Large column installation and positioning device and its usage method

Abstract

This application provides a large column installation and positioning device and its usage method, relating to the field of building construction. It includes a mobile platform with a construction groove through which the column passes, the opening of which faces the rear of the mobile platform, and a positioning area formed at the end of the groove furthest from the opening. It also includes: a walking device located at the bottom of the mobile platform for moving or locking the platform; a positioning device including multiple sets of positioning components arranged in a ring around the positioning area for circumferential positioning of the column; a camera device for monitoring the position of the mobile platform and pre-embedded screws; and a control console that controls the movement of the mobile platform according to the camera device, aligning the center of the positioning area horizontally with the center of the line connecting the multiple pre-embedded screws, and controlling the positioning device to position the column according to the column's geometric data, aligning the mounting holes on the column with the pre-embedded screws. This application improves the convenience of column installation.

Description

Technical Field

[0001] This application relates to the field of building construction technology, and in particular to a large column installation and positioning device and its usage method. Background Technology

[0002] In large-scale building construction, columns are crucial supporting components. Typically, installing large columns requires aligning the mounting holes at the base of the column with pre-embedded bolts in the ground—a delicate process that demands precise positioning. Current methods primarily rely on a crane to lift the large column near the pre-embedded bolts. Several workers then gently push the column laterally from its base to fine-tune it, ensuring the mounting holes align with the bolts. Finally, the crane slowly releases the column, allowing the bolts to enter the mounting holes.

[0003] However, traditional installation methods require a significant amount of manpower, and due to the heavy weight of the columns and the difficulty in precise movement, alignment deviations frequently occur, causing the columns to bend the embedded bolts, resulting in considerable trouble for subsequent construction and potentially leading to rework. Therefore, there is an urgent need for an automated device that can reduce manual intervention, improve alignment accuracy, and enhance construction efficiency to solve this problem. Summary of the Invention

[0004] To address the inconvenience of column installation, this application provides a large column installation and positioning device and its usage method.

[0005] The large column installation and positioning device provided in this application adopts the following technical solution:

[0006] A large column installation and positioning device, comprising:

[0007] The mobile platform is provided with a construction groove through which the column passes. The opening of the construction groove faces the rear of the mobile platform, and the end of the construction groove away from the opening forms a positioning area.

[0008] It also includes those located on the mobile platform:

[0009] A walking device, located at the bottom of the mobile platform, is used to move or lock the mobile platform;

[0010] The positioning device includes multiple sets of positioning components arranged in a ring around the positioning area for circumferential positioning of the column;

[0011] Camera devices are used to monitor the position of the mobile platform and the pre-embedded screws;

[0012] The control console moves the mobile platform according to the camera device, aligning the center of the positioning area with the center of the line connecting multiple pre-embedded screws in the horizontal direction. Based on the geometric data of the column, it controls the positioning device to position the column so that the mounting holes on the column are aligned with the pre-embedded screws.

[0013] Furthermore, the positioning component includes a mounting plate, a movable plate, a drive component, and multiple guide wheels. The mounting plate is mounted on a moving platform, the movable plate is slidably mounted on the side of the mounting plate near the positioning area in the horizontal direction, the drive component is mounted on the mounting plate and is used to drive the movable plate to slide, and the multiple guide wheels are spaced vertically on the side of the movable plate near the positioning area.

[0014] Furthermore, the drive assembly includes a drive threaded cylinder, a drive screw, a guide rod, and a drive component. The drive threaded cylinder is rotatably connected to the mounting plate, the drive screw is threadedly connected to the drive threaded cylinder, one end of the drive screw passes through the mounting plate and is fixedly connected to the movable plate, the guide rod is slidably connected to the mounting plate and is arranged parallel to the drive screw, one end of the guide rod passes through the mounting plate and is connected to the movable plate, and the drive component is used to drive the threaded cylinder to rotate.

[0015] Furthermore, the positioning components are provided in four groups, and the positioning area is square. When in the starting position, the guide wheels of the four positioning components are tangent to the four faces of the positioning area.

[0016] Furthermore, the positioning component near the opening of the construction trench is movably mounted on the mobile platform between an unfolded state and an avoidance state via an avoidance device. When in the unfolded state, the positioning component is located within the construction trench area, and when in the avoidance state, the positioning component is located outside the construction trench area.

