CN109967991A - A kind of Intelligent Frame Standard device - Google Patents
A kind of Intelligent Frame Standard device Download PDFInfo
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- CN109967991A CN109967991A CN201811398802.7A CN201811398802A CN109967991A CN 109967991 A CN109967991 A CN 109967991A CN 201811398802 A CN201811398802 A CN 201811398802A CN 109967991 A CN109967991 A CN 109967991A
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- well formula
- hydraulic cylinder
- platform
- intelligent
- mechanical gripper
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- 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
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- Mechanical Engineering (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The invention discloses a kind of Intelligent Frame Standard devices, belong to construction engineering technical field；Including main frame structure, main frame structure is additionally provided with sustaining wall device and wears building truss；One end of main frame structure is equipped with well formula lifting system；Main frame structure includes the first platform, the second platform and main body frame self-climbing mechanism.Intelligent Frame Standard device of the invention realizes material lifting, transport and the automation of installation process, reduces cost of labor by material lift equipment, horizontal trasportation equipment and the automation for installing equipment；Meanwhile entire assembly device uses steel-frame structure, and main body frame climbs to adopt and carries out in an automated fashion, therefore integrality performance of the structure is good, and assembly and disassembly are convenient, and equipment is reusable, it avoids wasting, reduces construction cost, construction efficiency is greatly improved.
Description
Technical field
The present invention relates to a kind of assembly device, in particular to a kind of Intelligent Frame Standard device belongs to building work
Journey technical field.
Background technique
Under current social environment, real real estate scale building still falls within skyscraper, high-rise assembled
Building studies the green building theory that successfully can preferably realize country.
In terms of solving high-rise assembled architecture assembly problem, though current assembly device be able to achieve the promotion of material with
Transport, but does not have automatic installation function, and it is entire promoted and transportational process be also required to manually with the degree of automation
It is low, it is difficult to meet the requirement to high-rise assembled architecture assembly efficiency at present.
Therefore it provides one kind is simple and effective, assembly and disassembly are convenient, equipment is reusable, avoids waste, reduces and apply
The Intelligent Frame Standard device that work cost increases substantially construction efficiency just becomes technical field skill urgently to be solved
Art problem.
Summary of the invention
The object of the present invention is to provide a kind of simple and effective, assembly and disassembly conveniently, equipment is reusable, avoids wave
Expense reduces the Intelligent Frame Standard device that construction cost increases substantially construction efficiency.
Above-mentioned purpose of the invention reaches by the following technical programs:
A kind of Intelligent Frame Standard device, including main frame structure, it is characterised in that: the main body frame
Structure is additionally provided with sustaining wall device and wears building truss；One end of the main frame structure is equipped with well formula lifting system；
The main frame structure includes the first platform, the second platform and main body frame self-climbing mechanism, and described first is flat
Platform is located at the top of the main frame structure, for providing workbench, first platform for automatic horizontal conveying mechanism
Equipped with automatic horizontal transport establishment, second platform is located at below first platform, for providing work for engineering staff
Make platform, the main body frame self-climbing mechanism is from climbing device, for installing standard knot；The well formula lifting system, master
Body frame self-climbing mechanism and automatic horizontal transport establishment are connected to the control system；
The well formula lifting system includes well formula elevator, well formula elevator hoisting system, pallet and well formula lifting system
Self-climbing mechanism, the well formula elevator hoisting system are connected with the well formula elevator, well formula elevator elevator system
System is connected with the well formula lifting system self-climbing mechanism, the pallet and the well formula lifting system self-climbing mechanism phase
Connection.
Preferably, the elevator hoist system includes movable pulley, reel and wirerope.
Preferably, the Intelligent Frame Standard device further includes falling proof device, and the falling proof device includes
Extension spring device, support, gear rack arrangement, bursting tube, gear-box, latch segment, cam mechanism and carrier block；The gear teeth
Strip device two, positioned at the bursting tube two sides and with the bursting tube toe joint, the carrier block is two, is located at described
The lower section of pallet is simultaneously fixed together with pallet, and the cam mechanism is two, positioned at the lower section of the carrier block, the tooth
Rack gear arrangement and cam mechanism are taken turns in the gear-box, the latch segment is two, positioned at the two sides of the bursting tube,
It is floated between cam mechanism and bursting tube by extension spring device.
Preferably, the well formula lifting system further includes the zero point coordinate for being set to pallet, for control system according to zero
Point coordinate calculates position of the different components in pallet.
Preferably, the automatic horizontal transport establishment include guide rail, double beam overhead travelling crane, mechanical gripper fixture, mechanical gripper,
Height adjustment hydraulic cylinder, the gripper of mechanical gripper and tightening hydraulic cylinder, mechanical gripper are fixed on twin beams by mechanical gripper fixture
The lower part of overhead traveling crane；Height adjustment hydraulic cylinder connection mechanical gripper fixture and mechanical gripper, height adjust hydraulic cylinder for adjusting machine
The horizontal position of tool handgrip；Tightening hydraulic cylinder is connected with the gripper of mechanical gripper, after the gripper of mechanical gripper catches material,
For tightening the gripper of mechanical gripper.
