A net rack node spherical surface and inter-spherical positioning device and a measuring operation method thereof

Abstract

This invention provides a positioning device for spherical and inter-spherical surfaces of space frame nodes and its measurement operation method. The entire positioning device includes a vertically arranged measuring arm. A lower clamping device is fixedly connected to the bottom of the measuring arm, and an upper clamping device that can move up and down on the measuring arm is connected to the upper part. A latitude positioning laser pen is connected to the measuring arm. The upper clamping device is connected to a spatial protractor via a robotic arm. The spatial protractor includes a circular shaft groove for connecting to the robotic arm. A horizontal plane protractor is fixedly connected to the bottom surface of the circular shaft groove. The circular shaft groove is connected to a vertical plane protractor via a rotating shaft. The lower end of the spatial rotating arm is fitted onto the rotating shaft of the vertical plane protractor, and the upper end is fixed to the spatial positioning laser pen via a hollow circular sleeve. The spatial pointer is fixed at the rotating shaft. This invention can be used for spherical and inter-spherical welding positioning of space frame spherical nodes during construction. It has strong adaptability, is convenient for on-site operation, and after installation, it can not only accurately position the spherical welding points of a single spherical node, but also achieve welding positioning between two spherical nodes using a laser pen.

Description

Technical Field

[0001] This invention relates to the field of space frame assembly and welding technology, and in particular to a space frame node spherical and inter-spherical positioning device and its measurement operation method. Background Technology

[0002] Space frame structures are a commonly used structural type in architecture. The members within the space frame are arranged systematically according to specific design requirements or specifications, with mutual support between the members. They offer advantages such as good integrity, light weight, and economy. However, during the welding of spherical joints in space frames, factors such as casting errors, limited construction space, and lack of positioning and measuring tools often lead to incorrect member orientation and welding shrinkage, resulting in significant errors in the installation longitude of the space frame. Since the space frame assembly process relies heavily on spherical joints for positioning, resolving the issues of spherical positioning and inter-spherical positioning is crucial to ensuring the required assembly accuracy.

[0003] In conventional cases, the installation of a space frame begins with positioning the lower chord spheres using pre-drawn positioning lines. Then, the upper and lower chord spheres are assembled by welding the members. However, on-site construction lacks equipment to control the precision of the welding process, leading to assembly that may not follow the pre-design and contains significant errors. Furthermore, on-site construction conditions are relatively complex, especially when the sphere nodes are high up, requiring scaffolding for on-site construction. The limited space and difficulty of aerial operations make it challenging to locate the spherical welding points of sphere nodes in high-rise buildings. Therefore, accurately and efficiently locating the spherical welding points of each sphere node in a space frame becomes a major challenge in the assembly process.

[0004] In summary, we are currently designing a spherical positioning device for the spherical nodes of a space frame to accurately and efficiently complete the assembly of the space frame and ensure the accuracy of the welding process. Summary of the Invention

[0005] Objective: To achieve rapid and accurate positioning of spherical welding points during space frame assembly, adaptable to different space frame structural forms, and with a convenient, fast, and reusable device. To this end, a positioning device for spherical nodes and between spheres in a space frame is proposed, enabling rapid and accurate positioning of the spheres.

[0006] Technical solution: To achieve the above objectives, the technical solution adopted by this invention is as follows:

[0007] A positioning device for spherical nodes and inter-sphere positioning in a space frame includes a vertically arranged measuring arm. A lower clamping device is fixedly connected to the bottom of the measuring arm, and an upper clamping device that can move up and down on the measuring arm is connected to the upper part. A latitude positioning laser pen is connected to the measuring arm. The upper clamping device is connected to a spatial protractor via a robotic arm. The spatial protractor includes a circular shaft groove for connecting to the robotic arm. A horizontal plane protractor is fixedly connected to the bottom surface of the circular shaft groove. A vertical plane protractor is connected to the circular shaft groove via a rotating shaft. The lower end of the spatial rotating arm is sleeved on the rotating shaft of the vertical plane protractor, and the upper end is fixed to the spatial positioning laser pen via a hollow circular sleeve. The spatial pointer is fixed at the rotating shaft.

