CN117655241A - Automatic assembling process for prefabricated beam reinforcement cage - Google Patents

Automatic assembling process for prefabricated beam reinforcement cage Download PDF

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Publication number
CN117655241A
CN117655241A CN202410065131.1A CN202410065131A CN117655241A CN 117655241 A CN117655241 A CN 117655241A CN 202410065131 A CN202410065131 A CN 202410065131A CN 117655241 A CN117655241 A CN 117655241A
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China
Prior art keywords
steel
steel bar
framework
bar net
reinforcing bar
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Pending
Application number
CN202410065131.1A
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Chinese (zh)
Inventor
郭建群
殷爱国
孙猛
陈向阳
张伟朋
郑贺民
牛远志
康景亮
张少朋
王军鹏
张震江
刘同斌
周亮
李二伟
张东阳
齐亚北
张帆
任延克
隋永强
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China Railway Design Corp
China Railway Seventh Group Co Ltd
Zhengzhou Engineering Co Ltd of China Railway Seventh Group Co Ltd
Original Assignee
China Railway Design Corp
China Railway Seventh Group Co Ltd
Zhengzhou Engineering Co Ltd of China Railway Seventh Group Co Ltd
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Filing date
Publication date
Application filed by China Railway Design Corp, China Railway Seventh Group Co Ltd, Zhengzhou Engineering Co Ltd of China Railway Seventh Group Co Ltd filed Critical China Railway Design Corp
Priority to CN202410065131.1A priority Critical patent/CN117655241A/en
Publication of CN117655241A publication Critical patent/CN117655241A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21FWORKING OR PROCESSING OF METAL WIRE
    • B21F27/00Making wire network, i.e. wire nets
    • B21F27/12Making special types or portions of network by methods or means specially adapted therefor
    • B21F27/20Making special types or portions of network by methods or means specially adapted therefor of plaster-carrying network
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21CMANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C51/00Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21FWORKING OR PROCESSING OF METAL WIRE
    • B21F1/00Bending wire other than coiling; Straightening wire
    • B21F1/004Bending wire other than coiling; Straightening wire by means of press-type tooling
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B21MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21FWORKING OR PROCESSING OF METAL WIRE
    • B21F27/00Making wire network, i.e. wire nets
    • B21F27/08Making wire network, i.e. wire nets with additional connecting elements or material at crossings
    • B21F27/10Making wire network, i.e. wire nets with additional connecting elements or material at crossings with soldered or welded crossings

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)

Abstract

The invention relates to the technical field of building construction, in particular to an automatic assembling process of a prefabricated beam reinforcement cage, which comprises the following steps: s1, a three-dimensional live-action model of a steel bar framework is established by combining an enclosure structure of a deep foundation pit with the actual position relation of a supporting system through a BI (building information modeling) technology, a hoisting and assembling process of the steel bar framework of a structural beam is simulated, the steel bar framework of the structural beam is reasonably segmented, and the steel bar framework is divided into three modules, namely a top plate section, a left web section, a right web section and a bottom plate section; s2, bending steel bar frames and forming dies by adopting angle steel and round steel according to a three-dimensional model of the steel bar frames by numerical control hydraulic bending equipment, and the invention can effectively solve the problems that the existing steel bar frame assembling process needs manual operation by workers to finish construction efficiency is low, the occupied area of the steel bar binding forming dies is large, positioning and welding are carried out manually, the intelligent degree is low, and the engineering construction with large box girder base number and tight construction period requirement cannot be met.

Description

Automatic assembling process for prefabricated beam reinforcement cage
Technical Field
The invention relates to the technical field of building construction, in particular to an automatic assembling process for a prefabricated beam reinforcement cage.
Background
The beam is a type of beam in bridge engineering, the inside of the beam is hollow, flanges are arranged on two sides of the upper part of the beam, the beam is called a box beam because of the shape similar to a box, the box beam of a reinforced concrete structure in the prior art is generally divided into a prefabricated box beam and a cast-in-situ box beam, wherein the prefabricated box beam is prefabricated in an independent place, a bridge girder erection machine is matched in the construction process, the beam can be installed and erected after the lower part engineering is finished, the beam has the advantages of accelerating the engineering progress, saving the construction period and the like, when the prefabricated box beam is constructed and manufactured, workers are required to bind steel bars in advance to form an inner steel bar framework, closed pouring is realized by sleeving a mold outside, the prefabricated box beam is generated after concrete is solidified, and the steel bar framework of the conventional prefabricated box beam is constructed by adopting a binding jig frame.
