A machine vision open-web sandwich plate automatic hoisting alignment equipment and method

Abstract

The present application relates to hoisting alignment technical field, and disclose a kind of machine vision open-web sandwich plate automatic hoisting alignment equipment and method, including hoist plate, the upper side of the hoist plate is fixedly installed with main hoisting piece, the lower side of the hoist plate is fixedly connected with plane displacement mechanism, the lower side of the plane displacement mechanism is fixedly connected with fine adjustment mechanism, the lower side of the fine adjustment mechanism is connected with magnetic force suction block, the magnetic force suction block is used to adsorb open-web sandwich plate steel structure workpiece, the lower outer side of the fine adjustment mechanism is symmetrically installed with first auxiliary lifting appliance, second auxiliary lifting appliance.The present application is cooperated by main hoisting piece, plane displacement mechanism, fine adjustment mechanism, visual mechanism, auxiliary lifting appliance between, so that steel structure workpiece can be automatically adjusted plane displacement and fine adjustment angle under the guidance of machine vision, the effect that steel structure workpiece and assembly device are automatically hoisted and aligned is achieved, while displacement sensor closed-loop feedback, realize workpiece and assembly position high-precision alignment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hoisting alignment, in particular to a machine vision automatic hoisting alignment equipment and method for hollow sandwich plate. BACKGROUND

[0002] The hollow sandwich plate is a kind of advanced building component with large span, light weight and high bearing capacity, which adopts hollow truss structure inside and thin-walled panels on the upper and lower layers. Such structure is widely used in large public buildings such as airports and stadiums, but due to its super large size (usually ≥ 30m × 30m), uneven stiffness distribution and high deformation sensitivity, it is easy to cause local buckling or overall torsional deformation during hoisting due to uneven stress. Traditional hoisting relies on manual command of tower crane operation.

[0003] Among them, the utility model patent with application number 202420034550.4 and the invention name of a kind of fabricated concrete hollow sandwich plate hoisting device adopts rigid node to connect with prefabricated component for hoisting alignment, however, through this traditional manual command tower crane uses lifting appliance (lifting appliance is generally sling, lifting chain, magnetic type lifting block) to hoist and assemble, there is an error of more than ± 50mm in manual visual adjustment of lifting appliance position, which is difficult to meet the requirement of high-precision assembly (≤ ± 5mm), and factors such as wind force and sling swing cause the hollow sandwich plate steel structure workpiece to easily lose control in the air, the inclined angle exceeds the limit (> 0.2°), which may cause structural damage, and there are problems of low positioning accuracy, poor hoisting stability and high hoisting safety risk. SUMMARY

[0004] The purpose of the present application is to provide a machine vision automatic hoisting alignment equipment and method for hollow sandwich plate to solve the problems raised in the background art.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a machine vision automatic hoisting alignment equipment for hollow sandwich plate, comprising a hoisting plate, a main lifting piece is fixedly installed on the upper side of the hoisting plate, a plane displacement mechanism is fixedly connected to the lower side of the hoisting plate, a fine adjustment mechanism is fixedly connected to the lower side of the plane displacement mechanism, a magnetic suction block is fixedly connected to the lower side of the fine adjustment mechanism, the magnetic suction block is used for adsorbing the hollow sandwich plate steel structure workpiece, a first auxiliary lifting appliance and a second auxiliary lifting appliance are symmetrically installed on the outer side of the lower part of the fine adjustment mechanism, the first auxiliary lifting appliance and the second auxiliary lifting appliance both comprise an auxiliary lifting appliance.

[0006] The magnetic suction block contacts the hollow sandwich plate steel structure workpiece to be hoisted, and current is passed through the inside of the magnetic suction block;

[0007] Since the magnetic suction block is composed of a coil, a core and a magnetic conductor, the coil generates a magnetic field when electrified, the core concentrates the magnetic force lines to form a closed magnetic circuit, so that the magnetic suction block magnetically adsorbs the steel structure workpiece;

[0008] A vision mechanism is fixedly mounted on the planar displacement mechanism, and the vision mechanism includes a camera and a light source.

[0009] With the aid of a light source, the camera captures images of the hoisted steel structure workpiece and its assembly position. The assembly position has identifiable targets or feature points (such as assembly holes or assembly end faces).

[0010] The fine-tuning mechanism includes a fixed ring, an adjusting component, and a support plate. The fixed ring is fixedly connected to the lower side of the vision mechanism. The adjusting component, which is evenly distributed in a ring, is fixedly connected to the lower side of the fixed ring. The support plate is rotatably connected to the lower side of the adjusting component.

[0011] Through the coordinated action of the vision mechanism, planar displacement mechanism, fine adjustment mechanism, and magnetic suction block, the hollow sandwich panel steel structure workpiece can be automatically hoisted, aligned, and assembled.

[0012] Furthermore, the main lifting component includes a connecting lifting block, a main lifting chain, and a lifting chain fixing block. Four sets of lifting chain fixing blocks are fixedly connected to the upper side of the lifting plate, and the main lifting chain is fixedly connected to the upper side of the lifting chain fixing block. The upper sides of the four sets of main lifting chains are all fixedly connected to the connecting lifting block.

[0013] Furthermore, the planar displacement mechanism includes an X-axis moving component and a Y-axis moving component. The X-axis moving component is fixedly connected to the lower side of the hanging plate, and the Y-axis moving component is fixedly connected to the lower side of the X-axis moving component.

