CN113042662B - Steel reinforcement framework forming system for large box girder - Google Patents
Steel reinforcement framework forming system for large box girder Download PDFInfo
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- CN113042662B CN113042662B CN202110423408.XA CN202110423408A CN113042662B CN 113042662 B CN113042662 B CN 113042662B CN 202110423408 A CN202110423408 A CN 202110423408A CN 113042662 B CN113042662 B CN 113042662B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F27/00—Making wire network, i.e. wire nets
- B21F27/12—Making special types or portions of network by methods or means specially adapted therefor
- B21F27/121—Making special types or portions of network by methods or means specially adapted therefor of tubular form, e.g. as reinforcements for pipes or pillars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F23/00—Feeding wire in wire-working machines or apparatus
- B21F23/005—Feeding discrete lengths of wire or rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F27/00—Making wire network, i.e. wire nets
- B21F27/08—Making wire network, i.e. wire nets with additional connecting elements or material at crossings
- B21F27/10—Making wire network, i.e. wire nets with additional connecting elements or material at crossings with soldered or welded crossings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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Abstract
The invention discloses a steel reinforcement framework forming system for a large box girder, which comprises a main track, and a longitudinal reinforcement positioning robot, a transverse stirrup storage robot and a framework transportation robot which sequentially walk on the main track from front to back, wherein a feeding device is movably arranged at the front section of the main track through a first slave track, an electromagnetic device is movably arranged at the middle section of the main track through a second slave track, and the first slave track and the second slave track are respectively vertical to the main track. The invention adopts an intelligent equipment group to replace the traditional manual means, can carry out full-automatic intelligent assembly by means of the PLC control equipment group, and solves the problems of low efficiency, large labor input, high safety risk and the like of manufacturing and molding the steel reinforcement framework of the large box girder by a transmission manual means.
Description
Technical Field
The invention relates to the technical field of steel reinforcement framework forming, in particular to a steel reinforcement framework forming system for a large box girder.
Background
In railway and highway viaducts, the beam section generally adopts the section form of a box beam, and a reinforcing beam with a larger section is also more complex. The manpower and material resources required by the construction of the large box girder steel bars are continuously increased along with the continuous improvement of the engineering quality and the standardized construction requirements, and the safety risk is continuously improved; however, due to the reasons that the large box girder has a large section, a large number of steel bars and a special shape, the process is complicated and the like, the traditional method for manually processing and forming the steel bar framework has the disadvantages of large labor consumption, large labor amount of workers, low work efficiency and huge safety risk, so that the construction requirements cannot be met.
Disclosure of Invention
The invention aims to solve the problems of low construction efficiency, large labor input, high safety risk and the like of the conventional method for manually processing and forming the steel bar of the large box girder, and provides a steel bar framework forming system for the large box girder, which has the advantages of high automation degree, strong adaptability and simple and reliable operation.
The technical scheme adopted by the invention is as follows:
a steel reinforcement framework forming system for a large box girder comprises a main track, and a longitudinal reinforcement positioning robot, a transverse stirrup storage robot and a framework transportation robot which sequentially walk on the main track from front to back, wherein a feeding device is movably arranged at the front section of the main track through a first slave track, an electromagnetic device is movably arranged at the middle section of the main track through a second slave track, and the first slave track and the second slave track are respectively vertical to the main track;
the feeding device feeds longitudinal bars to the longitudinal bar positioning robot, the longitudinal bar positioning robot positions the longitudinal bars according to a design arrangement mode and moves the longitudinal bars to the transverse stirrup storage robot, the longitudinal bars and the formed transverse stirrups stored in the transverse stirrup storage robot are positioned, the electromagnetic device sucks the transverse stirrups in the transverse stirrup storage robot and connects the longitudinal bars one by one, and the framework transportation robot transports the connected transverse stirrups and the longitudinal bars to the outside of a field along the main track.