[0008] The lower clamping device includes a lower roller pad, a lower roller, a ball bearing, and a lower connecting arm. The lower roller pad is a plate-shaped component with a central circular hole, and a graduated plate is located outside the hole. The lower roller is fixed to the lower roller pad and includes an outer roller ring, an inner roller ring, balls, and an upper roller pad. The hole on the outer roller ring is used for bolting the lower roller pad. The balls connect the outer roller ring and the inner roller ring together through an internal groove on the outer roller ring and a hemispherical groove on the outside of the inner roller ring. The rotating wheel rotates the inner ring of the rotating wheel. The upper pad of the rotating wheel is connected to the inner ring of the rotating wheel through openings around its perimeter. The ball support is connected to the upper pad of the rotating wheel through openings around its perimeter. The ball support includes an outer plate, and a measuring disk is connected to the outer plate of the ball support through a support plate. The lower connecting arm includes a main rod, the head slot of which is fixedly connected to the ball support. The latitude pointer points to the scale line of the lower pad of the rotating wheel. One end of the telescopic rod of the lower connecting arm is fixedly connected to the measuring arm, and the other end extends into the adjustment groove to adjust the length.

[0009] The upper clamping device includes an upper connecting arm, an upper pad for the rotating wheel, and an upper rotating wheel. The structure of the upper connecting arm is the same as that of the lower connecting arm. The upper pad for the rotating wheel, the upper rotating wheel, the lower pad for the rotating wheel, and the lower rotating wheel have the same structure and are mirror-symmetrical.

[0010] A level is installed on the upper clamping device.

[0011] The 0 mark on the measuring arm is horizontal with the measuring disk. The laser positioning clamp is fitted onto the measuring arm through a square slot. The latitude positioning laser pen is used to measure the relevant data of the radius of the sphere node of the grid and is fitted into the support plate.

[0012] The robotic arm includes a robotic arm base, a lower rotating block, a rotating block connector, an upper rotating block, and a universal joint. The robotic arm base is fixed to the upper pad of the rotating wheel by bolts. The fixing block is used for counterweight and hand-held fixation. The lower rotating block shaft one is connected to the shaft groove one, the rotating block connecting shaft two is connected to the shaft groove two, the rotating block connector support fixes the left and right end faces, the rotating block connecting shaft three is connected to the upper rotating block shaft groove three, and the universal joint connecting shaft one has a slot at one end to facilitate the insertion of the pin when it is fixed with the universal joint connecting groove. The two universal joints are connected to the connecting block by pins to realize the spatial rotation of the universal joint.

[0013] The spatial protractor is connected to the universal joint connecting shaft groove via a circular shaft groove. The horizontal plane protractor is fixedly connected to the bottom surface, and the rotating shaft is connected to the vertical plane protractor. The lower end of the spatial rotating arm is fitted onto the hollow circular sleeve at the upper end of the vertical plane protractor's rotating shaft for fixing the spatial positioning laser pointer. The spatial pointer is fixed at the rotating shaft and used to locate the required welding point of the spherical node. The spatial positioning laser pointer is used to locate the welding position of another spherical node in space.

[0014] A method for measuring the spherical surface and inter-sphere relationships at a space frame spherical node, based on the aforementioned positioning device for the spherical surface and inter-sphere relationships at a space frame spherical node, includes the following steps:

[0015] 1. Place the positioning device on the pre-measured positioning point, place the ball on the ball support, and control the distance between the measuring arm and the ball surface by adjusting the length of the lower connecting arm;

[0016] 2. Adjust the upper connecting arm up and down so that the upper connecting arm telescopic rod and the lower connecting arm telescopic rod are of the same length, align the centers of the upper and lower ball supports, and clamp the upper clamping device to the spherical surface. Adjust the overall device to be in a horizontal state according to the level instrument.

[0017] 3. Since the size of the measuring disk is fixed, its diameter is defined as 'a'. After clamping the ball joint with the upper and lower ball supports, the horizontal scale of the lower end of the upper connecting arm sleeve relative to the measuring arm is recorded as 'b'. At this point, the latitude positioning laser pointer is aligned with the measuring arm. The radius of the sphere can be determined from its location.

[0018] 4. Locate the coordinates of the designed welding point on the sphere through calculation;

[0019] 5. After obtaining the coordinates of the welding point given in the design, record and mark the laser point that the latitude positioning laser pen hits on the sphere. At this time, loosen the fixing hole of the upper connecting arm bolt and move the upper connecting arm upward so that the robotic arm has enough space to rotate. By controlling the robotic arm, position the spatial pointer of the spatial protractor to the marked point. This marked point is the current spherical welding point of the sphere node.