Preferably, the Intelligent Frame Standard device is additionally provided with stair kitchen and bath's balcony floor support plate composite machine hand.
Preferably, the stair kitchen and bath balcony floor support plate composite machine hand, including precast stair, suspension hook, multistage hydraulic cylinder
And linear guides；Linear guides are connect by rotating device with suspender, while linear guides are with multistage hydraulic cylinder cylinder, more
The low side of grade hydraulic cylinder is equipped with the suspension hook of hydraulic power, with the hanging ring of the hanged precast stair of suspension hook.
Preferably, the Intelligent Frame Standard device is additionally provided with beam column combined machine hand.
Preferably, the beam column combined machine hand includes main frame, leadscrew-nut mechanism, moving beam, mechanical arm and beam
Column combination manipulator suspension centre；Beam column combined machine hand suspension centre is provided on main frame, it is hanged for automatic control horizontal transport agency
The manipulator, while it being provided with moving beam, moving beam realizes accurate displacement by leadscrew-nut mechanism on main frame；
Moving beam carries mechanical arm through linear guides, grabs girder steel and steel column by mechanical arm.
Preferably, the Intelligent Frame Standard device is additionally provided with external and internal wall manipulator.
Preferably, the external and internal wall manipulator includes rotating device, electric pushrod, corner oil cylinder and limiting device；Rotation
Rotary device fitted underneath has the crossbeam for preventing wall, and corner oil cylinder is equipped on crossbeam, when grabbing wall, passes through corner
Oil cylinder lifts wall upwards, and when needing to install wall, corner oil cylinder discharges wall and reaches band mounting height, and by electronic
Push rod pushes forward wall.
Preferably, the control system mainly by PLC controller, laser sensor, displacement sensor, balance sensor,
Camera, display, button keyboard, control handle and data acquisition module composition；The PLC controller swashs with described respectively
Optical sensor, displacement sensor, balance sensor, camera, display, button keyboard, control handle and data acquisition module
Be connected, data acquisition module be connected respectively with laser sensor, displacement sensor, balance sensor.
Preferably, the adjustable height of institute's displacement sensors detection lifting platform can accurately stop at setting position
It sets, whether balance sensor real-time detection platform operational process keeps horizontal；Laser sensor detects the horizontal of double beam overhead travelling crane and moves
Dynamic distance, its moving coordinate of real time correction；The data information and button keyboard of each sensor of data collecting module collected and behaviour
The control instruction that control handle issues is transmitted to PLC controller, and PLC controller controls the automatic of dress building machine according to the collected data
Operation；The operational process video for filling building machine is transmitted on computer by camera, and realization personnel remotely monitor.
The utility model has the advantages that
Intelligent Frame Standard device of the invention is set by material lift equipment, horizontal trasportation equipment and installation
Standby automation realizes material lifting, transport and the automation of installation process, reduces cost of labor；Meanwhile entire dress
With device use steel-frame structure, and main body frame climbs to adopt and carries out in an automated fashion, therefore integrality performance of the structure is good,
Assembly and disassembly are convenient, and equipment is reusable, avoids wasting, reduces construction cost, construction efficiency is greatly improved.
Below by the drawings and specific embodiments, the present invention is described in detail.It should be understood that the reality
It applies example and only relates to the preferred embodiments of the invention, when not departing from the spirit and scope of the present invention, various same functions
The substitutions of components be all possible.
Detailed description of the invention
Fig. 1 is the overall structure diagram of Intelligent Frame Standard device of the present invention.
Fig. 2 is the structural schematic diagram of well formula elevator in Intelligent Frame Standard device of the present invention.
Fig. 3 is the partial enlargement structural representation of well formula elevator in Intelligent Frame Standard device of the present invention.
Fig. 4 is that the partial enlargement structure of elevator hoist system in Intelligent Frame Standard device of the present invention is shown
It is intended to.
Fig. 5 is the structural schematic diagram of falling proof device in Intelligent Frame Standard device of the present invention.
Fig. 6 is the structural schematic diagram of falling proof device middle gear case in Intelligent Frame Standard device of the present invention.
Fig. 7 is the structural schematic diagram of main frame structure in Intelligent Frame Standard device of the present invention.
Fig. 8 be in Intelligent Frame Standard device of the present invention at the top of from the structural schematic diagram of climbing device.
Fig. 9 is the structural schematic diagram of sustaining wall device in Intelligent Frame Standard device of the present invention.
Figure 10 is the structural schematic diagram of automatic horizontal conveying device in Intelligent Frame Standard device of the present invention.
Figure 11 is the part of the mechanical gripper of automatic horizontal conveying device in Intelligent Frame Standard device of the present invention
Enlarged structure schematic diagram.
Figure 12 is the structural schematic diagram of house suspender in Intelligent Frame Standard device of the present invention.
Figure 13 is the knot of stair kitchen and bath's balcony floor support plate composite machine hand in Intelligent Frame Standard device of the present invention
Structure schematic diagram.
Figure 14 is the structural schematic diagram of Intelligent Frame Standard device beam-column combined machine hand of the present invention.