As a preferred embodiment of the steel reinforcement framework forming system, the bottoms of the longitudinal reinforcement positioning robot, the transverse stirrup storage robot and the transport robot are arranged on the main rail in a sliding manner by adopting first sliding shoes, the first sliding shoes roll on the main rail through first rollers, and the first rollers are driven to rotate by first motors respectively.
As a preferred embodiment of the steel reinforcement framework forming system, the feeding device and the electromagnetic device are respectively arranged on the first slave rail and the second slave rail in a sliding manner by using second sliding shoes, the second sliding shoes respectively roll on the first slave rail and the second slave rail through second rollers, and the second rollers are driven to rotate by second motors respectively.
As a preferred embodiment of the steel reinforcement framework forming system, each of the first motor, each of the second motor, the feeding device, the longitudinal bar positioning robot, the transverse stirrup storage robot, the transport robot, and the electromagnetic device are connected to a main control room.
As a preferred embodiment of the steel reinforcement framework forming system, the longitudinal reinforcement positioning robot comprises two inner ring longitudinal reinforcement robots and two outer ring longitudinal reinforcement robots, and the two inner ring longitudinal reinforcement robots are located at the inner sides of the two outer ring longitudinal reinforcement robots.
As a preferred embodiment of the steel reinforcement framework forming system, the inner ring longitudinal rib robot is provided with an inner ring conveyor belt, the shape of the inner ring longitudinal rib conveyor belt is consistent with the cross section distribution shape of the inner ring longitudinal rib, and the inner ring conveyor belt is driven and driven by a first driving mechanism.
As a preferred embodiment of the steel reinforcement framework forming system, the outer ring longitudinal rib robot is provided with an outer ring transmission belt with a shape consistent with the cross section distribution shape of the outer ring longitudinal ribs, and the outer ring transmission belt is driven by a second driving mechanism to transmit.
As a preferred embodiment of the steel bar framework forming system, the electromagnetic device includes an electromagnetic rod and an electrical box for supplying power to the electromagnetic rod, the electrical box moves on the second slave rail, the second slave rail is disposed on two sides of a front end outlet of the transverse stirrup storage robot, and the electromagnetic rod is disposed in a direction perpendicular to the main rail and absorbs the transverse stirrup at the front end outlet after being powered on.
As a preferred embodiment of the steel reinforcement framework forming system, a retractable rib dividing shovel is further arranged at the front end outlet of the transverse stirrup storage robot and used for dividing the transverse stirrups at the front end outlet of the transverse stirrup storage robot.
As a preferred embodiment of the steel reinforcement framework forming system, the rib dividing shovel is controlled by a hydraulic cylinder to lift, and the hydraulic cylinder is fixed above an outlet at the front end of the transverse stirrup storage robot.
Due to the adoption of the technical scheme, the invention has the following beneficial effects: the intelligent equipment group is adopted to replace the traditional manual means, the equipment group can be controlled by means of a PLC control system in a master control room to carry out full-automatic intelligent steel reinforcement framework forming, and the problems that the efficiency of manufacturing the steel reinforcement framework of the formed large box girder by the transmission manual means is low, the labor input is large, the safety risk is high and the like are solved.
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 will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is an overall layout view of a steel reinforcement cage forming system for a large box girder according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of positioning of the inner ring longitudinal ribs in the embodiment of the invention.
FIG. 3 is a schematic structural diagram of positioning of outer ring longitudinal ribs in the embodiment of the present invention.
Fig. 4 is a schematic structural diagram of the inner and outer ring longitudinal bar robots moving to the transverse stirrup storage robot in the embodiment of the invention.
Fig. 5 is a schematic structural diagram of a transverse stirrup storage robot for inserting inner and outer ring longitudinal stirrups in the embodiment of the invention.
FIG. 6 is a schematic structural diagram of the connection between the inner and outer ring longitudinal ribs and the transverse stirrups in the embodiment of the invention.
