CN112627064A - Minimally invasive reinforcement construction equipment for transverse partition plate of inner cavity of box girder and construction method thereof - Google Patents
Minimally invasive reinforcement construction equipment for transverse partition plate of inner cavity of box girder and construction method thereof Download PDFInfo
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- CN112627064A CN112627064A CN202011505768.6A CN202011505768A CN112627064A CN 112627064 A CN112627064 A CN 112627064A CN 202011505768 A CN202011505768 A CN 202011505768A CN 112627064 A CN112627064 A CN 112627064A
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- box girder
- machine head
- joint robot
- flexible multi
- push rod
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D22/00—Methods or apparatus for repairing or strengthening existing bridges ; Methods or apparatus for dismantling bridges
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D2/00—Bridges characterised by the cross-section of their bearing spanning structure
- E01D2/04—Bridges characterised by the cross-section of their bearing spanning structure of the box-girder type
Abstract
The invention relates to the technical field of box girder reinforcement, and provides minimally invasive reinforcement construction equipment for a transverse clapboard in an inner cavity of a box girder, which comprises a flexible multi-joint robot, a sliding seat and a machine head, wherein: one end of the flexible multi-joint robot can be arranged on the sliding seat in a sliding manner along the length direction of the sliding seat; the machine head is detachably arranged at the other end of the flexible multi-joint robot; the machine head comprises a punching machine head, a steel bar binding or welding machine head and a clamping machine head. The invention adopts a minimally invasive construction process and utilizes special construction equipment to realize that the transverse partition plate is additionally arranged in the box girder to reinforce the box girder, thereby improving and improving the mechanical property of the box girder and prolonging the service life and the capability of the box girder; compared with a renovation or reconstruction mode, the construction period is short, the cost is low, and the attractiveness of the bridge is not influenced.
Description
Technical Field
The invention relates to the technical field of box girder reinforcement, in particular to minimally invasive reinforcement construction equipment for a transverse clapboard in an inner cavity of a box girder and a construction method thereof.
Background
Under the premise that the country vigorously develops infrastructure, many roads and railway bridges are built all over the country through years of effort. The bridge structure has potential safety hazards due to long service life or accidents of part of bridges; or due to the improvement of the construction standard and the requirement of the existing road bridge, the bridge cannot meet the existing requirement or cannot reach the existing corresponding standard and cannot be used continuously.
In order to solve the problems, the conventional general method is to repair and rebuild the bridge, but the conventional method has the following problems:
1. the construction period is long, and the cost is high;
2. in the process of renovation and reconstruction, the bridge cannot be used at all, and for the bridge with high requirement on partial traffic capacity, great traffic pressure exists;
3. the existing repair and reinforcement mode mainly comprises that a structural part and a bearing part are added outside a bridge, and the attractiveness of the bridge is affected after the repair and reinforcement are finished.
And adopt the mode of addding reinforced structure inside the box girder, because of the space is narrow and small, lead to the construction degree of difficulty big, and do not have relevant construction equipment and construction process among the prior art to satisfy the construction of addding reinforced structure inside the box girder.
Disclosure of Invention
The invention aims to solve the technical problems in the prior art. Therefore, the invention provides a minimally invasive reinforcing construction device for a transverse clapboard in an inner cavity of a box girder and a construction method thereof.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a case roof beam inner chamber cross slab wicresoft consolidates construction equipment, including flexible many joint robot, slide and aircraft nose, wherein: one end of the flexible multi-joint robot can be arranged on the sliding seat in a sliding manner along the length direction of the sliding seat; the machine head is detachably arranged at the other end of the flexible multi-joint robot; the machine head comprises a punching machine head, a steel bar binding or welding machine head and a clamping machine head.
In a preferred embodiment of the minimally invasive reinforcement construction equipment for the transverse partition plate of the inner cavity of the box girder, the sliding base comprises a sliding table and a sliding table plate, a flange fixing plate is arranged at the top of the sliding table, a sliding table plate is slidably arranged on the sliding table, and the flexible multi-joint robot is fixedly arranged on the sliding table plate.
In a preferred embodiment of the minimally invasive reinforcing construction equipment for the transverse partition plate of the inner cavity of the box girder, the punching head comprises a drilling machine, a telescopic mechanism and a driving mechanism, wherein: the telescopic mechanism is fixedly arranged on the flexible multi-joint robot; the drilling machine is fixedly arranged on the telescopic mechanism through a support plate I; the driving mechanism is fixedly arranged at the top of the drilling machine through a second support plate.
