Adjustment system for automatically adjusting the perpendicularity of a column mounting and adjustment method thereof

Abstract

This invention discloses an adjustment system and method for automatically adjusting the verticality of a column installation. The adjustment system includes: a robotic arm assembly capable of applying thrust to the column from different directions, the robotic arm assembly being supported on the outside of the cup to be installed via a support structure; a point cloud camera for collecting the verticality of the column; and a controller for controlling the two robotic arms to adjust the verticality of the column based on the collected verticality data. The controller is connected to the point cloud camera and the robotic arm assembly. This adjustment system saves manpower and improves construction efficiency.

Description

Technical Field

[0001] This invention relates to the field of building construction, and in particular to an adjustment system and method for automatically adjusting the verticality of column installation. Background Technology

[0002] In the current construction of prefabricated subway stations, the installation of PC components often takes up most of the time, and the alignment and installation accuracy testing still rely on manual adjustments, which is increasingly unsuitable for construction activities under the background of intelligent construction.

[0003] Taking the PC center column as an example, the traditional installation process requires more than four people to assist in positioning and installation, which greatly consumes labor and time costs. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide an adjustment system and method for automatically adjusting the verticality of column installation, which fully automatically adjusts the verticality of column installation, saves manpower and improves construction efficiency.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is an adjustment system capable of automatically adjusting the verticality of the column installation, comprising:

[0006] A robotic arm assembly capable of applying thrust to the column from different directions, the robotic arm assembly being supported on the outside of the cup to be installed via a support structure;

[0007] Point cloud camera used to collect the verticality of the column;

[0008] A controller is used to control the robotic arm assembly to apply a thrust to the column based on the collected verticality data in order to adjust the verticality of the column. The controller is connected to the point cloud camera and the robotic arm assembly.

[0009] A further improvement of the adjustment system for automatically adjusting the verticality of the column installation in this invention lies in:

[0010] The number of columns is multiple, and the cups to be installed on the multiple columns are set at predetermined straight line intervals.

[0011] The support structure includes two pedestals located on both sides of the predetermined straight line, and two slide rails respectively connected to the top of the two pedestals and parallel to the predetermined straight line;

[0012] The robotic arm assembly includes two robotic arms, which are slidably connected to two slide rails respectively.

[0013] A further improvement of the adjustment system for automatically adjusting the verticality of the column installation in this invention is that the pedestal is a trolley, and the two trolleys are parallel to each other and both are set to travel along the predetermined straight line.

[0014] A further improvement of the adjustment system for automatically adjusting the verticality of the column installation of the present invention is that the robotic arm includes a push plate for pushing against the column, a lateral drive member for driving the push plate to move closer to the column, a vertical drive member for driving the lateral drive member to move vertically, and a slider slidably connected to the corresponding slide rail and used to drive the vertical drive member to move longitudinally.

[0015] A further improvement of the adjustment system for automatically adjusting the verticality of the column installation in this invention is that the push plate is a horizontally arranged L-shaped plate, and fine-tuning cylinders are connected to the pushing side of both the horizontal and vertical plates of the L-shaped plate, and the L-shaped plates of the two robotic arms are arranged diagonally.

[0016] A further improvement of the adjustment system for automatically adjusting the verticality of the column installation of the present invention is that the sliding member is a horizontal plate, the bottom of the first end of the horizontal plate is connected to a slider adapted to the slide rail, and the second end extends out of the trolley in a direction close to the predetermined straight line and forms an extension section for the vertical drive member to connect.

[0017] A further improvement of the adjustment system for automatically adjusting the verticality of the column installation of the present invention is that the robotic arm further includes a longitudinal driving component for driving the sliding member to slide along the slide rail, the longitudinal driving component comprising:

[0018] A rack, which is connected to the top of the trolley and located at the bottom of the slider, and the rack is parallel to the slide rail;

[0019] A drive motor is connected to the top of the slider, and the slider has a through hole for the motor shaft of the drive motor to pass through.

[0020] A drive gear, which is coaxially connected to the motor shaft and adapted to the rack.

[0021] A further improvement of the adjustment system for automatically adjusting the verticality of the column installation of the present invention is that the vertical drive assembly includes a vertical plate and a first telescopic cylinder connected between the vertical plate and the sliding member.

[0022] A further improvement of the adjustment system for automatically adjusting the verticality of the column installation in this invention is that the horizontal drive component includes a horizontally arranged second telescopic cylinder, the first end of which is connected to the vertical drive component, and the second end of which is connected to the push plate.

[0023] An adjustment method for automatically adjusting the verticality of a column installation includes the following steps:

[0024] Step 1: Provide the above-mentioned adjustment system that can automatically adjust the verticality of the column installation;

[0025] Step 2: Use an external structure to hoist the column, so that the column is suspended above the corresponding cup opening to be installed;

[0026] Step 3: Use a point cloud camera to collect the verticality information of the column and transmit the collected verticality information to the controller;

[0027] Step 4: The controller controls the robotic arm assembly to apply thrust to the column from different directions based on the collected verticality information to adjust the verticality of the column.

