CN219189297U - Simple installation robot for tower column drag hook rib - Google Patents
Simple installation robot for tower column drag hook rib Download PDFInfo
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- CN219189297U CN219189297U CN202223532323.4U CN202223532323U CN219189297U CN 219189297 U CN219189297 U CN 219189297U CN 202223532323 U CN202223532323 U CN 202223532323U CN 219189297 U CN219189297 U CN 219189297U
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Abstract
The utility model provides a simple installation robot for a tower column drag hook rib, wherein an inner cavity platform and an outer cavity platform are arranged on two sides of a steel bar part, a bending and welding device is arranged on the inner cavity platform, a drag hook rib material frame is arranged on the outer cavity platform, and a hook rib feeding platform is arranged on one side of the drag hook rib material frame; the hook bar feeding platform takes out the hook bar to pass through the reinforced bar part, and the bending welding device bends and welds the end part of the hook bar on the reinforced bar part; the inner cavity platform and the outer cavity platform are respectively provided with an automatic lifting frame, the lifting frames are provided with transverse driving frames, a bending welding device on the inner cavity platform and a hooking bar feeding platform on the outer cavity platform are respectively arranged on the two transverse driving frames, and the transverse driving frames drive the bending welding device and the hooking bar feeding platform to transversely slide; video monitoring equipment is arranged on the inner cavity platform and the outer cavity platform, and the automatic feeding, point searching, feeding, mounting, bending, welding and other works of the drag hook rib are completed by utilizing a mechanical device.
Description
Technical Field
The utility model relates to the field of bridge construction, in particular to a simple installation robot for a tower column drag hook rib.
Background
The construction of reinforced bar parts is one of the development directions of the bridge tower construction process in the future, the reinforced bar is manufactured into reinforced bar parts in advance, and then the reinforced bar parts are integrally hoisted to the butt joint position and then integrally installed. The construction process of the reinforced bar part can effectively save the construction time of the bridge tower reinforced bar binding, improve the reinforced bar binding quality, and the reinforced bar part can be mechanically or semi-mechanically operated in factories or special jig frames, thereby effectively reducing the labor intensity, improving the operation environment and reducing the risk of high-altitude operation.
In the manufacturing process of the bridge steel bar part, a large number of draw hook ribs exist, and manual installation is needed. The operation process is complicated, the industrial construction development of the bridge steel bars is not facilitated, and a mechanized hook steel bar installation is needed to replace manual operation.
Disclosure of Invention
The utility model mainly aims to provide a simple installation robot for a tower column drag hook rib, which solves the problem of pure manual operation of drag hook rib installation when steel bar parts are assembled in a jig frame.
In order to solve the technical problems, the utility model adopts the following technical scheme: the simple installation robot for the drag hook ribs of the tower column comprises an inner cavity platform and an outer cavity platform, wherein the inner cavity platform and the outer cavity platform are arranged on two sides of a steel bar part, a bending and welding device is arranged on the inner cavity platform, a drag hook rib material frame is arranged on the outer cavity platform, and a hook rib feeding platform is arranged on one side of the drag hook rib material frame;
the hook bar feeding platform takes out the hook bar to pass through the reinforced bar part, and the bending welding device bends and welds the end part of the hook bar on the reinforced bar part;
the inner cavity platform and the outer cavity platform are respectively provided with an automatic lifting frame, the lifting frames are provided with transverse driving frames, a bending welding device on the inner cavity platform and a hooking bar feeding platform on the outer cavity platform are respectively arranged on the two transverse driving frames, and the transverse driving frames drive the bending welding device and the hooking bar feeding platform to transversely slide;
the inner cavity platform and the outer cavity platform are respectively provided with a plurality of layers of sliding artificial platforms, and the artificial platforms are fixed on the platforms through bolts;
video monitoring equipment is arranged on the inner cavity platform and the outer cavity platform and used for controlling the insertion position of the hooking bars.
