Steel structure floor support plate paving equipment

Abstract

The utility model relates to the technical field of building construction, and provides steel structure floor bearing plate paving equipment which comprises an embedded part, a rail assembly, a six-axis mechanical arm, an automatic quick change mechanism, a stud welding machine and a spot welding machine. The rail assembly comprises a transverse rail and a longitudinal rail; the embedded part is embedded in the concrete column; the embedded part supports the transverse track; a six-axis mechanical arm, an automatic quick-change mechanism, a stud welding machine and a spot welding machine are borne on the longitudinal track; the automatic quick-change mechanism comprises a support, at least three automatic quick-change discs arranged on the support, a clamping device connected with the automatic quick-change discs, a stud welding gun and a spot welding gun head. The six-axis mechanical arm is installed on the longitudinal rail in a sliding mode, and the tail end of a mechanical hand of the six-axis mechanical arm is connected with the automatic quick-change disc. The six-axis mechanical arm is matched with the clamping device, the stud welding gun and the spot welding gun head in a rail movement mode to achieve on-site paving of the floor support plate, and the problems that existing high-altitude paving of the floor support plate is manual paving, and the efficiency and the automation degree are low are solved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of building construction, concretely relates to a steel structure floor support plate laying equipment. BACKGROUND

[0002] The laying of floor support plate is an important link in building construction, and the existing construction method is through mechanical hoisting, manual laying, manual spot welding fixation and manual use of bolt nail welding gun to fix the profiled steel plate to the steel beam. The laying of floor support plate excessively relies on manual work, has low mechanization degree, has prominent safety hazards in high-altitude operation and low efficiency. CONTENT OF THE UTILITY MODEL

[0003] In view of the problems in the prior art, the steel structure floor support plate laying equipment is provided to solve the problems that the laying of existing floor support plate excessively relies on manual work, quality is not controlled and efficiency is low.

[0004] The utility model provides a kind of steel structure floor support plate laying equipment, comprising: embedded part, track assembly, six-axis mechanical arm, automatic quick-change mechanism, bolt nail welder, spot welder;The track assembly includes two transverse tracks and two longitudinal tracks oppositely arranged in pairs;Multiple embedded parts are embedded in the side wall of multiple concrete columns along the length direction of the transverse track in sequence;The embedded part supports the transverse track, and the transverse track is slidably connected with the embedded part along its length direction;The longitudinal track is connected with the transverse track, and the longitudinal track carries the six-axis mechanical arm, automatic quick-change mechanism, bolt nail welder and spot welder;The automatic quick-change mechanism includes support, at least three automatic quick-change discs, clamping device, bolt nail welding gun and spot welding gun head;The support is connected with the longitudinal track;At least three automatic quick-change discs are provided on the support, and at least three automatic quick-change discs are respectively connected with the clamping device, the bolt nail welding gun and the spot welding gun head;The six-axis mechanical arm is slidably installed on the longitudinal track, and the mechanical hand end of the six-axis mechanical arm is connected with the automatic quick-change disc.

[0005] Further, a walking mechanism is arranged on the six-axis mechanical arm, and the walking mechanism is installed on the longitudinal track and walks along the length direction of the longitudinal track.

[0006] Further, the walking mechanism includes a fixed track, a limiting rack, a gear and a driving motor;The side end of the longitudinal track is provided with parallel fixed track and limiting rack;The six-axis mechanical arm is slidably connected with the fixed track, and the driving motor is arranged on the six-axis mechanical arm, the output shaft of the driving motor is connected with the gear, and the gear is engaged with the limiting rack.

[0007] Further, the support is supported and connected between two longitudinal tracks.

[0008] Further, a rod is connected between the two longitudinal rails.

[0009] Further, the embedded part comprises a steel plate, a T-shaped rail slot and a steel bar connected between the steel plate and the T-shaped rail slot; the steel plate and the steel bar are embedded in the concrete column; the T-shaped rail slot is horizontally arranged, and the transverse rail is horizontally arranged with a part penetrating through the T-shaped rail slot.

[0010] Further, the transverse rail comprises an I-shaped rail; one flange plate of the I-shaped rail penetrates through the T-shaped rail slot.

