Beam pre-assembly axis control device and control method

Abstract

The present application relates to the technical field of steel beam construction, and particularly relates to a beam pre-assembly axis control device and a control method. The device comprises a steel beam A to be spliced, a steel beam B, a first positioning mechanism and a second positioning mechanism. A line connecting the midpoints of the front and rear ends of the top of the steel beam A forms 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 forms the top axis 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. The control method comprises a step for splicing form one, a step for splicing form two and a step for splicing form three. The present application provides a technical solution for solving the positioning problems of splicing forms one to three based on mathematical calculation and experimental verification, and has the advantages of accurate positioning and high splicing efficiency.

Description

TECHNICAL FIELD

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

[0002] In order to shorten the construction period and reduce the weight of the bridge, the fabricated steel beam is widely used in bridge engineering. During the assembly axis control process of the steel beam in the temporary site, the main factor is that the top plate of the steel beam is made of steel plate, and it is difficult to set up a total station instrument on the surface. The moving load and repeated adjustment operation of the operating personnel walking affect the assembly precision and efficiency.

[0003] Due to the different forms of the bridge, the splicing modes between adjacent steel beams are divided into several cases, such as: splicing mode one, the adjacent steel beams are spliced along a straight line, the top ends of two steel beams are coplanar and coaxial; splicing mode two, there is a certain longitudinal angle between the two steel beams, and the axis lines of the two steel beams are coplanar; splicing mode three, there is a horizontal angle between the two steel beams, and the axis lines of the two steel beams are coplanar. How to position the positions between the steel beams according to these splicing modes becomes a difficult problem. SUMMARY

[0004] The present application provides a beam pre-assembly axis control device and control method, which aims to solve the problem of "how to position the positions between the steel beams according to these splicing modes" described in the background art. The present application provides a technical solution that can solve the positioning problems of splicing modes one to three based on mathematical calculation and experimental verification, which has the advantages of accurate positioning and high splicing efficiency.

[0005] To solve the above problems, the technical solution of the present application is as follows:

[0006] A beam pre-assembly axis control device, comprising a steel beam A to be spliced and a steel beam B, 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 midpoint connecting line of the front and rear ends of the top of the steel beam A forms the top axis of the steel beam A, and the midpoint connecting line of the front and rear ends of the top of the steel beam B forms the top axis 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 that cooperate with each other.

[0007] Preferably, the first positioning mechanism and the second positioning mechanism respectively comprise a positioning plate one and a positioning plate two, the positioning plate one and the positioning plate two are connected with the top steel plate of the steel beam A and the steel beam B through magnetic attraction elements, the middle part of the positioning plate one and the positioning plate two is respectively provided with a first positioning beam and a second positioning beam along the front-rear direction, the position detection unit comprises a laser ranging sensor fixedly arranged at the top of the first positioning beam and a detection plate fixedly arranged at the rear end of the second positioning beam and arranged along the left-right direction, and the laser ranging sensor is used in cooperation with the detection plate; the distance detection unit comprises a transmitting end and a receiving end of a photoelectric sensor, the transmitting end is connected to the top of the positioning plate one through a linear driving mechanism arranged along the left-right direction, the receiving end is arranged on the top of the positioning plate two through a coordinate positioning mechanism, and the transmitting end and the receiving end, the linear driving mechanism, the coordinate positioning mechanism and the laser ranging sensor are electrically connected with the controller of the beam pre-assembly axis line 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 middle line in the front-rear direction, when the central axes of the plurality of through holes all intersect with the top axis of the corresponding steel beam A or the top axis of the steel beam B, it represents that the middle line of the first positioning beam and the second positioning beam in the front-rear direction respectively shares a longitudinal plane with the top axis of the corresponding steel beam A or the top axis of the steel beam B.

[0009] Preferably, the linear driving mechanism has two, which are respectively arranged on the top of the positioning plate one on the left and right sides of the first positioning beam, the linear driving mechanism comprises first mounting plates oppositely arranged, a first lead screw is rotationally connected between the two first mounting plates, the outer side end of the first lead screw penetrates through the corresponding first mounting plate and is fixedly connected with the output shaft of a first servo motor prearranged on the outer surface of the first mounting plate, a first moving seat is screwed on the first lead screw, a fixed block is arranged on the top of the first moving seat, the top end of the fixed block is connected with a first fixed plate through a vertical rod, and the front end of the first fixed plate is provided with the transmitting end.

