CN118268486B - Telescopic reinforcement cage assembly system and assembly method - Google Patents

Telescopic reinforcement cage assembly system and assembly method Download PDF

Info

Publication number
CN118268486B
CN118268486B CN202410495140.4A CN202410495140A CN118268486B CN 118268486 B CN118268486 B CN 118268486B CN 202410495140 A CN202410495140 A CN 202410495140A CN 118268486 B CN118268486 B CN 118268486B
Authority
CN
China
Prior art keywords
steel
ring
steel sheet
assembly
steel bar
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202410495140.4A
Other languages
Chinese (zh)
Other versions
CN118268486A (en
Inventor
孙晓立
周治国
杨军
李柯柯
袁晓华
詹欣永
万林
朱思佳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou Academy Of Building Sciences Group Co ltd
Guangzhou Municipal Engineering Testing Co
Original Assignee
Guangzhou Academy Of Building Sciences Group Co ltd
Guangzhou Municipal Engineering Testing Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangzhou Academy Of Building Sciences Group Co ltd, Guangzhou Municipal Engineering Testing Co filed Critical Guangzhou Academy Of Building Sciences Group Co ltd
Priority to CN202410495140.4A priority Critical patent/CN118268486B/en
Publication of CN118268486A publication Critical patent/CN118268486A/en
Application granted granted Critical
Publication of CN118268486B publication Critical patent/CN118268486B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F27/00—Making wire network, i.e. wire nets
    • B21F27/12—Making special types or portions of network by methods or means specially adapted therefor
    • B21F27/20—Making special types or portions of network by methods or means specially adapted therefor of plaster-carrying network
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F23/00—Feeding wire in wire-working machines or apparatus

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Wire Processing (AREA)

Abstract

本发明提供一种伸缩式钢筋笼装配系统及装配方法，属于建筑施工技术领域。该装配系统能够高效的完成伸缩式钢筋笼的自动装配，且能保证装配精度。该伸缩式钢筋笼的装配系统包括：柔性钢绞线上料机构、钢筋上料与成型机构、钢筋圈装配与下料机构、钢片上料与成型机构、钢片圈装配与下料机构和钢筋笼装配主线；柔性钢绞线上料机构用于向钢筋笼装配主线输送柔性钢绞线；钢筋上料成型机构用于制备钢筋圈；钢筋圈装配与下料机构用于原位完成钢筋圈的装配；钢片上料与成型机构用于制备钢片圈，作为伸缩式钢筋笼的端部加强环；钢片圈装配与下料机构用于原位完成钢片圈的装配；钢筋笼装配主线用于将柔性钢绞线装配在钢筋圈和钢片圈上，形成伸缩式钢筋笼。

The present invention provides a telescopic steel cage assembly system and assembly method, which belong to the technical field of building construction. The assembly system can efficiently complete the automatic assembly of the telescopic steel cage, and can ensure the assembly accuracy. The assembly system of the telescopic steel cage includes: a flexible steel strand feeding mechanism, a steel bar feeding and forming mechanism, a steel bar ring assembly and unloading mechanism, a steel sheet feeding and forming mechanism, a steel sheet ring assembly and unloading mechanism and a steel cage assembly main line; the flexible steel strand feeding mechanism is used to convey the flexible steel strand to the steel cage assembly main line; the steel bar feeding and forming mechanism is used to prepare steel bar rings; the steel bar ring assembly and unloading mechanism is used to complete the assembly of steel bar rings in situ; the steel sheet feeding and forming mechanism is used to prepare steel sheet rings as the end reinforcement rings of the telescopic steel cage; the steel sheet ring assembly and unloading mechanism is used to complete the assembly of steel sheet rings in situ; the steel cage assembly main line is used to assemble the flexible steel strand on the steel bar rings and steel sheet rings to form a telescopic steel cage.