[0014] Furthermore, the X-axis moving component includes a motor, a lead screw, a guide rail, a sliding block, a lead screw mating block, and a moving plate. The motor is fixedly connected to the outer side of the hanging plate, and the lead screw is fixedly connected to the output end of the motor. Two sets of bearing seats are fixedly installed on the hanging plate, and the bearing seats are rotatably connected to the lead screw to support it. Two sets of guide rails are fixedly connected to the lower side of the main lifting component. A sliding block is slidably connected to the outer side of the guide rails, and a moving plate is fixedly connected to the lower side of the sliding block. The lead screw is threadedly connected to the outer side of the lead screw, and the lead screw mating block is fixedly connected to the moving plate.

[0015] Furthermore, the Y-axis moving component includes a second motor, a second lead screw, a second sliding block, a second guide rail, a second lead screw mating block, and a second moving plate. The second motor is fixedly connected to the outer side of the first moving plate, and the second lead screw is fixedly connected to the output end of the second motor. Two sets of bearing seats are fixedly connected to the first moving plate, and the second bearing seats are rotatably connected to the second lead screw to support the second lead screw. Two sets of guide rails are fixedly connected to the lower side of the first moving plate, and the second sliding block is slidably connected to the outer side of the second guide rail. The second moving plate is fixedly connected to the lower side of the second sliding block. The second lead screw is threadedly connected to the outer side of the second lead screw, and the second lead screw mating block is fixedly connected to the second moving plate.

[0016] Start motor one and motor two. Motor one drives lead screw one to rotate, which causes lead screw mating block one to move moving plate one along lead screw mating block one. At the same time, motor two drives lead screw two to rotate, which causes guide rail two to move moving plate two along guide rail two. This achieves the movement of the steel structure workpiece in the plane, bringing it closer to the assembly position.

[0017] Furthermore, the vision mechanism also includes a mounting frame, with two sets of mounting frames fixedly connected to the outer side of the movable plate two, a camera fixedly connected to the inner side of the mounting frame, and two sets of light sources fixedly connected to the lower side of the mounting frame.

[0018] Furthermore, the adjustment component includes a driving component, a moving component, and a monitoring component. A moving component with a uniformly distributed ring is fixedly connected to the lower side of the fixed ring. A driving component is fixedly connected to the outer side of the moving component. A monitoring component is fixedly connected to the outer side of the driving component.

[0019] Furthermore, the moving component includes a fixed base, a fixed cylinder, a telescopic rod, a moving block, and a chain connecting block. The lower side of the fixed ring is fixedly connected to a fixed base with evenly distributed rings. The lower side of the fixed base is rotatably connected to a fixed cylinder. The inner side of the fixed cylinder is slidably connected to a moving block. The lower side of the moving block is fixedly connected to a telescopic rod. The outer side of the moving block is fixedly connected to a chain connecting block. The fixed cylinder has a groove corresponding to the chain connecting block. The lower side of the telescopic rod is rotatably connected to a bearing plate.

[0020] The driving component includes a motor, a mounting shell, sprockets, annular chains, and a rotating shaft. The mounting shell is fixedly connected to the outer side of the fixed cylinder, and the motor is fixedly connected to the outer side of the mounting shell. Rotating shafts are rotatably connected to the upper and lower sides of the interior of the mounting shell. Two sets of sprockets are fixedly connected to the outer side of the rotating shafts. Correspondingly, the outer sides of the upper and lower sprockets are connected to annular chains. The upper rotating shaft is fixedly connected to the output end of the motor. The two sets of annular chains are connected to a chain connecting block.

[0021] Start motor three, which drives the rotating shaft to rotate. The rotating shaft drives the ring chain to rotate, which in turn drives the chain connecting block one to move. The chain connecting block one drives the telescopic rod to extend or retract through the moving block. Through the movement of multiple sets of telescopic rods, the lower bearing plate is driven to make a fine adjustment of the angle, which in turn drives the steel structure workpiece to make a fine adjustment of the angle, so that the angle of the steel structure workpiece matches the assembly position.

[0022] The monitoring component includes a magnetostrictive displacement sensor body, a second chain connecting block, a support plate, and a magnetic ring. The magnetostrictive displacement sensor body is fixedly connected to the outside of the mounting shell via a rectangular plate. A magnetic ring is slidably connected to the outside of the magnetostrictive displacement sensor body. A support plate is fixedly connected to the side of the magnetic ring near the mounting shell. A second chain connecting block is fixedly connected to the side of the support plate near the mounting shell. The second chain connecting block is connected to two sets of the ring chains.

[0023] The mounting shell has grooves corresponding to chain connecting block one and chain connecting block two.

[0024] The ring chain drives the magnetic ring to slide the same distance on the magnetostrictive displacement sensor body through the chain connecting block 2 and the support plate. By utilizing the magnetostrictive effect, the displacement of each telescopic rod when it extends or retracts can be indirectly calculated. This allows for real-time monitoring of the actual angle adjustment of the steel structure workpiece. The external control system adjusts the output of the motor 3 in real time based on the error (expected displacement minus actual displacement) to ensure high alignment accuracy between the steel structure workpiece and the assembly position.

[0025] Furthermore, the auxiliary lifting device includes a support plate, a reduction motor, a connecting frame, a winding wheel, a guide wheel, a connecting housing, an auxiliary lifting chain one, a hook, and an auxiliary lifting chain two. Two sets of symmetrically arranged support plates are fixedly connected to the outer side of the bearing plate. The reduction motor and the connecting housing are fixedly connected to the inner side of the support plate. The winding wheel is fixedly connected to the output end of the reduction motor. The connecting frame is fixedly connected to the side of the reduction motor near the connecting housing. The other end of the winding wheel is rotatably connected to the connecting frame. Two sets of guide wheels are rotatably connected to the lower side of the connecting frame. An auxiliary lifting chain one is fixedly connected to the winding wheel. A hook is fixedly connected to the lower side of the auxiliary lifting chain one. An auxiliary lifting chain two is fixedly connected to the lower side of the connecting housing. The auxiliary lifting chain two is connected to the auxiliary lifting chain one.

