CN106425359B - A kind of laser positioning Intelligent assembly system and its application method - Google Patents
A kind of laser positioning Intelligent assembly system and its application method Download PDFInfo
- Publication number
- CN106425359B CN106425359B CN201610860964.2A CN201610860964A CN106425359B CN 106425359 B CN106425359 B CN 106425359B CN 201610860964 A CN201610860964 A CN 201610860964A CN 106425359 B CN106425359 B CN 106425359B
- Authority
- CN
- China
- Prior art keywords
- workpiece
- control centre
- laser
- mobile platform
- component
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/10—Aligning parts to be fitted together
- B23P19/12—Alignment of parts for insertion into bores
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of laser positioning Intelligent assembly system and its application method, including installing executing agency, laser positioning mechanism and control centre, control centre electrically connects the operation that executing agency, laser positioning mechanism are installed for intelligent control with installation executing agency, laser positioning mechanism；The present invention obtains the coordinate information of workpiece A and workpiece B mounting holes by the laser lamp component in laser positioning mechanism, completed by control centre in default coordinate system workpiece A and workpiece B movement and complete mounting hole in, and insert bearing pin in mounting hole after the bearing pin using the manipulator crawl ad-hoc location installed in executing agency, it is finally completed workpiece A and workpiece B assembling.Intelligent assembly system of the present invention instead of the manually installed mode of traditional pin shaft parts, use manpower and material resources sparingly, and realize intelligentized control method, and installation accuracy is high, improves installation effectiveness.
Description
Technical field
The present invention relates to the intellectuality of a kind of laser positioning Intelligent assembly system and its application method, more particularly to bearing pin class
Install, belong to Intelligent assembly equipment technical field.
Background technology
With the proposition of industry 4.0, intelligence manufacture, Intelligent assembly and intelligence sale turn into becoming for following entity industry development
Gesture, intelligent development can greatly lift the efficiency of entity industry, and can greatly save Industrial Resources, substantially save
Human-saving resource.
In Intelligent assembly field, for the installation of traditional bearing pin base part, realize that intelligent assembling has of crucial importance
Meaning.Past, traditional bearing pin class is installed mostly using manually installed, and manually installed have that installation effectiveness is low, installation accuracy
There is potential safety hazard in difference, workman's operation, installed in particular for the bearing pin of some especially big equipment, be very tired by manual work
The installation of pin and retard start in difficult thing, such as installation of the front-rear linkage and base of hydraulic support, large-sized flange disk
Machine planet class bearing pin is installed etc., due to large size bearing pin there are problems that weight it is big, with mounting hole alignment precision, it is difficult to pass through people
Work industry come complete the capturing of pin shaft parts, move, a series of actions such as (with mounting hole) alignment, insertion.
Therefore, a kind of intelligentized installation equipment of design is needed badly, to improve the installation effectiveness of pin shaft parts.
The content of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of laser positioning Intelligent assembly system, and the system is based on laser
Scan orientation principle, is installed by setting program in single-chip microcomputer and completing the intelligent of pin shaft parts, the system without manpower,
And installation accuracy is accurate, installation effectiveness is high.
The present invention also provides a kind of application method of above-mentioned laser positioning Intelligent assembly system.
Technical scheme is as follows：
A kind of laser positioning Intelligent assembly system, including executing agency, laser positioning mechanism and control centre, control are installed
Make with installing executing agency, laser positioning mechanism and electrically connecting for intelligent control installation executing agency, laser positioning mechanism at center
Industry；
The installation executing agency includes mobile platform component, boom hoisting and mechanical arm assembly；Mobile platform component is used
In workpiece A is moved into target location, boom hoisting is used to workpiece B being transplanted on target location, and mechanical arm assembly is used to capture
Bearing pin and the installation for completing bearing pin；
The laser positioning mechanism includes laser lamp component and projection board component, and the laser launched by laser lamp component is worn
Mounting hole is crossed in projection board component upslide shadow, to obtain the coordinate information of mounting hole and coordinate information be transferred into control centre,
For being positioned to mounting hole；
The control centre includes central controller, data storage cell, signal acquisition process unit, display unit and ginseng
Number setting unit, the data storage cell, signal acquisition process unit, display unit and parameter set unit are controlled with center
Device connection processed, described signal acquisition process unit one end connects central controller, other end connection projection board component.This design
It is advantageous in that, the laser that can gather the transmitting of laser lamp component by signal acquisition process unit passes through mounting hole in projection plate group
Obtained optical signal is projected on part, electric signal or data signal that control centre can recognize and handle is converted into, and by signal
It is sent to after processing inside control centre.
It is preferred that, the installation executing agency also includes clamping device, and clamping device is gripped to workpiece.This sets
Meter is advantageous in that clamping device is clamped after workpiece, then carries out pin shaft alignement installation, can be prevented effectively from bearing pin alignment
Workpiece is moved in installation process, the precision that raising bearing pin alignment is installed, while ensureing being smoothed out for bearing pin alignment installation.
It is preferred that, the mobile platform component includes being provided with three cunnings on middle part pedestal and mobile platform, middle part pedestal
Groove, three chutes are respectively the first left chute, middle chute and the first right rail, and the bottom of mobile platform is arranged in middle chute simultaneously
It can be slided in middle chute；The bottom of laser lamp component and projection board component is slidably arranged in the first right rail and first left side respectively
In chute.
It is further preferred that the upper surface of the mobile platform is provided with rear end fixture, left side to fixture and right side to folder
Tool, rear end fixture is located in the chute that mobile platform upper surface postmedian is opened up, and the both sides of mobile platform upper surface are further opened with
Second left chute, the second right rail, are respectively arranged with lateral fixture slide unit in the second left chute, the second right rail, left side to
Fixture and right side are located in the lateral fixture slide unit of the left and right sides respectively to fixture.This design is advantageous in that, is put when by workpiece
When putting on a mobile platform, workpiece can effectively be clamped to fixture and right side to fixture by rear end fixture, left side, it is ensured that workpiece
Stability in mobile platform running, while accurate mounting hole coordinate information can be obtained.