Description

Telescopic reinforcement cage assembly system and assembly method
Technical Field
The invention relates to an assembly system and an assembly method, in particular to a telescopic reinforcement cage assembly system and an assembly method, and belongs to the technical field of building construction.
Background
The bored pile has the advantages of mature construction process, high bearing capacity, wide application range and the like, and is widely applied to structural engineering foundations of roads, railways, bridges and the like. When the bored pile is constructed, a reinforcement cage is usually placed in a pile hole after hole forming, and then concrete pouring operation is carried out.
The reinforcement cage of the cast-in-place pile is an important component of the pile and is also an important guarantee for the effective connection of the pile with other components. However, the reinforcement cage in the prior art has the following technical defects:
When the bored pile is constructed in some special occasions, such as the basement of the existing building, under high-voltage wires, under an overhead bridge, in a tunnel and near an airport runway, the complete reinforcement cage cannot be bound and hoisted into the hole due to limited height outside the hole and limited by a clean low-altitude condition or a height limiting condition, and at the moment, the mechanical height of the hole is required to be solved, the reinforcement cage is also required to be manufactured in sections, the reinforcement cage is lowered into a pile hole section by section, and the reinforcement cage section by section is required to be lengthened in a welding mode.
However, the manufacturing mode of the reinforcement cage is affected by space height, the efficiency of the construction and installation mode is low, the time is long, the labor cost is high, the reinforcement cage welded section by section is poor in integrity, and the final pile forming quality is reduced. Meanwhile, a large number of round steel bars are used as measure hanging bars in the construction process, the hanging bars cannot be taken out for recycling after concrete pouring is completed, a large number of construction cost is increased intangibly, and material waste is caused. In addition, when the bored concrete pile needs to be prestressed, the reinforcement cage formed by welding sections by sections cannot meet the prestress tensioning construction requirement.
The telescopic steel reinforcement cage can solve the problems of the steel reinforcement cage, longitudinal ribs of the telescopic steel reinforcement cage are common flexible steel strands or slow-bonding flexible steel strands, when the slow-bonding flexible steel strands are adopted as the longitudinal ribs, prestress tensioning operation of the slow-bonding steel strands can be carried out after the construction of the cast-in-place pile is completed, so that the cast-in-place pile can provide sufficient prestress in the construction process, the bearing capacity and the service life of the cast-in-place pile are improved, the specification of the cast-in-place pile can be reduced, and the engineering economic benefit is improved.
For the traditional reinforcement cage, the longitudinal bars (generally steel bars) and the stirrups are only required to be bound or welded during assembly, the assembly mode is simple, the automatic welding forming of the reinforcement cage with the annular stirrups of a closed structure can be completed by the reinforcement cage welding device and the welding method disclosed in the Chinese patent document CN 115889636A, but for the telescopic reinforcement cage, the longitudinal bars are required to be connected with the stirrups through rotating fasteners, so that the traditional reinforcement cage production line is not suitable for the assembly of the telescopic reinforcement cage, the problem of low efficiency and high labor intensity exists if the longitudinal bars are manually pushed and assembled by manpower exists, and the telescopic reinforcement cage assembly system and the assembly method are required, so that the assembly of the telescopic reinforcement cage can be realized, and the aim of automatic high-efficiency production is met.
Disclosure of Invention
In view of the above, the invention provides a telescopic reinforcement cage assembly system which can efficiently complete automatic assembly of a telescopic reinforcement cage, saves time and labor and can ensure assembly precision.
The invention adopts the technical scheme that the assembly system of the telescopic reinforcement cage comprises a flexible steel strand feeding mechanism, a reinforcement feeding and forming mechanism, a reinforcement ring assembling and discharging mechanism, a steel sheet feeding and forming mechanism, a steel sheet ring assembling and discharging mechanism and a reinforcement cage assembling main line;
The flexible steel strand feeding mechanism is used for conveying flexible steel strands with set length and used as longitudinal ribs of the telescopic steel reinforcement cage to the steel reinforcement cage assembly main line;
the steel bar feeding and forming mechanism is used for preparing a steel bar ring and is used as stirrups of a telescopic steel bar cage;
The steel bar ring assembling and blanking mechanism is used for completing the assembly of the steel bar ring in situ, and moving the assembled steel bar ring to a steel bar cage assembling main line;
The steel sheet feeding and forming mechanism is used for preparing a steel sheet ring serving as an end reinforcing ring of the telescopic reinforcement cage;
The steel sheet ring assembling and blanking mechanism is used for completing the assembling of the steel sheet ring in situ, and the steel sheet ring after the assembling is moved to a reinforcement cage assembling main line;
the steel reinforcement cage assembly main line is used for assembling the flexible steel strands on the steel reinforcement ring and the steel sheet ring to form the telescopic steel reinforcement cage.
As a preferable mode of the invention, the flexible steel strand feeding mechanism comprises a flexible steel strand feeding frame, a flexible steel strand conveying mechanism and a flexible steel strand cutting mechanism;
the flexible steel strand feeding frame stores flexible steel strands in a mode of winding the flexible steel strands on the winding drum;
The flexible steel strand conveying mechanism is arranged at the discharging position of the flexible steel strand feeding frame, the flexible steel strand conveying mechanism is provided with a flexible steel strand cutting mechanism for cutting off the flexible steel strands at the corresponding positions, and the cut flexible steel strands enter a steel reinforcement cage assembly main line to serve as longitudinal ribs of the telescopic steel reinforcement cage.
As a preferable mode of the invention, the flexible steel strand conveying mechanism comprises a linear electric cylinder, a clamp and a workbench;
the linear electric cylinder and the flexible steel strand cutting mechanism are arranged on the workbench and are respectively positioned at two longitudinal ends of the workbench, and the telescopic end of the linear electric cylinder is provided with an openable clamp for clamping the flexible steel strand;
And the flexible steel strand is driven to be conveyed forwards by the extension of the linear electric cylinder.
As a preferable mode of the invention, the steel bar feeding and forming mechanism comprises a steel bar feeding frame, a steel bar conveying mechanism, a steel bar cutting mechanism, a shaping unit A, a shaping unit B and a steel bar ring forming rotary table;
the steel bar feeding frame stores steel bars in a mode of winding the steel bars on the winding drum;
The steel bar feeding frame comprises a steel bar feeding frame, a shaping unit A, two steel bar conveying mechanisms, a steel bar cutting mechanism, a steel bar ring forming turntable, a steel bar cutting mechanism, a steel bar forming turntable and a steel bar forming turntable, wherein the shaping unit A and the two steel bar conveying mechanisms are sequentially arranged at the discharging position of the steel bar feeding frame along the longitudinal direction;
Each steel bar conveying mechanism is provided with a shaping unit B, wherein the shaping unit A is used for realizing left and right shaping of steel bars, and the shaping unit B is used for realizing up and down shaping of the steel bars;
the steel bar ring forming rotary table is used for rounding conveyed steel bars to form steel bar rings which are used as stirrups of the telescopic steel bar cage;
The front side of the steel bar ring forming turntable is provided with an ingredient feeding unit A for realizing feeding of rotating fasteners on stirrups and corresponding bolts and nuts, and facilitating assembly of the rotating fasteners on the steel bar rings by the steel bar ring assembling and blanking mechanism in situ.
As a preferable mode of the invention, the batching feeding unit A comprises a rotary fastener feeding mechanism A, a bolt feeding mechanism A and a nut feeding mechanism A;
the rotary fastener feeding mechanism A is used for conveying and placing the rotary fasteners to a set grabbing point;
the feeding mechanism for the rotary fasteners comprises a frame, a triaxial electric cylinder, an image acquisition unit and a storage tank, wherein the triaxial electric cylinder, the image acquisition unit and the storage tank are arranged on the frame, a plurality of rotary fasteners are stored in the storage tank, a mechanical claw is arranged on the triaxial electric cylinder, the mechanical claw is driven to move through movement of the triaxial electric cylinder, the rotary fasteners at the set position in the storage tank are further grabbed, the grabbed rotary fasteners are placed at the set grabbing points, the image acquisition unit is supported on the frame and used for acquiring images of the rotary fasteners in the storage tank and sending the images to an upper computer, and the upper computer determines position information of the rotary fasteners to be grabbed through image identification and controls the triaxial electric cylinder and the mechanical claw accordingly.
As a preferable mode of the invention, the steel bar ring assembling and blanking mechanism is arranged above the steel bar feeding and forming mechanism;
The steel bar ring assembling and blanking mechanism comprises a bench and two manipulators supported on steps, wherein a rail is arranged on a cross rod at the top of the bench, the two manipulators are respectively arranged on the bench through brackets in sliding fit with the rail, and each bracket is correspondingly provided with a manipulator moving motor for driving the manipulator to move on the rail;
The welding machine comprises a manipulator A, a manipulator B, a welding gun, a first positioning CCD, a rotatable clamp A, a first positioning CCD and a second positioning CCD, wherein the manipulator A is used for welding the end parts of the steel bar rings;
the manipulator B is used for assembling a rotary fastener on the reinforcing steel bar ring and a corresponding bolt and nut, and is provided with a screw locking machine A and a rotatable clamping hand B;
The first positioning CCD guides the manipulator A to move to the position to be welded by utilizing visual positioning, and guides the manipulator B to move to the assembly position.
As a preferable mode of the invention, the steel sheet feeding and forming mechanism comprises a steel sheet feeding frame, a steel sheet conveying mechanism, a steel sheet cutting mechanism, a steel sheet ring forming turntable, a punching mechanism and a batching feeding unit B;
The steel sheet feeding frame stores the steel sheets in a mode of winding the steel sheets on the winding drum, two steel sheet conveying mechanisms are arranged at the discharging position of the steel sheet feeding frame in parallel along the conveying direction of the steel sheets, and a steel sheet cutting mechanism and a punching mechanism are arranged between the two steel sheet conveying mechanisms and used for cutting and punching the steel sheets at corresponding positions;
conveying the cut steel sheet with the set length to a steel sheet ring forming rotary table for rounding to form a steel sheet ring which is used as an end reinforcing ring of the telescopic reinforcement cage;
The front side of the steel sheet circle forming turntable is provided with a batching feeding unit B for realizing the feeding of fixed fasteners and corresponding riveting pieces on the end reinforcing ring, and the steel sheet circle assembling and blanking mechanism can conveniently realize the assembling of the fixed fasteners on the steel sheet circle in situ.
The steel sheet feeding and forming mechanism comprises a riveting piece jacking mechanism arranged in the center of a steel sheet ring forming rotary table, a limiting seat is arranged at each riveting position of the steel sheet ring forming rotary table corresponding to the steel sheet ring, a groove for accommodating a fixing fastener and a riveting piece is formed in each riveting position of the limiting seat, after the steel sheet ring assembling and blanking mechanism completes the assembly of the fixing fastener and the corresponding riveting piece on the steel sheet ring in situ, the riveting piece at the corresponding position is pushed and pressed on a cylinder in a starting mode, and the fastening and the mounting of the riveting piece are achieved.
The invention relates to a reinforcement cage assembly main line, which comprises a base, two bracket guide rails longitudinally arranged on the base, a plurality of reinforcement ring brackets and a plurality of steel sheet ring brackets coaxially arranged on the bracket guide rails and in sliding fit with the bracket guide rails, wherein the number of the reinforcement ring brackets is the same as and corresponds to the number of stirrups in a telescopic reinforcement cage to be assembled and formed one by one;
the steel bar ring bracket is used for supporting the steel bar ring assembled by the steel bar ring assembling and blanking mechanism;
The steel sheet ring bracket is used for supporting the steel sheet rings which are assembled by the steel sheet rings and discharged by the discharging mechanism;
The outer sides of the two bracket guide rails are respectively provided with a manipulator guide rail on the base, and a manipulator mechanism is arranged on the sliding seat of each manipulator guide rail;
And the two manipulator mechanisms are used for moving the steel bar ring bracket supporting the steel bar ring and the steel sheet ring bracket supporting the steel sheet ring to a set position on the bracket guide rail, and simultaneously, the two manipulator mechanisms alternately act to complete the assembly of the flexible steel strand on the steel bar ring and the steel sheet ring.
As a preferable mode of the invention, the steel sheet ring bracket has the same structure as the steel bar ring bracket and comprises a driving rotation mechanism, a rotation guide mechanism and a bracket stand;
The bracket stand is in sliding fit with the two bracket guide rails;
the bracket stand is provided with a V-shaped supporting surface;
The bracket bottom plate is provided with a driving and rotating mechanism for driving the steel bar ring or the steel sheet ring supported on the bracket stand to rotate around the axis of the steel bar ring or the steel sheet ring;
the bracket stand is provided with a rotary guide mechanism.
As a preferable mode of the invention, the manipulator mechanism comprises a guiding flexible steel strand clamping hand, a second positioning CCD, a movable frame, a screw locking machine B and a rotatable clamping hand C;
The guiding flexible steel strand clamping hand is used for clamping the flexible steel strand transmitted by the flexible steel strand feeding mechanism and penetrating the flexible steel strand into a rotary fastener on the steel reinforcement ring and a fixed fastener on the steel sheet ring;
The rotatable clamp C is used for clamping bolts or nuts and is matched with the screw locking machine B to lock the bolts and the nuts, and the rotatable clamp C is also used for clamping the steel bar ring bracket and the steel sheet ring bracket to drive the steel bar ring bracket and the steel sheet ring bracket to move on the bracket guide rail;
The second positioning CCD guides the manipulator mechanism to move to a set assembly position by utilizing visual positioning.
In addition, the invention provides an assembly method of the telescopic reinforcement cage, which adopts the assembly system of the telescopic reinforcement cage;
Placing a corresponding number of steel sheet ring brackets and steel bar ring brackets on the steel bar cage assembly main line according to the number of annular stirrups and end reinforcing rings in the telescopic steel bar cage to be assembled;
initially, all steel sheet ring brackets and steel bar ring brackets on the reinforcement cage assembly main line are arranged at the lower ends of the steel bar ring assembly and blanking mechanism and the steel sheet ring assembly and blanking mechanism in a stacked mode;
The steel sheet ring assembling and blanking mechanism sequentially completes the steel sheet ring assembling in situ, and then sequentially places the steel sheet ring assembled with the fixing fastener on a steel sheet ring bracket at the rear end of a reinforcement cage assembling main line;
The steel bar feeding forming mechanism sequentially prepares the required number of steel bar rings, and after the steel bar ring assembling and the blanking mechanism sequentially complete the steel bar ring assembling in situ, sequentially placing the steel bar rings provided with the rotary fasteners on the steel bar ring brackets corresponding to the steel bar cage assembling main line;
After the steel sheet ring assembly is sequentially completed in situ by the steel sheet ring assembly and blanking mechanism, the steel sheet ring assembled with the fixing fastener is sequentially placed on a steel sheet ring bracket at the front end of a reinforcement cage assembly main line;
The manipulator mechanism sequentially clamps the steel bar ring bracket supporting the steel bar ring and the steel sheet ring bracket supporting the steel sheet ring and moves to a set position on the bracket guide rail, so that before the flexible steel strand is assembled, each annular stirrup in the telescopic steel bar cage is in an elongation state;
The two manipulator mechanisms in the steel reinforcement cage assembly main line alternately act, and the flexible steel strands pass through the rotating fasteners on the steel reinforcement rings and the fixed fasteners on the steel sheet rings;
and each time the assembly of one flexible steel strand is completed, the two manipulator mechanisms complete the assembly of all the rotary fasteners on the flexible steel strand and the bolts and nuts on the fixed fasteners.
As an preferable mode of the invention, the two manipulator mechanisms are controlled by an upper computer, and control instructions for the two manipulator mechanisms to drive a steel bar ring bracket supporting a steel bar ring and a steel sheet ring bracket supporting a steel sheet ring to move on a bracket guide rail in the upper computer are as follows:
Dn＝A1+(n-1)D
sequentially numbering all steel bar ring brackets and steel sheet ring brackets from 1 to n on the steel bar cage assembly main line from front to back, wherein the number 1 is the steel sheet ring bracket at the forefront end on the steel bar cage assembly main line;
The steel bar ring bracket and the steel sheet ring bracket are collectively called as brackets, wherein D n represents the distance that the nth bracket needs to move on a steel bar cage assembling main line, A 1 represents the reserved distance of the end part of the telescopic steel bar cage, and D represents the distance between the adjacent brackets;
Wherein L 1 represents the total expansion length of the telescopic reinforcement cage, S 1 represents the hoop gain coefficient, pi represents the circumference ratio, R 1 represents the design radius of the telescopic reinforcement cage, ρ V represents the volume reinforcement ratio of the hoops, and R 1 represents the radius of the reinforcing steel bars used for machining the hoops.
As an optimal mode of the invention, the steel bar feeding and forming mechanism is controlled by an upper computer, and the upper computer controls the flexible steel strand feeding frame and the flexible steel strand cutting mechanism as follows:
Wherein R M represents the number of turns of the steel bar conveying roller in the steel bar conveying mechanism before each cutting action of the flexible steel strand cutting mechanism, pi represents the circumference ratio, R 1 represents the design radius of the telescopic steel bar cage, S 2 represents the steel bar adjustment coefficient, L 2 represents the length of the steel bar reserved between the steel bar conveying roller and a blade in the steel bar cutting mechanism, R 2 represents the radius of the steel bar conveying roller, and mu 1 represents the slip coefficient of steel bar conveying.
Therefore, each time the steel bar conveying roller in the steel bar conveying mechanism runs for R M circles, the upper computer controls the steel bar cutting mechanism to finish one cutting action.
The beneficial effects are that:
(1) The assembly system of the telescopic reinforcement cage can automatically and efficiently complete the assembly of the telescopic reinforcement cage, save time and labor, doubly improve the production efficiency of the telescopic reinforcement cage, reduce the labor cost and integrally reduce the manufacturing cost of the telescopic reinforcement cage.
(2) In the assembly system of the telescopic reinforcement cage, the reinforcement feeding and forming mechanism is provided with the shaping unit A for realizing left and right shaping of the reinforcement and the shaping unit B for realizing up and down shaping of the reinforcement, so that the reinforcement is straightened while conveying, and the quality of the formed stirrups is ensured.
(3) In the assembly system of the telescopic reinforcement cage, the front side of the reinforcement ring forming turntable is provided with the batching feeding unit A, and the front side of the steel sheet ring forming turntable is provided with the batching feeding unit B, so that the reinforcement ring assembly and blanking mechanism can be used for in-situ assembly of the reinforcement ring, and the steel sheet ring assembly and blanking mechanism can be used for in-situ assembly of the steel sheet ring, thereby simplifying the assembly process and improving the assembly efficiency.
(4) According to the telescopic reinforcement cage assembling method, the flexible steel strands penetrate through the rotary fasteners on all reinforcement rings and the fixed fasteners on the steel sheet rings through the alternate actions of the left manipulator mechanism and the right manipulator mechanism in the reinforcement cage assembling main line, so that the assembling reliability of the flexible steel strands can be ensured, and the assembling efficiency can be improved.
(5) According to the assembling method of the telescopic reinforcement cage, the assembling quality of the telescopic reinforcement cages with different specifications is guaranteed through the accurate control of the upper computer on the movement of the left manipulator mechanism and the right manipulator mechanism.
(6) The assembling method of the telescopic reinforcement cage can realize high-precision preparation and assembly of the reinforcement ring and the steel sheet ring of the telescopic reinforcement cage, thereby integrally improving the quality of the telescopic reinforcement cage and ensuring that the cast-in-place pile meets the construction quality requirement.
Drawings
Fig. 1 is a schematic structural view of a telescopic reinforcement cage according to the present invention;
fig. 2 is a schematic diagram of the overall structure of the telescopic reinforcement cage assembly system of the present invention;
FIG. 3 is a schematic structural view of a flexible steel strand feeding mechanism;
FIG. 4 is a schematic structural view of a flexible steel strand conveying mechanism;
fig. 5 is a schematic front view of a rebar loading and shaping mechanism;
fig. 6 is a schematic back view of a rebar loading and shaping mechanism;
fig. 7 is a schematic structural view of a reinforcing bar ring forming turntable;
fig. 8 is a schematic structural view of the ingredient feeding unit a;
fig. 9 is a schematic structural view of a view angle of the rotary fastener feeding mechanism a and the bolt feeding mechanism a;
fig. 10 is a schematic structural view of the rotary fastener feeding mechanism a and the bolt feeding mechanism a from another view angle;
FIG. 11 is a schematic structural view of a rebar ring assembly and blanking mechanism;
Fig. 12 is a schematic structural view of the manipulator a;
fig. 13 is a schematic structural view of a robot B;
FIG. 14 is a schematic view of a steel sheet feeding and forming structure;
FIG. 15 is a schematic view of the structure of a steel coil forming turntable;
Fig. 16 is a schematic structural view of a reinforcement cage assembly main line;
fig. 17 is a schematic structural view of a rebar ring pallet;
FIG. 18 is a schematic view of a right manipulator mechanism;
fig. 19 is a schematic view of a finished compressed product after the telescopic reinforcement cage is assembled.
Wherein, the device comprises 100-stirrups, 200-longitudinal ribs, 300-end reinforcing rings, 400-rotary fasteners and 500-fixed fasteners;
1-flexible steel strand feeding mechanism, 11-flexible steel strand feeding rack, 12-flexible steel strand conveying mechanism, 121-linear electric cylinder, 122-clamp, 123-workbench and 13-flexible steel strand cutting mechanism;
2-reinforcing steel bar feeding and forming mechanism, 21-reinforcing steel bar feeding frame, 22-reinforcing steel bar conveying mechanism, 23-reinforcing steel bar cutting mechanism, 24-shaping unit A, 25-shaping unit B, 26-reinforcing steel bar ring forming turntable, 261-turntable A, 262-inner ring press roller group A, 263-outer ring press roller group A, 27-batching feeding unit A, 271-rotating fastener feeding mechanism A, 272-bolt feeding mechanism A, 273-nut feeding mechanism A, 2711-rack, 2712-triaxial electric cylinder, 2713-image acquisition unit, 2714-storage tank, 2721-bolt storage tank, 2722-turntable, 2723-conveyor belt A, 2731-vibration discharging tank and 2732-conveyor belt B;
3-reinforcing steel bar ring assembling and blanking mechanisms, 31-bench, 32-mechanical arm A, 321-welding gun, 322-rotatable clamping arm A, 323-first positioning CCD, 33-mechanical arm B, 331-screw locking machine A, 332-rotatable clamping arm B and 34-sliding rail;
4-steel sheet feeding and forming mechanism, 41-steel sheet feeding frame, 42-steel sheet conveying mechanism, 43-steel sheet cutting mechanism, 44-steel sheet ring forming rotary table, 441-rotary table B, 442-inner ring press roller group B, 443-outer ring press roller group B, 45-punching mechanism, 46-riveting piece pressing mechanism, 47-batching feeding unit B, 48-limit seat;
5-a steel sheet ring assembling and blanking mechanism;
the steel reinforcement cage assembly main line comprises a 6-steel reinforcement cage assembly main line, a 60-base, a 61-bracket guide rail, a 62-left manipulator guide rail, a 63-steel reinforcement ring bracket, a 631-rotation driving mechanism, a 632-bracket positioning structure, a 633-rotation guiding structure, a 634-bracket stand, a 64-steel sheet ring bracket, a 65-left manipulator mechanism, a 66-right manipulator mechanism, a 661-guided flexible steel strand clamping hand, a 662-second positioning CCD, a 663-movable frame, a 664-screw locking machine B, a 67-right manipulator guide rail, a 68-bolt feeding disc and a 69-nut feeding disc.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1:
the embodiment provides an assembly system of telescopic steel reinforcement cage, assembly that can accomplish telescopic steel reinforcement cage by the efficient, labour saving and time saving.
As shown in fig. 1, the telescopic reinforcement cage comprises a plurality of annular stirrups 100 which are coaxially arranged and uniformly arranged at intervals along the axial direction, and a plurality of flexible longitudinal ribs 200 which are uniformly distributed at intervals along the circumferential direction on the inner circumference of the stirrups 100, wherein the longitudinal ribs 200 are flexible steel strands (common flexible steel strands or slow bonding flexible steel strands), and further comprises a plurality of rotary fasteners 400 for connecting the stirrups 100 and the longitudinal ribs 200, the rotary fasteners 400 comprise two buckles with closed ends which are rotationally connected, the open ends of the buckles are fastened through the connection of bolts and nuts, and the two buckles are respectively clamped on the stirrups 100 and the longitudinal ribs 200.
The two axial ends of the telescopic reinforcement cage are respectively provided with an end reinforcing ring 300 for end reinforcing, and the end reinforcing rings 300 are positioned on the inner side of the longitudinal ribs 200, namely, the outer circumferential surface of the end reinforcing rings 300 is connected with the longitudinal ribs 200 through fixing fasteners 500. The end reinforcing ring 300 adopts a steel sheet ring, buckles corresponding to the longitudinal ribs 200 one by one are uniformly distributed on the end reinforcing ring 300 at intervals along the circumferential direction to serve as fixing fasteners 500, wherein the closed ends of the buckles are fixedly connected to the end reinforcing ring 300 through riveting pieces (such as rivets), and the open ends of the buckles are used for clamping the longitudinal ribs 200 (and are fastened through bolts and nuts after clamping).
The assembly system of the telescopic reinforcement cage is used for realizing the molding and assembly of the telescopic reinforcement cage.
As shown in fig. 2, the assembly system of the telescopic reinforcement cage comprises a flexible steel strand feeding mechanism 1, a reinforcement feeding and forming mechanism 2, a reinforcement ring assembling and blanking mechanism 3, a steel sheet feeding and forming mechanism 4, a steel sheet ring assembling and blanking mechanism 5 and a reinforcement cage assembling main line 6;
The flexible steel strand feeding mechanism 1 is arranged at one longitudinal end of the reinforcement cage assembly main line 6 and is used for conveying flexible steel strands with a set length and used as longitudinal ribs 200 to the reinforcement cage assembly main line 6, and the conveying direction of the flexible steel strands in the flexible steel strand feeding mechanism 1 is along the longitudinal direction of the reinforcement cage assembly main line 6. As shown in fig. 3, the flexible steel strand feeding mechanism 1 comprises a flexible steel strand feeding frame 11, a flexible steel strand conveying mechanism 12 and a flexible steel strand cutting mechanism 13, wherein the flexible steel strand feeding frame 11 stores flexible steel strands in a mode of winding the flexible steel strands on a winding drum, the flexible steel strand conveying mechanism 12 is arranged at a discharging position of the flexible steel strand feeding frame 11, and the flexible steel strand conveying mechanism 12 is provided with the flexible steel strand cutting mechanism 13 for cutting the flexible steel strands at corresponding positions. The cut flexible steel strands enter the reinforcement cage assembly main line 6 to serve as longitudinal ribs 200 of the telescopic reinforcement cage.
As an example, a sensor for monitoring the conveying length of the flexible steel strand is provided on the flexible steel strand cutting mechanism 13, and when the length of the flexible steel strand passing through the flexible steel strand cutting mechanism 13 reaches a set length (the length is the length in the unfolded state of the reinforcement cage to be assembled), the flexible steel strand cutting mechanism 13 is started to cut off the flexible steel strand.
As an example, the flexible steel strand conveying mechanism 12 adopts a linear electric cylinder 121 as a power source to realize conveying of the flexible steel strands. As shown in fig. 4, the flexible steel strand conveying mechanism 12 comprises a linear electric cylinder 121, a clamp 122 and a workbench 123, wherein the linear electric cylinder 121 and the flexible steel strand cutting mechanism 13 are arranged on the workbench 123 and are respectively positioned at two longitudinal ends of the workbench 123, the flexible steel strand is clamped by the telescopic ends of the linear electric cylinder 121 through the clamp 122 which can be opened and closed, so that when the clamp 122 is closed to clamp the flexible steel strand, the flexible steel strand is driven to be conveyed forwards (namely conveyed towards the end where the flexible steel strand cutting mechanism 13 is positioned) through the extension of the linear electric cylinder 121, the flexible steel strand is conveyed forwards to a set length (such as after the maximum stroke of the linear electric cylinder 121), the clamp 122 is loosened, the linear electric cylinder 121 is retracted, and after the linear electric cylinder 121 is retracted to the minimum stroke, the clamp 122 is closed again to clamp the flexible steel strand, so that the flexible steel strand is conveyed forwards is realized.
The steel bar feeding and forming mechanism 2 is used for preparing steel bar rings as stirrups 100 of a steel bar cage, and actions required to be executed by the steel bar feeding and forming mechanism 2 comprise automatic shaping, cutting and rolling of steel bars and assembling of rotary fasteners 400 on the steel bar cage. As shown in fig. 5 and 6, the steel bar feeding and forming mechanism 2 comprises a steel bar feeding frame 21, a steel bar conveying mechanism 22, a steel bar cutting mechanism 23, a shaping unit A24, a shaping unit B25 and a steel bar ring forming rotary table 26, wherein the steel bar feeding frame 21 stores steel bars in a mode of winding the steel bars on reels, the shaping unit A24 and two steel bar conveying mechanisms 22 are sequentially arranged at the discharging position of the steel bar feeding frame 21 along the longitudinal direction, the two steel bar conveying mechanisms 22 are arranged in parallel along the longitudinal direction, and the steel bar cutting mechanism 23 is arranged between the two steel bar conveying mechanisms 22 and used for cutting the steel bars at corresponding positions. Further, a shaping unit B25 is provided on each reinforcing bar feeding mechanism 22. The shaping unit A24 is used for shaping the reinforcing steel bars left and right, the shaping unit B25 is used for shaping the reinforcing steel bars up and down, namely, the shaping unit A24 is provided with left and right press rolls, the reinforcing steel bars pass through the space between the left and right press rolls, the shaping unit B25 is provided with upper and lower press rolls, and the reinforcing steel bars pass through the space between the upper and lower press rolls, so that the reinforcing steel bars are straightened while being conveyed through the shaping unit A24 and the shaping unit B25.
The steel bar discharged from the steel bar feeding frame 21 enters the first steel bar conveying mechanism after being shaped by the shaping unit A24, and is conveyed forward (shaped while conveyed) by the first steel bar conveying mechanism, when the length of the steel bar passing through the steel bar cutting mechanism 23 reaches a set length (the length is the circumference of the annular stirrup), the steel bar cutting mechanism 23 is started to cut off the steel bar, and the second steel bar conveying mechanism conveys the cut steel bar with the set length (shaped while conveyed) to the steel bar ring forming turntable 26.
As an example, the reinforcing bar cutting mechanism 23 is provided with a sensor for monitoring the conveying length of the reinforcing bar, and when the length of the reinforcing bar passing through the reinforcing bar cutting mechanism 23 reaches a set length, the reinforcing bar cutting mechanism 23 is activated.
As an example, the reinforcement bar cutting mechanism 23 is controlled by an external host computer, and a relationship between a reinforcement bar conveying length and the number of turns of the reinforcement bar conveying roller in the reinforcement bar conveying mechanism is preset in the host computer, when the reinforcement bar conveying roller in the reinforcement bar conveying mechanism rotates to a set number of turns, it indicates that the reinforcement bar conveying length reaches a set value, and at this time, the host computer controls the reinforcement bar cutting mechanism 23 to start (i.e., after each set number of turns of the reinforcement bar conveying roller in the reinforcement bar conveying mechanism, the reinforcement bar cutting mechanism 23 starts once).
The steel bar ring forming turntable 26 is used for rounding the conveyed steel bars to form steel bar rings. As shown in fig. 7, the steel bar ring forming turntable 26 comprises a turntable A261, an inner ring press roller set A262 and an outer ring press roller set A263 which are concentrically arranged on the turntable A261, wherein the inner ring press roller set A262 and the outer ring press roller set A263 comprise inner press rollers and outer press rollers which are uniformly distributed at intervals along the circumferential direction in a one-to-one correspondence manner, steel bars conveyed by the steel bar conveying mechanism 22 enter between the inner ring press roller set A262 and the outer ring press roller set A263, the outer ring press roller set A263 can radially move relative to the inner ring press roller set A262 (such as pushing by a hydraulic cylinder or an electric cylinder) so as to clamp and unclamp the steel bars positioned between the inner ring press roller set A262, the whole circle of the steel bars is realized by maintaining the clamping for a set time, and then the steel bar ring is unclamped after finishing the whole circle, and the subsequent steel bar ring assembling and blanking mechanism 3 is convenient to grasp.