In the preferred scheme, the lifting frame comprises a first lifting frame and a second lifting frame, wherein the first lifting frame is arranged on the outer cavity platform, and the second lifting frame is arranged on the inner cavity platform;
the two ends of the first lifting frame are connected with sliding rails on the upright post of the outer cavity platform, one side of the first lifting frame is provided with a first motor, and a gear of the first motor is meshed with a rack on the outer cavity platform;
the first transverse driving frame comprises a plurality of sliding shafts, a first screw rod is arranged in the middle of the transverse driving frame, and the first screw rod is connected with a second motor;
the draw hook bar material frame is fixedly connected with the first lifting frame through nuts, the draw hook bar material frame is arranged at one end of the first lifting frame, a plurality of upward bent placing buckles are arranged on the draw hook bar material frame, and the straight section of the draw hook bar is placed on the placing buckles.
In the preferred scheme, a sliding lantern ring at the lower end of the hooking bar feeding platform is arranged on a sliding shaft of a first transverse driving frame, and a driving nut seat at the lower end of the hooking bar feeding platform is in threaded connection with a first screw rod;
the hook rib feeding platform is provided with a feeding claw and a fixed claw, and the feeding claw and the fixed claw are arranged on the lifting seat;
a transverse support frame is arranged on the support frame on the hooking bar feeding platform, the transverse material taking sliding frame is in sliding connection with the transverse support frame, a fourth screw rod on the transverse support frame is in threaded connection with the transverse material taking sliding frame, and a fifth motor on the support frame is connected with the fourth screw rod;
the lifting seat is vertically and slidably connected with the transverse material taking sliding frame, a third screw rod on the transverse material taking sliding frame is in threaded connection with the lifting seat, and a fourth motor on the transverse material taking sliding frame is connected with the third screw rod;
the lower end of the lifting seat is provided with a sliding groove, the feeding claw is in sliding connection with the sliding groove, a second screw rod is arranged on a third motor at one end of the sliding groove, the second screw rod is arranged in parallel with the sliding groove, and the feeding claw is in threaded connection with the second screw rod;
the fixed claw is arranged at the other end of the sliding groove, two claw ends of the fixed claw are provided with oppositely clamped rolling shafts, the middle part of each rolling shaft is sunken, and two ends of each rolling shaft are raised;
the fixed claw and the feeding claw clamp the drag hook rib, and the feeding claw pushes the drag hook rib to penetrate through the reinforced bar part.
In the preferred scheme, the fixed claw and the feeding claw are driven by the clamping cylinder, the end part of the telescopic rod of the clamping cylinder is hinged with the short side of the corner of the opposite clamping claw, and the corner position of the opposite clamping claw is hinged with the clamping cylinder.
In the preferred scheme, the welding bending device is arranged on a welding sliding seat, the welding sliding seat is in sliding connection with a second transverse driving frame, and the second transverse driving frame is arranged on a second lifting frame;
the lower part of the welding sliding seat is in threaded connection with a screw rod on the second transverse driving frame, and the screw rod is driven by a motor;
the structure of the welding bending device is as follows: the welding gun control device is arranged on the bending device, the bending device is in sliding connection with the welding sliding seat, a fifth screw rod is arranged at the output end of the sixth motor on the welding sliding seat, and the fifth screw rod is in threaded connection with the welding sliding seat;
the sixth motor drives the fifth screw to rotate, and drives the whole welding bending device to be close to the reinforced bar part.
In the preferred scheme, the welding gun is arranged on the welding gun control device, and the welding gun control device controls the multi-position mobile welding of the welding gun;
the bending device comprises a fixed frame, the fixed frame is connected with the welding sliding seat, a hook rib clamping seat is arranged on one side of the fixed frame, and the hook rib clamping seat is used for clamping a straight section of the hook rib;
a bending electric push rod is arranged on one side of the fixed frame, a fixed support arm is arranged on the bending electric push rod, the end part of a telescopic rod of the bending electric push rod is hinged with the end part of a bending crank arm, the end part of the fixed support arm is hinged with the middle part of the bending crank arm through a bending hinge arm, and a V-shaped bending positioning groove is formed in the movable end of the bending crank arm;
after the hooking bar clamping seat clamps the hooking bar straight section, the bending electric push rod pushes the bending crank arm to bend the hooking bar straight end.