In a preferred embodiment of the minimally invasive reinforcing construction equipment for the transverse partition plate of the inner cavity of the box girder, the telescopic mechanism comprises a base, a linear guide rail and a first push rod, wherein: the base is fixedly arranged on the flexible multi-joint robot; at least 1 linear guide rail is arranged on the base; the first push rod is fixedly arranged at the end part of the base, a movable rod of the first push rod is connected with a sliding block of the linear guide rail, and the sliding block is connected with the drilling machine.
In a preferred embodiment of the minimally invasive reinforcement construction equipment for the transverse partition plate of the inner cavity of the box girder, the driving mechanism is a multi-stage cylinder structure formed by combining a second push rod, a third push rod and a fourth push rod, the second push rod and the third push rod are arranged in parallel, and the fourth push rod is fixedly installed at the tops of the second push rod and the third push rod through a third support plate.
In a preferred embodiment of the minimally invasive reinforcing construction equipment for the transverse partition plate of the inner cavity of the box girder, the clamping head comprises a clamping seat, a clamping block, a fifth push rod and a driving block, wherein: the two clamping blocks are hinged and arranged on one side of the clamping seat to form a clamp, and a ball head bolt is arranged at the rear end of each clamping block; the driving block is vertically and slidably arranged on the clamping seat, two inclined sliding grooves are formed in the driving block, and the ball head bolt is arranged in the sliding grooves; the fifth push rod is fixedly arranged at the top of the clamping seat, and the movable rod is fixedly connected with the driving block.
In a preferred embodiment of the minimally invasive reinforcement construction equipment for the transverse partition plate of the inner cavity of the box girder, the flexible multi-joint robot, the punching machine head, the steel bar binding or welding machine head and the clamping machine head are fixedly installed through a concave-convex positioning structure by using a locking screw, and the locking screw is connected with the concave-convex positioning structure through a bottom thread of the concave-convex positioning structure.
In a preferred embodiment of the minimally invasive reinforcing construction equipment for the transverse partition plate of the inner cavity of the box girder, the minimally invasive reinforcing construction equipment further comprises a pouring mold, wherein the pouring mold is a curled pouring mold.
In a preferred embodiment of the minimally invasive reinforcing construction equipment for the transverse partition plate of the inner cavity of the box girder, the pouring mold is formed by connecting a plurality of sheet-shaped modules through flexible threads or hinging the sheet-shaped modules together through hinges, and a plurality of positioning elastic bolts are arranged on the periphery of the pouring mold.
The invention also provides a minimally invasive reinforcement construction method for the transverse clapboard of the inner cavity of the box girder, which is used for construction by adopting the minimally invasive reinforcement construction equipment for the transverse clapboard of the inner cavity of the box girder in the embodiment, and the minimally invasive reinforcement construction method comprises the following steps:
step one, forming a construction hole: the bottom of the box girder is taken as a construction equipment mounting surface, a plurality of small-diameter construction holes are formed in the equipment mounting surface, at least one group of flexible multi-joint robot through holes and a machine head through hole are included, the performance of the box girder is not influenced and damaged by the formation of the construction holes, and the diameter is controlled within 125 mm;
step two, installing visual equipment: visual equipment is arranged through the construction holes, and the visual equipment realizes visual operation of construction in the box girder;
step three, mounting construction equipment: fixedly mounting the sliding base on the bottom of the box girder near a flexible multi-joint robot through hole, and aligning the flexible multi-joint robot to the flexible multi-joint robot through hole to be mounted on the sliding base;
step four, constructing the bar planting holes: the flexible multi-joint robot is enabled to enter a box girder by adjusting the height of the flexible multi-joint robot, the flexible multi-joint robot is fixed after the posture of the flexible multi-joint robot is adjusted, the machine head installation end of the flexible multi-joint robot is located in a machine head through hole, the punching machine head is installed on the flexible multi-joint robot through the machine head through hole and is locked and fixed through the locking screw, the multi-joint robot is controlled to adjust the punching machine head to a designed punching hole position, and the punching machine head is enabled to complete the drilling operation of the bar planting holes on each surface of the inner side of the box girder through the posture adjustment of the flexible multi-joint robot;
step five, bar planting: adjusting the posture of the flexible multi-joint robot to enable the punching machine head to be aligned with the machine head to penetrate through the hole, detaching the punching machine head, installing the clamping machine head according to the fourth step, clamping the steel bar into the box girder through the clamping machine head, enabling the clamping machine head to clamp the steel bar to be implanted into a bar implanting hole in the inner wall of the box girder through posture adjustment of the flexible multi-joint robot, enabling the steel bar to enter the box girder through the construction hole and to be clamped by the clamping machine head; after bar planting is finished, the glue injection nozzle is clamped by the clamping machine head for injecting glue, and the steel bars in the bar planting holes are fixed;
step six, steel bar fixing construction: dismantling the clamping machine head according to the mode of the fifth step, installing the steel bar binding or welding machine head, and binding or welding the steel bars by the steel bar binding or welding machine head through the posture adjustment of the flexible multi-joint robot to form a steel bar mesh;
placing a pouring mold, and spreading the pouring mold on the side surface of the reinforcing mesh by utilizing at least 1 flexible multi-shutdown robot matched with the clamping machine head to form a pouring template;
step eight, pouring: pouring concrete into the pouring template through the construction holes to form a transverse clapboard in the inner cavity of the box girder;
and step nine, performing regular maintenance without removing the formwork after pouring is finished.