However, the existing steel reinforcement framework assembling process still has the defects that: the existing steel reinforcement framework assembling process requires workers to manually operate to complete construction efficiency, the occupied area of the steel reinforcement binding jig is large, positioning and welding are performed manually, the intelligent degree is low, and engineering construction with large box girder base number and tight construction period requirements cannot be met.
Therefore, an automated assembly process for the reinforcement cage of the precast beam is needed to solve the problems in the prior art.
Disclosure of Invention
The invention aims to provide an automatic assembling process for a precast beam reinforcement cage, which aims to solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions:
an automatic assembling process of a precast beam reinforcement cage comprises the following steps:
s1, building a three-dimensional live-action model of a steel bar framework by combining a building in wall (BIM) technology with the actual position relation of a support system of a deep foundation pit, simulating the hoisting and assembling process of the steel bar framework of a structural beam, reasonably dividing the steel bar framework of the structural beam into three modules, namely a top plate section, a left web section, a right web section and a bottom plate section;
s2, bending steel bar framework moulding bed by adopting angle steel and round steel according to a three-dimensional model of the steel bar framework by numerical control hydraulic bending equipment, using a binding robot, a welding robot and a portal frame, and sequentially installing steel bars on the steel bar framework moulding bed according to the sequence of a bottom plate section, a left web section, a right web section and a top plate section;
s3, separating the steel reinforcement framework from the steel reinforcement framework forming die, detecting the steel reinforcement framework, correcting the abnormal area after detection, and installing a protective layer cushion block after correction is completed to obtain a finished product of the precast beam steel reinforcement framework.
As a preferable scheme of the invention, in the S1, the top plate section comprises a cantilever top steel bar net, a top plate top steel bar net, a cantilever bottom outer steel bar net, a cantilever bottom inner steel bar net, a top plate bottom steel bar net, a top plate stem inclined steel bar net and a top bottom steel bar net, the left web section and the right web section comprise a left belly inner steel bar net, a right belly inner steel bar net, a left web steel bar net and a right web steel bar net, the bottom plate section comprises a bottom plate top steel bar net, a bottom plate stem inclined steel bar net and a bottom plate U-shaped steel bar, two groups of top plate top steel bar net, a cantilever top steel bar net, a top plate stem inclined steel bar net, a cantilever bottom outer steel bar net and a cantilever bottom inner steel bar net are arranged, and two groups of bottom plate stem inclined steel bar net and bottom plate U-shaped steel bar are arranged.
As a preferable scheme of the invention, the steel reinforcement framework moulding bed in the S2 is provided with a limiting notch and a positioning bracket for positioning the steel reinforcement framework.
As a preferable scheme of the invention, the concrete steps of sequentially installing the reinforcing steel bars on the reinforcing steel bar framework moulding bed are as follows: the method comprises the steps of installing main reinforcements of a bottom plate on two sides of the bottom of a steel reinforcement framework forming die, staggering butt welding joints by 50% of the main reinforcements of the bottom plate, installing web reinforcements on appointed positions on the steel reinforcement framework forming die, binding the reinforcements of the bottom plate, staggering the opening directions of stirrups, binding the reinforcements to be full, distributing the reinforcements on the binding top plate ends according to the designed appointed positions on the steel reinforcement framework forming die, and binding the reinforcements by 50%.
As a preferable scheme of the invention, the exposed length of the reinforcing steel bars is 35cm, the exposed lengths are consistent, and the reinforcing steel bars are not required to be long or short and are uneven.
As a preferable scheme of the invention, the specific steps for detecting the steel reinforcement framework are as follows: collecting color images of a prefabricated plate steel reinforcement framework, reading and storing the collected images through IMAQCIREate and IMAQRedFile 2 functions of LABVIEW, carrying out gray processing and binarization processing on the images through IMAQCICTimage 2 and IMAQThreshold functions, determining a coordinate origin in the images based on the images after the binarization processing through IMAQCIndCoordinates 2 functions in NIVision, detecting the upper edge and the right edge of the images through IMAQCIndEdge 2 functions, obtaining the transverse distance of the prefabricated plate based on the length of the detected upper edge, obtaining the longitudinal distance of the prefabricated plate based on the length of the detected right edge, identifying the coordinate value of the left lower corner of an internal rectangle in the images through the IMAQCIndCoordinates 2 functions, extracting X-axis coordinates and Y-axis coordinates respectively based on the identified left lower corner coordinate values, obtaining the transverse distance and the longitudinal distance of the internal distance from the outer edge of the prefabricated plate based on X-axis coordinates and Y-axis coordinates, comparing the detected distance with a preset rectangle distance, and comparing the obtained distance with a preset rectangle distance to be greater than a threshold value if the abnormal error is greater than the abnormal error.