[0010] Preferably, there are two coordinate positioning mechanisms, respectively located on the top of the positioning plates on the left and right sides of the second positioning beam. Each coordinate positioning mechanism includes two opposing second mounting plates. 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 a second servo motor pre-installed on the outer surface of the second mounting plate. A second movable seat is screwed onto the second lead screw. An electric cylinder is located 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 longitudinally upward and is fixedly connected to a hinge seat. A motor seat is rotatably connected to the hinge seat via a hinge shaft. One end of the hinge shaft is fixedly connected to the output shaft of a third servo motor fixedly connected to the outside of the hinge seat. A fourth servo motor is fixedly mounted on the top of the motor seat. The machine has a second fixed plate at the top of the output shaft of the fourth servo motor, and a receiving end at the front end of the second fixed plate. 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 in the front-back direction via sliders. The first linear guide rail and the second linear guide rail are respectively fixedly connected to the top ends of the second positioning plate. A third lead screw is also arranged in the front-back direction between the first linear guide rail and the second linear guide rail. The two ends of the third lead screw are respectively 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. A fifth servo motor is arranged on the outside 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 onto the third lead screw. A crossbar is also connected between the two second mounting plates. The top end of the third movable seat is fixedly connected to the bottom end of the crossbar.

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

[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 that are electrically connected to the controller, and the top of the positioning plate one and the positioning plate two are respectively provided with tilt sensors, which are electrically connected to the controller.

[0013] A control method for a beam pre-assembly axis control device includes steps for splicing mode one, steps for splicing mode two, and steps for splicing mode three.

[0014] Preferably, the steps for splicing configuration one include:

[0015] S11. Install a first positioning mechanism at the top of steel beam A and a second positioning mechanism at the top of steel beam B, so that positioning plate one and positioning plate two are fixed to the top steel plate of steel beam A or steel beam B respectively by magnetic attraction; let the front-back direction be the X-axis and the left-right direction be the Y-axis, so that the transmitter and receiver on the left and right sides are at the same coordinate on the Y-axis, and the height of the transmitter and receiver are matched and cooperate with each other.

[0016] S12. Using jacking mechanisms A and B, the front ends of steel beams A and B are aligned. After the top of steel beam B is leveled, it remains stationary. Using jacking mechanism A, the top of steel beam A is adjusted to be horizontal, and the laser rangefinder projects the horizontally emitted measurement light onto the front surface of the detection plate. When the detected distance is greater than the set distance, steel beam A is moved to the side of steel beam B until the laser rangefinder detects the set distance and stops. At this time, the controller determines that the distance between steel beams A and B has reached the set requirement, and the included angle between the top ends of steel beams A and B is 180°.

[0017] S13. Move steel beam A horizontally left and right to check if the transmitter and receiver on the left and right sides are aligned. If they are aligned, stop moving steel beam A. If the signal from the receiver cannot be received after moving steel beam A horizontally by a set distance, move steel beam A upward by a set height and repeat the left and right movement of steel beam A until the transmitter and receiver on the left and right sides are aligned. At this time, the controller determines that the tops of steel beam A and steel beam B are coplanar, which also means that the top axes of steel beam A and steel beam B are coplanar. Based on the included angle of 180° between the tops 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 fact that the distance between steel beam A and steel beam B meets the set requirements, the controller determines that steel beam A and steel beam B have reached the docking position.

[0018] Preferably, the steps for splicing configuration two include:

[0019] S21. Based on the completion of step 13, the controller, according to the preset longitudinal angle between the top ends of steel beam A and steel beam B, uses the jacking mechanism A to tilt the rear end of steel beam A upward and make the top end of steel beam A reach the preset longitudinal angle with the top end of steel beam B.

[0020] S22. The jacking mechanism A controls the steel beam A to move up and down and in combination with forward and backward movement until the laser rangefinder detects the detection value corresponding to the longitudinal angle in S21, and stops when the detection value remains unchanged when the steel beam A moves forward and backward; at this time, the initial error correction of the influence 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 beam A and the steel beam B are coplanar, and the longitudinal angle between the top edges of the steel beam A and the steel beam B reaches the set standard.