[0020] 6. Determine the fixed position of another spherical node in space by using the spherical welding point marked in step 1.5. Specifically, control the horizontal protractor to keep it horizontal, control the vertical protractor to determine the approximate position of the other spherical node in space, and then control the spatial rotating arm to accurately locate the spherical welding point of the other spherical node in space according to the scale of the vertical protractor. At this time, the laser point on the spherical surface of the other spherical node hit by the spatial positioning laser pen is the welding point of the other spherical node in space.

[0021] The coordinates of the designed welding point on the sphere can be obtained in two ways:

[0022] ① If the latitude and longitude coordinates P(u,v) of the point are known, u is set as latitude and v is set as longitude; then the desired longitude coordinate v can be obtained by the scale of the pad under the wheel, and the latitude u can be obtained by adjusting the height of the latitude positioning laser pen on the measuring arm. Then any point P can be located by the latitude positioning laser pen.

[0023] ② If the plane rectangular coordinates P(X,Y,Z) of the point are known, and X, Y, and Z are virtual rectangular coordinate values ​​derived from the center of the sphere, then the relationship with latitude and longitude can be obtained as follows: X=r*cos(u)*cos(v), Y=r*cos(v)*cos(u), Z=r*sin(u). By transforming the formula and using the method described above to obtain the latitude and longitude coordinates, the arbitrary position of the sphere node can be obtained.

[0024] Compared with the prior art, the present invention has the following advantages:

[0025] Compared with existing technologies, this invention enables rapid and precise positioning of any location on the spherical surface during the welding construction of spherical nodes in a space frame. The position is accurately calibrated using a latitude-based laser pointer. After calibration, a robotic arm can be controlled to use a spatial protractor to locate the welding points of other spherical nodes within a certain spatial range. Furthermore, this device simplifies the required measurement data using mathematical methods, making it easy for construction personnel to operate and highly practical on-site. The device is easy to operate, quick and convenient to install, provides precise laser positioning, and exhibits high structural stability. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall device for positioning the spherical surface and inter-spheres of the spherical node in the grid structure according to the present invention;

[0027] Figure 2 This is a schematic diagram showing the installation sequence of the clamping device of the present invention;

[0028] Figure 3 This is an enlarged schematic diagram of the lower pad of the rotary wheel of the present invention;

[0029] Figure 4This is a schematic diagram of the lower connecting arm shaft of the present invention;

[0030] Figure 5 This is a schematic diagram of the overall measuring arm of the present invention and its enlarged view.

[0031] Figure 6 This is a schematic diagram of the overall device of the robotic arm of the present invention;

[0032] Figure 7 This is an exploded view of the overall assembly of the robotic arm of the present invention;

[0033] Figure 8 This is an isometric view of the spatial protractor of the present invention;

[0034] Figure 9 This is a schematic diagram of the overall device of the connecting arm of the present invention. Detailed Implementation

[0035] The present invention will be further illustrated below with reference to the accompanying drawings and specific embodiments. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the invention. After reading this invention, any modifications of the invention in various equivalent forms by those skilled in the art will fall within the scope defined by the appended claims.

[0036] A positioning device for the spherical nodes and inter-spheres of a space frame, such as Figure 1-9 As shown, the positioning device includes a vertically arranged measuring arm 5. A lower clamping device is fixedly connected to the bottom of the measuring arm, and an upper clamping device that can move up and down on the measuring arm 5 is connected to the upper part. A latitude positioning laser pen 6-1 is connected to the measuring arm 5. The upper clamping device is connected to a spatial protractor 12 through a mechanical arm 11. The spatial protractor 12 includes a circular shaft groove 12-1 for connecting with the mechanical arm 11. A horizontal plane protractor 12-4 is fixedly connected to the bottom surface of the circular shaft groove 12-1. A vertical plane protractor 12-3 is connected to the circular shaft groove 12-1 through a rotating shaft 12-2. The lower end of the spatial rotating arm 12-6 is sleeved on the rotating shaft 12-7 of the vertical plane protractor, and the upper end is fixed to the spatial positioning laser pen 12-5 through a hollow circular sleeve. A spatial pointer 12-8 is fixed at the rotating shaft 12-2.