As a preferable scheme of the invention, the color image of the prefabricated plate reinforcement cage is collected by the CCD camera, and the CCD camera is positioned right above the reinforcement cage when the CCD camera is used for collecting.
As a preferable scheme of the invention, the concrete steps of the installation of the protective layer cushion block are as follows: detecting binding positions on the steel reinforcement framework, finding out that binding missing positions are timely bound, and installing protective layer cushion blocks after binding missing positions are completed, wherein the density of the cushion blocks is not less than 4 per square meter, and the cushion blocks are uniformly distributed.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, a three-dimensional live-action model of the steel reinforcement framework is established by combining a building enclosure of a deep foundation pit with the actual position relation of a supporting system through BIM technology, the hoisting and assembling process of the steel reinforcement framework of the structural beam is simulated, the steel reinforcement framework of the structural beam is reasonably divided into three modules of a top plate section, a left web section, a right web section and a bottom plate section, the steel reinforcement framework is divided into three modules, according to the three-dimensional model of the steel reinforcement framework, numerical control hydraulic bending equipment adopts angle steel and round steel bending to manufacture the steel reinforcement framework moulding bed, a binding robot, a welding robot and a portal frame are used, steel reinforcement is sequentially arranged on the steel reinforcement framework moulding bed according to the sequence of the bottom plate section, the left web section, the right web section and the top plate section, the steel reinforcement framework is separated from the steel reinforcement framework moulding bed, the detection is completed, an abnormal area is corrected, after correction is completed, protection layer cushion block installation is carried out, the prefabricated beam steel reinforcement framework finished product is obtained, the model of the steel reinforcement framework is obtained by using BIM technology, the welding robot, the time-saving robot and the portal frame is manufactured according to the model, manual operation is not needed, the construction efficiency is convenient and rapid, the detection efficiency is improved, the intelligent box construction efficiency is improved, and the requirements of the intelligent box construction efficiency and the construction efficiency is improved.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by those skilled in the art without making any inventive effort based on the embodiments of the present invention are within the scope of protection of the present invention.
The embodiment of the invention provides a technical scheme that:
an automatic assembling process of a precast beam reinforcement cage comprises the following steps:
s1, building a three-dimensional live-action model of a steel bar framework by combining a building in wall (BIM) technology with the actual position relation of a support system of a deep foundation pit, simulating the hoisting and assembling process of the steel bar framework of a structural beam, reasonably dividing the steel bar framework of the structural beam into three modules, namely a top plate section, a left web section, a right web section and a bottom plate section;
s2, bending steel bar framework moulding bed by adopting angle steel and round steel according to a three-dimensional model of the steel bar framework by numerical control hydraulic bending equipment, using a binding robot, a welding robot and a portal frame, and sequentially installing steel bars on the steel bar framework moulding bed according to the sequence of a bottom plate section, a left web section, a right web section and a top plate section;
s3, separating the steel reinforcement framework from the steel reinforcement framework forming die, detecting the steel reinforcement framework, correcting the abnormal area after detection, and installing a protective layer cushion block after correction is completed to obtain a finished product of the precast beam steel reinforcement framework.
As a preferable scheme of the invention, in the S1, the top plate section comprises a cantilever top steel bar net, a top plate top steel bar net, a cantilever bottom outer steel bar net, a cantilever bottom inner steel bar net, a top plate bottom steel bar net, a top plate stem inclined steel bar net and a top bottom steel bar net, the left web section and the right web section comprise a left belly inner steel bar net, a right belly inner steel bar net, a left web steel bar net and a right web steel bar net, the bottom plate section comprises a bottom plate top steel bar net, a bottom plate stem inclined steel bar net and a bottom plate U-shaped steel bar, two groups of top plate top steel bar net, a cantilever top steel bar net, a top plate stem inclined steel bar net, a cantilever bottom outer steel bar net and a cantilever bottom inner steel bar net are arranged, and two groups of bottom plate stem inclined steel bar net and bottom plate U-shaped steel bar are arranged.