Compared with the prior art, the minimally invasive reinforcing construction equipment for the transverse clapboard of the inner cavity of the box girder and the construction method thereof have the beneficial effects that: the invention adopts a minimally invasive construction process and utilizes special construction equipment to realize that the transverse partition plate is additionally arranged in the box girder to reinforce the box girder, thereby improving and improving the mechanical property of the box girder and prolonging the service life and the capability of the box girder; compared with a renovation or reconstruction mode, the construction period is short, the cost is low, and the attractiveness of the bridge is not influenced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
FIG. 1 is a schematic structural diagram of the flexible multi-joint robot provided by the invention, which is mounted on a sliding seat;
FIG. 2 is a schematic structural view of the perforating head provided by the present invention;
FIG. 3 is a schematic structural view of a reinforcing bar binding head provided by the present invention;
FIG. 4 is a schematic structural view of the gripper head provided by the present invention;
FIG. 5 is a side view of the drive block of the gripper head provided in FIG. 4;
FIG. 6 is a cross-sectional view A-A provided in FIG. 4;
FIG. 7 is a structural view of the box girder provided by the present invention for forming a construction hole;
fig. 8 is a view showing an installation structure of construction equipment provided by the present invention;
FIG. 9 is a construction state diagram of the construction equipment provided by the invention when a bar planting hole is drilled;
FIG. 10 is another construction state diagram of the construction equipment provided by the present invention in which a bar planting hole is drilled;
FIG. 11 is a cross-sectional view of the box girder according to the present invention after the steel bars are embedded therein;
FIG. 12 is a cross-sectional view T-T provided in FIG. 11;
FIG. 13 is a structural view of a crimp of the casting mold provided by the present invention;
FIG. 14 is an expanded structural view of the casting mold provided in FIG. 13;
FIG. 15 is a block diagram of the casting mold according to the present invention deployed and installed in a box girder;
fig. 16 is a cross-sectional view of the U-U provided in fig. 15.
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.
Example one
The embodiment provides a minimally invasive reinforcing construction device for a transverse clapboard of an inner cavity of a box girder, which comprises a flexible multi-joint robot 11, a sliding seat 12 and a machine head 13.
As shown in fig. 1, one end of the flexible multi-joint robot 11 is slidably disposed on the sliding base 12 along the length direction of the sliding base 12, and after the sliding base is fixed, the height of the flexible multi-joint robot can be relatively adjusted, and meanwhile, the flexible multi-joint robot can adjust the posture according to the construction prospect, thereby greatly facilitating minimally invasive construction; the head 13 is detachably attached to the other end of the flexible articulated robot 11, and the head 13 can perform construction work at a construction site by adjusting the posture of the flexible articulated robot 11.
In this embodiment, the clamping construction of the box girder requires the construction processes such as drilling, bar planting, and pouring, and therefore, the machine head 13 designed in this embodiment includes a punching machine head 131 (as shown in fig. 2), a bar binding or welding machine head 132 (as shown in fig. 3), and a clamping machine head 133 (as shown in fig. 4). Utilize the aircraft nose that punches realizes drilling, utilizes the centre gripping aircraft nose carries out the bar planting, utilizes the reinforcement aircraft nose carries out the ligature of reinforcing bar or utilizes the reinforcement welding aircraft nose carries out the welding of reinforcing bar, makes bar planting junction reinforcing bar net, forms the reinforced structure of case roof beam after pouring.
