Beam pre-assembly axis control device and control method

Abstract

The invention relates to the technical field of steel beam construction, in particular to a beam pre-assembly axis control device and method. The device comprises a to-be-spliced steel beam A, a to-be-spliced steel beam B, a first positioning mechanism and a second positioning mechanism, the top axis of the steel beam A is formed along the midpoint connecting line of the front end and the rear end of the top of the steel beam A, and the top axis of the steel beam B is formed along the midpoint connecting line of the front end and the rear end of the top of the steel beam B; the first positioning mechanism and the second positioning mechanism are provided with a distance detection unit and a position detection unit which are matched with each other. The control method comprises the steps of aiming at the first splicing form, aiming at the second splicing form and aiming at the third splicing form. The invention provides a technical scheme capable of solving the one-to-three positioning problem of the splicing form based on mathematical calculation and experimental verification, and has the advantages of accurate positioning and high splicing efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of steel beam construction, and in particular to a beam pre-assembly axis control device and a control method. Background Art

[0002] In order to shorten the construction period and reduce the weight of the bridge itself, prefabricated steel beams are widely used in bridge projects. During the assembly axis control process of the steel beam at the temporary site, it is restricted by the external environment. The main factor is that the top plate of the steel beam is made of steel plate, which is not easy to set up the total station on the surface. The moving loads such as walking of operators and repeated adjustment operations make it difficult for the measuring instrument to maintain stability, which in turn affects the assembly accuracy and efficiency.

[0003] Due to the different shapes of bridges, there are many ways to splice adjacent steel beams, such as: Splice form 1, adjacent steel beams are spliced ​​along a straight line, the tops of the two steel beams are coplanar and the steel beams are coaxial; Splice form 2, there is a certain longitudinal angle between the two steel beams, and the axes of the two steel beams are coplanar; Splice form 3, there is a horizontal angle between the two steel beams, and the axes of the two steel beams are coplanar. How to locate the position between steel beams according to these splicing forms has become a difficult problem. Summary of the invention

[0004] The present invention provides a beam pre-assembly axis control device and control method, the purpose of which is to solve the problem of "how to locate the positions between steel beams in these splicing forms" described in the background technology part. Based on mathematical calculations and experimental verification, the present invention provides a technical solution that can solve the positioning problems of splicing forms one to three, and has the advantages of precise positioning and high splicing efficiency.

[0005] To solve the above problems, the technical solution of the present invention is:

[0006] A beam pre-assembly axis control device comprises a steel beam A and a steel beam B to be spliced, wherein a first positioning mechanism is provided on the top of the steel beam A, and a second positioning mechanism is provided on the top of the steel beam B, a line connecting the midpoints of the front and rear ends of the top of the steel beam A constitutes the top axis of the steel beam A, and a line connecting the midpoints of the front and rear ends of the top of the steel beam B constitutes the top axis of the steel beam B, and the first positioning mechanism and the second positioning mechanism are provided with a distance detection unit and a position detection unit which cooperate with each other.

[0007] Preferably, the first positioning mechanism and the second positioning mechanism include positioning plate 1 and positioning plate 2 respectively, and the positioning plate 1 and positioning plate 2 are respectively connected to the top steel plates of steel beam A and steel beam B through magnetic suction parts, and the middle parts of the positioning plate 1 and positioning plate 2 are respectively provided with a first positioning beam and a second positioning beam along the front-to-back direction, and the position detection unit includes a laser ranging sensor fixedly arranged on the top of the first positioning beam and a detection plate fixedly arranged on the rear end of the second positioning beam and arranged along the left-right direction, and the laser ranging sensor is used in conjunction with the detection plate; the distance detection unit includes a transmitting end and a receiving end of a through-beam photoelectric sensor, and the transmitting end is connected to the top of the positioning plate 1 through a linear drive mechanism arranged along the left-right direction, and the receiving end is arranged at the top of the positioning plate 2 through a coordinate positioning mechanism, and the transmitting end and the receiving end, the linear drive mechanism, the coordinate positioning mechanism, and the laser ranging sensor are respectively electrically connected to the controller of the beam pre-assembly axis control device through wires.

[0008] Preferably, the first positioning beam and the second positioning beam are respectively provided with a plurality of through holes on the center line along the front-to-back direction. When the central axes of the plurality of through holes intersect with the top axis of the corresponding steel beam A or the top axis of the steel beam B, it represents that the center line of the first positioning beam and the second positioning beam along the front-to-back direction respectively forms a common longitudinal plane with the top axis of the corresponding steel beam A or the top axis of the steel beam B.

[0009] Preferably, there are two linear drive mechanisms, which are respectively arranged on the top of a positioning plate where the left and right sides of the first positioning beam are located. The linear drive mechanism includes first mounting plates arranged opposite to each other on the left and right sides, and a first lead screw is rotatably connected between the two first mounting plates. The outer end of the first lead screw passes through the corresponding first mounting plate and is fixedly connected to the output shaft of a first servo motor preset on the outer surface of the first mounting plate. A first movable seat is screwed on the first lead screw, and a fixed block is provided on the top of the first movable seat. The top of the fixed block is connected to the first fixed plate through a vertical rod, and a launching end is provided at the front end of the first fixed plate.