As a preferable scheme of the invention, the steel reinforcement framework moulding bed in the S2 is provided with a limiting notch and a positioning bracket for positioning the steel reinforcement framework.
As a preferable scheme of the invention, the concrete steps of sequentially installing the reinforcing steel bars on the reinforcing steel bar framework moulding bed are as follows: the method comprises the steps of installing main reinforcements of a bottom plate on two sides of the bottom of a steel reinforcement framework forming die, staggering butt welding joints by 50% of the main reinforcements of the bottom plate, installing web reinforcements on appointed positions on the steel reinforcement framework forming die, binding the reinforcements of the bottom plate, staggering the opening directions of stirrups, binding the reinforcements to be full, distributing the reinforcements on the binding top plate ends according to the designed appointed positions on the steel reinforcement framework forming die, and binding the reinforcements by 50%.
As a preferable scheme of the invention, the exposed length of the reinforcing steel bars is 35cm, the exposed lengths are consistent, and the reinforcing steel bars are not required to be long or short and are uneven.
As a preferable scheme of the invention, the specific steps for detecting the steel reinforcement framework are as follows: collecting color images of a prefabricated plate steel reinforcement framework, reading and storing the collected images through IMAQCIREate and IMAQRedFile 2 functions of LABVIEW, carrying out gray processing and binarization processing on the images through IMAQCICTimage 2 and IMAQThreshold functions, determining a coordinate origin in the images based on the images after the binarization processing through IMAQCIndCoordinates 2 functions in NIVision, detecting the upper edge and the right edge of the images through IMAQCIndEdge 2 functions, obtaining the transverse distance of the prefabricated plate based on the length of the detected upper edge, obtaining the longitudinal distance of the prefabricated plate based on the length of the detected right edge, identifying the coordinate value of the left lower corner of an internal rectangle in the images through the IMAQCIndCoordinates 2 functions, extracting X-axis coordinates and Y-axis coordinates respectively based on the identified left lower corner coordinate values, obtaining the transverse distance and the longitudinal distance of the internal distance from the outer edge of the prefabricated plate based on X-axis coordinates and Y-axis coordinates, comparing the detected distance with a preset rectangle distance, and comparing the obtained distance with a preset rectangle distance to be greater than a threshold value if the abnormal error is greater than the abnormal error.
As a preferable scheme of the invention, the color image of the prefabricated plate reinforcement cage is collected by the CCD camera, and the CCD camera is positioned right above the reinforcement cage when the CCD camera is used for collecting.
As a preferable scheme of the invention, the concrete steps of the installation of the protective layer cushion block are as follows: detecting binding positions on the steel reinforcement framework, finding out that binding missing positions are timely bound, and installing protective layer cushion blocks after binding missing positions are completed, wherein the density of the cushion blocks is not less than 4 per square meter, and the cushion blocks are uniformly distributed.
Description of the preferred embodiments
The method comprises the steps of establishing a three-dimensional live-action model of a steel skeleton by combining an enclosure structure of a deep foundation pit with an actual position relation of a supporting system by using a BIM technology, simulating a hoisting and assembling process of the steel skeleton of a structural beam, reasonably dividing the steel skeleton of the structural beam into three modules, namely a top plate section, a left web section, a right web section and a bottom plate section, wherein the top plate section comprises a cantilever top steel bar net, a top plate top steel bar net, a cantilever bottom outer side steel bar net, a cantilever bottom inner side steel bar net, a top plate bottom steel bar net, a top plate stem inclined steel bar net and a top plate bottom steel bar net, the left web section and the right web section comprise a left belly inner steel bar net, a right belly inner side steel bar net, a left web steel bar net, a right web steel bar net, a bottom plate stem inclined steel bar net and a bottom plate U-shaped steel bar net, two groups are respectively arranged on the top plate top steel bar net, the cantilever bottom outer side steel bar net and the bottom plate U-shaped steel bar net;