[0026] The auxiliary lifting chain extends downwards through two sets of guide wheels.

[0027] The hook and auxiliary chain 2 are fastened together on the outside of the steel structure workpiece. Then, the external control system starts the geared motor, which drives the winding wheel to rotate, thereby winding up the auxiliary chains 1 and 2. Under the guidance of two sets of guide wheels, the auxiliary chains 1 and 2 are wound onto the winding wheel until they tightly bind the steel structure workpiece. Then, the geared motor stops working.

[0028] A machine vision-based automatic hoisting and alignment method for hollow sandwich panels includes the following steps:

[0029] S1. Equipment positioning: Connect the tower crane to the connecting block, lift the equipment above the hollow sandwich panel steel structure workpiece, the magnetic block contacts the workpiece surface and is energized to generate magnetic attraction to the workpiece.

[0030] S2. Double insurance fixing: The tower crane lifts the hollow sandwich panel steel structure workpiece off the ground, and the manual hook is fastened to the auxiliary chain 2. The reduction motor is started, and the auxiliary chain 1 and auxiliary chain 2 are tightened through the winding wheel until the hollow sandwich panel steel structure workpiece is tightly bound.

[0031] S3. Visual positioning: Hoist the hollow sandwich panel steel structure workpiece to the same plane of the assembly area, take pictures of the hollow sandwich panel steel structure workpiece and the assembly position with a camera, and identify the target or feature point.

[0032] S4. Planar alignment: Activate the planar displacement mechanism to align the hollow sandwich panel steel structure workpiece with the assembly position in a planar manner;

[0033] S5. Angle Fine-tuning and Closed-Loop Control: Start motor three, which drives the telescopic rod through a ring chain; the telescopic rod pushes the bearing plate to achieve workpiece angle adjustment; the magnetic ring slides along the main body of the magnetostrictive displacement sensor, providing real-time feedback of the displacement; the control system compares the actual displacement with the desired displacement and dynamically adjusts the output of motor three.

[0034] S6. Assembly and disassembly: After the hollow sandwich panel steel structure workpiece is aligned and assembled, it is manually assembled and connected. The current of the magnetic attraction block is disconnected, and the deceleration motor is reversed to release the lifting chain; the connection between the hook and the auxiliary lifting chain is released.

[0035] Compared with the prior art, the present invention provides a machine vision-based automatic hoisting and alignment equipment and method for hollow sandwich panels, which has the following beneficial effects:

[0036] 1. This machine vision-based automatic hoisting and alignment equipment and method for hollow sandwich panels, through the coordinated action of the main hoisting component, planar displacement mechanism, fine-tuning mechanism, vision mechanism, and auxiliary hoisting tools, enables the automated adjustment of the planar displacement and fine-tuning of the angle of the steel structure workpiece under the guidance of machine vision. This achieves the effect of automatic hoisting and alignment of the steel structure workpiece and the assembly device. At the same time, the closed-loop feedback of the displacement sensor ensures high-precision alignment between the workpiece and the assembly position, guaranteeing the effect of automatic hoisting and alignment, and solving the problems of existing methods that require manual command and have low positioning accuracy.

[0037] 2. The machine vision-based automatic hoisting and positioning equipment and method for hollow sandwich panels utilizes the combined action of magnetic suction blocks and auxiliary lifting devices to achieve dual fixation through magnetic adsorption and mechanical binding chains. This effectively suppresses the swaying and deformation of large-sized hollow sandwich panels during hoisting, avoids the risk of component slippage due to wind load or inertia, and ensures safety during high-altitude operations. Attached Figure Description

[0038] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0039] Figure 2 This is a three-dimensional structural schematic diagram of the present invention from another angle;

[0040] Figure 3 This is a three-dimensional structural diagram of the auxiliary lifting device of the present invention;

[0041] Figure 4 This is a three-dimensional structural diagram of the auxiliary lifting device from another angle of the present invention;

[0042] Figure 5 This is a schematic diagram of the internal three-dimensional structure of the auxiliary lifting device of the present invention after being cut open;

[0043] Figure 6 This is a three-dimensional structural diagram of the fixing ring of the present invention;

[0044] Figure 7 For the present invention Figure 6 Enlarged view of point A in the middle;

[0045] Figure 8 This is an exploded perspective view of the adjustment component of the present invention;

[0046] Figure 9 For the present invention Figure 8 Enlarged view of point B in the middle;

[0047] Figure 10 This is an exploded three-dimensional structural diagram of the planar displacement mechanism of the present invention;

[0048] Figure 11 For the present invention Figure 10 Enlarged diagram of point C in the middle.

[0049] In the diagram: 1. Hanging plate; 2. Main lifting component; 21. Connecting lifting block; 22. Main lifting chain; 23. Lifting chain fixing block; 3. Planar displacement mechanism; 31. X-axis moving component; 311. Motor 1; 312. Lead screw 1; 313. Guide rail 1; 314. Sliding block 1; 315. Lead screw mating block 1; 316. Moving plate 1; 32. Y-axis moving component; 321. Motor 2; 322. Lead screw 2; 323. Sliding block 2; 324. Guide rail 2; 325. Lead screw mating block 2; 326. Moving plate 2; 4. Fine adjustment mechanism; 41. Fixing ring; 42. Adjustment assembly; 421. Drive component; 4211. Motor 3; 4212. Mounting shell; 4213. Sprocket; 4214. Ring chain 4215. Rotating shaft; 422. Moving part; 4221. Fixed seat; 4222. Fixed cylinder; 4223. Telescopic rod; 4224. Moving block; 4225. Chain connecting block one; 423. Monitoring component; 4231. Magnetostrictive displacement sensor body; 4232. Chain connecting block two; 4233. Support plate; 4234. Magnetic ring; 43. Bearing plate; 5. Vision mechanism; 51. Mounting frame; 52. Camera; 53. Light source; 6. Auxiliary lifting device; 61. Support plate; 62. Gear motor; 63. Connecting frame; 64. Rewinding wheel; 65. Guide wheel; 66. Connecting housing; 67. Auxiliary lifting chain one; 68. Hook; 69. Auxiliary lifting chain two; 7. Magnetic suction block. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] Example