[0037] like Figures 1-3As shown, the lower clamping device includes a lower roller pad 1, a lower roller 2, a ball bearing 3, and a lower connecting arm 4. The lower roller pad 1 is a plate-shaped component with a central circular hole, and a scale plate 1-1 is located outside the circular hole. The lower roller 2 is fixed on the lower roller pad 1 and includes an outer roller ring 2-1, an inner roller ring 2-3, ball bearings 2-4, and an upper roller pad 2-6. The hole on the outer roller ring 2-1 is used for bolt connection to the lower roller pad 1. The ball bearings 2-4 connect the outer roller ring 2-1 and the inner roller ring 2-3 together through an internal sliding groove 2-2 on the outer roller ring and an external hemispherical groove 2-5 on the inner roller ring 2-3. The inner ring 2-3 of the rotating wheel is rotated. The upper pad 2-6 of the rotating wheel is connected to the inner ring 2-3 through openings around its perimeter. The ball support 3 is connected to the upper pad 2-6 of the rotating wheel through openings around its perimeter. The ball support 3 includes an outer plate 3-1, and a measuring disk 3-3 is connected to the outer plate 3-1 via a support plate 3-2. The lower connecting arm 4 includes a main rod 4-1, the head slot 4-2 of which is fixed to the ball support 3-1. The latitude pointer 4-3 points to the scale line of the lower pad 1 of the rotating wheel. One end of the lower connecting arm telescopic rod 4-4 is fixedly connected to the measuring arm 5, and the other end extends into the adjustment groove 4-5 to adjust the length. The above structures are connected and fixed from bottom to top with bolts. After determining the position of the lower pad 1 of the rotating wheel according to the layout of the construction site, the ball node is placed on the ball support 3 to keep the center of gravity of the entire device stable.

[0038] like Figure 1 , Figure 9 As shown, the upper clamping device includes an upper connecting arm 7, an upper rotating wheel pad 8, and an upper rotating wheel 9. The structure of the upper connecting arm 7 is the same as that of the lower connecting arm 4. The upper rotating wheel pad 8 and the upper rotating wheel 9 have the same structure as the lower rotating wheel pad 1 and the lower rotating wheel 2, and are mirror-symmetrical. Through the combined action of the upper and lower clamping devices, the device can maintain overall stability.

[0039] like Figure 1 As shown, a level 10 is provided on the upper clamping device to control the device to be in a level state during installation and use, thereby ensuring the accuracy of the measurement.

[0040] like Figure 1 , Figure 4 As shown, the 0-mark position 5-1 on the measuring arm 5 is horizontal with the measuring disk 3-3. The laser positioning clamp 6 is fitted onto the measuring arm 5 through the square groove 6-2. The latitude positioning laser pen 6-3, used for measuring the radius-related data of the sphere node of the grid structure, is fitted into the support plate 6-1. When the upper connecting arm 7 is adjusted to clamp the upper sphere support with the sphere surface, the longitude can be obtained by calculation. The latitude positioning laser pen 6-3 is always at a right angle to the measuring arm 5 and can be fixed to any meridian through the square groove 6-2.

[0041] like Figures 6-7 As shown, the robotic arm 11 includes a robotic arm base 11-1, a lower rotating block 11-2, a rotating block connector 11-3, an upper rotating block 11-4, and a universal joint 11-5. The robotic arm base 11-1 is fixed to the upper rotating wheel pad 8 by bolts. The fixing block 11-9 is used for counterweight and hand-held fixation. The lower rotating block 11-2 shaft one 11-11 is connected to the shaft groove one 11-10. The rotating block connector shaft two 11-13 is connected to the shaft groove two 11-12. The rotating block connector support 11-14 fixes the left and right end faces. The rotating block connector shaft three 11-15 is connected to the upper rotating block shaft groove three 11-16. The universal joint connector shaft one 11-21 has a slot 11-22 at its end to facilitate the insertion of the pin when it is fixed with the universal joint connector groove 11-18. The two universal joint connectors 11-17 are connected to the connecting block 11-7 by pins to realize the spatial rotation of the universal joint. All components of the robotic arm are interconnected via shafts, which can all rotate. The universal joints enable spatial rotation, and the arm can be manually controlled to rotate to any position. The center of the hollow spherical sleeve is on the same horizontal line as the vertical protractor surface to ensure measurement accuracy.