according to a three-dimensional model of a steel reinforcement framework, numerical control hydraulic bending equipment adopts angle steel and round steel to bend to manufacture a steel reinforcement framework moulding bed, and a limiting notch and a positioning bracket are arranged on the steel reinforcement framework moulding bed and are used for positioning the steel reinforcement framework, and the concrete steps of sequentially installing steel reinforcement on the steel reinforcement framework moulding bed by using a binding robot, a welding robot and a portal frame are as follows: the method comprises the steps of installing main ribs of a bottom plate on two sides of the bottom of a steel reinforcement framework moulding bed, staggering butt welding joints by 50%, installing web steel bars at designated positions on the steel reinforcement framework moulding bed, binding the steel bars of the bottom plate, staggering the opening directions of stirrups, binding the steel bars to be full binding, distributing steel bars at the end of a binding top plate on the steel reinforcement framework moulding bed according to the designated positions, binding the steel bars by 50%, wherein the exposed length of the steel bars is 35cm, and the exposed length is consistent, and cannot be long or short and uneven;
separating the steel reinforcement framework from the steel reinforcement framework tire mold, acquiring a color image of the steel reinforcement framework of the prefabricated plate through a CCD camera, acquiring the color image of the steel reinforcement framework of the prefabricated plate through the CCD camera, reading and storing the acquired image through IMAQCIE and IMAQREadFile2 functions, carrying out gray processing and binarization processing on the image through IMAQCASTimage2 and IMAQThreshold functions, respectively extracting X-axis coordinates and Y-axis coordinates based on the image after binarization processing, determining a coordinate origin in the image through an IMAQFACTCAO 2 function in NIVision, detecting the upper edge and the right edge of the image in the image through an IMAQFAINdEdge 2 function, obtaining the longitudinal distance of the prefabricated plate based on the length of the detected upper edge, recognizing the longitudinal distance of the prefabricated plate based on the length of the detected right edge, carrying out recognition on the coordinate value of the left lower corner of the image through the IMAQFACTCACTCAO synss 2 function, respectively extracting the X-axis coordinates and Y-axis coordinates based on the recognized left lower corner coordinate value, and carrying out the detection on the coordinate value of the X-axis coordinates and the Y-axis coordinates based on the X-axis coordinates, and obtaining the longitudinal distance of the prefabricated plate based on the length and the longitudinal distance, and the longitudinal distance of the prefabricated plate being larger than the longitudinal distance, and the longitudinal distance is set as a standard error if the longitudinal distance is larger than the longitudinal distance;
and (3) correcting the abnormal area after the detection is completed, detecting the binding position on the reinforcement cage, finding out that the binding-missing position is timely bound, and installing protective layer cushion blocks after the binding is completed, wherein the density of the cushion blocks is not less than 4 per square meter, and the cushion blocks are uniformly arranged to obtain a finished product of the reinforcement cage of the precast beam.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (8)

1. An automatic assembling process for a precast beam reinforcement cage is characterized by comprising the following steps:
s1, building a three-dimensional live-action model of a steel bar framework by combining a building in wall (BIM) technology with the actual position relation of a support system of a deep foundation pit, simulating the hoisting and assembling process of the steel bar framework of a structural beam, reasonably dividing the steel bar framework of the structural beam into three modules, namely a top plate section, a left web section, a right web section and a bottom plate section;
s2, bending steel bar framework moulding bed by adopting angle steel and round steel according to a three-dimensional model of the steel bar framework by numerical control hydraulic bending equipment, using a binding robot, a welding robot and a portal frame, and sequentially installing steel bars on the steel bar framework moulding bed according to the sequence of a bottom plate section, a left web section, a right web section and a top plate section;
s3, separating the steel reinforcement framework from the steel reinforcement framework forming die, detecting the steel reinforcement framework, correcting the abnormal area after detection, and installing a protective layer cushion block after correction is completed to obtain a finished product of the precast beam steel reinforcement framework.
2. The automated assembly process of the prefabricated beam reinforcement cage of claim 1, wherein: the roof section includes cantilever top reinforcing bar net, roof top steel band net, roof top reinforcing bar net, cantilever bottom outside reinforcing bar net, cantilever bottom inboard reinforcing bar net, roof bottom reinforcing bar net, roof stalk inclined reinforcing bar net and top bottom steel band net in S1, left and right web section includes left and right belly inboard reinforcing bar net and left and right web steel band net, the bottom plate section includes floor top reinforcing bar net, floor steel band net, floor stalk inclined reinforcing bar net and bottom plate U shaped steel bar, roof top steel band net, cantilever top reinforcing bar net, roof stalk inclined reinforcing bar net, cantilever bottom outside reinforcing bar net and cantilever bottom inboard reinforcing bar net all are provided with two sets of, floor stalk inclined reinforcing bar net and bottom plate U shaped steel bar all are provided with two sets of.
