to be tensioned. The first measurement value includes the end position of the tensioning screw, the diameter of the tensioning screw, the thread start position, and the length of the wrench position. The second measurement value is the distance from the first detection element to the outer circumferential surface of the tensioning screw. S2. Obtain a third measurement value using a third detection element, and control the tensioning device to move along its own axis based on the third measurement value to approach the member to be tensioned and lock the tensioning nut of the member to be tensioned. The third measurement value is the distance between the head end and the tensioning baffle of the member to be tensioned. S3. Obtain a fourth measurement value using a fourth detection element, and control the tensioning head to move along the axial direction and engage the tensioning screw to a preset length based on the first measurement value and the fourth measurement value; the fourth measurement value includes the position of the tensioning head inside the housing of the tensioning device and the length of the tensioning screw extending into the housing.

8. The automatic positioning method according to claim 7, characterized in that, Step S1 includes: S12. Based on the measured diameter of the tensioning screw, the tensioning device is moved radially along the tensioning device, and multiple second measurement values ​​are obtained using the first detection element during the movement. S13. Extract the minimum value from the multiple second measurement values ​​obtained; S14. Based on the extracted minimum value, adjust the tensioning device radially along the housing so that the tensioning head is aligned with the tensioning screw in the radial direction; S15. Compare the extracted minimum value with the theoretical value; S16. Based on the comparison results, adjust the tensioning device along the height direction so that the tensioning head is aligned with the tensioning screw in the height direction.

9. The automatic positioning method according to claim 8, characterized in that, Step S2 includes: S22. Based on the third measurement value and the first measurement value, adjust the speed at which the tensioning device moves along its own axis; S23. Move the tensioning device until it touches the tensioning baffle of the member to be tensioned, so that the nut sleeve is fitted onto the tensioning nut; S24. Tighten the tension nut.

10. The automatic positioning method according to claim 8, characterized in that, Step S3 includes: S32. Based on the first measurement value and the fourth measurement value, control the tensioning head to move along the axial direction to engage the tensioning screw, and simultaneously control the speed at which the tensioning screw is engaged; S33. Use the fourth detection element to obtain the fourth measurement value in real time until the engagement length between the tensioning head and the tensioning screw reaches the preset length.

Images