[0052] Please see Figures 1-11 A machine vision-based automatic hoisting and alignment equipment for hollow sandwich panels includes a hoisting plate 1, a main hoisting component 2 fixedly installed on the upper side of the hoisting plate 1, a planar displacement mechanism 3 fixedly connected to the lower side of the hoisting plate 1, a fine adjustment mechanism 4 fixedly connected to the lower side of the planar displacement mechanism 3, and a magnetic suction block 7 fixedly connected to the lower side of the fine adjustment mechanism 4. The magnetic suction block 7 is used to attract hollow sandwich panel steel structure workpieces. A first auxiliary hoisting tool and a second auxiliary hoisting tool are symmetrically installed on the lower outer side of the fine adjustment mechanism 4. Both the first auxiliary hoisting tool and the second auxiliary hoisting tool include an auxiliary hoisting tool 6.

[0053] The magnetic block 7 comes into contact with the hollow sandwich panel steel structure workpiece to be hoisted, and current is passed through the magnetic block 7.

[0054] Since the magnetic accumulator 7 is composed of a coil, an iron core and a magnetic conductor, when energized, the coil generates a magnetic field and the iron core concentrates the magnetic lines of force to form a closed magnetic circuit, so that the magnetic accumulator 7 can magnetically attract the steel structure workpiece.

[0055] A vision mechanism 5 is fixedly installed on the planar displacement mechanism 3. The vision mechanism 5 includes a camera 52 and a light source 53.

[0056] With the assistance of light source 53, camera 52 photographs the hoisted steel structure workpiece and the assembly position of the steel structure workpiece. The assembly position has identifiable targets or feature points, such as assembly holes and assembly end faces.

[0057] The fine-tuning mechanism 4 includes a fixed ring 41, an adjustment component 42, and a support plate 43. The fixed ring 41 is fixedly connected to the lower side of the vision mechanism 5. The adjustment component 42, which is evenly distributed in a ring, is fixedly connected to the lower side of the fixed ring 41. The support plate 43 is rotatably connected to the lower side of the adjustment component 42.

[0058] Through the coordinated action of the vision mechanism 5, the planar displacement mechanism 3, the fine adjustment mechanism 4, and the magnetic suction block 7, the hollow sandwich panel steel structure workpiece is automatically hoisted, aligned, and assembled.

[0059] Furthermore, the main lifting component 2 includes a connecting lifting block 21, a main lifting chain 22, and a lifting chain fixing block 23. Four sets of lifting chain fixing blocks 23 are fixedly connected to the upper side of the lifting plate 1, and the main lifting chain 22 is fixedly connected to the upper side of the lifting chain fixing block 23. The upper sides of the four sets of main lifting chains 22 are all fixedly connected to the connecting lifting block 21.

[0060] Furthermore, the planar displacement mechanism 3 includes an X-axis moving component 31 and a Y-axis moving component 32. The X-axis moving component 31 is fixedly connected to the lower side of the hanging plate 1, and the Y-axis moving component 32 is fixedly connected to the lower side of the X-axis moving component 31.

[0061] Furthermore, the X-axis moving component 31 includes a motor 311, a lead screw 312, a guide rail 313, a sliding block 314, a lead screw mating block 315, and a moving plate 316. The motor 311 is fixedly connected to the outer side of the hanging plate 1, and the lead screw 312 is fixedly connected to the output end of the motor 311. Two sets of bearing seats are fixedly installed on the hanging plate 1, and the bearing seats are rotatably connected to the lead screw 312 to support the lead screw 312. Two sets of guide rails 313 are fixedly connected to the lower side of the main hanging component 2. The sliding block 314 is slidably connected to the outer side of the guide rail 313, and the moving plate 316 is fixedly connected to the lower side of the sliding block 314. The lead screw 312 is threadedly connected to the outer side of the lead screw 315, and the lead screw mating block 315 is fixedly connected to the moving plate 316.

[0062] Furthermore, the Y-axis moving component 32 includes a second motor 321, a second lead screw 322, a second sliding block 323, a second guide rail 324, a second lead screw mating block 325, and a second moving plate 326. The second motor 321 is fixedly connected to the outer side of the first moving plate 316, and the second lead screw 322 is fixedly connected to the output end of the second motor 321. Two sets of bearing seats 2 are fixedly connected to the first moving plate 316, and the bearing seats 2 are rotatably connected to the second lead screw 322 to support the second lead screw 322. Two sets of guide rails 2 324 are fixedly connected to the lower side of the first moving plate 316, and the second sliding block 323 is slidably connected to the outer side of the second guide rail 324. The second moving plate 326 is fixedly connected to the lower side of the second sliding block 323. The second lead screw mating block 325 is threadedly connected to the outer side of the second lead screw 322, and the second lead screw mating block 325 is fixedly connected to the second moving plate 326.

[0063] Start motor 1 311 and motor 2 321. Motor 1 311 drives lead screw 1 312 to rotate, which causes lead screw mating block 1 315 to move moving plate 1 316 along lead screw mating block 1 315. At the same time, motor 2 321 drives lead screw 2 322 to rotate, which causes guide rail 2 324 to move moving plate 2 326 along guide rail 2 324. This enables the steel structure workpiece to move in the plane and move closer to the assembly position.