It is preferred that, the laser lamp component includes laser lamp support frame and is arranged on the laser on laser lamp support frame top
Lamp, the bottom of laser lamp support frame is slidably arranged in the first right rail.
It is preferred that, the projection board component includes projection plate bracing frame and is arranged on the projection on projection plate bracing frame top
Plate, the bottom of projection plate bracing frame is slidably arranged in the first left chute.
It is preferred that, the laser lamp support frame and projection plate bracing frame are symmetrical arranged and by control centre's Synchronization Control.
It is preferred that, the laser lamp support frame and projection plate bracing frame select multistage retractable rod.
It is preferred that, the boom hoisting includes driving frame, the first driving and the second driving, and the first driving and the second driving are flat
Row is arranged on driving frame, and two groups of steel wire rope controllers, two groups of steel wire rope controllers are provided with the first driving and the second driving
On respectively the first steel wire rope controller and the second steel wire rope controller, the first steel wire rope controller and the second steel wire rope controller
Steel wire rope is wound with, the bottom of steel wire rope is connected with steel hook.
It is preferred that, at middle part, the both sides of pedestal are symmetrical arranged described clamping device, and clamping device includes end pedestal, machine
Tool rubber sleeve platform, the first fixing device and the second fixing device, two ends set the first support frame, first respectively on the pedestal of end
It is arranged with support on the second support frame, the top connection manipulator slide unit of the second support frame, manipulator slide unit and is provided with cunning
Road and side slideway；First support bar that first fixing device and the second fixing device include being sequentially connected, second support bar, stretch
Contracting bar and fastening plates.
It is preferred that, the mechanical arm assembly includes sliding shoe and the manipulator being arranged on sliding shoe, the bottom of sliding shoe
In sliding way.This design is advantageous in that manipulator has multiple degrees of freedom, can conveniently capture the bearing pin of fixed position, and
The route set by central controller completes the installation of bearing pin.
It is preferred that, the laser positioning Intelligent assembly system also includes passage oil cylinder component, the passage oil cylinder component bag
Cylinder seat, passage plate, passage oil cylinder, passage cylinder seat and lift cylinders seat are included, the bottom of cylinder seat is slidably arranged in middle chute, lift cylinders
Cover for seat is located in cylinder seat, the top connection passage cylinder seat of lift cylinders seat, and passage oil cylinder is provided with passage cylinder seat, passage oil cylinder
Piston rod is hinged after passing passage cylinder seat with elapsing plate.This design is advantageous in that, may move before and after passage oil cylinder component, up and down
Liftable, and elapse plate and can realize the inclination of certain angle, it can realize and perfectly fit with workpiece, disclosure satisfy that different works
The bearing pin of part is installed.
A kind of application method of laser positioning Intelligent assembly system, comprises the following steps,
(1) first, workpiece A to be assembled and workpiece B is prepared, it is standby；
(2) turn on the power, start laser positioning Intelligent assembly system, reference frame, intelligence dress are determined by control centre
Match system be in initial position, i.e. mobile platform component be located at middle chute foremost, laser lamp component be located at the first right rail
Foremost, projection board component can obtain each building block of Intelligent assembly system positioned at the first left chute and exists foremost, now
Initial position co-ordinates in reference frame；Then workpiece A and workpiece B to be assembled initial parameter are passed through into parameter setting list
Member input control centre, control centre calculates installation and operation track by being internally embedded algorithm；
(3) start boom hoisting workpiece A is hung onto on mobile platform and fixed on a mobile platform；
(4) mobile platform component starts and is moved to after the coordinate position that control centre specifies, due to known to control centre
The initial position co-ordinates of each building block of Intelligent assembly system, the path of mobile platform movement is, it is known that just can obtain mobile flat
Platform reaches the coordinate of mobile platform after specified location, and workpiece A initial parameter has been set, and workpiece A is fixed on mobile flat
Relative coordinate on platform it is also known that, so control centre can calculate now workpiece A and sit the location of in control centre
Mark, and then can obtain the preliminary coordinate value of each mounting hole on workpiece A；
(5) control centre control laser lamp component and projection board component simultaneously start and run simultaneously, laser lamp component from
Initial position is gradually moved to the preliminary coordinate value position of workpiece A mounting holes, when the laser that laser lamp is sent is installed through workpiece A
When hole transmission is one circular on projection plate, control centre's control laser lamp component is out of service, passes through signal acquisition process list
Member is recorded the coordinate value of now workpiece A mounting holes by control centre, and the coordinate information of workpiece A mounting holes is stored in into data storage
Unit；
(6) boom hoisting is again started up, the workpiece B in step (1) is transported to lifting initial position by boom hoisting operation；
Laser lamp component and projection board component are again started up to workpiece B mounting hole Scan orientations, when the laser that laser lamp is launched passes through work
When part B mounting holes transmit circle on projection plate, control centre's control laser lamp component stop motion, at signal acquisition
The coordinate value that unit is recorded now workpiece B mounting holes by control centre is managed, and the coordinate information of workpiece B mounting holes is stored in data
Memory cell；
(7) control centre believes according to the coordinate of the workpiece A mounting holes and workpiece B mounting holes recorded in data storage cell
Breath, calculates the stroke that boom hoisting drives workpiece B to be walked；Control centre's control boom hoisting drives workpiece B in system coordinates
It is mobile in system, workpiece B mounting holes is overlapped with workpiece A mounting holes；
(8) bearing pin, the coordinate of workpiece A mounting holes is moved to by manipulator by control centre's control machinery hand crawl bearing pin
Position, then manipulator behavior bearing pin is inserted in workpiece A mounting holes and workpiece B mounting holes, complete workpiece A and workpiece B dress
Match somebody with somebody.
It is preferred that, when workpiece A and workpiece B, which needs multiple mounting holes, needs centering to install, pass sequentially through laser lamp group
Part and the coordinate information in projection plate component scans location and installation hole, then workpiece B walking path is calculated by control centre, successively
The centering of each mounting hole is completed, the installation of bearing pin is completed finally by step (8).
It is preferred that, in step (2), the initial parameter of the workpiece A and workpiece B refer to workpiece A and workpiece B outward appearance knot
Structure size.