3. The automated assembly process of the prefabricated beam reinforcement cage of claim 1, wherein: and S2, a limiting notch and a positioning bracket are formed in the steel reinforcement framework moulding bed and are used for positioning the steel reinforcement framework.
4. The automated assembly process of the prefabricated beam reinforcement cage of claim 1, wherein: the concrete steps of sequentially installing the steel bars on the steel bar framework forming die are as follows: the method comprises the steps of installing main reinforcements of a bottom plate on two sides of the bottom of a steel reinforcement framework forming die, staggering butt welding joints by 50% of the main reinforcements of the bottom plate, installing web reinforcements on appointed positions on the steel reinforcement framework forming die, binding the reinforcements of the bottom plate, staggering the opening directions of stirrups, binding the reinforcements to be full, distributing the reinforcements on the binding top plate ends according to the designed appointed positions on the steel reinforcement framework forming die, and binding the reinforcements by 50%.
5. The automated assembly process for the reinforcement cage of the precast beam according to claim 4, wherein: the exposed length of the steel bars is 35cm, the exposed length is consistent, and the steel bars cannot be long or short and are uneven.
6. The automated assembly process of the prefabricated beam reinforcement cage of claim 1, wherein: the specific steps for detecting the steel reinforcement framework are as follows: collecting color images of a prefabricated plate steel reinforcement framework, reading and storing the collected images through IMAQCIREate and IMAQRedFile 2 functions of LABVIEW, carrying out gray processing and binarization processing on the images through IMAQCICTimage 2 and IMAQThreshold functions, determining a coordinate origin in the images based on the images after the binarization processing through IMAQCIndCoordinates 2 functions in NIVision, detecting the upper edge and the right edge of the images through IMAQCIndEdge 2 functions, obtaining the transverse distance of the prefabricated plate based on the length of the detected upper edge, obtaining the longitudinal distance of the prefabricated plate based on the length of the detected right edge, identifying the coordinate value of the left lower corner of an internal rectangle in the images through the IMAQCIndCoordinates 2 functions, extracting X-axis coordinates and Y-axis coordinates respectively based on the identified left lower corner coordinate values, obtaining the transverse distance and the longitudinal distance of the internal distance from the outer edge of the prefabricated plate based on X-axis coordinates and Y-axis coordinates, comparing the detected distance with a preset rectangle distance, and comparing the obtained distance with a preset rectangle distance to be greater than a threshold value if the abnormal error is greater than the abnormal error.
7. The automated assembly process for the reinforcement cage of the precast beam according to claim 6, wherein: the color image of the prefabricated plate steel reinforcement framework is collected through a CCD camera, and when the CCD camera collects, the CCD camera is located right above the steel reinforcement framework.
8. The automated assembly process of the prefabricated beam reinforcement cage of claim 1, wherein: the concrete steps of the installation of the protective layer cushion block are as follows: detecting binding positions on the steel reinforcement framework, finding out that binding missing positions are timely bound, and installing protective layer cushion blocks after binding missing positions are completed, wherein the density of the cushion blocks is not less than 4 per square meter, and the cushion blocks are uniformly distributed.
CN202410065131.1A 2024-01-17 2024-01-17 Automatic assembling process for prefabricated beam reinforcement cage Pending CN117655241A (en)

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Publication number Priority date Publication date Assignee Title
JPH11159143A (en) * 1997-11-26 1999-06-15 Ohara Tekkin Kogyo:Kk Setting-up method for beam-section concrete reinforcing net
CN106142338A (en) * 2016-06-30 2016-11-23 中交航局第四工程有限公司 A kind of prefabricated case beam framework of steel reinforcement loose tool binding construction method
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CN115816639A (en) * 2022-10-31 2023-03-21 中国铁路设计集团有限公司 Steel reinforcement framework suitable for railway precast beam and transverse series construction method
CN116811003A (en) * 2023-05-19 2023-09-29 南京理工大学 Intelligent binding robot for box girder steel reinforcement framework and binding method thereof
CN116721085A (en) * 2023-06-15 2023-09-08 华侨大学 Prefabricated plate reinforcement cage size detection method, terminal equipment and storage medium
CN116851591A (en) * 2023-08-01 2023-10-10 中建三局集团有限公司 Processing method of precast beam steel rib frame

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