Fig. 7 is a schematic structural diagram of a framework of a transportation box girder of the framework transportation robot in the embodiment of the invention.
Fig. 8 is a schematic structural diagram of the inner and outer ring longitudinal rib robot withdrawing box girder framework in the embodiment of the invention.
Fig. 9 is a schematic structural diagram of a framework of a transportation box girder of the framework transportation robot in the embodiment of the invention.
Fig. 10 is a schematic structural diagram of positioning of longitudinal bars of a next section of box girder framework in the embodiment of the invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments disclosed below.
Referring to fig. 1, an overall schematic diagram of a steel reinforcement framework forming system for a large box girder according to the present invention is shown. Among them, the equipment mainly involved is: the feeding device comprises a main track 10, a feeding device 1 and a first slave track 100 thereof, an inner ring longitudinal bar robot 2, an outer ring longitudinal bar robot 3, a transverse stirrup storage robot 4, an electromagnetic device 5 and a second slave track 6 thereof, and a framework transport robot 7. And the feeding device 1, the inner ring longitudinal bar robot 2, the outer ring longitudinal bar robot 3, the transverse stirrup storage robot 4, the electromagnetic device 5 and the framework transport robot 7 are all controlled by a PLC control system in a master control room.
Wherein, the quantity of main track 10 is two, and two main tracks 10 are the straight line shape track, arrange in the both sides of operation station mutually in parallel. Muscle robot 2 is indulged to the inner ring, muscle robot 3 is indulged to the outer loop, horizontal stirrup storage robot 4 and skeleton transportation robot 7 all remove along two main rails 10, through indulge muscle robot 2 at the inner ring, muscle robot 3 is indulged to the outer loop, the bottom of horizontal stirrup storage robot 4 and skeleton transportation robot 7 sets up first slipper, be provided with first gyro wheel in each first slipper, roll on main rails 10's plane of track by first gyro wheel, order about first gyro wheel by first motor again and roll, muscle robot 2 is indulged to the realization inner ring, muscle robot 3 is indulged to the outer loop, horizontal stirrup storage robot 4 and skeleton transportation robot 7 remove along main rails 10. The first motor is controlled by a PLC control system.
Feeding device 1 sets up the side at the anterior segment of main track 10, be close to the position that muscle robot 2 and outer loop indulge muscle robot 3 are indulged to the inner ring, and feeding device 1 removes along the direction of perpendicular to main track 10 through first track 100 from, first track 100 sets up perpendicularly in the front end side of main track 10 from, feeding device 1 can follow first track 100 and remove to adjust its and the inner ring indulge muscle robot 2 and the outer loop and indulge the relative position between muscle robot 3, ensure to indulge muscle robot 2 and the outer loop with the accurate pay-off of reinforcing bar and indulge on muscle robot 3 with the outer loop to the inner ring. Further, feeding device 1 can adopt belt or rack and pinion drive to indulge the muscle feed, and feeding device 1's height-adjustable if adopt hydraulic lifting support to bear the belt or rack and pinion drive of top, will indulge the muscle and indulge muscle from the feeding entry to the inner loop and indulge muscle robot 2 and the outer loop and indulge muscle robot 3 on and carry out the pay-off, compare in the mode of traditional artifical pay-off, high-efficient convenient and safer. The specific structure of the hydraulic lifting support and the belt or rack and pinion drive can follow the prior art and is not described here. The bottom of the feeding device 1 can be arranged on the first slave rail 100 in a sliding mode through a second sliding shoe, a second roller is arranged in the second sliding shoe, and the second roller is driven to rotate by a second motor, so that the feeding device can move on the first slave rail. The second motor, the belt or rack and pinion transmission mechanism and the hydraulic lifting support can be controlled by a PLC control system.