[0011] The beneficial effects of the present application are as follows: the embedded part is arranged on the side wall of the concrete column, the embedded part supports the rail assembly, the six-axis mechanical arm and the automatic quick-change mechanism are installed on the rail assembly, the six-axis mechanical arm moves along the longitudinal rail, the longitudinal rail moves along the transverse rail, the position of the six-axis mechanical arm is adjusted flexibly, the six-axis mechanical arm cooperates with different automatic quick-change discs to clamp the floor support plate, the floor support plate is laid, manual hoisting and laying are reduced, the automatic quick-change disc connected with the stud welding gun and the spot welding gun head is switched to, the spot welding and fixing and the stud welding processes of the floor support plate are completed, the six-axis mechanical arm can quickly replace different types of end tools, one machine is used for multiple purposes, the operation flexibility of the six-axis mechanical arm is improved, one six-axis mechanical arm can complete all operations, i.e. laying, spot welding and stud welding processes, and the work efficiency is greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 It is a structural schematic view of the steel structure floor support plate laying equipment of the present application;

[0013] Figure 2 It is a structural schematic view of the embedded part of the present application;

[0014] Figure 3 It is a structural schematic view of the six-axis mechanical arm cooperating with the walking mechanism of the present application;

[0015] Figure 4 It is a structural schematic view of the automatic quick-change mechanism of the present application.

[0016] In the figure, 1 is a concrete column; 2 is an embedded part; 3 is an I-shaped rail; 4 is a rectangular rail; 41 is a fixed rail; 42 is a limiting rack; 5 is a six-axis mechanical arm; 6 is an automatic quick-change mechanism; 61 is an automatic quick-change disc; 62 is a clamping device; 63 is a stud welding gun; 64 is a spot welding gun head; 71 is a stud welding machine; 72 is a spot welding machine. DETAILED DESCRIPTION

[0017] The present application will be further described in detail below in combination with the drawings and specific embodiments.

[0018] As Figures 1-4 shown in the steel structure floor slab paving equipment, including: embedded parts 2, track assembly, six-axis mechanical arm 5, automatic quick-change mechanism 6, bolt welding machine 71, spot welding machine 72. The track assembly includes two pairs of two transverse tracks and two longitudinal tracks, two transverse tracks are fixedly arranged at both ends of the two longitudinal tracks. The transverse track is an I-shaped track 3, that is, the cross section is I-shaped, and the longitudinal track is a rectangular track 4, that is, the cross section is rectangular.

[0019] Referring to the drawings Figure 1 , Figure 2 , the embedded part 2 is embedded in the concrete column 1 when the concrete column 1 is poured, and each concrete column 1 corresponds to an embedded part 2. The embedded part 2 embedded in the concrete column 1 is composed of four steel bars and a rectangular steel plate, and the exposed part of the embedded part 2 is provided with a T-shaped track groove. The I-shaped track 3 is erected on the T-shaped track groove provided on the embedded part 2 by penetrating. The embedded part 2 supports the I-shaped track 3, so that the I-shaped track 3 can move along its length direction.

[0020] Referring to the drawings Figure 1 , the number of rectangular tracks 4 is two, and the two rectangular tracks 4 are fixedly connected by a rod. The rectangular track 4 slides horizontally along the I-shaped track 3, and a walking mechanism is arranged on each rectangular track 4. As Figure 3 shown, the walking mechanism includes a fixed track 41, a limiting rack 42, a gear and a driving motor; the side end of the rectangular track 4 is provided with parallel fixed tracks 41 and limiting racks 42; the six-axis mechanical arm 5 is in sliding fit with the fixed track 41, and the six-axis mechanical arm 5 is provided with a driving motor. The output shaft of the driving motor is connected with a gear, and the gear is engaged with the limiting rack 42. Under the driving action of the driving motor, the six-axis mechanical arm 5 can walk along the limiting rack 42. The limiting rack 42 can make the six-axis mechanical arm 5 stop at the specified position during sliding to work, ensuring the accurate movement of the robot.

[0021] Specifically, the rectangular track 4 is provided with an automatic quick-change mechanism 6 adjacent to the I-shaped track 3 and adjacent to the rod, the automatic quick-change mechanism 6 is fixedly connected with the rectangular track 4, the automatic quick-change mechanism 6 is provided with an automatic quick-change disc 61, a clamping device 62, a stud welding gun 63 and a spot welding gun head 64; the automatic quick-change mechanism 6 comprises a support connected between the two rectangular tracks 4, the support is provided with four clamps, each clamp clamps one automatic quick-change disc 61, the lower ends of two automatic quick-change discs 61 are connected with the clamping device 62, and the lower ends of the other two automatic quick-change discs 61 are respectively connected with the stud welding gun 63 and the spot welding gun head 64. The mechanical hand end of the six-axis robot arm 5 is connected with the clamping device 62 through the automatic quick-change disc 61, and is used for clamping, carrying and laying the floor slab; the mechanical hand end of the six-axis robot arm 5 is connected with the spot welding gun head 64 through the automatic quick-change disc 61, and is used for spot welding of the floor slab; the mechanical hand end of the six-axis robot arm 5 is connected with the stud welding gun 63 through the automatic quick-change disc 61, and is used for stud welding of the floor slab; by additionally arranging the quick-change device at the mechanical hand end, the robot can quickly replace different types of end tools, realize one machine with multiple functions, improve the operation flexibility of the robot, and complete all operations, i.e., laying, spot welding and stud welding processes, so that the work efficiency is greatly improved. In the embodiment, the cooperation of the six-axis robot arm 5, the automatic quick-change disc 61, the stud welding machine 71 and the spot welding machine 72 adopts the prior art.