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

[0022] S24. The jacking mechanism A controls the steel beam A to move back and forth, and detects whether the transmitter and receiver on the left and right sides are aligned. If they are aligned, the movement of steel beam A is stopped. At this time, the controller determines that the top axes of steel beam A and steel beam B are coplanar and the distance between steel beam A and steel beam B reaches the set standard. Steel beam A and steel beam B reach the docking position.

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

[0024] S31. Based on the completion of step 13, the controller, according to the preset horizontal angle between the top of steel beam A and steel beam B, uses the jacking mechanism A to rotate steel beam A around the front end side, and makes the top of steel beam A reach the preset horizontal angle between the top of steel beam B and the top of steel beam B.

[0025] S32. Keep the top of steel beam A at the preset horizontal angle with the top of steel beam B unchanged, move steel beam A back and forth and left and right until the detection value of the laser range 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 and back direction has reached the set requirement.

[0026] S33. According to the horizontal angle in S31, the controller adjusts the transmitter to reach the set position on the first lead screw, adjusts the position of the receiver in the coordinate positioning mechanism, and adjusts the rotation angle of the fourth servo motor to make the receiver reach the set angle.

[0027] S34. The jacking mechanism A moves steel beam A left and right. It stops when the transmitter and receiver are aligned. If no signal is detected after moving a certain distance, steel beam A moves upward a certain distance and then moves left and right until the transmitter triggers the receiver. At this time, the controller determines that the top axes of steel beam A and steel beam B are coplanar. At the same time, the tops of steel beam A and steel beam B are coplanar, and steel beam A and steel beam 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] This invention uses data collected after the docking position is completed to determine whether steel beams A and B have reached the docking position through the control of the controller. Based on the detection data of the laser rangefinder and the cooperation of the transmitter and receiver of the through-beam photoelectric sensor, the relative position of steel beams A and B is comprehensively judged, which can realize automated position adjustment, greatly reduce the difficulty of operation and improve docking efficiency. Attached Figure Description

[0030] Figure 1 A top view of the splicing configuration of the present invention.

[0031] Figure 2 A partial structural diagram of point C in this invention.

[0032] Figure 3 A partial structural diagram at point D of the present invention.

[0033] Figure 4 A schematic diagram of the coordinate positioning mechanism of the present invention.

[0034] Figure 5 A partial structural diagram at point E of the present invention.

[0035] Figure 6 A side view schematic diagram of the splicing configuration of the present invention.

[0036] Figure 7 A side view schematic diagram of the splicing configuration two of the present invention.

[0037] Figure 8 A partial structural diagram of point G in this invention.

[0038] Figure 9 A top view of the structural principle of the splicing form three of the present invention.

[0039] Figure 10 A schematic diagram of the present invention having a pushing mechanism.

[0040] 01: Pushing mechanism; 1: Positioning plate one; 101: First positioning beam; 2: Positioning plate two; 201: Second positioning beam; 3: Top axis of steel beam B; 4: Top axis of steel beam A; 5: Magnetic suction component; 6: First lead screw; 61: First mounting plate; 7: First linear guide rail; 8: Second mounting plate A; 9: Second linear guide rail; 10: Crossbar; 11: Third moving seat; 12: Second mounting plate B; 13: Third lead screw; 14: Fifth servo motor; 15: Second servo motor; 16: ... 17: Detection plate; 18: Through hole; 19: Tilt sensor; 20: Centerline of the top of the first positioning beam; 21: Scale line; 22: Moving seat; 23: Fixing block; 24: Vertical rod; 25: First fixing plate; 26: Transmitter; 27: Base; 28: Fixed mounting seat; 29: Laser rangefinder; 30: Hinged seat; 31: Electric cylinder; 32: Third servo motor; 33: Motor seat; 34: Second fixing plate; 35: Receiver; 36: Measuring light beam; 37: Light beam from the transmitter. Detailed Implementation

[0041] The following description provides a detailed explanation of the embodiments of the present invention in a step-by-step manner. This 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 within the scope of protection of the present invention.

[0042] In the description of this invention, it should be noted that the terms "upper," "lower," "left," "right," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or a specific orientational structure and operation. Therefore, they should not be construed as limiting this invention.