[0017] Furthermore, the avoidance device includes an avoidance bracket, an avoidance slide, and an avoidance drive. The avoidance bracket is fixed to one side of the construction groove, the avoidance slide is slidably connected to the avoidance bracket, and the avoidance slide is connected to the mounting plate.

[0018] Furthermore, the camera device includes a guide camera and a positioning camera. The guide camera is located at the head of the mobile platform and is used to monitor the surrounding environment of the mobile platform. The positioning camera is located on one side of the construction trench and is used to monitor the position of the pre-embedded screws within the construction trench area.

[0019] Furthermore, the walking device includes multiple walking wheels and a walking drive for driving the walking wheels to rotate, and the walking wheels are detachably mounted on the bottom of the mobile platform.

[0020] Furthermore, the mobile platform is equipped with multiple support columns at its bottom. When the mobile platform needs to be fixed, the wheels rise above the bottom surface of the support columns.

[0021] This application also provides a method for using a large column installation and positioning device, including the following steps:

[0022] S1. Input the column geometry information into the console. The console calculates the center position of the column mounting hole, records it as the theoretical positioning point, and calculates the distance between each side of the column and the theoretical positioning point based on the column cross-sectional information.

[0023] S2. The walking device, in conjunction with the camera device, controls the mobile platform to move to the pre-embedded screw, and determines the center point of multiple pre-embedded screws, which is recorded as the actual positioning point. The center of the positioning area of ​​the mobile platform is then aligned with the actual positioning point.

[0024] S3. The console calculates the positioning values ​​of each group of positioning components;

[0025] S4. Suspend the column in the positioning area of ​​the mobile platform, and control each group of positioning components to position the column according to the positioning amount in S3, so that the theoretical positioning point and the actual positioning point are consistent in the horizontal direction.

[0026] S5. Lower the column so that the mounting hole of the column aligns with the pre-embedded screw, and lock the column with the nut to complete the column installation;

[0027] S6. Control the movement of the mobile platform so that the column can detach from the mobile platform through the construction trench opening.

[0028] In summary, this application includes at least one of the following beneficial technical effects:

[0029] 1. By adopting a control console to operate the mobile platform for automatic positioning via a camera system, this positioning device can accurately and quickly locate the construction site, greatly improving the positioning efficiency during the installation of large columns and effectively shortening the construction cycle;

[0030] 2. By setting four sets of positioning components, each consisting of multiple guide wheels, the column is guided and positioned circumferentially through these guide wheels. The guide wheels and the column experience rolling friction, which improves the efficiency and accuracy of column installation, enhances installation quality, and reduces the possibility of column damage.

[0031] 3. By inputting the cross-sectional data of the column into the control console, the control console calculates the distance that each set of guide wheels needs to move, which greatly improves the positioning efficiency of the column and can also be applied to columns of different shapes, making it highly adaptable.

[0032] 4. The mobile platform is fixedly equipped with multiple support columns at its bottom and has multiple lifting wheels. When the mobile platform reaches the required position, the wheels are raised to make the support columns contact the ground, thus achieving stable fixation of the mobile platform. During the movement of the mobile platform, the height of the mobile platform can be adjusted by raising and lowering the wheels, allowing the mobile platform to cross pre-embedded screws of different heights. This enables the device to move flexibly on the construction site, reducing the time required to rebuild the positioning device and thus significantly shortening the overall construction cycle. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of column hoisting.

[0035] Figure 2 This is an overall construction diagram of an embodiment of this application.

[0036] Figure 3 This is a schematic diagram of the overall structure of the large column installation and positioning device according to an embodiment of this application.

[0037] Figure 4 This is a schematic diagram of the positioning device structure according to an embodiment of this application.

[0038] Figure 5 This is a schematic diagram of the state of the positioning component before the column is positioned according to an embodiment of this application.

[0039] Figure 6 This is a schematic diagram of the state of the positioning component after the column is positioned according to an embodiment of this application.

[0040] Figure 7 This is a schematic diagram of the overall state after the column is positioned according to an embodiment of this application.