[0010] Preferably, there are two coordinate positioning mechanisms, which are respectively arranged on the top of two positioning plates where the left and right sides of the second positioning beam are located, and the coordinate positioning mechanism includes second mounting plates arranged opposite to each other on the left and right sides, a second lead screw is rotatably connected between the two second mounting plates, the outer end of the second lead screw passes through the corresponding second mounting plate, and is fixedly connected to the output shaft of the second servo motor preset on the outer surface of the second mounting plate, a second movable seat is screwed on the second lead screw, an electric cylinder is arranged on the top of the second movable seat, the fixed end of the electric cylinder is embedded in the top of the second movable seat, the telescopic end extends upward in the longitudinal direction and is fixedly connected to an articulated seat, a motor seat is rotatably connected to the inside of the articulated seat through an articulated shaft, one end of the articulated shaft is fixedly connected to the output shaft of the third servo motor fixedly connected to the outside of the articulated seat, and a fourth servo motor is fixedly provided on the top of the motor seat A machine, a second fixed plate is provided at the top of the output shaft of the fourth servo motor, and a receiving end is provided at the front end of the second fixed plate; the bottom ends of the two second mounting plates are respectively connected with the first linear guide and the second linear guide arranged along the front-to-back direction through sliders, and the first linear guide and the second linear guide are respectively fixedly connected to the second top ends of the positioning plates; a third lead screw is also provided between the first linear guide and the second linear guide along the front-to-back direction, and the two ends of the third lead screw are respectively rotatably connected with the third mounting plate, the bottom end of the third mounting plate is fixedly connected to the second top end of the positioning plate, a fifth servo motor is provided on the outside of the third mounting plate, and the output shaft of the fifth servo motor is fixedly connected to the end of the third lead screw; a third moving seat is screwed on the third lead screw, and a cross bar is also connected between the two second mounting plates, and the top end of the third moving seat is fixedly connected to the bottom end of the cross bar.

[0011] Preferably, the controller is provided with a database, and the database is based on data collected when steel beam A and steel beam B reach the docking position, including: (1) a one-to-one correspondence data unit between the detection value of the laser ranging sensor and the angle angle, and the angle angle refers to the angle angle between steel beam A and steel beam B along the longitudinal direction and the angle angle along the horizontal direction; (2) a corresponding data unit between the positional relationship between the transmitting end and the receiving end and the angle angle, that is, at a certain angle angle, the position of the receiving end in the coordinate positioning mechanism, the position of the transmitting end on the first screw, the elongation of the electric cylinder, the rotation angle of the third servo motor, and the rotation angle of the fourth servo motor.

[0012] Preferably, the bottom of the steel beam A and the steel beam B are respectively provided with a pushing mechanism A and a pushing mechanism B electrically connected to the controller, and the top of the positioning plate 1 and the positioning plate 2 are respectively provided with an inclination sensor, and the inclination sensor is electrically connected to the controller.

[0013] A control method for a beam pre-assembly axis control device includes a step for a first splicing form, a step for a second splicing form, and a step for a third splicing form.

[0014] Preferably, the steps for splicing form 1 include:

[0015] S11. Install a first positioning mechanism on the top of steel beam A, and install a second positioning mechanism on the top of steel beam B, so that positioning plate 1 and positioning plate 2 are respectively fixed to the top steel plate of steel beam A or steel beam B through magnetic suction parts; let the front-to-back direction be the X-axis direction, and the left-to-right direction be the Y-axis direction, so that the transmitting end and the receiving end on the left and right sides are at the same coordinate of the Y-axis, and the heights of the transmitting end and the receiving end match and cooperate with each other;

[0016] S12, make the front ends of steel beam A and steel beam B face each other through the pushing mechanism A and the pushing mechanism B, keep the top of steel beam B unchanged after being leveled, adjust the top of steel beam A to be horizontal through the pushing mechanism A, and make the laser distance sensor project the measurement light emitted horizontally onto the front surface of the detection plate, when the detected distance is greater than the set distance, move steel beam A to the side of steel beam B until the laser distance sensor detects the set distance and stops; at this time, the controller determines that the distance between steel beam A and steel beam B meets the set requirements, and the angle between the top of steel beam A and steel beam B is 180°;

[0017] S13, move steel beam A horizontally to the left and right to detect whether the transmitting end and the receiving end on the left and right sides are aligned. If they are aligned, stop moving steel beam A. If the signal from the receiving end cannot be received after moving steel beam A horizontally to the left and right for a set distance, move steel beam A upward to a set height and then repeatedly move steel beam A to the left and right until the transmitting end and the receiving end on the left and right sides are aligned. At this time, the controller determines that the top ends of steel beam A and steel beam B are coplanar, and also the top axes of steel beam A and steel beam B are coplanar; based on the angle of 180° between the top ends of steel beam A and steel beam B and the coplanarity of the top axes of steel beam A and steel beam B, combined with the spacing between steel beam A and steel beam B meeting the set requirements, the controller determines that steel beam A and steel beam B have reached the docking position.

