Projection positioning tool for assembling MiC unit carried by child-mother vehicle

Abstract

The utility model relates to the technical field of modular integrated buildings, in particular to a projection positioning tool for assembling MiC units carried by a child-mother vehicle. The positioning tool comprises a child-mother vehicle device and a projection positioning device for MiC unit assembling, and the projection positioning device for MiC unit assembling is rotationally installed at the lower end of the child-mother vehicle device. The projection positioning device for MiC unit assembling comprises a telescopic arm mechanism and a projection and camera integrated machine assembly, the telescopic arm mechanism is rotationally installed at the lower end of the child-mother vehicle mechanism with the telescopic arm mechanism as a rotating shaft, and the integrated machine assembly is rotationally installed at the lower end of the telescopic arm mechanism. The comprehensive machine assembly is directly installed at the lower end of the telescopic arm mechanism, rotary installation is achieved, and the tool can quickly respond to changes of assembly requirements and adjust the projection position and angle in time. By means of the design, the links of manual intervention are reduced, the possibility of manual operation errors is reduced, and therefore the error rate is effectively controlled, and high-quality completion of assembling work is guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of modular integrated buildings, in particular to a projection positioning tool for assembling MiC units carried by a mother-and-child vehicle. Background Art

[0002] In the current construction industry, especially in the field of modular integrated construction (MiC), with the increasing requirements for construction efficiency and accuracy, traditional manual measurement and positioning methods can no longer meet the needs of efficient and accurate assembly. As an advanced construction production method, MiC emphasizes the rapid assembly of prefabricated components on site, which requires a high degree of positioning accuracy and construction efficiency during the assembly process. However, traditional assembly auxiliary tools often have single functions and poor flexibility, and cannot fully adapt to the complex and changeable environmental conditions of MiC construction sites, resulting in low assembly efficiency and high error rates.

[0003] Moreover, as building designs become increasingly complex and diverse, the requirements for assembly positioning technology are also increasing. Traditional two-dimensional positioning systems gradually expose their limitations when facing MiC projects with height variations and multi-level structures, especially during continuous assembly, when components need to be stacked in layers or installed on surfaces with non-standard heights. The fixed projection height and limited range of motion become bottlenecks that restrict assembly accuracy and efficiency. Utility Model Content

[0004] 1. Technical issues to be resolved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the utility model provides a projection positioning tool for assembling a MiC unit carried by a mother-and-child vehicle, which solves the technical problems of insufficient assembly positioning accuracy, low assembly efficiency and poor adaptability of the MiC unit.

[0006] (II) Technical solution

[0007] In order to achieve the above-mentioned purpose, the main technical solutions adopted by the utility model include:

[0008] A projection positioning tool for assembling a MiC unit carried by a parent-child vehicle. The positioning tool comprises a parent-child vehicle device and a projection positioning device for assembling the MiC unit. The projection positioning device for assembling the MiC unit is rotatably mounted at the lower end of the parent-child vehicle device using itself as a rotation axis.

[0009] The parent-child vehicle device comprises a parent-child vehicle mechanism and a support frame. The parent-child vehicle mechanism is movably mounted on the support frame and can move longitudinally and transversely along the support frame.

[0010] The projection positioning device for assembling the MiC unit includes a telescopic arm mechanism and an integrated projection and camera machine assembly. The telescopic arm mechanism is rotatably mounted on the lower end of the mother-and-child vehicle mechanism with itself as the rotation axis. The machine assembly is mounted on the lower end of the telescopic arm mechanism. The transverse center axis of the machine assembly is perpendicular to the longitudinal center axis of the telescopic arm mechanism. The machine assembly rotates circumferentially around its own transverse center axis.

[0011] Optionally, the telescopic arm mechanism is a three-stage telescopic mechanism, including a first telescopic arm, a second telescopic arm, a third telescopic arm, a screw motor, and a ball screw spline assembly that is respectively rotatably connected to the first telescopic arm, the second telescopic arm, and the third telescopic arm to form a transmission system.

[0012] The telescopic arm mechanism may also be in the form of a telescopic cylinder, as long as the telescopic arm mechanism can be telescoped along the Z axis.

[0013] The second telescopic arm and the third telescopic arm are sleeved in sequence inside the first telescopic arm.

[0014] The ball screw spline assembly passes through the third telescopic arm, the second telescopic arm and the first telescopic arm in sequence and is drivingly connected to the screw motor located on the parent-child vehicle mechanism.

[0015] Optionally, the telescopic arm mechanism further includes a rotating assembly and a second gear.

[0016] The rotating assembly includes a rotating connecting plate, a first gear and a fixed connecting plate. The rotating connecting plate is connected to the inner end of the first gear and can rotate synchronously with the first gear. The upper part of the rotating connecting plate is also rotationally connected to the mother-and-child vehicle mechanism.

[0017] The second gear serves as a driving wheel and is meshedly connected with the first gear.

[0018] The fixed connecting plate is detachably connected to the bottom of the first gear, and the fixed connecting plate is detachably connected to a flange arranged at the upper end of the first telescopic arm.

[0019] Optionally, the ball screw spline assembly includes a ball screw spline shaft and a ball screw spline sleeve, and the ball screw spline sleeve is rotatably mounted on the ball screw spline shaft.

[0020] The ball screw spline shaft passes through the third telescopic arm, the second telescopic arm, the first telescopic arm and the rotating component in sequence and is rotatably connected with the spline motor.

[0021] The ball screw spline shaft is rotationally connected to the first telescopic arm, and the ball screw spline shaft is transmission connected to the second telescopic arm.

[0022] The ball screw spline sleeve is rotationally connected to the second telescopic arm, and the ball screw spline sleeve is transmission connected to the third telescopic arm.