[0042] like Figure 8 As shown, the spatial protractor 12 is connected to the universal joint connecting shaft groove 11-18 via a circular shaft groove 12-1. The horizontal plane protractor 12-4 is fixedly connected to the bottom surface. The rotating shaft 12-2 is connected to the vertical plane protractor 12-3. The lower end of the spatial rotating arm 12-6 is fitted onto the hollow circular sleeve at the upper end of the vertical plane protractor's rotating shaft 12-7 for fixing the spatial positioning laser pointer 12-5. The spatial pointer 12-8 is fixed at the rotating shaft 12-2 and is used to locate the required welding point of the spherical node. The spatial positioning laser pointer 12-5 is used to locate the welding position of another spherical node in space.

[0043] A method for measuring the spherical surface and inter-sphere relationships at a space frame spherical node, the method being implemented based on the aforementioned positioning device for the spherical surface and inter-sphere relationships at a space frame spherical node, characterized by comprising the following steps:

[0044] 1. Place the positioning device on the pre-measured positioning point, place the ball on the ball support 3, and control the distance between the measuring arm 5 and the ball surface by adjusting the length of the lower connecting arm 4;

[0045] 2. Adjust the upper connecting arm 7 up and down so that the upper connecting arm telescopic rod 7-3 and the lower connecting arm telescopic rod 4-4 are of the same length, align the centers of the upper and lower ball supports, and clamp the upper clamping device to the spherical surface. Adjust the overall device to be in a horizontal state according to the level instrument 10.

[0046] 3. Since the size of the measuring disk 3-3 is fixed, its diameter is defined as 'a'. After clamping the ball joint with the upper and lower ball supports, the lower end of the upper connecting arm sleeve 7-1 and the horizontal scale of the measuring arm 5 are recorded as 'b'. At this time, the latitude positioning laser pointer 6-3 is aligned with the measuring arm 5. The radius of the sphere can be determined from its location.

[0047] 4. Locate the coordinates of the designed welding point on the sphere through calculation;

[0048] 5. After obtaining the coordinates of the welding point given in the design, record and mark the laser point projected by the latitude positioning laser pen 6-3 on the spherical surface. At this time, loosen the bolt fixing hole 7-2 of the upper connecting arm 7, move the upper connecting arm 7 upward so that the robotic arm 11 has enough space to rotate, and control the robotic arm 11 to position the spatial pointer 12-8 of the spatial protractor 12 on the marked point. This marked point is the current spherical welding point of the spherical node.

[0049] 6. Determine the fixed position of another spherical node in space by using the spherical welding point marked in step 1.5. Specifically, control the horizontal protractor 12-4 to keep it horizontal, control the vertical protractor 12-3 to determine the approximate position of the other spherical node in space, and then control the space rotating arm 12-6 to accurately locate the spherical welding point of the other spherical node in space according to the scale of the vertical protractor 12-3. At this time, the laser point on the spherical surface of the other spherical node hit by the space positioning laser pen is the welding point of the other spherical node in space.

[0050] The coordinates of the designed welding point on the sphere can be obtained in two ways:

[0051] ① If the latitude and longitude coordinates P(u,v) of the point are known, u is set as latitude and v is set as longitude; then the desired longitude coordinate v can be obtained by using the scale 1-1 on the lower pad of the rotating wheel, and the latitude left u can be obtained by adjusting the height of the latitude positioning laser pen 6-3 on the measuring arm 5. Then any point P can be located by using the latitude positioning laser pen 6-3.

[0052] ② If the plane rectangular coordinates P(X,Y,Z) of the point are known, and X, Y, and Z are virtual rectangular coordinate values ​​derived from the center of the sphere, then the relationship with latitude and longitude can be obtained as follows: X=r*cos(u)*cos(v), Y=r*cos(v)*cos(u), Z=r*sin(u). By transforming the formula and using the method described above to obtain the latitude and longitude coordinates, the arbitrary position of the sphere node can be obtained.

[0053] This invention allows the entire device to be adjusted to a horizontal or other angle according to site requirements, facilitating on-site construction and enabling the measurement of any point on the desired spherical cross-section. It also adapts to spherical nodes of different radii, demonstrating excellent adaptability. By positioning the spherical welding points of a single spherical node, multiple spherical welding points within a certain spatial range can be determined, providing excellent efficiency for on-site construction while avoiding the impact of complex on-site working environments on measurement accuracy. On-site installation is convenient, and the use of a scale plate and laser pointer ensures high positioning accuracy. The clamping of the two measuring discs maintains the stability of the entire device, resulting in high overall stability.