The front side of the bar ring forming turntable 26 is provided with a batching loading unit a27, so that the assembly of the rotary fastener 400 on the stirrup 100 can be realized in situ. The batching material loading unit A27 is used for realizing the material loading of rotatory fastener 400 and corresponding bolt and nut, promptly through batching material loading unit A27 respectively with rotatory fastener 400 and corresponding bolt and nut convey to the snatch point of settlement, be convenient for the reinforcing bar circle assembly with the snatch of feed mechanism 3.
Based on this, as shown in FIG. 8, the ingredient loading unit A27 includes a rotary fastener loading mechanism A271, a bolt loading mechanism A272, and a nut loading mechanism A273. The rotary fastener feeding mechanism A271 is used for carrying and placing the rotary fasteners 400 to a set grabbing point, as shown in fig. 9 and 10, the rotary fastener feeding mechanism A271 comprises a rack 2711 (a bolt feeding mechanism A272 is also arranged on the rack), a three-axis electric cylinder 2712 arranged on the rack 2711, an image acquisition unit 2713 (such as a CCD) and a storage groove 2714, a plurality of rotary fasteners 400 are stored in the storage groove 2714, a mechanical claw is arranged on the three-axis electric cylinder 2712, the mechanical claw is driven to move through the movement of the three-axis electric cylinder 2712, the rotary fasteners 400 at the set position in the storage groove 2714 are grabbed, the grabbed rotary fasteners 400 are placed to the set grabbing point (such as a cylindrical fixture with the grabbing point arranged on the front side of the storage groove 2714), the three-axis electric cylinder 2712 and the mechanical claw are controlled by an external upper computer, the image acquisition unit 2713 is supported on the rack 2711 through a bracket and faces the storage groove 2714, the image acquisition unit is used for acquiring images of the rotary fasteners 400 in the storage groove 2714 and sending the upper computer, the upper computer is used for identifying the rotary fasteners 400 to be grabbed, and the rotary fasteners 400 to be grabbed by the image recognition of the image recognition cylinder can be controlled into any rotary fasteners 400, and the rotary position can be grabbed by the mechanical claw.
Nut feeding mechanism A273 is used for the material loading of the nut in rotatory fastener 400. As an example, as shown in fig. 8, the nut feeding mechanism a273 uses a vibration discharging and belt feeding manner to convey the nut to a set gripping point. Based on the above, the nut feeding mechanism A273 comprises a vibration discharging box 2731 and a conveying belt B2732, a plurality of nuts are stored in the vibration discharging box 2731, the conveying belt B2732 is arranged at the outlet of the vibration discharging box 2731, the vibration discharging box 2731 adopts a vibration discharging mode to drop the nuts on the conveying belt B2732, and then the nuts are conveyed to a set grabbing point through the conveying belt B2732.
The bolt feeding mechanism a272 is used for feeding the bolts in the rotary fastener 400. As an example, the bolt feeding mechanism a272 may use the mode of vibration discharging and belt conveying feeding like the nut feeding mechanism a273 to convey the bolt to the set grabbing point. As another example, as shown in fig. 9 and 10, the bolt feeding mechanism a272 adopts a mode of feeding by rotating a discharging belt, based on which the bolt feeding mechanism a272 comprises a bolt storage box 2721, a rotary table 2722 and a conveying belt a2723, a plurality of bolts are stored in the bolt storage box 2721, the rotary table 2722 is used for driving the bolts in the bolt storage box 2721 to rotate (namely stirring the bolts in the bolt storage box 2721), one end of the conveying belt a2723 stretches into the bolt storage box 2721, when the rotary table 2722 drives the bolts in the bolt storage box 2721 to rotate, part of the bolts fall on the conveying belt a2723, and the part of the conveying belt a2723 located in the bolt storage box 2721 is provided with a limit groove, only the bolts with set postures can fall in the limit groove, and then are conveyed to a set grabbing point through the conveying belt a 2723.
The steel bar ring assembling and blanking mechanism 3 is arranged above the steel bar feeding and forming mechanism 2 and is used for in-situ completing the assembly of the steel bar ring and blanking after the assembly is completed. The assembly of the reinforcement ring comprises the welding of the end part of the reinforcement ring after the whole circle (forming the reinforcement ring into a closed circular ring), the assembly of the rotary fastener 400 on the reinforcement ring and the assembly of corresponding bolts and nuts, and the blanking refers to placing the reinforcement ring after the assembly on the reinforcement cage assembly main line 6. As shown in fig. 11, the steel bar ring assembling and blanking mechanism 3 comprises a rack 31 and two mechanical arms arranged on the rack 31, wherein the rack 31 adopts a portal frame, and the rack 31 is transversely arranged at the front end of the steel bar cage assembling main line 6 and is positioned above the steel bar feeding and forming mechanism 2. The rail on the top of the rack 31 is provided with a slide rail 34, two manipulators are respectively arranged on the rack 31 through brackets in sliding fit with the slide rail 34, and each bracket is correspondingly provided with a manipulator moving motor for driving the manipulators (and the brackets) to move on the slide rail 34 so as to adjust positions.
The two manipulators are respectively a manipulator A32 and a manipulator B33, wherein the manipulator A32 is used for welding the ends of the steel bar rings, based on the manipulator A32, as shown in FIG. 12, a welding gun 321, a first positioning CCD323 and a rotatable clamp A322 are arranged on the manipulator A32, and the rotatable clamp A322 performs azimuth adjustment through rotation of the rotatable clamp A322 so as to ensure that the steel bar rings to be welded can be clamped, so that the welding gun 321 can conveniently execute welding action.
The manipulator B33 is used for assembling the rotary fastener 400 on the steel bar ring and assembling corresponding bolts and nuts, based on the manipulator, as shown in fig. 13, a screw locking machine A331 and a rotatable clamp B332 are arranged on the manipulator B33, the rotatable clamp B332 carries out azimuth adjustment through rotation of the manipulator B332 so as to ensure that the rotary fastener 400, the nuts and the bolts provided by the ingredient feeding unit A27 can be clamped and installed, the rotatable clamp B332 grabs the rotary fastener 400 at a set grabbing point and clamps the rotary fastener 400 at a set position of the steel bar ring, then a bolt is sleeved at the opening end of the rotary fastener 400, the nuts are sleeved at the end of the bolt, and finally the nuts are screwed by the screw locking machine A331 so as to realize fastening.
The robot a32 and the robot B33 share a first positioning CCD323, and the first positioning CCD323 guides the robot a32 to move to a position to be welded by visual positioning, and guides the robot B33 to move to an assembling position. If the first positioning CCD323 sends the collected image information to the upper computer, the upper computer obtains displacement information of the two manipulators after performing image processing, and sends the displacement information to the corresponding manipulator displacement motors respectively, so as to control the manipulator displacement motors to drive the corresponding manipulators to move.
The steel sheet feeding and forming mechanism 4 is used for preparing steel sheet rings as end reinforcing rings 300 at the ends of the telescopic reinforcement cages. The actions required to be performed by the steel sheet feeding and forming mechanism 4 include conveying, leveling, cutting, punching, rolling, and assembling of the fixing fastener 500 on the steel sheet. As shown in FIG. 14, the steel sheet feeding and forming mechanism 4 comprises a steel sheet feeding frame 41, a steel sheet conveying mechanism 42, a steel sheet cutting mechanism 43, a steel sheet ring forming turntable 44, a punching mechanism 45 and a batching feeding unit B47, wherein the steel sheet feeding frame 41 stores steel sheets by winding the steel sheets on a winding drum, the two steel sheet conveying mechanisms 44 are arranged at the discharging position of the steel sheet feeding frame 41 in parallel along the conveying direction of the steel sheets, and the steel sheet cutting mechanism 43 and the punching mechanism 45 are arranged between the two steel sheet conveying mechanisms 44 and used for cutting and punching the steel sheets at corresponding positions (punching holes are used for installing fixed fasteners 500 on the steel sheets and are required to be punched on the steel sheets at uniform intervals along the length direction of the steel sheets). The steel sheet discharged from the steel sheet feeding frame 41 is conveyed forward through a first steel sheet conveying mechanism, in the conveying process, a punching mechanism 45 is started to punch holes once every time when the length of the steel sheet passing through a steel sheet cutting mechanism 43 reaches a set length B (the length is the circumference of an end reinforcing ring 300), the steel sheet cutting mechanism 43 is started to cut off the steel sheet, and a second steel sheet conveying mechanism conveys the cut steel sheet with the set length to a steel sheet ring forming turntable 44. The steel sheet conveying mechanism 42 is provided with an upper press roller and a lower press roller, and steel sheets pass through the upper press roller and the lower press roller and are straightened while being conveyed.
As an example, a sensor for monitoring the transport length of the steel sheet is provided on the steel sheet cutting mechanism 43, and when the length of the steel sheet passing through the steel sheet cutting mechanism 43 reaches a set length, the steel sheet cutting mechanism 43 is started.
As an example, the steel sheet cutting mechanism 43 and the punching mechanism 45 are controlled by an external upper computer, the relation between the steel sheet conveying length and the number of turns of the steel sheet conveying roller in the steel sheet conveying mechanism 42 is preset in the upper computer, when the steel sheet conveying roller in the steel sheet conveying mechanism 42 rotates to a set number of turns a, the upper computer controls the punching mechanism 45 to start punching according to the set length a, and when the steel sheet conveying roller in the steel sheet conveying mechanism 42 rotates to a set number of turns B, the upper computer controls the steel sheet cutting mechanism 43 to start according to the set length B.
The steel sheet ring forming turntable 44 is used for rounding the conveyed steel sheet to form a steel sheet ring. As shown in FIG. 15, the steel sheet ring forming turntable 44 comprises a turntable B441, an inner ring press roller group B442 and an outer ring press roller group B443 which are concentrically arranged on the turntable B441, wherein the inner ring press roller group B442 and the outer ring press roller group B443 comprise inner press rollers and outer press rollers which are uniformly distributed at intervals along the circumferential direction in a one-to-one correspondence manner, steel sheets conveyed by the steel sheet conveying mechanism 42 enter between the inner ring press roller group B442 and the outer ring press roller group B443, the outer ring press roller group B443 can radially move relative to the inner ring press roller group B442 (such as pushing by a hydraulic cylinder or an electric cylinder) so as to clamp and unclamp the steel sheets positioned between the inner ring press roller group B442, the whole circle of the steel sheets is realized through clamping for a set time, and then the steel sheets are unclamped after the whole circle is completed, and the subsequent steel sheet ring assembly and the grabbing of the blanking mechanism 5 are facilitated.
In this example, the riveting piece for fixing the fixing fastener 500 on the steel sheet ring adopts a riveting head with a nut, and based on this, the ingredient feeding unit B47 is used for realizing the feeding of the fixing fastener 500 and the nut corresponding to the rivet and the rivet matching. The front side of the steel sheet ring forming turntable 44 is provided with a batching feeding unit B47, and the fixed fasteners 500 and corresponding rivets and nuts matched with the rivets are respectively conveyed to a set grabbing point through the batching feeding unit B47, so that the steel sheet ring is convenient to assemble and grab the blanking mechanism 5.
As an example, the ingredient loading unit B47 has the same structural form as the ingredient loading unit a 27.
The steel sheet ring assembling and blanking mechanism 5 is arranged above the steel sheet feeding and forming mechanism and is used for in-situ completing the assembly of the steel sheet ring and blanking after the assembly is completed. The assembly of the steel sheet ring comprises the welding of the end part of the steel sheet ring after rounding (forming the steel sheet ring into a closed circular ring), the assembly of the fixing fastener 500 on the steel sheet ring and the assembly of corresponding rivets, and the blanking refers to the step of placing the steel sheet ring after the assembly on the reinforcement cage assembly main line 6.
The steel sheet circle assembling and blanking mechanism 5 has the same structure as the steel bar circle assembling and blanking mechanism 3.
In order to fix the rivet head, a rivet head pressing mechanism 46 is also required, as shown in fig. 15, the rivet head pressing mechanism 46 adopts a cylinder arranged at the center of the steel sheet ring forming turntable 44, and the rivet head pressing mechanism 46 is fixedly arranged and does not rotate along with the steel sheet ring forming turntable 44. The telescopic end of the cylinder is vertically upwards, a limiting seat 48 is arranged at each riveting position of the steel sheet ring corresponding to the steel sheet ring on the steel sheet ring forming turntable 44, a groove for accommodating the fixing fastener 500 and the rivet head is arranged on the limiting seat 48, after the steel sheet ring fixing fastener 500 and the corresponding rivet are assembled in situ by the steel sheet ring assembling and blanking mechanism 5, the riveting part jacking mechanism 46 is started (the riveting part jacking mechanism 46 is controlled by an external upper computer) to push and press the rivet head, and the fastening installation of the rivet head is realized.
The steel sheet ring assembling and blanking mechanism 5 and the steel bar ring assembling and blanking mechanism 3 are arranged at one longitudinal end of the steel bar cage assembling main line 6 (the end is the front end of the steel bar cage assembling main line 6) in parallel, so that blanking is facilitated. The steel sheet feeding and forming mechanism 4 is arranged on one lateral side of the reinforcement cage assembly main line 6, the steel sheet ring is arranged below the steel sheet ring assembly and blanking mechanism 5, and the steel bar feeding and forming mechanism 2 is arranged on one lateral side of the reinforcement cage assembly main line 6, and the steel bar ring assembly and blanking mechanism 3 is arranged below the steel bar ring assembly and blanking mechanism 3.
The reinforcement cage assembly main line 6 is used for completing the assembly of the reinforcement cage, and comprises the assembly of a reinforcement ring (i.e. stirrup 100) and a flexible steel strand (i.e. longitudinal reinforcement 200) and the assembly of a steel sheet ring (i.e. end reinforcing ring 300) and the flexible steel strand, so as to form a telescopic reinforcement cage as shown in fig. 1. The reinforcement cage assembly main line 6 discharges reinforcement rings and steel sheets rings discharged by the reinforcement ring assembly and blanking mechanism 3 and the steel sheets rings discharged by the steel sheet ring assembly and blanking mechanism 5 (i.e. the positions of the annular stirrups 100 in the telescopic reinforcement cage in an extending state before the flexible steel strands are assembled), wherein the reinforcement rings discharged by the reinforcement ring assembly and blanking mechanism 3 are reinforcement rings assembled with the rotary fasteners 400, and the steel sheets rings discharged by the steel sheet ring assembly and blanking mechanism 5 are steel sheets rings assembled with the fixing fasteners 500.
As shown in fig. 16, the reinforcement cage assembly main line 6 comprises a base 60, two bracket guide rails 61 longitudinally arranged on the base 60, a plurality of reinforcement ring brackets 63 and a plurality of steel sheet ring brackets 64 coaxially arranged on the bracket guide rails 61 and in sliding fit with the bracket guide rails 61, wherein the number of the reinforcement ring brackets 63 is the same as and in one-to-one correspondence with the number of stirrups 100 in the telescopic reinforcement cage to be assembled, the number of the steel sheet ring brackets 64 is the same as and in one-to-one correspondence with the number of end reinforcing rings 30 in the telescopic reinforcement cage to be assembled, and the number of the reinforcement ring brackets 63 and the steel sheet ring brackets 64 on the bracket guide rails 61 can be adjusted according to the structure of the telescopic reinforcement cage to be assembled. In this example, two end reinforcing rings 300 are provided at each end of the telescopic reinforcing bar to be assembled, and on the basis of this, two steel sheet ring brackets 64 are provided at each end of the bracket rail 61. The steel bar ring bracket 63 is used for supporting the steel bar ring which is arranged in the steel bar ring assembling and blanking mechanism 3 (the steel bar ring is clamped by two manipulators in the steel bar ring assembling and blanking mechanism 3 and is placed on the steel bar ring bracket 63), and the steel sheet ring bracket 64 is used for supporting the steel sheet ring which is arranged in the steel sheet ring assembling and blanking mechanism 5 (the steel sheet ring is clamped by two manipulators in the steel sheet ring assembling and blanking mechanism and is placed on the steel sheet ring bracket 64).
The base 60 is provided with a manipulator guide rail on the outer side of the two bracket guide rails 61, a manipulator mechanism is arranged on a sliding seat (the sliding seat is in sliding fit with the manipulator guide rail) of each manipulator guide rail, the two manipulator mechanisms are respectively a left manipulator mechanism 65 and a right manipulator mechanism 66 for convenience in description, the guide rail in sliding fit with the left manipulator mechanism 65 is a left manipulator guide rail 62, and the guide rail in sliding fit with the right manipulator mechanism 66 is a right manipulator guide rail 67. The left and right manipulator mechanisms 65 and 66 are used to pass the flexible steel strands fed from the flexible steel strand feeding mechanism 1 through the other one of the rotating fasteners 400 and the fixed fastener 500 on the steel sheet ring, and lock the open end of the other one of the rotating fasteners 400 and the open end of the fixed fastener 500 by bolts and nuts, and in addition, the left and right manipulator mechanisms 65 and 67 cooperate to move the steel bar ring bracket 63 supporting the steel bar ring and the steel sheet ring bracket 64 supporting the steel sheet ring to a set position on the bracket guide rail 61.