[0041] Reference numerals: 1. Column; 11. Mounting hole; 2. Crane; 3. Embedded screw; 4. Moving platform; 41. Construction trench; 42. Positioning area; 5. Walking device; 51. Walking wheel; 52. Support column; 6. Positioning component; 61. Mounting plate; 62. Movable plate; 63. Guide wheel; 64. Drive screw; 65. Drive threaded cylinder; 66. Guide rod; 67. Drive motor; 68. Reduction gear set; 7. Camera device; 71. Guide camera; 72. Positioning camera; 8. Avoidance device; 81. Avoidance bracket; 82. Avoidance slide; 83. Avoidance drive; 84. Avoidance guide rod; 9. Control console. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0043] This application discloses an installation and positioning device for a large column 1, used for such... Figure 1 The installation and positioning process of the large column 1 is shown. (Refer to...) Figure 2 and Figure 3 The large column 1 installation and positioning device includes a mobile platform 4 and a traveling device 5, a positioning device, a camera device 7, and a control console 9 mounted on the mobile platform 4. The mobile platform 4 is a rectangular platform with a construction groove 41 for the column 1 to pass through. The opening of the construction groove 41 faces the rear of the mobile platform 4, making the mobile platform 4 form a U-shape, which facilitates the removal of the column 1 from the mobile platform 4 after installation. The end of the construction groove 41 away from the opening forms a positioning area 42, in which the column 1 is positioned. The traveling device 5 is located on the mobile platform. The bottom of platform 4 is used to move or lock the mobile platform 4; the positioning device includes multiple sets of positioning components 6 arranged in a ring around the positioning area 42 for circumferential positioning of the column 1; the camera device 7 is used to monitor the position of the mobile platform 4 and the pre-embedded screw 3 to navigate and position the mobile platform 4; the control console 9 controls the movement of the mobile platform 4 according to the camera device 7, so that the center of the positioning area 42 is aligned with the center of the line connecting the pre-embedded screw 3 in the horizontal direction, and controls the positioning device to position the column 1 according to the geometric data of the column 1, so that the mounting hole 11 on the column 1 is aligned with the pre-embedded screw 3.

[0044] During the installation of the large column 1, the camera device 7 assists in monitoring, and the walking device 5 drives the mobile platform 4 to move to the positioning pre-embedded screw 3, ensuring that the pre-embedded screw 3 is within the positioning area 42. The column 1 is then suspended within the positioning area 42. The control console 9, using the geometric dimensions of the column 1, controls the positioning device to position the column 1, ensuring precise alignment between the column 1 and the pre-embedded screw 3. Positioning the column 1 with the assistance of the control console 9 significantly improves the accuracy and efficiency of the positioning, reduces the possibility of rework due to positioning deviations causing the column 1 to bend the pre-embedded screw 3, and thus greatly enhances the convenience of column 1 installation.

[0045] Specifically, please refer to Figure 4The positioning component 6 includes a mounting plate 61, a movable plate 62, a drive component, and multiple guide wheels 63. Both the mounting plate 61 and the movable plate 62 are rectangular plates and are vertically oriented. The mounting plate 61 is mounted on the moving platform 4. The movable plate 62 is horizontally slidably positioned on the side of the mounting plate 61 near the positioning area 42. Multiple guide wheels 63 are located on the side of the movable plate 62 near the positioning area 42 and are rotatably mounted on the movable plate 62 at equal intervals in the vertical direction. The drive component is mounted on the mounting plate 61 to drive the movable plate 62 to slide.

[0046] When positioning the column 1, the drive assembly drives the movable plate 62 to slide, causing the movable plate 62 to drive the guide wheel 63 to abut against the side of the column 1. The rotation of the guide wheel 63 allows the column 1 to move freely vertically, reducing the possibility of wear on the column 1 caused by the positioning assembly 6. By using the guide wheels 63 of multiple sets of positioning assemblies 6 to position the periphery of the column 1, precise and non-destructive positioning of the column 1 is achieved.

[0047] The drive assembly includes a drive threaded cylinder 65, a drive screw 64, a guide rod 66, and a drive component. The drive threaded cylinder 65 is rotatably connected to the mounting plate 61 via a bearing. Two guide rods 66 are arranged in parallel. One end of the guide rod 66 is welded and fixed to the movable plate 62, and the other end passes through and slides along the axial direction of the guide rod 66 on the mounting plate 61. The drive screw 64 is arranged parallel to the guide rod 66 and is threadedly connected to the drive threaded cylinder 65. One end of the drive screw 64 passes through the mounting plate 61 and is welded and fixed to the movable plate 62. The drive component includes a drive motor 67 and a reduction gear set 68. The drive motor 67 is a servo motor. The input gear and output gear of the reduction gear set 68 are coaxially fixedly connected to the output shaft of the drive motor 67 and the drive threaded cylinder 65, respectively. By using the drive motor 67 in conjunction with the reduction gear and the drive screw 64, the accuracy of the movement of the movable plate 62 can be significantly improved, thereby improving the positioning accuracy of the column 1.