[0023] The transmission connection refers to moving up and down along the axis direction, so as to realize the telescopic arm mechanism to extend and retract along the Z axis. For example, the second telescopic arm and the third telescopic arm can move up and down along the axis direction of the ball screw spline shaft.

[0024] Optionally, a first concave frame is provided in the middle of the top end of the third telescopic arm, and the first concave frame is connected to the outer surface of the ball screw spline sleeve through a spiral structure (thread) to ensure that the first concave frame drives the third telescopic arm to transmit in the vertical direction.

[0025] Optionally, a second concave frame is provided in the middle of the top end of the second telescopic arm, and the interior of the second concave frame is threadedly connected to the ball screw spline shaft, and the second concave frame drives the second telescopic arm to move along the vertical direction (the axial direction of the ball screw spline shaft) by rotating the ball screw spline shaft;

[0026] An annular clearance groove is arranged outside the second concave frame, and an annular ring is arranged at the upper end of the inner part of the ball screw spline sleeve. The annular ring is installed in the annular clearance groove accordingly, so that the ball screw spline sleeve can rotate along its own axial direction, and the ball screw spline sleeve can rise and fall synchronously with the second telescopic arm.

[0027] Optionally, the first telescopic arm and the second telescopic arm are cavity structures with an open lower end, the third telescopic arm is a closed cavity structure, and the lower end of the third telescopic arm is detachably connected to the integrated machine assembly.

[0028] Optionally, the integrated machine assembly includes a motor housing, a rotating motor and a 3D structured light system integrated machine, the motor housing is detachably connected to the third telescopic arm, the rotating motor is laterally arranged in the motor housing, and the output shaft of the rotating motor is rotatably connected to the 3D structured light system integrated machine.

[0029] Optionally, the 3D structured light system integrated machine includes a projector and an industrial camera, the industrial camera is located on the top of the projector, and the projector is rotationally connected to the output shaft of the rotating motor.

[0030] Optionally, a mother vehicle running track extending in the Y-axis direction is arranged at the top of the support frame, the mother vehicle of the mother-child vehicle mechanism is movably connected to the mother vehicle running track along the Y-axis direction, and a child vehicle running track extending in the X-axis direction is arranged at the upper end of the mother vehicle, and the child vehicle is rollingly connected to the child vehicle running track.

[0031] A rotating plate mounting seat is arranged at the bottom end of the sub-trolley, and a rotating connecting plate is rotatably connected in the rotating plate mounting seat.

[0032] (III) Beneficial effects

[0033] The beneficial effect of the utility model is: a projection positioning tool for MiC unit assembly carried by a mother-and-child vehicle, which overcomes the limitations of traditional two-dimensional positioning systems in the assembly of complex multi-layer structures by integrating 3D spatial positioning capabilities. The flexible movement range of the projection positioning device for MiC unit assembly covers the three axes of X, Y, and Z, ensuring accurate projection positioning at different heights and complex structures, greatly reducing rework caused by positioning errors, and improving construction accuracy and efficiency.

[0034] The design of the mother-and-child carriage device enables the projection positioning device for MiC unit assembly to move freely in the length and width directions along the support frame. Combined with the multi-level adjustment of the telescopic arm mechanism, the positioning adjustment in both horizontal and vertical directions becomes more flexible and convenient. This not only adapts to the complex and changeable environment of the MiC construction site, but also greatly improves the versatility and flexibility of assembly auxiliary tools.

[0035] By directly installing the integrated machine components at the lower end of the telescopic arm mechanism and realizing rotational installation, the tooling can quickly respond to changes in assembly requirements and adjust the projection position and angle in real time. This design reduces the number of manual interventions and the possibility of human error, thereby effectively controlling the error rate and ensuring high-quality completion of assembly work. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0037] Figure 2 It is a cross-sectional view of the telescopic arm mechanism;

[0038] Figure 3 for Figure 2 Partial magnified image;

[0039] Figure 4 It is a schematic diagram of the connection structure of the projection positioning device for assembling the mother-and-child vehicle device and the MiC unit;

[0040] Figure 5 for Figure 4 Enlarged view of point A in the middle;

[0041] Figure 6 It is a schematic diagram of the telescopic arm mechanism structure and the integrated machine component connection structure;

[0042] Figure 7 It is a cross-sectional view of the integrated machine assembly;

[0043] [Description of Reference Numerals]

[0044] 1: Machining device; 2: Projection positioning device for MiC unit assembly; 3: Telescopic arm mechanism; 4: Integrated machine assembly; 5: Rotating plate mounting seat; 6: Second gear;

[0045] 11: parent-child carriage mechanism; 12: support frame;

[0046] 111: mother vehicle; 112: sub-vehicle running track; 113: sub-vehicle; 121: mother vehicle running track;

[0047] 31: first telescopic arm; 32: second telescopic arm; 33: third telescopic arm; 34: ball screw spline assembly; 35: rotating assembly;

[0048] 321: second inner concave frame; 322: annular relief groove;

[0049] 331: First concave frame;

[0050] 341: ball screw spline shaft; 342: ball screw spline sleeve;

[0051] 351: rotating connecting plate; 352: first gear; 353: fixed connecting plate;

[0052] 41: Motor housing; 42: Rotating motor; 43: 3D structured light system integrated machine; 44: Bearing; 45: Reducer;

[0053] 431: Projector; 432: Industrial camera. DETAILED DESCRIPTION

[0054] In order to better explain the utility model and facilitate understanding, the utility model is described in detail below with reference to the accompanying drawings and through specific implementation methods. Figure 1 The orientation is taken as reference, Figure 1 The mother vehicle running track 121 in the length direction of the middle support frame 12 is the Y axis, the width direction of the support frame 12 is the X axis, and the telescopic direction of the telescopic arm mechanism 3 is the Z axis.

[0055] A projection positioning tool for MiC unit assembly carried by a mother-and-child vehicle device 1 improves the accuracy and efficiency of modular integrated building (MiC) assembly and solves the problems of inaccurate positioning and low efficiency in traditional assembly. The tool innovatively integrates a mother-and-child vehicle platform and a multi-stage telescopic arm projection positioning system to ensure fast and accurate assembly guidance in complex three-dimensional space.

[0056] The tooling is based on the parent-child car mechanism 111 and is equipped with a projection positioning device dedicated to the assembly of the MiC unit. The projection positioning device achieves flexible spatial adjustment through a multi-stage telescopic arm structure. The telescopic arms include the first to third telescopic arms. The ball screw spline assembly 34 is precisely matched with the ball screw to achieve smooth telescopic and precise transmission of the telescopic arms. Among them, the design of the ball screw spline shaft 341 and the ball screw spline sleeve 342 not only supports axial up and down movement, but also allows the spline sleeve to rotate around its own axis, increasing the flexibility of movement.

[0057] Through the nested design of the first to third telescopic arms, combined with the ball screw spline assembly 34, multi-stage, fast and precise telescopic extension of the telescopic arms is achieved to meet the assembly requirements of different heights and positions of the MiC unit.

[0058] The integrated machine component 4 integrates a 3D structured light system integrated machine 43, which is driven by a rotating motor 42 and can accurately position in a complex three-dimensional space, significantly improving assembly accuracy.

[0059] The parent-child carriage mechanism 111 can move freely along the X and Y axes on the support frame 12, and cooperate with the Z-axis adjustment of the telescopic arm to cover the full range of working areas, greatly enhancing the flexibility and adaptability of the assembly operation.

[0060] Through the design of the ball screw spline shaft 341 and the ball screw spline sleeve 342, combined with the rotating component 35 and the gear transmission, efficient power transmission and precise position control are achieved, especially the threaded connection between the third telescopic arm 33 and the spline sleeve, which is telescoped by means of a screw, ensuring high-speed and stable telescopic movement.

[0061] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0062] Embodiment 1:

[0063] Reference Figure 1 A projection positioning tool for assembling MiC units carried by a mother-and-child vehicle. The positioning tool comprises a mother-and-child vehicle device 1 and a projection positioning device 2 for assembling MiC units. The projection positioning device 2 for assembling MiC units is rotatably installed at the lower end of the mother-and-child vehicle device 1 with itself as a rotation axis.

[0064] The parent-child carriage device 1 comprises a parent-child carriage mechanism 11 and a support frame 12 . The parent-child carriage mechanism 11 is movably mounted on the support frame 12 and can move longitudinally and transversely along the support frame 12 .

[0065] The projection positioning device 2 for assembling the MiC unit includes a telescopic arm mechanism 3 and an integrated projection and camera complex machine assembly 4. The telescopic arm mechanism 3 is rotatably installed on the lower end of the mother-and-child vehicle mechanism 11 with itself as the rotation axis, and the complex machine assembly 4 is rotatably installed on the lower end of the telescopic arm mechanism 3 around a direction at right angles to the longitudinal axis of the telescopic arm mechanism 3.

[0066] The tooling realizes high-precision projection positioning in three-dimensional space through the integrated MiC unit assembly projection positioning device 2, which significantly improves the accuracy of assembly, especially in complex and multi-story modular integrated building structures, and can effectively reduce assembly errors and improve building quality and construction efficiency.

[0067] The parent-child vehicle mechanism 11 of the parent-child vehicle device 1 can move freely in the longitudinal and transverse directions on the support frame 12. Combined with the multi-level adjustment of the telescopic arm mechanism 3, the tooling can cover a wide range of working areas, and can perform precise operations in both height and plane position, thereby enhancing the flexibility and adaptability of assembly operations.

[0068] By integrating the 3D structured light system in the integrated machine component 4 with the projector 431, accurate assembly guidance information is provided in real time, which reduces the manual measurement and calibration time in traditional assembly, speeds up assembly, and improves overall construction efficiency.

[0069] The application of the ball screw spline assembly 34, combined with the rotating assembly 35 and the gear transmission system, realizes the smooth extension and precise rotation of the telescopic arm, reduces friction and wear during movement, extends the service life of the equipment, and improves transmission efficiency and stability.

[0070] Reference Figure 2 and Figure 3 The telescopic arm mechanism 3 is a three-stage telescopic mechanism, including a first telescopic arm 31, a second telescopic arm 32, a third telescopic arm 33, a screw motor, and a ball screw spline assembly 34 that is rotatably connected to the first telescopic arm 31, the second telescopic arm 32, and the third telescopic arm 33 to form a transmission system. The first telescopic arm 31 is sleeved with the second telescopic arm 32 and the third telescopic arm 33 in sequence. The ball screw spline assembly 34 passes through the third telescopic arm 33, the second telescopic arm 32, and the first telescopic arm 31 in sequence and is connected to the screw motor on the parent-child vehicle mechanism 11.

[0071] The three-stage telescopic mechanism (including the first, second and third telescopic arms) design provides high flexibility and adjustment accuracy. Through the precise control of the screw motor, the telescopic arm can achieve micron-level telescopic adjustment, which is crucial for the high-precision assembly of the MiC unit, ensuring that the required assembly position can be achieved at different heights and depths.

[0072] The ball screw spline assembly 34 is the core transmission component. Its unique design not only realizes the efficient conversion between linear motion and rotational motion, but also greatly reduces friction and improves transmission efficiency through the circular rolling of the balls. This design makes the movement of the telescopic arm smoother and more stable, reduces vibration and noise, and prolongs its service life.