As an example, the left manipulator mechanism 65 moves on the left manipulator rail 62 for assembly of nuts in the rotary fastener 400 and the fixed fastener 500, the right manipulator mechanism 66 moves on the right manipulator rail 67 for assembly of bolts in the rotary fastener 400 and the fixed fastener 500, and on the basis of this, a nut feeding tray 69 is provided on a slide corresponding to the left manipulator mechanism 65, and a bolt feeding tray 68 is provided on a slide corresponding to the right manipulator mechanism 66.
The rebar ring tray 63 has the same structure as the steel sheet ring bracket 64, and the structure thereof will be described in detail taking the rebar ring tray 63 as an example. As shown in fig. 17, the steel bar ring pallet 63 comprises a rotary driving mechanism 631, a bracket positioning structure 632, a rotary guiding structure 633 and a bracket stand 634, wherein the bracket stand 634 is in sliding fit with the two bracket guide rails 61, the bracket stand 634 comprises a bracket base plate and two right-angle triangle brackets which are oppositely arranged at two ends of the bracket base plate, the oblique sides of the two right-angle triangle brackets are oppositely formed into a V-shaped supporting surface, the triangle brackets are positioned by the bracket positioning structure 632 (such as a positioning pin) arranged on the bracket base plate, the bracket base plate is provided with the rotary driving mechanism 631 for driving the steel bar ring supported on the bracket stand 634 to rotate around the axis of the steel bar ring so as to adjust the position of the steel bar ring, and the left and right manipulator mechanisms can assemble flexible steel strands at the set assembling position.
As an example, the rotary driving mechanism 631 comprises a sliding seat in sliding fit with the bracket stand 634, and an openable clamp (for example, the lifting of the clamp is realized through an air cylinder or an electric cylinder controlled by an upper computer) which is arranged on the sliding seat and can be lifted and lowered along the vertical direction, when the steel bar ring needs to be rotated, the clamp is controlled to lift and clamp the steel bar ring, then the sliding seat is controlled to move so as to drive the steel bar ring to rotate, and when the steel bar ring rotates to a set angle and completes the assembly of the current flexible steel strand (the steel bar ring is clamped in the process of assembling the flexible steel strand and is prevented from rotating during the assembly), the clamp is controlled to descend, and the clamp is controlled to move to the initial position under the driving of the sliding seat.
The oblique edges of the triangular brackets at two ends are provided with rotary guide structures 633, so that the rotation of the steel bar ring around the axis of the steel bar ring can be guided while the steel bar ring is supported. As an example, the rotary guide structure 633 is a guide holder provided with a clamping groove, and the reinforcing bar ring passes through the clamping groove.
The left manipulator mechanism 65 and the right manipulator mechanism 68 have the same structure, taking the right manipulator mechanism 68 as an example, as shown in fig. 18, the left manipulator mechanism 65 and the right manipulator mechanism 68 comprise a guiding flexible steel strand clamping hand 661, a second positioning CCD662, a moving frame 663, a screw locking machine B664 and a rotatable clamping hand C (not shown in the figure), the guiding flexible steel strand clamping hand 661 is used for clamping the flexible steel strand transmitted by the flexible steel strand feeding mechanism 1 and penetrating the flexible steel strand into the other buckle 400 of the steel ring and the fixed buckle 500 of the steel ring, the guiding flexible steel strand clamping hand 661 is installed on the moving frame 663 in a sliding fit manner and can move along the moving frame 663, the rotatable clamping hand C is used for clamping a bolt (the rotatable clamping hand C in the left manipulator mechanism 65 is used for clamping a nut) and is matched with the screw locking machine B664 to complete locking of the bolt and the nut, and simultaneously the left manipulator mechanism 65 and the rotatable clamping hand C on the right manipulator mechanism 68 can jointly clamp the steel ring bracket 63 and the steel ring bracket 64 to drive the steel ring to move on the guide rail 61. The second positioning CCD662 guides the movement of the right manipulator mechanism 68 to the assembly position using visual positioning.
The assembly system can realize automatic assembly of the telescopic reinforcement cage under the control of the upper computer, and improves the assembly efficiency and the automation degree of the telescopic reinforcement cage.
Example 2:
On the basis of the embodiment 1, the embodiment provides a method for assembling a telescopic reinforcement cage by adopting the assembling system.
In this example, two steel sheet rings are respectively arranged at two axial ends of the telescopic reinforcement cage to serve as end reinforcing rings. Corresponding numbers of steel sheet ring brackets 64 and steel bar ring brackets 63 are placed on the reinforcement cage assembly main line 6 according to the number of annular stirrups and end reinforcing rings in the telescopic reinforcement cage to be assembled.
Initially, all steel sheet ring brackets 64 and steel sheet ring brackets 63 on the reinforcement cage assembly main line 6 are arranged at the lower ends of the steel sheet ring assembly and blanking mechanism 3 and the steel sheet ring assembly and blanking mechanism 5 in a stacked manner.
And after the steel sheet ring assembly is sequentially completed in situ by the steel sheet ring assembly and blanking mechanism 5, the two steel sheet rings assembled with the fixing fasteners 500 are respectively placed on two steel sheet ring brackets 64 at the rear end of the reinforcement cage assembly main line 6.
The reinforcing steel bar feeding and forming mechanism 2 sequentially prepares the reinforcing steel bar rings with the required number, and after the reinforcing steel bar ring assembly and the blanking mechanism 3 sequentially complete the reinforcing steel bar ring assembly in situ, the reinforcing steel bar rings assembled with the rotary fasteners 400 are sequentially placed on the reinforcing steel bar ring brackets 63 corresponding to the reinforcing steel bar cage assembly main line 6.
After the steel bar rings are subjected to blanking, the steel sheet feeding and forming mechanism 4 sequentially prepares two steel sheet rings to serve as end reinforcing rings at the other end, and the steel sheet ring assembling and blanking mechanism 5 sequentially completes steel sheet ring assembling in situ, and then the steel sheet rings assembled with the fixing fasteners 500 are placed on two steel sheet ring brackets 64 at the front end of the reinforcement cage assembling main line 6.
In the above process, after the assembly of one steel sheet ring on the steel sheet ring bracket 64 or the assembly of the steel bar ring on the steel bar ring bracket 63 is completed, the left manipulator mechanism 65 and the right manipulator mechanism 68 clamp the steel sheet ring bracket 64 or the steel bar ring bracket 63 to drive the steel sheet ring bracket 64 or the steel bar ring bracket 63 to move backwards on the bracket guide rail 61 to a set position. Thereby placing each of the annular stirrups 100 in the telescopic reinforcement cage in an extended position prior to assembly of the flexible strands.
The left and right manipulator mechanisms 65 and 68 in the reinforcement cage assembly line 6 then alternate (also understood as a relay form) to thread the flexible steel strand into the other of the rotating fasteners 400 on the reinforcement ring and the securing fastener 500 on the steel sheet ring, e.g., the left and right manipulator mechanisms 65 and 68 are located at the front and rear ends of the same reinforcement ring, respectively, the left manipulator mechanism 65 threads the flexible steel strand into the fastener 400 on the reinforcement ring, the right manipulator mechanism 68 located at the rear end of the reinforcement ring clamps the flexible steel strand threaded from the fastener and threads it into the fastener 400 on the next reinforcement ring (during which the left manipulator mechanism 65 moves to the rear end of the next reinforcement ring), and so on until the flexible steel strand threads out of the securing fastener 500 on the steel sheet ring at the end. Thus, during the assembly of the flexible steel strands, the left and right manipulator mechanisms 65 and 68 move on the corresponding manipulator rails, passing the flexible steel strands through all the steel reinforcement rings and steel sheet rings in an alternating manner.
Each time the assembly of one flexible steel strand is completed, the left manipulator mechanism 65 and the right manipulator mechanism 68 cooperate to complete the assembly of all the rotary fasteners 400 and the bolts and nuts on the fixed fasteners 500 on the flexible steel strand.
After the assembly of one flexible steel strand is completed, each steel bar ring and each steel sheet ring are rotated (the steel bar rings and the steel sheet rings are rotated by the same angle), so that each steel bar ring and each steel sheet ring are positioned at the assembly position of the next flexible steel strand.
After the assembly of all the flexible steel strands is completed, the telescopic reinforcement cage is in an extended position at this time, the telescopic reinforcement needs to be compressed to a state as shown in fig. 19 in a transportation and storage state, based on the state, after the assembly of all the flexible steel strands is completed, the left manipulator mechanism 65 and the right manipulator mechanism 66 are moved to the tail end of the telescopic reinforcement cage, and the clamps of all the reinforcement coil trays 63 and the rotary driving mechanism 631 on the steel sheet coil trays 64 are guaranteed to be in a descending state (namely, the reinforcement coil or the steel sheet coil is not clamped, the reinforcement coil can be guaranteed to freely rotate on the reinforcement coil trays 63, the steel sheet coil can freely rotate on the steel sheet coil trays 64), then the left manipulator mechanism 65 and the right manipulator mechanism 66 are controlled to clamp the steel sheet coil trays 64 corresponding to the tail end, and the telescopic reinforcement cage is pushed to be compressed (on the two bracket guide rails 61, and the front side of the steel sheet coil trays 64 is provided with a positioning seat), and the automatic compression of the steel sheet coil tray 64 at the front end is simultaneously guaranteed, and the telescopic reinforcement cage is prevented from moving to the preset state as shown in the left manipulator mechanism and the telescopic reinforcement cage is compressed to the whole state as shown in fig. 19.
Example 3:
On the basis of the above embodiment 2, in order to ensure that the assembly system is precisely controlled in the automated assembly process, the assembly efficiency is improved, and the following logic control is performed in the upper computer.
In the process of producing and manufacturing telescopic reinforcement cages with different specifications (namely, different reinforcement ratios, the reinforcement ratio of the telescopic reinforcement cage affects the density of the stirrups 100), the left manipulator mechanism 65 and the right manipulator mechanism 66 need to assist in moving the reinforcement ring bracket 63 and the steel sheet ring bracket 64 to a set position so as to achieve the aim of arranging the reinforcement rings and the steel sheet rings of the telescopic reinforcement cage according to technical requirements, the following calculation formulas are provided for controlling the spacing between the reinforcement ring bracket 63 and the steel sheet ring bracket 64, the spacing between the adjacent reinforcement ring brackets 63, the spacing between the adjacent steel sheet ring brackets 64 and the spacing between the reinforcement ring bracket 63 and the adjacent steel sheet ring bracket 64, and the spacing is made to be D:
Wherein L 1 represents the total expansion length of the telescopic reinforcement cage, S 1 represents the hoop gain coefficient, pi represents the circumference ratio, R 1 represents the design radius of the telescopic reinforcement cage, ρ V represents the volume reinforcement ratio of the hoops, and R 1 represents the radius of the reinforcing steel bars used for machining the hoops.
As an example, based on the above formula, assuming that the length of the telescopic reinforcement bar to be produced is 10000mm, the gain coefficient of the reinforcement bar is 1.1, the circumferential rate is 3.14, the design radius position of the telescopic reinforcement cage is 530mm, the volume reinforcement rate of the reinforcement bar is 0.29%, the radius of the reinforcement bar for processing the reinforcement bar is 11mm, then the spacing between adjacent reinforcement ring brackets 63 on the reinforcement bar cage assembly main line 6 when the telescopic reinforcement bar cage of the current specification is assembled is:
I.e., the spacing between adjacent bead brackets 63, the spacing between adjacent bead brackets 64, and the spacing between bead brackets 63 and adjacent bead brackets 64 should be controlled to be 550mm.
Before the flexible steel strands are assembled on the reinforcement cage assembly main line 6, the left manipulator mechanism 65 and the right manipulator mechanism 66 are controlled to intelligently control the moving positions of the steel bar ring brackets 63 and the steel sheet ring brackets 64, and based on the moving positions, the following logic algorithm is added in the moving control instructions of the left manipulator mechanism 65 and the right manipulator mechanism 66:
Dn＝A1+(n-1)D
Wherein D n represents the distance that the nth bracket (which can be a steel bar ring bracket 63 or a steel sheet ring bracket 64) needs to move on the steel bar cage assembly main line, A 1 represents the reserved distance of the end part of the telescopic steel bar cage, and all the steel bar ring brackets and the steel sheet ring brackets are numbered sequentially from 1 to n, wherein the number 1 is the steel sheet ring bracket at the forefront end on the steel bar cage assembly main line 6.
As an example, based on the above formula, assuming that the telescopic reinforcement cage stirrup (i.e. reinforcement coil) to be produced is 14 pieces and 4 pieces of steel sheet coils, the reserved distance a 1 =325 mm between the ends of the telescopic reinforcement cage, the automatic control spacing d=550 mm between the reinforcement coil brackets 63 and the steel sheet coil brackets 64, the positions of the 1 st, 2 nd, 17 th and 18 th steel sheet coil brackets needing auxiliary movement and the distances of the 3 rd to 16 th steel sheet coil brackets needing auxiliary movement are respectively:
D1=325+(1-1)550=325mm
D2=325+(2-1)550=875mm
D3=325+(3-1)550=1425mm
......
D16=325+(16-1)550=8575mm
D17=325+(17-1)550=9125mm
D18=325+(18-1)550=9675mm。
in addition, in order to accurately control the reinforcing steel bar feeding and forming mechanism 2, automatic conveying and automatic cutting of the incoming reinforcing steel bars and automatic winding into reinforcing steel bar rings are realized, and the reinforcing steel bar conveying mechanism 22 and the reinforcing steel bar cutting mechanism 23 are controlled in an upper computer as follows:
wherein R M represents the number of turns of the steel bar conveying roller in the steel bar conveying mechanism 22 before each cutting action (namely the number of turns of the steel bar conveying roller between two adjacent cutting actions), pi represents the circumference ratio, R 1 represents the design radius of the telescopic steel bar cage, S 2 represents the steel bar adjustment coefficient, L 2 represents the length of the steel bar reserved between the steel bar conveying roller and the blade in the steel bar cutting mechanism, R 2 represents the radius of the steel bar conveying roller, and mu 1 represents the slip coefficient of steel bar conveying.
As an example, if the design radius of the telescopic reinforcement cage to be produced is 530mm, the circumference ratio is 3.14, the adjustment coefficient is 1.05, the length of the reinforcement reserved between the reinforcement conveying roller and the blade is 375mm, the radius of the reinforcement conveying roller is 137mm, and the slip coefficient of the reinforcement conveying is 0.95, then:
Thus, the bar cutting mechanism was controlled to complete one cutting operation every 3.82 turns of the bar conveying roller in the bar conveying mechanism 22.
In order to accurately control the steel sheet feeding and forming mechanism 4, the automatic feeding and cutting of the fed steel sheet and the automatic winding into steel sheet rings are realized, and the steel sheet conveying mechanism 42 and the steel sheet cutting mechanism 43 are controlled in an upper computer as follows:
Wherein R p represents the number of turns of the steel sheet conveying roller in the steel sheet conveying mechanism 42 before each cutting action (namely, the number of turns of the steel sheet conveying roller between two adjacent cutting actions), pi represents the circumference ratio, R 1 represents the design radius of the telescopic reinforcement cage, P 1 represents the value that the radius of the steel sheet is required to be reduced relative to the radius of the reinforcement ring (the flexible steel strand is positioned at the outer side of the steel sheet ring and the inner side of the reinforcement ring, so that the radius of the steel sheet ring is required to be smaller than the radius of the reinforcement ring), S 3 represents the steel sheet adjusting coefficient, L 3 represents the length of the steel sheet reserved between the steel sheet conveying roller and a blade in the steel sheet cutting mechanism, R 3 represents the radius of the steel sheet conveying roller, and mu 2 represents the slip coefficient of steel sheet conveying.
As an example, if the design radius of the telescopic reinforcement cage to be produced is 530mm, the circumference ratio is 3.14, the number of the steel sheet circle radius design to be reduced is 45mm, the steel sheet adjustment coefficient is 1.08, the length of the steel sheet reserved between the steel sheet conveying roller and the blade in the steel sheet cutting mechanism is 390mm, the radius of the steel sheet conveying roller is 133mm, and the slip coefficient of steel sheet conveying is 0.93, then:
that is, the steel sheet cutting mechanism is controlled to complete one cutting action every 3.73 turns of the steel sheet conveying roller in the steel sheet conveying mechanism 43.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.

