CN113123621A - Accurate assembly device and method for assembly type prefabricated part - Google Patents
Accurate assembly device and method for assembly type prefabricated part Download PDFInfo
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- CN113123621A CN113123621A CN202110445879.0A CN202110445879A CN113123621A CN 113123621 A CN113123621 A CN 113123621A CN 202110445879 A CN202110445879 A CN 202110445879A CN 113123621 A CN113123621 A CN 113123621A
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/18—Adjusting tools; Templates
- E04G21/1841—Means for positioning building parts or elements
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
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Abstract
The invention discloses an accurate assembling device for assembled prefabricated parts, which comprises a bearing assembly and a driving assembly, wherein the bearing assembly is used for assembling the prefabricated parts, and the bearing assembly is arranged at the upper end parts of the prefabricated parts and is used for transporting the prefabricated parts to a building assembling plate under the driving action of the driving assembly and is accurately matched and connected with the building assembling plate. The first driving device and the second driving device are used for driving the prefabricated part to rigidly move above the building assembly plate along the first transverse rail and the second transverse rail, so that the prefabricated part and the building assembly plate are accurately matched in position and are prevented from shaking, and the second jacking device is used for adjusting the assembly form of the prefabricated part and the building assembly plate, so that the form matching of the prefabricated part and the building assembly plate can be realized and the applicability and the mobility are improved.
Description
Technical Field
The invention relates to the technical field of buildings, in particular to an assembly type prefabricated part accurate assembly device and an assembly method.
Background
The prefabricated components are steel, wood or concrete components which are prefabricated in a factory or on the site according to design specifications, the prefabricated components are utilized to be assembled on the site of a construction site to form the assembly type building, the hoisting and positioning process of the prefabricated components is the most critical in the construction process of the assembly type building at the current stage, firstly, the prefabricated components need to be hoisted by a tower crane, and a tower crane driver needs to keep real-time intercom communication with a signaler on the hoisting site and then is matched with site construction workers to finally complete the hoisting and positioning of the prefabricated components together.
In the prior art, patent CN202010377650.3 discloses an accurate assembling device and method for prefabricated components of an assembly type building, which includes an assembly type building bottom plate surface and prefabricated components, the prefabricated components are disposed above the assembly type building bottom plate surface, the top of the assembly type building bottom plate surface is fixedly connected with a plurality of steel bars, the bottom of the prefabricated components is provided with a plurality of guide grooves, the inner walls of the top of the guide grooves are provided with limit grooves matched with the steel bars, a top plate is disposed above the prefabricated components, the bottom of the top plate and the top of the prefabricated components are both fixedly connected with two first connecting rings, two adjacent first connecting rings are connected through a first connecting rope, the top of the top plate is fixedly connected with two second connecting rings, the installation of the prefabricated components can be simply and conveniently completed, the steel bars at the top of the assembly type building bottom plate surface are accurately inserted into the limit grooves, the construction efficiency is improved, and the working strength, is convenient for practical use.
Although patent CN202010377650.3 can be convenient the installation of completion prefabricated component, still there is certain defect, still use the tower crane to install the position and match, though utilize the movable block to prevent that prefabricated component from rocking with assembled building bottom plate face matching in-process, nevertheless still be difficult to avoid the prefabricated component to descend rocking to the movable block in-process, and current device can only satisfy the prefabricated component of regular shape moreover, difficult function in order to realize centre gripping and accurate matching spacing groove to irregular prefabricated component, it is poor to be suitable for the mobility.
Disclosure of Invention
The invention aims to provide an accurate assembly device for an assembly type prefabricated part, and the device is used for solving the technical problems that in the prior art, the prefabricated part is difficult to avoid shaking in the process of descending to a movable block, the existing device only can meet the requirements of the prefabricated part with a regular shape, the functions of clamping and accurately matching a limit groove for an irregular prefabricated part are difficult to realize, and the applicable mobility is poor.
