CN113617686A - Device and method for detecting structural performance of assembled reinforced concrete assembly - Google Patents
Device and method for detecting structural performance of assembled reinforced concrete assembly Download PDFInfo
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- CN113617686A CN113617686A CN202110927233.6A CN202110927233A CN113617686A CN 113617686 A CN113617686 A CN 113617686A CN 202110927233 A CN202110927233 A CN 202110927233A CN 113617686 A CN113617686 A CN 113617686A
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- feeding
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- stirrup
- reinforced concrete
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
- B07C5/12—Sorting according to size characterised by the application to particular articles, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B13/00—Bundling articles
- B65B13/18—Details of, or auxiliary devices used in, bundling machines or bundling tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B27/00—Bundling particular articles presenting special problems using string, wire, or narrow tape or band; Baling fibrous material, e.g. peat, not otherwise provided for
Abstract
The invention relates to a device and a method for detecting the structural performance of an assembled reinforced concrete assembly, which comprises a feeding system, a conveying system, a fastening system and a detection system, wherein the feeding system is arranged on the feeding system; the feeding system comprises a feeding car, a feeding mechanism and an eliminating mechanism, wherein the feeding car comprises a weight measuring bottom plate, and the weight measuring bottom plate is matched with the feeding plate and is positioned by a first air cylinder; the whole automatic assembly of this device is carried out to the building reinforcing bar, and degree of automation is high not only, and at the in-process of assembly, detects the reinforcing bar of the assembly of needs moreover, rejects unqualified reinforcing bar, guarantees the validity of reinforcing bar, the high accuracy nature of reinforcing bar performance to improve the mechanical properties of the reinforcing bar assembly after the assembly. And after the assembly is completed, the assembled steel bar assembly is detected, whether the mechanical property of the whole steel bar assembly body reaches a preset value or not is detected, whether the binding position meets the requirement or not is detected, the assembly efficiency is improved, and therefore the working efficiency is improved.
Description
Technical Field
The invention relates to the field of buildings, in particular to a device and a method for detecting the structural performance of an assembly type reinforced concrete assembly.
Background
The building industrialization is to manufacture a building (structure) in an industrialized production mode, namely, by means of informatization management, standardized (modular) design, industrialized production, mechanized transportation and hoisting and assembling of field construction, the production mode of high construction quality, short period, low cost and construction environment friendliness of the building (structure) is realized, the current labor-intensive construction mode of the traditional construction field is broken through, and the common consensus exists for the traditional cast-in-place construction mode, namely: the construction operation of on-site construction workers is multiple, the construction operations comprise concrete pouring and template and reinforcing steel bar processing, and meanwhile, a large amount of phenomena of high-altitude operation, resource waste, environmental pollution and the like exist, so that the traditional construction mode is severely limited by the technical level of constructors, building material resources, construction period and construction quality in the construction process, and meanwhile, the influence on the surrounding environment of a construction site is obvious. Meanwhile, the fabricated reinforcement structure also has the problems of large labor force, low overall efficiency, high investment capital and the like in the manufacturing and process. The most important seismic performance of the nodes between the beam-column members comprises connection between columns, between beams and columns, between main beams and secondary beams, between the enclosure structure and the main structure and the like.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides a device and a method for detecting the structural performance of an assembly type reinforced concrete assembly.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention provides a device for detecting the structural performance of an assembled reinforced concrete assembly, which comprises a feeding system, a conveying system, a fastening system and a detection system, wherein the feeding system is used for feeding the reinforced concrete assembly;
the feeding system comprises a feeding car, a feeding mechanism and an eliminating mechanism, wherein the feeding car comprises a weight measuring bottom plate, pulleys are arranged at the bottom end of the weight measuring bottom plate, and limiting blocks are arranged on the periphery of the weight measuring bottom plate; the weight measuring bottom plate is matched with the feeding plate and is positioned by the first air cylinder;
the feeding mechanism comprises a feeding frame, photoelectric doors are arranged at two ends of the inner side of the feeding frame, a plurality of feeding guide plates are arranged at the bottom end of the feeding frame, first driving motors are arranged at two sides of the top end of the feeding frame, the output ends of the first driving motors are matched with ball screws, one ends of the ball screws are fixed on a motor fixing plate, the other ends of the ball screws are fixed on the feeding frame, guide rods are arranged at two sides of the motor fixing plate and matched with linear bearings, and the linear bearings and the ball screws are fixed on a feeding plate;
The rejecting mechanism is arranged at an interval between the feeding carriages and comprises a movable baffle edge, one end of the movable baffle edge is provided with a second cylinder, the other end of the movable baffle edge is provided with a stop block, the second cylinder and the stop block are both provided with correlation optical fibers, the movable baffle edge is driven by a linear module to perform linear motion, and the linear module is arranged on the feeding frame.
