CN111571570A

CN111571570A - Special automatic truss placing machine and automatic truss placing method

Info

Publication number: CN111571570A
Application number: CN202010455011.4A
Authority: CN
Inventors: 刘振国; 张宏生; 郑元喜; 王景胜; 杨占军; 马小萌; 李晓会
Original assignee: Beijing Research Institute of Auotomation for Machinery Industry Co Ltd
Current assignee: Beijing Research Institute of Auotomation for Machinery Industry Co Ltd
Priority date: 2020-05-26
Filing date: 2020-05-26
Publication date: 2020-08-25

Abstract

The invention discloses a special automatic truss placing machine and a method, wherein the special automatic truss placing machine comprises the following steps: a mould table; the truss conveying device is arranged on the side edge of the die table, and a truss is conveyed to the side edge of the die table by the truss conveying device; the truss placing device comprises a space moving frame and a manipulator connected to the space moving frame, wherein the manipulator is arranged on the truss conveying device and used for taking a truss and placing the truss at a preset position on the die table. The special machine and the method for automatically placing the trusses can realize the intelligent picking and batch arrangement of the trusses of the prefabricated members, greatly shorten the production beat, reduce the labor intensity, improve the die distribution precision and improve the production efficiency and the operation safety.

Description

Special automatic truss placing machine and automatic truss placing method

Technical Field

The invention relates to the field of production of prefabricated building prefabricated parts, in particular to a special automatic truss placing machine for automatically placing a truss in the field of prefabricated building prefabricated parts. The invention also relates to an automatic truss placing method.

Background

In the field of prefabricated member production of prefabricated members of prefabricated buildings, truss placement is taken as an important process in the production of the prefabricated members, and at present, most domestic enterprises mainly operate manually. In actual construction, the truss has the characteristics of large specification, large quantity, large quality and the like, so that the traditional operation mode becomes a bottleneck restricting the development of the industry due to the defects of low working efficiency, high labor intensity, poor arrangement precision and the like. Meanwhile, safety accidents in the manual operation process also happen occasionally. With the rapid development of new technologies such as automation, digitization, informatization, intellectualization and the like, the operation mode of the industry can be greatly changed.

Disclosure of Invention

The invention aims to provide a special machine for automatically placing a truss and an automatic placing method of the truss.

In order to achieve the above object, the automatic truss placing special machine of the present invention comprises: a mould table; the truss conveying device is arranged on the side edge of the die table, and a truss is conveyed to the side edge of the die table by the truss conveying device; the truss placing device comprises a space moving frame and a manipulator connected to the space moving frame, wherein the manipulator is arranged on the truss conveying device and used for taking a truss and placing the truss at a preset position on the die table.

In an embodiment of the above-mentioned machine for automatically placing the truss, the truss conveying device includes a guide member.

In an embodiment of the above-mentioned special automatic truss placing machine, the guide member includes a first guide rod and a second guide rod, and the first guide rod and the second guide rod are horn-shaped.

In an embodiment of the above-mentioned special machine for automatically placing trusses, the first guide rod and the second guide rod are respectively composed of a plurality of rollers arranged linearly.

In an embodiment of the above-mentioned special machine for automatically placing the truss, the space moving frame includes a rack-and-pinion transmission mechanism, the rack-and-pinion transmission mechanism includes a servo motor, and a driving gear and a rack that are engaged with each other, and the servo motor drives the driving gear to move on the rack.

In an embodiment of the above-mentioned special machine for automatically placing trusses, the rack-and-pinion transmission mechanism further includes an auxiliary gear and a gear tensioning member, the auxiliary gear is engaged with the rack, and the gear tensioning member tensions the auxiliary gear to eliminate a backlash between the driving gear and the rack.

In an embodiment of the above-mentioned special machine for automatically placing the truss, the manipulator includes a rotating shaft, a guide rail connected to the rotating shaft, and a clamping jaw connected to the guide rail.

In an embodiment of the above-mentioned special automatic truss placing machine, the manipulator further includes a clamping jaw adaptive control mechanism, and the clamping jaw adaptive control mechanism controls the clamping jaw to move a adaptive adjustment distance along the guide rail.

