Automatic grabbing equipment for large-span hyperbolic metal roof truss assembly components and construction method thereof

Abstract

The invention provides automatic grabbing equipment for a large-span hyperbolic metal roof truss assembly component and a construction method of the automatic grabbing equipment. The automatic grabbing equipment comprises a curved plate body; a mounting plate I; a mounting plate II; two second mounting plates are fixedly connected to the upper surface of the curved plate body, clamping pieces are rotationally connected to one side faces of the two second mounting plates, two third mounting plates are fixedly connected to the upper surface of the curved plate body, a linkage piece is rotationally connected between the outer surfaces of the two third mounting plates, and a second motor is fixedly connected to the upper surface of the first mounting plate. The output end of the second motor is fixedly connected with an adjusting piece. After the clamping pad is attached to the upper surface of the curved plate body, the four convex ejector blocks are moved to the position below the curved plate body under the action of the adjusting piece, and then the four convex ejector blocks are driven to rotate to push the curved plate body upwards to be clamped below the clamping pad under the cooperation action of the linkage piece and the clamping piece. And meanwhile, the clamping effect is greatly improved through the arrangement of the anti-skid grooves, and stable and efficient clamping of the curved plate body is achieved.

Description

Technical Field

[0001] This invention relates to the field of building construction equipment technology, and more specifically, to an automatic gripping device for assembling large-span hyperbolic metal roof trusses and its construction method. Background Technology

[0002] Large-span hyperbolic metal roof trusses can evenly distribute the loads they bear throughout the entire structure, thereby effectively reducing stress concentration and improving the load-bearing capacity of the structure. They are made of metal materials, such as steel, which have advantages such as high strength, good toughness, and relatively light weight, enabling the roof trusses to achieve large spans while ensuring the stability and safety of the structure.

[0003] In large-span hyperbolic metal roof trusses, single-curved panels play multiple key roles, including structural stability, spatial shaping, load transfer, and aesthetic decoration. They are of great significance to the overall performance of the roof truss and the realization of the building's functions. However, most existing gripping equipment is designed for objects with regular geometric shapes and has difficulty handling single-curved panels with complex geometric surfaces. Due to the curvature and complexity of the single-curved panel surface, traditional gripping equipment often cannot achieve stable and efficient operation when holding such components.

[0004] Therefore, we have made improvements to this by proposing an automatic gripping device for large-span hyperbolic metal roof truss assembly components and its construction method. Summary of the Invention

[0005] The purpose of this invention is to address the fact that, due to the curvature and complexity of the surface of a single-curved panel, traditional gripping devices often cannot achieve stable and efficient operation when holding such components.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solution:

[0007] An automatic gripping device for assembling large-span hyperbolic metal roof trusses and its construction method are proposed to improve the above-mentioned problems.

[0008] The application is as follows:

[0009] Includes: a curved panel body; a first mounting plate; a second mounting plate; two second mounting plates are provided, and each of the two second mounting plates has a clamping member rotatably connected to one side for fixing the curved panel body; two third mounting plates are fixedly connected to the upper surface of the first mounting plate, and a linkage member is rotatably connected between the outer surfaces of the two third mounting plates; a second motor is fixedly connected to the upper surface of the first mounting plate, and an adjusting member is fixedly connected to the output end of the second motor.

[0010] To achieve the above technical solution, after the clamping pad is attached to the upper surface of the curved panel body, the four convex top blocks are moved to the lower part of the curved panel body by the action of the adjusting component. Then, through the cooperation of the linkage and clamping component, the four convex top blocks are rotated to push the curved panel body upward and clamp it under the clamping pad. At the same time, the opening of the anti-slip groove greatly improves the clamping effect, realizing stable and efficient clamping of the curved panel body.