Further, in a preferred embodiment of the present invention, the conveying system includes a conveying mechanism, an edge-aligning mechanism, and a robot arm;
the conveying mechanism comprises a transmission frame, a second driving motor is arranged at one end of the transmission frame, the second driving motor drives a first synchronous wheel, the first synchronous wheel is meshed with a synchronous belt so as to drive a second synchronous wheel, the inner side of the second synchronous wheel is matched with a driving shaft, and the outer side of the second synchronous wheel is meshed with the conveying belt so as to enable the conveying belt to do circular motion;
the edge returning mechanism comprises an edge returning stop block, a rotating wheel is arranged at the top end of the edge returning stop block, the inner side of the bottom end is connected with a first rotating shaft, the outer side of the bottom end is connected with a third air cylinder, a spring is arranged on the outer side of the first rotating shaft, the spring is arranged on an edge returning fixing block, and the edge returning fixing block is fixed on the transmission frame;
The tail end of the mechanical arm is provided with a fixed stop block, a guide rail sliding block is arranged on the fixed stop block and is connected with a pressing block in a matching mode, and the pressing block is driven by an electric cylinder to enable the pressing block to do linear motion.
Further, in a preferred embodiment of the present invention, the fastening system comprises a fastener, the fastener being provided with a cavity, the wire passing through the cavity; the fastener is designed in an arc shape, a pressing rod is arranged at the tail end of the arc-shaped channel and is pushed by a fourth cylinder, and the fastening system is arranged between the conveying system and the detection system.
Further, in a preferred embodiment of the present invention, a spring is disposed on one side of the limiting block, the spring is wrapped on the telescopic rod, and the feeding mechanism is at least provided with two regions, one region is a feeding region, and the other region is a waste region.
Further, in a preferred embodiment of the present invention, the detection system includes a channel, and a marking mechanism is disposed on both sides of the channel; the marking mechanism comprises a marker, the marker is fixed on a marking fixing plate, a swing cylinder is connected to the marking fixing plate and fixed on the inner side of the channel, paint is sprayed inside the marker, one end of the marker is connected with a spray opening, and the other end of the marker is connected with a paint inlet pipe.
Further, in a preferred embodiment of the present invention, the end of the arc-shaped channel is further provided with a pneumatic scissors, the pneumatic scissors are fixed on the fastener, and the pneumatic scissors are used for cutting the steel wire.
Further, in a preferred embodiment of the present invention, the transmission frame is further provided with a rotating cylinder, the rotating cylinder is connected to a transmission limiting block, and the transmission limiting block is used for separating the stirrups.
The invention provides a method for detecting the structural performance of an assembly type reinforced concrete assembly, which is applied to any one of the assembly type reinforced concrete assembly structural performance detection devices and comprises the following steps:
acquiring stirrup information in a current feeding car;
establishing a three-dimensional model by analyzing the stirrup information to obtain model information;
comparing the model information with preset model information to obtain a deviation ratio;
judging whether the deviation rate is greater than a preset deviation rate threshold value or not;
if so, generating rejection information;
and transmitting the eliminating information to an eliminating terminal.
Further, in a preferred embodiment of the present invention, comparing the model information with preset model information to obtain a deviation ratio includes the following steps:
Extracting the position of the crack of the stirrup by performing micro-processing on the model information, establishing a crack three-dimensional model and generating crack model information;
calculating the depth of the target crack according to the crack model information to obtain depth information;
combining the depth information with a simulation mechanical model to synthesize moment to obtain moment information;
and comparing the moment information with preset moment information to obtain a deviation rate.
Further, in a preferred embodiment of the present invention, the stirrup information includes one or more of a radius of the stirrup, a length of the stirrup, a width of the stirrup, and a pattern on a surface of the stirrup
The invention solves the defects in the background technology, and has the following beneficial effects: the whole automatic assembly of this device is carried out to the building reinforcing bar, and degree of automation is high not only, and at the in-process of assembly, detects the reinforcing bar of the assembly of needs moreover, rejects unqualified reinforcing bar, guarantees the validity of reinforcing bar, the high accuracy nature of reinforcing bar performance to improve the mechanical properties of the reinforcing bar assembly after the assembly. And in the assembling process, the preset distance is automatically set between the stirrups, so that the automatic assembling is completed. And after the assembly is completed, the assembled steel bar assembly is detected, whether the mechanical property of the whole steel bar assembly body reaches a preset value or not is detected, whether the binding position meets the actual requirement or not is detected, and when the binding position does not meet the actual requirement, the steel bar assembly body is bound again, so that the assembly efficiency is improved, and the working efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings of the embodiments can be obtained according to the drawings without creative efforts.
FIG. 1 shows the overall structural intent of the device;
fig. 2 shows a schematic structural view of the feed carriage;
FIG. 3 shows a schematic view of the feed mechanism;
FIG. 4 shows a schematic structural view of the rejection mechanism;
FIG. 5 shows a schematic structural view of the transport mechanism;
FIG. 6 shows a schematic structural view of the edge folding mechanism;
FIG. 7 shows a schematic view of the end structure of a robotic arm;
FIG. 8 shows a schematic structural view of a marking mechanism;
FIG. 9 shows a schematic structural view of the fastening mechanism;
FIG. 10 shows a schematic view of a portion of the detection system;
FIG. 11 shows a schematic view of longitudinal bars as they pass through the edge-crimping mechanism;
FIG. 12 is a flow chart of the method for detecting the structural performance of the assembled reinforced concrete combination.