Preferably, as shown in fig. 1, the sliding base 12 of the present embodiment includes a sliding table 121 and a sliding table plate 122, a flange fixing plate 1211 is disposed at a top of the sliding table 121, the flange fixing plate is mounted on a box girder through an expansion bolt, the sliding table plate 122 is slidably mounted on the sliding table 122, and the flexible multi-joint robot 11 is fixedly mounted on the sliding table plate 122. The height of the flexible articulated robot can be adjusted by adjusting the position of the flexible articulated robot on the sliding table.
Example two
Based on the first embodiment, the present embodiment further designs the puncher head, as shown in fig. 2, the puncher head 131 of the present embodiment includes a drilling machine 1311, a telescoping mechanism and a driving mechanism, wherein: the telescopic mechanism is fixedly arranged on the flexible multi-joint robot 11 and is used for adjusting the overall length of the punching head 131; before drilling, the telescopic mechanism is in a retraction state, the whole length is small, and the telescopic mechanism is convenient to enter and exit a narrow area; the drilling machine 1311 is fixedly mounted on the telescopic mechanism through a support plate I; the driving mechanism is fixedly arranged at the top of the drilling machine 1311 through a second support plate, and the driving mechanism designed in the embodiment is matched with the telescopic mechanism to be used as stroke driving during drilling of the drilling machine.
Preferably, the telescoping mechanism of this embodiment comprises a base 1312, a linear guide 1313 and a first push rod 1314, wherein: the base 1312 is fixedly mounted on the flexible articulated robot 11; at least 1 linear guide 1313 is disposed on the base 1312, and the present embodiment is preferably designed to be 2 linear guides; the first push rod 1314 is fixedly arranged at the end part of the base 1312, and the movable rod of the first push rod is connected with the sliding block of the linear guide 1313, and the sliding block is connected with the drilling machine 1311. The first push rod can be used for adjusting the extension of the drilling machine during drilling, the drilling machine retracts after drilling, and the whole length is small in the retraction state, so that the drilling machine can conveniently go in and out of a narrow area.
Preferably, the driving mechanism of this embodiment has a multi-stage cylinder structure formed by combining a second push rod 1315, a third push rod 1316 and a fourth push rod 1317, the second push rod 1315 and the third push rod 1316 are arranged in parallel, and the fourth push rod 1317 is fixedly mounted on the tops of the second push rod 1315 and the third push rod 1316 by a support plate.
The drilling principle of the perforating machine head of the embodiment is as follows:
as shown in fig. 9 and 10, during drilling, the posture of the flexible multi-joint robot is adjusted to align the drilling head with the drilling position, the fourth push rod of the driving mechanism is controlled to push out, so that the fourth push rod touches the inner wall of the box girder (if the fourth push rod cannot be touched, the second push rod and the third push rod are controlled to push out), and then the first push rod, the second push rod, the third push rod and the fourth push rod of the telescopic mechanism are controlled to push out to realize drilling of the drilling machine. The driving mechanism is matched with the telescopic mechanism to drive the drilling stroke of the drilling machine, and the drilling stability is good.
EXAMPLE III
Based on the first embodiment, as shown in fig. 4, fig. 5 and fig. 6, the gripper head 133 of the present embodiment includes a holder 1331, a clamping block 1332, a fifth push rod 1333 and a driving block 1334, wherein: the two clamping blocks 1332 are hinged and mounted on one side of the clamping seat 1331 to form a clamp for clamping materials for construction, and a ball head bolt 13320 is arranged at the rear end of each clamping block 1332; the driving block 1334 is vertically and slidably mounted on the clamping seat 1331, two inclined sliding grooves 13340 are formed in the driving block 1334, and the ball stud 13320 is arranged in the sliding groove 13340; the fifth push rod 1333 is fixedly installed at the top of the clamp seat 1331, and the movable rod is fixedly connected with the driving block 1334.
The working principle of the gripper head designed by the embodiment is as follows:
when the clamping is needed, the material is placed in the clamping jaw, the fifth push rod is controlled to be pushed out, the driving block drives the ball head bolt to act, the clamp is further closed, and the purpose of clamping is achieved.