[0018] Preferably, the steps for the second splicing form include:

[0019] S21, on the basis of the completion of step 13, the controller tilts the rear end of the steel beam A upward through the pushing mechanism A according to the preset longitudinal angle between the top ends of the steel beam A and the steel beam B, and makes the top end of the steel beam A reach the preset longitudinal angle with the top end of the steel beam B;

[0020] S22, the pushing mechanism A controls the steel beam A to move up and down and forward and backward until the laser ranging sensor detects the detection value corresponding to the longitudinal angle in S21, and stops when the detection value remains unchanged when the steel beam A is moved forward and backward; at this time, the preliminary error correction for the influence of the process in step S21 on the position of the steel beam A is completed, and the controller determines that the front top edges of the steel beams A and B are coplanar, and the longitudinal angle between the tops of the steel beams A and B reaches the set standard;

[0021] S23, the controller rotates the third servo motor clockwise by the same angle according to the longitudinal angle in S21, and adjusts the extension and contraction amount of the electric cylinder and the position of the receiving end in the coordinate positioning mechanism according to the data in the database. If the position of the transmitting end on the first lead screw remains unchanged, only the position of the receiving end in the X-axis direction is adjusted; if the position of the transmitting end on the first lead screw changes, the coordinates of the receiving end and the transmitting end in the Y-axis direction are adjusted to be consistent;

[0022] S24, the pushing mechanism A controls the forward and backward movement of the steel beam A and detects whether the transmitting end and the receiving end on the left and right sides are aligned. If they are aligned, the movement of the steel beam A is stopped. At this time, the controller determines that the top axes of the steel beams A and B are coplanar and the distance between the steel beams A and B reaches the set standard, and the steel beams A and B reach the docking position.

[0023] Preferably, the steps for splicing form three include:

[0024] S31, on the basis of the completion of step 13, the controller rotates the steel beam A around one side of the front end through the pushing mechanism A according to the preset horizontal angle between the top ends of the steel beam A and the steel beam B, and makes the top end of the steel beam A reach the preset horizontal angle with the top end of the steel beam B;

[0025] S32, keep the top of steel beam A at a preset horizontal angle with the top of steel beam B, and move steel beam A forward and backward and left and right until the detection value of the laser distance sensor is consistent with the preset standard value and the detection value remains unchanged when moving steel beam A left and right. At this time, the controller determines that the distance between steel beam A and steel beam B in the front-to-back direction meets the set requirement;

[0026] S33, according to the horizontal angle in S31, the controller respectively adjusts the transmitting end to reach a set position on the first screw, adjusts the position of the receiving end in the coordinate positioning mechanism, and adjusts the rotation angle of the fourth servo motor to make the receiving end reach the set angle;

[0027] S34, the pushing mechanism A moves the steel beam A left and right. If the transmitting end is aligned with the receiving end, it stops. If the receiving end signal is still not detected after moving a certain distance, the steel beam A is moved upward for a certain distance, and then moved left and right until the transmitting end triggers the receiving end. At this time, the controller determines that the top axes of the steel beams A and B are coplanar. At the same time, the top ends of the steel beams A and B are coplanar, and the steel beams A and B reach the docking position.

[0028] The beam pre-assembly axis control device and control method of the present invention have the following beneficial effects:

[0029] The present invention is based on the collected data after the docking position is completed, and through the control of the controller, it is reversed whether the steel beam A and the steel beam B have reached the docking position. Based on the detection data of the laser ranging sensor and the cooperation of the transmitting end and the receiving end of the opposing photoelectric sensor, the relative position of the steel beam A and the steel beam B is comprehensively judged, and automatic position adjustment can be realized, which greatly reduces the difficulty of operation and improves the docking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 , a schematic diagram of the top view of the splicing form 1 when the present invention is used.

[0031] Figure 2 , schematic diagram of the local structure at C of the present invention.

[0032] Figure 3 , schematic diagram of the local structure at D of the present invention.

[0033] Figure 4 , a schematic structural diagram of the coordinate positioning mechanism of the present invention.

[0034] Figure 5 , schematic diagram of the local structure at E of the present invention.

[0035] Figure 6 , side view structural principle diagram of splicing form 1 of the present invention.

[0036] Figure 7 , side view structural principle diagram of the second splicing form of the present invention.

[0037] Figure 8 , schematic diagram of the local structure at G of the present invention.

[0038] Fig. 9 , a top view structural principle diagram of the third splicing form of the present invention.

[0039] Fig.10 , a schematic diagram of a pushing mechanism is provided in the present invention.

[0040] 01: Push mechanism, 1: Positioning plate 1, 101: First positioning beam, 2: Positioning plate 2, 201: Second positioning beam, 3: Top axis of steel beam B; 4: Top axis of steel beam A, 5: Magnetic element, 6: First lead screw, 61: First mounting plate, 7: First linear guide rail, 8: Second mounting plate A, 9: Second linear guide rail, 10: Cross bar, 11: Third moving seat, 12: Second mounting plate B, 13: Third lead screw, 14: Fifth servo motor, 15: Second servo motor, 16 : Detection plate, 17: Through hole, 18: Tilt sensor, 19: Center line of the top of the first positioning beam, 20: Scale line, 21: Moving seat, 22: Fixed block, 23: Vertical rod, 24: First fixed plate, 25: Transmitting end, 26: Base, 27: Fixed mounting seat, 28: Laser ranging sensor, 29 Articulated seat, 30: Electric cylinder, 31: Third servo motor, 32: Motor seat, 33: Second fixed plate, 34: Receiving end, 35: Measuring light, 36: Light at the transmitting end. DETAILED DESCRIPTION

[0041] The following describes in detail the implementation mode of the present invention in a step-by-step manner. The description is only a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0042] In the description of the present invention, it should be noted that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “top”, “bottom”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the purpose of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, and a specific direction structure and operation, and therefore cannot be understood as a limitation on the present invention.

