Steel structural member assembling and positioning device and positioning method

Abstract

The present application relates to the technical field of steel structure construction, and particularly relates to a steel structure component assembling and positioning device and a positioning method, which comprises a rigid base frame, a plurality of intelligent positioning terminals and a central control unit. The central control unit receives the actual posture of the components uploaded by each intelligent positioning terminal based on the pre-stored component digital model and target pose data, automatically calculates the overall pose deviation, and uses the inverse kinematics model to solve the required collaborative adjustment amount of all terminals at one time. The series trial and error of independent and repeated operation of multiple degree of freedom mechanisms by artificial is changed into parallel precise adjustment of overall calculation and synchronous driving by the central control unit. Through the generation and distribution of collaborative instructions, all three-dimensional action platforms are simultaneously driven for precise linkage, thereby significantly reducing the time of human intervention and repeated measurement and correction, and greatly improving the automation degree and operation efficiency of assembling and positioning.

Description

Technical Field

[0001] This invention relates to the field of steel structure construction technology, and in particular to a steel structure component assembly and positioning device and method. Background Technology

[0002] In the construction of large-scale steel structure projects (such as industrial plants, stadiums, and high-rise buildings), it is often necessary to precisely assemble two or more independent steel components in a factory or on-site environment to form larger hoisting units, or to precisely align and align the components. This process requires precise alignment and temporary fixation of the components in three-dimensional space (X, Y, and Z axes and rotations around each axis) to ensure the quality of welding or bolted connections. In this case, specialized assembly and positioning devices are crucial.

[0003] Currently, the basic structure of common steel structure component assembly and positioning devices includes: a rigid base platform for supporting the component to be assembled; multiple adjustable supports set on the base platform, which are usually screw jacks or hydraulic jacks, used to adjust the height (Z-axis) and tilt angle of the component; and several lateral jacking mechanisms (such as transverse screws or hydraulic cylinders) and positioning blocks set on the edge of the platform or on the supports, used for fine-tuning and limiting the horizontal position (X, Y-axis) of the component. During construction, operators need to first place and roughly fix one component on the platform, and then hoist another component. By alternately operating the jacks and jacking mechanisms in multiple directions, and repeatedly measuring with instruments such as a total station, the interfaces of the two components are gradually aligned.

[0004] However, existing steel structure component assembly and positioning devices have drawbacks in actual use, such as cumbersome positioning process and reliance on manual experience, resulting in low efficiency in multi-degree-of-freedom adjustments. Summary of the Invention

[0005] The purpose of this invention is to provide a steel structure component assembly and positioning device and method, which aims to solve the technical problem that existing steel structure component assembly and positioning devices have the disadvantages of cumbersome positioning process and reliance on manual experience in actual use, resulting in low efficiency in multi-degree-of-freedom adjustment.

[0006] To achieve the above objectives, the present invention provides a steel structure component assembly and positioning device, including a rigid base frame, multiple intelligent positioning terminals and a central control unit. The upper surface of the rigid base frame is provided with a preset assembly area. The multiple intelligent positioning terminals are all installed on the upper surface of the rigid base frame and arranged circumferentially along the preset assembly area. The multiple intelligent positioning terminals are all communicatively connected to the central control unit. Each of the aforementioned intelligent positioning terminals includes a three-dimensional motion platform, an attitude sensing module, and a terminal controller. The three-dimensional motion platform is used to directly contact and clamp a specific part of the steel structure component and can drive the part to move independently in three orthogonal linear directions. The three-dimensional motion platform is integrated into the three-dimensional motion platform and is used to measure the three-dimensional coordinates and normal vector attitude of the clamped part of the steel structure component in real time. The terminal controller is electrically connected to the driving component of the three-dimensional motion platform and the attitude sensing module. The central control unit has a pre-stored digital model of the target assembly component and target pose data; The central control unit is configured to: receive the actual pose data of the components uploaded by all intelligent positioning terminals, calculate the overall deviation between the actual pose and the target pose, calculate the required three-dimensional adjustment amount for each intelligent positioning terminal based on the inverse kinematics model, generate a coordinated adjustment instruction and distribute it to each terminal controller, and drive the multiple three-dimensional motion platforms to move synchronously.

