Prefabricated structure automatic assembly control equipment system and method

Abstract

A system and method for multi-point collaborative assembly of a prefabricated assembly structure, which includes a prefabricated assembly underground structure assembly central control equipment, hydraulic jacks on multiple assemblies, multiple laser rangefinders arranged on the assemblies, and multiple The laser reflection plate arranged on the target part, the invention uses the centroid algorithm of the reaction force of the rubber pad in the component, the tensioning method based on centroid tracking and slit width control, the calculation method of the assembly friction resistance of the assembled component, multi-point cooperative communication and Multi-mode protection methods, multi-point collaborative loading control methods and other methods and algorithms realize precise output control of different amounts of tension and tension when different jacks are stretched, thereby effectively improving the assembly control effect of prefabricated components and ensuring assembly It goes smoothly and safely, realizes precise output control, improves assembly quality, avoids structural damage, and can effectively improve the assembly control effect of prefabricated components.

Description

technical field [0001] The invention relates to the technical field of construction engineering, in particular to a prefabricated structure automatic assembly control equipment system and method. Background technique [0002] At present, the artificial in-situ pouring construction technology commonly used in conventional underground structure construction has problems such as long construction period, small space span, many beam-column structures, and structural quality cannot be guaranteed. Construction will greatly affect the efficiency and benefits of project construction. The underground structure adopts prefabricated assembly construction technology and technology, which can well overcome the problems existing in the above-mentioned cast-in-place process, and is an important direction for the development of underground structure construction technology in the future. The assembly construction of prefabricated components is a key link in the construction of prefabricated...

AI Technical Summary

Problems solved by technology

[0003] 1. Unable to multi-point coordinated measurement, multi-point coordinated and automatic control problems

The installation and control process of prefabricated structural components is relatively complicated. The methods of manual observation, manual judgment and manual tension control are used in the assembly process of components, and there are problems in which multi-point coordinated measurement and measurement accuracy are not enough, and multi-point coordinated control cannot be realized. The prefabricated structural components are not properly assembled, the structure is damaged, the waterproof device is squeezed out, and the gap is too large to affect the waterproof effect of the prefabricated structure. The safety hazards and service life of the long-term operation of the components have caused adverse effects, and also seriously affected the efficiency and benefits of project construction

[0004] 2. Inaccurate monitoring of the width of the assembly joints between prefabricated components

The volume and weight of prefabricated assembly components in construction projects are large, and the requirements for assembly operations are high. Manual work and scattered tensioning methods often lead to difficulties in component assembly control, and it is difficult to fully control the width of the joints, especially in prefabricated assembly structures. During the installation and construction process, due to the difference in friction between the initial position of the crane and the different positions of the prefabricated components during the assembly process, the postures of the assembled parts and the target parts are not parallel, and there is an angle between them

When a multi-point laser is used to measure the joint width between the assembled part and the target part, the laser light is not a vertical measurement value and cannot truly reflect the joint width of the component, which may lead to errors in component assembly, resulting in incomplete assembly or assembly quality Bad question

[0005] 3. Prefabricated component assembly tension control breakpoint tension problem

There is no automatic control system and corresponding tension control method for the assembly of existing prefabricated structures. Only the breakpoint tension control method can be used, that is, the control target of N stages is set according to the control target value of the structure assembly seam width and the initial position value. , The tension control is realized by the method of dividing N times of intermittent tension control. Due to the problem of communication time lag and the problem of different response times of equipment, the breakpoint tension control method has the problem that the stage tension control is not in place or the tension is excessive. In severe cases, it may cause the structural assembly to fail to be in place

[0006] 4. The problem of bolt locking between prefabricated components

The existing method of tensioning and tightening the components of the hollow jack is to set a force transmission bracket between the components to be spliced ​​and the jack. The fastening nut is tightened to the component to realize the tension and tightening of the component. This method needs to be operated in the internal space of the force transmission bracket. The operation is limited by the space. Every time the fastening nut is tightened, the wrench is inserted into the space to tighten it. To fasten the nut, due to the limited internal space of the force transmission bracket, the wrench can only rotate a small angle every time it is twisted, and for the assembled components with pre-tightening force requirements, the applied force is not easy to control in place, and the degree of interference by human factors is large , which seriously affects the assembly progress and assembly accuracy of prefabricated components

[0007] 5. Assembled rubber gaskets of prefabricated components, centroid tracking of reaction force and control of jack tensioning

[0008] 6. The assembly friction of prefabricated components has a great influence and is difficult to determine

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