FIG. 13 is a flow chart of a concrete method of the detection method of the structural performance of the assembled reinforced concrete combination.
In the figure:
1. the automatic feeding device comprises a feeding system, a conveying system, a fastening system, a detection system, a 101 feeding trolley, a 102 feeding mechanism, a 103 rejecting mechanism, a 1011 weighing bottom plate, a 1012 pulley, a 1013 limiting block, a 1014 feeding plate, a 1015 first air cylinder, a 1021 feeding frame, a 1022 photoelectric door, a 1023 feeding guide plate, a 1024 first driving motor, a 1025 ball screw rod, a 1026 motor fixing plate, a 1027 guide rod, a 1028 linear bearing, a 1031 moving blocking edge, a 1032 second air cylinder, a 1033 blocking block, a correlation optical fiber, a 1035 moving module, a 201 conveying mechanism, a 202 edge returning mechanism, a 203 mechanical arm, a 2011 transmission frame, a 2012 second driving motor, a 2013 first synchronous wheel, a 2014 synchronous belt, an 2015 synchronous wheel, a 2016 second synchronous wheel, a 2016, a 204 rotating air cylinder, a 205 conveying blocking block, a limiting block 1 fixing blocking block, 2032. the automatic edge-aligning device comprises a guide rail sliding block, a 2033 pressing block, a 2034 electric cylinder, a 2021 edge-aligning stop block, a 2022 rotating wheel, a 2023 first rotating shaft, a 2024 third air cylinder, a 2025 edge-aligning fixing block, 301 a fastener, 302 a pressing rod, 303 a fourth air cylinder, 304 starting scissors, 401 a marking mechanism, 4011 a marker, 4012 a marking fixing plate, 4013 a swinging air cylinder, 4014 an injection port and 4015 a paint pipe.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and the detailed description, wherein the drawings are simplified schematic drawings and only the basic structure of the present invention is illustrated schematically, so that only the structure related to the present invention is shown, and it is to be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict.
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 therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art through specific situations.
The invention provides a device for detecting the structural performance of an assembled reinforced concrete assembly, which comprises a feeding system 1, a conveying system 2, a fastening system 3 and a detection system 4;
the feeding system 1 comprises a feeding car 101, a feeding mechanism 102 and a removing mechanism 103, wherein the feeding car 101 comprises a weight measuring bottom plate 1011, the bottom end of the weight measuring bottom plate 1011 is provided with a pulley 1012, and the periphery of the weight measuring bottom plate is provided with a limiting block 1013; the weight measuring base plate 1011 cooperates with the feeding plate 1014 and is positioned by the first cylinder 1015; further, in a preferred embodiment of the present invention, a spring is disposed on one side of the stop block 1013, and the spring is wrapped on the telescopic rod 1014, and the feeding mechanism is disposed in at least two regions, one region is a feeding region, and the other region is a waste region. It should be noted that the weight measuring bottom plate 1011 is provided with the mass sensor, the mass sensor can be used for measuring the quality of the stirrups or other types of steel bars on the feeding cart 101, the real-time quantity of the stirrups on the feeding cart 101 can be calculated through the mass sensor, the stirrups are displayed on a human-computer interaction interface (such as a display, a touch screen and the like), and when the quantity of the stirrups is used up, a user can be informed that no stirrups exist by using the warning device, so that the trolley is charged. Moreover, in the feeding process, light waves or electromagnetic waves are arranged on the feeding system, the added stirrups or other types of reinforcing steel bars are detected by utilizing ultrasonic waves or terahertz waves, if the stirrups added manually do not conform to the reinforcing steel bars with preset diameters or the reinforcing steel bars with inconsistent lengths and widths, the reinforcing steel bars are removed, and the reinforcing steel bars are removed to a waste material area from a feeding area. In addition, when the preset length, width and diameter are met (set values are carried out by a user), the mechanical properties of the stirrups or other types of ribs are further detected, the terahertz penetrability is utilized, but the human body is not damaged, the stirrups or other types of ribs can be internally detected, when the content of pearlite in the interior, the existence of the reticular ferrite structure and the Widmannstatten structure do not meet a threshold value, the threshold value is actually the content proportion of the pearlite, the evaluation of the Widmannstatten structure is over high, and one or more combinations of the reticular ferrite structures exist, generally speaking, the Widmannstatten structure finally forms the pearlite, and the higher the content of the pearlite is, the lower the previous plasticity and toughness are shown, so that the brittleness is increased; therefore, terahertz waves can be used for detecting the section of the stirrup or other types of steel bars, images are collected on the section of the steel bars through the terahertz waves, the characteristic points of a plurality of pixels are extracted through filtering processing of the images, the content of pearlite is further calculated, whether the content of the pearlite meets a preset threshold value is judged, and the content of the pearlite in the section is detected through judging the stirrup or other types of steel bars, namely the proportion of the pearlite in the section area to the actual section area. On the other hand, the limiting block 1013 is provided with the spring and the telescopic rod 1014, so that on one hand, the stirrup with different lengths and different widths can be freely adjusted, and the assembly of various steel bar assemblies with different volumes is met. Firstly, the stirrup is limited to a certain extent by the action between the limiting block 1013 and the spring and the telescopic rod 1014, and the feeding cart 101 is further fixed by the first cylinder 1015, so that a stable movement base is provided in the feeding process and the stirrup screening process. On the other hand, the feeding mechanism is at least provided with two areas, wherein one area is a feeding area, the other area is a waste area, the stirrup left at the last in the feeding area is a qualified product, and the stirrup left in the waste area is an unqualified product, such as unqualified pearlite content of the steel bar, and unqualified cracks and fissures on the surface of the steel bar. The utilization detects stirrup or other types of reinforcing bar before the assembly for the reinforcing bar assembly body after the assembly is safe and reliable more, avoids subsequent idle work, improves work efficiency. Whether the stirrup meets the performance requirements of engineering is judged by detecting the content of pearlite in the steel bar, then the bundling between the longitudinal bar and the stirrup is automatically completed according to a set drawing, and the quality accuracy of the stirrup and the longitudinal bar is ensured at first, so that the high quality of the final steel bar assembly is ensured.