[0011] As a preferred embodiment of the automatic gripping device and construction method for large-span hyperbolic metal roof truss assembly components provided by the present invention, the clamping component includes a rotating shaft one and a rotating shaft two, both of which are rotatably connected to a mounting plate two. One end of each of the rotating shafts is fixedly connected to a convex top block. The outer surfaces of the rotating shafts are fixedly connected to a synchronous wheel one on one side of the mounting plate two. A synchronous belt one meshes between the outer surfaces of the two synchronous wheels one. A clamping pad is fixedly connected to the lower surface of the mounting plate one.

[0012] As a preferred embodiment of the automatic gripping device and construction method for large-span hyperbolic metal roof truss assembly components provided by the present invention, anti-slip grooves are provided on the outer surfaces of the convex top block and the clamping pad.

[0013] To achieve the above technical solution, under the transmission action of the synchronous belt, the rotation of the synchronous wheel drives the other synchronous wheel and the rotating shaft to rotate synchronously, thereby causing the two convex top blocks to rotate. During the rotation, the convex top blocks contact the curved panel body and push the curved panel body upward slightly. Because the clamping pad is made of silicone and has a certain elasticity, the clamping pad adheres tightly to the curved panel body during the slight deformation process. At the same time, the opening of the anti-slip groove greatly improves the clamping stability.

[0014] As a preferred embodiment of the automatic gripping device and construction method for large-span hyperbolic metal roof truss assembly components provided by the present invention, the linkage includes a rotating shaft three and two sets of synchronous wheels two, each set of synchronous wheels two having two members. The rotating shaft three is rotatably connected to the mounting plate three. A fixing block is fixedly connected to the upper surface of each of the two mounting plates two. A rotating seat is fixedly connected to one side of each fixing block. One set of synchronous wheels two is rotatably connected to the rotating seat, and the other set of synchronous wheels two is fixedly connected to the rotating shaft one. A synchronous belt two is meshed between the outer surfaces of the two synchronous wheels two. Two sliding grooves are opened on the outer surface of the rotating shaft three. A slider is fixedly connected to the inner surface of each synchronous wheel two connected to the rotating seat. The slider is slidably disposed inside the sliding groove.

[0015] As a preferred embodiment of the automatic gripping device and construction method for large-span hyperbolic metal roof truss assembly components provided by the present invention, a motor is fixedly connected to one side of one of the mounting plates three, and gears are fixedly connected to the output end of the motor one and the outer surface of the rotating shaft three, and the two gears are meshed together.

[0016] To achieve the above technical solution, when the motor starts working, it drives one of the gears to rotate. Because the two gears are meshed, they drive the other gear and the rotating shaft to rotate. During the rotation of the rotating shaft, the synchronous pulley 2 rotates synchronously, and under the action of the synchronous belt 2, it drives the other synchronous pulley 2 to rotate, thereby driving the rotating shaft and the synchronous pulley 1 to rotate synchronously.

[0017] As a preferred embodiment of the automatic gripping device and construction method for large-span hyperbolic metal roof truss assembly components provided by the present invention, the adjusting component includes a second gear, the mounting plate has a movable groove inside, the output end of the second motor extends into the movable groove and is fixedly connected to the second gear, a toothed plate is fixedly connected to the outer surface of the mounting plate, and a sliding plate is fixedly connected to one side of the toothed plate on the outer surface of the mounting plate. Both the toothed plate and the sliding plate are slidably arranged inside the movable groove, and both toothed plates are meshed with the second gear.

[0018] To achieve the above technical solution, when it is necessary to clamp the curved panel body, the mounting plate one is moved to the upper side of the curved panel body, so that the clamping pad is in contact with the curved panel body. Then, the motor two starts to work and drives the gear two to rotate. The rotation of the gear two drives the toothed plates on both sides and the mounting plate two to slide towards each other, so that the anti-slip groove moves to the bottom of the curved panel body. At the same time, the mounting plate two drives the fixed block and the rotating seat to move synchronously during the movement, so that the synchronous wheel two and the slider slide on the surface of the rotating shaft three and the groove respectively.

