CN215697530U - Major diameter rebar hook installation robot - Google Patents
Major diameter rebar hook installation robot Download PDFInfo
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- CN215697530U CN215697530U CN202120344669.8U CN202120344669U CN215697530U CN 215697530 U CN215697530 U CN 215697530U CN 202120344669 U CN202120344669 U CN 202120344669U CN 215697530 U CN215697530 U CN 215697530U
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- 238000009434 installation Methods 0.000 title abstract description 14
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 53
- 239000010959 steel Substances 0.000 claims abstract description 53
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 238000005452 bending Methods 0.000 claims abstract description 21
- 230000002787 reinforcement Effects 0.000 claims abstract description 4
- 238000010276 construction Methods 0.000 description 7
- 229910001294 Reinforcing steel Inorganic materials 0.000 description 6
- 230000003014 reinforcing effect Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000009435 building construction Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model discloses a large-diameter steel bar drag hook mounting robot, which comprises a vertical clamping walking mechanism; the horizontal clamping travelling mechanism is matched with the vertical clamping travelling mechanism, so that the robot can travel in the vertical direction of the steel bar main frame; the clamping and positioning module is connected with the vertical clamping travelling mechanism and the horizontal clamping travelling mechanism, so that the robot can be clamped and fixed on the main reinforcement frame; the hydraulic bending module is fixedly arranged on the horizontal clamping travelling mechanism and is used for bending the steel bar drag hooks with different bending angles; through the matching movement of the vertical clamping travelling mechanism and the horizontal clamping travelling mechanism, the positioning of the clamping and positioning module and the movement of the hydraulic bending module, the positioning and clamping of the steel bar main frames with different major diameters and the installation of the steel bar drag hooks with different bending angles are realized.
Description
Technical Field
The utility model relates to a steel bar bending device, in particular to a large-diameter steel bar drag hook installing robot.
Background
In the process of nuclear building construction, in order to meet the requirement of sufficient safety factor, a large number of large-diameter steel bar main frames are required to be used in the construction process, the criss-cross steel bar main frames are required to be tightly connected together through steel bar draw hooks with smaller diameters, and then the building wall body with sufficient strength is obtained through concrete pouring. The traditional steel bar draw hook is usually designed to be bent at two ends, and the draw hook is long, so that the construction is still difficult; on the other hand, the on-site steel bar drag hook is completely bent by a worker, the steel bar drag hook is manually bent, the worker bends the steel bar drag hook through a simple lever tool on a construction site, the worker needs to provide bending force by means of self weight in the process, a large amount of physical power can be consumed, and in addition, the work form is single and tedious, the phenomena that the construction rate of the worker drag hook is low, and the construction quality is not easy to guarantee are caused.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problems, the utility model discloses a large-diameter steel bar drag hook installation robot for nuclear engineering; the robot can bend the steel bar draw hook arranged on the steel bar main frame into a set angle; and can reciprocate on the reinforcing bar body frame, the installation work of repeated, accurate completion reinforcing bar drag hook alleviates artifical work load, promotes work efficiency.
In order to achieve the purpose, the utility model adopts the following technical scheme:
a robot for installing a large-diameter steel bar drag hook is characterized by comprising
Vertically clamping the travelling mechanism;
the horizontal clamping travelling mechanism is matched with the vertical clamping travelling mechanism, so that the robot can travel in the vertical direction of the steel bar main frame;
the clamping and positioning module is connected with the vertical clamping travelling mechanism and the horizontal clamping travelling mechanism, so that the robot can be clamped and fixed on the main reinforcement frame;
and the hydraulic bending module is fixedly installed on the horizontal clamping travelling mechanism and is used for bending the steel bar drag hooks with different bending angles.
Furthermore, the clamping and positioning modules comprise four groups, namely an upper pneumatic clamping and positioning module, a lower pneumatic clamping and positioning module, a left pneumatic clamping and positioning module and a right pneumatic clamping and positioning module.
Further, the clamping and positioning module comprises an air cylinder, the air cylinder is connected with the pneumatic clamping jaw actuator module, and the two fixed clamping jaws are oppositely arranged on the pneumatic clamping jaw actuator module.
Furthermore, the fixed clamping jaw is provided with an arc-shaped groove corresponding to the diameter of the clamped steel bar main frame, and the fixed clamping jaw can be replaced according to different types of the diameters of the steel bar main frames.
Further, perpendicular centre gripping running gear includes perpendicular clamping jaw fixed plate, perpendicular clamping jaw fixed plate upper surface parallel mount has two guide rails, guide rail left side fixed mounting has the rack, and pneumatic centre gripping orientation module, lower pneumatic centre gripping orientation module are installed at perpendicular clamping jaw fixed plate both ends.
Further, horizontal centre gripping running gear includes horizontal clamping jaw fixed plate, left pneumatic centre gripping orientation module, right pneumatic centre gripping orientation module are installed at horizontal clamping jaw fixed plate both ends, and surface vertical installs the motor on the horizontal clamping jaw fixed plate, and the motor shaft of motor passes horizontal clamping jaw fixed plate and the drive gear coaxial coupling of below, drive gear and rack toothing, surface mounting has the slider under the horizontal clamping jaw fixed plate, the slider is connected with the guide rail cooperation.
Furthermore, a hydraulic bending module is fixedly mounted on the side face of the horizontal clamping jaw fixing plate and comprises a hydraulic push rod, and a V-groove roller is mounted at the tail end of the hydraulic push rod.
Compared with the prior art, the utility model has the following technical effects:
1. the main frame of the reinforcing steel bars with different large diameters is positioned and clamped and the pulling hooks of the reinforcing steel bars with different bending angles are installed through the matched movement of the vertical clamping travelling mechanism and the horizontal clamping travelling mechanism, the positioning of the clamping and positioning module and the movement of the hydraulic bending module;
2. the vertical movement of the reinforcing steel bar drag hook mounting robot on the vertically and horizontally staggered reinforcing steel bar main frame is realized, and the manual workload is reduced;
3. the steel bar drag hook mounting scheme with high precision, rapidness and stability is realized.
Drawings
FIG. 1 is a schematic structural view of a robot for installing a steel bar retractor;
FIG. 2 is a schematic view of the construction of the robot for installing the steel bar drag hook on site;
number in the figure: 1. a vertical clamping jaw fixing plate; 2. a guide rail; 3. a rack; 4. a motor; 5. a cylinder; 6. a pneumatic jaw actuator module; 7. fixing the clamping jaw; 8. a drive gear; 9. a slider; 10. a V-groove roller; 11. a horizontal clamping jaw fixing plate; 12. a hydraulic push rod; 13. a transverse steel bar main frame; 14. a steel bar draw hook; 15. a main frame of longitudinal steel bars.
Detailed Description
The following detailed description of embodiments of the utility model refers to the accompanying drawings in which:
fig. 1 is a schematic structural view of a robot for installing a steel bar retractor, the robot mainly comprises 12 parts: the device comprises a vertical clamping jaw fixing plate 1, a guide rail 2, a rack 3, a motor 4, a cylinder 5, a pneumatic clamping jaw actuator module 6, a fixed clamping jaw 7, a driving gear 8, a sliding block 9, a V-shaped groove roller 10, a horizontal clamping jaw fixing plate 11 and a hydraulic push rod 12.
In order to realize that the robot can be fixed on the steel bar main frame, the embodiment comprises four groups of pneumatic clamping and positioning modules; aiming at the utility model, the four groups of modules can be respectively named as an upper pneumatic clamping and positioning module, a lower pneumatic clamping and positioning module, a left pneumatic clamping and positioning module and a right pneumatic clamping and positioning module; the module consists of a cylinder 5, a pneumatic clamping jaw actuator module 6 and two fixed clamping jaws 7 which are oppositely arranged; the two fixed clamping jaws 7 are oppositely arranged on the pneumatic clamping jaw actuator module 6, and when the pneumatic clamping jaw actuator module 6 acts, the two fixed clamping jaws 7 can oppositely move in the mounting grooves of the pneumatic clamping jaw actuator module to finish clamping action; be equipped with on this fixed clamping jaw 7 with by the corresponding arc recess of centre gripping reinforcing bar body frame diameter, can guarantee the compactness and the reliability of centre gripping, provide sufficient clamping-force, and fixed clamping jaw 7 can be according to the different change models of reinforcing bar body frame diameter.
The reinforcing steel bar drag hook installation robot in the embodiment comprises a vertical clamping travelling mechanism, wherein the vertical clamping travelling mechanism consists of a vertical clamping jaw fixing plate 1, two guide rails 2, four sliding blocks 9, a rack 3, an upper pneumatic clamping positioning module and a lower pneumatic clamping positioning module; the upper and lower pneumatic clamping and positioning modules are mounted on the vertical clamping jaw fixing plate 1 through the air cylinder 5, two guide rails 2 and four matched slide blocks 9 are mounted on the upper surface of the vertical clamping jaw fixing plate 1 in parallel, and a rack 3 is fixedly mounted on the left side surface of the vertical clamping jaw fixing plate.
The reinforcing steel bar drag hook installation robot in the embodiment further comprises a horizontal clamping walking mechanism, and the horizontal clamping walking mechanism is composed of a horizontal clamping jaw fixing plate 11, a motor 4, a driving gear 8, a left pneumatic clamping positioning module, a right pneumatic clamping positioning module and a hydraulic bending module. The left and right pneumatic clamping and positioning modules are installed on the horizontal clamping jaw fixing plate 11 through the air cylinder 5, and the motor 4 is vertically installed on the upper surface of the horizontal clamping jaw fixing plate 11. The motor 4 is fixedly mounted with the driving gear 8 through a motor shaft thereof.
The hydraulic bending module is fixedly installed on the side face of the horizontal clamping jaw fixing plate 11 and consists of a V-groove roller 10 and a hydraulic push rod 12. The tail end of the hydraulic push rod 12 is provided with a V-groove roller 10 which can bend the steel bar drag hook with different bending angles.
Specifically, in this embodiment, the four sliding blocks 9 on the vertical clamping travelling mechanism are fixedly mounted on the lower surface of the horizontal clamping jaw fixing plate 11 of the horizontal clamping travelling mechanism, and meanwhile, the rack 3 on the vertical clamping travelling mechanism is ensured to be meshed with the driving gear 8 on the horizontal clamping travelling mechanism, so that the movement of the whole vertical clamping travelling mechanism in the Y direction can be realized.
Fig. 2 is the on-the-spot construction schematic diagram of bar drag hook installation robot, has had preliminary fixed at job site vertically and horizontally reinforcing bar body frame, has realized vertically and horizontally staggered basically and has arranged, introduces the work action flow of bar drag hook installation robot installation bar drag hook now, and the step is as follows:
firstly, a steel bar drag hook installation robot is manually installed on a longitudinal and transverse steel bar frame, at the moment, air cylinders 5 of an upper pneumatic clamping and positioning module, a lower pneumatic clamping module, a left pneumatic clamping and positioning module and a right pneumatic clamping and positioning module are in an extension state, each pair of fixing clamping jaws 7 respectively tighten a longitudinal and transverse steel bar main frame to support the whole steel bar drag hook installation robot, a hydraulic push rod 12 extends, a V-shaped groove roller 10 moves in the Z-axis direction to bend the steel bar drag hook, and the installation of the first steel bar drag hook is completed.
And secondly, the hydraulic push rod 12 contracts to the shortest stroke, the fixed clamping jaws 7 of the upper and lower pneumatic clamping and positioning modules are separated, the air cylinder 5 contracts, the motor 4 works to enable the vertical clamping travelling mechanism to move to the designated position in the Y direction, the air cylinder 5 of the upper and lower pneumatic clamping and positioning modules extends, the fixed clamping jaws 7 are combined, and the vertical clamping travelling mechanism is fixed on the main longitudinal steel bar frame.
Thirdly, separating the fixed clamping jaws 7 of the left and right pneumatic clamping and positioning modules, contracting the air cylinder 5, reversely rotating the motor 4 to enable the horizontal clamping travelling mechanism to move to a specified position in the Y direction, extending the air cylinders 5 of the left and right pneumatic clamping and positioning modules, combining the fixed clamping jaws 7, and fixing the horizontal clamping travelling mechanism on the transverse steel bar main frame; the hydraulic push rod 12 continues to extend, so that the steel bar drag hook is bent.
And fourthly, continuously repeating the actions 2 and 3 to complete the installation of the reinforcement drag hook in the Y-axis direction.
Fifthly, after the longitudinal steel bar draw hooks are installed, manually moving the longitudinal steel bar draw hooks to the next row, and repeating the operation flows from the first row to the fourth row.
The above-described embodiments are merely preferred embodiments of the present invention, and not intended to limit the scope of the utility model, so that equivalent changes or modifications in the structure, features and principles described in the present invention should be included in the claims of the present invention.
Claims (7)
1. A robot for installing a large-diameter steel bar drag hook is characterized by comprising
Vertically clamping the travelling mechanism;
the horizontal clamping travelling mechanism is matched with the vertical clamping travelling mechanism, so that the robot travels in the vertical direction of the steel bar main frame;
the clamping and positioning module is connected with the vertical clamping travelling mechanism and the horizontal clamping travelling mechanism, so that the robot is clamped and fixed on the main reinforcement frame;
and the hydraulic bending module is fixedly arranged on the horizontal clamping travelling mechanism and is used for bending the steel bar drag hooks (14) with different bending angles.
2. The robot for installing the large-diameter steel bar drag hook according to claim 1, wherein the clamping and positioning modules comprise four groups, namely an upper pneumatic clamping and positioning module, a lower pneumatic clamping and positioning module, a left pneumatic clamping and positioning module and a right pneumatic clamping and positioning module.
3. The robot for installing the large-diameter steel bar drag hook according to claim 2, wherein the clamping and positioning module comprises an air cylinder (5), the air cylinder (5) is connected with a pneumatic clamping jaw actuator module (6), and two fixed clamping jaws (7) are oppositely installed on the pneumatic clamping jaw actuator module (6).
4. The large-diameter steel bar drag hook installing robot as claimed in claim 3, wherein the fixing clamping jaw (7) is provided with an arc-shaped groove corresponding to the diameter of the clamped steel bar main frame, and the fixing clamping jaw (7) is replaced according to different types of the diameter of the steel bar main frame.
5. The robot for mounting the large-diameter steel bar drag hook according to claim 1, wherein the vertical clamping traveling mechanism comprises a vertical clamping jaw fixing plate (1), two guide rails (2) are mounted on the upper surface of the vertical clamping jaw fixing plate (1) in parallel, a rack (3) is fixedly mounted on the left side of the guide rails (2), and an upper pneumatic clamping and positioning module and a lower pneumatic clamping and positioning module are mounted at two ends of the vertical clamping jaw fixing plate (1).
6. The robot for installing the large-diameter steel bar drag hook according to claim 1, wherein the horizontal clamping walking mechanism comprises a horizontal clamping jaw fixing plate (11), a left pneumatic clamping and positioning module and a right pneumatic clamping and positioning module are installed at two ends of the horizontal clamping jaw fixing plate (11), a motor (4) is vertically installed on the upper surface of the horizontal clamping jaw fixing plate (11), a motor shaft of the motor (4) penetrates through the horizontal clamping jaw fixing plate (11) and a lower driving gear (8) which are coaxially connected, the driving gear (8) is meshed with a rack (3), a sliding block (9) is installed on the lower surface of the horizontal clamping jaw fixing plate (11), and the sliding block (9) is connected with a guide rail (2) in a matched mode.
7. The robot for installing the large-diameter steel bar drag hook according to claim 6, wherein a hydraulic bending module is fixedly installed on the side surface of the horizontal clamping jaw fixing plate (11), the hydraulic bending module comprises a hydraulic push rod (12), and a V-groove roller (10) is installed at the tail end of the hydraulic push rod (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120344669.8U CN215697530U (en) | 2021-02-07 | 2021-02-07 | Major diameter rebar hook installation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120344669.8U CN215697530U (en) | 2021-02-07 | 2021-02-07 | Major diameter rebar hook installation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215697530U true CN215697530U (en) | 2022-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120344669.8U Active CN215697530U (en) | 2021-02-07 | 2021-02-07 | Major diameter rebar hook installation robot |
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| Country | Link |
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| CN (1) | CN215697530U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114412185A (en) * | 2022-02-11 | 2022-04-29 | 杨锁头 | Concrete roof pouring auxiliary robot and using method thereof |
| CN114700438A (en) * | 2022-05-07 | 2022-07-05 | 中国核工业电机运行技术开发有限公司 | Reinforcement cage bending assembly |
-
2021
- 2021-02-07 CN CN202120344669.8U patent/CN215697530U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114412185A (en) * | 2022-02-11 | 2022-04-29 | 杨锁头 | Concrete roof pouring auxiliary robot and using method thereof |
| CN114700438A (en) * | 2022-05-07 | 2022-07-05 | 中国核工业电机运行技术开发有限公司 | Reinforcement cage bending assembly |
| CN114700438B (en) * | 2022-05-07 | 2024-02-06 | 中国核工业电机运行技术开发有限公司 | Steel reinforcement cage subassembly of buckling |
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