The feeding mechanism 102 comprises a feeding frame 1021, photoelectric gates 1022 are arranged at two ends of the inner side of the feeding frame 1021, a plurality of feeding guide plates 1023 are arranged at the bottom end of the feeding frame 1021, first driving motors 1024 are arranged at two sides of the top end of the feeding frame 1021, output ends of the first driving motors 1024 are matched with ball screws 1025, one ends of the ball screws 1025 are fixed on a motor fixing plate 1026, the other ends of the ball screws 1025 are fixed on the feeding frame 1021, guide rods 1027 are arranged at two sides of the motor fixing plate 1026, the guide rods 1027 are matched with linear bearings 1028, and the linear bearings 1028 and the ball screws 1025 are fixed on a feeding plate 1014; it should be noted that, after the feeding car 101 enters the space of the feeding frame 1021 from the feeding guide plate 1023 and enters the space, the weight measuring bottom plate 1011 cooperates with the feeding plate 1014 and is positioned by the first cylinder 1015, after the feeding car 101 is determined, further, the mechanical property of the stirrup or other types of steel bars is detected, after the detection, the first driving motors 1024 at both sides drive the ball screws 1025, so that the feeding car is lifted under the cooperation of the guide rods 1027, the linear bearings 1028 and the screws, and during the lifting process, the position of the feeding car is monitored in real time by the photoelectric sensors, which is beneficial to the operation of assembly type operation, and under the cooperation of multiple directions, the lifting motion of the feeding car 101 is more stable. It should be noted that the light wave emitted by the photoelectric gate 1022 is a terahertz wave, and the terahertz wave detects the stirrup or other types of steel bars entering the space portion of the feeding frame 1021, and determines whether the pearlite content in the cross-sectional area of the terahertz wave satisfies a preset value, generally speaking, the normal content of pearlite is about 45% in the intercepted cross-sectional area, and above this value, the brittleness of the steel bars increases, and the plasticity and the toughness decrease.
The removing mechanism 103 is arranged at the interval between the feeding carriages 101, the removing mechanism 103 comprises a movable rib 1031, one end of the movable rib 1031 is provided with a second air cylinder 1032, the other end of the movable rib 1031 is provided with a stop 1033, the second air cylinder 1032 and the stop 1033 are both provided with an opposite-emitting optical fiber 1034, the movable rib 1031 is driven by a linear module 1035 to perform linear motion, and the linear module 1035 is arranged on the feeding frame 1021. It should be noted that, since the normal content of pearlite is higher than 45% of the cross-sectional area taken, the steel bar is easily broken during bending when the steel bar is subjected to a pressure. Therefore, after detection, the removing mechanism removes the steel bars with the cross-sectional area higher than 45%, the linear module 1035 drives the movable flange 1031 to move to the real-time position of the steel bar marked by the display system, the opposite-emitting optical fiber 1034 is used for contraposition, the removing mechanism moves to a specific removing area, and the second air cylinder 1032 pushes the unqualified steel bar, so that the unqualified steel bar is pushed to the waste area.