Figure 15 is the structural schematic diagram of external and internal wall manipulator in Intelligent Frame Standard device of the present invention.
Figure 16 is the structural schematic diagram of the building Intelligent Frame Standard device Zhong Chuan of the present invention truss.
Main parts size title in attached drawing:
1 well formula elevator, 2 dollie
3 from climbing 4 sustaining wall device of column
5 cement drag pump, 6 automatic control horizontal transferring device
7 first platform, 8 second platform
9 house module, 10 pallet
11 well formulas promote 12 Hydraulic support platform of self-climbing mechanism
13 zero point coordinate, 14 movable pulley
15 wear 16 top of building truss from climbing device
17 oil cylinder, 18 standard knot
19 suspender, 20 suspension centre
21 precast stair, 22 suspension hook
23 multistage hydraulic cylinder, 24 linear guides
25 extension spring device, 26 support
27 gear rack arrangement, 28 bursting tube
29 gear-box, 30 latch segment
31 cam mechanism, 32 carrier block
33 double beam overhead travelling crane, 34 mechanical gripper fixture
35 mechanical grippers 36 highly adjust hydraulic cylinder
The gripper 38 of 37 mechanical grippers tightens hydraulic cylinder
39 main frame, 40 leadscrew-nut mechanism
41 moving beam, 42 mechanical arm
43 beam column combined machine hand suspension centre, 44 rotating device
45 electric pushrod, 46 corner oil cylinder
47 limiting devices
Specific embodiment
Embodiment 1
As shown in Figure 1, being the overall structure diagram of Intelligent Frame Standard device of the present invention；Wherein, 1 is well
Formula elevator, 2 be dollie, and 3 is, from the column that climbs, 4 are sustaining wall device, and 5 be cement drag pump, and 6 be automatic control horizontal feed
Device, 7 be the first platform, and 8 be the second platform；Intelligent Frame Standard device of the invention includes main body frame, main body
Frame includes flat from climb column 3, sustaining wall device 4, cement drag pump 5, automatic control horizontal transferring device 6, the first platform 7 and second
Platform 8；From climbing, column 3 is equipped with two rows, is respectively 6, sustaining wall device 4, automatic control horizontal transferring device 6 is located at the top of main body frame
Portion, automatic horizontal conveying device 6 are connected with the first platform 7, and the first platform 7 is located at the top of main body frame, for being automatic
Horizontal transferring device 6 provides workbench, and the second platform 8 is located at below the first platform 7, for providing work for engineering staff
Make platform, the column 3 that climbs certainly is for installing standard knot；Well formula elevator 1, climb certainly column 3 and automatic horizontal transport establishment 6
It is connected to the control system；One end of main body frame is equipped with well formula elevator 1, and the article of transport is transported by dollie 2
It is sent on well formula elevator 1.
As shown in Fig. 2, for the structural schematic diagram of well formula elevator in Intelligent Frame Standard device of the present invention；Its
In, 1 is well formula elevator, and 2 be dollie, and 9 be house module, and 10 be pallet；Well formula elevator 1 is equipped with pallet 10,
House module 9 is placed on pallet 10, and pallet 10 can be gone up and down with well formula elevator 1；Well formula elevator 1 includes well formula
Hoisting system, pallet 10 and the well formula of elevator promote self-climbing mechanism 11, well formula elevator hoisting system and well formula elevator
1 is connected, and well formula elevator hoisting system promotes self-climbing mechanism 11 with well formula and is connected, and pallet 10 is promoted with well formula and climbed certainly
It rises mechanism 11 to be connected, under control of the control system by the transport of component house to be installed module 9 in pallet 10 to automatic water
Flat transport establishment 6.
As shown in figure 3, the partial enlargement structure for well formula elevator in Intelligent Frame Standard device of the present invention is shown
It is intended to；Wherein, 1 is well formula elevator, and 10 be pallet, and 11 promote self-climbing mechanism for well formula, and 12 be Hydraulic support platform, 13
It is house module for zero point coordinate, 9；Well formula elevator 1 is set there are four column, and each column is equipped with well formula and is promoted from the machine that climbs
Structure 11, well formula promote self-climbing mechanism 11 and are connected with pallet 10, and pallet 10 can be with equipped with zero point coordinate 13, on pallet 10
House module 9 is placed, is equipped with Hydraulic support platform 12 at the top of four columns of well formula elevator 1；From the column 3, well of climbing
Formula promotes self-climbing mechanism 11 and automatic horizontal transport establishment 6 is connected to the control system.
As shown in figure 4, for the partial enlargement of elevator hoist system in Intelligent Frame Standard device of the present invention
Structural schematic diagram；Wherein, 11 self-climbing mechanism is promoted for well formula, 14 be movable pulley, and 10 be pallet；Elevator hoist system
Including movable pulley 14, reel and wirerope (not marked in figure)；In order to reduce the difficulty of promotion, elevator hoist engine is reduced
Power, present invention employs movable pulley devices；Wirerope then uses superhigh intensity foreign countries import wirerope, can reduce in this way
The diameter of reel and movable pulley；Well formula elevator 1 is when lifting the biggish article of weight ratio, even if the safety coefficient of wirerope
It is bigger, but the safety in order to preferably guarantee well formula elevator 1, it can be in short tenesmus stroke or apart from interior prevention
This trend prevents from unexpectedly occurring, and is equipped with a falling proof device (automatic safe cohesion device).