[0028] Compared with the prior art, the advantages of the present invention are:

[0029] By setting up point cloud cameras and controllers to control the robotic arm assembly to automatically adjust the verticality of the column, manpower is freed up and construction efficiency is improved. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a front view of the structure of the adjustment system of the present invention that can automatically adjust the verticality of the column installation.

[0032] Figure 2 This is a side view of the structure of the adjustment system of the present invention that can automatically adjust the verticality of the column installation.

[0033] Figure 3 This is a schematic diagram of the robotic arm structure of the adjustment system of the present invention, which can automatically adjust the verticality of the column installation.

[0034] In the diagram: 1. Trolley; 2. Column; 3. Slide rail; 4. Robotic arm; 401. Horizontal plate; 402. Slider; 403. Drive motor; 404. Vertical plate; 405. First telescopic cylinder; 406. Second telescopic cylinder; 407. L-shaped plate; 408. Fine-tuning cylinder; 409. Limit plate. Detailed Implementation

[0035] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0036] The adjustment system and method for automatically adjusting the verticality of the column installation according to the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] Please see Figures 1-3 As shown, the adjustment system that can automatically adjust the verticality of the column installation includes:

[0038] A robotic arm assembly capable of applying thrust to column 2 from different directions is supported on the outside of the cup to be installed via a support structure.

[0039] Point cloud camera used to capture the verticality of the column 2;

[0040] A controller is used to control the robotic arm assembly to apply a thrust to the column 2 based on the collected verticality data in order to adjust the verticality of the column 2. The controller is connected to the point cloud camera and the robotic arm assembly.

[0041] By setting up the point cloud camera and the controller, fully automatic verticality adjustment was achieved, improving construction efficiency.

[0042] Specifically, the top of the column 2 is connected to a lifting lug.

[0043] The installation of this lifting lug facilitates the vertical lifting of the column 2 by external machinery.

[0044] Preferably, there are multiple columns 2, and the cup openings of the multiple columns 2 are spaced apart along a predetermined straight line.

[0045] The support structure includes two pedestals located on both sides of the predetermined straight line, and two slide rails 3 respectively connected to the top of the two pedestals and parallel to the predetermined straight line;

[0046] The robotic arm assembly includes two robotic arms 4, which are slidably connected to two slide rails 3 respectively.

[0047] Preferably, the platform is a trolley 1, and two trolleys 1 are parallel to each other and both are set to travel along the predetermined straight line.

[0048] By setting up two of these vehicles 1, after all the columns 2 in the area have been constructed, they can be moved to the next area for construction, which facilitates the overall turnover of the adjustment system and improves construction efficiency.

[0049] Preferably, the robotic arm 4 includes a push plate for pushing against the column 2, a lateral drive member for driving the push plate to move closer to the column 2, a vertical drive member for driving the lateral drive member to move vertically, and a slider slidably connected to the slide rail 3 and used to drive the vertical drive member to move longitudinally.

[0050] Preferably, the push plate is a horizontally arranged L-shaped plate 407, and the pushing side of the horizontal plate and the vertical plate of the L-shaped plate 407 is connected to a fine-adjustment cylinder 408, and the L-shaped plates 407 of the two robotic arms 4 are arranged diagonally.

[0051] Specifically, a calculator is also connected between the point cloud camera and the controller. The point cloud camera transmits the verticality information of the column 2 to the calculator. The calculator calculates the extension of the fine-tuning cylinder 408 in different directions, forms feedback information, and transmits it to the controller. The controller controls the robotic arm assembly to adjust the verticality of the column 2 according to the feedback information.

[0052] Preferably, the sliding member is a horizontal plate 401, the bottom of the first end of the horizontal plate 401 is connected to a slider 402 adapted to the slide rail 3, and the second end extends out of the trolley 1 in a direction close to the predetermined straight line and forms an extension section for connection of the vertical drive member.

[0053] Preferably, the robotic arm 4 further includes a longitudinal drive member for driving the slider to slide along the slide rail 3, the longitudinal drive member comprising:

[0054] A rack is connected to the top of the trolley 1 and located at the bottom of the slider, and the rack is parallel to the slide rail 3;

[0055] A drive motor 403 is connected to the top of the slider, and the slider has a through hole through which the motor shaft of the drive motor 403 passes.

[0056] A drive gear, which is coaxially connected to the motor shaft and adapted to the rack.

[0057] The drive motor 403 is configured to drive the slider to slide longitudinally, and the drive motor 403 is connected to the controller.

[0058] Preferably, the vertical drive assembly includes a vertical plate 404 and a first telescopic cylinder 405 connected between the vertical plate 404 and the slider.

[0059] Preferably, the lateral drive assembly includes a horizontally arranged second telescopic cylinder 406, the first end of which is connected to the vertical drive assembly, and the second end of which is connected to the push plate.