In the preferred scheme, after the hooking bar clamping seat clamps the straight section of the hooking bar, the bending electric push rod pushes the bending crank arm to bend the straight end of the hooking bar;
the hook rib clamping seat is arranged on one side of the fixed frame, a positioning clamping groove is formed in one side of the fixed frame at the position of the hook rib clamping seat, and the steel bars of the steel bar part are clamped on the positioning clamping groove for positioning;
the hook rib clamping seat comprises an upper clamping block and a lower clamping block of two opposite clamps, and the two clamping blocks drive the opposite clamps through two third air cylinders respectively;
the end part of a pressing pushing rod of the third cylinder is connected with a pushing sliding block, the pushing sliding block is in sliding connection with a fixed plate, the fixed plate is fixedly connected with a fixed frame, the lower end of the pushing sliding block is hinged with an upper clamping block through a pushing hinging rod, and the upper clamping block is in sliding connection with the fixed plate through a plurality of guide posts.
In the preferred scheme, the upper clamping block and the lower clamping block are provided with hook rib clamping grooves which are used for clamping hook ribs;
the upper clamping block is provided with a plurality of positioning convex blocks, and the lower clamping block is provided with a plurality of positioning grooves matched with the positioning convex blocks.
In a preferred embodiment, the welding gun control device has the following structure: the welding gun mounting frame is arranged on one side of the bending device, the welding gun is arranged on the sliding block, the sliding block is in sliding connection with the sliding groove, the sliding groove is in transverse sliding connection with a sliding rod of the welding gun mounting frame, the end part of a first cylinder telescopic rod on the welding gun mounting frame is connected with the sliding block, and the end part of a second cylinder telescopic rod on the side surface of the welding gun mounting frame is connected with the sliding groove;
the welding end of the welding gun stretches into the bending device, and the first cylinder and the second cylinder move the welding gun to weld the hooking bars on the reinforced bar part.
The utility model provides a simple robot for installing a tower column drag hook rib, which is a final procedure of assembling a part when the part of a steel bar is assembled on a jig frame. A reinforcing steel bar part assembling jig frame is arranged and is divided into an inner cavity and an outer cavity. The inner cavity jig frame and the outer cavity jig frame are provided with manual operation platforms which can move up and down along the stand columns of the jig frame and can be fixed at a plurality of points.
The utility model mainly discloses a steel bar part product jig frame, which is characterized in that a mechanical device is utilized to complete the works of automatic feeding, point searching, feeding, installation, bending, welding and the like of the drag hook ribs. Replaces manual operation and realizes the automatic installation of the drag hook rib. The platform is a mechanism bearing platform and is controlled by a servo motor to move up and down. The draw hook bar material rack and the draw hook bar feeding mechanism are arranged on the platform. The draw hook bar frame is a fixed position, and the feeding mechanism can slide along the platform. The draw hook rib is convenient for taking materials. At present, the material taking mechanism is set to be a three-coordinate mechanism to replace three-coordinate movement. The material taking mechanism is provided with a machine vision structure.
The inner cavity platform of the part jig frame is provided with the draw-hook rib bending mechanism at the bottom, and the draw-hook rib clamping groove is arranged on the bending mechanism, so that the draw-hook rib can be close to a bending point and clamped inside the steel bar part, and bending of the draw-hook rib is not affected. The bending mechanism is provided with a bending mechanism, so that the drag hook rib can be bent on site. Meanwhile, the bending mechanism is integrated with mechanisms such as machine vision recognition, welding gun and the like.
Drawings
The utility model is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a front view of the overall installation of the present utility model;
FIG. 2 is a front elevational view of the overall installation of the present utility model;
FIG. 3 is a rear view of the overall installation of the present utility model;
FIG. 4 is a block diagram of a first crane mounted to an external cavity platform of the present utility model;
FIG. 5 is a general construction view of a first crane according to the utility model;
FIG. 6 is a drawing of a drawing hook bar frame mounting block diagram of the present utility model;
FIG. 7 is a front view block diagram of the hooking bar feeding platform of the present utility model;
FIG. 8 is a rear view block diagram of the hooking bar feeding platform of the present utility model;
FIG. 9 is a cross-sectional block diagram of a clamping cylinder of the present utility model;
FIG. 10 is a second crane mounting structure of the present utility model;
FIG. 11 is a front view of the bending device and welding slide mount of the present utility model;
FIG. 12 is a rear view of the bending device and welding slide mount of the present utility model;
FIG. 13 is a diagram of the overall bending structure of the bending device of the present utility model;
FIG. 14 is a top view of the bending apparatus of the present utility model;
FIG. 15 is a diagram illustrating the mounting of a bending lever of the bending device of the present utility model;
FIG. 16 is a top view of the bending device of the present utility model with a bent lever assembly;
FIG. 17 is a block diagram of the installation of the hooking bar clamping seat and the welding gun control device of the present utility model;
FIG. 18 is a general block diagram of a hooking bar clamping seat of the present utility model;
FIG. 19 is a cross-sectional view of the hooking bar clamping seat of the present utility model;
FIG. 20 is a right side view mounting block diagram of the gun control of the present utility model;
fig. 21 is a left side view of the welding gun control device according to the present utility model.