[0054] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A positioning device for the spherical surface and inter-sphere positioning of a space frame spherical node, characterized in that: The positioning device includes a vertically arranged measuring arm (5), with a lower clamping device fixedly connected to the bottom of the measuring arm and an upper clamping device that can move up and down on the measuring arm (5) connected to the upper part. A laser pointer (6-1) is connected to the measuring arm (5), and the upper clamping device is connected to a spatial protractor (12) via a mechanical arm (11). The spatial protractor (12) includes a circular shaft groove (12-1) for connecting with the mechanical arm (11). A horizontal plane protractor (12-4) is fixedly connected to the bottom surface of the circular shaft groove (12-1), and a vertical plane protractor (12-3) is connected to the circular shaft groove (12-1) via a rotating shaft (12-2). The lower end of the spatial rotating arm (12-6) is fitted onto the rotating shaft (12-7) of the vertical plane protractor, and the upper end is fixed to a laser pointer (12-5) via a hollow circular sleeve. A spatial pointer (12-8) is fixed at the rotating shaft (12-2). The lower clamping device includes a lower roller pad (1), a lower roller (2), a ball bearing (3), and a lower connecting arm (4). The lower roller pad (1) is a plate-shaped component with a central circular hole, and the outside of the circular hole is a roller lower roller pad scale plate (1-1). The lower roller (2) is fixed on the lower roller pad (1). The lower roller (2) includes an outer roller ring (2-1), an inner roller ring (2-3), a ball bearing (2-4), and an upper roller pad (2-6). The hole-shaped opening on the outer roller ring (2-1) is used for bolt connection to the lower roller pad (1). The ball bearing (2-4) connects the outer roller ring (2-1) and the inner roller ring (2-3) together through the inner groove (2-2) inside the outer roller ring and the outer hemispherical groove (2-5) outside the inner roller ring (2-3). The inner ring (2-3) of the rotating wheel is rotated. The upper pad (2-6) of the rotating wheel is connected to the inner ring (2-3) of the rotating wheel through the four openings. The ball support (3) is connected to the upper pad (2-6) of the rotating wheel through the four openings. The ball support (3) includes an outer plate (3-1). The outer plate (3-1) of the ball support is connected to the measuring disk (3-3) through a support plate (3-2). The lower connecting arm (4) includes a main rod (4-1). The head slot (4-2) of the main rod (4-1) is fixed to the ball support (3-1). The latitude pointer (4-3) points to the scale line of the lower pad (1) of the rotating wheel. One end of the lower connecting arm telescopic rod (4-4) is fixedly connected to the measuring arm (5), and the other end extends into the adjustment groove (4-5) to adjust the length.

2. The spherical surface and inter-sphere positioning device of a space truss spherical node according to claim 1, characterized in that: The upper clamping device includes an upper connecting arm (7), an upper rotating wheel pad (8), and an upper rotating wheel (9). The structure of the upper connecting arm (7) is the same as that of the lower connecting arm (4). The upper rotating wheel pad (8) and the upper rotating wheel (9) have the same structure as the lower rotating wheel pad (1) and the lower rotating wheel (2) and are mirror-symmetrical.

3. The positioning device for the spherical surface and inter-sphere positioning of a space frame spherical node according to claim 1, characterized in that: A level (10) is provided on the upper clamping device.

4. The positioning device for the spherical surface and inter-sphere of a space frame spherical node according to claim 1, characterized in that: The 0 mark position (5-1) on the measuring arm (5) is horizontal with the measuring disk (3-3). The laser positioning clamp (6) is fitted onto the measuring arm (5) through the square groove (6-2). The latitude positioning laser pen (6-3) is used to measure the relevant data of the radius of the grid ball node and is fitted into the support plate (6-1).

5. The spherical positioning device of claim 1, wherein: The robotic arm (11) includes a robotic arm base (11-1), a lower rotating block (11-2), a rotating block connector (11-3), an upper rotating block (11-4), and a universal joint (11-5). The robotic arm base (11-1) is fixed to the upper rotating wheel pad (8) by bolts. The fixing block (11-9) is used for counterweight and handheld fixation. The lower rotating block (11-2) is connected to the shaft groove (11-10) by shaft one (11-11), and the rotating block connector shaft two (11-13) is connected to... Connected to the shaft groove two (11-12), the rotating block connecting support (11-14) fixes the left and right end faces. The rotating block connecting shaft three (11-15) is connected to the upper rotating block shaft groove three (11-16). The universal joint connecting shaft one (11-21) has a slot (11-22) at the end to facilitate the insertion of the pin when it is fixed with the universal joint connecting groove (11-18). The two universal joints are connected (11-17) to the connecting block (11-7) by the pin to realize the spatial rotation of the universal joint.