In this embodiment, there are two inner ring longitudinal bar robots 2 and two outer ring longitudinal bar robots 3, and the two inner ring longitudinal bar robots 2 are located inside the two outer ring longitudinal bar robots 3. The inner ring longitudinal bar robot 2 is mainly an inner ring conveyor belt with the shape consistent with the cross section distribution shape of the inner ring longitudinal bars, the inner ring conveyor belt is driven to transmit by a first driving mechanism, and the first driving mechanism can be controlled by a PLC control system; the outer ring longitudinal rib robot is mainly an outer ring transmission belt with the shape consistent with the cross section distribution shape of the outer ring longitudinal ribs, the outer ring transmission belt is driven by a second driving mechanism, and the second driving mechanism can be controlled by a PLC control system. The first driving mechanism and the second driving mechanism can be driven by a motor, the motor drives the driving wheel to rotate so as to drive the inner ring conveyor belt or the outer ring conveyor belt matched with the driving wheel to transmit, the inner ring conveyor belt and the outer ring conveyor belt can adopt racks, and the driving wheel adopts a gear; if the inner ring conveyor belt and the outer ring conveyor belt adopt belts, the driving wheel adopts a roller. The rack and pinion and belt drive can follow the prior art and is not cumbersome here. Furthermore, snap rings are arranged on the inner ring conveyor belt and the outer ring conveyor belt respectively according to the distribution intervals of the inner ring longitudinal ribs and the outer ring longitudinal ribs to clamp the inner ring longitudinal ribs and the outer ring longitudinal ribs on the conveyor belt. The snap ring adopts automatic open-close type snap ring, whether has the muscle to fall into the snap ring through the magnetic force perception by passive proximity switch, if have then close the snap ring and fix wherein with the muscle of indulging that drops.
Furthermore, the inner ring conveyor belt is supported by an inner ring support frame in a special shape, the shape of the inner ring conveyor belt is consistent with the cross section arrangement shape of the inner ring longitudinal ribs of the box girder framework, the bottom of the inner ring support frame is arranged on the main track 10 in a sliding mode through first sliding shoes, and the first sliding shoes are controlled by a motor and slide on the main track 10.
Similarly, the outer ring conveyor belt is supported by an outer ring support frame with a special shape, the shape of the outer ring conveyor belt is consistent with the cross section arrangement shape of the outer ring longitudinal ribs of the box girder framework, the bottom of the outer ring support frame is arranged on the main rail 10 in a sliding mode through first sliding shoes, and the sliding shoes are controlled by a first motor and slide on the main rail 10.
The horizontal stirrup comprises a plurality of semi-manufactured goods reinforcing bars, need connect in advance and form wholly, then store in horizontal stirrup storage robot 4, horizontal stirrup storage robot 4 is mainly including the stirrup case that is used for preserving horizontal stirrup, link up around the stirrup case and indulge the muscle with the outer loop and insert in order to supply the inner ring to indulge the muscle and the muscle, the front end export of stirrup case is horizontal stirrup and interior, muscle welded connection's station is indulged to the outer loop, the back of stirrup case is provided with and is used for supporting the push rod mechanism that pushes away to the front end export gradually with inside horizontal stirrup, push rod mechanism can be electric putter mechanism, also can adopt hydraulic putter mechanism or cylinder push rod mechanism etc.. The stirrup box can be further internally provided with a transmission mechanism which is used for placing the bottom of the transverse stirrup and is matched with the push-pull of the push rod mechanism to carry out horizontal movement transmission, such as a gear rack transmission mechanism or a belt roller transmission mechanism driven by a motor, so that the residual transverse stirrup in the stirrup box can be integrally moved. The push rod mechanism and the transmission mechanism can be controlled by a PLC system in the master control chamber.