In the above embodiments, the first push rod, the second push rod, the third push rod, the fourth push rod, and the fifth push rod are one of an air cylinder, a hydraulic cylinder, or an electric push rod.
Example four
Based on any of the embodiments described above, in this embodiment, the flexible articulated robot 11, the perforating machine head 131, the steel bar binding or welding machine head 132, and the clamping machine head 133 are fixedly mounted by the locking screws through the concave-convex positioning structures, specifically, as shown in fig. 1 and fig. 2, the mounting surface of the flexible articulated robot 11 is provided with the positioning groove 110, the mounting portion of the perforating machine head 131 is provided with the positioning boss 1310, so that the flexible articulated robot is mounted with the solid concave-convex positioning structure of the perforating machine head, in order to facilitate the fixing of the perforating machine head 131, the bottom of the positioning groove 110 is provided with the screw hole 1100, the locking screw thread penetrates through the screw hole 1100 to be in threaded connection with the positioning boss 1310, and the mounting structures of the steel bar binding or welding machine head 132 and the clamping machine head 133 are.
As shown in fig. 9, in the installation structure of the machine head and the flexible multi-joint robot designed in this embodiment, the machine head can be installed and fixed in the box girder through the construction hole, and the flexible multi-joint robot does not need to be withdrawn in the installation process, so that the installation and debugging difficulty of the equipment is reduced, and the construction efficiency is improved.
EXAMPLE five
Based on any one of the above embodiments, as shown in fig. 13 and 14, the minimally invasive reinforcement construction equipment for the diaphragm plate in the inner cavity of the box girder in the embodiment further includes a pouring mold 14 as a template for pouring construction, the pouring mold 14 in the embodiment is a crimpable pouring mold, and the crimpable structure facilitates the pouring mold to enter a narrow space.
Preferably, the casting mold 14 of the present embodiment is formed by connecting a plurality of sheet-shaped modules 141 by flexible threads 142 or hinging them together by hinges, as shown in fig. 14, the sheet-shaped modules of the present embodiment are connected by flexible threads, and a plurality of positioning elastic latches 143 are disposed around the casting mold for positioning and fixing the mold.
EXAMPLE six
Based on the fifth embodiment, the present embodiment provides a minimally invasive reinforcement construction method for a diaphragm plate in an inner cavity of a box girder, where the construction equipment in the above embodiments is used for construction, and the method specifically includes the following steps:
step one, forming a construction hole: the bottom of the box girder 10 needing to be reinforced is used as a construction equipment mounting surface, a plurality of small-diameter construction holes 20 are formed in the equipment mounting surface, at least one group of flexible multi-joint robot through holes 201 and a machine head through hole 202 are included, as shown in figure 7, the performance of the box girder is not affected and damaged by the formation of the construction holes, and the diameter is controlled within 125 mm;
step two, installing visual equipment: arranging visual equipment (not shown in the figure) through the construction holes, wherein the visual equipment realizes the visual operation of the construction in the box girder;
step three, mounting construction equipment: as shown in fig. 8, the sliding base 12 is fixedly arranged near the flexible multi-joint robot through hole 201 at the bottom of the box girder 10, and the flexible multi-joint robot 11 is arranged on the sliding base 12 by aligning the flexible multi-joint robot through hole 201;
step four, constructing the bar planting holes: as shown in fig. 9 and 10, the flexible articulated robot 11 is fixed by adjusting the height thereof into the box girder and adjusting the posture thereof, the head mounting end of the flexible articulated robot is located in the head through hole 202, the punching head 131 is mounted on the flexible articulated robot 11 through the head through hole 201 and is locked and fixed by the locking screw, the articulated robot is controlled to adjust the punching head 131 to the designed punching hole, and the punching head completes the drilling of the bar planting hole on each surface of the inner side of the box girder through the posture adjustment of the flexible articulated robot;
step five, bar planting: adjusting the posture of the flexible multi-joint robot 11 to align the punching head 131 with the head through hole 201, detaching the punching head 131, installing the clamping head 133 according to the fourth step, clamping the steel bar 30 into the box girder 10 through the clamping head 133, implanting the steel bar clamped by the clamping head into a bar planting hole in the inner wall of the box girder through the posture adjustment of the flexible multi-joint robot, wherein the steel bar can enter the box girder from the construction hole and is clamped by the clamping head, and the bar planting is as shown in fig. 11 and 12; after bar planting is finished, the glue injection nozzle is clamped by the clamping machine head for injecting glue, and the steel bars in the bar planting holes are fixed;
step six, steel bar fixing construction: detaching the clamping machine head 131 according to the mode of the fifth step, installing the steel bar binding or welding machine head 132, and binding or welding steel bars by the steel bar binding or welding machine head through the posture adjustment of the flexible multi-joint robot to form a steel bar mesh;
step seven, placing a pouring mold, and unfolding the pouring mold 14 on the side surface of the reinforcing mesh by using at least 1 flexible multi-powered robot 11 in cooperation with the clamping head 133 to form a pouring template, as shown in fig. 15 and fig. 16;
step eight, pouring: pouring concrete into the pouring template through the construction holes to form a transverse clapboard in the inner cavity of the box girder;
and step nine, performing regular maintenance without removing the formwork after pouring is finished.