[0043] Example 1

[0044] In the initial embodiment, the present invention provides a beam pre-assembly axis control device, such as... Figures 1-10 As shown, the assembly includes steel beam A and steel beam B to be spliced. Steel beam A is provided with a first positioning mechanism on its top, and steel beam B is provided with a second positioning mechanism on its top. The top axis 4 of steel beam A is formed by connecting the midpoints of the front and rear ends of the top of steel beam A, and the top axis 3 of steel beam B is formed by connecting the midpoints of the front and rear ends of the top of steel beam B. 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.

[0045] In splicing configuration one, steel beams A and B are not only coplanar at their top axes but also collinear at their top axes. In splicing configurations two and three, since steel beams A and B have a certain included angle, their top axes are coplanar and the included angle between their top axes should meet the requirements.

[0046] Example 2

[0047] In a further embodiment, such as Figures 1-10 As shown, the first positioning mechanism and the second positioning mechanism respectively include positioning plate 1 and positioning plate 2 (e.g., ...). Figure 1 As shown), 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 5. In this invention, the tops of steel beam A and steel beam B are flat by default. If the actual working conditions are not flat, they can be leveled. For example, adjustable support legs can be set on positioning plate 1 or positioning plate 2 to make them parallel to the preset horizontal plane of the top of steel beam A or steel beam B.

[0048] The middle of the positioning plate 1 and the positioning plate 2 are respectively provided with a first positioning beam 101 and a second positioning beam 201 along the front-back direction. The position detection unit includes a laser range sensor 28 fixedly installed on the top of the first positioning beam 101 and a detection plate 16 fixedly installed at the rear end of the second positioning beam 201 and arranged along the left-right direction.

[0049] The laser rangefinder 28 is used in conjunction with the detection plate 16; the distance detection unit includes a transmitter 25 and a receiver 34 of a through-beam photoelectric sensor. The transmitter 25 is connected to the top of the positioning plate 1 through a linear drive mechanism arranged in the left-right direction; the receiver 34 is set on the top of the positioning plate 2 through a coordinate positioning mechanism. The transmitter 25, receiver 34, linear drive mechanism, coordinate positioning mechanism, and laser rangefinder 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, such as Figures 1-10 As shown, the first positioning beam 101 and the second positioning beam 201 are provided with a plurality of through holes 17 along the centerline of the front-rear direction. When the center axis of the plurality of through holes 17 intersects with the top axis 4 of the corresponding steel beam A or the top axis 3 of the corresponding steel beam B, it means that the centerline of the first positioning beam 101 and the second positioning beam 201 along the front-rear direction is in the same longitudinal plane as the top axis 4 of the corresponding steel beam A or the top axis 3 of the corresponding steel beam B.

[0052] like Figures 1-10 As shown, there are two linear drive mechanisms, which are respectively located on the top of the positioning plate 1 on the left and right sides of the first positioning beam 101 (e.g., Figure 1As shown in the figure, the linear drive mechanism includes two first mounting plates 61 arranged opposite each other. 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 movable seat is screwed onto the first lead screw 6 (e.g., ... Figure 2 As shown, the first movable seat 21) has a fixed block 22 on its top. The top of the fixed block 22 is connected to a first fixed plate 24 via a vertical rod 23. The front end of the first fixed plate 24 is provided with a transmitter 25.

[0054] Example 4

[0055] In a further embodiment, such as Figures 1-10 As shown, there are two coordinate positioning mechanisms, respectively located on the top of the positioning plates 2 on the left and right sides of the second positioning beam 201. Each coordinate positioning mechanism includes a second mounting plate (e.g., a second mounting plate arranged opposite to the left and right sides) Figure 1 , 4 As shown, there are two second mounting plates (A8 and B12). A second lead screw (not marked in the figure) 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 15, which is preset on the outer surface of the second mounting plate.

[0056] A second movable seat (such as) is screwed onto the second lead screw. Figure 5 As shown, the second movable seat 21 has an electric cylinder 30 on its top. The fixed end of the electric cylinder 30 is embedded in the top of the second movable seat, and the telescopic end extends longitudinally upward and is fixedly connected to a hinge seat 29. A motor seat 32 is rotatably connected inside the hinge seat 29 via a hinge shaft. One end of the hinge shaft is fixedly connected to the output shaft of a third servo motor 31 fixedly connected to the outside of the hinge seat 29.