[0043] Example 1

[0044] In the initial embodiment, the present invention is a beam pre-assembly axis control device, such as Figure 1-10 As shown, it includes steel beam A and steel beam B to be spliced, the top of the steel beam A is provided with a first positioning mechanism, the top of the steel beam B is provided with a second positioning mechanism, the line connecting the midpoints of the front and rear ends of the top of the steel beam A constitutes the top axis 4 of the steel beam A, the line connecting the midpoints of the front and rear ends of the top of the steel beam B constitutes the top axis 3 of the steel beam B, the first positioning mechanism and the second positioning mechanism are provided with a distance detection unit and a position detection unit which cooperate with each other.

[0045] In splicing form one, the top axes of steel beam A and steel beam B are not only coplanar but also colinear; in splicing forms two and three, since there is a certain angle between steel beam A and steel beam B, the top axes are coplanar and the angle between the top axes should meet the requirements.

[0046] Example 2

[0047] In a further embodiment, Figure 1-10 As shown, the first positioning mechanism and the second positioning mechanism respectively include a positioning plate 1 and a positioning plate 2 (such as Figure 1 As shown), the positioning plate 1 and the positioning plate 2 2 are respectively connected to the top steel plates of the steel beam A and the steel beam B through the magnetic suction parts 5. In the present invention, it is assumed that the tops of the steel beams A and B are flat. If the actual working conditions are uneven, they can be leveled, for example, by providing adjustable legs on the positioning plate 1 or the positioning plate 2 to make them parallel to the preset horizontal plane at the top of the steel beam A or the steel beam B.

[0048] A first positioning beam 101 and a second positioning beam 201 are respectively provided in the middle of positioning plate 1 and positioning plate 2 along the front-to-back direction, and the position detection unit includes a laser ranging sensor 28 fixed on the top of the first positioning beam 101 and a detection plate 16 fixed on the rear end of the second positioning beam 201 and arranged along the left-right direction.

[0049] The laser distance measuring sensor 28 is used in conjunction with the detection plate 16; the distance detection unit includes a transmitting end 25 and a receiving end 34 of a through-beam photoelectric sensor, the transmitting end 25 is connected to the top of the positioning plate 1 through a linear drive mechanism arranged along the left and right directions; the receiving end 34 is arranged at the top of the positioning plate 2 2 through a coordinate positioning mechanism, and the transmitting end 25 and the receiving end 34, the linear drive mechanism, the coordinate positioning mechanism, and the laser distance measuring sensor 28 are electrically connected to the controller of the beam pre-assembly axis control device through wires.

[0050] Example 3

[0051] In a further embodiment, Figure 1-10 As shown, the first positioning beam 101 and the second positioning beam 201 are respectively provided with a plurality of through holes 17 on the center line along the front-to-back direction. When the central axes of the plurality of through holes 17 intersect with the top axis 4 of the corresponding steel beam A or the top axis 3 of the steel beam B, it represents that the center line of the first positioning beam 101 and the second positioning beam 201 along the front-to-back direction respectively forms a common longitudinal plane with the top axis 4 of the corresponding steel beam A or the top axis 3 of the steel beam B.

[0052] like Figure 1-10 As shown, there are two linear drive mechanisms, which are respectively arranged on the top of the positioning plate 101 on the left and right sides of the first positioning beam 101 (such as Figure 1As shown), the linear drive mechanism includes left and right oppositely arranged first mounting plates 61, a first lead screw 6 is rotatably connected between the two first mounting plates 61, the outer end of the first lead screw 6 passes through the corresponding first mounting plate 61, and is fixedly connected to the output shaft of a first servo motor (not marked in the figure) preset on the outer surface of the first mounting plate 61.

[0053] The first screw rod 6 is threadedly connected with a first movable seat (such as Figure 2 As shown, a movable seat 21), a fixed block 22 is provided on the top of the first movable seat, the top of the fixed block 22 is connected to a first fixed plate 24 through a vertical rod 23, and a launch end 25 is provided at the front end of the first fixed plate 24.

[0054] Example 4

[0055] In a further embodiment, Figure 1-10 As shown, there are two coordinate positioning mechanisms, which are respectively arranged on the top of the positioning plate 201 on the left and right sides of the second positioning beam 201. The coordinate positioning mechanism includes a second mounting plate (such as Figure 1 , 4 As shown, a second mounting plate A8, a second mounting plate B12), a second lead screw (not marked in the figure) is rotatably connected between the two second mounting plates, and the outer end of the second lead screw passes through the corresponding second mounting plate and is fixedly connected to the output shaft of the second servo motor 15 preset on the outer surface of the second mounting plate.

[0056] The second screw is threadedly connected with a second movable seat (such as Figure 5 As shown, a movable seat 21), an electric cylinder 30 is provided on the top of the second movable seat, the fixed end of the electric cylinder 30 is embedded in the top of the second movable seat, and the telescopic end extends upward in the longitudinal direction and is fixedly connected to the hinge seat 29. A motor seat 32 is rotatably connected to the hinge seat 29 through a hinge shaft, and one end of the hinge shaft is fixedly connected to the output shaft of the third servo motor 31 fixedly connected to the outside of the hinge seat 29.