[0073] The structural design of the first telescopic arm 31 in which the second and third telescopic arms are sequentially connected enables the entire telescopic arm mechanism 3 to achieve a larger telescopic stroke without increasing the external dimensions, thereby optimizing space occupancy, which is particularly important for an assembly environment with limited space.

[0074] The segmented design of the telescopic arm and the use of the ball screw spline assembly 34 make the system have good modular characteristics, which is easy to install, disassemble and maintain. Once a component is damaged or needs to be upgraded, it can be quickly replaced, reducing downtime and maintenance costs.

[0075] The ball screw spline assembly 34 can withstand large axial loads and torques due to its high strength and high rigidity, so that the telescopic arm can still maintain sufficient stability when extended to the maximum length.

[0076] Reference Figure 4 and Figure 5 The telescopic arm mechanism 3 also includes a rotating component 35 and a second gear 6.

[0077] The rotating assembly 35 includes a rotating connecting plate 351, a first gear 352 and a fixed connecting plate 353. The rotating connecting plate 351 is connected to the inner end of the first gear 352 and can rotate synchronously with the first gear 352. The upper part of the rotating connecting plate 351 is also rotatably connected to the parent-child vehicle mechanism 11. The second gear 6 is meshed and connected with the first gear 352 as a driving wheel. The fixed connecting plate 353 is detachably connected to the bottom of the first gear 352, and the fixed connecting plate 353 is detachably connected to the flange set at the upper end of the first telescopic arm 31.

[0078] The design of the rotating assembly 35 enables the telescopic arm mechanism 3 to not only realize linear telescopic motion, but also to rotate in the vertical direction, greatly expanding its motion dimension. This enables the MiC unit to more flexibly adjust the angle and direction of the assembly parts during assembly, adapting to more diverse assembly requirements and complex spatial layouts.

[0079] The synchronous rotation design of the rotating connecting plate 351 and the first gear 352 in the rotating assembly 35 ensures the precise controllability of the rotating motion. Through the meshing connection between the second gear 6 and the first gear 352, the rotating power can be accurately transmitted, which improves the synchronization of the motion and the positioning accuracy, and helps to improve the assembly accuracy. The second gear 6 is a driving wheel, and a motor is installed on the mother-and-child car to drive the second gear 6.

[0080] The rotational connection between the rotating assembly 35 and the parent-child vehicle mechanism 11 not only ensures the smooth rotation, but also enhances the structural stability of the entire telescopic arm mechanism 3. This connection method can effectively disperse the force, reduce stress concentration, and ensure the reliability and durability of long-term operation.

[0081] Reference Figure 2 and Figure 3 The ball screw spline assembly 34 includes a ball screw spline shaft 341 and a ball screw spline sleeve 342 , and the ball screw spline sleeve 342 is rotatably mounted on the ball screw spline shaft 341 .

[0082] The ball screw spline shaft 341 passes through the third telescopic arm 33 , the second telescopic arm 32 , the first telescopic arm 31 and the rotating assembly 35 in sequence and is rotationally connected to the spline motor.

[0083] The ball screw spline shaft 341 is rotationally connected to the first telescopic arm 31 , and the ball screw spline shaft 341 is transmission-connected to the second telescopic arm 32 .

[0084] The ball screw spline sleeve 342 is rotationally connected to the second telescopic arm 32 , and the ball screw spline sleeve 342 is transmission-connected to the third telescopic arm 33 .

[0085] The design of the ball screw spline assembly 34 directly passing through each telescopic arm makes the entire telescopic mechanism more compact and reduces unnecessary space occupation. At the same time, the high strength characteristics of the ball screw ensure that the entire telescopic arm can still maintain good stability and rigidity when bearing a large load.

[0086] Reference Figure 2 and Figure 3 A first concave frame 331 is provided at the middle of the top end of the third telescopic arm 33, and the first concave frame 331 is connected to the outer surface of the ball screw spline sleeve 342 through a spiral structure to ensure that the first concave frame 331 drives the third telescopic arm 33 to transmit in the vertical direction.

[0087] Reference Figure 2 and Figure 3 , the spiral structure connection includes thread-to-thread connection.

[0088] An annular clearance groove 322 is arranged outside the second inner concave frame 321 , and an annular ring is arranged at the upper end of the inner part of the ball screw spline sleeve 342 , and the annular ring is correspondingly installed in the annular clearance groove 322 to enable the ball screw spline sleeve 342 to rotate along its own axial direction.

[0089] The present application realizes the telescopic arm's telescopic movement by cooperating with the ball screw spline and the ball screw. The ball screw spline shaft 341 has several parallel grooves along the axial direction, and a thread is arranged in the spiral direction. The ball screw spline sleeve 342 is lifted and lowered along the axial direction of the ball screw spline shaft 341 under the lifting and lowering action of the second inner concave frame 321 in the vertical direction.

[0090] While the ball screw spline sleeve 342 moves up and down along the axial groove, the ball screw spline sleeve 342 rotates along the thread. This is because the ball screw spline sleeve 342 is connected to the ball screw spline shaft 341 through a straight groove ball spline, and the rotation of the ball screw spline shaft 341 drives the ball screw spline sleeve 342 to rotate synchronously. At the same time, the ball screw spline sleeve 342 is connected to the second telescopic arm 32 through the annular clearance groove 322, and the ball screw spline sleeve 342 can rotate around the center of the annular clearance groove 322. At the same time, the ball screw spline shaft 341 is connected to the second telescopic arm 32 through a thread, and the rotation of the ball screw spline shaft 341 drives the second telescopic arm 32 to rise and fall. At the same time, under the action of the annular clearance groove 322, the ball screw spline sleeve 342 and the second telescopic arm 32 rise and fall synchronously, thereby realizing the up and down movement and rotation of the ball screw spline sleeve 342. The first telescopic arm 31 is rotatably connected to the ball screw spline shaft 341 through the bearing 44 or the ball screw spline shaft 341 passes through the first telescopic arm 31 and is connected to the screw motor.