[0060] Specifically, the bottom of the extension section is also connected to a limiting plate 409. The limiting plate 409 is vertically arranged and located between the trolley 1 and the vertical plate 404. A first limiting slide rail is vertically connected to the side of the limiting plate 409 that is closer to the vertical plate 404. A first limiting slider that is adapted to the first limiting slide rail is connected to the side of the vertical plate 404 that is closer to the limiting plate 409.

[0061] By setting the first limiting slide rail and the first limiting slider, the stability of the vertical movement of the vertical plate 404 is improved, and the error caused by swaying is avoided from affecting the subsequent vertical adjustment.

[0062] Specifically, the trolley 1 is longitudinally connected to a second limiting slide rail on the side relatively close to the limiting plate 409, and the limiting plate 409 is connected to a second limiting slider that is adapted to the second limiting slide rail on the side relatively close to the trolley 1.

[0063] By setting the second limit slide rail and the second limit slider, the stability of the longitudinal movement of the horizontal plate 401 is improved, and the error caused by swaying is avoided from affecting the subsequent vertical adjustment.

[0064] An adjustment method for automatically adjusting the verticality of a column installation includes the following steps:

[0065] Step 1: Provide the above-mentioned adjustment system that can automatically adjust the verticality of the column installation;

[0066] Step 2: Use the external structure to hoist the column 2, so that the column 2 is suspended above the corresponding cup opening to be installed;

[0067] Step 3: Use a point cloud camera to collect the verticality information of column 2 and transmit the collected verticality information to the controller;

[0068] Step 4: The controller controls the robotic arm assembly to apply thrust to the column 2 from different directions based on the collected verticality information to adjust the verticality of the column 2.

[0069] Specifically, before step 2, the axis information of the cup opening to be installed on the column 2 is collected using a point cloud camera. When performing step 4, the axis information of the cup opening to be installed is used as the reference for adjusting the verticality.

[0070] It should be noted that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding and reading. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0071] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the technical solution of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. An adjustment system for automatically adjusting the verticality of a column installation, characterized in that, include: A robotic arm assembly capable of applying thrust to the column from different directions, the robotic arm assembly being supported on the outside of the cup to be installed via a support structure; Point cloud camera used to collect the verticality of the column; A controller is used to control the robotic arm assembly to apply a pushing force to the column based on the collected verticality data to adjust the verticality of the column. The controller is connected to the point cloud camera and the robotic arm assembly. There are multiple columns, and the cup openings of the multiple columns are spaced apart along a predetermined straight line. The support structure includes two pedestals located on both sides of the predetermined straight line and two slide rails respectively connected to the top of the two pedestals and parallel to the predetermined straight line. The robotic arm assembly includes two robotic arms, which are slidably connected to the two slide rails respectively. The pedestals are trolleys, and the two trolleys are parallel to each other and both are set to travel along the predetermined straight line. The arm includes a push plate for pushing against the column, a horizontal drive member for driving the push plate to move closer to the column, a vertical drive member for driving the horizontal drive member to move vertically, and a slider slidably connected to the corresponding slide rail and used to drive the vertical drive member to move longitudinally. The push plate is a horizontally arranged L-shaped plate. The pushing side of the horizontal plate and the vertical plate of the L-shaped plate are connected to a fine-adjustment cylinder. The L-shaped plates of the two robotic arms are arranged diagonally. The slider is a horizontal plate. The bottom of the first end of the horizontal plate is connected to a slider adapted to the slide rail. The second end extends out of the trolley in a direction close to the predetermined straight line and forms an extension section for the vertical drive member to connect.

2. The adjustment system for automatically adjusting the verticality of the column installation as described in claim 1, characterized in that, The robotic arm further includes a longitudinal drive component for driving the slider to slide along the slide rail, the longitudinal drive component comprising: A rack, which is connected to the top of the trolley and located at the bottom of the slider, and the rack is parallel to the slide rail; A drive motor is connected to the top of the sliding member, and the sliding member has a through hole for the motor shaft of the drive motor to pass through. A drive gear, which is coaxially connected to the motor shaft and adapted to the rack.

3. The adjustment system for automatically adjusting the verticality of the column installation as described in claim 1, characterized in that, The vertical drive component includes a vertical plate and a first telescopic cylinder connected between the vertical plate and the sliding component.

4. The adjustment system for automatically adjusting the verticality of the column installation as described in claim 1, characterized in that, The lateral drive component includes a horizontally arranged second telescopic cylinder, the first end of which is connected to the vertical drive component, and the second end of which is connected to the push plate.

5. A method for automatically adjusting the verticality of a column installation, characterized in that, Including the following steps: Step 1: Provide an adjustment system as described in any one of claims 1 to 4 that can automatically adjust the verticality of the column installation; Step 2: Use an external structure to hoist the column, so that the column is suspended above the corresponding cup opening to be installed; Step 3: Use a point cloud camera to collect the verticality information of the column and transmit the collected verticality information to the controller; Step 4: The controller controls the robotic arm assembly to apply thrust to the column from different directions based on the collected verticality information in order to adjust the verticality of the column.

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