Further, in a preferred embodiment of the present invention, the conveying system 2 includes a conveying mechanism 201, an edge-aligning mechanism 202, a robot arm 203;
The conveying mechanism 201 comprises a transmission frame 2011, one end of the transmission frame 2011 is provided with a second driving motor 2012, the second driving motor 2012 drives a first synchronizing wheel 2013, the first synchronizing wheel 2013 is meshed with a synchronous belt 2014 so as to drive a second synchronizing wheel 2015, the inner side of the second synchronizing wheel 2015 is matched with a driving shaft 2016, and the outer side of the second synchronizing wheel 2015 is meshed with the conveying belt 2016 so that the conveying belt makes a circulating motion; further, in a preferred embodiment of the present invention, the transmission frame 201 is further provided with a rotation cylinder 204, the rotation cylinder 204 is connected to a transmission limiting block 205, and the transmission limiting block 205 is used for separating the stirrups. The tail end of the mechanical arm 203 is provided with a fixed stop block 2031, the fixed stop block 2031 is provided with a guide rail sliding block 2032, the guide rail sliding block 2032 is connected with a pressing block 2033 in a matching manner, and the pressing block 2033 is driven by an electric cylinder 2034 to enable the pressing block 2034 to do linear motion. It should be noted that, first, a second driving motor 2012 is used to drive a first synchronizing wheel 2013, the first synchronizing wheel 2013 is engaged with a synchronizing belt 2014 to drive a second synchronizing wheel 2015, the inner side of the second synchronizing wheel 2015 is engaged with a driving shaft 2016, the outer side of the second synchronizing wheel 2015 is engaged with the conveying belt 2016 to enable the conveying belt to perform stable circular motion, and the upper longitudinal bars perform transmission motion, in the motion process of the mechanical arm 203, a guide rail slider 2032 is arranged on the fixed stopper 2031, and cooperates with an electric cylinder 2034 to push the pressing block 2033 to perform clamping measures on a plurality of stirrups, so as to move the stirrups to the initial entering ends of the longitudinal bars. At this moment, revolving cylinder 204 rotates transmission stopper 205, it is spacing to indulge the muscle, afterwards carry out the stirrup and indulge tying up between the muscle, and be provided with measuring sensor on the transmission stopper 205, utilize measuring sensor to carry out length detection for measuring the next station of tying up, according to the velocity of motion of conveyer belt, calculate the next station of tying up, manual error has been avoided to this mode, the position point that makes to tie up is more accurate, when tying up this moment, drive belt pause motion, after tying up the completion, revolving cylinder 204 stirs next stirrup to next bundle and pricks the point, and make remaining stirrup keep away from the stirrup that needs to tie up, provide the space basis for tying up the technology. And repeating the principle continuously until the steel bar assembly is bound.
The edge-returning mechanism 202 comprises an edge-returning block 2021, the top end of the edge-returning block 2021 is provided with a rotating wheel 2022, the inner side of the bottom end is connected with a first rotating shaft 2023, the outer side of the bottom end is connected with a third air cylinder 2024, the outer side of the first rotating shaft 2023 is provided with a spring, the spring is arranged on an edge-returning fixing block 2025, and the edge-returning fixing block 2025 is fixed on a transmission frame 2011; it should be noted that, the rotating wheel 2022 is pushed by the third cylinder 2024 arranged on the edge-folding structure, so that the pulley can be adjusted according to the steel bars with different diameters, and the longitudinal bars move on the pulley without deviating from the set track all the time, which is beneficial to the subsequent binding of the longitudinal bars and the stirrups, and is beneficial to the accurate identification of each binding position, thereby improving the working efficiency.
Further, in a preferred embodiment of the present invention, the fastening system 3 comprises a fastener 301, wherein the fastener 301 is provided with a cavity, and the steel wire passes through the cavity; the fastener is designed in an arc shape, a pressing rod 302 is arranged at the tail end of the arc-shaped channel and is pushed by a fourth cylinder 303, and the fastening system 3 is arranged at one end of the transmission frame 2011. Further, in a preferred embodiment of the present invention, the end of the arc-shaped channel is further provided with a pneumatic scissors 304, the pneumatic scissors 304 are fixed on the fastener 301, and the pneumatic scissors 304 are used for cutting the steel wire. When the stirrup is prevented from reaching a designated position on the longitudinal bar, the fastener 301 is started, the steel wire in the fastener 301 passes through the cavity, a plurality of rollers are arranged in the fastener 301, the steel wire linearly moves on the rollers in a designated direction, so that the steel wire can be discharged from an outlet of the cavity, the steel wire is pushed to the press-fit rod 302 by the fourth air cylinder 303 to bundle the longitudinal bar and the stirrup, and after the bundling is completed, the steel wire is cut by pneumatic scissors at the outlet of the cavity, so that the bundling is completed. When camera system on the fastener detects the contact position of stirrup and vertical muscle, this process can understand that the contact department of vertical muscle and stirrup is highly inconsistent when only vertical muscle to the suitable position of tying up is discerned. Thus, in this appropriate position, binding is performed with the fastener 301.