It is preferred that, in step (6), the lifting initial position refers to the central shaft of boom hoisting mid-plane and workpiece A
The vertical plane that line coincides.
The beneficial effects of the present invention are：
Laser positioning Intelligent assembly system of the present invention, intelligent installation can be realized for pin shaft parts, biography is instead of
The manually installed mode of system, whole assembling process is without manpower, and installation process is accurate, substantially increases installation accuracy,
Quick effectively installation can be realized.Laser positioning Intelligent assembly system design of the present invention is reliable, rational in infrastructure, and operation safety is high
Effect, with good economic value and market value, is worthy of popularization.
Brief description of the drawings
Fig. 1 is the annexation figure of Intelligent assembly system components of the present invention；
Fig. 2 is the structural representation I of Intelligent assembly system of the present invention；
Fig. 3 is the structural representation II of Intelligent assembly system of the present invention；
Fig. 4 a are the partial structural diagram of Intelligent assembly system of the present invention；
Fig. 4 b are the front view of Intelligent assembly system partial structurtes；
Fig. 5 is the structural representation of laser positioning mechanism and mobile platform component in the present invention；
Fig. 6 a are the structural representation I of manipulator slide unit component in the present invention；
Fig. 6 b are the structural representation II of manipulator slide unit component in the present invention；
Fig. 7 is the structural representation of high working face hydraulic support；
Fig. 8 is the structural representation of assembly and base in high working face hydraulic support；
Structural representation when Fig. 9 a are front rod lower link point and floor installation；
Fig. 9 b are front rod lower link point and the structural representation after floor installation；
Figure 10 a are back link lower link point and the structural representation before floor installation；
Figure 10 b are back link lower link point and each inclination angle schematic diagram before floor installation；
Figure 11 touches the structural representation before passage for passage plate and back link rigid connection；
Structural representation when Figure 12 is back link lower link point and floor installation；
Figure 13 is the structural representation before back timber is installed with caving shield；
Figure 14 is that back timber completes the structural representation after installing with caving shield；
Wherein：1- laser positionings mechanism；101- laser lamp components；102- projects board component；
2- control centres；201- central controllers；202- data storage cells；203- display units；204- parameter settings
Unit；205- signal acquisition process units；
3- installs executing agency；301- mobile platform components；302- manipulators；303- passage oil cylinder components；304- is lifted by crane
Device；305- manipulator slide units；The fixing devices of 306- first；The fixing devices of 307- second；
4- pedestals；Pedestal in the middle part of 401-；402- ends pedestal；7- movable blocks；8- mobile platforms；Slided on the left of 9- to fixture
Platform；To fixture on the left of 10-；11- rear ends fixture；12- first projects plate bracing frame；13- second projects plate bracing frame；14- the 3rd
Project plate bracing frame；15- projection plates；16- cylinders seat；17- elapses plate；18- piston rods；19- passage cylinder seats；20- lift cylinders seat；
21- laser lamps；The laser lamp support frames of 22- the 3rd；23- second laser lamp support frames；24- first laser lamp support frames；25- first
Support bar；26- second support bars；27- expansion links；28- fastening plates；29- manipulator slide units；The support frames of 30- second；31- first
Support frame；32- driving frames；33- first drives a vehicle；34- second drives a vehicle；35- the first steel wire rope controllers；36- steel wire ropes；37-
Two steel wire rope controllers；38- steel hooks.
ZJ1- bases；ZJ2- back links；ZJ3- front rods；ZJ4- caving shields；ZJ5- back timbers.
Embodiment
Below by embodiment and the present invention will be further described with reference to accompanying drawing, but not limited to this.
Embodiment 1：
As shown in Fig. 1 to Fig. 6 b, the present embodiment provides a kind of laser positioning Intelligent assembly system, including installs executing agency
3rd, laser positioning mechanism 1 and control centre 2, control centre 2 are electrically connected for intelligence with installing executing agency 3, laser positioning mechanism 1
Can control installation executing agency 3, the operation of laser positioning mechanism 1；
Installing executing agency 3 includes mobile platform component 301, boom hoisting 304, clamping device and mechanical arm assembly；Move
Moving platform component 301 is used to workpiece A being moved to target location, and boom hoisting 304 is used to workpiece B being transplanted on target location,
Mechanical arm assembly is used to capture bearing pin and completes the installation of bearing pin；
Laser positioning mechanism 1 includes laser lamp component 101 and projection board component 102, is launched by laser lamp component 101
Laser is projected through mounting hole on projection board component 102, to obtain the coordinate information of mounting hole and be transferred to coordinate information
Control centre 2, for being positioned to mounting hole；
Control centre 2 includes central controller 201, data storage cell 202, signal acquisition process unit 205, display list
Member 203 and parameter set unit 204；Data storage cell 202, signal acquisition process unit 205, display unit 203 and parameter
Setting unit 204 is electrically connected with central controller 201.
Wherein, mobile platform component 301 includes offering three on middle part pedestal 401 and mobile platform 8, middle part pedestal 401
The parallel chute of bar, three chutes are respectively the first left chute, middle chute and the first right rail, the bottom welding of mobile platform 8
There is movable block 7, movable block 7 is arranged in middle chute and can slided in middle chute；Laser lamp component 101 and projection board component
102 bottom is slidably arranged in the first right rail and the first left chute respectively.
The upper surface of mobile platform 8 is provided with rear end fixture 11, left side to fixture 10 and right side to fixture, rear end fixture 11
In the chute that the upper surface postmedian of mobile platform 8 is opened up, the both sides of the upper surface of mobile platform 8 are further opened with the second left cunning
Groove, the second right rail, the second left chute, the second right rail are located at the both sides of rear end fixture 11, in the second left chute, the second right cunning
Lateral fixture slide unit is respectively arranged with groove, lateral fixture slide unit can be slided in the second left chute, the second right rail, left side to
Fixture 10 and right side to fixture respectively positioned at the left and right sides left side to fixture slide unit 9 and right side into fixture slide unit.When by work
When part A is placed on mobile platform 8, work can effectively be clamped to fixture 10 and right side to fixture by rear end fixture 11, left side
Part A, it is ensured that stability of the workpiece A in the running of mobile platform 8, while accurate mounting hole coordinate information can be obtained.