The invention adopts a minimally invasive construction process and utilizes special construction equipment to realize that the transverse partition plate is additionally arranged in the box girder to reinforce the box girder, thereby improving and improving the mechanical property of the box girder and prolonging the service life and the capability of the box girder; compared with a renovation or reconstruction mode, the construction period is short, the cost is low, and the attractiveness of the bridge is not influenced.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by the present specification, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides a case roof beam inner chamber cross slab wicresoft consolidates construction equipment which characterized in that: including flexible articulated robot, slide and aircraft nose, wherein:
one end of the flexible multi-joint robot can be arranged on the sliding seat in a sliding manner along the length direction of the sliding seat;
the machine head is detachably arranged at the other end of the flexible multi-joint robot;
the machine head comprises a punching machine head, a steel bar binding or welding machine head and a clamping machine head.
2. The minimally invasive reinforcement construction equipment for the transverse clapboard of the inner cavity of the box girder according to claim 1, is characterized in that: the sliding seat comprises a sliding table and a sliding table plate, a flange fixing plate is arranged at the top of the sliding table, the sliding table is slidably provided with a sliding table plate, and the flexible multi-joint robot is fixedly arranged on the sliding table plate.
3. The minimally invasive reinforcement construction equipment for the transverse clapboard of the inner cavity of the box girder according to claim 1, is characterized in that: the punching head comprises a drilling machine, a telescopic mechanism and a driving mechanism, wherein:
the telescopic mechanism is fixedly arranged on the flexible multi-joint robot;
the drilling machine is fixedly arranged on the telescopic mechanism through a support plate I;
the driving mechanism is fixedly arranged at the top of the drilling machine through a second support plate.
4. The minimally invasive reinforcement construction equipment for the transverse clapboard of the inner cavity of the box girder according to claim 3, is characterized in that: telescopic machanism includes base, linear guide and first push rod, wherein:
the base is fixedly arranged on the flexible multi-joint robot;
at least 1 linear guide rail is arranged on the base;
the first push rod is fixedly arranged at the end part of the base, a movable rod of the first push rod is connected with a sliding block of the linear guide rail, and the sliding block is connected with the drilling machine.
5. The minimally invasive reinforcement construction equipment for the transverse clapboard of the inner cavity of the box girder according to claim 4, is characterized in that: the driving mechanism is of a multi-stage cylinder structure formed by combining a second push rod, a third push rod and a fourth push rod, the second push rod and the third push rod are arranged in parallel, and the fourth push rod is fixedly installed at the tops of the second push rod and the third push rod through a support plate III.
6. The minimally invasive reinforcement construction equipment for the transverse clapboard of the inner cavity of the box girder according to claim 1, is characterized in that: the centre gripping aircraft nose includes holder, clamp splice, fifth push rod and drive block, wherein:
the two clamping blocks are hinged and arranged on one side of the clamping seat to form a clamp, and a ball head bolt is arranged at the rear end of each clamping block;
the driving block is vertically and slidably arranged on the clamping seat, two inclined sliding grooves are formed in the driving block, and the ball head bolt is arranged in the sliding grooves;
the fifth push rod is fixedly arranged at the top of the clamping seat, and the movable rod is fixedly connected with the driving block.
7. The minimally invasive reinforcing construction equipment for the transverse partition plate of the inner cavity of the box girder according to any one of claims 1 to 6, is characterized in that: the flexible multi-joint robot is fixedly installed with a locking screw through a concave-convex positioning structure, and the locking screw is connected with the concave-convex positioning structure through threads at the bottom of the concave-convex positioning structure.