Further, in a preferred embodiment of the present invention, the detecting system 4 includes a channel, and a marking mechanism 401 is disposed on two sides of the channel; marking mechanism 401 includes marker 4011, marker 4011 is fixed in on the mark fixed plate 4012, connect swing cylinder 4013 on the mark fixed plate 4012, swing cylinder 4013 is fixed in the passageway is inboard, moreover marker 4011 is inside to be provided with the spraying paint, jet port 4014 is connected to marker 4011 one end, and the other end is connected into lacquer pipe 4015. It should be noted that, after the longitudinal bars and the stirrups are bundled, the bundling effect is detected and the integrally assembled reinforcing steel bar body is mechanically detected, a light wave generator (an image acquisition system, such as a camera, a vision sensor, a camera and the like) designed on the upper part of the channel is utilized, a plurality of pores are arranged on the channel, light waves are emitted from the pores to acquire the position information of the assembly, each position of the passing reinforcing steel bar assembly is detected, the image processing system is utilized to establish a mathematical three-dimensional model for the acquired position information, the mechanical property of the reinforcing steel bar is combined, a final model is established after the assembly body is combined with mixed concrete, and whether the stress condition of the internal reinforcing steel bar meets the requirements of engineering or not is calculated. On the other hand, the binding result is detected, the binding steel wires are detected by an image acquisition system, the acquired image is processed to obtain a binding model, whether the binding model is in accordance with the binding position and whether the binding image model is the same as a preset model (whether the binding image model is within a preset deviation range, such as the position and the shape and the size of the iron wires during binding are satisfied), when the deviation range is not satisfied, the position is marked by spraying paint sprayed by a marker 4011, and when the detection of the stirrups and the detection of the binding result are combined, the stress condition of the internal steel bars can be considered under the condition when the detection of the stirrups and the binding result are both satisfied. When the binding detection does not satisfy the condition, the unqualified binding position is marked by the marker 4011, and the binding is reinforced by the fastening mechanism at the tail part. Utilize multiple detection and rebinding, guarantee the high efficiency of the device constantly, and carry out performance calculation to the steel bar assembly of different technical requirements (the mounted position that depends on the roof beam), depend on the distance between two stirrups, after further combining the concrete according to the distance of stirrup, when calculating the stirrup and the vertical muscle combination of each position, the limit power that the assembly can receive, when the assembly satisfies the limit power that the treater set for, this combined assembly body could be called qualified, the user can type the technical requirement of this drawing on display system, thereby make the device tie up the reinforcing bar of different grade type according to this technical requirement, make in the assembling process more high-efficient.
All the steps are combined as follows: after the feeding car 101 enters a space part of the feeding frame 1021 from the feeding guide plate 1023 and enters the space part, the weight measuring bottom plate 1011 is matched with the feeding plate 1014 and is positioned by the first air cylinder 1015, after the feeding car 101 is determined, the mechanical property of stirrups or other types of steel bars is detected, and after the detection, the first driving motors 1024 at two sides drive the ball screw 1025, so that the feeding car is lifted under the matching action of the guide rod 1027, the linear bearing 1028 and the screw; after detection, the removing mechanism removes the steel bars with the cross-sectional area higher than 45%, the linear module 1035 drives the movable retaining edge 1031 to move to the real-time position of the steel bar marked by the display system, the opposite-emitting optical fiber 1034 is used for contraposition, the removing mechanism is moved to a specific position, and the second air cylinder 1032 pushes the unqualified steel bar, so that the unqualified steel bar is pushed to a waste area. In the process of movement of the mechanical arm 203, the fixed stop 2031 is provided with a guide rail slider 2032, and cooperates with the electric cylinder 2034 to push the pressing block 2033 to perform clamping measures on a plurality of stirrups to shuttle the stirrups into the initial entrance ends of the longitudinal reinforcements (it can be understood that a framework (such as a T-shaped aluminum profile) for placing the stirrups is provided between the transport mechanism and the fastening mechanism, so that the longitudinal reinforcements can be shuttled into the inner space of the stirrups). At this time, the rotating cylinder 204 rotates the transmission limiting block 205 to limit the distance of the longitudinal bars, and then the stirrup and the longitudinal bars are bundled. The fourth cylinder 303 is used to push the pressing rod 302, the longitudinal bars and the stirrups are bundled, and after the bundling is finished, the steel wires are cut off by using pneumatic scissors at the outlet of the cavity, so that the bundling is finished.
In conclusion, the device automatically assembles the building type reinforcing steel bars in the whole process, the automation degree is high, in the assembling process, the reinforcing steel bars needing to be assembled are detected, unqualified reinforcing steel bars are removed, the effectiveness of the reinforcing steel bars and the high accuracy of the performance of the reinforcing steel bars are ensured, and therefore the mechanical performance of the assembled reinforcing steel bar assembly is improved. And in the assembling process, the preset distance is automatically set between the stirrups, so that the automatic assembling is completed. And after the assembly is completed, the assembled steel bar assembly is detected, whether the mechanical property of the whole steel bar assembly body reaches a preset value or not is detected, whether the binding position meets the actual requirement or not is detected, and when the binding position does not meet the actual requirement, the steel bar assembly body is reprocessed, so that the assembly efficiency is improved, and the working efficiency is improved.