[0091] A guide sleeve is provided between the third telescopic arm 33 , the second telescopic arm 32 and the first telescopic arm 31 , and the guide sleeve can limit the rotation of the third telescopic arm 33 , the second telescopic arm 32 and the first telescopic arm 31 so that the third telescopic arm 33 , the second telescopic arm 32 and the first telescopic arm 31 can be extended and retracted only in the vertical direction.

[0092] The inner end of the second concave frame 321 is connected to the threaded form on the ball screw spline shaft 341, and the ball screw spline shaft 341 is connected to the second concave frame 321 on the second telescopic arm 32 by threaded connection. The ball screw spline shaft 341 rotates to complete the screw movement of the second telescopic arm 32, so that the second concave frame 321 is transmitted vertically to achieve the telescopic function. Therefore, the rotation of the ball screw spline shaft 341 drives the second telescopic arm to rise and fall. At the same time, the second telescopic arm 32 is designed with an annular clearance groove 322, so that the relative positions of the second concave frame 321 and the ball screw spline sleeve 342 in the vertical direction are fixed to achieve synchronous lifting. Therefore, the second concave frame 321 drives the ball screw spline sleeve 342 to rise and fall synchronously. Therefore, the power for lifting and lowering the second telescopic arm 32 comes from the rotation of the ball screw spline shaft 341. The ball screw spline sleeve 342 and the ball screw spline shaft 341 are connected by a ball spline. The ball screw spline shaft 341 drives the ball screw spline sleeve 342 to rotate synchronously, and does not provide lifting and lowering power for the ball screw spline sleeve 342.

[0093] When the third telescopic arm 33 is connected to the ball screw spline sleeve 342 with threads on the outer surface, the ball screw spline sleeve 342 and the second telescopic arm 32 are relatively fixed in the vertical direction, realizing synchronous transmission up and down. At the same time, the ball screw spline sleeve 342 itself rotates, and the third telescopic arm 33 is axially transmitted on the rotating ball screw spline sleeve 342 with itself as the rotation axis, so the telescopic speed of the third telescopic arm 33 is greater than the telescopic speed of the second telescopic arm 32. Of course, the telescopic speed of the third telescopic arm 33 can also be ensured to be greater than the telescopic speed of the second telescopic arm 32 by controlling the thread pitch on the ball screw spline sleeve 342 to be greater than the thread pitch on the ball screw spline shaft 341. In this way, the telescopic speeds of the second telescopic arm 32 and the third telescopic arm 33 are realized at different speeds.

[0094] Preferably, a first concave frame 331 is provided in the middle part of the top end of the third telescopic arm 33 and is threadedly connected to the ball screw spline sleeve 342. The transmission mode is screw-type movement. The ball screw spline movement occurs between the ball screw spline sleeve 342 and the ball screw spline shaft 341. The second concave frame 321 is threadedly connected to the ball screw spline shaft 341, and the screw-type movement occurs.

[0095] In the above text, balls are arranged between the ball screw spline shaft 341 and the ball screw spline sleeve 342, but not between the ball screw spline shaft 341 and the second telescopic arm 32, because the ball screw spline shaft 341 has several parallel grooves in the axial direction, and the parallel grooves cooperate with the balls of the ball screw spline sleeve 342 to achieve lifting. If the ball screw spline shaft 341 is also provided with a threaded ball groove, the threaded ball groove and the second telescopic arm 32 realize the form of ball screw movement, so the balls of the ball screw spline sleeve 342 should go along the parallel groove route, but after the threaded ball groove is provided, the balls of the ball screw spline sleeve 342 may go to the threaded ball groove; similarly, the balls on the second telescopic arm 32 may also go to the parallel groove route, resulting in functional disorder.

[0096] The ball screw spline can achieve both linear motion and rotational motion, combining the functions and features of traditional splines and linear bearings in one component. The grooves on the ball screw spline are machined along the axial direction, similar to traditional splines, and the balls on the ball screw spline sleeve 342 roll in the grooves to achieve linear motion and synchronous rotation of the ball screw spline sleeve 342 with the ball screw spline shaft 341. At the same time, the ball screw spline shaft 341 is provided with threads to achieve the lifting and lowering of the second telescopic arm 32.

[0097] Of course, in addition to the above-mentioned ball screw spline and ball screw method, a telescopic cylinder or electric push rod telescopic method can also be used to complete multi-stage telescopic extension. The telescopic end of the telescopic cylinder or electric push rod is connected to the integrated machine component 4, and the fixed end is connected to the fixed connecting plate 353 through a flange.

[0098] The innovative design of the ball screw spline assembly 34 achieves high-precision transmission of both linear and rotary motion in a single assembly. The combination of the ball screw spline shaft 341 and the spline sleeve not only improves transmission efficiency, but also ensures smoothness and precision of motion, which is particularly critical for MiC unit assembly that requires precise position control.

[0099] The design of the first and second concave frames 321, especially the design of the second concave frame 321, not only realizes the effective connection and transmission between the telescopic arms, but also ensures the relative stability of each component during the telescopic arm extension and rotation process through the exquisite cooperation between the annular groove 322 and the annular ring, which not only cleverly solves the coordination problem of rotation and linear motion, but also optimizes space utilization, making the entire device more compact, and improving the stability of the entire system and its ability to adapt to complex motion requirements.

[0100] By precisely designing the thread pitch between the ball screw spline shaft 341 and the spline sleeve, the telescopic speeds of different telescopic arms can be flexibly controlled. For example, the third telescopic arm 33 has a faster telescopic speed than the second telescopic arm 32. This is extremely important in assembly operations that require quick response and precise adjustment, thereby improving work efficiency.