[0048] Since the column 1 typically has four sides, the positioning area 42 is designed as a square to facilitate positioning of the four sides of the column 1. Four sets of positioning components 6 are provided, each located on one of the four sides of the positioning area 42. In the initial position, the guide wheels 63 of the four positioning components 6 are tangent to the four sides of the positioning area 42. Figure 5 As shown, the dashed line represents the edge of the positioning area 42.

[0049] In order to facilitate the installation of the column 1 to detach from the mobile platform 4, the positioning component 6 near the opening of the construction trench 41 needs to avoid the column 1. Specifically, the positioning component 6 is movably set on the mobile platform 4 between the unfolded state and the avoidance state through the avoidance device 8. When it is in the unfolded state, the positioning component 6 is within the construction trench 41. When it is in the avoidance state, the positioning component 6 is outside the construction trench 41.

[0050] For details, please refer to Figure 7 The avoidance device 8 includes an avoidance bracket 81, an avoidance slide 82, and an avoidance drive 83. The avoidance bracket 81 is fixed to the moving platform 4 by bolts and is located on one side of the construction groove 41. The avoidance slide 82 is U-shaped. The mounting plate 61 of the positioning component 6 near the opening of the construction groove 41 is embedded in the avoidance slide 82 and is fixedly connected to the avoidance slide 82 by bolts. The avoidance drive 83 includes, but is not limited to, a cylinder, a hydraulic cylinder, or an electric actuator. The avoidance drive 83 is fixedly connected to the avoidance bracket 81 by bolts. The side of the slide away from the mounting plate 61 is fixedly connected to the movable end of the avoidance drive 83.

[0051] To improve the stability of the avoidance slide 82 during sliding, the avoidance bracket 81 is provided with avoidance guide rods 84 on the upper and lower sides of the avoidance drive 83. One end of the avoidance guide rod 84 is welded and fixed to the avoidance slide 82, and the other end passes through the avoidance bracket 81 and is slidably connected to the avoidance bracket 81 along the sliding direction of the avoidance slide 82. By adding two avoidance guide rods 84 to limit the movement of the avoidance slide 82, the stability of the avoidance slide 82 during sliding can be improved, as well as the stability of the positioning component 6 in the deployed state.

[0052] After the column 1 is positioned and installed, the avoidance drive 83 controls the avoidance slide 82 to move closer to the avoidance bracket 81, causing the positioning component 6 installed on the avoidance slide 82 to move away from the construction groove 41. This allows the column 1 to avoid obstacles, enabling the moving platform 4 to move along the length of the construction groove 41, and allowing the column 1 to detach from the moving platform 4 without obstruction from the opening of the construction groove 41. Once the column 1 is completely detached from the moving platform 4, the avoidance drive 83 controls the slide 82 to move away from the avoidance bracket 81, causing the positioning component 6 installed on the avoidance slide 82 to enter the deployed state, thus preparing for the next positioning of the column 1.

[0053] The camera device 7 includes a guide camera 71 and a positioning camera 72, such as Figure 3As shown, the guide camera 71 is located at the head of the mobile platform 4 and is used to monitor the surrounding environment of the mobile platform 4, guiding the mobile platform 4 to find the position of the target pre-embedded screw 3. The guide camera 71 can be a wide-angle industrial camera. The positioning camera 72 is located on the side of the construction trench 41 away from the avoidance device 8, and is used to monitor the position of the pre-embedded screw 3 within the construction trench 41. Since the positioning camera 72 needs to accurately locate the position of the pre-embedded screw 3, the positioning camera 72 can be a high-resolution industrial camera to accurately capture the position of the pre-embedded screw 3.

[0054] When the camera device 7 guides the mobile platform 4, the guide camera 71 monitors the surrounding environment of the mobile platform 4, enabling the mobile platform 4 to quickly locate the position of the pre-embedded screw 3 and bring the pre-embedded screw 3 into the positioning area 42 of the mobile platform 4. The positioning camera 72 accurately positions the pre-embedded screw 3 in the positioning area 42 and controls the center of the positioning area 42 of the mobile platform 4 to align with the center of the line connecting multiple pre-embedded screws 3, thereby completing the accurate positioning of the mobile platform 4 and laying the foundation for the accurate positioning of the column 1.