[0064] Furthermore, the vision mechanism 5 also includes a mounting bracket 51. Two sets of mounting brackets 51 are fixedly connected to the outer side of the movable plate 326, a camera 52 is fixedly connected to the inner side of the mounting bracket 51, and two sets of light sources 53 are fixedly connected to the lower side of the mounting bracket 51.

[0065] Furthermore, the adjustment component 42 includes a drive component 421, a moving component 422, and a monitoring component 423. The moving component 422, which is evenly distributed in a ring, is fixedly connected to the lower side of the fixed ring 41. The drive component 421 is fixedly connected to the outer side of the moving component 422, and the monitoring component 423 is fixedly connected to the outer side of the drive component 421.

[0066] Furthermore, the moving part 422 includes a fixed base 4221, a fixed cylinder 4222, a telescopic rod 4223, a moving block 4224, and a chain connecting block 4225. The fixed base 4221, which is evenly distributed in a ring, is fixedly connected to the lower side of the fixed ring 41. The fixed cylinder 4222 is rotatably connected to the lower side of the fixed base 4221. The moving block 4224 is slidably connected to the inner side of the fixed cylinder 4222. The telescopic rod 4223 is fixedly connected to the lower side of the moving block 4224. The chain connecting block 4225 is fixedly connected to the outer side of the moving block 4224. The fixed cylinder 4222 has a groove corresponding to the chain connecting block 4225. The lower side of the telescopic rod 4223 is rotatably connected to the bearing plate 43.

[0067] The driving component 421 includes a motor 4211, a mounting shell 4212, a sprocket 4213, an annular chain 4214, and a rotating shaft 4215. The mounting shell 4212 is fixedly connected to the outside of the fixed cylinder 4222. The motor 4211 is fixedly connected to the outside of the mounting shell 4212. The rotating shaft 4215 is rotatably connected to both the upper and lower sides inside the mounting shell 4212. Two sets of sprockets 4213 are fixedly connected to the outside of the rotating shaft 4215. The annular chain 4214 is drivenly connected to the outside of the upper sprocket 4213 and the lower sprocket 4213 respectively. The upper rotating shaft 4215 is fixedly connected to the output end of the motor 4211. The two sets of annular chains 4214 are connected to the chain connecting block 4225.

[0068] Start motor 3 4211, which drives rotating shaft 4215 to rotate. Rotating shaft 4215 drives ring chain 4214 to rotate, which in turn drives chain connecting block 1 4225 to move. Chain connecting block 1 4225 drives telescopic rod 4223 to extend or retract through moving block 4224. Through the movement of multiple sets of telescopic rods 4223, the lower bearing plate 43 is finely adjusted in angle, which in turn drives the steel structure workpiece to be finely adjusted in angle, so that the angle of the steel structure workpiece matches the assembly position.

[0069] The monitoring component 423 includes a magnetostrictive displacement sensor body 4231, a second chain connecting block 4232, a support plate 4233, and a magnetic ring 4234. The magnetostrictive displacement sensor body 4231 is fixedly connected to the outside of the mounting shell 4212 via a rectangular plate. The magnetic ring 4234 is slidably connected to the outside of the magnetostrictive displacement sensor body 4231. The support plate 4233 is fixedly connected to the side of the magnetic ring 4234 near the mounting shell 4212. The second chain connecting block 4232 is fixedly connected to the side of the support plate 4233 near the mounting shell 4212. The second chain connecting block 4232 is connected to two sets of ring chains 4214.

[0070] The mounting housing 4212 has grooves corresponding to the chain connecting block 4225 and the chain connecting block 4232.

[0071] The ring chain 4214 drives the magnetic ring 4234 to slide the same distance on the magnetostrictive displacement sensor body 4231 through the chain connecting block 4232 and the support plate 4233. By utilizing the magnetostrictive effect, the displacement of each telescopic rod 4223 when it extends or retracts can be indirectly calculated. This allows for real-time monitoring of the actual angle adjustment of the steel structure workpiece. The external control system adjusts the output of the motor 4211 in real time based on the expected displacement minus the actual displacement, ensuring high alignment accuracy between the steel structure workpiece and the assembly position.

[0072] Furthermore, the auxiliary lifting device 6 includes a support plate 61, a reduction motor 62, a connecting frame 63, a winding wheel 64, a guide wheel 65, a connecting housing 66, an auxiliary lifting chain 67, a hook 68, and an auxiliary lifting chain 69. Two sets of symmetrically arranged support plates 61 are fixedly connected to the outer side of the bearing plate 43. The reduction motor 62 and the connecting housing 66 are fixedly connected to the inner side of the support plate 61. The winding wheel 64 is fixedly connected to the output end of the reduction motor 62. The connecting frame 63 is fixedly connected to the side of the reduction motor 62 near the connecting housing 66. The other end of the winding wheel 64 is rotatably connected to the connecting frame 63. Two sets of guide wheels 65 are rotatably connected to the lower side of the connecting frame 63. An auxiliary lifting chain 67 is fixedly connected to the winding wheel 64. A hook 68 is fixedly connected to the lower side of the auxiliary lifting chain 67. An auxiliary lifting chain 69 is fixedly connected to the lower side of the connecting housing 66. The auxiliary lifting chain 69 is connected to the auxiliary lifting chain 67.

[0073] The auxiliary lifting chain 67 extends downward through two sets of guide wheels 65.

[0074] The hook 68 and the auxiliary lifting chain 69 are fastened together on the outside of the steel structure workpiece. Then, the external control system starts the reduction motor 62, which drives the winding wheel 64 to rotate, thereby winding up the auxiliary lifting chain 67 and the auxiliary lifting chain 69. Under the guidance of the two sets of guide wheels 65, the auxiliary lifting chains 67 and 69 are wound onto the winding wheel 64 until they have tightly bound the steel structure workpiece. Then, the reduction motor 62 stops working.