In an embodiment of the above-mentioned special machine for automatically placing the truss, the self-adaptive adjustment distance is smaller than the welding step pitch of the truss.

In an embodiment of the above-mentioned special plane is placed automatically to truss, the manipulator further includes length adjustment mechanism, length adjustment mechanism includes ratchet rack, ratchet colludes claw, first spring and second spring, the ratchet colludes the claw and connects on the guide rail, ratchet rack connects between clamping jaw and ratchet collude the claw, first spring coupling is in the ratchet colludes between claw and the guide rail, the second spring coupling is in between clamping jaw and the guide rail.

The automatic truss placing method comprises the following steps:

s100, conveying the truss to the side edge of the die table by a truss conveying mechanism;

and S200, the mechanical arm takes the truss on the truss conveying mechanism and places the truss on a preset position on the die table.

In an embodiment of the above method for automatically placing a truss, the step S100 includes: the truss provides material taking reference and guidance by a guide piece on the truss conveying mechanism.

In an embodiment of the above method for automatically placing a truss, the step S200 further includes: the manipulator moves in three freedom directions through the space moving frame.

In an embodiment of the above method for automatically placing a truss, the step S200 further includes: the mechanical arm moves along a direction by adopting a gear rack structure, and a tensioned auxiliary gear meshed with the rack is arranged to eliminate the tooth gap between the driving gear and the rack.

In an embodiment of the above method for automatically placing a truss, the step S200 further includes: and (4) the mechanical arm performs trial grabbing to the truss, and if the grabbing fails, the clamping jaw of the mechanical arm continues grabbing after being integrally displaced by a distance smaller than the welding step pitch of the truss.

The special machine and the method for automatically placing the trusses have the advantages that the intelligent picking and batch arrangement of the trusses of the prefabricated members can be realized, the production beat can be greatly shortened, the labor intensity is reduced, the formwork distribution precision is improved, and the production efficiency and the operation safety are improved.

The invention is described in detail below with reference to the drawings and specific examples, but the invention is not limited thereto.

Drawings

Fig. 1 is a perspective view of an embodiment of the automatic truss placing special machine according to the present invention;

fig. 2 is a working process diagram of an embodiment of the truss conveying device of the automatic truss placing special machine of the invention;

FIG. 3 is an enlarged view of FIG. 2 at A;

fig. 4 is a perspective view of an embodiment of a truss placing device for a special machine for automatically placing trusses according to the present invention;

FIG. 5 is an enlarged view of FIG. 4 at B;

fig. 6 is a perspective view of an embodiment of a robot for automatically placing a special plane on a truss according to the present invention;

FIG. 7 is an enlarged view at C of FIG. 6;

fig. 8 is a working diagram of adaptive control of the manipulator of the truss automatic placing special plane of the invention.

Wherein the reference numerals

1: automatic special plane of placing of truss

10: mould platform

20: truss conveying device

30: truss placing device

40: truss frame

100: mechanical arm

110: rotating shaft

120: guide rail

130: clamping jaw

131: in-place detection sensor

140: length adjusting mechanism

141: ratchet rack

142: ratchet hook

143: first spring

144: second spring

150: self-adaptive control mechanism for clamping jaw

200: space moving frame

210: servo motor

220: driving gear

230: rack bar

240: auxiliary gear

250: gear tensioning member

300: guide member

300 a: roller wheel

310: first guide rod

320: second guide rod

Detailed Description

The following detailed description of the embodiments of the present invention with reference to the drawings and specific examples is provided for further understanding the objects, aspects and effects of the present invention, but not for limiting the scope of the appended claims.

As shown in fig. 1, the special machine for automatically placing the truss 1 of the present invention includes a mold table 10, a truss conveying device 20, and a truss placing device 30, wherein the truss placing device 30 includes a robot 100 and a space moving frame 200, and the robot 100 is connected to the space moving frame 200. The truss conveying device 20 is disposed at a side of the mold table 10, the truss 40 is conveyed to the side of the mold table 10 by the truss conveying device 20, the manipulator 100 moves in three directions through the space moving frame 200, and the truss 40 is placed at a preset position on the mold table 10 after being taken from the truss conveying device 20.