Laser lamp component 101 includes laser lamp support frame and the laser lamp 21 installed in laser lamp support frame top, laser
The bottom of lamp support frame is slidably arranged in the first right rail, and laser lamp support frame is two-stage expansion link, and it is included from bottom to top
First laser lamp support frame 24, second laser lamp support frame 23 and the 3rd laser lamp support frame 22 being socketed successively, laser lamp 21
Positioned at the top of the 3rd laser lamp support frame 22.
Projecting board component 102 includes projection plate bracing frame and the projection plate 15 installed in projection plate bracing frame top, projection
The bottom of plate bracing frame is slidably arranged in the first left chute, and projection plate bracing frame is two-stage expansion link, and it is included from bottom to top
The first projection projection projection plate bracing frame 14 of plate bracing frame 13 and the 3rd of plate bracing frame 12, second being socketed successively, projection plate 15
Positioned at the top of the 3rd projection plate bracing frame 14.
Laser lamp support frame and projection plate bracing frame are symmetrical arranged and by the Synchronization Control of control centre 2, the i.e. He of laser lamp 21
Projection plate 15 is on same level straight line all the time, to ensure that the laser that laser lamp 21 is launched is transmissive on projection plate 15,
Ensure that accuracy and signal acquisition process unit 205 during post laser lamp Scan orientation mounting hole can be gathered and projected
Optical signal on shadow plate 15, and convert optical signal into after the electric signal or data signal that control centre 2 can recognize and handle
It is sent to inside control centre.
Boom hoisting includes the driving 34 of the driving of driving frame 32, first 33 and second, and the first driving 33 and the second driving 34 are flat
Row is arranged on driving frame 32, and two groups of steel wire rope controllers, two groups of steel wire ropes are provided with the first driving 33 and the second driving 34
Controller is respectively the first steel wire rope controller 35 and the second steel wire rope controller 37, the first steel wire rope controller 35 and the second steel
Steel wire rope 36 is wound with cord controller 37, the bottom of steel wire rope 36 is connected with steel hook 38.Control centre 2 can control the first row
The operation of the driving of car 33 and second 34, while also controlling the fortune of the first steel wire rope controller 35 and the second steel wire rope controller 37
OK.
At middle part, the both sides of pedestal 401 are symmetrical arranged described clamping device, and clamping device includes end pedestal 402, machine
Tool rubber sleeve platform 305, the first fixing device 306 and the second fixing device 307, two ends set first respectively on end pedestal 402
The second support frame 30 is arranged with support frame 31, the first support frame 31, the top of the second support frame 30 connects manipulator slide unit 29,
Sliding way and side slideway are provided with manipulator slide unit 29；First fixing device 306 and the second fixing device 307 are included successively
First support bar 25, second support bar 26, expansion link 27 and the fastening plates 28 of connection, the bottom of first support bar 25, which is located at, breaks away
It can slidably reciprocate in road and in side slideway, the first fixing device 306 and the second fixing device 307 are controlled by control centre 2
Slide, lift, stretch, realize the first fixing device 306 and the second fixing device 307 to the clamping of caving shield with this.
Mechanical arm assembly includes sliding shoe and the manipulator 302 being arranged on sliding shoe, and the bottom of sliding shoe is located at upper cunning
Sliding shoe is controlled to be slidably reciprocated in sliding way in road and by control centre 2.Manipulator 302 has multiple degrees of freedom, can conveniently grab
The bearing pin of fixed position is taken, and the route set by central controller completes the installation of bearing pin.
Embodiment 2：
A kind of laser positioning Intelligent assembly system, as described in Example 1, its difference is structure：The Intelligent assembly
System also includes passage oil cylinder component 303, and passage oil cylinder component 303 includes cylinder seat 16, passage plate 17, passage oil cylinder, passage cylinder
Seat 19 and lift cylinders seat 20, the bottom of cylinder seat 16 are slidably arranged in middle chute, and lift cylinders seat 20 is set in cylinder seat 16, lifting
Passage oil cylinder is provided with the top connection passage cylinder seat 19 of cylinder seat 20, passage cylinder seat 19, the piston rod 18 of passage oil cylinder is passed
It is hinged after passage cylinder seat 19 with passage plate 17.May move before and after passage oil cylinder component, liftable up and down, and elapse plate and can realize
The inclination of certain angle, can realize with workpiece and perfectly fit, when needing to carry out passage action to workpiece, by elapsing oil
Cylinder component is easy to follow-up passage operation.
Embodiment 3：
The operation side that a kind of laser positioning Intelligent assembly system using described in embodiment 2 is assembled to hydraulic support
Method, comprises the following steps,
(1) the caving shield ZJ4, front rod ZJ3 and back link ZJ2 of hydraulic support are connected first, form assembly,
It is standby；It is standby on the base that column is arranged on to hydraulic support；
(2) turn on the power, open laser positioning Intelligent assembly system, reference frame, intelligence dress are determined by control centre 2
Match system be in initial position, i.e. mobile platform component 301 be located at middle chute foremost, laser lamp component 101 be located at first
Right rail foremost, projection board component 102 can obtain Intelligent assembly system each group foremost, now positioned at the first left chute
Into initial position co-ordinates of the part in reference frame；Then the initial parameter of required installation hydraulic support is set by parameter
Unit input control centre is put, control centre calculates installation and operation track by being internally embedded algorithm；
(hydraulic support initial parameter here refers to the length and width of hydraulic support foundation or caving shield etc., length of connecting rod etc.