[0101] The annular clearance groove 322 of the second concave frame 321 and the annular ring design on the ball screw spline sleeve 342 not only cleverly solves the coordination problem between rotation and linear motion, but also optimizes space utilization, making the entire device more compact and facilitating the realization of complex motion requirements within a limited space.

[0102] By adjusting the thread spacing of the ball screw spline sleeve 342 between different telescopic arms, the telescopic speed of each part can be flexibly controlled. For example, the telescopic speed of the third telescopic arm 33 relative to the second telescopic arm 32 is adjustable.

[0103] Reference Figure 6 The first telescopic arm 31 and the second telescopic arm 32 are cavity structures with lower ends opened, and the third telescopic arm 33 is a closed cavity structure, and the lower end of the third telescopic arm 33 is detachably connected to the integrated machine assembly 4. The cavity structure allows the assembly of the ball screw spline assembly structure.

[0104] Reference Figure 7 The integrated machine assembly 4 includes a motor housing 41, a rotating motor 42 and a 3D structured light system integrated machine 43. The motor housing 41 is detachably connected to the third telescopic arm 33. The rotating motor 42 is laterally arranged in the motor housing 41. The output shaft of the rotating motor 42 is rotatably connected to the 3D structured light system integrated machine 43.

[0105] Reference Figure 6 and Figure 7 The 3D structured light system integrated machine 43 includes a projector 431 and an industrial camera 432 . The industrial camera 432 is located on the upper part of the projector 431 . The projector 431 is rotationally connected to the output shaft of the rotating motor 42 .

[0106] The integrated machine component 4 integrates the motor housing 41, the rotating motor 42 and the 3D structured light system integrated machine 43, which not only optimizes the spatial layout, but also simplifies the installation and maintenance process, and improves the compactness and integration of the overall system.

[0107] The motor housing 41 and the third telescopic arm 33 are connected in a detachable manner. This design facilitates the rapid replacement or maintenance of the motor housing 41 and internal components, reduces downtime, and improves the flexibility and reliability of the system.

[0108] The horizontal setting of the rotary motor 42 and the direct rotation connection with the 3D structured light system integrated machine 43 ensure high-precision dynamic positioning and guidance. When the rotary motor 42 is working, it can drive the 3D structured light system integrated machine 43 to rotate accurately, meet the assembly or detection requirements of different angles and directions, and improve the accuracy and efficiency of MiC unit assembly.

[0109] The 3D structured light system integrated machine 43 integrates the projector 431 and the industrial camera 432. This design can provide real-time three-dimensional spatial perception and visual feedback during the assembly process. The industrial camera 432 is located on the upper part of the projector 431. The two work together. Driven by the rotating motor 42, the positioning pattern can be accurately projected in space, and high-resolution images can be collected at the same time to perform high-precision dimensional measurement, positioning and quality inspection, which is crucial to ensure the accuracy and quality of MiC unit assembly.

[0110] Through this integrated and dynamically adjusted design, the integrated machine component 4 can provide dynamic, high-precision visual assistance during the assembly process, allowing the operator or automated system to adjust and verify the assembly status in real time, reducing human errors and improving assembly efficiency. It is especially suitable for complex, high-precision MiC unit assembly operations, and provides strong technical support for intelligent manufacturing and precision engineering applications.

[0111] Reference Figure 1 and Figure 4 A mother vehicle running track 112 extending in the Y-axis direction is arranged at the top of the support frame 12, and the mother vehicle 111 of the mother-child vehicle mechanism 11 is movably connected to the mother vehicle running track 112 along the Y-axis direction. A child vehicle running track 112 extending in the X-axis direction is arranged at the upper end of the mother vehicle 111, and the child vehicle 113 is rollingly connected to the child vehicle running track 112.

[0112] A rotating plate mounting seat 5 is disposed at the bottom end of the sub-trolley 113 , and a rotating connecting plate 351 is rotatably connected to the rotating plate mounting seat 5 .

[0113] The Y-axis running track set at the top of the support frame 12 cooperates with the mother car 111 of the mother-child car mechanism 11, so that the mother car 111 can move freely in the Y-axis direction, combined with the movement of the child car 113 in the X-axis direction, to achieve a wide coverage in the two-dimensional plane. This design greatly expands the operating range of the tooling, enabling it to adapt to more varied working environments and assembly requirements.

[0114] The rolling connection of the sub-carriage 113 along the X-axis direction not only ensures smooth movement, but also ensures precise positioning in the horizontal direction through precise track guidance, which is crucial for MiC units that require high-precision assembly and can effectively improve the accuracy and consistency of assembly.

[0115] The rotating plate mounting seat 5 and the rotating connecting plate 351 therein arranged at the bottom of the sub-carriage 113 enable the telescopic arm mechanism 3 installed on the sub-carriage 113 to flexibly adjust the angle to meet the assembly requirements of different angles and directions. This design improves the flexibility of assembly operations, especially in scenarios where space is limited or multi-angle operations are required, and can significantly improve work efficiency and assembly quality.

[0116] Through the linkage mechanism of the parent-child carriage 111, the tooling can be quickly adjusted to any predetermined position, achieving rapid response and job conversion, reducing unnecessary equipment movement and rearrangement time, and improving the overall continuity and production efficiency of the operation. At the same time, this design enhances the adaptability of the equipment to different assembly tasks, and can flexibly respond to both straight-line paths and assembly operations that require multi-directional positioning.

[0117] The track design ensures the smooth operation of the parent-child vehicle 111, reduces vibration, and improves the precision and stability of assembly. At the same time, through the simple track connection and the setting of the rotating plate mounting seat 5, the installation, adjustment and maintenance operations of the entire system become relatively simple, which is conducive to reducing the complexity of operation.

[0118] Through the integrated 3D structured light system integrated machine 43 (including projector 431 and industrial camera 432), accurate spatial positioning and measurement can be achieved, and high assembly precision can be ensured even in complex multi-layer MiC structures, reducing rework caused by inaccurate positioning and improving building quality.

[0119] The combination of the parent-child carriage mechanism 11 and the support frame 12 enables the tooling to move freely on the X and Y axes. Combined with the multi-level adjustment of the telescopic arm mechanism 3, flexible adjustment in the Z-axis direction is achieved, covering the full range of space required for MiC assembly, thereby improving the flexibility and adaptability of the operation.

[0120] The combination of the ball screw and the ball spline (i.e., "ball screw spline" or "linear-rotation integrated composite ball spline" or "rotational ball spline"), and the application of the ball screw spline assembly 34 in the multi-stage telescopic arm, not only reduces the friction during the transmission process, but also realizes the rapid and smooth extension and retraction of the telescopic arm, thereby greatly improving the work efficiency.

[0121] The precise matching of the rotating assembly 35 , the second gear 6 , the ball screw spline shaft 341 and the ball screw spline sleeve 342 ensures the stability of the transmission.

[0122] The use of MiC assembly projection positioning device not only innovates the assembly process of modular integrated buildings (MiC), but also further optimizes construction efficiency and quality control.

[0123] First, greatly improve assembly accuracy and efficiency: By directly projecting the key installation lines and points of the design drawings onto the actual floor, the errors caused by traditional manual measurement and line drawing are eliminated, greatly improving positioning accuracy. This automated process significantly speeds up construction preparation, reduces the time and error rate of manual intervention, and makes the installation of MiC cabinets faster and more accurate.

[0124] Second, enhance environmental adaptability and flexibility: The MiC assembly projection positioning device with a visual recognition and positioning system can automatically adapt to different construction site conditions, identify basic data and perform real-time calibration to ensure that the projection information perfectly matches the actual environment. This feature enables the device to work stably in complex and changing construction environments and maintain a high level of assembly guidance effects.

[0125] Third, simplify the construction process and lower the technical threshold: In traditional construction, professional technicians need to manually mark the installation points according to the drawings. The application of MiC assembly projection positioning device automates this process, reduces the requirements for workers' professional skills, and enables more non-professionals to complete high-quality assembly work under guidance, simplifying the construction process and improving the feasibility of the project.

[0126] Fourth, promote the integration of construction standardization and informatization: The 3D visual system of the device can intelligently identify the construction plane and automatically adjust according to the preset parameters, ensuring that the construction process strictly follows the design standards and promotes the standardization of construction. At the same time, the deep integration with information technology provides the possibility of real-time monitoring and data analysis for construction management, laying the foundation for the digital transformation of project management.

[0127] Fifth, improve construction site safety and reduce costs: Automated line drawing reduces the number of on-site workers and their working time in dangerous areas, indirectly improving the safety of the construction site. In addition, by reducing errors and duplication of work, and shortening the construction cycle, the device helps to reduce overall construction costs and improve the economic benefits of the project.

[0128] In summary, the present application adopts the ingenious design of the multi-stage telescopic arm mechanism 3 and the rotating assembly 35, and the device can achieve free movement and precise adjustment in the three dimensions of X, Y, and Z, which is particularly suitable for MiC projects with height changes and multi-level structures. The multi-stage design of the telescopic arm, combined with the screw motor or telescopic cylinder, ensures that the installation of components on non-standard height surfaces can also achieve extremely high positioning accuracy.

[0129] The double-layer mobile structure of the mother-and-child carriage 111 not only moves along the X and Y axes of the support frame 12, but the rotating plate mounting seat 5 on the child carriage 113 further enhances the flexibility of the device in space, allowing the projection positioning device to cover a wider working range and adapt to various complex assembly scenarios. This design greatly improves the on-site adaptability of the device, and it can easily cope with even small or irregular spaces.

[0130] The integrated machine component 4 integrates the 3D structured light system and the projector 431, and with the help of the industrial camera 432, it can not only perform high-precision visual recognition and environmental scanning, but also correct the projection position and angle in real time to ensure that the projection information perfectly matches the on-site environment. This integrated design simplifies the assembly process, reduces the reliance on traditional manual calibration, and improves the overall intelligent level of assembly. Of course, the projector 431 and the industrial camera 432 can also rotate relative to each other to increase the corresponding working surface.

[0131] The device significantly reduces the manual operations of on-site workers at high altitudes or in dangerous areas through automated and intelligent positioning methods. It not only improves construction safety, but also effectively shortens the construction period and reduces project costs by reducing human errors and improving assembly efficiency.

[0132] In the description of the present utility model, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0133] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0134] In the present utility model, unless otherwise clearly specified and limited, when a first feature is “on” or “below” a second feature, it may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above”, “above” or “above” a second feature, it may be that the first feature is directly above or obliquely above the second feature, or it may simply mean that the first feature is higher in level than the second feature. When a first feature is “below”, “below” or “below” a second feature, it may be that the first feature is directly below or obliquely below the second feature, or it may simply mean that the first feature is lower in level than the second feature.

[0135] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0136] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A projection positioning tool for assembling MiC units carried by a mother-and-child vehicle, characterized in that: The positioning tool comprises a parent-child vehicle device (1) and a projection positioning device (2) for assembling the MiC unit, wherein the projection positioning device (2) for assembling the MiC unit is rotatably mounted on the lower end of the parent-child vehicle device (1) with itself as a rotation axis; The parent-child vehicle device (1) comprises a parent-child vehicle mechanism (11) and a support frame (12); the parent-child vehicle mechanism (11) is movably mounted on the support frame (12) and can move longitudinally and transversely along the support frame (12); The projection positioning device (2) for assembling the MiC unit comprises a telescopic arm mechanism (3) and an integrated projection and camera machine component (4); the telescopic arm mechanism (3) is rotatably mounted on the lower end of the mother-and-child vehicle mechanism (11) with itself as the rotation axis; the integrated machine component (4) is mounted on the lower end of the telescopic arm mechanism (3); the transverse center axis of the integrated machine component (4) is perpendicular to the longitudinal center axis of the telescopic arm mechanism (3); and the integrated machine component (4) rotates circumferentially around its own transverse center axis.