In order to solve the technical problems, the invention specifically provides the following technical scheme:
an assembled prefabricated part accurate assembly device comprises a bearing assembly and a driving assembly, wherein the bearing assembly is used for assembling prefabricated parts, and the bearing assembly is arranged at the upper end of the prefabricated parts and used for conveying the prefabricated parts to a building assembly plate under the driving action of the driving assembly and is accurately matched and connected with the building assembly plate;
the bearing assembly comprises a plurality of clamping plates matched with the end surfaces of the prefabricated parts, a first jacking device for providing clamping driving force for the clamping plates, and a first linkage shaft, one end of the first jacking device is connected with a driving shaft of the first jacking device, the other end of the first linkage shaft is connected with the clamping plates, the first linkage shaft and the first jacking device form a first linkage mechanism together, and the clamping plates face towards the end surfaces of the prefabricated parts under the action of the first linkage mechanism to enable the end surfaces of the prefabricated parts to be close to or far away from the end surfaces of the prefabricated parts so as to clamp or release the prefabricated parts.
As a preferred aspect of the present invention, the driving assembly includes a direction driving member disposed above the bearing assembly for driving the bearing assembly, and an assembly driving member disposed between the direction driving member and the bearing assembly, the direction driving member is used for adjusting the orientation of the bearing assembly to roughly match the prefabricated components with the building assembly plate for the first time, and the assembly driving member is used for adjusting the matching configuration of the prefabricated components to precisely match the prefabricated components with the building assembly plate for the second time.
As a preferable scheme of the invention, the direction driving piece comprises a first transverse rail and a second longitudinal rail which are respectively arranged above the top end of the bearing component and distributed transversely, a first driving device and a second driving device which are respectively arranged at the end parts of the first transverse rail and the second longitudinal rail and provide moving driving force for the first transverse rail and the second longitudinal rail, and a first linkage roller having an inner end surface connected to the outer end surface of the first driving shaft, an outer end surface connected to the lower end surface of the first transverse rail, a second linkage roller having an inner end surface connected to the outer end surface of the second driving shaft, an outer end surface connected to the lower end surface of the second longitudinal rail, the first transverse rail, the first linkage roller and the first driving device together form a second linkage mechanism, the second longitudinal rail, the second linkage roller and the second drive device together form a third linkage mechanism.
In a preferred embodiment of the present invention, the first transverse tracks and the second longitudinal tracks are perpendicularly crossed to form a matrix distribution, and the first transverse tracks and the second longitudinal tracks have a consistent track pitch.
As a preferable aspect of the present invention, the assembly driving member includes a moving block matched with the track pitch, a second jacking device disposed above the moving block, and a second link shaft having one end connected to a driving shaft of the second jacking device and the other end connected to the first link mechanism, the moving block, the second jacking device and the first transverse track or the second longitudinal track together form a fourth link mechanism, the clamping plate, the second link shaft and the second driving device together form a fifth link mechanism, the fourth link mechanism respectively performs transverse and longitudinal joint movement under the action of the second link mechanism and the third link mechanism so that the prefabricated component clamped inside the first link mechanism performs transverse and longitudinal joint movement to the position above the position of the building assembly plate to complete the primary matching, and the first link mechanism performs lifting or lowering movement under the action of the fifth link mechanism so that the prefabricated component positioned inside the building assembly plate performs the primary matching And carrying out form change on the prefabricated part above the board distribution direction and carrying out secondary matching.
As a preferred aspect of the present invention, a locking assembly is disposed on an outer side of the moving block, the locking assembly is configured to position-limit the fourth linkage mechanism to maintain stability of the prefabricated component during the secondary matching process, the locking assembly includes a locking groove disposed on an inner side wall of the first transverse rail and the second longitudinal rail and having an outward concave, and a ferromagnetic locking protrusion disposed on a side of the moving block and matching with the locking groove, an electromagnetic device is disposed inside the locking groove, and the ferromagnetic locking protrusion enters or escapes from the locking groove under a magnetic attraction action force of the electromagnetic device to achieve position limitation or release of the fourth linkage mechanism.