The arrangement direction of the main track 10 is consistent with the longitudinal direction of the inner ring longitudinal ribs and the outer ring longitudinal ribs, the transverse stirrup storage robot 4 moves on the main track 10 through the bottom sliding shoes, and the first sliding shoes are controlled by the first motor to slide. And second slave rails 6 of the electromagnetic device 5 are arranged on two sides of the front end outlet of the transverse stirrup storage robot 4 and are perpendicular to the main rails 10, the second slave rails 6 are arranged perpendicular to the main rails 10, the electromagnetic device 5 mainly comprises an electromagnetic rod and an electric box for supplying power to the electromagnetic rod, the bottom of the electric box slides on the second slave rails 6 through second sliding shoes, second rollers are arranged in the second sliding shoes, and the second rollers are controlled by a second motor to roll on the second slave rails 6. After the electromagnetism stick circular telegram, can adsorb the first horizontal stirrup of holding horizontal stirrup storage robot front end outlet department, take out this first horizontal stirrup from the stirrup incasement, adopt welding robot to carry out this first horizontal stirrup and the inner ring of having fixed a position and indulge the muscle, the welded fastening between the muscle is indulged to the outer loop, and, repeatedly adopt this method to pursue according to the design interval of horizontal stirrup and take out horizontal stirrup from the stirrup case, can cooperate the stirrup case and interior, the muscle robot is indulged along orbital removal to the outer loop, carry out steel bar welding position's accurate positioning, ensure that horizontal stirrup interval accords with the designing requirement.
Preferably, in order to ensure that the electromagnetic rod only adsorbs one horizontal stirrup in the fixed outside at every turn, and can not adsorb unnecessary horizontal stirrup in connection with the area, suitable adjustable fender or the branch muscle shovel of front end outlet department that can the stirrup case, adjustable fender or branch muscle shovel can adopt the mode setting that goes up and down or open and shut to set up in the front end outlet department of stirrup case, and the purpose is separated one horizontal stirrup in the outside and the stirrup case surplus horizontal stirrup. The lifting or opening and closing of the movable baffle or the rib dividing shovel can be realized by adopting the driving of hydraulic pressure, a motor, a cylinder and the like. The drives of the hydraulic pressure, the motor, the cylinder and the like are also controlled by a PLC control system in the master control room.
The framework transport robot 7 is arranged at the last section of the main track 10 and used for transporting the welded box girder framework unit formed by the plurality of transverse stirrups, the inner ring longitudinal ribs and the outer ring longitudinal ribs to the next station along the main track 10 for subsequent installation or hoisting work and the like.
The method for using the steel reinforcement cage forming system for large box girders according to the present invention will be described in further detail with reference to fig. 2 to 10.
Step 1: first, the inner ring longitudinal bars are positioned.
The mechanical equipment for the step mainly comprises the following steps: an inner ring longitudinal bar robot 2 and a feeding device 1. After alignment is finished, the feeding device and the inner ring longitudinal rib positioning robot 2 are started simultaneously, the feeding device 1 feeds the inner ring longitudinal ribs one by one to an inner ring transmission belt of the inner ring longitudinal rib robot 2, a discharge port of the feeding device is parallel to and aligned with a clamping ring on the inner ring transmission belt, the clamping ring is closed after the inner ring longitudinal ribs are received, the inner ring transmission belt orders about and starts transmission at a first driving mechanism, the clamping rings clamped with the inner ring longitudinal ribs are conveyed forward one by one until the inner ring longitudinal ribs are clamped in all the clamping rings on the inner ring transmission belt, positioning of all the inner ring longitudinal ribs is completed, the first driving mechanism senses information of the end of a transmission stroke at the moment, and the information is sent to a second driving mechanism of the outer ring longitudinal rib robot.
Step 2: and positioning the outer ring longitudinal ribs.