The preset parameter of some hydraulic supports, the parameter of the support of unit-frame type is not different, so installing different hydraulic supports needs pin
Initial value is set to this type support, according to these initial values, control centre is calculated by the programmed algorithm of inside implantation and installed
During Intelligent Installation system each component position or some parts need walk path, using support bracket fastened base as
Example, when the Initial parameter sets of certain frame type support are good, after base is placed on a mobile platform, rear end fixture, left side to fixture and
The path operation that right side calculates to fixture and set according to control centre, carrys out grip base)
(3) start boom hoisting to hang onto base ZJ1 on mobile platform 8, then by rear end fixture 11, left side to fixture
10 and right side make in base ZJ1 axial plane concordant with the middle axial plane of mobile platform to the mating reaction of fixture and base ZJ1 carried out
Three faces are clamped, and base ZJ1 is fixed on mobile platform 8；
(4) mobile platform component 301 starts and is moved to after the coordinate position that control centre 2 specifies, due to control centre 2
Known smart installs the initial position co-ordinates of each building block of equipment, and the path that mobile platform 8 is moved is, it is known that just can be moved
Moving platform 8 reaches the coordinate of mobile platform 8 after specified location, and the initial parameter of hydraulic support has been set, and base ZJ1 consolidates
Fixed relative coordinate on a mobile platform it is also known that, so control centre 2 can calculate now base ZJ1 in control centre
Location coordinate, and then can obtain the preliminary coordinate value of each mounting hole K5, K6 on base；
(5) the control laser lamp of control centre 2 component 101 and projection board component 102 start and run simultaneously simultaneously, laser lamp
Component 101 is gradually moved from initial position to base ZJ1 mounting holes K5 preliminary coordinate value position, when swashing that laser lamp 21 is sent
When light passes through base installing hole transmission on projection plate 15 for a circle, the stopping of the control laser lamp component of control centre 2 101 is transported
OK, now mounting hole K5 coordinate K5 (X5, Y5) is recorded by control centre by signal acquisition process unit 205；Then laser
Lamp component 101 is continued to run with gradually to be moved to base installing hole K6 preliminary coordinate value position, the laser sent when laser lamp 21
Base installing hole transmission is again passed through on projection plate for one it is circular when, the control laser lamp component of control centre 2 101 stops fortune
OK, now mounting hole K6 coordinate K6 (X6, Y6) is recorded by control centre by signal acquisition process unit 205, and by K5, K6
Coordinate information deposit data storage cell 202；
(6) boom hoisting is again started up, by steel hook 38 through the hole for hoist on caving shield ZJ4, boom hoisting operation will step
Suddenly the assembly in (1) is transported to lifting initial position and (lifts initial position, refer to that the first driving and the centre of the second driving are put down
The vertical plane that the central axis of face and base coincides, and the assembly X-direction lifted by crane somewhere in front of mobile platform component, can
Its initial coordinate values is determined in control centre), the first steel wire rope controller 35, the adjustment of the second steel wire rope controller 37 make to cover
Guard beam ZJ4 top surfaces level (ensure that the length of the first steel wire rope controller and the second steel wire rope controller decentralization steel wire rope is consistent, this
Sample can make shielding top surface of the beam be in level all the time), then control centre 2 is stopped operation until front rod ZJ3 and back link ZJ2 stops
Only the axis perpendicular of swing and front rod and back link is in horizontal plane；
(7) laser lamp component 101 and projection board component 102 are again started up to front rod ZJ3 lower link point K3 Scan orientations,
When the laser that laser lamp 21 is launched through front rod lower link point K3 mounting hole transmit circle on projection plate 15, control
The stop motion of the control of center 2 laser lamp component 101, records now K3's by signal acquisition process unit 205 by control centre
Coordinate K3 (X3, Y3), and K3 coordinate information is stored in data storage cell 202；
(8) control centre 2 has calculated lifting according to the K3 recorded in data storage cell 202 and K5 coordinate information
Put the stroke for driving assembly to be walked：X=X3-X5, Y=Y3-Y5；The control boom hoisting of control centre 2 is transported in the X direction first
Row X3-X5, operation treats that front rod ZJ3 and back link ZJ2 stop swinging after finishing, then the first steel wire rope controller 35 and second
Control steel wire rope transfers assembly to steel wire rope controller 37 simultaneously, and decentralization distance is Y3-Y5, after the completion of decentralization after front rod with after
Connecting rod stops swinging, and completes front rod lower link point K3 and base pin joint K5 centering；
(9) now control centre 2 controls the first fixing device 306 to clamp caving shield ZJ4, and the second fixing device 307 is clamped
Front rod ZJ3, then (bearing pin is placed on bearing pin inframe to the control machinery hand 302 of control centre 2 crawl bearing pin in advance, and bearing pin frame
The position of the convenient crawl of manipulator is may be provided at, while bearing pin frame can determine its seat in system after control centre opens
Mark), bearing pin is reached K5's by motion of the manipulator 302 in sliding way and by the up and down motion of the second support frame 30
Coordinate points, manipulator 302 is moved inserts K3, K5 pin joint by bearing pin, and the distance of insertion is the depth of K5 mounting holes in initial parameter
Degree, so far completes front rod ZJ3 and base ZJ1 installation, the first fixing device 306 and the second fixing device 307 are returned to original
Beginning position；
(10) after the installation for completing front rod ZJ3 and base ZJ1, then back link ZJ2 and base ZJ1 installation are carried out, led to
Cross the control steel wire rope decentralization of the second steel wire rope controller 37, first group of steel wire rope keeps constant, steel wire rope in decentralization process by
It is flexible in steel wire rope sling, it may occur that deflection is, it is necessary to calculate the length that the second steel wire rope controller 37 transfers steel wire rope；Pass through control
The program set in center 2 processed is calculated after the length that the second steel wire rope controller 37 control steel wire rope need to be transferred, and control centre 2 is controlled
The second steel wire rope controller 37 action decentralization steel wire rope is made to specified location, part to be assembled stops rocking；
(11) control centre 2 controls the first fixing device 306 to clamp caving shield ZJ4, and the second fixing device 307 connects before clamping
Bar ZJ3, the master cylinder seat of control centre 2 16 moves forward in middle chute and arrives preset height by adjusting lift cylinders seat 16, elapses cylinder
19 inner piston rods 18 of seat, which stretch out, is fitted in passage plate 17 on back link ZJ2, and piston rod 18 continues to promote up to back link ZJ2's
Lower link point K4 and base pin joint K6 centerings, then manipulator 302 is by bearing pin insertion K4, K6 pin joint, and the distance of insertion is
The depth of K6 mounting holes in initial parameter, so far completes the installation of back link and base；
(12) the steel hook 38 of boom hoisting is deviate from from caving shield ZJ4 holes for hoist, and boom hoisting moves to initial position simultaneously
The first steel wire rope controller 35 and the second steel wire rope controller are adjusted by the hole for hoist distance values of back timber in initial parameter two
The distance between 37, then back timber ZJ5 is sling, the first steel wire rope controller 35, the second steel wire rope controller 37 are by back timber ZJ5
Top surface adjusts level, and treats that back timber ZJ5 stops swinging；
(13) laser lamp component 101 and projection board component 102 are again started up, the hinge hole of caving shield ZJ4 front ends is scanned
Positioning obtains its coordinate information and coordinate information is stored in data storage cell 202；Then laser lamp component 101 and projection plate
Component 102 is run again, obtains its coordinate information to the hinge hole Scan orientation of back timber ZJ5 rear ends and coordinate information is stored in into number
According in memory cell 202；
(14) boom hoisting starts, and the hinge hole of back timber ZJ5 rear ends is adjusted to the coordinate of caving shield ZJ4 front ends hinge hole
Information position, manipulator 302 is run by the control machinery hand of control centre 2 runs to caving shield after initial position crawl bearing pin
The coordinate information position of ZJ4 front ends hinge hole, bearing pin is inserted in caving shield ZJ4 and the corresponding mounting holes of back timber ZJ5, insertion
Distance is the depth of caving shield front end mounting hole in initial parameter, so far realizes back timber ZJ5 and caving shield ZJ4 installation；
(15) lead to liquid and back timber needling is withstood into column rise, then the steel hook 38 of boom hoisting takes off from back timber hole for hoist
Go out, be finally completed the installation of hydraulic support, boom hoisting, the first fixing device 306 and the second fixing device 307 are returned to initially
Position.