6. The spherical positioning device of claim 1, wherein: The spatial protractor (12) is connected to the universal joint connecting shaft groove (11-18) through the circular shaft groove (12-1). The horizontal plane protractor (12-4) is fixedly connected to the bottom surface. The rotating shaft (12-2) is connected to the vertical plane protractor (12-3). The lower end of the spatial rotating arm (12-6) is fitted onto the hollow circular sleeve at the upper end of the vertical plane protractor rotating shaft (12-7) for fixing the spatial positioning laser pen (12-5). The spatial pointer (12-8) is fixed at the rotating shaft (12-2) for locating the welding point required for the ball node. The spatial positioning laser pen (12-5) is used to locate the welding position of another ball node in space.

7. A method for measuring the spherical surface and inter-sphere distance of a space frame spherical node, implemented using the positioning device for the spherical surface and inter-sphere distance of a space frame spherical node as described in any one of claims 1-6, characterized in that... The steps include the following: 1.1 Place the positioning device on the pre-measured positioning point, place the ball on the ball support (3), and control the distance between the measuring arm (5) and the ball surface by adjusting the length of the lower connecting arm (4); 1.2 Adjust the upper connecting arm (7) up and down so that the upper connecting arm telescopic rod (7-3) and the lower connecting arm telescopic rod (4-4) are of the same length, align the centers of the upper and lower ball supports, and clamp the upper clamping device to the ball surface. Adjust the overall device to be in a horizontal state according to the level (10). 1.3 Since the size of the measuring disk (3-3) is fixed, the diameter of the measuring disk (3-3) is defined as a. After clamping the ball joint with the upper and lower ball supports, the lower end of the upper connecting arm sleeve (7-1) and the horizontal scale of the measuring arm (5) are recorded as b. At this time, the latitude positioning laser pointer (6-3) is aligned with the measuring arm (5). The radius of the sphere can be determined from its location. ; 1.

4. Find the coordinates of the welding point given in the design on the sphere through calculation; 1.5 After obtaining the coordinates of the welding point given in the design, record and mark the laser point that the latitude positioning laser pen (6-3) hits on the sphere. At this time, loosen the bolt fixing hole (7-2) of the upper connecting arm (7), move the upper connecting arm (7) up so that the robotic arm (11) has enough space to rotate. By controlling the robotic arm (11), position the spatial pointer (12-8) of the spatial protractor (12) on the marked point. The marked point is the current spherical welding point of the sphere node. 1.

6. Determine the fixed position of another spherical node in space by using the spherical welding point marked in step 1.

5. Specifically, control the horizontal protractor (12-4) to keep it horizontal, control the vertical protractor (12-3) to determine the approximate position of the other spherical node in space, and then control the space rotating arm (12-6) to accurately locate the spherical welding point of the other spherical node in space according to the scale of the vertical protractor (12-3). At this time, the laser point on the spherical surface of the other spherical node hit by the space positioning laser pen is the welding point of the other spherical node in space.

8. The method for measuring the sphere surface and the distance between the spheres of the ball joint of a space truss according to claim 7, wherein, Step 1.4, which involves calculating the coordinates of the designed welding point on the sphere, can be obtained in two ways: ① If the latitude and longitude coordinates P(u,v) of the point are known, u is set as latitude and v is set as longitude; then the desired longitude coordinate v can be obtained by the scale (1-1) of the wheel pad, and the latitude left u can be obtained by adjusting the height of the latitude positioning laser pen (6-3) on the measuring arm (5). Then any point P can be located by the latitude positioning laser pen (6-3); ② If the plane rectangular coordinates P(X,Y,Z) of the point are known, where X, Y, and Z are virtual rectangular coordinates derived from the center of the sphere, then the relationship with latitude and longitude can be obtained: By transforming the formula and then using the method described above to obtain the latitude and longitude coordinates, the arbitrary position of the desired sphere node can be obtained.

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