[0055] The walking device 5 includes multiple walking wheels 51 and a driving mechanism for rotating the walking wheels 51. There are four walking wheels 51, located at the four corners of the mobile platform 4. The driving mechanism is a relatively existing wheel drive structure, which will not be further elaborated here. The driving mechanism controls the precise positioning of the mobile platform 4 by rotating and steering the walking wheels 51, in conjunction with the guidance of the camera device 7. To improve the flexibility of the mobile platform 4, the walking wheels 51 are height-adjustable at the bottom of the mobile platform 4. The height of the walking wheels 51 can be driven by hydraulic cylinders, electric actuators, or motor lead screws, allowing the mobile platform 4 to be raised or lowered as needed. This enables the mobile platform 4 to traverse obstacles of different heights, significantly improving the flexibility of the mobile platform 4.

[0056] To facilitate securing the mobile platform 4, multiple support columns 52 are provided at the bottom of the mobile platform 4. In this embodiment, there are four support columns 52, located at the four corners of the mobile platform 4 and offset from the wheels 51. When it is necessary to secure the mobile platform 4, the wheels 51 are driven to rise above the ground above the support columns 52, so that the support columns 52 abut against the ground, thus securing the mobile platform 4. When it is necessary to move the mobile platform 4 again, the wheels 51 are lowered, so that the wheels 51 support the mobile platform 4, lifting the support columns 52 off the ground, allowing the mobile platform 4 to move freely.

[0057] Considering that the construction environment may be uneven, the four support columns 52 are set up to be raised and lowered, and a level is set on the top surface of the mobile platform 4. By driving the support columns 52 to rise and fall, the level data is made to meet the level standard, so that the mobile platform 4 can be fixed horizontally, reducing the possibility of inaccurate positioning of the column 1 due to the tilt of the mobile platform 4.

[0058] This application also discloses a method for using a large column 1 installation and positioning device, which specifically includes the following steps:

[0059] S1. Input the position data of the mounting holes 11 of the steel column 1 and the cross-sectional information data into the control console 9. The control console 9 calculates the center position points of multiple mounting holes 11, records them as theoretical positioning points, and determines the distances A1, A2, A3, and A4 of the four sides of the column 1 from the theoretical positioning points based on the cross-sectional information of the column 1.

[0060] S2. The walking device 5, in conjunction with the camera device 7, controls the mobile platform 4 to move to the pre-embedded screw 3 and determines the center point of multiple pre-embedded screws 3, which is recorded as the actual positioning point. The control console 9 controls the mobile platform 4 to move so that the center of the positioning area 42 coincides with the actual positioning point. The lifting wheels rise, so that the fixed support feet are supported on the ground, and the mobile platform 4 is fixed, thus aligning the center of the positioning area 42 of the mobile platform 4 with the actual positioning point and completing the positioning of the mobile platform 4.

[0061] S3. The console 9 calculates the positioning amount of each group of positioning components 6. Specifically, when the guide wheels 63 of the four groups of positioning components 6 are in the initial position, the distance from the center of the positioning area 42 is B. The console 9 calculates the distance that each group of guide wheels 63 needs to move as (B-A1), (B-A2), (B-A3), (B-A4), which are the positioning amounts of each group of positioning components 6.

[0062] S4. The column 1 is suspended in the positioning area 42 of the mobile platform 4 by the crane 2. According to the positioning amount in S3, the positioning components 6 are controlled to move so that each group of positioning components 6 positions the column 1, so that the theoretical positioning point and the actual positioning point are consistent in the horizontal direction, and the positioning of the column 1 is realized.

[0063] S5. Control the crane 2 to lower the column 1, so that the column 1 descends along the guide wheel 63 until the mounting hole 11 of the column 1 is connected with the pre-embedded screw 3. Lock the column 1 with the nut to complete the installation of the column 1.

[0064] S6. By controlling the corresponding positioning component 6 to enter the avoidance state through the avoidance device 8, the mobile platform 4 is controlled to move, so that the column 1 is separated from the mobile platform 4 through the opening of the construction groove 41.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A large column installation and positioning device, characterized in that, include: The mobile platform is provided with a construction groove through which the column passes. The opening of the construction groove faces the rear of the mobile platform, and the end of the construction groove away from the opening forms a positioning area. It also includes those located on the mobile platform: A walking device, located at the bottom of the mobile platform, is used to move or lock the mobile platform; The positioning device includes multiple sets of positioning components arranged in a ring around the positioning area for circumferential positioning of the column; Camera devices are used to monitor the position of the mobile platform and the pre-embedded screws; The control console moves the mobile platform according to the camera device, aligning the center of the positioning area with the center of the line connecting multiple pre-embedded screws in the horizontal direction. Based on the geometric data of the column, it controls the positioning device to position the column so that the mounting holes on the column are aligned with the pre-embedded screws. The positioning component includes a mounting plate, a movable plate, a drive component, and multiple guide wheels. The mounting plate is mounted on a mobile platform. The movable plate is slidably mounted on the side of the mounting plate near the positioning area in the horizontal direction. The drive component is mounted on the mounting plate and is used to drive the movable plate to slide. The multiple guide wheels are spaced vertically on the side of the movable plate near the positioning area. The camera device includes a guide camera and a positioning camera. The guide camera is located at the head of the mobile platform and is used to monitor the surrounding environment of the mobile platform. The positioning camera is located on one side of the construction trench and is used to monitor the position of the pre-embedded screws within the construction trench area.

2. The large column installation and positioning device according to claim 1, characterized in that, The drive assembly includes a drive threaded cylinder, a drive screw, a guide rod, and a drive component. The drive threaded cylinder is rotatably connected to the mounting plate, the drive screw is threadedly connected to the drive threaded cylinder, one end of the drive screw passes through the mounting plate and is fixedly connected to the movable plate, the guide rod is slidably connected to the mounting plate and is arranged parallel to the drive screw, one end of the guide rod passes through the mounting plate and is connected to the movable plate, and the drive component is used to drive the threaded cylinder to rotate.

3. The large column installation and positioning device according to claim 1, characterized in that, The positioning components are provided in four groups, and the positioning area is square. When in the starting position, the guide wheels of the four positioning components are tangent to the four faces of the positioning area.

4. The large column installation and positioning device according to claim 3, characterized in that, The positioning component, located near the opening of the construction trench, is movably mounted on the mobile platform between an unfolded state and an avoidance state via an avoidance device. When in the unfolded state, the positioning component is within the construction trench area; when in the avoidance state, the positioning component is outside the construction trench area.

5. The large column installation and positioning device according to claim 4, characterized in that, The avoidance device includes an avoidance bracket, an avoidance slide, and an avoidance drive. The avoidance bracket is fixed to one side of the construction groove, the avoidance slide is slidably connected to the avoidance bracket, and the avoidance slide is connected to the mounting plate.

6. The large column installation and positioning device according to claim 1, characterized in that, The walking device includes multiple walking wheels and a walking drive for driving the walking wheels to rotate. The walking wheels are detachably mounted on the bottom of the mobile platform.

7. The large column installation and positioning device according to claim 6, characterized in that, The mobile platform is equipped with multiple support columns at its bottom. When the mobile platform needs to be fixed, the walking wheels rise above the bottom surface of the support columns.

8. A method of using a large column installation and positioning device, the large column installation and positioning device according to any one of claims 1-7, characterized in that, Includes the following steps: S1. Input the column geometry information into the console. The console calculates the center position of the column mounting hole, records it as the theoretical positioning point, and calculates the distance between each side of the column and the theoretical positioning point based on the column cross-sectional information. S2. The walking device, in conjunction with the camera device, controls the mobile platform to move to the pre-embedded screw, and determines the center point of multiple pre-embedded screws, which is recorded as the actual positioning point. The center of the positioning area of ​​the mobile platform is then aligned with the actual positioning point. S3. The console calculates the positioning values ​​of each group of positioning components; S4. Suspend the column in the positioning area of ​​the mobile platform, and control each group of positioning components to position the column according to the positioning amount in S3, so that the theoretical positioning point and the actual positioning point are consistent in the horizontal direction. S5. Lower the column so that the mounting hole of the column aligns with the pre-embedded screw, and lock the column with the nut to complete the column installation; S6. Control the movement of the mobile platform so that the column can detach from the mobile platform through the construction trench opening.

Images