[0075] A machine vision-based automatic hoisting and alignment method for hollow sandwich panels includes the following steps:

[0076] S1. Equipment positioning: Connect the tower crane to the connecting block 21, lift the equipment to the top of the hollow sandwich panel steel structure workpiece, the magnetic block 7 contacts the workpiece surface and is energized, generating magnetic force to attract the workpiece.

[0077] S2. Double insurance fixing: The tower crane lifts the hollow sandwich panel steel structure workpiece off the ground, and the manual hook 68 and auxiliary chain 2 69 are fastened. The reduction motor 62 is started, and the auxiliary chain 1 67 and auxiliary chain 2 69 are tightened through the winding wheel 64 until the hollow sandwich panel steel structure workpiece is tightly bound.

[0078] S3. Visual positioning: Hoist the hollow sandwich panel steel structure workpiece to the same plane of the assembly area, and use camera 52 to take images of the hollow sandwich panel steel structure workpiece and its assembly position to identify targets or feature points.

[0079] S4. Planar alignment: Activate the planar displacement mechanism 3 to align the hollow sandwich panel steel structure workpiece with the assembly position in a planar manner;

[0080] S5. Angle fine-tuning and closed-loop control: Start motor 3 4211, which drives telescopic rod 4223 through ring chain 4214; telescopic rod 4223 pushes bearing plate 43 to realize workpiece angle adjustment; magnetic ring 4234 slides along magnetostrictive displacement sensor body 4231 to provide real-time feedback of displacement; control system compares actual displacement with expected displacement and dynamically adjusts motor 3 4211 output.

[0081] S6. Assembly and disassembly: After the hollow sandwich panel steel structure workpiece is aligned and assembled, it is manually assembled and connected. The current of the magnetic attraction block 7 is disconnected, and the deceleration motor 62 is reversed to release the lifting chain; the connection between the hook 68 and the auxiliary lifting chain 69 is released.

[0082] The specific usage and function of this embodiment are as follows:

[0083] When using this automatic hoisting and positioning equipment, first, the external tower crane is fixedly connected to the connecting hoisting block 21. The equipment is then hoisted to the hoisting area of ​​the hollow sandwich panel steel structure workpiece to be hoisted and assembled by the external tower crane, so that the magnetic suction block 7 comes into contact with the hollow sandwich panel steel structure workpiece to be hoisted, and current is passed into the magnetic suction block 7.

[0084] Since the magnetic accumulator 7 is composed of a coil, an iron core and a magnetic conductor, when energized, the coil generates a magnetic field and the iron core concentrates the magnetic lines of force to form a closed magnetic circuit, so that the magnetic accumulator 7 can magnetically attract the steel structure workpiece.

[0085] Subsequently, the external tower crane is controlled to lift the steel structure workpiece about 1 meter off the ground and then stop. The hook 68 and the auxiliary chain 2 69 are initially not connected. By engaging the hook 68 and the auxiliary chain 2 69 on the outside of the steel structure workpiece, the external control system starts the reduction motor 62. The reduction motor 62 drives the winding wheel 64 to rotate, thereby winding up the auxiliary chain 1 67 and the auxiliary chain 2 69. Under the guidance of the two sets of guide wheels 65, the auxiliary chain 1 67 and the auxiliary chain 2 69 are wound onto the winding wheel 64 until the auxiliary chain 1 67 and the auxiliary chain 2 69 have secured the steel structure workpiece. Then the reduction motor 62 stops working.

[0086] Because two sets of auxiliary lifting chains 1 67 and 2 69 are set up symmetrically about the bearing plate 43, the magnetic suction block 7 magnetically attracts the steel structure workpiece, while the two sets of auxiliary lifting chains 1 67 and 2 69 assist in binding the steel structure workpiece, so that the steel structure workpiece being lifted maintains a highly stable state during the lifting process.

[0087] The steel structure workpiece is hoisted to the steel structure workpiece assembly area by an external tower crane, so that the steel structure workpiece and the assembly position are on the same plane. At this time, the camera 52, with the assistance of the light source 53, takes pictures of the hoisted steel structure workpiece and the assembly position of the steel structure workpiece. The assembly position has identifiable targets or feature points, such as assembly holes and assembly end faces.

[0088] Then, the external system controls the start of motor 1 (311) and motor 2 (321). Motor 1 (311) drives lead screw 1 (312) to rotate, which causes lead screw mating block 1 (315) to move moving plate 1 (316) along lead screw mating block 1 (315). At the same time, motor 2 (321) drives lead screw 2 (322) to rotate, which causes guide rail 2 (324) to move moving plate 2 (326) along guide rail 2 (324). This enables the steel structure workpiece to move in the plane and move closer to the assembly position.

[0089] After the position of the steel structure workpiece in the plane is adjusted, the external control system starts motor three 4211, which drives the rotating shaft 4215 to rotate. The rotating shaft 4215 drives the ring chain 4214 to rotate, which in turn drives the chain connecting block one 4225 to move. The chain connecting block one 4225 drives the telescopic rod 4223 to extend or retract through the moving block 4224. Through the movement of multiple sets of telescopic rods 4223, the lower bearing plate 43 is driven to make a fine adjustment of the angle, which in turn drives the steel structure workpiece to make a fine adjustment of the angle, so that the angle of the steel structure workpiece matches the assembly position.

[0090] While the telescopic rod 4223 extends or retracts, the ring chain 4214 drives the magnetic ring 4234 to slide the same distance on the magnetostrictive displacement sensor body 4231 through the chain connecting block 4232 and the support plate 4233. By utilizing the magnetostrictive effect, the displacement of each telescopic rod 4223 when it extends or retracts can be indirectly calculated. This allows for real-time monitoring of the actual angle adjustment of the steel structure workpiece. The external control system adjusts the output of the motor 4211 in real time based on the expected displacement minus the actual displacement, ensuring high alignment accuracy between the steel structure workpiece and the assembly position.

[0091] After the steel structure workpiece is aligned with the assembly position, the worker assembles and connects the steel structure workpiece. After the steel structure workpiece is assembled, the current inside the magnetic suction block 7 is disconnected, and at the same time, the reduction motor 62 is controlled to drive the winding wheel 64 to reverse, so as to loosen the auxiliary lifting chain 1 67 and auxiliary lifting chain 2 69. Then, the auxiliary lifting chain 1 67 and auxiliary lifting chain 2 69 are disconnected through the hook 68, thereby realizing automated hoisting and alignment. This process is repeated.

[0092] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A machine vision-based automatic hoisting and alignment device for hollow sandwich panels, comprising a hoisting plate (1), wherein a main hoisting component (2) is fixedly installed on the upper side of the hoisting plate (1), characterized in that: A planar displacement mechanism (3) is fixedly connected to the lower side of the hanging plate (1). The planar displacement mechanism (3) includes an X-axis moving part (31) and a Y-axis moving part (32). An X-axis moving part (31) is fixedly connected to the lower side of the hanging plate (1). A Y-axis moving part (32) is fixedly connected to the lower side of the X-axis moving part (31). A fine adjustment mechanism (4) is fixedly connected to the lower side of the planar displacement mechanism (3). A magnetic suction block (7) is fixedly connected to the lower side of the fine adjustment mechanism (4). The magnetic suction block (7) is used to adsorb the hollow sandwich panel steel structure workpiece. A first auxiliary lifting device and a second auxiliary lifting device are symmetrically installed on the lower outer side of the fine adjustment mechanism (4). Both the first auxiliary lifting device and the second auxiliary lifting device include an auxiliary lifting device (6). A vision mechanism (5) is fixedly installed on the planar displacement mechanism (3), and the vision mechanism (5) includes a camera (52) and a light source (53). The fine-tuning mechanism (4) includes a fixed ring (41), an adjustment component (42), and a support plate (43). The lower side of the vision mechanism (5) is fixedly connected to the fixed ring (41), and the lower side of the fixed ring (41) is fixedly connected to the evenly distributed ring-shaped adjustment component (42). The lower side of the adjustment component (42) is rotatably connected to the support plate (43). Through the coordinated action of the vision mechanism (5), the planar displacement mechanism (3), the fine adjustment mechanism (4), and the magnetic suction block (7), the hollow sandwich panel steel structure workpiece is automatically hoisted, aligned, and assembled. The auxiliary lifting device (6) includes a support plate (61), a reduction motor (62), a connecting frame (63), a winding wheel (64), a guide wheel (65), a connecting housing (66), an auxiliary lifting chain one (67), a hook (68), and an auxiliary lifting chain two (69). The support plate (61) is fixedly connected to the outer side of the bearing plate (43). The reduction motor (62) and the connecting housing (66) are fixedly connected to the inner side of the support plate (61). The winding wheel (64) is fixedly connected to the output end of the reduction motor (62). 62) A connecting frame (63) is fixedly connected to one side of the connecting housing (66). The other end of the winding wheel (64) is rotatably connected to the connecting frame (63). Two sets of guide wheels (65) are rotatably connected to the lower side of the connecting frame (63). An auxiliary lifting chain one (67) is fixedly connected to the winding wheel (64). A hook (68) is fixedly connected to the lower side of the auxiliary lifting chain one (67). An auxiliary lifting chain two (69) is fixedly connected to the lower side of the connecting housing (66). The auxiliary lifting chain two (69) is connected to the auxiliary lifting chain one (67). The auxiliary lifting chain (67) extends downward through two sets of guide wheels (65).

2. The machine vision-based automatic hoisting and alignment equipment for hollow sandwich panels according to claim 1, characterized in that: The main lifting component (2) includes a connecting lifting block (21), a main lifting chain (22), and a lifting chain fixing block (23). The upper side of the lifting plate (1) is fixedly connected to the lifting chain fixing block (23), and the upper side of the lifting chain fixing block (23) is fixedly connected to the main lifting chain (22). The upper side of the main lifting chain (22) is fixedly connected to the connecting lifting block (21).

3. The machine vision-based automatic hoisting and alignment equipment for hollow sandwich panels according to claim 2, characterized in that: The X-axis moving component (31) includes a motor (311), a lead screw (312), a guide rail (313), a sliding block (314), a lead screw mating block (315), and a moving plate (316). The motor (311) is fixedly connected to the outer side of the hanging plate (1), and the lead screw (312) is fixedly connected to the output end of the motor (311). A bearing seat is fixedly installed on the hanging plate (1), and the bearing seat is connected to the lead screw (312). A rotating connection is used to support the lead screw (312). The lower side of the main lifting component (2) is fixedly connected to the guide rail (313). The outer side of the guide rail (313) is slidably connected to the sliding block (314). The lower side of the sliding block (314) is fixedly connected to the moving plate (316). The outer side of the lead screw (312) is threadedly connected to the lead screw mating block (315). The lead screw mating block (315) is fixedly connected to the moving plate (316).