8. The minimally invasive reinforcement construction equipment for the transverse clapboard of the inner cavity of the box girder according to claim 7, is characterized in that: the casting mold is a winding casting mold.
9. The minimally invasive reinforcement construction equipment for the transverse clapboard of the inner cavity of the box girder according to claim 8, is characterized in that: the pouring mould is formed by connecting a plurality of sheet modules through flexible threads or hinging the sheet modules together through hinges, and a plurality of positioning elastic bolts are arranged on the periphery of the pouring mould.
10. A minimally invasive reinforcement construction method for the box girder inner cavity diaphragm plate, which is constructed by adopting the minimally invasive reinforcement construction equipment for the box girder inner cavity diaphragm plate of claim 8, is characterized by comprising the following steps: the method comprises the following steps:
step one, forming a construction hole: the bottom of the box girder is taken as a construction equipment mounting surface, a plurality of small-diameter construction holes are formed in the equipment mounting surface, at least one group of flexible multi-joint robot through holes and a machine head through hole are included, the performance of the box girder is not influenced and damaged by the formation of the construction holes, and the diameter is controlled within 125 mm;
step two, installing visual equipment: visual equipment is arranged through the construction holes, and the visual equipment realizes visual operation of construction in the box girder;
step three, mounting construction equipment: fixedly mounting the sliding base on the bottom of the box girder near a flexible multi-joint robot through hole, and aligning the flexible multi-joint robot to the flexible multi-joint robot through hole to be mounted on the sliding base;
step four, constructing the bar planting holes: the flexible multi-joint robot is enabled to enter a box girder by adjusting the height of the flexible multi-joint robot, the flexible multi-joint robot is fixed after the posture of the flexible multi-joint robot is adjusted, the machine head installation end of the flexible multi-joint robot is located in a machine head through hole, the punching machine head is installed on the flexible multi-joint robot through the machine head through hole and is locked and fixed through the locking screw, the multi-joint robot is controlled to adjust the punching machine head to a designed punching hole position, and the punching machine head is enabled to complete the drilling operation of the bar planting holes on each surface of the inner side of the box girder through the posture adjustment of the flexible multi-joint robot;
step five, bar planting: adjusting the posture of the flexible multi-joint robot to enable the punching machine head to be aligned with the machine head to penetrate through the hole, detaching the punching machine head, installing the clamping machine head according to the fourth step, clamping the steel bar into the box girder through the clamping machine head, enabling the clamping machine head to clamp the steel bar to be implanted into a bar implanting hole in the inner wall of the box girder through posture adjustment of the flexible multi-joint robot, enabling the steel bar to enter the box girder through the construction hole and to be clamped by the clamping machine head; after bar planting is finished, the glue injection nozzle is clamped by the clamping machine head for injecting glue, and the steel bars in the bar planting holes are fixed;
step six, steel bar fixing construction: dismantling the clamping machine head according to the mode of the fifth step, installing the steel bar binding or welding machine head, and binding or welding the steel bars by the steel bar binding or welding machine head through the posture adjustment of the flexible multi-joint robot to form a steel bar mesh;
placing a pouring mold, and spreading the pouring mold on the side surface of the reinforcing mesh by utilizing at least 1 flexible multi-shutdown robot matched with the clamping machine head to form a pouring template;
step eight, pouring: pouring concrete into the pouring template through the construction holes to form a transverse clapboard in the inner cavity of the box girder;
and step nine, performing regular maintenance without removing the formwork after pouring is finished.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011505768.6A CN112627064A (en) | 2020-12-18 | 2020-12-18 | Minimally invasive reinforcement construction equipment for transverse partition plate of inner cavity of box girder and construction method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011505768.6A CN112627064A (en) | 2020-12-18 | 2020-12-18 | Minimally invasive reinforcement construction equipment for transverse partition plate of inner cavity of box girder and construction method thereof |
Publications (1)
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| CN112627064A true CN112627064A (en) | 2021-04-09 |
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| CN202011505768.6A Pending CN112627064A (en) | 2020-12-18 | 2020-12-18 | Minimally invasive reinforcement construction equipment for transverse partition plate of inner cavity of box girder and construction method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113522652A (en) * | 2021-07-27 | 2021-10-22 | 中国铁建电气化局集团有限公司 | Automatic punching and glue injecting mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113522652A (en) * | 2021-07-27 | 2021-10-22 | 中国铁建电气化局集团有限公司 | Automatic punching and glue injecting mechanism |
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