[0057] A fourth servo motor (such as Figure 8 As shown in the figure, not marked), a second fixed plate 33 is provided at the top of the output shaft of the fourth servo motor, and a receiving end 34 is provided at the front end of the second fixed plate 33; the bottom ends of the two second mounting plates are respectively connected to the first linear guide 7 and the second linear guide 9 arranged along the front and rear directions through sliders, and the first linear guide 7 and the second linear guide 9 are respectively fixedly connected to the top of the positioning plate 2.

[0058] A third lead screw 13 is also provided between the first linear guide rail 7 and the second linear guide rail 9 along the front-to-back direction, and the two ends of the third lead screw 13 are rotatably connected to a third mounting plate (such as Figure 4As shown in the figure (not marked), the bottom end of the third mounting plate is fixedly connected to the top end of the positioning plate 2, and a fifth servo motor 14 is provided on the outer side of the third mounting plate. The output shaft of the fifth servo motor 14 is fixedly connected to the end of the third lead screw.

[0059] The third screw is screwed with a third movable seat 11, and a cross bar 10 is connected between the two second mounting plates. The top of the third movable seat 11 is fixedly connected to the bottom of the cross bar 10. The second movable seat can avoid flipping by sliding with the cross bar, the first movable seat is connected by sliding with the top of the first positioning plate, and the bottom of the third movable seat is slidably connected with the top of the second positioning plate.

[0060] The mechanism of coordinate positioning is: the position of the third movable seat in the X-axis direction can be controlled by the fifth servo motor 14, the position of the second movable seat in the Y-axis direction can be controlled by the second servo motor 15, the height of the receiving end can be controlled by the electric cylinder, the elevation angle of the receiving end can be controlled by the third servo motor, and the fourth servo motor controls the horizontal rotation angle of the receiving end, thereby comprehensively controlling the XY axis coordinates and angles of the receiving end.

[0061] Example 5

[0062] In a further embodiment, Figure 1-10 As shown, the controller is provided with a database, and the database is based on data collected when steel beam A and steel beam B reach the docking position, including: (1) a data unit of a one-to-one correspondence between the detection value of the laser ranging sensor and the angle, and the angle refers to the angle between steel beam A and steel beam B along the longitudinal direction and the angle along the horizontal direction.

[0063] like Figure 1 , 6 , 7, and 9, during the docking process, the detection value of the laser distance sensor has a one-to-one correspondence with the angle, so the correctness of the angle can be verified according to the detection value; (2) The positional relationship between the transmitting end and the receiving end and the corresponding data unit of the angle, that is, at a certain angle, the position of the receiving end in the coordinate positioning mechanism, the position of the transmitting end on the first lead screw, the elongation of the electric cylinder, the rotation angle of the third servo motor, and the rotation angle of the fourth servo motor. The detailed application of this embodiment is detailed in the embodiments of the subsequent content.

[0064] like Fig.10 As shown, the bottom of the steel beam A and the steel beam B are respectively provided with a push mechanism A and a push mechanism B electrically connected to the controller; the top of the positioning plate 1 and the positioning plate 2 are respectively provided with an inclination sensor, and the inclination sensor is electrically connected to the controller. The push mechanism generally adopts a DX push machine, which can realize the multi-directional adjustment of the steel beam.

[0065] Example 6

[0066] like Fig.10 As shown, a control method for a beam pre-assembly axis control device includes a step for splicing form one, a step for splicing form two, and a step for splicing form three.

[0067] like Figure 1 , 6 As shown, the steps for splicing form 1 include:

[0068] S11. Install a first positioning mechanism on the top of steel beam A, and install a second positioning mechanism on the top of steel beam B, so that positioning plate 1 and positioning plate 2 are respectively fixed to the top steel plate of steel beam A or steel beam B through magnetic suction parts; let the front-to-back direction be the X-axis direction, and the left-to-right direction be the Y-axis direction, so that the transmitting end and the receiving end on the left and right sides are at the same coordinate of the Y-axis, and the heights of the transmitting end and the receiving end match and cooperate with each other;

[0069] S12, make the front ends of steel beam A and steel beam B face each other through the pushing mechanism A and the pushing mechanism B, keep the top of steel beam B unchanged after being leveled, adjust the top of steel beam A to be horizontal through the pushing mechanism A, and make the laser distance sensor project the measuring light emitted horizontally onto the front surface of the detection plate 16, when the detected distance is greater than the set distance, move steel beam A to the side of steel beam B until the laser distance sensor detects the set distance and stops; at this time, the controller determines that the distance between steel beam A and steel beam B meets the set requirement, and the angle between the top of steel beam A and steel beam B is 180°;

[0070] S13, move steel beam A horizontally to the left and right to detect whether the transmitting end and the receiving end on the left and right sides are aligned. If they are aligned, stop moving steel beam A. If the signal from the receiving end cannot be received after moving steel beam A horizontally to the left and right for a set distance, move steel beam A upward to a set height and then repeatedly move steel beam A to the left and right until the transmitting end and the receiving end on the left and right sides are aligned. At this time, the controller determines that the top ends of steel beam A and steel beam B are coplanar, and also the top axes of steel beam A and steel beam B are coplanar; based on the angle of 180° between the top ends of steel beam A and steel beam B and the coplanarity of the top axes of steel beam A and steel beam B, combined with the spacing between steel beam A and steel beam B meeting the set requirements, the controller determines that steel beam A and steel beam B have reached the docking position.