2. The projection positioning tool for MiC unit assembly according to claim 1, characterized in that: The telescopic arm mechanism (3) is a telescopic oil cylinder, an electric push rod or a three-stage telescopic mechanism, and the three-stage telescopic mechanism comprises a first telescopic arm (31), a second telescopic arm (32), a third telescopic arm (33), a screw motor, and a ball screw spline assembly (34) which is rotatably connected to the first telescopic arm (31), the second telescopic arm (32), and the third telescopic arm (33) to form a transmission system; The first telescopic arm (31) is sleeved with the second telescopic arm (32) and the third telescopic arm (33) in sequence; The ball screw spline assembly (34) passes through the third telescopic arm (33), the second telescopic arm (32) and the first telescopic arm (31) in sequence and is then drivingly connected to a screw motor located on the parent-child carriage mechanism (11).

3. The projection positioning tool for MiC unit assembly according to claim 2, characterized in that: The telescopic arm mechanism (3) further comprises a rotating assembly (35) and a second gear (6); The rotating assembly (35) comprises a rotating connecting plate (351), a first gear (352) and a fixed connecting plate (353); the rotating connecting plate (351) is connected to the inner end of the first gear (352) and can rotate synchronously with the first gear (352); and the upper part of the rotating connecting plate (351) is also rotationally connected to the parent-child vehicle mechanism (11); The second gear (6) serves as a driving wheel and is meshedly connected with the first gear (352); The fixed connection plate (353) is detachably connected to the bottom of the first gear (352), and the fixed connection plate (353) is detachably connected to a flange provided at the upper end of the first telescopic arm (31).

4. The projection positioning tool for MiC unit assembly according to claim 3, characterized in that: The ball screw spline assembly (34) comprises a ball screw spline shaft (341) and a ball screw spline sleeve (342), wherein the ball screw spline sleeve (342) is rotatably mounted on the ball screw spline shaft (341); The ball screw spline shaft (341) passes through the third telescopic arm (33), the second telescopic arm (32), the first telescopic arm (31) and the rotating assembly (35) in sequence and is rotatably connected to the spline motor; The ball screw spline shaft (341) is rotationally connected to the first telescopic arm (31), and the ball screw spline shaft (341) is transmission-connected to the second telescopic arm (32); The ball screw spline sleeve (342) is rotationally connected to the second telescopic arm (32), and the ball screw spline sleeve (342) is transmission-connected to the third telescopic arm (33).

5. The projection positioning tool for MiC unit assembly according to claim 4, characterized in that: A first concave frame (331) is provided in the middle of the top end of the third telescopic arm (33), and the first concave frame (331) is connected to the outer surface of the ball screw spline sleeve (342) through a thread, so as to ensure that the first concave frame (331) drives the third telescopic arm (33) to transmit in the vertical direction.

6. The projection positioning tool for MiC unit assembly according to claim 5, characterized in that: A second concave frame (321) is provided at the middle of the top end of the second telescopic arm (32); the interior of the second concave frame (321) is threadedly connected to the ball screw spline shaft (341); the second concave frame (321) drives the second telescopic arm (32) to move vertically by rotating the ball screw spline shaft (341); An annular clearance groove (322) is arranged outside the second concave frame (321), and an annular ring is arranged at the upper end of the interior of the ball screw spline sleeve (342). The annular ring is correspondingly installed in the annular clearance groove (322), so that the ball screw spline sleeve (342) can rotate along its own axis and the ball screw spline sleeve (342) and the second telescopic arm (32) can be lifted and lowered synchronously.

7. The projection positioning tool for MiC unit assembly according to claim 2, characterized in that: The first telescopic arm (31) and the second telescopic arm (32) are cavity structures with an open lower end, and the third telescopic arm (33) is a closed cavity structure. The lower end of the third telescopic arm (33) is detachably connected to the integrated machine assembly (4).

8. The projection positioning tool for MiC unit assembly according to claim 7, characterized in that: The integrated machine component (4) includes a motor housing (41), a rotating motor (42) and a 3D structured light system integrated machine (43); the motor housing (41) is detachably connected to the third telescopic arm (33); the rotating motor (42) is horizontally arranged in the motor housing (41); and the output shaft of the rotating motor (42) is rotationally connected to the 3D structured light system integrated machine (43).

9. The projection positioning tool for MiC unit assembly according to claim 8, characterized in that: The 3D structured light system integrated machine (43) includes a projector (431) and an industrial camera (432), wherein the industrial camera (432) is located on the upper part of the projector (431), and the projector (431) is rotationally connected to the output shaft of the rotating motor (42).

10. The projection positioning tool for MiC unit assembly according to claim 3, characterized in that: A mother vehicle running track (121) extending in the Y-axis direction is arranged at the top of the support frame (12); a mother vehicle (111) of the mother-child vehicle mechanism (11) is movably connected to the mother vehicle running track (121) along the Y-axis direction; a child vehicle running track (112) extending in the X-axis direction is arranged at the upper end of the mother vehicle (111); and a child vehicle (113) is rollingly connected to the child vehicle running track (112); A rotating plate mounting seat (5) is provided at the bottom end of the sub-trolley (113), and the rotating connecting plate (351) is rotatably connected to the rotating plate mounting seat (5).

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