As a preferable aspect of the present invention, the shape detection apparatus further comprises a shape detection module and an image processing module, the shape detection module comprising a three-dimensional laser scanner for scanning the prefabricated part and the building assembly panel to form a first three-dimensional image and a second three-dimensional image;
the image processing module performs image fusion on the first three-dimensional image and the second three-dimensional image to acquire distance data, height data and prefabricated part conversion angle data of the prefabricated part and the building assembly plate, and respectively controls the fourth linkage mechanism and the fifth linkage mechanism to drive the prefabricated part to be matched with the building assembly plate.
As a preferable aspect of the present invention, the image processing module preprocesses the distance data, the angle data, and the height data into a first moving path of a first matching in which the prefabricated part moves above the building assembly panel, a second moving path in which the prefabricated part forms a form in accordance with the building assembly panel, and a third moving path in which the prefabricated part is secondarily matched with the building assembly panel, respectively.
As a preferred aspect of the present invention, the present invention provides an assembling method of the assembly type green building prefabricated part precision assembling device, comprising the steps of:
s1, enabling the first linkage mechanism to be close to the surface of the prefabricated part and clamp the prefabricated part, and enabling the locking assembly to limit and release the fourth linkage mechanism;
step S2, the image processing module controls the fourth linkage mechanism to move transversely and longitudinally according to the first moving path to drive the prefabricated part to be positioned above the building assembly plate, and the locking assembly carries out limit locking on the fourth linkage mechanism;
step S3, the image processing module controls the fifth linkage mechanism to lift and lower according to the second moving path to drive the prefabricated part to form a matching shape consistent with the building assembly plate;
and step S4, the image processing module controls the fifth linkage mechanism to descend according to the third moving path to drive the prefabricated part to contact with the building assembling plate, and the assembling is finished.
Compared with the prior art, the invention has the following beneficial effects:
the first driving device and the second driving device are used for driving the prefabricated part to rigidly move above the building assembly plate along the first transverse rail and the second transverse rail, so that the prefabricated part and the building assembly plate are accurately matched in position and are prevented from shaking, and the second jacking device is used for adjusting the assembly form of the prefabricated part and the building assembly plate, so that the form matching of the prefabricated part and the building assembly plate can be realized and the applicability and the mobility are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
FIG. 1 is a schematic structural diagram of an accurate assembly device for assembly type green building prefabricated parts according to an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a carrier assembly according to an embodiment of the present invention;
FIG. 3 is a schematic structural view illustrating a prefabricated part formed in a shape corresponding to a building panel according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of the second matching between the prefabricated components and the building assembling plate according to the embodiment of the present invention;
FIG. 5 is a schematic structural view illustrating a primary matching of a prefabricated part and a building assembly plate according to an embodiment of the present invention;
fig. 6 is a flowchart of an assembly method according to an embodiment of the present invention.
The arrow direction in the figure indicates the first movement path of the prefabricated elements.
The reference numerals in the drawings denote the following, respectively:
1-a carrier assembly; 2-a drive assembly; 3-a capture assembly; 4-an electromagnetic device; 5-a prefabricated part; 6-building assembly plate;
101-a clamping plate; 102-a first jacking device; 103-a first linkage shaft;
201-directional driving member; 202-assembling a driving piece;
2011-first transverse rail; 2012-a second longitudinal rail; 2013-a first drive; 2014-a second drive device; 2015-a first linkage roller; 2016-a second linkage roller;
2021-moving block; 2022-a second jacking device; 2023-a second linkage shaft;
301-a capture recess; 302-iron capture lug.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in figures 1 and 2, the invention provides a prefabricated part precise assembly device, which comprises a bearing assembly 1 for assembling prefabricated parts and a driving assembly 2, wherein the bearing assembly 1 is arranged at the upper end part of the prefabricated parts and is used for transporting the prefabricated parts to a building assembly plate under the driving action of the driving assembly 2 and precisely matching and connecting with the building assembly plate.
The prefabricated parts refer to steel, wood or concrete parts which are prefabricated in a factory or on site according to design specifications, and are usually in regular structures and irregular structures, and the assembling process of the prefabricated parts and the building assembly plates refers to a process of matching and connecting assembly holes of the prefabricated parts with assembly columns of the building assembly plates so that the prefabricated parts are installed on the building assembly plates, so that the assembling process of the prefabricated parts and the building assembly plates is mainly a process of matching the assembly holes and the assembly columns in a precise direction.
The bearing assembly 1 comprises a plurality of clamping plates 101 matched with the end surfaces of the prefabricated parts, a first jacking device 102 providing clamping driving force for the clamping plates 101, and a first linkage shaft 103 with one end connected with a driving shaft of the first jacking device 102 and the other end connected with the clamping plates 101, wherein the clamping plates 101, the first linkage shaft 103 and the first jacking device 102 jointly form a first linkage mechanism, and the clamping plates 101 are close to or far away from the end surfaces of the prefabricated parts under the action of the first linkage mechanism so as to clamp or release the prefabricated parts.
In practical use, the first jacking device 102 is an air cylinder, a hydraulic cylinder or other components with the same function, firstly, the lifting manipulator lifts the prefabricated part to the position of the clamping plate 101 and enables the end part of the prefabricated part to be correspondingly matched with the position of the clamping plate 101, at the moment, the clamping plate 101 approaches to the end part surface of the prefabricated part under the action of the first linkage mechanism so as to clamp the prefabricated part, and the prefabricated part and the first linkage mechanism form an integrated linkage relationship, so that the prefabricated part moves along with the first linkage mechanism; after the prefabricated parts and the building assembling plate are assembled, the clamping plate 101 is far away towards the end surface of the prefabricated part under the action of the first linkage mechanism to release the prefabricated part, and the released clamping plate 101 can be put into the assembly of the next prefabricated part.
As shown in fig. 3 to 5, the driving assembly 2 includes a direction driving member 201 disposed above the bearing assembly 1 for driving the bearing assembly 1, and an assembly driving member 202 disposed between the direction driving member 201 and the bearing assembly 1, wherein the direction driving member 201 is used for adjusting the orientation of the bearing assembly 1 to roughly match the prefabricated components with the building assembly plate for the first time, and the assembly driving member 202 is used for adjusting the matching configuration of the prefabricated components to finely match the prefabricated components with the building assembly plate for the second time.
The direction driving member 201 comprises a first transverse rail 2011 and a second longitudinal rail 2012 which are respectively arranged above the top end of the carrying assembly 1 and distributed transversely, a first driving device 2013 and a second driving device 2014 which are respectively arranged at the end parts of the first transverse rail 2011 and the second longitudinal rail 2012 and provide moving driving force for the first transverse rail 2011 and the second longitudinal rail 2012, and the inner end face is connected with the outer end face of a driving shaft of the first driving device 2013, the outer end face is connected with the lower end face of the first transverse rail 2011, the inner end face is connected with the outer end face of a driving shaft of the second driving device 2014, the outer end face is connected with the lower end face of the second longitudinal rail 2012, the first transverse rail 2011, the first linkage roller 2015 and the first driving device 2013 jointly form a second linkage mechanism, and the second longitudinal rail 2012, the second linkage roller 2016 and the second driving device 2014 jointly form a third linkage mechanism.
The first driving device 2013 and the second driving device are rotating motors or other components with the same function, the first transverse rail 2011 performs transverse circulation transmission under the action of the driving force of the first driving device 2013, and the second longitudinal rail 2012 performs longitudinal circulation transmission under the action of the driving force of the second driving device 2014.
The first transverse rail 2011 and the second longitudinal rail 2012 are perpendicularly crossed to form a matrix distribution, and the first transverse rail 2011 and the second longitudinal rail 2012 have a consistent track pitch.
The assembly driving part 202 comprises a moving block 2021 matched with the track pitch, a second jacking device 2022 arranged above the moving block 2021, and a second linkage shaft 2023 with one end connected with a driving shaft of the second jacking device 2022 and the other end connected with a first linkage mechanism, wherein the moving block 2021, the second jacking device 2022 and the first transverse track 2011 or the second longitudinal track 2012 jointly form a fourth linkage mechanism, the clamping plate 101, the second linkage shaft 2023 and the second driving device 2014 jointly form a fifth linkage mechanism, the fourth linkage mechanism respectively performs transverse and longitudinal joint movement under the action of the second linkage mechanism and the third linkage mechanism so that the prefabricated part clamped inside the first linkage mechanism performs transverse and longitudinal joint movement to the position above the building assembly plate to complete one-time matching, and the first linkage mechanism performs lifting or descending movement under the action of the fifth linkage mechanism so that the prefabricated part above the position of the building assembly plate performs shape change and performs secondary matching.