The mold stage 10 is installed on the floor, the space transfer frame 200 is also installed on the floor through the base, and the robot 100 can move in three degrees of freedom of XYZ directions through the space transfer frame 200. Meanwhile, the robot 100 may rotate 360 degrees with respect to the space moving frame 200, which will be described in detail below.

As shown in fig. 1 to 3, the truss transport device 20 includes a guide 300, the guide 300 is used for guiding and positioning the transported truss 40, the guide 300 includes a first guide rod 310 and a second guide rod 320, and the first guide rod 310 and the second guide rod 320 are in a horn shape. As shown in fig. 2, when the girder 40 flows into the material through the girder transporting device 20, the girder 40 enters from the flare formed by the first guide bar 310 and the second guide bar 320, and the gradual deviation of the posture thereof is achieved until the girder 40 is positioned by the first guide bar 310 and the second guide bar 320. According to the invention, by arranging the guide piece 300, material taking reference and guide can be provided for feeding the trusses 40 with various specifications.

Also, as shown in fig. 3, the first guide bar 310 and the second guide bar 320 are respectively composed of a plurality of rollers 300a linearly arranged. The invention forms guide by vertically arranging the roller structure, and can avoid clamping stagnation of the truss 40 in the guiding and positioning process.

As shown in fig. 1 and 4, the space moving frame 200 drives the robot 100 to move in three directions, namely XYZ, so that the robot 100 can grab the truss 40 in a large space range and place the truss at a predetermined position on the mold table 10.

In the present invention, the space moving frame 200 is driven by a servo motor using a rack and pinion transmission mechanism. In detail, the span in the X direction of the space moving frame 200 is about 7 meters, and four rows of linear guide rails and two sets of gear racks are used for driving, so that the strength and stability of the whole driving are ensured, and two sets of servo motors are used for synchronous control; the span in the Y direction of the space moving frame 200 is about 10 m, the travel in the Z direction is about 2m, and the two directions YZ are driven by a set of servo motors respectively.

It can be seen that the spatial moving frame 200 of the present invention is typically characterized by a large span, and in order to ensure working accuracy, the present invention has an automatic backlash compensation device mounted on the rack, which can effectively reduce accumulated errors caused by machining deviations, wear, and return clearances.

As shown in fig. 4 and 5, the rack-and-pinion mechanism includes a servo motor 210 and a pinion gear 220 and a rack 230 engaged with each other, and the servo motor 210 drives the pinion gear 220 to move on the rack 230. In addition, the rack and pinion gear further includes an auxiliary gear 240 and a gear tensioning member 250, the auxiliary gear 240 is engaged with the rack 230, and the gear tensioning member 250 tensions the auxiliary gear 240 to eliminate backlash between the pinion gear 220 and the rack 230.

In the present invention, when the automatic backlash compensation device is designed, the gear transmission pair adopts a master-slave type composite structure, the driving gear 220 is directly connected with the servo motor 210, and the driving gear plays a driving role during work, and the auxiliary gear 240 does not play a driving role. During initial installation, the driving gear 220 and the auxiliary gear 240 are simultaneously meshed with the rack 230 to tightly hold the rack 230, and during movement along the X + or X-direction, the backlash can be eliminated, so that the manipulator can still maintain high precision under a large span.

As shown in fig. 4 and 6, the robot 100 includes a pivot 110, a guide 120, and a gripper 130, the guide 120 is coupled to the space frame 200 via the pivot 110, the guide 120 is coupled to the pivot 110, and the gripper 130 is coupled to the guide 120. Wherein, the clamping jaw 130 is two sets, snatchs more stably. The guide rail 120 connected to the rotation shaft 110 and the clamping jaw 130 can be rotated 360 degrees with respect to the space moving frame 200.

In the present invention, the robot 100 can perform the posture change and the placing operation of the truss 40 with any angle requirement by the cooperation of the space moving frame 200 and the rotating shaft 110.