[0007] Each of the three-dimensional motion platforms includes a fixed base plate, a Z-axis lifting module, an XY-plane moving platform, and a clamping mechanism. The fixed base plate is mounted on the upper surface of the rigid base frame. The Z-axis lifting module is disposed on the upper surface of the fixed base plate. The XY-plane moving platform is disposed at the output end of the Z-axis lifting module. The clamping mechanism is disposed at the output end of the XY-plane moving platform.

[0008] The Z-axis lifting module is a ball screw mechanism driven by a servo motor, the XY plane moving platform consists of two sets of orthogonally arranged precision linear modules driven by servo motors, and the clamping mechanism is an adaptive hydraulic gripper.

[0009] Each of the attitude sensing modules includes a target unit and a micro inertial measurement unit. The target unit is rigidly connected to the body of the adaptive hydraulic gripper, and its reflective surface or the center of the target ball has a preset fixed posture relationship with the gripping center of the adaptive hydraulic gripper. The micro inertial measurement unit is encapsulated inside the target unit or the adaptive hydraulic gripper; The target unit is used to be tracked by an external laser tracker or total station to obtain its precise three-dimensional coordinates, and the micro inertial measurement unit is used to measure its own angular velocity and acceleration. The terminal controller is configured to fuse the coordinate data of the target unit with the inertial data of the micro inertial measurement unit to calculate the spatial position and normal vector attitude of the steel structure component held by the clamping mechanism.

[0010] The adaptive hydraulic gripper has a distributed pressure sensor array embedded in its gripping surface, and the terminal controller is configured to adjust the hydraulic pressure according to the feedback signal from the pressure sensor array to achieve constant force gripping.

[0011] The steel structure component assembly and positioning device also includes a wireless remote controller, which is communicatively connected to the central control unit and is equipped with a manual mode switch.

[0012] The wireless remote control is equipped with a safety interlock switch, an emergency stop button, and a mode switching knob. The safety interlock switch is a two-position self-resetting switch, which must be pressed continuously by the operator to enable the remote control to output a valid control signal. After being released, the control output is automatically cut off. The emergency stop button is a red self-locking button. When pressed, it will immediately cut off the driving power of all the smart positioning terminals and trigger an emergency stop. It can only be released by manual reset after the fault is cleared. The mode switching knob is used to switch between central automatic mode, single-terminal manual mode, and multi-terminal group manual mode.

[0013] The present invention also provides a method for assembling and positioning steel structure components, applied to the steel structure component assembly and positioning device described above, comprising the following steps: Multiple intelligent positioning terminals are arranged on the rigid base frame; Control each of the three-dimensional motion platforms to clamp specific parts of the steel structure component; The attitude sensing module measures the three-dimensional coordinates and normal vector attitude of the clamped part of the steel structure component in real time. The central control unit receives the actual pose data of the steel structure components and calculates the overall deviation between the actual pose data and the pre-stored target pose data. The required three-dimensional adjustment amount for each of the aforementioned smart positioning terminals is calculated based on the inverse kinematics model. Generate coordinated adjustment instructions and distribute them to each of the terminal controllers; Each of the terminal controllers drives the corresponding three-dimensional motion platform to move synchronously in order to correct the pose deviation.

[0014] This invention discloses a steel structure component assembly and positioning device and method, comprising a rigid base frame, multiple intelligent positioning terminals, and a central control unit. The central control unit, based on pre-stored component digital models and target pose data, receives real-time data on the actual posture of the components uploaded by each intelligent positioning terminal, automatically calculates the overall pose deviation, and uses an inverse kinematics model to calculate the required coordinated adjustment amount for all terminals in one go. This transforms the original sequential trial-and-error process of repeatedly operating multiple degrees of freedom mechanisms manually into a parallel, precise adjustment calculated and synchronously driven by the central control unit. By generating and distributing coordinated instructions, simultaneously driving all three-dimensional motion platforms for precise linkage, the time spent on human intervention and repeated measurement and correction is significantly reduced, greatly improving the automation level and operational efficiency of assembly and positioning. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the steel structure component assembly and positioning device according to the first embodiment of the present invention.

[0017] Figure 2 This is a block diagram illustrating the operating principle of the steel structure component assembly and positioning device according to the first embodiment of the present invention.

[0018] Figure 3 This is a block diagram illustrating the operating principle of the intelligent positioning terminal in the first embodiment of the present invention.

[0019] Figure 4 This is a block diagram illustrating the operating principle of the steel structure component assembly and positioning device according to the second embodiment of the present invention.