In addition, the feeding system 1 comprises a feeding car 101, a feeding mechanism 102 and a removing mechanism 103, wherein the feeding car 101 comprises a weight measuring bottom plate 1011, the bottom end of the weight measuring bottom plate 1011 is provided with a pulley 1012, and the periphery of the weight measuring bottom plate is provided with a limiting block 1013; the weight measuring base plate 1011 cooperates with the feeding plate 1014 and is positioned by the first cylinder 1015; further, in a preferred embodiment of the present invention, a spring is disposed on one side of the stop block 1013, and the spring is wrapped on the telescopic rod 1014, and the feeding mechanism is disposed in at least two regions, one region is a feeding region, and the other region is a waste region. It should be noted that, when the feeding system 1 detects a steel plate, the steel plate is placed on the weight-measuring base plate 1011, the limit blocks 1013 arranged around the weight-measuring base plate 1011 are used to fix the steel plates with different volumes, the terahertz light waves emitted by the photoelectric gate 1022 are used to detect the pearlite content at the bending position of the steel plate to be bent, and the bending radius or the bending contact position point (which needs to be contacted with a bending tool during bending) is further adjusted according to the pearlite content, so as to provide the best contact point for bending the steel plate, avoid the problem that the plasticity and toughness at the position are poor due to the excessively high pearlite content at the contact point during bending, so that a fracture phenomenon is generated during bending, thereby avoiding material waste, when the pearlite content of the cross section of a certain steel plate is detected to be unqualified, at this time, the linear module 1035 is used to drive the moving flange 1031 to move to the real-time position of the steel plate marked by the display system, the steel plate is aligned by the correlation optical fiber 1034 and is accurate to the moving position, the second air cylinder 1032 pushes the unqualified steel bar, so that the unqualified steel plate is pushed to the waste area, the display system can accurately mark the steel plate to be bent at the contact point, the possibility that the steel plate is broken is marked by colors, and the deeper the color is, the higher the possibility that the steel plate is broken is. On the other hand, on the actual site, the feeding system can detect the roughness of the processed surface of the steel plate, a user sets a surface roughness value, and the difference value between the highest position point and the lowest position point in the image is extracted by using an image processing method, which can be understood as that the distance between two wave crests or two wave troughs is within a preset value, and the roughness is qualified at this moment.
The invention provides a method for detecting the structural performance of an assembly type reinforced concrete assembly, which is applied to any one of the assembly type reinforced concrete assembly structural performance detection devices and comprises the following steps:
s102, acquiring stirrup information in the current feeding car;
s104, establishing a three-dimensional model by analyzing the stirrup information to obtain model information;
s106, comparing the model information with preset model information to obtain a deviation ratio;
s108, judging whether the deviation rate is larger than a preset deviation rate threshold value or not;
s110, if the number of the data is larger than the preset number, removing information is generated;
and S112, transmitting the rejection information to a rejection terminal.
It should be noted that, the hoop information in the current feeding car is obtained by using the photoelectric door, the hoop information is the hoop information comprises one or more combinations of the radius of the hoop, the length of the hoop, the width of the hoop and the grain on the surface of the hoop, the information collected by the photoelectric door is transmitted to a display system, a processor (calculation program) is arranged on the display system, the processor is used for further processing the information of the hoop, and a three-dimensional model is established by using the collected information of the radius of the hoop, the length of the hoop, the width of the hoop, the grain on the surface of the hoop and the like. And the preset model is a nondestructive model established according to the radius of the stirrup, the length of the stirrup, the width of the stirrup and the like, the actual model and the nondestructive model always have a deviation, the processor can compare the deviation with the deviation value set by the processor according to the deviation, if the deviation value is greater than the preset deviation value, the rejecting mechanism is started, and the normal content of pearlite is easy to break in the bending process of the steel bar under pressure when the proportion of the intercepted cross-sectional area is higher than 45%. Therefore, after detection, the removing mechanism removes the steel bars with the cross-sectional area higher than 45%, the linear module 1035 drives the movable retaining edge 1031 to move to the real-time position of the steel bar marked by the display system, the position is aligned by the correlation optical fiber 1034 and is accurate to the moving position, and the second air cylinder 1032 pushes the unqualified steel bar, so that the unqualified steel bar is pushed to the waste area.
Further, in a preferred embodiment of the present invention, comparing the model information with preset model information to obtain a deviation ratio includes the following steps:
s202, extracting the position of the crack of the stirrup by microprocessing the model information, establishing a crack three-dimensional model and generating crack model information;
s204, calculating the depth of the target crack according to the crack model information to obtain depth information;
s206, combining the depth information with a simulated mechanical model to synthesize moment to obtain moment information;
and S208, comparing the moment information with preset moment information to obtain a deviation rate.
It should be noted that, the processor further processes the model information to extract the positions of the limit points of the crack of the stirrup (the positions of six limit points in the three-dimensional space), and establishes a three-dimensional crack model for the crack, and projects the three-dimensional crack model to form a line or a plane, so as to calculate the depth of the target crack, thereby selecting a reference point by using the position point of the crack, calculating the limit force required for breaking according to the mechanical property and the resultant moment of the steel at the position, comparing the limit force with the force required to be borne by the actual engineering, and when the limit force is within the preset limit force range, the stirrup on the surface can still be used. Otherwise, the rejecting mechanism is started.
Further, in a preferred embodiment of the present invention, the stirrup information includes one or more of a radius of the stirrup, a length of the stirrup, a width of the stirrup, and a surface texture of the stirrup.
In light of the foregoing description of the preferred embodiment of the present invention, it is to be understood that various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and the technology must be determined in accordance with the scope of the claims.