(16) mobile platform component 301 drives the hydraulic support after being completed to slide into middle chute foremost, lifts by crane
Device is again started up slinging Whole Hydraulic Support, is placed on transport vehicle.
In step (2), the initial parameter of the hydraulic support refers to the surface structure chi of each part of hydraulic support
It is very little, i.e. base, front rod, back link, caving shield and the respective length and width of back timber.
Control centre is set in length and step (11) that program calculates the decentralization of the second steel wire rope by interior in step (10)
Piston rod continues to promote the calculating process of back link forward travel distance as follows：
As shown in figure 9b, hydraulic support Intelligent Installation system completes the installation of bearing pin between front rod and base, now screens
Top surface of the beam level, the length of initial two groups of steel wire ropes is lEG=l2, the distance of two groups of steel wire ropes is two hole for hoist axle center K1, K2
Apart from lGH=lEF=l1, l in figureFD、lEC、lCD、lBD、lAC、lAI、lIHIt is known quantity, angle It is known.
When second group of decentralization steel wire rope 36 of steel wire rope controller 37, because steel wire rope sling is flexible, assembly occurs inclined
Turn, now second group of rope capacity is changed into l to hydraulic support pose figure during destination locations as shown in Figure 10 a3, it is corresponding
lIDLength be changed into lBD(lID=lBD), except angleConstant, remaining angle changes, first group of steel wire rope and level
Angular separation is changed into θ8, second group of steel wire rope and horizontal direction angle are θ9, front rod and horizontal direction angle are θ10, lEF(or
Say be shielding top surface of the beam) with horizontal sextant angle be θ7, other angles are with angle corresponding relation before after change：
Vector ring G-H-F-E and A-C-D-I and H-G-D-F is taken to build vector equation in hydraulic support pose Figure 10 b：
Numerical value equation is built according to vector equation, obtained：
Calculated by the above method and obtain θ6And l3Afterwards, obtain second group of steel wire rope controller 37 and transfer steel wire rope 36
Length (l3-l2), control system 2 controls second group of steel wire rope controller 37 to act to specified location, treats that whole component stops shaking
It is dynamic, carry out next step installation procedure.
Right side axis is the position of back link passage oil cylinder component somewhere X-direction in Figure 10 b.Wherein, the head of piston rod 18
Axle center to now passage oil cylinder component somewhere X-direction distance be t1(known), piston rod Y-direction axis to base ground
Distance is h1(known), the X-direction distance of axle center to the plane after back link of the head of piston rod 18 is h2(known), back link hinge
Connect hole be wired to plane after back link X-direction distance be m (known).As shown in figure 12, the head of piston rod 18 after elapsing
Axle center to now passage oil cylinder component somewhere X-direction distance be t2(unknown quantity).Assuming that back link upper pin hole AnchorPoint
It is h apart from the height of base end faceD(it can be obtained by former calculating process calculating or pin shaft hole positioning component is measured
Go out, therefore be also known).
By Figure 11, passage oil cylinder component somewhere is to the X-direction distance of back link hinge hole line：
(t1+h2+ m),
By Figure 12, passage oil cylinder component somewhere is to the X-direction distance of back link hinge hole line：
[t2+(h2+m)/sinθ6],
Then：(t1+h2+m)+(hD-h1)·cotθ6=[t2+(h2+m)/sinθ6]
θ6Obtained above, bring above formula into, can obtain unknown quantity t2, then when further obtaining back link installation, if after making
The connecting rod lower bearing pin hole axle heart aligns with the base upper pin hole axle heart, only need to control the piston rod of back link passage oil cylinder component 303
18 extend forward (t2-t1).
Claims (10)
1. a kind of laser positioning Intelligent assembly system, it is characterised in that including installing executing agency, laser positioning mechanism and control
Center, control centre electrically connects fixed for intelligent control installation executing agency, laser with installation executing agency, laser positioning mechanism
The operation of position mechanism；
The installation executing agency includes mobile platform component, boom hoisting and mechanical arm assembly；Mobile platform component is used for will
Workpiece A is moved to target location, and boom hoisting is used to workpiece B being transplanted on target location, and mechanical arm assembly is used to capture bearing pin
And complete the installation of bearing pin；
The laser positioning mechanism includes laser lamp component and projection board component, and the laser launched by laser lamp component passes through peace
Hole is filled in projection board component upslide shadow, to obtain the coordinate information of mounting hole and coordinate information is transferred into control centre, is used for
Mounting hole is positioned；
The control centre sets including central controller, data storage cell, signal acquisition process unit, display unit and parameter
Put unit, the data storage cell, signal acquisition process unit, display unit and parameter set unit are and central controller
Connection, described signal acquisition process unit one end connects central controller, other end connection projection board component.