The outer side edge of the moving block 2021 is provided with a locking assembly 3, the locking assembly 3 is used for limiting the position of the fourth linkage mechanism to maintain the stability of the prefabricated part in the secondary matching process, the locking assembly 3 comprises a locking groove 301 which is arranged on the inner side wall of the first transverse rail 2011 and the second longitudinal rail 2012, the locking groove 301 is recessed outwards, and a ferrous locking lug 302 which is arranged on the side edge of the moving block 2021 and matched with the locking groove 301, an electromagnetic device 4 is arranged inside the locking groove 301, and the ferrous locking lug 302 enters the locking groove 301 or leaves from the locking groove 301 under the action of the magnetic attraction acting force of the electromagnetic device 4 to limit or release the position of the fourth linkage mechanism.
Specifically, the moving block 2021, the second jacking device 2022, the first transverse track 2011 or the second longitudinal track 2012 jointly form a fourth linkage, and the clamping plate 101, the second linkage 2023 and the second driving device 2014 jointly form a fifth linkage, so that the clamping plate 101 moves transversely and longitudinally along the first transverse track 2011 and the second longitudinal track 2012 along with the moving block 2021, thereby realizing the transverse and longitudinal movement of the prefabricated component, when the prefabricated component reaches the position above the building assembling plate, the power supply of the electromagnetic device 4 is turned on, the magnetic attraction force of the electromagnetic device 4 is utilized to suck the iron locking lug 302 into the locking groove 301 to form position limitation on the moving block 2021, thereby preventing the moving block 2021 from shaking in the assembling process of the assembling hole and the assembling column, which causes the assembling hole and the assembling column to be difficult to be matched and assembled, the locking assembly 3 improves the assembling precision, and after the assembling is completed, the power of the electromagnetic device 4 is cut off, the iron catching convex block 302 is in a free moving state under the disappearance of the magnetic attraction force, and the movement of the prefabricated part continues for the next time.
The shape detection module comprises a three-dimensional laser scanner, and the three-dimensional laser scanner is used for scanning the prefabricated part and the building assembling plate to form a first three-dimensional image and a second three-dimensional image;
the image processing module performs image fusion on the first three-dimensional image and the second three-dimensional image to acquire distance data, height data and prefabricated part conversion angle data of the prefabricated part and the building assembly plate, and respectively controls the fourth linkage mechanism and the fifth linkage mechanism to drive the prefabricated part to be matched with the building assembly plate.
The image processing module respectively preprocesses the distance data, the angle data and the height data into a first moving path of primary matching when the prefabricated part moves to the upper part of the building assembly plate, a second moving path when the prefabricated part forms a shape consistent with the building assembly plate, and a third moving path when the prefabricated part is secondarily matched with the building assembly plate.
As shown in fig. 6, based on the structure of the above-mentioned assembly type green building prefabricated part precise assembly device, the present invention provides an assembly method, which comprises the following steps:
s1, enabling the first linkage mechanism to be close to the surface of the prefabricated part and clamp the prefabricated part, and enabling the locking assembly to limit and release the fourth linkage mechanism;
step S2, the image processing module controls the fourth linkage mechanism to move transversely and longitudinally according to the first moving path to drive the prefabricated part to be positioned above the building assembly plate, and the locking assembly carries out limit locking on the fourth linkage mechanism;
step S3, the image processing module controls the fifth linkage mechanism to lift and lower according to the second moving path to drive the prefabricated part to form a matching shape consistent with the building assembly plate;
and step S4, the image processing module controls the fifth linkage mechanism to descend according to the third moving path to drive the prefabricated part to contact with the building assembling plate, and the assembling is finished.
According to the invention, the first driving device 2013 and the second driving device 2014 are used for driving the prefabricated part to rigidly move above the building assembly plate along the first transverse rail 2011 and the second transverse rail, so that the prefabricated part and the building assembly plate are accurately matched in position and are prevented from shaking, and the second jacking device 2022 is used for adjusting the assembly form of the prefabricated part and the building assembly plate, so that the form matching of the prefabricated part and the building assembly plate can be realized and the applicability and the mobility are improved.
The above embodiments are only exemplary embodiments of the present application, and are not intended to limit the present application, and the protection scope of the present application is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present application and such modifications and equivalents should also be considered to be within the scope of the present application.
Claims (9)
1. The utility model provides an accurate assembly quality of assembled prefabricated component which characterized in that: the prefabricated member assembling device comprises a bearing assembly (1) for assembling prefabricated members and a driving assembly (2), wherein the bearing assembly (1) is arranged at the upper end of the prefabricated members and used for transporting the prefabricated members to a building assembling plate under the driving action of the driving assembly (2) and is precisely matched and connected with the building assembling plate;
the bearing assembly (1) comprises a plurality of clamping plates (101) matched with the end surfaces of the prefabricated parts, a first jacking device (102) providing clamping driving force for the clamping plates (101), and a first linkage shaft (103) with one end connected with a driving shaft of the first jacking device (102) and the other end connected with the clamping plates (101), wherein the clamping plates (101), the first linkage shaft (103) and the first jacking device (102) jointly form a first linkage mechanism, and the clamping plates (101) face the end surfaces of the prefabricated parts to be close to or far away from the end surfaces of the prefabricated parts under the action of the first linkage mechanism so as to clamp or release the prefabricated parts.
2. The precision assembling device of prefabricated parts according to claim 1, wherein: the driving assembly (2) comprises a direction driving piece (201) arranged above the bearing assembly (1) and used for driving the bearing assembly (1), and an assembling driving piece (202) arranged between the direction driving piece (201) and the bearing assembly (1), wherein the direction driving piece (201) is used for adjusting the orientation of the bearing assembly (1) so as to enable the prefabricated part to be roughly matched with the building assembling plate for the first time, and the assembling driving piece (202) is used for adjusting the matching form of the prefabricated part so as to enable the prefabricated part to be accurately matched with the building assembling plate for the second time.
3. The precision assembling device of prefabricated parts according to claim 2, wherein: the direction driving piece (201) comprises a first transverse rail (2011) and a second longitudinal rail (2012) which are longitudinally distributed, the first transverse rail (2011) and the second longitudinal rail (2012) are respectively arranged above the top end of the bearing component (1), the first driving device (2013) and the second driving device (2014) which are arranged at the end parts of the first transverse rail (2011) and the second longitudinal rail (2012) and provide moving driving force for the first transverse rail (2011) and the second longitudinal rail (2012) respectively, and the inner end face is connected with the outer end face of a driving shaft of the first driving device (2013), the outer end face is connected with a first linkage roller (2015) connected with the lower end face of the first transverse rail (2011), the inner end face is connected with the outer end face of the driving shaft of the second driving device (2014), the outer end face is connected with a second linkage roller (2016) connected with the lower end face of the second longitudinal rail (2012), the first transverse rail (2011), The first linkage roller (2015) and the first drive device (2013) jointly form a second linkage, and the second longitudinal rail (2012), the second linkage roller (2016) and the second drive device (2014) jointly form a third linkage.
4. The precision assembling device of prefabricated components according to claim 3, wherein: the first transverse rail (2011) and the second longitudinal rail (2012) are vertically crossed to form a matrix distribution, and the first transverse rail (2011) and the second longitudinal rail (2012) have consistent track pitches.
5. The precision assembling device of prefabricated components according to claim 4, wherein: the assembling driving part (202) comprises a moving block (2021) matched with the track pitch, a second jacking device (2022) arranged above the moving block (2021), and a second linkage shaft (2023) with one end connected with a driving shaft of the second jacking device (2022) and the other end connected with the first linkage mechanism, the moving block (2021), the second jacking device (2022) and the first transverse track (2011) or the second longitudinal track (2012) jointly form a fourth linkage mechanism, the clamping plate (101), the second linkage shaft (2023) and the second driving device (2014) jointly form a fifth linkage mechanism, and the fourth linkage mechanism respectively performs transverse and longitudinal joint movement under the action of the second linkage mechanism and the third linkage mechanism so that the prefabricated component clamped in the first linkage mechanism performs transverse and longitudinal joint movement to the position above the building assembling plate to complete the one-time matching, and the first linkage mechanism is lifted or descended under the action of the fifth linkage mechanism, so that the prefabricated part above the orientation of the building assembling plate is subjected to form change and secondary matching is carried out.
6. The precision assembling device of prefabricated components according to claim 5, wherein: a locking assembly (3) is arranged on the outer side edge of the moving block (2021), the locking assembly (3) is used for limiting the position of the fourth linkage mechanism so as to maintain the stability of the prefabricated parts in the secondary matching process, the locking assembly (3) comprises a locking groove (301) which is arranged on the inner side wall of the first transverse rail (2011) and the second longitudinal rail (2012) and is sunken outwards, and an iron locking lug (302) which is arranged on the side edge of the moving block (2021) and is matched with the locking groove (301), an electromagnetic device (4) is arranged in the locking groove (301), and the iron locking lug (302) enters the locking groove (301) or is separated from the locking groove (301) under the action of the magnetic attraction acting force of the electromagnetic device (4) so as to realize position limitation or release of the fourth linkage mechanism.
7. The prefabricated component accurate assembly device of claim 6, further comprising a shape detection module and an image processing module, wherein the shape detection module comprises a three-dimensional laser scanner, and the three-dimensional laser scanner is used for scanning the prefabricated component and the building assembly plate to form a first three-dimensional image and a second three-dimensional image;
the image processing module performs image fusion on the first three-dimensional image and the second three-dimensional image to acquire distance data, height data and prefabricated part conversion angle data of the prefabricated part and the building assembly plate, and respectively controls the fourth linkage mechanism and the fifth linkage mechanism to drive the prefabricated part to be matched with the building assembly plate.
8. An assembled prefabricated part accurate assembling device according to claim 7, wherein the image processing module preprocesses the distance data, the angle data and the height data into a first moving path of one-time matching in which the prefabricated part is moved above the building assembly panel, a second moving path in which the prefabricated part is formed in a form consistent with the building assembly panel, and a third moving path in which the prefabricated part is secondarily matched with the building assembly panel, respectively.
9. An assembling method of the assembling type green building prefabricated part precise assembling device according to any one of claims 1 to 8, characterized by comprising the following steps:
s1, enabling the first linkage mechanism to be close to the surface of the prefabricated part and clamp the prefabricated part, and enabling the locking assembly to limit and release the fourth linkage mechanism;
step S2, the image processing module controls the fourth linkage mechanism to move transversely and longitudinally according to the first moving path to drive the prefabricated part to be positioned above the building assembly plate, and the locking assembly carries out limit locking on the fourth linkage mechanism;
step S3, the image processing module controls the fifth linkage mechanism to lift and lower according to the second moving path to drive the prefabricated part to form a matching shape consistent with the building assembly plate;
and step S4, the image processing module controls the fifth linkage mechanism to descend according to the third moving path to drive the prefabricated part to contact with the building assembling plate, and the assembling is finished.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110445879.0A CN113123621A (en) | 2021-04-25 | 2021-04-25 | Accurate assembly device and method for assembly type prefabricated part |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110445879.0A CN113123621A (en) | 2021-04-25 | 2021-04-25 | Accurate assembly device and method for assembly type prefabricated part |
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| CN113123621A true CN113123621A (en) | 2021-07-16 |
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|---|---|---|---|
| CN202110445879.0A Pending CN113123621A (en) | 2021-04-25 | 2021-04-25 | Accurate assembly device and method for assembly type prefabricated part |
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| CN (1) | CN113123621A (en) |
Cited By (2)
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| CN114991495A (en) * | 2022-06-02 | 2022-09-02 | 广州地铁设计研究院股份有限公司 | Simple and easy installing support of assembled precast column high accuracy |
| CN115075591A (en) * | 2022-07-25 | 2022-09-20 | 广州瀚华建筑设计有限公司 | Supporting device |
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