Claims (10)
1. The device for detecting the structural performance of the assembled reinforced concrete assembly is characterized by comprising a feeding system, a conveying system, a fastening system and a detection system;
the feeding system comprises a feeding car, a feeding mechanism and an eliminating mechanism, wherein the feeding car comprises a weight measuring bottom plate, pulleys are arranged at the bottom end of the weight measuring bottom plate, and limiting blocks are arranged on the periphery of the weight measuring bottom plate; the weight measuring bottom plate is matched with the feeding plate and is positioned by the first air cylinder;
the feeding mechanism comprises a feeding frame, photoelectric doors are arranged at two ends of the inner side of the feeding frame, a plurality of feeding guide plates are arranged at the bottom end of the feeding frame, first driving motors are arranged at two sides of the top end of the feeding frame, the output ends of the first driving motors are matched with ball screws, one ends of the ball screws are fixed on a motor fixing plate, the other ends of the ball screws are fixed on the feeding frame, guide rods are arranged at two sides of the motor fixing plate and matched with linear bearings, and the linear bearings and the ball screws are fixed on a feeding plate;
The rejecting mechanism is arranged at an interval between the feeding carriages and comprises a movable baffle edge, one end of the movable baffle edge is provided with a second cylinder, the other end of the movable baffle edge is provided with a stop block, the second cylinder and the stop block are both provided with correlation optical fibers, the movable baffle edge is driven by a linear module to perform linear motion, and the linear module is arranged on the feeding frame.
2. The device for detecting the structural performance of the assembled reinforced concrete combination body according to claim 1, wherein the conveying system comprises a conveying mechanism, an edge-closing mechanism and a mechanical arm;
the conveying mechanism comprises a transmission frame, a second driving motor is arranged at one end of the transmission frame, the second driving motor drives a first synchronous wheel, the first synchronous wheel is meshed with a synchronous belt so as to drive a second synchronous wheel, the inner side of the second synchronous wheel is matched with a driving shaft, and the outer side of the second synchronous wheel is meshed with the conveying belt so as to enable the conveying belt to do circular motion;
the edge returning mechanism comprises an edge returning stop block, a rotating wheel is arranged at the top end of the edge returning stop block, the inner side of the bottom end is connected with a first rotating shaft, the outer side of the bottom end is connected with a third air cylinder, a spring is arranged on the outer side of the first rotating shaft, the spring is arranged on an edge returning fixing block, and the edge returning fixing block is fixed on the transmission frame;
The tail end of the mechanical arm is provided with a fixed stop block, a guide rail sliding block is arranged on the fixed stop block and is connected with a pressing block in a matching mode, and the pressing block is driven by an electric cylinder to enable the pressing block to do linear motion.
3. The assembled reinforced concrete combination structure performance detection device as claimed in claim 1, wherein the fastening system comprises a fastener, a cavity is arranged in the fastener, and a steel wire passes through the cavity; the fastener is designed in an arc shape, a pressing rod is arranged at the tail end of the arc-shaped channel and is pushed by a fourth cylinder, and the fastening system is arranged between the conveying system and the detection system.
4. The device for detecting the structural performance of the assembled reinforced concrete combination body as claimed in claim 1, wherein a spring is arranged on one side of the limiting block and is wrapped on the telescopic rod, and the feeding mechanism is provided with at least two areas, one area is a feeding area, and the other area is a waste area.
5. The device for detecting the structural performance of the assembled reinforced concrete combination body according to claim 1, wherein the detection system comprises a channel, and marking mechanisms are arranged in the channel on two sides; the marking mechanism comprises a marker, the marker is fixed on a marking fixing plate, a swing cylinder is connected to the marking fixing plate and fixed on the inner side of the channel, paint is sprayed inside the marker, one end of the marker is connected with a spray opening, and the other end of the marker is connected with a paint inlet pipe.
6. The device for detecting the structural performance of the assembled reinforced concrete combination body as claimed in claim 3, wherein the tail end of the arc-shaped channel is further provided with pneumatic scissors, the pneumatic scissors are fixed on a fastener, and the pneumatic scissors are used for cutting steel wires.
7. The device for detecting the structural performance of the assembled reinforced concrete combination according to claim 2, wherein a rotating cylinder is further arranged on the transmission frame, the rotating cylinder is connected with a transmission limiting block, and the transmission limiting block is used for separating stirrups.
8. A method of an assembly type reinforced concrete assembly structure performance detection device, which is applied to the assembly type reinforced concrete assembly structure performance detection device of any one of claims 1 to 7, and comprises the following steps:
acquiring stirrup information in a current feeding car;
establishing a three-dimensional model by analyzing the stirrup information to obtain model information;
comparing the model information with preset model information to obtain a deviation ratio;
judging whether the deviation rate is greater than a preset deviation rate threshold value or not;
if so, generating rejection information;
and transmitting the eliminating information to an eliminating terminal.
9. The method for detecting the structural performance of the assembled reinforced concrete combination according to claim 8, wherein the step of comparing the model information with preset model information to obtain the deviation ratio comprises the following steps:
extracting the position of the crack of the stirrup by performing micro-processing on the model information, establishing a crack three-dimensional model and generating crack model information;
calculating the depth of the target crack according to the crack model information to obtain depth information;
combining the depth information with a simulation mechanical model to synthesize moment to obtain moment information;
and comparing the moment information with preset moment information to obtain a deviation rate.
10. The method of claim 8, wherein the stirrup information comprises one or more of a combination of radius of the stirrup, length of the stirrup, width of the stirrup, and surface texture of the stirrup.
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