[0071] like Figure 7 As shown, the steps for the second splicing form include:

[0072] S21, on the basis of the completion of step 13, the controller tilts the rear end of the steel beam A upward through the pushing mechanism A according to the preset longitudinal angle between the top ends of the steel beam A and the steel beam B, and makes the top end of the steel beam A reach the preset longitudinal angle with the top end of the steel beam B;

[0073] S22, the pushing mechanism A controls the steel beam A to move up and down and forward and backward until the laser distance sensor detects the detection value corresponding to the longitudinal angle in S21, and stops when the detection value remains unchanged when the steel beam A is moved forward and backward (such as Figure 7 As shown, at this time, the measuring light 35 of the laser distance measuring sensor 28 is projected onto the upper end of the second positioning beam, and the measured value remains unchanged when the beam is translated forward and backward); at this time, the preliminary error correction for the influence of the process of step S21 on the position of the steel beam A is completed, and the controller determines that the front top edges of the steel beams A and B are coplanar, and the longitudinal angle between the tops of the steel beams A and B reaches the set standard; but on the other hand, the distance between the steel beams A and B in the front-to-back direction still needs to be adjusted;

[0074] S23, the controller rotates the third servo motor clockwise by the same angle according to the longitudinal angle in S21, and adjusts the extension and contraction amount of the electric cylinder and the position of the receiving end in the coordinate positioning mechanism according to the data in the database. If the position of the transmitting end on the first lead screw remains unchanged, only the position of the receiving end in the X-axis direction is adjusted; if the position of the transmitting end on the first lead screw changes, the coordinates of the receiving end and the transmitting end in the Y-axis direction are adjusted to be consistent; if Figure 7 As shown, the light emitted by the transmitter has an inclined angle, so the elevation angle, height and coordinate position of the receiving end need to be adjusted. Since the light emitted by the transmitter is parallel to the top of the positioning plate, the controller adjusts it according to the data in the database, so that when the two sets of transmitters and the receiving end are triggered, it can be judged that the top axes of the steel beams A and B are coplanar (the transmitters and the receiving ends on both sides are aligned, so naturally the two top axes are in the same longitudinal plane, but at the same time, the transmitter and the receiving end are triggered, which also means that the distance between the steel beams A and B has reached the set standard, because the data in the database is collected when the docking position is reached);

[0075] S24, the pushing mechanism A controls the forward and backward movement of the steel beam A and detects whether the transmitting end and the receiving end on the left and right sides are aligned. If they are aligned, the movement of the steel beam A is stopped. At this time, the controller determines that the top axes of the steel beams A and B are coplanar and the distance between the steel beams A and B reaches the set standard, and the steel beams A and B reach the docking position.

[0076] Example 7

[0077] like Fig. 9 As shown, the steps for splicing form three include:

[0078] S31, on the basis of the completion of step 13, the controller rotates the steel beam A around one side of the front end through the pushing mechanism A according to the preset horizontal angle between the top ends of the steel beam A and the steel beam B, and makes the top end of the steel beam A reach the preset horizontal angle with the top end of the steel beam B;

[0079] S32, keep the top of steel beam A at a preset horizontal angle with the top of steel beam B, and move steel beam A forward and backward and left and right until the detection value of the laser distance sensor is consistent with the preset standard value and the detection value remains unchanged when moving steel beam A left and right (at this time, the measuring light 35 is translated left and right on the detection plate, so the measurement value remains unchanged). At this time, the controller determines that the distance between steel beam A and steel beam B in the front-to-back direction meets the set requirement;

[0080] S33, according to the horizontal angle in S31, the controller adjusts the transmitting end to reach the set position on the first lead screw ( Fig. 9 Only the adjustment position of the transmitter on one side is given, and in actual implementation, the transmitters on both sides need to adjust their positions), adjust the position of the receiving end in the coordinate positioning mechanism, and adjust the rotation angle of the fourth servo motor so that the receiving end reaches the set angle (that is, the angle that can cooperate with the transmitting end when in the docking position);

[0081] S34, the pushing mechanism A moves the steel beam A left and right. If the transmitting end is aligned with the receiving end, it stops. If the receiving end signal is still not detected after moving a certain distance, the steel beam A is moved upward for a certain distance, and then moved left and right until the transmitting end triggers the receiving end. At this time, the controller determines that the top axes of the steel beams A and B are coplanar. At the same time, the top ends of the steel beams A and B are coplanar, and the steel beams A and B reach the docking position.

[0082] In the above embodiments, after reaching the docking position, the connection of the steel beam A and the steel beam B can be started, such as welding or installing components such as bolts.

[0083] The present invention is based on the collected data after the docking position is completed, and through the control of the controller, it is reversed whether the steel beam A and the steel beam B have reached the docking position. Based on the detection data of the laser ranging sensor and the cooperation of the transmitting end and the receiving end of the opposing photoelectric sensor, the relative position of the steel beam A and the steel beam B is comprehensively judged, and automatic position adjustment can be realized, which greatly reduces the difficulty of operation and improves the docking efficiency.