[0022] The construction method of the steel structure floor slab laying equipment in the embodiment comprises the following steps:

[0023] S1: The I-shaped track 3 is erected on the I-shaped track groove of the embedded part 2 in a penetrating manner, a mechanical device is used to hoist and erect the floor slab laying equipment on the I-shaped track 3, the laying equipment is started, the mechanical hand end of the six-axis robot arm 5 is changed to the clamping device state, and the floor slab is laid in the order of side span-middle span-side span.

[0024] S2: A mechanical device is used to hoist and lay the packed floor slab to the corresponding floor, and the laying equipment completes the floor slab laying by clamping the floor slab;

[0025] S3: After one span of the floor slab is laid, the mechanical hand end of the six-axis robot arm 5 is changed to the spot welding gun state by controlling the six-axis robot arm 5, and the spot welding of the floor slab is completed;

[0026] S4: After the step S3 is completed, the mechanical hand end of the six-axis robot arm 5 is changed to the stud welding gun state by controlling the six-axis robot arm 5, and the stud welding process of the floor slab is completed;

[0027] S5: After the side span of the floor slab is laid, the step S1 is repeated, and the floor slab laying processes of the middle span and the not-laid side span are sequentially completed.

[0028] The utility model discloses a six -axis mechanical arm 5 is used to the track motion mode and is matched with the clamping device 62, the peg welder 63, the spot welder head 64, realizes the floor support plate on -the -spot paving, solves the manual laying of the high -altitude laying of the floor support plate, and the low problem of efficiency, automation degree exists.

[0029] The above is only the preferred embodiment of the utility model, the protection scope of the utility model is not only limited to the above -mentioned embodiment, and all technical schemes under the idea of the utility model belong to the protection scope of the utility model for the person of ordinary skill in the art. It should be pointed out that for the person of ordinary skill in the art, a number of improvements and refinements without departing from the principle of the utility model, also should be regarded as the protection scope of the utility model.

Claims

1. A steel structure floor decking installation device, characterized in that, include: The system comprises embedded parts, a track assembly, a six-axis robotic arm, an automatic quick-change mechanism, a stud welding machine, and a spot welding machine. The track assembly includes two transverse tracks and two longitudinal tracks arranged opposite each other. Multiple embedded parts are sequentially embedded in the sidewalls of multiple concrete columns along the length of the transverse tracks. The embedded parts support the transverse tracks, which slide along their length. The longitudinal tracks are connected to the transverse tracks and carry the six-axis robotic arm, the automatic quick-change mechanism, the stud welding machine, and the spot welding machine. The automatic quick-change mechanism includes a support, at least three automatic quick-change discs, a clamping device, a stud welding gun, and a spot welding gun head. The support is connected to the longitudinal tracks. At least three automatic quick-change discs are mounted on the support, and each of the at least three automatic quick-change discs is connected to the clamping device, the stud welding gun, and the spot welding gun head. The six-axis robotic arm is slidably mounted on the longitudinal tracks, and its end effector is connected to the automatic quick-change discs.

2. The steel structure floor decking installation equipment according to claim 1, characterized in that, The six-axis robotic arm is equipped with a walking mechanism, which is mounted on the longitudinal track and moves along the length of the longitudinal track.

3. The steel structure floor decking installation equipment according to claim 2, characterized in that, The walking mechanism includes a fixed track, a limiting rack, a gear, and a drive motor; the side end of the longitudinal track is provided with parallel fixed track and limiting rack; the six-axis robotic arm slides with the fixed track, the six-axis robotic arm is equipped with a drive motor, the output shaft of the drive motor is connected to the gear, and the gear meshes with the limiting rack.

4. The steel structure floor decking installation equipment according to claim 1, characterized in that, The bracket is supported and connected between the two longitudinal tracks.

5. The steel structure floor decking installation equipment according to claim 1, characterized in that, A rod connects the two longitudinal tracks.

6. The steel structure floor decking installation equipment according to claim 1, characterized in that, The embedded component includes a steel plate, a T-shaped track groove, and reinforcing bars connecting the steel plate and the T-shaped track groove; the steel plate and reinforcing bars are embedded in the concrete column; the T-shaped track groove is horizontally arranged, and the transverse track is horizontally arranged, with a portion of it penetrating through the T-shaped track groove.

7. The steel structure floor decking installation equipment according to claim 6, characterized in that, The transverse track includes an I-shaped track; one flange of the I-shaped track passes through the T-shaped track groove.

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