[0020] Figure 5 This is a flowchart of the steps of the steel structure component assembly and positioning method provided by the present invention.

[0021] 101-Rigid base frame, 102-Intelligent positioning terminal, 103-Central control unit, 104-Preset assembly area, 105-Three-dimensional motion platform, 106-Attitude sensing module, 107-Terminal controller, 108-Fixed base plate, 109-Z-axis lifting module, 110-XY-plane moving platform, 111-Clamping mechanism, 112-Target unit, 113-Micro inertial measurement unit, 114-Distributed pressure sensor array, 201-Wireless remote control, 202-Manual mode switch, 203-Safety interlock switch, 204-Emergency stop button, 205-Mode switching knob, 206-Central automatic mode, 207-Single terminal manual mode, 208-Multi-terminal grouped manual mode. Detailed Implementation

[0022] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0023] First embodiment: Please see Figures 1 to 3 ,in Figure 1 This is a structural schematic diagram of the steel structure component assembly and positioning device according to the first embodiment. Figure 2 This is a block diagram illustrating the operating principle of the steel structure component assembly and positioning device according to the first embodiment. Figure 3 This is a block diagram illustrating the operating principle of the intelligent positioning terminal in the first embodiment.

[0024] The present invention provides a steel structure component assembly and positioning device, including a rigid base frame 101, a plurality of intelligent positioning terminals 102 and a central control unit 103. The upper surface of the rigid base frame 101 is provided with a preset assembly area 104. The plurality of intelligent positioning terminals 102 are all installed on the upper surface of the rigid base frame 101 and arranged circumferentially along the preset assembly area 104. The plurality of intelligent positioning terminals 102 are all communicatively connected to the central control unit 103. Each of the intelligent positioning terminals 102 includes a three-dimensional motion platform 105, an attitude sensing module 106, and a terminal controller 107. The three-dimensional motion platform 105 is used to directly contact and clamp a specific part of the steel structure component, and can drive the part to move independently in three orthogonal linear directions. The three-dimensional motion platform 105 is integrated on the three-dimensional motion platform 105 and is used to measure the three-dimensional coordinates and normal vector attitude of the clamped part of the steel structure component in real time. The terminal controller 107 is electrically connected to the driving component of the three-dimensional motion platform 105 and the attitude sensing module 106. The central control unit 103 has a pre-stored digital model of the target assembly component and target pose data; The central control unit 103 is configured to: receive the actual pose data of the components uploaded by all intelligent positioning terminals 102, calculate the overall deviation between the actual pose and the target pose, calculate the three-dimensional adjustment amount required by each intelligent positioning terminal 102 based on the inverse kinematics model, generate a collaborative adjustment instruction and distribute it to each terminal controller 107, and drive the multiple three-dimensional motion platforms 105 to move synchronously.

[0025] In this embodiment, the central control unit 103, based on pre-stored component digital models and target pose data, receives the actual posture of the components uploaded by each intelligent positioning terminal 102 in real time, automatically calculates the overall pose deviation, and uses an inverse kinematics model to calculate the required coordinated adjustment amount for all terminals in one go. This transforms the original sequential trial-and-error process of repeatedly operating multiple degrees of freedom mechanisms manually into a parallel, precise adjustment calculated and synchronously driven by the central control unit 103. By generating and distributing coordinated commands, all three-dimensional motion platforms 105 are simultaneously driven to perform precise linkage, significantly reducing the time spent on human intervention and repeated measurement and correction, and greatly improving the automation level and operational efficiency of assembly and positioning.

[0026] Furthermore, each of the three-dimensional motion platforms 105 includes a fixed base plate 108, a Z-axis lifting module 109, an XY plane moving platform 110, and a clamping mechanism 111. The fixed base plate 108 is mounted on the upper surface of the rigid base frame 101. The Z-axis lifting module 109 is disposed on the upper surface of the fixed base plate 108. The XY plane moving platform 110 is disposed at the output end of the Z-axis lifting module 109. The clamping mechanism 111 is disposed at the output end of the XY plane moving platform 110.

[0027] In this embodiment, the fixed base plate 108 serves as the connection foundation between the entire intelligent positioning terminal 102 and the rigid base frame 101. The Z-axis lifting module 109 is responsible for realizing the precise lifting and positioning of the component in the vertical direction. The XY plane moving platform 110 provides two orthogonal translational degrees of freedom in the horizontal plane. The clamping mechanism 111 directly contacts the steel structure component to realize gripping and fixing.