As shown in figure 5, for the structural schematic diagram of falling proof device in Intelligent Frame Standard device of the present invention；Its
In, 25 be extension spring device, and 26 be support, and 27 be gear rack arrangement, and 28 be bursting tube, and 29 be gear-box, and 30 be latch segment,
31 be cam mechanism, and 32 be carrier block；The gear rack arrangement 25 be two, positioned at the bursting tube 28 two sides and with
28 toe joint of bursting tube, the carrier block 32 be two, positioned at the pallet 10 lower section and be fixed in one with pallet 10
It rises, the cam mechanism is two, and positioned at the lower section of the carrier block 32, the gear rack arrangement and cam mechanism 31 are equal
In the gear-box, the latch segment 30 is two, positioned at the two sides of the bursting tube 28, is floated by extension spring device 25
Between cam mechanism 31 and bursting tube 28, when undesirable condition occurs, cam mechanism 107 pushes latch segment 106 to transport forward
It is dynamic, rack gear engagement, while carrier block 32 declines, and is loaded on latch segment 30, and this hour rack has been in meshing state,
And then guarantee safety；The device is placed on the lower section of pallet 10, forms a whole with pallet 10, in lifting process, prevents
Drop device can be oriented to simultaneously to be promoted；The component floats by extension spring device and the collective effect of spring in whole device
On, and by the direction of displacement of the edge of a wing of support and carrier block limitation rocker piece, guarantee that latch segment is position in whole device
When it is flexible, guarantee absolute relative displacement；Because when there is an emergency, latch segment can not be with whole decline
And decline, and opposite displacement can timely occur with overall mechanism under the action of cam mechanism, guarantee that latch segment can
Timely it is engaged with rack；Wherein extension spring device has an active force pullled outward to latch segment, when pallet apparatus is out of danger
Situation, when rack and pinion engagement needs to separate, carrier block rises, and does not have active force to latch segment, and then extension spring device can be instant
Latch segment is separated with rack gear (bursting tube), spring acts between latch segment and support, supports the weight of latch segment, guarantees
It floats；When normally running up, flywheel mechanism attonity, clutch is in without electric fit-state；When emergency occurs, fly
Mechanism action is taken turns, gear 1 reverses, the tooth for rotating with moving gear 2, gear 3 and cam mechanism being driven to push latch segment and bursting tube
Item engagement, as shown in fig. 6, being that the structure of falling proof device middle gear case in Intelligent Frame Standard device of the present invention is shown
It is intended to；When normal decline, clutch, which is powered, to be disconnected, gear-box attonity；When there is the decline of emergency platform, clutch
Movement is divided into self-bonding when automatically powering off fitting or having a power failure and acts, and guarantees safety when decline.
Well formula elevator is that a kind of power is larger, the stronger heavy mechanical equipment of hoisting power；It is that one kind passes through engine
Tool drags flexible piece wirerope and institute's freight moves up and down and completes transportational process, is transported by change potential energy
Heavy mechanical equipment；Its major function be by dollie transport article identification, barcode scanning confirmation transport component whether be
The related component pallet of component is transported to well formula elevator by the push function of dollie by component to be installed together
Pallet on；Start elevator hoist system, drive pallet, lifts article and reach installation site；Period passes through displacement sensing
The monitoring system of the devices such as device, laser sensor composition, judges the levelness of pallet；The column top of well formula elevator is equipped with
Hydraulic support platform, due to floating support main body frame, when automatic control horizontal transferring device runs to overhanging end crawl house mould
When block, bigger adverse effect is caused to main body frame, above structure can alleviate this adverse effect；Well formula elevator
Pallet be provided with zero point coordinate, different module components is in the different location of pallet according to the calculating of PLC control system,
In order to the crawl of mechanical gripper, the actuating quantity of automatic control horizontal transferring device is reduced, the danger of high altitude operation is reduced.
As shown in fig. 7, for the structural schematic diagram of main frame structure in Intelligent Frame Standard device of the present invention；
Wherein, 15 is wear building truss, and 16 be top from climbing device (being detailed in Fig. 8)；The column 3 that climbs certainly of main body frame, which is equipped with, to be worn
Building truss 15 and sustaining wall device 4.It as shown in figure 16, is the knot of the building Intelligent Frame Standard device Zhong Chuan of the present invention truss
Structure schematic diagram.
First platform 7 is mainly that automatic control horizontal transport agency 6 provides workbench, and carriage is dedicated the first platform 7
It is run on crane rail, while operation, laser sensor and displacement sensor control two sides stroke, guarantee two sides stroke
Consistency；
The work such as the second platform 8 predominantly welding, bolt provide workbench, after house module 9 is lifted in place,
Need to install house module to mounted position, provide the working face for the second platform 8, operator on that plane into
The work such as row welding, bolt；It according to corresponding design specification, is not allowed using prefabricated PC and at the floor higher than 50m
Component, therefore, operator can carry out cement pouring construction in the working face；And it can be stored on the second platform each
Kind tooling manipulator；
Main body frame climbs as well formula elevator, is all using tower crane from principle of climbing, increases a mark every time
Quasi- section；And the hydraulic self-lifting system in top (top from climbing device) is used, the weight integrally promoted in this way is only top first
The weight of platform and the second platform will not be whole weight, advantageously reduce cost；
As shown in figure 8, for the structural representation at the top of in Intelligent Frame Standard device of the present invention from climbing device
Figure；Wherein, 16 be top from climbing device, and 17 be oil cylinder, and 18 be standard knot；It covers and is installing from climbing device
It above standard knot, while climbing and operation platform is installed above, when needing lifting construction podium level, pass through automatic control level
Standard knot 18 to be installed is transported to from the platform of climbing device 16 by conveying device, is had from climbing device and is jacked up platform, and will
Standard knot is transported to inside and is installed.
Using top from climbing device 16, overall cost of climbing can be reduced；Jacking every time, installs a standard knot, marks
Quasi- section ruler cun determines optimum configuration size by calculating；
As shown in figure 9, for the structural schematic diagram of sustaining wall device in Intelligent Frame Standard device of the present invention；Pass through
Sustaining wall device 4 connects the frame body of main body frame and building body, guarantees the security and stability of frame body；Due to main body frame height
Spend relatively high, in the case where saving material, the slenderness ratio of frame body is bigger, it is impossible to ensure that the stability of frame, therefore need
Frame body and building body are attached, to reduce length outside plane, guarantees the overall stiffness of frame, improves stability, it is ensured that peace
Entirely；
As shown in Figure 10, the structure for automatic horizontal conveying device in Intelligent Frame Standard device of the present invention is shown
It is intended to, is the mechanical gripper of automatic horizontal conveying device in Intelligent Frame Standard device of the present invention as shown in figure 11
Partial enlargement structural representation；Automatic horizontal conveying device 3 includes guide rail, double beam overhead travelling crane 33, mechanical gripper fixture 34, machinery
Handgrip 35, height adjustment hydraulic cylinder 36, the gripper 37 of mechanical gripper and tightening hydraulic cylinder 38, mechanical gripper 35 pass through mechanical gripping
Hand fixture 34 is fixed on the lower part of double beam overhead travelling crane 33；Height adjustment hydraulic cylinder 36 connects mechanical gripper fixture 34 and mechanical gripper
35, height adjusts the horizontal position that hydraulic cylinder 36 is used to adjust mechanical gripper 35；Tighten the gripper of hydraulic cylinder 38 and mechanical gripper
37 are connected, after the gripper 37 of mechanical gripper catches material, for tightening the gripper 37 of mechanical gripper.
It as shown in figure 12, is the structural schematic diagram of house suspender in Intelligent Frame Standard device of the present invention；Its
In, 19 be suspender, and 20 be suspension centre；Module related suspender in house is transported to when crawl position together by well formula elevator,
The hydraulic pressure support of well formula elevator rises and supports the first platform, while automatic control horizontal transport agency is moved to the promotion of well formula
The top of machine, under the action of PLC control system and photoelectric sensor, when mechanical gripper device grabs house module, mechanical gripping
Arm device moves under the action of adjusting hydraulic cylinder 304 by height, while opening mechanical gripping by the effect of tightening hydraulic cylinder 305
Then hook collects mechanical grapple, grabbing hanger suspension centre, the design of lifting points of suspender by the position of photoelectric sensor confirmation decline
Match with mechanical gripper device.
Intelligent Frame Standard device of the invention is also provided with stair kitchen and bath's balcony floor support plate composite machine
Hand is as shown in figure 13 stair kitchen and bath's balcony floor support plate composite machine hand in Intelligent Frame Standard device of the present invention
Structural schematic diagram, wherein 21 be precast stair, 22 be suspension hook, and 23 be multistage hydraulic cylinder, and 24 be linear guides；Linear guides 24
It is connect by rotating device with suspender 19, while linear guides 24 are with multistage hydraulic cylinder cylinder 23, in the low of multistage hydraulic cylinder 23
End is equipped with the suspension hook 22 of hydraulic power, with the hanging ring of the hanged precast stair of suspension hook 22；The manipulator is usually stored in the second platform
Right side, when in building, body construction is to 50m or more height, big module installation is changed into installation in bulk, and due to four structure type
There are certain repeatability, and therefore, the present invention devises the manipulator, which can adapt to stair, integrated bathroom, sun
The lifting function of platform, and can adapt to different sizes, hoisting process is simple and convenient, and realization easy to operate is high-rise complete
Automation installation, avoid the influence of wind load during the installation process, improve the efficiency of installation, the precision of installation, construction
Security reliability, has saved human and material resources, and the present invention realizes that the scale of construction is big, weight is big stair, integrated bathroom, balcony are grabbed
It takes and installs；
After stair, kitchen and bath, balcony lift composite machine subordinate side via the related working position apparatus of push-plate, pass through camera shooting
Head carries out barcode scanning and identifies whether to be needed stair to be pacified, kitchen and bath, balcony；After barcode scanning success, composite machine hand is according to being swept into
Information, the program compiled and edit according to PLC system, the position of adjust automatically machinery hand is mechanical to use the suspension centre of component
Subordinate, which drops to, to be reached to crawl position, gripper components, and manipulator rises and is moved to position to be installed, installed, be installed
Afterwards enter it is next in proper order；
Control system by PLC controller, laser sensor, displacement sensor, balance sensor, camera, display,
The composition such as button keyboard, control handle, data acquisition module；It adopts and computerizeds control, man machine operation interface, to operating status
Detection display at any time, shows content whole Chinese display, and control system centralized arrangement is just grasped on the operation panel of control room
Work person's observation and operation；
In order to which more quickly beam column combined machine hand has also been devised in installation steel beam, column, the present inventor；Such as Figure 14 institute
Show, be the structural schematic diagram of Intelligent Frame Standard device beam-column combined machine hand of the present invention, wherein 39 be main frame
Frame, 40 be leadscrew-nut mechanism, and 41 be moving beam, and 42 be mechanical arm, and 43 be beam column combined machine hand suspension centre；In main frame
It is provided with beam column combined machine hand suspension centre 43 on 39, is used for the hanged manipulator of automatic control horizontal transport agency, while being provided with shifting
Dynamic crossbeam 41, moving beam 41 realize accurate displacement by leadscrew-nut mechanism 40 on main frame 39；Moving beam 41 penetrates
Linear guides carry mechanical arm 42；And then girder steel, steel column are grabbed by mechanical arm.
The manipulator can disposably grab the girder steel or steel column in a set of house, and can be quasi- by each girder steel, steel column
True navigates to installation site, and all girder steels, steel column are installed simultaneously, improves installation effectiveness, and then improve whole dress
With formula progress, time, money have been saved；
After its related pallet of steel column or girder steel is lifted manipulator crawl position by the system of lifting together, due to steel column
It is also to be placed according to building structure to be installed, therefore be not necessarily to adjusting angle after grabbing in the placement location and pattern of pallet
Degree, starting dress building machine beam column combined machine hand, is calculated, the photosignals such as laser sensor, camera by PLC control system
Control action, driving moving beam is distributed according to set axis, and multi-stage oil cylinder declines, and combined machine hand starts to act,
Grab girder steel or steel column.After crawl, multi-stage oil cylinder is recycled；Start horizontal transport agency, be moved to installation site and installed,
After the installation is completed, initial position is returned, the operation of next round is waited.
Intelligent Frame Standard device of the invention is also provided with external and internal wall manipulator, as shown in figure 15, is
The structural schematic diagram of external and internal wall manipulator in Intelligent Frame Standard device of the present invention, wherein 44 be rotating device,
45 be electric pushrod, and 46 be corner oil cylinder, and 47 be limiting device；Rotating device 44 is filled by suspender 19 by automatic control horizontal feed
Crawl is set, while undertaking the rotational tasks of manipulator again；44 fitted underneath of rotating device has the crossbeam for preventing wall, in crossbeam
On be mounted with corner oil cylinder 46, when grabbing wall, wall is lifted by corner oil cylinder 46 upwards, when needing to install wall,
Corner oil cylinder 46 discharges wall and reaches band mounting height, and pushes wall forward by electric pushrod 45；Due to wall volume
Greatly, several tons to more than ten tons of weight weight cause many difficulties, first erector's large labor intensity, installation safety to installation
Property is greatly lowered, secondly as the scale of construction of wall is big, be easy to cause the destruction of wall, installation effectiveness is also greatly lowered.
And although the installation scale of construction of inner wall is small, since the quantity of installation is compared to relatively more, space is limited, and when installation should not grasp
Control.Therefore external and internal wall installation manipulator has been sent out.
After wall support is via lifting the related pallet of equipment and being lifted below external and internal wall manipulator together, equipment passes through
Camera carries out barcode scanning and identifies whether to be needed wall to be installed；After barcode scanning success, manipulator can automatic connecting wall hang
Point, and corner oil cylinder can hold wall and elect upwards, until wall enters inside limiting slot.Mechanical hand starting drives wall
Reach installation site, adjusted with laser sensor at a distance from wall and wall to be installed by camera, make wall with wait pacify
Dress face reaches the same level；Starting corner oil cylinder, wall can drop under the action of self gravity and spring force, until
Corner oil cylinder completely disengages wall；After being detached from wall, corner oil cylinder rotational angle is simultaneously recycled；Start electric pushrod structure,
According to the thickness of wall under the manipulation of PLC system, the distance pushed forward is determined.After wall reaches installation site, pass through people
Work tightens installation bolt, then withdraw electronic pushing mechanism with；Integral hoisting equipment playback, continues the installation of next round wall.
Control system by PLC controller, laser sensor, displacement sensor, balance sensor, camera, display,
The composition such as button keyboard, control handle, data acquisition module, displacement sensor detection are lifted adjustable height, can accurately be stopped
Only in setting position, whether balance sensor real-time detection operational process keeps horizontal；Laser sensor detection pushes forward
Distance, its moving coordinate of real time correction；Data collecting module collected sensor number information and button keyboard and control handle issue
Control instruction be transmitted to PLC controller, PLC controller controls the automatic running of dress building machine, camera according to the collected data
The operational process video for filling building machine is transmitted on computer, realization personnel remotely monitor.
It adopts and computerizeds control, man machine operation interface detects display to operating status at any time, and display content is all Chinese
It has been shown that, control system centralized arrangement is on the operation panel of control room, just operator's observation and operation.
After the related working position apparatus of integral module is transported on well formula elevator by dollie, loop wheel machine equipment passes through
Camera carries out barcode scanning and identifies whether to be needed module to be pacified；After barcode scanning success, start the push function of transport vehicle, according to
The calculating of PLC control system, pushing module reach different positions, and the position of every kind of module component is different, in order to water
The crawl of workpiece conveying mechanism everything goes well with your work carry out；The hoist engine that well formula mentions machine at this time starts to act, according to lifting module component
Weight is calculated by PLC and designs different lifting acceleration, determine it is different lift the time, module component is smoothly transported to
Behind crawl position；The Hydraulic support platform of elevator end starts to act on, and is moved upwards according to the distance calculated in advance, directly
To lifting to the first platform；Horizontal transport agency starts to act, and runs to well formula elevator direction, reaches scheduled crawl position
It sets；Under the calculating of PLC system, under the booster action by photosignals such as laser sensor, displacement sensors, mechanical gripping
Hand is opened and is moved down, and suspender suspension centre is reached；The hydraulic cylinder 2 of handgrip is tightened, promptly suspender suspension centre；Hydraulic cylinder 1 is tightened, is risen
Hang module component；Start double beam overhead travelling crane, runs to module position to be installed, pay-off module component, according to light such as laser sensors
Electric signal, guarantee module component are parallel with existing wall；The connection work such as bolted, welded；It is whole after the completion to hang
The standby playback of installing, continues the installation of next round component；
Control system by PLC controller, laser sensor, displacement sensor, balance sensor, camera, display,
The composition such as button keyboard, control handle, data acquisition module；It adopts and computerizeds control, man machine operation interface, to operating status
Detection display at any time shows content whole Chinese display.Control system centralized arrangement is just grasped on the operation panel of control room
Work person's observation and operation.
Main body frame of the invention uses steel structure frame, is equivalent to using different profile composition lattice columns, guarantees wall
The overall structure performance of body is superior, and light-weight, bearing capacity is more preferable；Synchronization in order to guarantee main body frame is devised from climbing
Three electric-controlled hydraulic links guarantee the stability of structure: 1. passing through the valve traffic monitoring of hydraulic system own traffic；2. passing through monitoring
System, sensor monitor hoisting depth, realize closed-loop control；3. devising overturn-preventing hydraulic pressure system at 4 angles of main frame structure
System；In addition it has also been devised two mechanical links: sustaining wall device and wearing building truss, it is ensured that whole stability.
Intelligent Frame Standard device of the invention is a kind of hair for high-rise assembled architecture installation equipment
Bright, the key point of the invention is to use stable frame self-climbing mechanism, is climbed with assembled architecture, realizes high-rise dress
It is built with formula, the lifting, translate of needs is installed, downlink installs 3 elemental motions, have essence not with traditional tower crane, crane
Same: hoisting weight is greater than 20 tons, and sling height can be to 800 meters.
Under the invention of Zhuan Lou machine robot, building scene will not generate waste, economize on resources to the maximum extent, packet
Energy conservation is included, saves land, is water-saving, section material etc., protection environment and reduces pollution, provide healthy, comfortable for people and efficient uses sky
Between, the building with natural harmony symbiosis.Low consumption, efficiently, economic, environmental protection, integrated and optimization, be man and nature, now and not
Benefits-sharing between coming, is the construction means of sustainable development.
Claims (10)
1. a kind of Intelligent Frame Standard device, including main frame structure, it is characterised in that: the main frame structure
It is additionally provided with sustaining wall device and wears building truss；One end of the main frame structure is equipped with well formula lifting system；
The main frame structure includes the first platform, the second platform and main body frame self-climbing mechanism, first platform position
In the top of the main frame structure, for providing workbench for automatic horizontal conveying mechanism, first platform is equipped with
Automatic horizontal transport establishment, second platform are located at below first platform, flat for providing work for engineering staff
Platform, the main body frame self-climbing mechanism are from climbing device, for installing standard knot；The well formula lifting system, body frame
Frame self-climbing mechanism and automatic horizontal transport establishment are connected to the control system；
The well formula lifting system includes that well formula elevator, well formula elevator hoisting system, pallet and well formula lifting system are climbed certainly
Rise mechanism, the well formula elevator hoisting system is connected with the well formula elevator, the well formula elevator hoisting system and
The well formula lifting system self-climbing mechanism is connected, and the pallet is connected with the well formula lifting system self-climbing mechanism.
2. Intelligent Frame Standard device according to claim 1, it is characterised in that: the automatic horizontal transporter
Structure includes guide rail, double beam overhead travelling crane, mechanical gripper fixture, mechanical gripper, height adjustment hydraulic cylinder and tightening hydraulic cylinder, the machinery
Handgrip is fixed on the lower part of the double beam overhead travelling crane by the mechanical gripper fixture；The adjustment hydraulic cylinder connects mechanical gripper card
Tool and mechanical gripper, the adjustment hydraulic cylinder are used to adjust the horizontal position of mechanical gripper；The tightening hydraulic cylinder and mechanical gripping
Palmistry connects, after mechanical gripper catches material, for tightening mechanical gripper.
3. Intelligent Frame Standard device according to claim 1, it is characterised in that: elevator hoist engine system
System includes movable pulley and connected reel and wirerope.
4. Intelligent Frame Standard device according to claim 1, it is characterised in that: it further include falling proof device,
The falling proof device include extension spring device, support, gear rack arrangement, bursting tube, gear-box, latch segment, cam mechanism and
Carrier block；The gear rack arrangement two, positioned at the bursting tube two sides and with the bursting tube toe joint, the carrier block
Be two, positioned at the pallet lower section and be fixed together with pallet, the cam mechanism be two, be located at the carrier block
Lower section, the gear rack arrangement and cam mechanism in the gear-box, the latch segment be two, be located at the peace
The two sides of full pipe, are floated between cam mechanism and bursting tube by extension spring device.
5. Intelligent Frame Standard device according to claim 1, it is characterised in that: the well formula lifting system is also
Zero point coordinate including being set to pallet calculates position of the different components in pallet according to zero point coordinate for control system.
6. Intelligent Frame Standard device according to claim 1, it is characterised in that: the automatic horizontal transporter
Structure includes guide rail, double beam overhead travelling crane, mechanical gripper fixture, mechanical gripper, height adjustment hydraulic cylinder, the gripper of mechanical gripper and tightening
Hydraulic cylinder, mechanical gripper are fixed on the lower part of double beam overhead travelling crane by mechanical gripper fixture；Height adjustment hydraulic cylinder connects mechanical gripping
Hand fixture and mechanical gripper, height adjust the horizontal position that hydraulic cylinder is used to adjust mechanical gripper；Tighten hydraulic cylinder and mechanical gripping
The gripper of hand is connected.
7. Intelligent Frame Standard device according to claim 1, it is characterised in that: the Intelligent Frame structure
Assembly device is additionally provided with stair kitchen and bath's balcony floor support plate composite machine hand, the stair kitchen and bath balcony floor support plate composite machine handbag
Include precast stair, suspension hook, multistage hydraulic cylinder and linear guides；Linear guides are connect by rotating device with suspender, while linear
Guide rail is equipped with the suspension hook of hydraulic power with multistage hydraulic cylinder cylinder, in the low side of multistage hydraulic cylinder, with the hanged precast stair of suspension hook
Hanging ring.
8. Intelligent Frame Standard device according to claim 1, it is characterised in that: the Intelligent Frame structure
Assembly device is additionally provided with beam column combined machine hand, and the beam column combined machine hand includes main frame, leadscrew-nut mechanism, mobile cross
Beam, mechanical arm and beam column combined machine hand suspension centre；Beam column combined machine hand suspension centre is provided on main frame, it is horizontal for automatic control
The hanged manipulator of conveying mechanism, while it being provided with moving beam, moving beam is real on main frame by leadscrew-nut mechanism
Now precisely displacement；Moving beam carries mechanical arm through linear guides, grabs girder steel and steel column by mechanical arm.
9. Intelligent Frame Standard device according to claim 1, it is characterised in that: the Intelligent Frame structure
Assembly device is additionally provided with external and internal wall manipulator, and the external and internal wall manipulator includes rotating device, electric pushrod, corner oil cylinder
And limiting device；Rotating device fitted underneath has the crossbeam for preventing wall, and corner oil cylinder is equipped on crossbeam.
10. Intelligent Frame Standard device according to claim 1, it is characterised in that: the control system is main
By PLC controller, laser sensor, displacement sensor, balance sensor, camera, display, button keyboard, control handle
It is formed with data acquisition module；The PLC controller respectively with the laser sensor, displacement sensor, balance sensor, take the photograph
As head, display, button keyboard, control handle are connected with data acquisition module, data acquisition module with respectively with laser
Sensor, displacement sensor, balance sensor are connected.
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| CN201811398802.7A CN109967991A (en) | 2018-11-22 | 2018-11-22 | A kind of Intelligent Frame Standard device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811398802.7A CN109967991A (en) | 2018-11-22 | 2018-11-22 | A kind of Intelligent Frame Standard device |
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| CN201811398802.7A Pending CN109967991A (en) | 2018-11-22 | 2018-11-22 | A kind of Intelligent Frame Standard device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112443135A (en) * | 2019-09-02 | 2021-03-05 | 广东博智林机器人有限公司 | Outer wall surface construction robot operation system and use method thereof |
| CN113620131A (en) * | 2021-08-13 | 2021-11-09 | 中国建筑第七工程局有限公司 | Prefabricated component hoisting platform control system |
| CN114043144A (en) * | 2021-12-27 | 2022-02-15 | 江苏鲁安特智能装备科技有限公司 | Welding fixture for top frame |
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