[0019] In a preferred embodiment of the automatic gripping device and construction method for assembling large-span hyperbolic metal roof trusses provided by the present invention, a connecting frame is fixedly connected to the upper surface of the mounting plate one outside the motor two, and a flange is fixedly connected to the upper surface of the connecting frame.

[0020] A construction method for an automatic gripping device for large-span hyperbolic metal roof truss assembly components, comprising the aforementioned automatic gripping device for large-span hyperbolic metal roof truss assembly components, is as follows:

[0021] During construction, the equipment is connected and fixed to external driving equipment such as robotic arms through the flange. When it is necessary to clamp the curved panel body, the mounting plate one is moved to the upper side of the curved panel body so that the clamping pad is in contact with the curved panel body. Then the motor two starts to work and drives the gear two to rotate. The rotation of the gear two drives the toothed plates on both sides and the mounting plate two to slide towards each other, so that the anti-slip groove moves to the bottom of the curved panel body. At the same time, the mounting plate two drives the fixed block and the rotating seat to move synchronously during the movement, so that the synchronous wheel two and the slider slide on the surface of the rotating shaft three and the groove respectively.

[0022] When the motor starts working, it drives one of the gears to rotate. Because the two gears mesh, they drive the other gear and the rotating shaft to rotate. As the rotating shaft rotates, it drives the synchronous pulley two to rotate synchronously. Under the action of the synchronous belt two, it drives the other synchronous pulley two to rotate, which in turn drives the rotating shaft and the synchronous pulley one to rotate synchronously. Under the transmission action of the synchronous belt one, the rotation of the synchronous pulley one drives the other synchronous pulley one and the rotating shaft two to rotate synchronously, which causes the two convex top blocks to rotate. During the rotation, the convex top blocks contact the curved panel body and push the curved panel body upward slightly. Because the clamping pad is made of silicone and has a certain degree of elasticity, it adheres tightly to the curved panel body during the slight deformation. At the same time, the anti-slip grooves greatly improve the stability of clamping.

[0023] The equipment is connected and fixed to external driving devices such as robotic arms via a flange. When clamping the curved panel body is required, mounting plate one is moved to the upper side of the curved panel body, so that the clamping pad is in contact with the curved panel body. Then, motor two starts working, driving gear two to rotate. The rotation of gear two causes the toothed plates on both sides and mounting plate two to slide towards each other, moving the anti-slip groove to the bottom of the curved panel body. At the same time, during the movement of mounting plate two, the fixed block and rotating seat move synchronously, so that synchronous wheel two and slider slide on the surface of rotating shaft three and the groove, respectively. When the motor starts working, it drives one of gears one to rotate. Because the two gears one are meshed, they drive the other gear one to rotate. One gear and one rotating shaft rotate. During the rotation of rotating shaft three, the rotating shaft three drives the synchronous pulley two to rotate synchronously. Under the action of synchronous belt two, it drives another synchronous pulley two to rotate, thereby driving rotating shaft one and synchronous pulley one to rotate synchronously. Under the transmission action of synchronous belt one, the rotation of synchronous pulley one drives another synchronous pulley one and rotating shaft two to rotate synchronously, thereby causing the two convex top blocks to rotate. During the rotation, the convex top blocks contact the curved panel body and push the curved panel body upward slightly. Because the clamping pad is made of silicone and has a certain degree of elasticity, the clamping pad is tightly attached to the curved panel body during the slight deformation. At the same time, the opening of anti-slip grooves greatly improves the clamping stability.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] This invention provides an automatic gripping device and construction method for large-span hyperbolic metal roof truss assembly components, comprising: a curved panel body; a first mounting plate; and a second mounting plate. Two second mounting plates are provided, each having a clamping component rotatably connected to one side for fixing the curved panel body. Two third mounting plates are fixedly connected to the upper surface of the curved panel body, and a linkage is rotatably connected between the outer surfaces of the two third mounting plates. A second motor is fixedly connected to the upper surface of the first mounting plate, and an adjusting component is fixedly connected to the output end of the second motor. After the clamping pad is attached to the upper surface of the curved panel body, the adjusting component moves four convex top blocks to the underside of the curved panel body. Then, through the cooperation of the linkage and the clamping components, the four convex top blocks rotate, pushing the curved panel body upward and clamping it under the clamping pad. Simultaneously, the anti-slip grooves greatly improve the clamping effect, achieving stable and efficient clamping of the curved panel body. Attached Figure Description