In addition, the robot 100 further includes a length adjustment mechanism 140, and the positions of the two sets of holding jaws 130 for picking and placing the material on the guide rail 120 are adjusted by the length adjustment mechanism 140, so as to meet the grabbing operation of the trusses 40 with various sizes.

As shown in fig. 7, the length adjustment mechanism 140 includes a ratchet rack 141, a ratchet hook 142, a first spring 143, and a second spring 144, the ratchet hook 142 is connected to the rail 120, the ratchet rack 141 is connected between the holding jaw 130 and the ratchet hook 142, the first spring 143 is connected between the ratchet hook 142 and the rail 120, and the second spring 144 is connected between the holding jaw 130 and the rail 120. More specifically, the ratchet pawl 142 is rotatably coupled to the rail 120, and one end thereof is lifted by the first spring 143 so that the pawl portion at the other end is coupled to the ratchet rack 141.

In the invention, the clamping jaw 130 is arranged on the guide rail 120 and is connected with the ratchet hook 142 by adopting the ratchet rack 141, the first spring 143 is pressed by applying force F on the ratchet hook 142 during adjustment, the hook part of the ratchet hook 142 is lifted and is disconnected from the connection of the ratchet rack 141, the clamping jaw 130 can slide along the guide rail 120 under the pulling action of the second spring 144, after the clamping jaw slides to a specified position, the application force F on the ratchet hook 142 is cancelled, and the ratchet hook 142 and the ratchet rack 141 are automatically locked under the action of the first spring 143. The length adjustment mechanism 140 can adjust the position of the clamping jaws 130 on the guide rail 120, as shown in fig. 6, so that the distance L between the two clamping jaws 130 can be changed to be compatible with various trusses 40 with different length specifications.

The manipulator 100 of the truss automatic placing special plane 1 further comprises a clamping jaw self-adaptive control mechanism 150, and the clamping jaw self-adaptive control mechanism 150 controls the clamping jaw 130 to move a self-adaptive adjusting distance along the guide rail 120. The adaptive adjustment distance is typically less than the welding pitch of the truss 40.

In detail, according to the truss step pitch issued by the manufacturing execution system, the manipulator 100 of the truss automatic placement special machine 1 tries to grab the truss 40. If the clamping jaw 130 of the robot 100 encounters a rib solder joint blockage of the truss 40, which will result in a truss pickup failure, the position detection sensor 131 of the pneumatic clamping jaw 130 will give a clamping failure feedback signal, as shown in fig. 7. At this time, the picking position of the gripping jaw 130 can be adaptively adjusted by the gripping jaw adaptive control mechanism 150 to avoid the position of the welding point of the reinforcing bar of the truss 40.

To avoid false positives, the trial clamp may be set to fail 2 times, i.e., the adaptive jaw control mechanism 150 is activated. As shown in fig. 8, if the welding point pitch of the truss 40 is assumed to be d, and the adaptive adjustment distance of the clamping jaw 130 is assumed to be s, the adjustment strategy is 0< s < d, and s is generally selected to be d/2. After the adaptive adjustment of the adaptive control mechanism 150 of the clamping jaw is started, the clamping jaw 130 of the manipulator 100 moves along the guide rail 120 for the adaptive adjustment distance s and then grips again, so that the welding point of the reinforcing rib of the truss 40 can be avoided, and the optimal picking point of the truss 40 can be found.

In the invention, the truss 40 has high placement precision and is compatible with the size and has expansibility, which specifically comprises the following steps: the length of the truss is more than or equal to 2m and less than or equal to 4m, and the placement precision is +/-1 mm; the length of the truss is more than 4m and less than or equal to 6m, and the placement precision is +/-2 mm.

The automatic truss placing special machine can be directly communicated with a manufacturing execution system of a workshop, automatically extracts process data in a production order and realizes automatic arrangement of the truss 40.

In summary, the automatic truss placing method of the present invention includes the following steps:

Step S100 includes: the truss provides material taking reference and guidance by a guide piece on the truss conveying mechanism.

Step S200 further includes: the manipulator moves in three-degree-of-freedom directions through the space moving frame; the mechanical arm moves along one direction by adopting a gear rack structure, and a tensioned auxiliary gear meshed with the rack is arranged to eliminate the tooth gap between the driving gear and the rack; the manipulator carries out trial grabbing and lifting on the truss, if grabbing and lifting fail, the clamping jaw of the manipulator continues grabbing and lifting after integrally displacing a distance smaller than the welding step pitch of the truss; if the truss needs to be placed by rotating a certain angle, the truss is placed on the die table after being rotated by the rotating shaft of the manipulator.

The invention is used for the production of prefabricated members of an assembly type building, is a key unit technology integrating automatic arrangement, automatic obstacle avoidance and automatic detection of a truss, and is used for realizing the functions of positioning, grabbing, placing, detecting and the like of the truss.

The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. The utility model provides an automatic special plane of placing of truss, includes the mould platform, its characterized in that still includes:

the truss conveying device is arranged on the side edge of the die table, and a truss is conveyed to the side edge of the die table by the truss conveying device;

the truss placing device comprises a space moving frame and a manipulator connected to the space moving frame, wherein the manipulator is arranged on the truss conveying device and used for taking a truss and placing the truss at a preset position on the die table.

2. The machine special for automatically placing the trusses according to claim 1, wherein the truss conveying device comprises a guide member.

3. The machine special for automatically placing the trusses according to claim 2, wherein the guide member comprises a first guide rod and a second guide rod, and the first guide rod and the second guide rod are trumpet-shaped.

4. The machine special for automatically placing the trusses according to claim 3, wherein the first guide bar and the second guide bar are respectively composed of a plurality of rollers arranged linearly.

5. The special machine for automatically placing the trusses according to claim 1, wherein the space moving frame comprises a rack and pinion transmission mechanism, the rack and pinion transmission mechanism comprises a servo motor and a driving gear and a rack which are meshed with each other, and the servo motor drives the driving gear to move on the rack.

6. The machine special for automatically placing the trusses according to claim 5, wherein the rack and pinion transmission mechanism further comprises an auxiliary gear engaged with the rack and a gear tensioning member tensioning the auxiliary gear to eliminate backlash between the pinion gear and the rack.

7. The machine special for automatically placing the trusses according to claim 1, wherein the robot comprises a rotating shaft, a guide rail connected to the rotating shaft, and a clamping jaw connected to the guide rail.

8. The machine special for automatically placing the trusses according to claim 7, wherein the manipulator further comprises a clamping jaw adaptive control mechanism, and the clamping jaw adaptive control mechanism controls the clamping jaw to move along the guide rail by an adaptive adjustment distance.

9. The special machine for automatically placing the trusses according to claim 8, wherein the self-adaptive adjusting distance is smaller than the welding step pitch of the trusses.

10. The special automatic truss placing machine according to claim 7, wherein the manipulator further comprises a length adjusting mechanism, the length adjusting mechanism comprises a ratchet rack, a ratchet hook claw, a first spring and a second spring, the ratchet hook claw is connected to the guide rail, the ratchet rack is connected between the clamping jaw and the ratchet hook claw, the first spring is connected between the ratchet hook claw and the guide rail, and the second spring is connected between the clamping jaw and the guide rail.

11. An automatic truss placing method, wherein the automatic truss placing special machine according to any one of claims 1 to 10 is used for placing a truss on a mould table, and the method comprises the following steps:

12. The automatic truss placing method according to claim 11, wherein the step S100 comprises: the truss provides material taking reference and guidance by a guide piece on the truss conveying mechanism.

13. The method for automatically placing the truss according to claim 11, wherein the step S200 further comprises: the manipulator moves in three freedom directions through the space moving frame.

14. The method for automatically placing the truss of claim 13, wherein the step S200 further comprises: the mechanical arm moves along a direction by adopting a gear rack structure, and a tensioned auxiliary gear meshed with the rack is arranged to eliminate the tooth gap between the driving gear and the rack.

15. The automatic truss placing method of claim 11, wherein the step S200 further comprises: and (4) the mechanical arm performs trial grabbing to the truss, and if the grabbing fails, the clamping jaw of the mechanical arm continues grabbing after being integrally displaced by a distance smaller than the welding step pitch of the truss.