[0057] A fourth servo motor (such as) is fixedly mounted on the top of the motor mount 32. Figure 8 As shown in the figure (not marked), the top of the output shaft of the fourth servo motor is provided with a second fixing plate 33, and the front end of the second fixing plate 33 is provided with a receiving end 34; the bottom ends of the two second mounting plates are respectively connected to a first linear guide rail 7 and a second linear guide rail 9 arranged in the front-back direction through sliders, and the first linear guide rail 7 and the second linear guide rail 9 are respectively fixedly connected to the top of the positioning plate 2.

[0058] A third lead screw 13 is provided between the first linear guide 7 and the second linear guide 9 along the front-rear direction. The two ends of the third lead screw 13 are respectively rotatably connected to a third mounting plate (e.g., ...). 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 the outer side of the third mounting plate is provided with a fifth servo motor 14. The output shaft of the fifth servo motor 14 is fixedly connected to the end of the third lead screw.

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

[0060] The mechanism for coordinate positioning is as follows: the position of the third moving seat in the X-axis can be controlled by the fifth servo motor 14, the position of the second moving seat in the Y-axis 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 horizontal rotation angle of the receiving end can be controlled by the fourth servo motor, thereby comprehensively controlling the XY axis coordinates and angles of the receiving end.

[0061] Example 5

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

[0063] like Figure 1 , 6 As shown in Figures 7 and 9, during the docking process, the detection values ​​of the laser ranging sensor have a one-to-one correspondence with the included angle. Therefore, the correctness of the included angle can be verified by the detection values. (2) The corresponding data unit of the positional relationship between the transmitter and receiver and the included angle, that is, the position of the receiver in the coordinate positioning mechanism, the position of the transmitter on the first lead screw, the extension of the electric cylinder, the rotation angle of the third servo motor, and the rotation angle of the fourth servo motor at a certain included angle. For detailed application of this embodiment, please refer to the embodiments in the following content.

[0064] like Figure 10 As shown, the bottom of steel beams A and B are respectively equipped with jacking mechanisms A and B, which are electrically connected to the controller; the tops of positioning plates one and two are respectively equipped with tilt sensors, which are electrically connected to the controller. The jacking mechanism typically uses a DX jacking machine, which can achieve multi-directional adjustment of the steel beams.

[0065] Example 6

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

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

[0068] S11. Install a first positioning mechanism at the top of steel beam A and a second positioning mechanism at the top of steel beam B, so that positioning plate one and positioning plate two are fixed to the top steel plate of steel beam A or steel beam B respectively by magnetic attraction; let the front-back direction be the X-axis and the left-right direction be the Y-axis, so that the transmitter and receiver on the left and right sides are at the same coordinate on the Y-axis, and the height of the transmitter and receiver are matched and cooperate with each other.

[0069] S12. Using jacking mechanisms A and B, the front ends of steel beams A and B are aligned. After the top of steel beam B is leveled, it remains stationary. Using jacking mechanism A, the top of steel beam A is adjusted to be horizontal, and the laser rangefinder projects the horizontally emitted measuring light onto the front surface of the detection plate 16. When the detected distance is greater than the set distance, steel beam A is moved to the side of steel beam B until the laser rangefinder detects the set distance and stops. At this time, the controller determines that the distance between steel beams A and B has reached the set requirement, and the included angle between the top ends of steel beams A and B is 180°.

[0070] S13. Move steel beam A horizontally left and right to check if the transmitter and receiver on the left and right sides are aligned. If they are aligned, stop moving steel beam A. If the signal from the receiver cannot be received after moving steel beam A horizontally by a set distance, move steel beam A upward by a set height and repeat the left and right movement of steel beam A until the transmitter and receiver on the left and right sides are aligned. At this time, the controller determines that the tops of steel beam A and steel beam B are coplanar, which also means that the top axes of steel beam A and steel beam B are coplanar. Based on the included angle of 180° between the tops 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 fact that the distance between steel beam A and steel beam B meets 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 splicing configuration two include:

[0072] S21. Based on the completion of step 13, the controller, according to the preset longitudinal angle between the top ends of steel beam A and steel beam B, uses the jacking mechanism A to tilt the rear end of steel beam A upward and make the top end of steel beam A reach the preset longitudinal angle with the top end of steel beam B.

[0073] S22, the jacking mechanism A controls the steel beam A to move up and down in conjunction with its forward and backward movement, until the laser rangefinder detects the value corresponding to the longitudinal angle in S21, and stops when the detected value remains unchanged during the forward and backward movement of the steel beam A (e.g., ...). Figure 7 As shown, at this time, the measuring light 35 of the laser rangefinder 28 is projected onto the upper end of the second positioning beam (the measured value remains unchanged when the beam is moved back and forth); at this time, the initial correction of the influence of step S21 on the position of steel beam A is completed, and the controller determines that the front top edges of steel beam A and steel beam B are coplanar, and the longitudinal angle between the tops of steel beam A and steel beam B reaches the set standard; however, on the other hand, the distance between steel beam A and steel beam B in the front and rear directions still needs to be adjusted.

[0074] S23. The controller rotates the third servo motor clockwise by the same angle as in S21, and adjusts the extension / retraction of the electric cylinder and the position of the receiver in the coordinate positioning mechanism based on the database data. If the position of the transmitter on the first lead screw remains unchanged, only the position of the receiver in the X-axis is adjusted; if the position of the transmitter on the first lead screw changes, the Y-axis coordinates of the receiver and transmitter are adjusted to be consistent. Figure 7 As shown, the light emitted by the transmitter has a tilt angle, so the elevation angle, height, and coordinate position of the receiver 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 receivers are triggered, it can determine that the top axes of steel beam A and steel beam B are coplanar (the transmitters and receivers on both sides are aligned, so naturally the two top axes are in the same longitudinal plane. However, at the same time, the triggering of the transmitter and receiver also means that the distance between steel beam A and steel beam B has reached the set standard, because the data in the database is collected when the docking position is reached).

[0075] S24. The jacking mechanism A controls the steel beam A to move back and forth, and detects whether the transmitter and receiver on the left and right sides are aligned. If they are aligned, the movement of steel beam A is stopped. At this time, the controller determines that the top axes of steel beam A and steel beam B are coplanar and the distance between steel beam A and steel beam B reaches the set standard. Steel beam A and steel beam B reach the docking position.

[0076] Example 7

[0077] like Figure 9 As shown, the steps for splicing configuration three include:

[0078] S31. Based on the completion of step 13, the controller, according to the preset horizontal angle between the top of steel beam A and steel beam B, uses the jacking mechanism A to rotate steel beam A around the front end side, and makes the top of steel beam A reach the preset horizontal angle between the top of steel beam B and the top of steel beam B.

[0079] S32. Keep the top of steel beam A at the preset horizontal angle with the top of steel beam B unchanged, and move steel beam A back and forth and left and right until the detection value of the laser range 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 moves 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 and back direction has reached the set requirement.

[0080] S33. Based on the horizontal angle in S31, the controller adjusts the transmitter on the first lead screw to reach the set position. Figure 9 Only the position adjustment of one side of the transmitter is given. In actual implementation, the positions of both sides of the transmitter need to be adjusted. Adjust the position of the receiver in the coordinate positioning mechanism and adjust the rotation angle of the fourth servo motor so that the receiver reaches the set angle (i.e. the angle that can cooperate with the transmitter when in the docking position).

[0081] S34. The jacking mechanism A moves steel beam A left and right. It stops when the transmitter and receiver are aligned. If no signal is detected after moving a certain distance, steel beam A moves upward a certain distance and then moves left and right until the transmitter triggers the receiver. At this time, the controller determines that the top axes of steel beam A and steel beam B are coplanar. At the same time, the tops of steel beam A and steel beam B are coplanar, and steel beam A and steel beam B reach the docking position.

[0082] In the above embodiments, once the docking position is reached, the connection between steel beam A and steel beam B can begin, such as welding or installing components like bolts.

[0083] This invention uses data collected after the docking position is completed to determine whether steel beams A and B have reached the docking position through the control of the controller. Based on the detection data of the laser rangefinder and the cooperation of the transmitter and receiver of the through-beam photoelectric sensor, the relative position of steel beams A and B is comprehensively judged, which can realize automated position adjustment, greatly reduce the difficulty of operation and improve docking efficiency.

Claims

1. A beam pre-assembly axis control device, characterized in that: The system includes steel beam A and steel beam B to be spliced. Steel beam A is provided with a first positioning mechanism on its top, and steel beam B is provided with a second positioning mechanism on its top. The top axis of steel beam A is formed by connecting the midpoints of the front and rear ends of the top of steel beam A, and the top axis of steel beam B is formed by connecting the midpoints of the front and rear ends of the top of steel beam B. 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 one and a positioning plate two, and the positioning plate one and the positioning plate two are respectively connected to the top steel plates of steel beam A and steel beam B through magnetic suction components; The positioning plate one and positioning plate two are respectively provided with a first positioning beam and a second positioning beam in the middle along the front-back direction. The position detection unit includes a laser range sensor fixedly installed on the top of the first positioning beam and a detection plate fixedly installed at the rear end of the second positioning beam and arranged in the left-right direction. The laser range sensor and the detection plate are used in conjunction. The distance detection unit includes a transmitter and a receiver of a through-beam photoelectric sensor. The transmitting end is connected to the top of the positioning plate one through a linear drive mechanism set in the left-right direction, and the receiving end is set on the top of the positioning plate two through a coordinate positioning mechanism. The transmitting end, the receiving end, the linear drive mechanism, the coordinate positioning mechanism, and the laser range sensor are respectively electrically connected to the controller of the beam pre-assembly axis control device through wires. The linear drive mechanism includes two first mounting plates arranged opposite each other, 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 that is preset on the outer surface of the first mounting plate. Two coordinate positioning mechanisms are provided, respectively located on the top of the positioning plates on the left and right sides of the second positioning beam. Each coordinate positioning mechanism includes two second mounting plates arranged opposite each other. 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 a second servo motor preset on the outer surface of the second mounting plate. A second movable seat is screwed onto the second lead screw. 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 longitudinally upward and is fixedly connected to a hinge seat. A motor seat is rotatably connected to the hinge seat through a hinge shaft. One end of the hinge shaft is fixedly connected to the output shaft of a third servo motor fixedly connected to the outside of the hinge seat. A fourth servo motor is fixedly provided on the top of the motor seat. A second fixed plate is provided on the top of the output shaft of the fourth servo motor. A receiving end is provided at the front end of the second fixed plate.

2. The beam pre-assembly axis control device as described in claim 1, characterized in that: The first positioning beam and the second positioning beam are provided with multiple through holes along the centerline of the front-to-back direction. When the center axis of the multiple through holes intersects with the top axis of the corresponding steel beam A or the top axis of the corresponding steel beam B, it means that the centerline of the first positioning beam and the second positioning beam along the front-to-back direction is in the same longitudinal plane as the top axis of the corresponding steel beam A or the top axis of the corresponding steel beam B.

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

4. The beam pre-assembly axis control device as described in claim 1, 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 in the front-back direction via sliders. The first linear guide rail and the second linear guide rail are respectively fixedly connected to the top ends of the positioning plates. A third lead screw is provided between the first linear guide and the second linear guide along the front-back direction. The two ends of the third lead screw are respectively rotatably connected to a third mounting plate. The bottom end of the third mounting plate is fixedly connected to the top end of the positioning plate. A fifth servo motor is provided on the outside 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 onto the third lead screw, and a crossbar is connected between the two second mounting plates; the top end of the third movable seat is fixedly connected to the bottom end of the crossbar.

5. The beam pre-assembly axis control device as described in claim 4, characterized in that: The controller is equipped with a database, which is based on data collected when steel beams A and B reach their docking positions, including: (1) A data unit for the one-to-one correspondence between the detection value of the laser rangefinder and the included angle, wherein the included angle refers to the included angle between steel beam A and steel beam B along the longitudinal direction and the included angle along the horizontal direction. (2) The corresponding data unit of the positional relationship between the transmitter and receiver and the included angle, that is, the position of the receiver in the coordinate positioning mechanism, the position of the transmitter on the first lead screw, the extension of the electric cylinder, the rotation angle of the third servo motor, and the rotation angle of the fourth servo motor under a certain included angle.

6. The beam pre-assembly axis control device as described in claim 5, characterized in that: The bottom of steel beam A and steel beam B are respectively equipped with a jacking mechanism A and a jacking mechanism B that are electrically connected to the controller. The top of positioning plate one and positioning plate two are respectively equipped with tilt sensors, and the tilt sensors are electrically connected to the controller.

7. The control method for a beam pre-assembly axis control device as described in claim 6, characterized in that: This includes steps for splicing configuration one, steps for splicing configuration two, and steps for splicing configuration three; The steps for splicing mode one include: S11. Install a first positioning mechanism at the top of steel beam A and a second positioning mechanism at the top of steel beam B, so that positioning plate one and positioning plate two are fixed to the top steel plate of steel beam A or steel beam B respectively by magnetic attraction; let the front-back direction be the X-axis and the left-right direction be the Y-axis, so that the transmitter and receiver on the left and right sides are at the same coordinate on the Y-axis, and the height of the transmitter and receiver are matched and cooperate with each other. S12. Using jacking mechanisms A and B, the front ends of steel beams A and B are aligned. After the top of steel beam B is leveled, it remains stationary. Using jacking mechanism A, the top of steel beam A is adjusted to be horizontal, and the laser rangefinder projects the horizontally emitted measurement light onto the front surface of the detection plate. When the detected distance is greater than the set distance, steel beam A is moved to the side of steel beam B until the laser rangefinder detects the set distance and stops. At this time, the controller determines that the distance between steel beams A and B has reached the set requirement, and the included angle between the top ends of steel beams A and B is 180°. S13. Move steel beam A horizontally left and right to check if the transmitter and receiver on the left and right sides are aligned. If they are aligned, stop moving steel beam A. If the signal from the receiver cannot be received after moving steel beam A horizontally by a set distance, move steel beam A upward by a set height and repeat the left and right movement of steel beam A until the transmitter and receiver on the left and right sides are aligned. At this time, the controller determines that the tops of steel beam A and steel beam B are coplanar, which also means that the top axes of steel beam A and steel beam B are coplanar. Based on the included angle of 180° between the tops of steel beam A and steel beam B and the coplanar top axes of steel beam A and steel beam B, combined with the fact that the distance between steel beam A and steel beam B meets the set requirements, the controller determines that steel beam A and steel beam B have reached the docking position. The steps for splicing configuration two include: S21. Based on the completion of step 13, the controller, according to the preset longitudinal angle between the top ends of steel beam A and steel beam B, uses the jacking mechanism A to tilt the rear end of steel beam A upward and make the top end of steel beam A reach the preset longitudinal angle with the top end of steel beam B. S22. The jacking mechanism A controls the steel beam A to move up and down and in combination with forward and backward movement until the laser rangefinder detects the detection value corresponding to the longitudinal angle in S21, and stops when the detection value remains unchanged when the steel beam A moves forward and backward; at this time, the initial error correction of the influence 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 beam A and the steel beam B are coplanar, and the longitudinal angle between the top edges of the steel beam A and the steel beam B reaches the set standard. S23. The controller rotates the third servo motor clockwise by the same angle as the longitudinal angle in S21, and adjusts the extension and retraction of the electric cylinder and the position of the receiver in the coordinate positioning mechanism according to the data in the database. If the position of the transmitter on the first lead screw remains unchanged, only the position of the receiver in the X-axis is adjusted; if the position of the transmitter on the first lead screw changes, the coordinates of the receiver and the transmitter in the Y-axis are adjusted to be consistent. S24. The jacking mechanism A controls the steel beam A to move back and forth, and detects whether the transmitter and receiver 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 beam A and the steel beam B are coplanar and the distance between the steel beam A and the steel beam B reaches the set standard. The steel beam A and the steel beam B reach the docking position. The steps for splicing mode three include: S31. Based on the completion of step 13, the controller, according to the preset horizontal angle between the top of steel beam A and steel beam B, uses the jacking mechanism A to rotate steel beam A around the front end side, and makes the top of steel beam A reach the preset horizontal angle between the top of steel beam B and the top of steel beam B. S32. Keep the top of steel beam A at the preset horizontal angle with the top of steel beam B unchanged, move steel beam A back and forth and left and right until the detection value of the laser range 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 and back direction has reached the set requirement. S33. According to the horizontal angle in S31, the controller adjusts the transmitter to reach the set position on the first lead screw, adjusts the position of the receiver in the coordinate positioning mechanism, and adjusts the rotation angle of the fourth servo motor to make the receiver reach the set angle. S34. The jacking mechanism A moves steel beam A left and right. It stops when the transmitter and receiver are aligned. If no signal is detected after moving a certain distance, steel beam A moves upward a certain distance and then moves left and right until the transmitter triggers the receiver. At this time, the controller determines that the top axes of steel beam A and steel beam B are coplanar. At the same time, the tops of steel beam A and steel beam B are coplanar, and steel beam A and steel beam B reach the docking position.

Images