The mechanical equipment of this step mainly involves: an outer ring longitudinal rib robot 3 and a feeding device 1. The two inner ring longitudinal bar robots 2 move inwards for a short distance relatively, the outer ring longitudinal bar robot 3 is moved to the position of the original inner ring longitudinal bar robot, and the alignment with the feeding device 1 is completed. Feeding device 1 indulges the muscle with the outer loop and indulges the muscle one by one pay-off to the outer loop on the outer loop driving belt of muscle robot 3, feeding device's discharge gate is parallel and aim at with the snap ring on the outer loop conveyer belt, the snap ring is received the outer loop and is indulged the muscle after closing, the outer loop conveyer belt orders about at second actuating mechanism and starts the transmission, the snap ring that has the outer loop to indulge the muscle will block has conveys forward one by one, all block intra-annular on the outer loop conveyer belt and all block and be equipped with the outer loop and indulge the muscle, accomplish the location of muscle is indulged to all outer loops, second actuating mechanism senses the information that the conveying stroke ended this moment, with this information transmission to the inner loop indulge muscle robot and the outer loop and indulge the motor of muscle robot bottom slipper.
And 3, step 3: after the rib positioning structure is indulged to inside and outside loop, indulge muscle robot 2 and the outer loop with the inside loop and indulge muscle robot 3 and move one section distance in opposite directions respectively to the purpose let the both ends that the muscle was indulged to inside and outside loop encorbelment out.
And 4, step 4: muscle robot 2 is indulged to the inner ring and 3 outer rings of muscle robot are indulged to the outer ring are indulged the muscle and are whole to be removed along main track 10 to the horizontal stirrup storage robot 4 of place ahead, and the front end that muscle was indulged to the inner and outer rings inserts in the horizontal stirrup storage robot 4, and the purpose is to indulge muscle and horizontal stirrup to carry out the relative positioning in the vertical plane to the inner and outer rings, but has not carried out the connection of muscle and horizontal stirrup.
And 5, step 5: the group of inner ring longitudinal bar robots and outer ring longitudinal bar robots positioned at the front side continue to move forward until the inner ring longitudinal bars and the outer ring longitudinal bars are inserted into the transverse stirrups at the foremost side of the transverse stirrup storage robot. Move electromagnetic means 5 along the second from 6 front end exports that move the horizontal stirrup storage robot of conflict to the electromagnetic bar of track, the electromagnetic bar circular telegram, adsorb one horizontal stirrup of foremost side on the electromagnetic bar in the stirrup case, one section distance is retreated along the main track to the stirrup case area remaining, let out one horizontal stirrup of foremost side that adsorbs on the electromagnetic bar and interior, the muscle carries out the welded station is indulged to the outer loop, can adopt welding robot to carry out weldment work, treat this one stirrup of foremost side and interior, the muscle welding completion back is indulged to the outer loop, the electromagnetic bar outage is followed the second and is shifted out the station from the track.
The inner ring longitudinal rib robot and the outer ring longitudinal rib robot move forward by the distance of one ring of transverse stirrups, the stirrup box is moved back to the welding station of the next ring of transverse stirrups, the push rod mechanism at the back of the stirrup box is utilized to push the residual framework in the stirrup box to the position where the current front transverse stirrup replaces the original front transverse stirrup forward, the electromagnetic rod is moved back, the steps are repeated, and the welding work of the current front transverse stirrup and the inner and outer ring longitudinal ribs is carried out. And (4) circularly performing welding work of all transverse stirrups on the whole section of the inner and outer inner ring longitudinal ribs, and manufacturing the first section of box girder framework unit.
And 6, a step of: and (3) moving the framework transport robot 7 to the bottom of the formed first section box girder framework unit, and transporting the first section box girder framework unit to the next station along the main track 10.
And 7, step 7: the first section of box girder framework unit completely falls on the framework transport robot 7, exits the inner ring longitudinal rib robot 2 and the outer ring longitudinal rib robot 3, returns to the initial position, and returns to the state that the inner ring longitudinal rib robot is aligned with the feeding device.
And 8, step 8: and positioning the inner ring longitudinal rib and the outer ring longitudinal rib of the second section of box girder framework unit at the initial position.
Step 9: the inner and outer ring longitudinal bars of the second section of box girder framework unit are positioned, and the inner and outer longitudinal bars of the second section of box girder framework unit are transported to the vicinity of the transverse stirrup storage robot by using the inner ring longitudinal bar robot and the outer ring longitudinal bar robot; and (5) starting to perform cycle operation from the step 3 to the step 9 until the whole box girder framework is formed.
The first driving mechanism, the second driving mechanism, the motors, the electromagnetic mechanism and the like can be matched with a PLC control system for digital control, so that the intelligence of the whole system is improved. The steel reinforcement framework forming process for the large box girder adopts the intelligent equipment group to replace the traditional manual means, can carry out full-automatic intelligent assembly by means of the PLC control equipment group, and solves the problems of low efficiency, large labor input, high safety risk and the like of manufacturing the steel reinforcement framework for forming the large box girder by the manual transmission means.
Similarly, it should be noted that in the foregoing description of embodiments of the application, various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure aiding in the understanding of one or more of the embodiments. This method of disclosure, however, is not intended to require more features than are expressly recited in the claims. Indeed, the embodiments may be characterized as having less than all of the features of a single embodiment disclosed above.
Although the present application has been described with reference to the present specific embodiments, it will be recognized by those skilled in the art that the foregoing embodiments are merely illustrative of the present application and that various changes and substitutions of equivalents may be made without departing from the spirit of the application, and therefore, it is intended that all changes and modifications to the above-described embodiments that come within the spirit of the application fall within the scope of the claims of the application.
The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.
Claims (5)
1. The utility model provides a framework of steel reinforcement molding system for large-scale case roof beam which characterized in that: the device comprises a main track, and a longitudinal bar positioning robot, a transverse stirrup storage robot and a framework transport robot which sequentially walk on the main track from front to back, wherein a feeding device is movably arranged at the front section of the main track through a first slave track, an electromagnetic device is movably arranged at the middle section of the main track through a second slave track, and the first slave track and the second slave track are respectively vertical to the main track;
the feeding device feeds longitudinal bars to the longitudinal bar positioning robot, the longitudinal bar positioning robot positions the longitudinal bars according to a design arrangement mode and moves the longitudinal bars to the transverse stirrup storage robot, the longitudinal bars and the formed transverse stirrups stored in the transverse stirrup storage robot are positioned, the electromagnetic device sucks the transverse stirrups in the transverse stirrup storage robot one by one to be connected with the longitudinal bars, and the framework transportation robot transports the connected transverse stirrups and the connected longitudinal bars out of the field along the main track;
the transverse stirrup storage robot comprises a stirrup box for storing transverse stirrups, the stirrup box is communicated from front to back so that an inner ring longitudinal bar and an outer ring longitudinal bar can be inserted, a front end outlet of the stirrup box is a station for welding and connecting the transverse stirrups with the inner ring longitudinal bar and the outer ring longitudinal bar, and a push rod mechanism for gradually pushing the inner transverse stirrups to the front end outlet is arranged at the back of the stirrup box; the stirrup box is internally provided with a transmission mechanism for placing the bottom of the transverse stirrup and carrying out horizontal movement transmission by matching with the push-pull of the push rod mechanism; a telescopic rib dividing shovel is further arranged at the front end outlet of the transverse stirrup storage robot and is used for dividing the transverse stirrups at the front end outlet of the transverse stirrup storage robot;
the electromagnetic device comprises an electromagnetic rod and an electronic box for supplying power to the electromagnetic rod, the electronic box moves on a second slave rail, the second slave rail is arranged on two sides of a front end outlet of the transverse stirrup storage robot, the electromagnetic rod is arranged in a direction perpendicular to the main rail, the electromagnetic device moves along the second slave rail to a position where the electromagnetic rod abuts against the front end outlet of the transverse stirrup storage robot, after the electromagnetic rod is powered on, the foremost transverse stirrup in the stirrup box is adsorbed on the electromagnetic rod, the stirrup box drives the rest transverse stirrups to retreat for a distance along the main rail, a station for welding the foremost transverse stirrup adsorbed on the electromagnetic rod with the inner and outer ring longitudinal reinforcements is provided, the welding robot is adopted for welding, after the foremost transverse stirrup is welded with the inner and outer ring longitudinal reinforcements, the electromagnetic rod is powered off and moves out of the station along the second slave rail, the welding robot is adopted for welding the foremost transverse stirrup with the inner ring and the outer ring longitudinal reinforcements, the welding between the outer ring longitudinal reinforcements and the transverse stirrups are fixed in the inner ring and the outer ring longitudinal reinforcements, the transverse stirrup is taken out of the rail according with the design and the transverse stirrup positioning by the robot, and the transverse stirrup positioning method is adopted for accurate matching of the welding robot, and the transverse stirrups designed for the transverse stirrup positioning of the robot;
the longitudinal bar positioning robot comprises two inner ring longitudinal bar robots and two outer ring longitudinal bar robots, and the two inner ring longitudinal bar robots are positioned at the inner sides of the two outer ring longitudinal bar robots; the inner ring longitudinal rib robot is provided with an inner ring conveyor belt, the shape of the inner ring conveyor belt is consistent with the cross section distribution shape of the inner ring longitudinal ribs, and the inner ring conveyor belt is driven by a first driving mechanism to transmit; the outer ring longitudinal rib robot is provided with an outer ring conveyor belt, the shape of the outer ring conveyor belt is consistent with the cross section distribution shape of the outer ring longitudinal ribs, and the outer ring conveyor belt is driven by a second driving mechanism to transmit; snap rings are respectively arranged on the inner ring conveyor belt and the outer ring conveyor belt according to the distribution intervals of the inner ring longitudinal ribs and the outer ring longitudinal ribs to clamp the inner ring longitudinal ribs and the outer ring longitudinal ribs which are discharged onto the conveyor belts; the snap ring adopts automatic open-close type snap ring, whether has the muscle to fall into the snap ring through the magnetic force perception by passive proximity switch, if have then close the snap ring and fix wherein with the muscle of indulging that drops.
2. The reinforcing cage forming system for a large box girder of claim 1, wherein: the longitudinal bar positioning robot, the transverse stirrup storage robot and the bottom of the framework transportation robot are all arranged on the main track in a sliding mode through first sliding shoes, the first sliding shoes roll on the main track through first rollers, and the first rollers are driven to rotate by first motors respectively.
3. The steel reinforcement cage forming system for a large box girder according to claim 2, wherein: the feeding device and the electromagnetic device are respectively arranged on the first slave rail and the second slave rail in a sliding mode through second sliding shoes, the second sliding shoes respectively roll on the first slave rail and the second slave rail through second rollers, and the second rollers are driven to rotate by a second motor respectively.
4. The reinforcing cage forming system for a large box girder of claim 3, wherein: each first motor, each second motor, the feeding device, the longitudinal rib positioning robot, the transverse stirrup storage robot, the framework transport robot and the electromagnetic device are all connected to a master control room.
5. The reinforcing cage forming system for a large box girder of claim 1, wherein: the rib dividing shovel is controlled to lift by a hydraulic cylinder, and the hydraulic cylinder is fixed above an outlet at the front end of the transverse stirrup storage robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110423408.XA CN113042662B (en) | 2021-04-20 | 2021-04-20 | Steel reinforcement framework forming system for large box girder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110423408.XA CN113042662B (en) | 2021-04-20 | 2021-04-20 | Steel reinforcement framework forming system for large box girder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113042662A CN113042662A (en) | 2021-06-29 |
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| CN118124002B (en) * | 2024-03-15 | 2024-09-17 | 中铁四局集团有限公司 | Production line and production method of U-shaped steel rib frame of bottom web plate of prefabricated box girder |
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