Claims

1. A beam pre-assembly axis control device, characterized by: It comprises a steel beam A and a steel beam B to be spliced, wherein the top of the steel beam A is provided with a first positioning mechanism, and the top of the steel beam B is provided with a second positioning mechanism, a line connecting the midpoints of the front and rear ends of the top of the steel beam A constitutes the top axis of the steel beam A, and a line connecting the midpoints of the front and rear ends of the top of the steel beam B constitutes the top axis of the steel beam B, and the first positioning mechanism and the second positioning mechanism are provided with a distance detection unit and a position detection unit that cooperate with each other; The first positioning mechanism and the second positioning mechanism respectively include a positioning plate 1 and a positioning plate 2, and the positioning plate 1 and the positioning plate 2 are respectively connected to the top steel plates of the steel beam A and the steel beam B through magnetic suction parts; The middle parts of the positioning plate 1 and the positioning plate 2 are respectively provided with a first positioning beam and a second positioning beam along the front-back direction, the position detection unit comprises a laser distance sensor fixedly arranged on the top of the first positioning beam and a detection plate fixedly arranged on the rear end of the second positioning beam and arranged along the left-right direction, the laser distance sensor is used in conjunction with the detection plate; the distance detection unit comprises a transmitting end and a receiving end of a through-beam photoelectric sensor; The transmitting end is connected to the top of the positioning plate 1 through a linear drive mechanism arranged in the left-right direction, and the receiving end is arranged on the top of the positioning plate 2 through a coordinate positioning mechanism. The transmitting end and the receiving end, the linear drive mechanism, the coordinate positioning mechanism, and the laser ranging sensor are electrically connected to the controller of the beam pre-assembly axis control device through wires respectively; The linear drive mechanism includes first mounting plates arranged opposite to each other on the left and right, a first lead screw is rotatably connected between the two first mounting plates, the outer end of the first lead screw passes through the corresponding first mounting plate and is fixedly connected to the output shaft of the first servo motor preset on the outer surface of the first mounting plate.

2. A beam pre-assembly axis control device as claimed in claim 1, characterized in that: The first positioning beam and the second positioning beam are respectively provided with a plurality of through holes on the center line along the front-to-back direction. When the central axes of the plurality of through holes intersect with the top axis of the corresponding steel beam A or the top axis of the steel beam B, it represents that the center line of the first positioning beam and the second positioning beam along the front-to-back direction respectively forms a common longitudinal plane with the top axis of the corresponding steel beam A or the top axis of the steel beam B.

3. A beam pre-assembly axis control device as claimed in claim 2, characterized in that: There are two linear drive mechanisms, which are respectively arranged on the top of a positioning plate on the left and right sides of the first positioning beam. The first movable seat is screwed on the first lead screw, and a fixed block is provided on the top of the first movable seat. The top of the fixed block is connected to the first fixed plate through a vertical rod, and a launching end is provided at the front end of the first fixed plate.

4. A beam pre-assembly axis control device as claimed in claim 3, characterized in that: There are two coordinate positioning mechanisms, which are respectively arranged on the top of the second positioning plates where the left and right sides of the second positioning beam are located. The coordinate positioning mechanism includes second mounting plates arranged opposite to each other on the left and right sides, and a second lead screw is rotatably connected between the two second mounting plates. The outer end of the second lead screw passes through the corresponding second mounting plate and is fixedly connected to the output shaft of the second servo motor preset on the outer surface of the second mounting plate. A second movable seat is screwed on the second lead screw, and an electric cylinder is provided on the top of the second movable seat. The fixed end of the electric cylinder is embedded in the top of the second movable seat, and the telescopic end extends upward in the longitudinal direction and is fixedly connected to an articulated seat. A motor seat is rotatably connected in the articulated seat through an articulated shaft, and one end of the articulated shaft is fixedly connected to the output shaft of the third servo motor fixedly connected to the outside of the articulated seat. A fourth servo motor is fixedly provided on the top of the motor seat, and a second fixed plate is provided on the top of the output shaft of the fourth servo motor, and a receiving end is provided at the front end of the second fixed plate.

5. A beam pre-assembly axis control device as claimed in claim 4, characterized in that: The bottom ends of the two second mounting plates are respectively connected to a first linear guide rail and a second linear guide rail arranged along the front-back direction through a slider, and the first linear guide rail and the second linear guide rail are respectively fixedly connected to the two top ends of the positioning plate; A third lead screw is also provided between the first linear guide rail and the second linear guide rail along the front-rear direction, and the two ends of the third lead screw are rotatably connected to a third mounting plate, the bottom end of the third mounting plate is fixedly connected to the top end of the second positioning plate, and a fifth servo motor is provided on the outer side of the third mounting plate; The output shaft of the fifth servo motor is fixedly connected to the end of the third lead screw; a third movable seat is screwed on the third lead screw, and a cross bar is also connected between the two second mounting plates, and the top end of the third movable seat is fixedly connected to the bottom end of the cross bar.

6. A beam pre-assembly axis control device as claimed in claim 5, characterized in that: The controller is provided with a database, and the database is based on data collected when the steel beam A and the steel beam B reach the docking position, including: (1) a data unit for a one-to-one correspondence between the detection value of the laser ranging sensor and the angle, wherein the angle refers to the angle between the steel beam A and the steel beam B along the longitudinal direction and the angle along the horizontal direction; (2) The corresponding data unit of the positional relationship between the transmitting end and the receiving end and the angle, that is, at a certain angle, the position of the receiving end in the coordinate positioning mechanism, the position of the transmitting end on the first screw, the elongation of the electric cylinder, the rotation angle of the third servo motor, and the rotation angle of the fourth servo motor.

7. A beam pre-assembly axis control device as claimed in claim 6, characterized in that: The bottom of the steel beam A and the steel beam B are respectively provided with a pushing mechanism A and a pushing mechanism B electrically connected to the controller, and the top of the positioning plate 1 and the positioning plate 2 are respectively provided with an inclination sensor, and the inclination sensor is electrically connected to the controller.