2. laser positioning Intelligent assembly system as claimed in claim 1, it is characterised in that the installation executing agency also includes
Clamping device, clamping device is gripped to workpiece.
3. laser positioning Intelligent assembly system as claimed in claim 2, it is characterised in that during the mobile platform component includes
Three chutes are provided with portion's pedestal and mobile platform, middle part pedestal, three bars of chutes are respectively the first left chute, middle chute and
One right rail, the bottom of mobile platform is arranged in middle chute and can slided in middle chute；Laser lamp component and projection plate group
The bottom of part is slidably arranged in the first right rail and the first left chute respectively.
4. laser positioning Intelligent assembly system as claimed in claim 3, it is characterised in that the upper surface of the mobile platform is set
Rear end fixture, left side are equipped with to fixture and right side to fixture, rear end fixture is located at the cunning that mobile platform upper surface postmedian is opened up
In groove, the both sides of mobile platform upper surface are further opened with the second left chute, the second right rail, in the second left chute, the second right cunning
Lateral fixture slide unit is respectively arranged with groove, left side is slided to fixture and right side to lateral fixture of the fixture respectively positioned at the left and right sides
In platform.
5. laser positioning Intelligent assembly system as claimed in claim 3, it is characterised in that the laser lamp component includes laser
Lamp support frame and the laser lamp for being arranged on laser lamp support frame top, the bottom of laser lamp support frame is slidably arranged in the first right cunning
In groove.
6. laser positioning Intelligent assembly system as claimed in claim 5, it is characterised in that the projection board component includes projection
Plate bracing frame and the projection plate for being arranged on projection plate bracing frame top, the bottom of projection plate bracing frame are slidably arranged in the first left cunning
In groove.
7. laser positioning Intelligent assembly system as claimed in claim 6, it is characterised in that the laser lamp support frame and projection
Plate bracing frame is symmetrical arranged and by control centre's Synchronization Control.
8. laser positioning Intelligent assembly system as claimed in claim 1, it is characterised in that the boom hoisting includes driving
Frame, the first driving and the second driving, the first driving and the second driving are set in parallel on driving frame, the first driving and the second driving
On be provided with two groups of steel wire rope controllers, two groups of steel wire rope controllers are respectively the first steel wire rope controller and the second steel wire rope control
Steel wire rope is wound with device processed, the first steel wire rope controller and the second steel wire rope controller, the bottom of steel wire rope is connected with steel hook.
9. laser positioning Intelligent assembly system as claimed in claim 3, it is characterised in that the both sides of pedestal are symmetrically set at middle part
Described clamping device is put, clamping device includes end pedestal, manipulator slide unit, the first fixing device and the second fixing device,
Two ends set in the first support frame, the first support frame and are arranged with the second support frame respectively on the pedestal of end, the second support frame
Top connects and is provided with sliding way and side slideway on manipulator slide unit, manipulator slide unit；First fixing device and second fixes dress
Put first support bar, second support bar, expansion link and the fastening plates for including being sequentially connected；
The mechanical arm assembly includes sliding shoe and the manipulator being arranged on sliding shoe, and the bottom of sliding shoe is located at sliding way
It is interior.
10. a kind of application method of laser positioning Intelligent assembly system as described in any one of claim 3,4,5,6,7,9, bag
Include following steps,
（1）First, workpiece A to be assembled and workpiece B is prepared, it is standby；
（2）Turn on the power, start laser positioning Intelligent assembly system, reference frame, Intelligent assembly system are determined by control centre
System in initial position, i.e. mobile platform component be located at middle chute foremost, laser lamp component be located at the first right rail most
Front end, projection board component can obtain each building block of Intelligent assembly system in reference foremost, now positioned at the first left chute
Initial position co-ordinates in coordinate system；Then it is workpiece A and workpiece B to be assembled initial parameter is defeated by parameter set unit
Enter control centre, control centre calculates installation and operation track by being internally embedded algorithm；
（3）Start boom hoisting workpiece A is hung onto on mobile platform and fixed on a mobile platform；
（4）Mobile platform component starts and is moved to after the coordinate position that control centre specifies, due to control centre's known smart
The initial position co-ordinates of each building block of assembly system, the path of mobile platform movement is arrived, it is known that mobile platform just can be obtained
The coordinate of mobile platform after up to specified location, and workpiece A initial parameter set, and workpiece A is fixed on a mobile platform
Relative coordinate it is also known that, so control centre can calculate now workpiece A coordinates the location of in control centre, enter
And can obtain the preliminary coordinate value of each mounting hole on workpiece A；
（5）Control centre controls laser lamp component and projection board component to start and run simultaneously simultaneously, and laser lamp component is from initial
Position is gradually moved to the preliminary coordinate value position of workpiece A mounting holes, when the laser that laser lamp is sent is saturating through workpiece A mounting holes
Penetrate on projection plate for one it is circular when, control centre's control laser lamp component is out of service, by signal acquisition process unit by
Control centre records the coordinate value of now workpiece A mounting holes, and the coordinate information of workpiece A mounting holes is stored in into data storage list
Member；
（6）Boom hoisting is again started up, boom hoisting is run step（1）In workpiece B be transported to lifting initial position；Again
Start laser lamp component and projection board component to workpiece B mounting hole Scan orientations, when the laser that laser lamp is launched is pacified through workpiece B
When dress hole transmits circle on projection plate, control centre's control laser lamp component stop motion passes through signal acquisition process list
Member is recorded the coordinate value of now workpiece B mounting holes by control centre, and the coordinate information of workpiece B mounting holes is stored in into data storage
Unit；
（7）Control centre is according to the workpiece A mounting holes recorded in data storage cell and the coordinate information of workpiece B mounting holes, meter
Calculate the stroke that boom hoisting drives workpiece B to be walked；Control centre's control boom hoisting drives workpiece B to be moved in system coordinate system
It is dynamic, workpiece B mounting holes is overlapped with workpiece A mounting holes；
（8）Bearing pin, the coordinate bit of workpiece A mounting holes is moved to by manipulator by control centre's control machinery hand crawl bearing pin
Put, then manipulator behavior inserts bearing pin in workpiece A mounting holes and workpiece B mounting holes, complete workpiece A and workpiece B assembling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610860964.2A CN106425359B (en) | 2016-09-28 | 2016-09-28 | A kind of laser positioning Intelligent assembly system and its application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610860964.2A CN106425359B (en) | 2016-09-28 | 2016-09-28 | A kind of laser positioning Intelligent assembly system and its application method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106425359A CN106425359A (en) | 2017-02-22 |
| CN106425359B true CN106425359B (en) | 2017-09-26 |
Family
ID=58170816
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610860964.2A Active CN106425359B (en) | 2016-09-28 | 2016-09-28 | A kind of laser positioning Intelligent assembly system and its application method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106425359B (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107052366A (en) * | 2017-05-03 | 2017-08-18 | 安徽理工大学 | A kind of lathe is quantified and styling apparatus and its processing technology |
| CN106950674B (en) * | 2017-05-04 | 2022-11-29 | 中国工程物理研究院激光聚变研究中心 | Device for small-angle inclination of transmission type optical system and using method |
| CN108375360B (en) * | 2018-02-26 | 2021-12-10 | 山东雷帕得汽车技术股份有限公司 | Online chord length check out test set of leaf spring |
| CN108340148A (en) * | 2018-04-25 | 2018-07-31 | 佛山聚晨知识产权运营有限公司 | A kind of installation of screw and hole position precision positioning method |
| CN108584705A (en) * | 2018-05-09 | 2018-09-28 | 徐州迈斯特机械科技有限公司 | A kind of mechanical processing special hoisting system |
| CN108859871B (en) * | 2018-07-20 | 2023-07-18 | 中铁武汉电气化局集团第一工程有限公司 | Automatic hole searching device for inclined cantilever mounting hole |
| CN111015580B (en) * | 2020-01-07 | 2022-02-01 | 山东建筑大学 | Horizontal roller hydraulic cylinder replacing tool for section steel rolling mill and using method |
| CN112461124B (en) * | 2020-10-26 | 2021-11-30 | 东风汽车集团有限公司 | Positioning system and method for vehicle body floor detection support |
| CN112355599A (en) * | 2020-10-29 | 2021-02-12 | 三一重能有限公司 | Dismounting platform and dismounting device |
| CN113245813B (en) * | 2021-07-16 | 2021-10-01 | 成都飞机工业（集团）有限责任公司 | Self-positioning assembly system and method for rapid assembly of airplane |
| CN117817692B (en) * | 2024-03-04 | 2024-04-30 | 内蒙古工业大学 | Multifunctional high-bearing mechanical gripper |
| CN117885872B (en) * | 2024-03-15 | 2024-05-10 | 江苏扬子鑫福造船有限公司 | Laser centering equipment and process for corrugated board installation of LNG transport ship |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8051547B2 (en) * | 2006-12-29 | 2011-11-08 | The Boeing Company | Robot-deployed assembly tool |
| TWI595958B (en) * | 2014-09-30 | 2017-08-21 | 佳能股份有限公司 | Automated assembly apparatus, automated assembly system and automated assembly method |
| CN104759861B (en) * | 2015-04-01 | 2017-03-08 | 中船黄埔文冲船舶有限公司 | Marine shafting laser alignment frock and centering installation method based on gear-box centering |
| CN105174025B (en) * | 2015-09-16 | 2017-03-22 | 沈阳飞机工业（集团）有限公司 | Intelligent flexible hanging mechanical arm for parts |
| CN205096833U (en) * | 2015-10-30 | 2016-03-23 | 中国国际海运集装箱(集团)股份有限公司 | Correcting unit of equipment fixing gesture |
-
2016
- 2016-09-28 CN CN201610860964.2A patent/CN106425359B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106425359A (en) | 2017-02-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106425359B (en) | A kind of laser positioning Intelligent assembly system and its application method | |
| CN109534215B (en) | Suspension type well operation robot | |
| AU2009202712B2 (en) | Girder block lifting method and jack-up stage used therefor | |
| CN101691808B (en) | Plate dry-hanging and mounting robot | |
| CN104775564B (en) | Unsupported installation method for bidirectional tilting great-section box latticed columns | |
| CN109719698A (en) | A kind of robot equipped system for building and control method | |
| CN105780646B (en) | A kind of bridge maintenance equipment of automatically walk | |
| CN109335949A (en) | The method of scale beam type counter-jib suspender and its hoisting steel beam component | |
| CN207347122U (en) | A kind of automatic Lift-on/Lift-off System of bridge construction | |
| CN113415728A (en) | Automatic planning method and system for hoisting path of tower crane | |
| CN106401621B (en) | A kind of hydraulic support Intelligent Installation machine and its application method | |
| CN105569692A (en) | Trolley for welding tunnel waterproof board hanging cloth | |
| WO2020155600A1 (en) | Building construction system and construction method therefor | |
| CN206158776U (en) | Great mining height hydraulic support intelligence erection equipment | |
| CN110438904A (en) | A kind of device and method for installing anticollision wall form | |
| CN106640156B (en) | A kind of working method of Intelligent Installation heavy hydraulic holder | |
| CN106401633B (en) | A kind of high working face hydraulic support Intelligent Installation equipment and its application | |
| CN209306810U (en) | Scale beam type counter-jib suspender | |
| CN115478701A (en) | Height-adjustable semi-automatic brick laying robot and advancing control method thereof | |
| CN112464329A (en) | BIM steel structure-based integral hoisting method | |
| CN207880310U (en) | A kind of counterweight frame of roller type and Elevator weight sensor using the counterweight frame | |
| CN110028010A (en) | A kind of plug pricker hoisting platform device | |
| CN208981745U (en) | Multifunction scaffold | |
| CN206985557U (en) | A kind of double girder crane for preventing object crooked | |
| CN207330215U (en) | Hoisting machine on pouring machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |