CN208051197U - A kind of robot welding platform for diaphram wall steel reinforcement cage processing and fabricating - Google Patents
A kind of robot welding platform for diaphram wall steel reinforcement cage processing and fabricating Download PDFInfo
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- CN208051197U CN208051197U CN201820226784.3U CN201820226784U CN208051197U CN 208051197 U CN208051197 U CN 208051197U CN 201820226784 U CN201820226784 U CN 201820226784U CN 208051197 U CN208051197 U CN 208051197U
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Abstract
The utility model discloses a kind of robot welding platforms for diaphram wall steel reinforcement cage processing and fabricating, are characterized in that：Including jig pedestal, welding robot and tackling system, two groups of lateral purlin track roads disposed in parallel are installed on the jig pedestal, welding robot running track and two groups of longitudinal purlin track roads disposed in parallel are equipped between the transverse direction purlin track road, the welding robot running track and longitudinal purlin track road are installed in jig pedestal, the welding robot is mounted in welding robot running track, the tackling system includes lateral lifting purlin vehicle and longitudinal lifting purlin vehicle, transverse direction lifting purlin vehicle is mounted on the track road of lateral purlin, longitudinal direction lifting purlin vehicle is mounted on the track road of longitudinal purlin, reach reduction manual work, improve working efficiency, promote work quality, save construction cost, reduce occupational disease, reduce the purpose of the risk accidents in construction operation place.
Description
Technical field
The utility model is related to grounds and foundation engineering mechanized construction field, more specifically, it is related to a kind ofly even
Wall steel reinforcement cage robot welding platform.
Background technology
With building for the Large Infrastructure Projects such as the exploitation of downtown area, reconstruction of the old city town and subway, tunnel, common trench
If Chinese underground space development enters an accelerated period, the whole nation starts " making city in underground " upsurge, and the application of diaphram wall is also got over
Coming more universal, the end of the year 2016 of cut-off, existing 43 urban rail transit plannings of China are granted, about 8600 kilometers of general planning mileage,
The portfolio of diaphram wall is doubled and redoubled, and the human resources needed for steel reinforcement cage processing and fabricating etc. are continuously increased.And with me
The aging of state's expanding economy and social population, human resources are more and more in short supply, the price of labour power also continuous rise.
Ground-connecting-wall steel reinforcement cage processes the wlding used during practice of construction and welding manner is lack of standardization, hand-made processing
It is difficult the processing quality of control steel reinforcement cage, main reinforcement and stirrup burn degree are serious when welding, substantially reduce the intensity of component；By hand
The waste that steel reinforcement cage causes lot of materials is made, the weight that steel reinforcement cage actually accomplishes is bigger than theoretical weight by 1% or more, and by hand
Work production rate is low.Expose to the weather while drenching with rain also in addition, construction site field workers under outdoor working environment, are endured to the fullest extent
The high temperature and pressure of electric welding field is undergo, severe operating environment and the long-term body and mind tired out to labourer bring huge wound
Evil, there is many security risks for operation field.Most risk accidents, which occurs, in steel bar meter scene has weight to fall, reinforcing bar bundle
Tie up collision operating personnel, straightener twists the person of hurting sb.'s feelings, clamp hand, reinforcing bar bounce hurt sb.'s feelings, scald, getting an electric shock, shocking by electricity, electric arc wound etc., and weld
It meets operating personnel often to be radiated by electric welding floating dust and electric arc throughout the year, seriously be threatened by occupational disease.
Utility model content
In view of the deficienciess of the prior art, the utility model is the operating environment for improving existing building building site, solves now
The deficiencies of some technical equipment and human resources in short supply, provides a kind of machine for diaphram wall steel reinforcement cage processing and fabricating
Device people's jig, to realize the scene automation processing of ground-connecting-wall steel reinforcement cage, by using ground-connecting-wall steel reinforcement cage bonding machine
Device people completes the welding production of ground-connecting-wall steel reinforcement cage overall framework, effectively improves the welding procedure quality of steel reinforcement cage processing, to
Improve the operating environment of construction site field worker steel bar meter and electric welding, reduces working environment and for a long time tired out to labour
The injury that person's body and mind is brought, exclude operation field there is security risk, reach reduction manual work, improve working efficiency,
Work quality is promoted, construction cost is saved, reduces occupational disease, reduces the purpose of the risk accidents in construction operation place.
To achieve the above object, the utility model provides following technical solution：One kind being used for diaphram wall steel reinforcement cage
The robot welding platform of processing and fabricating, including jig pedestal, welding robot and tackling system, the jig
Two groups of lateral purlin track roads disposed in parallel are installed, being equipped with welding robot between the transverse direction purlin track road runs on pedestal
Track and two groups of longitudinal purlin track roads disposed in parallel, the welding robot running track and longitudinal purlin track road are pacified
Mounted in jig pedestal, the welding robot is mounted in welding robot running track, and the tackling system includes cross
To lifting purlin vehicle and longitudinal lifting purlin vehicle, transverse direction lifting purlin vehicle is mounted on the track road of lateral purlin, the longitudinal direction lifting purlin
Vehicle is mounted on the track road of longitudinal purlin.
As preferred：The welding robot includes movable base, mechanical arm and welding system, the removable base
Seat is mounted in welding robot running track, and one end of the mechanical arm is connect with movable base, and the other end is with welding
System connection.
As preferred：The transverse direction lifting purlin vehicle and longitudinal lifting purlin vehicle include supporting rack and are mounted on supporting rack
Grabhook.
As preferred：The grabhook is equipped with multigroup.
As preferred：The both ends at the both ends and longitudinal purlin track road in the transverse direction purlin track road are equipped with limit controller.
As preferred：Reinforcing bar positioning system is additionally provided on the jig pedestal, the reinforcing bar positioning system includes inspection
Device and controller are surveyed, the signal detected is sent to controller by the detection device, and controller laterally rises for controlling
Weight purlin vehicle, longitudinal lifting purlin vehicle and welding robot.
As preferred：Transverse direction lifting purlin height is higher than the height of longitudinal lifting purlin vehicle.
Use said program the utility model has the beneficial effects that：1, diaphram wall engineering is may be directly applied to,
Realize intelligent control and the automated production of diaphram wall steel reinforcement cage processing welding production；2, welding robot construction operation
When, effectively specification welding manner, raising welding procedure quality the burn degree of main reinforcement and stirrup when welding can be reduced, significantly
The intensity of component is improved, realizes the standardized production of ground-connecting-wall steel reinforcement cage；3, the work of steel bar meter and electric welding field can be improved
Industry environment improves the working environment of construction site field workers；4, operating environment and for a long time tired out to labor can be reduced
The injury that dynamic person's body and mind is brought, exclude operation field there is security risk, reduce the risk accidents in construction operation place；5,
By the automated production of welding robot, solves manpower shortage, a series of production problems such as cost of labor height not only carry
High production efficiency, saves construction cost, can also reduce the occupational disease of worker.
Description of the drawings
Fig. 1 is the schematic three-dimensional top view of the utility model ground-connecting-wall steel reinforcement cage robot welding platform；
Fig. 2 is ground-connecting-wall steel reinforcement cage robot welding platform flow chart operating mode one；
Fig. 3 is ground-connecting-wall steel reinforcement cage robot welding platform flow chart operating mode two；
Fig. 4 is ground-connecting-wall steel reinforcement cage robot welding platform flow chart operating mode three；
Fig. 5 is ground-connecting-wall steel reinforcement cage robot welding platform flow chart operating mode four；
Fig. 6 is ground-connecting-wall steel reinforcement cage robot welding platform flow chart operating mode five；
Fig. 7 is ground-connecting-wall steel reinforcement cage robot welding platform flow chart operating mode six.
In figure：1, jig pedestal；2, lateral purlin track road；3, welding robot running track；4, longitudinal purlin track
Road；5, lateral lifting purlin vehicle；6, longitudinal lifting purlin vehicle；7, movable base；8, mechanical arm；9, welding system；10, supporting rack；
11, grabhook；12, limit controller.
Specific implementation mode
Shown in referring to Figure 1 to Figure 7, a kind of robot for diaphram wall steel reinforcement cage processing and fabricating of present case implementation
Jig, including jig pedestal 1, welding robot and tackling system are equipped with two on the jig pedestal 1
Lateral purlin track road 2 disposed in parallel is organized, welding robot running track 3 and two is equipped between the transverse direction purlin track road 2
Group longitudinal purlin track road 4 disposed in parallel, the welding robot running track 3 and longitudinal purlin track road 4 are installed in weldering
Platform base 1 is connect, the welding robot is mounted in welding robot running track 3, and the tackling system includes laterally rising
Weight purlin vehicle 5 and longitudinal lifting purlin vehicle 6, transverse direction lifting purlin vehicle 5 are mounted on lateral purlin track road 2, the longitudinal direction lifting purlin
Vehicle 6 is mounted on longitudinal purlin track road 4, and the welding robot includes movable base 7, mechanical arm 8 and welding system 9,
The movable base 7 is mounted in welding robot running track 3, and one end and the movable base 7 of the mechanical arm 8 connect
It connects, the other end is connect with welding system 9, and transverse direction lifting purlin vehicle 5 and longitudinal lifting purlin vehicle 6 include supporting rack 10 and peace
Grabhook 11 on supporting rack 10, the grabhook 11 are equipped with multigroup, both ends and longitudinal purlin in the transverse direction purlin track road 2
The both ends in track road 4 are equipped with limit controller 12, and reinforcing bar positioning system, the steel are additionally provided on the jig pedestal 1
Muscle positioning system includes detection device and controller, and the signal detected is sent to controller by the detection device, control
Device is higher than for controlling lateral lifting purlin vehicle 5, longitudinal lifting purlin vehicle 6 and welding robot, 5 height of transverse direction lifting purlin vehicle
The height of longitudinal lifting purlin vehicle 6.
Semi-finished product autofeed during ground-connecting-wall steel reinforcement cage automated production, reinforcing bar automatic positioning, welding may be implemented
Etc. processes, while the acquisition of working condition and parameter is carried out using the configuration softwares such as MCGS to entire welding processing process, and right
Welding processing process is comprehensively monitored, and to reach reduction manual work, improves the mesh of the homework precision of welding robot
, when the welding robot installed on jig pedestal 1 carries out weld job, action is similar to arm/finger of people,
Rotation axis be similar to joint, can be freely rotated with displacement and be used cooperatively with external axis, can commensurate structure part sky
Between structure, complete welding job, realize ground-connecting-wall steel reinforcement cage welding robot visual sensing and deviation-correcting function, structural member is under
Inevitably there is operation error in material and forming process, structural member is replaced there is also position deviation, robot according to
Program editing, when the location of workpiece generates deviation, welding gun end is welded by visual sensor automatic capturing, is effectively kept away
Exempt from mismachining tolerance to adversely affect caused by robot welding.
Using the tracking of weld seam electric arc and monitoring function, the company's of realization wall steel reinforcement cage welding robot is examined in real time in the welding process
Weld seam deviation is surveyed, and adjusts path of welding and welding parameter, while welding process is comprehensively monitored, to ensure to weld
The reliability and controllability for connecing quality, due to the limitation of complexity and the robot automtion level of ground-connecting-wall reinforcement cage structure,
Cannot achieve robot fully rely on itself perception and inferential capability be automatically brought into operation, can pass through be remotely controlled etc. remote controls means
Welding control is carried out, i.e., technical staff participates in programming teaching in the welding process, by teaching-online technique application and ground-connecting-wall
Steel reinforcement cage welding robot, the work of prior teaching machine, recall tracing track, by realize it is online in a manner of weld.Utilize teaching machine
Remote control ability, give full play to and using technical staff welding experience and technology, complete welding job, utilize three-dimensional system
Figure software and corresponding programming software, simulate welding process and are emulated, subsidiary welding parameter and welding sequence, realization pair
The programming of ground-connecting-wall steel reinforcement cage process, then by tutorial function, complete the welding job of structural member detail treatment.
Operating mode one as shown in Figure 2：Location control initial setting up is mainly used for ground-connecting-wall steel reinforcement cage lower layer horizontal distribution reinforcing bar
Location control.
Operating mode two, three as shown in Figure 2,3：Lower water is divided cloth muscle installation equally and is made, and determining for lower layer's horizontal distribution reinforcing bar is completed
After the installation of position, the installation for carrying out lower layer's main reinforcement makes, that is, completes the welding of lower layer's longitudinal reinforcement and transverse steel, lower layer's ground-connecting-wall
The lower frame system of steel reinforcement cage.
Operating mode four as shown in Figure 4：Vertically and horizontally the installation of truss bars makes, and procedure of processing is broadly divided into front truss abdomen
Muscle erecting and welding, truss bars overturning, back side truss abdomen muscle welding by both sides.
Operating mode five as shown in Figure 5：Ground-connecting-wall steel reinforcement cage detail treatment human assistance makes, including built-in fitting, steel reinforcement cage are fixed
Position part etc..
Operating mode six as shown in Figure 6：Upper layer main reinforcement and the installation of horizontal distribution muscle make, and complete the weldering of upper layer horizontal distribution reinforcing bar
After connecing installation, it is just basically completed the frame system welding production of entire ground-connecting-wall steel reinforcement cage, it is manually auxiliary finally to carry out detail treatment
Help making, the work such as inspection of quality.
Embodiment described above is a kind of preferable scheme of the utility model, is not made to the utility model any
Formal limitation, on the premise of not exceeding the technical scheme recorded in the claims also other variations and modifications.
Claims (7)
1. a kind of robot welding platform for diaphram wall steel reinforcement cage processing and fabricating, it is characterised in that：It is flat including welding
Sewing platform base, welding robot and tackling system are equipped with two groups of lateral purlin vehicles disposed in parallel on the jig pedestal
Track is equipped with welding robot running track and two groups of longitudinal purlin tracks disposed in parallel between the transverse direction purlin track road
Road, the welding robot running track and longitudinal purlin track road are installed in jig pedestal, the welding robot
In welding robot running track, the tackling system includes lateral lifting purlin vehicle and longitudinal lifting purlin vehicle, the cross
It is mounted on the track road of lateral purlin to lifting purlin vehicle, longitudinal direction lifting purlin vehicle is mounted on the track road of longitudinal purlin.
2. a kind of robot welding platform for diaphram wall steel reinforcement cage processing and fabricating according to claim 1,
It is characterized in that：The welding robot includes movable base, mechanical arm and welding system, and the movable base is mounted on
In welding robot running track, one end of the mechanical arm is connect with movable base, and the other end is connect with welding system.
3. a kind of robot welding platform for diaphram wall steel reinforcement cage processing and fabricating according to claim 2,
It is characterized in that：The transverse direction lifting purlin vehicle and longitudinal lifting purlin vehicle include supporting rack and the lifting on supporting rack
Hook.
4. a kind of robot welding platform for diaphram wall steel reinforcement cage processing and fabricating according to claim 3,
It is characterized in that：The grabhook is equipped with multigroup.
5. a kind of robot welding platform for diaphram wall steel reinforcement cage processing and fabricating according to claim 1,
It is characterized in that：The both ends at the both ends and longitudinal purlin track road in the transverse direction purlin track road are equipped with limit controller.
6. a kind of robot for diaphram wall steel reinforcement cage processing and fabricating according to claims 1 or 2 or 3 or 4 or 5
Jig, it is characterised in that：Reinforcing bar positioning system is additionally provided on the jig pedestal, the reinforcing bar positioning system includes
The signal detected is sent to controller by detection device and controller, the detection device, and controller is for controlling transverse direction
Lifting purlin vehicle, longitudinal lifting purlin vehicle and welding robot.
7. a kind of robot for diaphram wall steel reinforcement cage processing and fabricating according to claims 1 or 2 or 3 or 4 or 5
Jig, it is characterised in that：Transverse direction lifting purlin height is higher than the height of longitudinal lifting purlin vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820226784.3U CN208051197U (en) | 2018-02-08 | 2018-02-08 | A kind of robot welding platform for diaphram wall steel reinforcement cage processing and fabricating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820226784.3U CN208051197U (en) | 2018-02-08 | 2018-02-08 | A kind of robot welding platform for diaphram wall steel reinforcement cage processing and fabricating |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208051197U true CN208051197U (en) | 2018-11-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820226784.3U Active CN208051197U (en) | 2018-02-08 | 2018-02-08 | A kind of robot welding platform for diaphram wall steel reinforcement cage processing and fabricating |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208051197U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110539098A (en) * | 2019-09-20 | 2019-12-06 | 上海隧道工程有限公司 | Automatic welding equipment and welding method for steel reinforcement cage robot |
| CN110814233A (en) * | 2019-11-28 | 2020-02-21 | 中建科技有限公司深圳分公司 | Reinforcing cage production line |
-
2018
- 2018-02-08 CN CN201820226784.3U patent/CN208051197U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110539098A (en) * | 2019-09-20 | 2019-12-06 | 上海隧道工程有限公司 | Automatic welding equipment and welding method for steel reinforcement cage robot |
| CN110539098B (en) * | 2019-09-20 | 2024-03-26 | 上海隧道工程有限公司 | Automatic welding equipment for reinforcement cage robot and welding method thereof |
| CN110814233A (en) * | 2019-11-28 | 2020-02-21 | 中建科技有限公司深圳分公司 | Reinforcing cage production line |
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