[0026] Figure 1 A structural schematic diagram of the automatic gripping equipment and construction method for the large-span hyperbolic metal roof truss assembly components provided in this application;

[0027] Figure 2 An enlarged structural schematic diagram of A, the automatic gripping equipment and construction method for large-span hyperbolic metal roof truss assembly components provided in this application;

[0028] Figure 3 An enlarged structural schematic diagram of B, which is the automatic gripping equipment and construction method for the large-span hyperbolic metal roof truss assembly components provided in this application.

[0029] Figure 4 A top cross-sectional schematic diagram of the installation plate of the automatic gripping equipment and construction method for the large-span hyperbolic metal roof truss assembly components provided in this application.

[0030] Figure 5 A side sectional view of the rotating shaft three of the automatic gripping equipment and construction method for the large-span hyperbolic metal roof truss assembly components provided in this application.

[0031] The image shows:

[0032] 1. Curved panel body; 2. Mounting plate one; 21. Mounting plate two; 22. Rotating shaft one; 23. Rotating shaft two; 24. Convex top block; 25. Synchronous pulley one; 26. Synchronous belt one; 27. Clamping pad; 28. Anti-slip groove; 3. Mounting plate three; 31. Rotating shaft three; 32. Fixing block; 33. Rotating seat; 34. Synchronous pulley two; 35. Synchronous belt two; 36. Slide groove; 37. Slider; 4. Motor one; 41. Gear one; 5. Motor two; 51. Movable groove; 52. Gear two; 53. Gear plate; 54. Slide plate; 6. Connecting frame; 61. Flange. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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.

[0034] Therefore, the following detailed description of embodiments of the present invention is not intended to limit the scope of the claimed invention, but merely illustrates some embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0035] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0036] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0037] In the description of this invention, it should be noted that the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. These terms are only for the convenience of 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 be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0038] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0039] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0040] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0041] Please refer to Figure 1-5 An automatic gripping device for assembling large-span hyperbolic metal roof trusses and its construction method are disclosed, comprising: a curved panel body 1; a first mounting plate 2; and a second mounting plate 21. Two second mounting plates 21 are provided, each having a clamping component rotatably connected to one side for fixing the curved panel body 1. Two third mounting plates 3 are fixedly connected to the upper surface of the first mounting plate 2, and a linkage is rotatably connected between the outer surfaces of the two third mounting plates 3. A second motor 5 is fixedly connected to the upper surface of the first mounting plate 2, and an adjusting component is fixedly connected to the output end of the second motor 5. The adjusting component includes a second gear 52. A movable groove 51 is provided inside the first mounting plate 2. The output end of the second motor 5 extends into the movable groove 51 and is fixedly connected to the second gear 52. A toothed plate 53 is fixedly connected to the outer surface of the second mounting plate 21, and a sliding plate 54 is fixedly connected to one side of the toothed plate 53 on the outer surface of the second mounting plate 21. Both the toothed plate 53 and the sliding plate 54 are slidably disposed inside the movable groove 51, and both toothed plates 53 are meshed with the second gear 52. The upper surface of mounting plate 12 is fixedly connected to the outer side of motor 25, and a flange 61 is fixedly connected to the upper surface of the mounting plate 12.

[0042] The equipment is connected and fixed to external driving equipment such as a robotic arm via flange 61. When it is necessary to clamp the curved panel body 1, the mounting plate 2 is moved to the upper side of the curved panel body 1 so that the clamping pad 27 is in contact with the curved panel body 1. Then the motor 5 starts to work and drives the gear 52 to rotate. The rotation of the gear 52 drives the toothed plates 53 on both sides and the mounting plate 21 to slide towards each other, so that the anti-slip groove 28 moves to the bottom of the curved panel body 1. At the same time, the mounting plate 21 drives the fixing block 32 and the rotating seat 33 to move synchronously during the movement, so that the synchronous wheel 34 and the slider 37 slide on the surface of the rotating shaft 31 and the groove 36, respectively.

[0043] Please refer to Figure 3 and Figure 5The clamping components include a first rotating shaft 22 and a second rotating shaft 23, both of which are rotatably connected to a second mounting plate 21. A convex top block 24 is fixedly connected to one end of each of the rotating shafts 22 and 23. A synchronous pulley 25 is fixedly connected to the outer surface of each of the rotating shafts 22 and 23 on one side of the mounting plate 21. A synchronous belt 26 meshes between the outer surfaces of the two synchronous pulleys 25. A clamping pad 27 is fixedly connected to the lower surface of the mounting plate 21. Anti-slip grooves 28 are provided on the outer surfaces of both the convex top block 24 and the clamping pad 27.

[0044] The linkage includes a rotating shaft 31 and two sets of synchronous pulleys 34. The rotating shaft 31 is rotatably connected to the mounting plate 32. A fixing block 32 is fixedly connected to the upper surface of each of the two mounting plates 32. A rotating seat 33 is fixedly connected to one side of each fixing block 32. One set of synchronous pulleys 34 is rotatably connected to the rotating seat 33, and the other set of synchronous pulleys 34 is fixedly connected to the rotating shaft 22. A synchronous belt 35 meshes between the outer surfaces of the set of synchronous pulleys 34. Two sliding grooves 36 are formed on the outer surface of the rotating shaft 31. A slider 37 is fixedly connected to the inner surface of each synchronous pulley 34 connected to the rotating seat 33, and the slider 37 slides within the sliding grooves 36. A motor 4 is fixedly connected to one side of one of the mounting plates 33. A gear 41 is fixedly connected to both the output end of the motor 4 and the outer surface of the rotating shaft 31, and the two gears 41 mesh with each other.

[0045] When motor 4 starts working, it drives one of the gears 41 to rotate. Because the two gears 41 are meshed, they drive the other gear 41 and the rotating shaft 31 to rotate. During the rotation of the rotating shaft 31, the synchronous pulley 34 rotates synchronously, and under the action of the synchronous belt 35, it drives the other synchronous pulley 34 to rotate, thereby driving the rotating shaft 22 and the synchronous pulley 25 to rotate synchronously. Under the transmission action of the synchronous belt 26, the rotation of the synchronous pulley 25 drives the other synchronous pulley 25 and the rotating shaft 23 to rotate synchronously, thereby causing the two convex top blocks 24 to rotate. During the rotation, the convex top blocks 24 contact the curved panel body 1 and push the curved panel body 1 upward slightly. Because the clamping pad 27 is made of silicone and has a certain elasticity, the clamping pad 27 is in close contact with the curved panel body 1 during the slight deformation. At the same time, the opening of the anti-slip groove 28 greatly improves the clamping stability.

[0046] The specific construction method and steps are as follows:

[0047] Step 1: During construction, the equipment is connected and fixed to the external robotic arm or hoisting equipment via flange 61;

[0048] Step 2: When it is necessary to clamp the curved panel body 1, move the mounting plate 2 to the upper side of the curved panel body 1 and attach the clamping pad 27 to the upper surface of the curved panel body 1.

[0049] Step 3: Motor 2 5 starts working, driving gear 2 52 to rotate. The rotation of gear 2 52 causes the toothed plates 53 on both sides and the mounting plate 2 21 to slide towards each other, moving the anti-slip groove 28 of the convex top block 24 to the bottom of the curved panel body 1.

[0050] Meanwhile, as the mounting plate 21 moves, it drives the fixed block 32 and the rotating seat 33 to move synchronously, and the synchronous wheel 2 34 and the slider 37 slide on the surfaces of the rotating shaft 31 and the groove 36 respectively.

[0051] Step 4: Motor 4 starts working, driving one of the gears 41 to rotate. Since the two gears 41 are meshed, they drive the other gear 41 and the rotating shaft 31 to rotate. During the rotation of the rotating shaft 31, the synchronous pulley 34 rotates synchronously, and under the action of the synchronous belt 35, it drives the other synchronous pulley 34 to rotate, which in turn drives the rotating shaft 22 and the synchronous pulley 25 to rotate synchronously.

[0052] Under the transmission action of the synchronous belt 26, the rotation of the synchronous pulley 25 drives the other synchronous pulley 25 and the rotating shaft 23 to rotate synchronously. The two convex top blocks 24 rotate. During the rotation, the convex top blocks 24 contact the curved panel body 1 and push the curved panel body 1 upward slightly. Since the clamping pad 27 is made of silicone and has a certain elasticity, the clamping pad 27 is tightly attached to the curved panel body 1 during the slight deformation.

[0053] Step 5: The external robotic arm or hoisting equipment places the curved panel body 1 at the target position. The motor 4 reverses to detach the convex top block 24 from the curved panel body 1. Then, the motor 5 moves the mounting plate 21 away from the curved panel body 1 to the initial position relative to the curved panel body 1.

[0054] The above embodiments are only used to illustrate the present invention and are not intended to limit the technical solutions described herein. Although the present invention has been described in detail with reference to the above embodiments, the present invention is not limited to the specific embodiments described above. Therefore, any modifications or equivalent substitutions to the present invention, as well as all technical solutions and improvements that do not depart from the spirit and scope of the invention, are covered within the scope of the claims of the present invention.

Claims

1. An automatic gripping device for assembling large-span hyperbolic metal roof trusses, characterized in that, include: Curved panel body (1); Mounting plate 1 (2); Mounting plate 2 (21); There are two mounting plates (21). One side of each mounting plate (21) is rotatably connected to a clamping member for fixing the curved panel body (1). The upper surface of the mounting plate (2) is fixedly connected to two mounting plates (3). The outer surfaces of the two mounting plates (3) are rotatably connected to a linkage. The upper surface of the mounting plate (2) is fixedly connected to a motor (5). The output end of the motor (5) is fixedly connected to an adjusting member.

2. The automatic gripping device for assembling large-span hyperbolic metal roof trusses according to claim 1, characterized in that, The clamping component includes a rotating shaft one (22) and a rotating shaft two (23). Both rotating shaft one (22) and rotating shaft two (23) are rotatably connected to the mounting plate two (21). One end of each rotating shaft one (22) and rotating shaft two (23) is fixedly connected to a convex top block (24). The outer surfaces of the rotating shaft one (22) and rotating shaft two (23) located on one side of the mounting plate two (21) are fixedly connected to a synchronous pulley one (25). The outer surfaces of the two synchronous pulleys one (25) are meshed with a synchronous belt one (26). The lower surface of the mounting plate one (2) is fixedly connected to a clamping pad (27).

3. The automatic gripping device for assembling large-span hyperbolic metal roof trusses according to claim 2, characterized in that, The outer surfaces of the convex top block (24) and the clamping pad (27) are provided with anti-slip grooves (28).

4. The automatic gripping device for assembling large-span hyperbolic metal roof trusses according to claim 3, characterized in that, The linkage includes a rotating shaft three (31) and two sets of synchronous pulleys two (34). Each set of synchronous pulleys two (34) has two pulleys. The rotating shaft three (31) is rotatably connected to the mounting plate three (3). The upper surfaces of the two mounting plates two (21) are fixedly connected to a fixing block (32). A rotating seat (33) is fixedly connected to one side of the fixing block (32). One set of synchronous pulleys two (34) is rotatably connected to the rotating seat (33), and the other set of synchronous pulleys two (34) is fixedly connected to the rotating shaft one (22). A synchronous belt two (35) meshes between the outer surfaces of the two synchronous pulleys two (34). Two sliding grooves (36) are opened on the outer surface of the rotating shaft three (31). A slider (37) is fixedly connected to the inner surface of the synchronous pulleys two (34) connected to the rotating seat (33). The slider (37) slides inside the sliding groove (36).

5. The automatic gripping device for assembling large-span hyperbolic metal roof trusses according to claim 4, characterized in that, One of the mounting plates (3) is fixedly connected to a motor (4) on one side. The output end of the motor (4) and the outer surface of the rotating shaft (31) are both fixedly connected to a gear (41), and the two gears (41) are meshed together.

6. The automatic gripping device for assembling large-span hyperbolic metal roof trusses according to claim 1, characterized in that, The adjusting component includes a second gear (52). The mounting plate (2) has a movable groove (51) inside. The output end of the second motor (5) extends into the movable groove (51) and is fixedly connected to the second gear (52). A toothed plate (53) is fixedly connected to the outer surface of the mounting plate (21). A sliding plate (54) is fixedly connected to one side of the toothed plate (53) on the outer surface of the mounting plate (21). The toothed plate (53) and the sliding plate (54) are both slidably arranged inside the movable groove (51). Both toothed plates (53) are meshed with the second gear (52).

7. The automatic gripping device for assembling large-span hyperbolic metal roof trusses according to claim 1, characterized in that, The upper surface of the mounting plate (2) is fixedly connected to the outer side of the motor (5) with a connecting bracket (6), and the upper surface of the connecting bracket (6) is fixedly connected to a flange (61).

8. A construction method for an automatic gripping device for assembling large-span hyperbolic metal roof trusses, characterized in that: The automatic gripping device for assembling large-span hyperbolic metal roof trusses, as described in claim 1, operates as follows: Step 1: During construction, the equipment is connected and fixed to the external robotic arm or hoisting equipment via flange (61); Step 2: When it is necessary to clamp the curved panel body (1), move the mounting plate 1 (2) to the upper side of the curved panel body (1) and attach the clamping pad (27) to the upper surface of the curved panel body (1). Step 3, the second motor (5) starts working, driving the second gear (52) to rotate. Through the rotation of the second gear (52), the toothed plates (53) on both sides and the mounting plate (21) slide towards each other, moving the anti-slip groove (28) of the convex top block (24) to the bottom of the curved panel body (1). Meanwhile, during the movement of the second mounting plate (21), the fixed block (32) and the rotating seat (33) move synchronously, and the second synchronous wheel (34) and the slider (37) slide on the surfaces of the rotating shaft (31) and the groove (36) respectively; Step 4, the motor (4) starts working, driving one of the gears (41) to rotate. Since the two gears (41) are meshed, they drive the other gear (41) and the rotating shaft (31) to rotate. During the rotation of the rotating shaft (31), the synchronous pulley (34) rotates synchronously, and under the action of the synchronous belt (35), it drives the other synchronous pulley (34) to rotate, driving the rotating shaft (22) and the synchronous pulley (25) to rotate synchronously. Under the transmission action of the synchronous belt (26), the rotation of the synchronous wheel (25) drives the other synchronous wheel (25) and the rotating shaft (23) to rotate synchronously. The two convex top blocks (24) rotate. During the rotation, the convex top blocks (24) contact the curved panel body (1) and push the curved panel body (1) upward slightly. Since the clamping pad (27) is made of silicone and has a certain elasticity, the clamping pad (27) is in close contact with the curved panel body (1) during the slight deformation process. Step 5: The external robotic arm or hoisting equipment places the curved panel body (1) at the target position. The motor (4) reverses to detach the convex top block (24) from the curved panel body (1). Then the motor (5) moves the mounting plate (21) away from the curved panel body (1) to the initial position relative to the curved panel body (1).

Images