Claims (12)

1.一种伸缩式钢筋笼装配系统，其特征在于，包括：柔性钢绞线上料机构、钢筋上料与成型机构、钢筋圈装配与下料机构、钢片上料与成型机构、钢片圈装配与下料机构和钢筋笼装配主线；1. A telescopic steel cage assembly system, characterized by comprising: a flexible steel strand feeding mechanism, a steel bar feeding and forming mechanism, a steel bar ring assembly and unloading mechanism, a steel sheet feeding and forming mechanism, a steel sheet ring assembly and unloading mechanism and a steel cage assembly main line; 所述柔性钢绞线上料机构用于向所述钢筋笼装配主线输送设定长度的用于作为伸缩式钢筋笼竖筋的柔性钢绞线；The flexible steel strand feeding mechanism is used to deliver a set length of flexible steel strand used as vertical reinforcement of the telescopic steel cage to the steel cage assembly main line; 所述钢筋上料与成型机构用于制备钢筋圈，作为伸缩式钢筋笼的箍筋；The steel bar feeding and forming mechanism is used to prepare steel bar rings as stirrups for the telescopic steel bar cage; 所述钢筋圈装配与下料机构用于原位完成钢筋圈的装配，并在装配完成后的钢筋圈移动至钢筋笼装配主线上；所述钢筋圈的装配包括整圆后的钢筋圈端部的焊接以及钢筋圈上旋转扣件和螺栓螺母的装配；The steel bar ring assembly and unloading mechanism is used to complete the assembly of the steel bar ring in situ, and move the assembled steel bar ring to the main assembly line of the steel cage; the assembly of the steel bar ring includes welding the ends of the steel bar ring after rounding and assembling the rotating fasteners and bolts and nuts on the steel bar ring; 所述钢片上料与成型机构用于制备钢片圈，作为伸缩式钢筋笼的端部加强环；The steel sheet feeding and forming mechanism is used to prepare steel sheet rings as end reinforcement rings of the telescopic steel cage; 所述钢片圈装配与下料机构用于原位完成钢片圈的装配，并在装配完成后的钢片圈移动至钢筋笼装配主线上；所述钢片圈的装配包括整圆后的钢片圈端部的焊接以及钢筋片圈上固定扣件的装配；The steel sheet ring assembly and unloading mechanism is used to complete the assembly of the steel sheet ring in situ, and move the assembled steel sheet ring to the main assembly line of the steel cage; the assembly of the steel sheet ring includes welding the ends of the steel sheet ring after rounding and assembling the fixing fasteners on the steel sheet ring; 所述钢筋笼装配主线用于将柔性钢绞线装配在钢筋圈和钢片圈上，形成伸缩式钢筋笼；The main steel cage assembly line is used to assemble the flexible steel strands on the steel rings and steel sheet rings to form a telescopic steel cage; 所述柔性钢绞线上料机构包括：柔性钢绞线上料架、柔性钢绞线输送机构和柔性钢绞线切断机构；The flexible steel strand feeding mechanism comprises: a flexible steel strand feeding rack, a flexible steel strand conveying mechanism and a flexible steel strand cutting mechanism; 所述柔性钢绞线上料架采用在卷筒上缠绕柔性钢绞线的方式存储柔性钢绞线；The flexible steel strand feeding rack stores the flexible steel strand by winding the flexible steel strand on a reel; 柔性钢绞线输送机构设置在柔性钢绞线上料架的出料处，所述柔性钢绞线输送机构上设置有柔性钢绞线切断机构，用于对应位置处柔性钢绞线的切断；切断后的柔性钢绞线进入钢筋笼装配主线作为伸缩式钢筋笼的竖筋；The flexible steel strand conveying mechanism is arranged at the discharge position of the flexible steel strand feeding rack, and the flexible steel strand conveying mechanism is provided with a flexible steel strand cutting mechanism for cutting the flexible steel strand at the corresponding position; the cut flexible steel strand enters the main assembly line of the steel cage as the vertical reinforcement of the telescopic steel cage; 所述钢筋上料与成型机构包括：钢筋上料架、钢筋输送机构、钢筋切断机构、整形单元A、整形单元B和钢筋圈成型转盘；The steel bar feeding and forming mechanism comprises: a steel bar feeding rack, a steel bar conveying mechanism, a steel bar cutting mechanism, a shaping unit A, a shaping unit B and a steel bar ring forming turntable; 所述钢筋上料架采用在卷筒上缠绕钢筋的方式存储钢筋；The steel bar loading rack stores steel bars by winding them on a reel; 所述钢筋上料架的出料处沿纵向依次设置有整形单元A和两台钢筋输送机构，两台钢筋输送机构沿纵向并列设置，两台钢筋输送机构之间设置有钢筋切断机构，用于对应位置处钢筋的切断；位于所述钢筋切断机构后方的钢筋输送机构将切断的设定长度的钢筋输送至钢筋圈成型转盘；The discharging position of the steel bar loading rack is provided with a shaping unit A and two steel bar conveying mechanisms in sequence along the longitudinal direction. The two steel bar conveying mechanisms are arranged in parallel along the longitudinal direction. A steel bar cutting mechanism is provided between the two steel bar conveying mechanisms for cutting the steel bars at the corresponding positions. The steel bar conveying mechanism located behind the steel bar cutting mechanism conveys the cut steel bars of a set length to the steel bar ring forming turntable. 每台所述钢筋输送机构上均设置有整形单元B；所述整形单元A用于实现钢筋的左右整形，整形单元B用于实现钢筋的上下整形；Each of the steel bar conveying mechanisms is provided with a shaping unit B; the shaping unit A is used to achieve left-right shaping of the steel bars, and the shaping unit B is used to achieve up-and-down shaping of the steel bars; 所述钢筋圈成型转盘用于对输送来的钢筋进行整圆，形成钢筋圈，作为伸缩式钢筋笼的箍筋；The steel bar ring forming turntable is used to round the delivered steel bars to form steel bar rings as stirrups for the telescopic steel bar cage; 所述钢筋圈成型转盘的前侧设置有配料上料单元A，用于实现箍筋上旋转扣件以及对应螺栓和螺母的上料，便于钢筋圈装配与下料机构原位实现钢筋圈上旋转扣件的装配；The front side of the steel ring forming turntable is provided with a batching and feeding unit A, which is used to realize the feeding of the rotating fasteners on the stirrups and the corresponding bolts and nuts, so as to facilitate the assembly of the rotating fasteners on the steel ring by the steel ring assembly and unloading mechanism in situ; 所述配料上料单元A包括：旋转扣件上料机构A、螺栓上料机构A和螺母上料机构A；The batching feeding unit A comprises: a rotating fastener feeding mechanism A, a bolt feeding mechanism A and a nut feeding mechanism A; 所述旋转扣件上料机构A用于将旋转扣件运放至设定的抓取点；The rotary fastener feeding mechanism A is used to transport the rotary fastener to a set grabbing point; 所述旋转扣件上料机构包括：机架以及设置在机架上的三轴电缸、图像采集单元和存放槽；所述存放槽内存放若干个旋转扣件；所述三轴电缸上设置有机械爪，通过三轴电缸的移动带动机械爪移动，进而抓取存放内设定位置的旋转扣件，并将抓取的旋转扣件放至设定的抓取点；所述图像采集单元支撑在机架上，用于采集存放槽内旋转扣的图像并发送给上位机，上位机通过图像识别确定待抓取的旋转扣件的位置信息，并由此控制三轴电缸和机械爪。The rotating fastener feeding mechanism includes: a frame and a three-axis electric cylinder, an image acquisition unit and a storage slot arranged on the frame; a plurality of rotating fasteners are stored in the storage slot; a mechanical claw is arranged on the three-axis electric cylinder, and the movement of the three-axis electric cylinder drives the mechanical claw to move, thereby grabbing the rotating fastener at a set position in the storage, and placing the grabbed rotating fastener to a set grabbing point; the image acquisition unit is supported on the frame, and is used to collect the image of the rotating fastener in the storage slot and send it to the host computer, and the host computer determines the position information of the rotating fastener to be grabbed through image recognition, and thereby controls the three-axis electric cylinder and the mechanical claw. 2.如权利要求1所述的伸缩式钢筋笼装配系统，其特征在于，所述柔性钢绞线输送机构包括：直线电缸、夹具和工作台；2. The telescopic steel cage assembly system according to claim 1, characterized in that the flexible steel strand conveying mechanism comprises: a linear electric cylinder, a clamp and a workbench; 所述直线电缸和柔性钢绞线切断机构均设置在工作台上，分别位于工作台纵向的两端；所述直线电缸的伸缩端设置有可开合的夹具，用于夹持柔性钢绞线；The linear electric cylinder and the flexible steel strand cutting mechanism are both arranged on the workbench, respectively located at the two ends of the longitudinal direction of the workbench; the telescopic end of the linear electric cylinder is provided with an openable and closable clamp for clamping the flexible steel strand; 通过所述直线电缸的伸长带动柔性钢绞线向前输送。The flexible steel strand is conveyed forward by the extension of the linear electric cylinder. 3.如权利要求1所述的伸缩式钢筋笼装配系统，其特征在于，所述钢筋圈装配与下料机构设置在钢筋上料与成型机构的上方；3. The telescopic steel cage assembly system according to claim 1, characterized in that the steel ring assembly and unloading mechanism is arranged above the steel bar feeding and forming mechanism; 所述钢筋圈装配与下料机构包括：台架以及支撑在台阶上的两个机械手，台架顶部横杆上设置有滑轨，两个机械手分别通过与滑轨滑动配合的支架安装在台架上，每个支架对应设置一个机械手移动电机，用于驱动机械手在滑轨上移动；The steel bar ring assembly and unloading mechanism comprises: a platform and two manipulators supported on the steps, a slide rail is arranged on the top cross bar of the platform, and the two manipulators are respectively installed on the platform through brackets that slide with the slide rails, and each bracket is correspondingly provided with a manipulator moving motor for driving the manipulator to move on the slide rail; 令两个机械手分别为机械手A和机械手B；所述机械手A用于钢筋圈端部的焊接，所述机械手A上设置有焊枪、第一定位CCD以及可旋转夹手A；可旋转夹手A用于夹持住待焊接的钢筋圈，以便于焊枪的焊接；The two manipulators are manipulator A and manipulator B respectively; the manipulator A is used for welding the ends of the steel bar rings, and the manipulator A is provided with a welding gun, a first positioning CCD and a rotatable clamp A; the rotatable clamp A is used to clamp the steel bar ring to be welded, so as to facilitate welding by the welding gun; 所述机械手B用于钢筋圈上旋转扣件及对应螺栓和螺母的装配，所述机械手B上设置有锁螺丝机A和可旋转夹手B；所述可旋转夹手B用于夹持并安装配料上料单元A提供的螺母、螺栓和旋转扣件；所述锁螺丝机A用于拧紧螺母实现紧固；The manipulator B is used for assembling the rotating fasteners and the corresponding bolts and nuts on the steel ring. The manipulator B is provided with a screw locking machine A and a rotatable clamp B; the rotatable clamp B is used to clamp and install the nuts, bolts and rotating fasteners provided by the batching and feeding unit A; the screw locking machine A is used to tighten the nuts to achieve fastening; 所述第一定位CCD利用视觉定位引导机械手A移动至待焊接的位置，引导机械手B移动至装配位置。The first positioning CCD uses visual positioning to guide the robot A to move to the position to be welded, and guides the robot B to move to the assembly position. 4.如权利要求1所述的伸缩式钢筋笼装配系统，其特征在于，所述钢片上料与成型机构包括：钢片上料架、钢片输送机构、钢片切断机构、钢片圈成型转盘、冲孔机构和配料上料单元B；4. The telescopic steel cage assembly system according to claim 1, characterized in that the steel sheet feeding and forming mechanism comprises: a steel sheet feeding rack, a steel sheet conveying mechanism, a steel sheet cutting mechanism, a steel sheet ring forming turntable, a punching mechanism and a batching and feeding unit B; 所述钢片上料架采用在卷筒上缠绕钢片的方式存储钢片；两台钢片输送机构沿钢片的输送方向并列设置在钢片上料架的出料处，两台钢片输送机构之间设置有钢片切断机构和冲孔机构，用于对应位置处钢片的切断和冲孔；The steel sheet loading rack stores steel sheets by winding them on a reel; two steel sheet conveying mechanisms are arranged in parallel at the discharge of the steel sheet loading rack along the conveying direction of the steel sheets, and a steel sheet cutting mechanism and a punching mechanism are arranged between the two steel sheet conveying mechanisms for cutting and punching the steel sheets at corresponding positions; 切断的设定长度的钢片输送至钢片圈成型转盘进行整圆，形成钢片圈，作为伸缩式钢筋笼的端部加强环；The cut steel sheets of set length are transported to the steel sheet ring forming turntable for rounding to form a steel sheet ring, which serves as the end reinforcement ring of the telescopic steel cage; 所述钢片圈成型转盘的前侧设置有配料上料单元B，用于实现端部加强环上固定扣件以及对应铆接件的上料，便于钢片圈装配与下料机构原位实现钢片圈上固定扣件的装配。A batching and feeding unit B is provided on the front side of the steel sheet ring forming turntable for feeding the fixing fasteners and corresponding riveted parts on the end reinforcement ring, so as to facilitate the assembly of the fixing fasteners on the steel sheet ring by the steel sheet ring assembly and unloading mechanism in situ. 5.如权利要求4所述的伸缩式钢筋笼装配系统，其特征在于，所述钢片上料与成型机构包括：在所述钢片圈成型转盘的中心设置有铆接件顶压机构；所述铆接件顶压机构的伸缩端竖直向上，所述钢片圈成型转盘上对应钢片圈的每个铆接处设置一个限位座，限位座对应每个铆接处设置有一个用于容纳固定扣件和铆接件的凹槽；通过所述钢片圈装配与下料机构原位完成钢片圈上固定扣件和对应铆接件的装配后，启动所述铆接件顶压机构上推顶压对应位置的铆接件，实现所述铆接件的紧固安装。5. The telescopic steel cage assembly system as described in claim 4 is characterized in that the steel sheet feeding and forming mechanism includes: a rivet pressing mechanism is arranged in the center of the steel sheet ring forming turntable; the telescopic end of the rivet pressing mechanism is vertically upward, and a limit seat is arranged on the steel sheet ring forming turntable corresponding to each rivet joint of the steel sheet ring, and the limit seat is arranged corresponding to each rivet joint for accommodating fixing fasteners and rivet parts; after the assembly of the fixing fasteners and the corresponding rivet parts on the steel sheet ring is completed in situ by the steel sheet ring assembly and unloading mechanism, the rivet pressing mechanism is started to push up and press the rivet parts at the corresponding position to achieve the fastening and installation of the rivet parts. 6.如权利要求1所述的伸缩式钢筋笼装配系统，其特征在于，所述钢筋笼装配主线包括：底座、纵向设置在底座上的两条托架导轨、同轴设置在托架导轨上与托架导轨滑动配合的若干钢筋圈托架和若干钢片圈托架；钢筋圈托架的数量与待装配成型的伸缩式钢筋笼中箍筋的数量相同且一一对应；钢片圈托架的数量与待装配成型的伸缩式钢筋笼中端部加强环的数量相同且一一对应；6. The telescopic steel cage assembly system according to claim 1, characterized in that the main assembly line of the steel cage comprises: a base, two bracket guide rails longitudinally arranged on the base, a plurality of steel ring brackets and a plurality of steel sheet ring brackets coaxially arranged on the bracket guide rails and slidingly matched with the bracket guide rails; the number of the steel ring brackets is the same as the number of stirrups in the telescopic steel cage to be assembled and corresponds one to one; the number of the steel sheet ring brackets is the same as the number of end reinforcement rings in the telescopic steel cage to be assembled and corresponds one to one; 所述钢筋圈托架用于支撑钢筋圈装配与下料机构下料的钢筋圈；The steel bar ring bracket is used to support the steel bar ring assembly and the steel bar ring unloaded by the unloading mechanism; 所述钢片圈托架用于支撑钢片圈装配与下料机构下料的钢片圈；The steel sheet ring bracket is used to support the steel sheet ring assembly and the steel sheet ring unloaded by the unloading mechanism; 底座上，两条托架导轨的外侧各设置一条机械手导轨，每条机械手导轨的滑座上安装一个机械手机构；On the base, a manipulator guide rail is arranged outside each of the two bracket guide rails, and a manipulator mechanism is installed on the slide seat of each manipulator guide rail; 两个所述机械手机构用于将支撑有钢筋圈的钢筋圈托架以及支撑有钢片圈的钢片圈托架在托架导轨上移动至设定位置；同时两个所述机械手机构交替动作，完成柔性钢绞线在所述钢筋圈和钢片圈上的装配。The two manipulator mechanisms are used to move the steel bar ring bracket supporting the steel bar ring and the steel sheet ring bracket supporting the steel sheet ring to the set position on the bracket guide rail; at the same time, the two manipulator mechanisms alternately move to complete the assembly of the flexible steel strand on the steel bar ring and the steel sheet ring. 7.如权利要求6所述的伸缩式钢筋笼装配系统，其特征在于，所述钢片圈托架的结构与钢筋圈托架的结构相同，均包括：驱动旋转机构、旋转导向机构以及托架架台；7. The telescopic steel cage assembly system according to claim 6, characterized in that the structure of the steel sheet ring bracket is the same as that of the steel ring bracket, both of which include: a driving rotation mechanism, a rotation guide mechanism and a bracket stand; 所述托架架台与两条托架导轨滑动配合；The bracket platform is slidably matched with the two bracket guide rails; 所述托架架台具有V形支撑面；The bracket platform has a V-shaped support surface; 所述托架架台上设置有驱动旋转机构，用于驱动支撑在所述托架架台上的钢筋圈或钢片圈绕其自身轴线转动；The bracket platform is provided with a driving rotation mechanism for driving the steel bar ring or steel sheet ring supported on the bracket platform to rotate around its own axis; 所述托架架台上设置有旋转导向机构。A rotation guide mechanism is arranged on the bracket stand. 8.如权利要求6或7所述的伸缩式钢筋笼装配系统，其特征在于，所述机械手机构包括：引导柔性钢绞线夹手、第二定位CCD、移动架、锁螺丝机B和可旋转夹手C；8. The telescopic steel cage assembly system according to claim 6 or 7, characterized in that the manipulator mechanism comprises: a guiding flexible steel strand gripper, a second positioning CCD, a mobile frame, a screw locking machine B and a rotatable gripper C; 所述引导柔性钢绞线夹手用于夹持柔性钢绞线上料机构传输过来的柔性钢绞线，并将其穿入钢筋圈上的旋转扣件和钢片圈上的固定扣件；所述引导柔性钢绞线夹手滑动配合安装在移动架上，能够沿移动架移动；The guiding flexible steel strand gripper is used to grip the flexible steel strand transmitted by the flexible steel strand feeding mechanism and pass it through the rotating fastener on the steel bar ring and the fixed fastener on the steel sheet ring; the guiding flexible steel strand gripper is slidably mounted on the mobile frame and can move along the mobile frame; 所述可旋转夹手C用于夹持螺栓或螺母，配合锁螺丝机B完成螺栓螺母的锁紧；所述可旋转夹手C还用于夹持住所述钢筋圈托架和钢片圈托架，带动其在托架导轨上移动；The rotatable clamp C is used to clamp bolts or nuts, and cooperate with the screw locking machine B to complete the locking of bolts and nuts; the rotatable clamp C is also used to clamp the steel bar ring bracket and the steel sheet ring bracket, driving them to move on the bracket guide rail; 所述第二定位CCD利用视觉定位引导所述机械手机构移动至设定装配位置。The second positioning CCD uses visual positioning to guide the robot mechanism to move to a set assembly position. 9.一种伸缩式钢筋笼的装配方法，其特征在于，采用上述权利要求6-8任一项所述的伸缩式钢筋笼装配系统；9. A method for assembling a telescopic steel cage, characterized by using the telescopic steel cage assembly system according to any one of claims 6 to 8; 依据待装配的可伸缩钢筋笼中环形箍筋和端部加强环的数量在钢筋笼装配主线上放置对应数量的钢片圈托架和钢筋圈托架；According to the number of annular stirrups and end reinforcement rings in the retractable steel cage to be assembled, a corresponding number of steel sheet ring brackets and steel bar ring brackets are placed on the main steel cage assembly line; 初始时，所述钢筋笼装配主线上所有钢片圈托架和钢筋圈托架层叠设置位于钢筋圈装配与下料机构和钢片圈装配与下料机构的下端；Initially, all the steel sheet ring brackets and steel bar ring brackets on the main steel bar cage assembly line are stacked and arranged at the lower ends of the steel bar ring assembly and unloading mechanism and the steel sheet ring assembly and unloading mechanism; 所述钢片上料与成型机构依次制备作为一端端部加强环的钢片圈；钢片圈装配与下料机构依次原位完成钢片圈装配后，将装配有固定扣件的钢片圈依次放置在钢筋笼装配主线后端的钢片圈托架上；The steel sheet feeding and forming mechanism sequentially prepares a steel sheet ring as a reinforcement ring at one end; after the steel sheet ring assembly and unloading mechanism sequentially completes the steel sheet ring assembly in situ, the steel sheet ring equipped with the fixing fastener is sequentially placed on the steel sheet ring bracket at the rear end of the steel cage assembly main line; 所述钢筋上料与成型机构依次制备所需个数的钢筋圈，钢筋圈装配与下料机构依次原位完成钢筋圈装配后，依次将装配有旋转扣件的钢筋圈放置在钢筋笼装配主线对应的钢筋圈托架上；The steel bar feeding and forming mechanism sequentially prepares the required number of steel bar rings, and after the steel bar ring assembly and unloading mechanism sequentially completes the steel bar ring assembly in situ, the steel bar rings equipped with rotating fasteners are sequentially placed on the steel bar ring brackets corresponding to the main line of steel bar cage assembly; 完成所有钢筋圈的下料后；钢片上料与成型机构依次制备作为另一端端部加强环的钢片圈；钢片圈装配与下料机构依次原位完成钢片圈装配后，将装配有固定扣件的钢片圈依次放置在钢筋笼装配主线前端的钢片圈托架上；After all the steel rings are cut, the steel sheet feeding and forming mechanism sequentially prepares the steel sheet rings as the reinforcement rings at the other end; after the steel sheet ring assembly and cutting mechanism sequentially completes the steel sheet ring assembly in situ, the steel sheet rings equipped with fixing fasteners are sequentially placed on the steel sheet ring bracket at the front end of the steel cage assembly main line; 所述机械手机构依次夹持住支撑有钢筋圈的钢筋圈托架以及支撑有钢片圈的钢片圈托架在托架导轨上移动至设定位置，使在装配柔性钢绞线前，可伸缩钢筋笼中的各环形箍筋处于伸长状态的位置；The manipulator mechanism sequentially clamps the steel bar ring bracket supporting the steel bar ring and the steel sheet ring bracket supporting the steel sheet ring and moves them to a set position on the bracket guide rail, so that before assembling the flexible steel strand, each annular stirrup in the telescopic steel cage is in an extended state; 然后所述钢筋笼装配主线中的两个机械手机构交替动作，将柔性钢绞线穿过钢筋圈上旋转扣件以及钢片圈上的固定扣件；由此，装配柔性钢绞线的过程中，两个机械手机构在对应的机械手导轨上移动，通过交替工作的方式将柔性钢绞线穿过所有的钢筋圈和钢片圈；Then, the two manipulator mechanisms in the main line of the steel cage assembly move alternately to pass the flexible steel strand through the rotating fasteners on the steel ring and the fixed fasteners on the steel sheet ring; thus, during the process of assembling the flexible steel strand, the two manipulator mechanisms move on the corresponding manipulator guide rails to pass the flexible steel strand through all the steel rings and steel sheet rings by working alternately; 每完成一条柔性钢绞线的装配，两个所述机械手机构完成该条柔性钢绞线上所有旋转扣件以及固定扣件上螺栓螺母的装配，由此形成伸缩式钢筋笼。Each time a flexible steel strand is assembled, the two manipulator mechanisms complete the assembly of all rotating fasteners on the flexible steel strand and the bolts and nuts on the fixed fasteners, thereby forming a telescopic steel cage. 10.如权利要求9所述的伸缩式钢筋笼的装配方法，其特征在于，所述钢筋笼装配主线中的两个机械手机构分别为左机械手机构和右机械手机构；完成所有柔性钢绞线的装配后，将所述左机械手机构和右机械手机构移动至伸缩式钢筋笼的末端；通过左机械手机构和右机械手机构夹持住末端的钢片圈对应的钢片圈托架；然后控制左机械手机构和右机械手机构向前移动，推动伸缩式钢筋笼压缩。10. The assembly method of the telescopic steel cage as described in claim 9 is characterized in that the two manipulator mechanisms in the main line of the steel cage assembly are respectively a left manipulator mechanism and a right manipulator mechanism; after completing the assembly of all flexible steel strands, the left manipulator mechanism and the right manipulator mechanism are moved to the end of the telescopic steel cage; the steel sheet ring bracket corresponding to the steel sheet ring at the end is clamped by the left manipulator mechanism and the right manipulator mechanism; then the left manipulator mechanism and the right manipulator mechanism are controlled to move forward to push the telescopic steel cage to compress. 11.如权利要求9或10所述的伸缩式钢筋笼的装配方法，其特征在于，两个所述机械手机构受控于上位机，所述上位机中对两个所述机械手机构带动支撑有钢筋圈的钢筋圈托架以及支撑有钢片圈的钢片圈托架在托架导轨上移动的控制指令为：11. The assembly method of the telescopic steel cage according to claim 9 or 10, characterized in that the two manipulator mechanisms are controlled by a host computer, and the control instructions of the host computer for the two manipulator mechanisms to drive the steel bar ring bracket supporting the steel bar ring and the steel sheet ring bracket supporting the steel sheet ring to move on the bracket guide rail are: 所述钢筋笼装配主线上从前往后，对所有钢筋圈托架和钢片圈托架从1到n顺序编号，其中编号1为钢筋笼装配主线上最前端的钢片圈托架；All the steel bar ring brackets and steel sheet ring brackets are numbered from 1 to n from front to back on the main steel bar cage assembly line, wherein number 1 is the frontmost steel sheet ring bracket on the main steel bar cage assembly line; 将所述钢筋圈托架和钢片圈托架统称为托架；其中：Dn表示第n个托架需在钢筋笼装配主线上移动的距离，A1表示可伸缩式钢筋笼端部预留距离；D为相邻托架之间的间距；The steel ring bracket and the steel sheet ring bracket are collectively referred to as brackets; wherein: Dn represents the distance that the nth bracket needs to move on the main line of steel cage assembly, A1 represents the reserved distance at the end of the telescopic steel cage; D is the spacing between adjacent brackets; 式中：表示伸缩式钢筋笼展开的总长，表示箍筋增益系数，表示圆周率，表示伸缩式钢筋笼的设计半径，表示箍筋体积配筋率，表示用于加工箍筋的钢筋的半径。Where: Indicates the total length of the telescopic steel cage when unfolded. represents the stirrup gain factor, represents pi, represents the design radius of the telescopic reinforcement cage, represents the volume reinforcement ratio of stirrups, Indicates the radius of the steel bar used for making stirrups. 12.如权利要求9或10所述的伸缩式钢筋笼的装配方法，其特征在于，所述钢筋上料与成型机构受控于上位机，所述上位机中对钢筋上料与成型机构中的柔性钢绞线上料架和柔性钢绞线切断机构做如下控制：12. The assembly method of the telescopic steel cage according to claim 9 or 10, characterized in that the steel bar feeding and forming mechanism is controlled by a host computer, and the host computer controls the flexible steel strand feeding frame and the flexible steel strand cutting mechanism in the steel bar feeding and forming mechanism as follows: 式中：表示所述柔性钢绞线切断机构每次切断动作前所述钢筋输送机构中钢筋输送滚轮的运转圈数，表示圆周率，表示伸缩式钢筋笼的设计半径，表示钢筋调整系数，表示钢筋输送滚轮至钢筋切断机构中刀片间预留的钢筋长度，表示钢筋输送滚轮的半径，表示钢筋输送的滑差系数；Where: It indicates the number of revolutions of the steel bar conveying roller in the steel bar conveying mechanism before each cutting action of the flexible steel strand cutting mechanism. represents pi, represents the design radius of the telescopic reinforcement cage, Represents the reinforcement adjustment coefficient, Indicates the length of the steel bar reserved between the steel bar conveying roller and the blade in the steel bar cutting mechanism. Indicates the radius of the steel bar conveying roller, Indicates the slip coefficient of steel bar transportation; 由此，所述钢筋输送机构中钢筋输送滚轮每运转圈，所述上位机控制钢筋切断机构完成一次切断动作。Thus, the steel bar conveying roller in the steel bar conveying mechanism rotates every time The upper computer controls the steel bar cutting mechanism to complete a cutting action.
CN202410495140.4A 2024-04-24 2024-04-24 Telescopic reinforcement cage assembly system and assembly method Active CN118268486B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202410495140.4A CN118268486B (en) 2024-04-24 2024-04-24 Telescopic reinforcement cage assembly system and assembly method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202410495140.4A CN118268486B (en) 2024-04-24 2024-04-24 Telescopic reinforcement cage assembly system and assembly method