[0028] Furthermore, the Z-axis lifting module 109 is a ball screw mechanism driven by a servo motor, the XY plane moving platform 110 is composed of two sets of orthogonally arranged precision linear modules driven by servo motors, and the clamping mechanism 111 is an adaptive hydraulic gripper.

[0029] In this embodiment, the Z-axis lifting module 109 employs a servo motor-driven ball screw mechanism. This combination features high transmission efficiency, good positioning accuracy, strong self-locking capability, and high load-bearing capacity, making it particularly suitable for precise and stable vertical positioning under heavy-load conditions. The XY-plane moving platform 110 consists of two sets of orthogonally arranged precision linear modules, also driven by servo motors, achieving high-precision and rapid-response movement in two directions within the horizontal plane. The clamping mechanism 111 uses an adaptive hydraulic gripper, characterized by large clamping force, stable output, and the ability to adapt to components with different cross-sectional shapes via a hydraulic system.

[0030] Furthermore, each of the attitude sensing modules 106 includes a target unit 112 and a micro inertial measurement unit 113. The target unit 112 is rigidly connected to the body of the adaptive hydraulic gripper, and its reflective surface or the center of the target ball has a preset fixed posture relationship with the gripping center of the adaptive hydraulic gripper. The micro inertial measurement unit 113 is encapsulated inside the target unit 112 or the adaptive hydraulic gripper; The target unit 112 is used to be tracked by an external laser tracker or total station to obtain its precise three-dimensional coordinates, and the micro inertial measurement unit 113 is used to measure its own angular velocity and acceleration. The terminal controller 107 is configured to fuse the coordinate data of the target unit 112 and the inertial data of the micro inertial measurement unit 113 to calculate the spatial position and normal vector attitude of the steel structure component held by the clamping mechanism 111.

[0031] In this embodiment, the target unit 112 (such as a reflector or target sphere) provides its absolute three-dimensional coordinates in the global coordinate system in a non-contact manner through cooperation with an external high-precision laser tracker or total station. The micro inertial measurement unit 113 (MIMU) can measure its own angular velocity and linear acceleration in real time and at high frequency. Since the target unit 112 is rigidly connected to the adaptive hydraulic gripper, its position and the geometric relationship with the gripping center are known. The terminal controller 107 uses a sensor fusion algorithm (such as a Kalman filter) to complementaryly fuse the high-frequency dynamic data of the MIMU with the low-frequency, high-precision absolute position data provided by the target unit 112. This obtains the precise absolute coordinates of the gripping point and can also calculate the spatial orientation (normal vector attitude) of the component at that point in real time and accurately, providing high-precision, high-update-rate real-time feedback information for the central control unit 103 to perform overall coordinated adjustments.

[0032] Furthermore, the clamping surface of the adaptive hydraulic gripper is embedded with a distributed pressure sensor array 114, and the terminal controller 107 is also configured to adjust the hydraulic pressure according to the feedback signal of the pressure sensor array to achieve constant force clamping.

[0033] In this embodiment, the distributed pressure sensor array 114 is embedded in the clamping surface of the adaptive hydraulic gripper, which can monitor the pressure distribution on the contact surface between the gripper and the steel structure component in real time.

[0034] Second embodiment: Based on the first embodiment, please refer to Figure 4 , Figure 4 This is a block diagram illustrating the operating principle of the steel structure component assembly and positioning device in the second embodiment.

[0035] The present invention provides a steel structure component assembly and positioning device, which also includes a wireless remote controller 201.

[0036] In this specific embodiment, the wireless remote controller 201 is communicatively connected to the central control unit 103, and the wireless remote controller 201 is provided with a manual mode switch 202.

[0037] In this embodiment, the wireless remote controller 201 allows operators to monitor and intervene in the entire positioning process from an optimal observation position (such as near the component assembly interface), detached from the central control console. The manual mode switch 202 is the core functional entry point of the wireless remote controller 201. When the system is in an automatic adjustment process or requires fine-tuning, the operator can use this switch to take over control at any time, switching from the central fully automatic control mode to a manually operated mode, thereby handling complex on-site conditions or performing precise final calibration.

[0038] The wireless remote controller 201 is equipped with a safety interlock switch 203, an emergency stop button 204, and a mode switching knob 205. The safety interlock switch 203 is a two-position self-resetting switch, which requires continuous pressing by the operator to enable the remote controller to output a valid control signal. After release, the control output is automatically cut off. The emergency stop button 204 is a red self-locking button. When pressed, it will immediately cut off the driving power of all the smart positioning terminals 102 and trigger an emergency stop. It can only be released by manual reset after the fault is cleared. The mode switching knob 205 is used to switch between central automatic mode 206, single-terminal manual mode 207 and multi-terminal grouped manual mode 208.

[0039] In this embodiment, the central automatic mode 206 specifically means that the wireless remote controller 201 is used only as a status monitor and emergency intervention tool, and does not actively output motion control commands; The single-terminal manual mode 207 is as follows: the automatic adjustment program of the central control unit 103 is paused, and the operator selects one of the intelligent positioning terminals 102 as the current controlled terminal through the selection button or knob on the wireless remote control 201. Then, the operator can independently control the three-dimensional motion platform 105 of the selected terminal to move in a jog or continuous speed along any of the X, Y, and Z directions through the directional control stick or button on the remote control. At this time, other terminals remain locked in their current positions. This mode is suitable for fine-tuning specific points, troubleshooting, or local adaptive correction for complex interfaces. The multi-terminal grouping manual mode 208 specifically involves the operator using the wireless remote controller 201 to pre-set two or more of the intelligent positioning terminals 102 into the same motion group. Subsequently, the operator's control commands (such as pushing a joystick in a certain direction) will act simultaneously, in the same direction, and in equal amounts on all terminals within the group, driving them to move collaboratively as a whole.

[0040] Please see Figure 5 The present invention also provides a method for assembling and positioning steel structure components, applied to the steel structure component assembly and positioning device described above, comprising the following steps: S1: A plurality of intelligent positioning terminals 102 are arranged on the rigid base frame 101; S2: Control the specific parts of the steel structure components held by each of the three-dimensional motion platforms 105; S3: The attitude sensing module 106 measures the three-dimensional coordinates and normal vector attitude of the clamped part of the steel structure component in real time; S4: The central control unit 103 receives the actual pose data of the steel structure component and calculates the overall deviation between it and the pre-stored target pose data; S5: Calculate the required three-dimensional adjustment amount for each of the intelligent positioning terminals 102 based on the inverse kinematics model; S6: Generate a coordinated adjustment instruction and distribute it to each of the terminal controllers 107; S7: Each of the terminal controllers 107 drives the corresponding three-dimensional motion platform 105 to move synchronously to correct the pose deviation.

[0041] In this embodiment, multiple intelligent positioning terminals 102 are first arranged on the rigid base frame 101 to form multi-point controllable support for the component. After each terminal clamps a specific part of the component through the three-dimensional motion platform 105, its integrated attitude perception module 106 collects the precise spatial coordinates and normal attitude of each clamping point of the component in real time. The central control unit 103 collects all actual pose data, compares it with the pre-stored target model, calculates the overall deviation, and then intelligently calculates the precise three-dimensional adjustment amount required by each terminal to correct the overall deviation based on the inverse kinematics model. Finally, by distributing coordinated motion commands to each terminal controller 107, all the three-dimensional motion platforms 105 are driven to move synchronously, and the component is adjusted from the initial pose to the target pose in one go, realizing a fundamental transformation from the traditional serial adjustment of manual trial and error to the parallel adjustment of intelligent system collaboration.

[0042] The above description discloses only one preferred embodiment of the present invention, and should not be construed as limiting the scope of the present invention. Those skilled in the art will understand that all or part of the processes of the above embodiments can be implemented, and equivalent changes made in accordance with the claims of the present invention are still within the scope of the invention.

Claims

1. A steel structure component assembly and positioning device, characterized in that, The device includes a rigid base frame, multiple intelligent positioning terminals, and a central control unit. The upper surface of the rigid base frame is provided with a preset assembly area. The multiple intelligent positioning terminals are installed on the upper surface of the rigid base frame and arranged circumferentially along the preset assembly area. The multiple intelligent positioning terminals are communicatively connected to the central control unit. Each of the aforementioned intelligent positioning terminals includes a three-dimensional motion platform, an attitude sensing module, and a terminal controller. The three-dimensional motion platform is used to directly contact and clamp a specific part of the steel structure component and can drive the part to move independently in three orthogonal linear directions. The three-dimensional motion platform is integrated into the three-dimensional motion platform and is used to measure the three-dimensional coordinates and normal vector attitude of the clamped part of the steel structure component in real time. The terminal controller is electrically connected to the driving component of the three-dimensional motion platform and the attitude sensing module. The central control unit has a pre-stored digital model of the target assembly component and target pose data; The central control unit is configured to: receive the actual pose data of the components uploaded by all intelligent positioning terminals, calculate the overall deviation between the actual pose and the target pose, calculate the required three-dimensional adjustment amount for each intelligent positioning terminal based on the inverse kinematics model, generate a coordinated adjustment instruction and distribute it to each terminal controller, and drive the multiple three-dimensional motion platforms to move synchronously.

2. The steel structure component assembly and positioning device as described in claim 1, characterized in that, Each of the three-dimensional motion platforms includes a fixed base plate, a Z-axis lifting module, an XY-plane moving platform, and a clamping mechanism. The fixed base plate is mounted on the upper surface of the rigid base frame. The Z-axis lifting module is disposed on the upper surface of the fixed base plate. The XY-plane moving platform is disposed at the output end of the Z-axis lifting module. The clamping mechanism is disposed at the output end of the XY-plane moving platform.

3. The steel structure component assembly and positioning device as described in claim 2, characterized in that, The Z-axis lifting module is a ball screw mechanism driven by a servo motor, the XY plane moving platform consists of two sets of orthogonally arranged precision linear modules driven by servo motors, and the clamping mechanism is an adaptive hydraulic gripper.

4. The steel structure component assembly and positioning device as described in claim 3, characterized in that, Each of the attitude sensing modules includes a target unit and a micro inertial measurement unit. The target unit is rigidly connected to the body of the adaptive hydraulic gripper, and its reflective surface or the center of the target ball has a preset fixed posture relationship with the gripping center of the adaptive hydraulic gripper. The micro inertial measurement unit is encapsulated inside the target unit or the adaptive hydraulic gripper; The target unit is used to be tracked by an external laser tracker or total station to obtain its precise three-dimensional coordinates, and the micro inertial measurement unit is used to measure its own angular velocity and acceleration. The terminal controller is configured to fuse the coordinate data of the target unit with the inertial data of the micro inertial measurement unit to calculate the spatial position and normal vector attitude of the steel structure component held by the clamping mechanism.

5. The steel structure component assembly and positioning device as described in claim 4, characterized in that, The gripping surface of the adaptive hydraulic gripper is embedded with a distributed pressure sensor array, and the terminal controller is further configured to adjust the hydraulic pressure according to the feedback signal of the pressure sensor array to achieve constant force gripping.

6. The steel structure component assembly and positioning device as described in claim 5, characterized in that, The steel structure component assembly and positioning device also includes a wireless remote controller, which is communicatively connected to the central control unit and is equipped with a manual mode switch.

7. The steel structure component assembly and positioning device as described in claim 6, characterized in that, The wireless remote control is equipped with a safety interlock switch, an emergency stop button, and a mode switching knob. The safety interlock switch is a two-position self-resetting switch, which must be pressed continuously by the operator to enable the remote control to output a valid control signal. After being released, the control output is automatically cut off. The emergency stop button is a red self-locking button. When pressed, it will immediately cut off the driving power of all the smart positioning terminals and trigger an emergency stop. It can only be released by manual reset after the fault is cleared. The mode switching knob is used to switch between central automatic mode, single-terminal manual mode, and multi-terminal group manual mode.

8. A method for assembling and positioning steel structure components, applied to the steel structure component assembly and positioning device as described in claim 1, characterized in that, Includes the following steps: Multiple intelligent positioning terminals are arranged on the rigid base frame; Control each of the three-dimensional motion platforms to clamp specific parts of the steel structure component; The attitude sensing module measures the three-dimensional coordinates and normal vector attitude of the clamped part of the steel structure component in real time. The central control unit receives the actual pose data of the steel structure components and calculates the overall deviation between the actual pose data and the pre-stored target pose data. The required three-dimensional adjustment amount for each of the aforementioned smart positioning terminals is calculated based on the inverse kinematics model. Generate coordinated adjustment instructions and distribute them to each of the terminal controllers; Each of the terminal controllers drives the corresponding three-dimensional motion platform to move synchronously in order to correct the pose deviation.

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