4. The machine vision-based automatic hoisting and alignment equipment for hollow sandwich panels according to claim 3, characterized in that: The Y-axis moving component (32) includes a second motor (321), a second lead screw (322), a second sliding block (323), a second guide rail (324), a second lead screw mating block (325), and a second moving plate (326). The second motor (321) is fixedly connected to the outer side of the first moving plate (316), and the second lead screw (322) is fixedly connected to the output end of the second motor (321). A second bearing seat is fixedly connected to the first moving plate (316), and the second bearing seat and the second lead screw (322) are connected to each other. The first movable plate (316) is rotatably connected to the second movable plate (322) for supporting the second movable plate (322). The second movable plate (324) is fixedly connected to the lower side of the first movable plate (316). The second movable plate (323) is slidably connected to the outer side of the second movable plate (324). The second movable plate (326) is fixedly connected to the lower side of the second movable plate (323). The second movable plate (325) is threadedly connected to the outer side of the second movable plate (322). The second movable plate (325) is fixedly connected to the second movable plate (326).

5. The machine vision-based automatic hoisting and alignment equipment for hollow sandwich panels according to claim 4, characterized in that: The vision mechanism (5) also includes a mounting bracket (51), the outer side of the movable plate (326) is fixedly connected to the mounting bracket (51), the inner side of the mounting bracket (51) is fixedly connected to a camera (52), and the lower side of the mounting bracket (51) is fixedly connected to a light source (53).

6. The machine vision-based automatic hoisting and alignment equipment for hollow sandwich panels according to claim 5, characterized in that: The adjustment component (42) includes a drive component (421), a moving component (422), and a monitoring component (423). The lower side of the fixed ring (41) is fixedly connected to a moving component (422) that is evenly distributed in a ring. The outer side of the moving component (422) is fixedly connected to the drive component (421), and the outer side of the drive component (421) is fixedly connected to the monitoring component (423).

7. The machine vision-based automatic hoisting and alignment equipment for hollow sandwich panels according to claim 6, characterized in that: The moving part (422) includes a fixed seat (4221), a fixed cylinder (4222), a telescopic rod (4223), a moving block (4224), and a chain connecting block (4225). The fixed ring (41) is fixedly connected to the lower side of a fixed seat (4221) with a uniformly distributed ring. The fixed cylinder (4222) is rotatably connected to the lower side of the fixed seat (4221). The moving block (4224) is slidably connected to the inner side of the fixed cylinder (4222). The telescopic rod (4223) is fixedly connected to the lower side of the moving block (4224). The chain connecting block (4225) is fixedly connected to the outer side of the moving block (4224). The fixed cylinder (4222) has a groove corresponding to the chain connecting block (4225). The lower side of the telescopic rod (4223) is rotatably connected to the bearing plate (43). The driving component (421) includes a motor (4211), a mounting shell (4212), a sprocket (4213), an annular chain (4214), and a rotating shaft (4215). The mounting shell (4212) is fixedly connected to the outside of the fixed cylinder (4222). The motor (4211) is fixedly connected to the outside of the mounting shell (4212). The rotating shaft (4215) is rotatably connected to both the upper and lower sides inside the mounting shell (4212). Two sets of sprockets (4213) are fixedly connected to the outside of the rotating shaft (4215). The annular chain (4214) is drivingly connected to the outer sides of the upper and lower sprockets (4213). The upper rotating shaft (4215) is fixedly connected to the output end of the motor (4211). The two sets of annular chains (4214) are connected to the chain connecting block (4225). The monitoring component (423) includes a magnetostrictive displacement sensor body (4231), a chain connecting block two (4232), a support plate (4233), and a magnetic ring (4234). The magnetostrictive displacement sensor body (4231) is fixedly connected to the outside of the mounting shell (4212) by a rectangular plate. The magnetic ring (4234) is slidably connected to the outside of the magnetostrictive displacement sensor body (4231). The support plate (4233) is fixedly connected to the side of the magnetic ring (4234) near the mounting shell (4212). The chain connecting block two (4232) is fixedly connected to the side of the support plate (4233) near the mounting shell (4212). The chain connecting block two (4232) is connected to two sets of the ring chains (4214). The mounting housing (4212) has grooves corresponding to the chain connecting block one (4225) and the chain connecting block two (4232).

8. A machine vision-based automatic hoisting and alignment method for hollow sandwich panels, applied to the machine vision-based automatic hoisting and alignment equipment for hollow sandwich panels as described in claim 7, characterized in that: Includes the following steps: S1. Equipment positioning: Connect the tower crane to the connecting block (21), hoist the equipment to the top of the hollow sandwich panel steel structure workpiece, the magnetic block (7) contacts the workpiece surface and is energized to generate magnetic attraction to the workpiece; S2, Double insurance fixing: The tower crane lifts the hollow sandwich panel steel structure workpiece off the ground, and the hook (68) and auxiliary chain two (69) are manually fastened. The gear motor (62) is started, and the auxiliary chain one (67) and auxiliary chain two (69) are tightened through the winding wheel (64) until the hollow sandwich panel steel structure workpiece is tightly bound. S3, Visual positioning: Hoist the hollow sandwich panel steel structure workpiece to the same plane of the assembly area, and use the camera (52) to take pictures of the hollow sandwich panel steel structure workpiece and the assembly position to identify the target or feature point; S4. Planar alignment: Start the planar displacement mechanism (3) to align the hollow sandwich panel steel structure workpiece with the assembly position in a planar manner; S5, Angle Fine-tuning and Closed-Loop Control: Start motor three (4211), which drives telescopic rod (4223) through ring chain (4214); telescopic rod (4223) pushes bearing plate (43) to realize workpiece angle adjustment; magnetic ring (4234) slides along the magnetostrictive displacement sensor body (4231) to provide real-time feedback of displacement; control system compares actual displacement with expected displacement and dynamically adjusts output of motor three (4211); S6. Assembly and disassembly: After the hollow sandwich panel steel structure workpiece is aligned and assembled, it is manually assembled and connected. The current of the magnetic suction block (7) is disconnected, and the deceleration motor (62) is reversed to release the lifting chain; the connection between the hook (68) and the auxiliary lifting chain (69) is released.

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