8. A control method for a beam pre-assembly axis control device as claimed in claim 7, characterized in that: The method includes steps for splicing form one, steps for splicing form two, and steps for splicing form three.

9. A control method for a beam pre-assembly axis control device as claimed in claim 8, characterized in that: The steps for splicing form 1 include: S11. Install a first positioning mechanism on the top of steel beam A, and install a second positioning mechanism on the top of steel beam B, so that positioning plate 1 and positioning plate 2 are respectively fixed to the top steel plate of steel beam A or steel beam B through magnetic suction parts; let the front-to-back direction be the X-axis direction, and the left-to-right direction be the Y-axis direction, so that the transmitting end and the receiving end on the left and right sides are at the same coordinate of the Y-axis, and the heights of the transmitting end and the receiving end match and cooperate with each other; S12, make the front ends of steel beam A and steel beam B face each other through the pushing mechanism A and the pushing mechanism B, keep the top of steel beam B unchanged after being leveled, adjust the top of steel beam A to be horizontal through the pushing mechanism A, and make the laser distance sensor project the measurement light emitted horizontally onto the front surface of the detection plate, when the detected distance is greater than the set distance, move steel beam A to the side of steel beam B until the laser distance sensor detects the set distance and stops; at this time, the controller determines that the distance between steel beam A and steel beam B meets the set requirements, and the angle between the top of steel beam A and steel beam B is 180°; S13, move the steel beam A horizontally to the left and right to detect whether the transmitting end and the receiving end on the left and right sides are aligned. If they are aligned, stop moving the steel beam A. If the signal from the receiving end cannot be received after the steel beam A is moved horizontally to the left and right by a set distance, move the steel beam A upward to a set height and then repeatedly move the steel beam A to the left and right until the transmitting end and the receiving end on the left and right sides are aligned. At this time, the controller determines that the tops of the steel beams A and B are coplanar, and at the same time, the top axes of the steel beams A and B are coplanar; based on the angle of 180° between the tops of the steel beams A and B and the coplanarity of the top axes of the steel beams A and B, combined with the spacing between the steel beams A and B meeting the set requirements, the controller determines that the steel beams A and B have reached the docking position; The steps for splicing form 2 include: S21, on the basis of the completion of step 13, the controller tilts the rear end of the steel beam A upward through the pushing mechanism A according to the preset longitudinal angle between the top ends of the steel beam A and the steel beam B, and makes the top end of the steel beam A reach the preset longitudinal angle with the top end of the steel beam B; S22, the pushing mechanism A controls the steel beam A to move up and down and forward and backward until the laser ranging sensor detects the detection value corresponding to the longitudinal angle in S21, and stops when the detection value remains unchanged when the steel beam A is moved forward and backward; at this time, the preliminary error correction for the influence of the process in step S21 on the position of the steel beam A is completed, and the controller determines that the front top edges of the steel beams A and B are coplanar, and the longitudinal angle between the tops of the steel beams A and B reaches the set standard; S23, the controller rotates the third servo motor clockwise by the same angle according to the longitudinal angle in S21, and adjusts the extension and contraction amount of the electric cylinder and the position of the receiving end in the coordinate positioning mechanism according to the data in the database. If the position of the transmitting end on the first lead screw remains unchanged, only the position of the receiving end in the X-axis direction is adjusted; if the position of the transmitting end on the first lead screw changes, the coordinates of the receiving end and the transmitting end in the Y-axis direction are adjusted to be consistent; S24, the pushing mechanism A controls the forward and backward movement of the steel beam A and detects whether the transmitting end and the receiving end on the left and right sides are aligned. If they are aligned, the movement of the steel beam A is stopped. At this time, the controller determines that the top axes of the steel beams A and B are coplanar and the distance between the steel beams A and B reaches the set standard, and the steel beams A and B reach the docking position.

10. A control method for a beam pre-assembly axis control device as claimed in claim 9, characterized in that: The steps for splicing form three include: S31, on the basis of the completion of step 13, the controller rotates the steel beam A around one side of the front end through the pushing mechanism A according to the preset horizontal angle between the top ends of the steel beam A and the steel beam B, and makes the top end of the steel beam A reach the preset horizontal angle with the top end of the steel beam B; S32, keep the top of steel beam A at a preset horizontal angle with the top of steel beam B, and move steel beam A forward and backward and left and right until the detection value of the laser distance sensor is consistent with the preset standard value and the detection value remains unchanged when moving steel beam A left and right. At this time, the controller determines that the distance between steel beam A and steel beam B in the front-to-back direction meets the set requirement; S33, according to the horizontal angle in S31, the controller respectively adjusts the transmitting end to reach a set position on the first screw, adjusts the position of the receiving end in the coordinate positioning mechanism, and adjusts the rotation angle of the fourth servo motor to make the receiving end reach the set angle; S34, the pushing mechanism A moves the steel beam A left and right. If the transmitting end is aligned with the receiving end, it stops. If the receiving end signal is still not detected after moving a certain distance, the steel beam A is moved upward for a certain distance, and then moved left and right until the transmitting end triggers the receiving end. At this time, the controller determines that the top axes of the steel beams A and B are coplanar. At the same time, the top ends of the steel beams A and B are coplanar, and the steel beams A and B reach the docking position.

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