Publications (2)

Publication Number Publication Date
CN118268486A CN118268486A (en) 2024-07-02
CN118268486B true CN118268486B (en) 2024-12-13

Family

ID=91648059

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202410495140.4A Active CN118268486B (en) 2024-04-24 2024-04-24 Telescopic reinforcement cage assembly system and assembly method

Country Status (1)

Country Link
CN (1) CN118268486B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118768495B (en) * 2024-09-10 2024-12-06 上海建工二建集团有限公司 Low-clearance flexible reinforcement cage manufacturing equipment and method

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107552692A (en) * 2017-11-01 2018-01-09 江苏田字格新材料科技有限公司 A kind of steel reinforcement cage former
CN113059093A (en) * 2021-04-01 2021-07-02 广东博智林机器人有限公司 Reinforcing cage apparatus for producing

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114700446B (en) * 2022-05-07 2023-06-20 中国核工业电机运行技术开发有限公司 Reinforcement cage binding and forming production line
JP7755548B2 (en) * 2022-06-07 2025-10-16 鹿島建設株式会社 Method for transporting reinforcing bar cages and reinforcing bar cages
CN116219893A (en) * 2023-03-21 2023-06-06 中电建路桥集团有限公司 A pier column steel bar binding platform and binding method

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107552692A (en) * 2017-11-01 2018-01-09 江苏田字格新材料科技有限公司 A kind of steel reinforcement cage former
CN113059093A (en) * 2021-04-01 2021-07-02 广东博智林机器人有限公司 Reinforcing cage apparatus for producing

Also Published As

Publication number Publication date
CN118268486A (en) 2024-07-02

Similar Documents

Publication Publication Date Title
CN110480221B (en) Longitudinal short bar feeding and bar distributing device and method during welding of reinforcing bar meshes
CN113369425B (en) Full-automatic steel reinforcement cage preparation flow production line device
CN115091217B (en) A shield steel frame production line
CN112276590A (en) Full-automatic welding system and production line for cross rods
WO2025194632A1 (en) Automatic smc-sheet compression molding production line, and automatic material conveying method therefor
CN114749580B (en) Full-automatic steel bar bending production line and process
CN118268486A (en) Telescopic reinforcement cage assembly system and assembly method
CN118650090B (en) Single-head steel bar bending hoop forming device
CN114700446A (en) Reinforcing cage binding and forming production line
CN109051596B (en) Full-automatic production line for sawing, upsetting and threading steel bars
CN210499066U (en) Shaped steel pterygoid lamina material loading interfacing apparatus
CN119281978B (en) A steel bar material correction device
CN211110336U (en) Take-up device for power cable production
CN110744218B (en) Tunnel welding system and its operation method
CN113818570A (en) Production process of steel structure house box end frame
CN118848407A (en) A special vehicle carriage frame processing system
CN217343339U (en) Full-automatic bending production line for steel bars
CN118492237A (en) Automatic feeding line and method for reinforcing steel bars
CN117775874A (en) An automatic loading heavy-duty cable winding machine
CN204620899U (en) Bender feed mechanism
CN112091470B (en) Full-automatic welding equipment for welding stainless steel shell
CN115519001A (en) An optimization method for the number of blanking racks of auto parts
CN210477338U (en) Fragment of brick adhesion separating centrifuge
CN210651969U (en) Manufacturing equipment for epoxy glass fiber reinforced plastic pipeline
CN223338691U (en) Intelligent workstation for rapid forming of reinforcement cage

Legal Events

Date Code Title Description
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant