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Intelligent tensioning control method and intelligent tensioning robot
According to the intelligent tensioning control method and the intelligent tensioning robot, through an XYZA four-axis positioning control system, a laser range finder is fixed to a jack to measure the distance of a limiting plate, a light spot of the laser range finder automatically shifts upwards and downwards, and laser ranging displacement of an upper point and a lower point is recorded; the four-axis positioning system automatically calculates the angle of the cross section of the jack relative to the cross section of the limiting plate, automatically adjusts the angle of the cross section of the jack and the angle of the limiting plate to be parallel, and determines the radius R of the limiting plate through coordinates of three points on the edge of the limiting plate. And the forward moving distance is calculated, automatic forward moving is carried out, the jack is moved to the position of a hole to be tensioned, and after installation of one beam hole is completed, installation of the next hole is automatically carried out. The automatic tensioning device has the advantages that automatic alignment, automatic steel strand penetrating and automatic tensioning can be achieved according to the working conditions of different beams, the tensioning work of the whole beam is completed at a time, manual operation time is saved, and efficiency is high.
一种智能张拉控制方法及智能张拉机器人，通过XYZA四轴定位控制系统，在千斤顶固定激光测距仪对限位板进行测距，将激光测距仪光点自动上偏移、下偏移，记录上点、下点激光测距位移，四轴定位系统自动计算千斤顶横截面相对于限位板横截面的角度，自动计算千斤顶横截面相对于限位板横截面的角度，自动调整千斤顶横截面和限位板的角度使之平行，利用限位板边缘三点坐标确定限位板的半径R，确定限位板圆心后，算出前移距离，自动前移，将千斤顶移动至欲张拉孔位置，完成一个梁孔的安装后，自动再进行下一孔的安装。其优点是可针对不同梁的工况，实现自动找正、自动穿钢绞线、自动张拉、一次性完成整个梁的张拉工作，节省人工操作时间，效率高。
Intelligent tensioning control method and intelligent tensioning robot
According to the intelligent tensioning control method and the intelligent tensioning robot, through an XYZA four-axis positioning control system, a laser range finder is fixed to a jack to measure the distance of a limiting plate, a light spot of the laser range finder automatically shifts upwards and downwards, and laser ranging displacement of an upper point and a lower point is recorded; the four-axis positioning system automatically calculates the angle of the cross section of the jack relative to the cross section of the limiting plate, automatically adjusts the angle of the cross section of the jack and the angle of the limiting plate to be parallel, and determines the radius R of the limiting plate through coordinates of three points on the edge of the limiting plate. And the forward moving distance is calculated, automatic forward moving is carried out, the jack is moved to the position of a hole to be tensioned, and after installation of one beam hole is completed, installation of the next hole is automatically carried out. The automatic tensioning device has the advantages that automatic alignment, automatic steel strand penetrating and automatic tensioning can be achieved according to the working conditions of different beams, the tensioning work of the whole beam is completed at a time, manual operation time is saved, and efficiency is high.
一种智能张拉控制方法及智能张拉机器人，通过XYZA四轴定位控制系统，在千斤顶固定激光测距仪对限位板进行测距，将激光测距仪光点自动上偏移、下偏移，记录上点、下点激光测距位移，四轴定位系统自动计算千斤顶横截面相对于限位板横截面的角度，自动计算千斤顶横截面相对于限位板横截面的角度，自动调整千斤顶横截面和限位板的角度使之平行，利用限位板边缘三点坐标确定限位板的半径R，确定限位板圆心后，算出前移距离，自动前移，将千斤顶移动至欲张拉孔位置，完成一个梁孔的安装后，自动再进行下一孔的安装。其优点是可针对不同梁的工况，实现自动找正、自动穿钢绞线、自动张拉、一次性完成整个梁的张拉工作，节省人工操作时间，效率高。
Intelligent tensioning control method and intelligent tensioning robot
智能张拉控制方法及智能张拉机器人
LI JIANQIANG (author) / LIAO RONG (author) / YANG FAN (author) / XIE YUNLING (author) / ZHANG ZHENQI (author)
2023-03-07
Patent
Electronic Resource
Chinese
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