In the figure: an inner cavity platform 1; an outer cavity platform 2; a drag hook rib 3; a manual platform 4; a reinforcing bar part 5; a rack 6; a slide rail 7; a drag hook bar material rack 8; placing a buckle 801; a first motor 9; a gear 901; a first lifting frame 10; a second lifting frame 1001; a first transverse driving frame 11; a sliding shaft 1101; a first screw 1102; a second motor 1103; a second transverse drive rack 1104; a hooking bar feeding platform 12; a sliding collar 1201; a drive nut seat 1202; a support 1203; a transverse support 1204; a lateral take off carriage 1205; a sliding groove 13; a feed dog 14; a clamping cylinder 1401; a pair of jaws 1402; a fixed jaw 15; a second screw 16; a third motor 17; a lifting seat 18; a third screw 19; a fourth motor 20; a fourth screw 21; a fifth motor 22; welding the sliding seat 23; a sixth motor 2301; a fifth screw 2302; a bending device 24; positioning slot 2401; a guide sliding column 2402; sliding sleeve 2403; bending the crank arm 2404; bending positioning groove 2405; bending hinge arms 2406; fixed arm 2407; bending the electric push rod 25; a welding gun control device 26; a welding gun mount 2601; a first cylinder 2602; a slider 2603; a welding gun mounting bracket 2604; a chute 2605; a slide lever 2606; a second cylinder 2607; the hooking bar clamps the seat 27; an upper clamping block 2701; a fixing plate 2702; a third cylinder 2703; a guide post 2704; a positioning bump 2705; the hooking rib clamping groove 2706; a positioning groove 2707; a lower clamp block 2708; pressing the push rod 2709; pushing slider 2710; pushing the hinge rod 2711; guide posts 2712; and a welding gun 28.
Detailed Description
Example 1
As shown in fig. 1-21, a simple installation robot for a tower column drag hook rib comprises an inner cavity platform 1 and an outer cavity platform 2, wherein the inner cavity platform 1 and the outer cavity platform 2 are arranged on two sides of a steel bar part 5, a bending welding device is arranged on the inner cavity platform 1, a drag hook rib material rack 8 is arranged on the outer cavity platform 2, and a hook rib feeding platform 12 is arranged on one side of the drag hook rib material rack 8. The inner cavity platform 1 and the outer cavity platform 2 are arranged on two sides of the reinforced bar part 5, the outer cavity platform 2 pulls the hook bar rack 8 to penetrate the hook bar 3 through the reinforced bar part 5, and the bending welding device on the inner cavity platform 1 bends and welds the end part of the hook bar 3 on the reinforced bar part 5. The hook bar feeding platform 12 takes out the hook bar 3 to pass through the reinforced bar part 5, and the bending and welding device bends and welds the end part of the hook bar 3 on the reinforced bar part 5.
The inner cavity platform 1 and the outer cavity platform 2 are respectively provided with an automatic lifting frame, the lifting frames are provided with transverse driving frames, the bending welding device on the inner cavity platform 1 and the hooking bar feeding platform 12 on the outer cavity platform 2 are respectively arranged on the two transverse driving frames, and the transverse driving frames drive the bending welding device and the hooking bar feeding platform 12 to transversely slide; the lifting frame capable of automatically lifting is driven to lift by a gear rack, the transverse driving frames on the cavity platform 1 and the outer cavity platform 2 drive the draw hook rib material frame 8 and the bending welding device to transversely slide, and the sliding mode drives the transverse sliding mode by adopting a gear rack driving mode.
The inner cavity platform 1 and the outer cavity platform 2 are respectively provided with a plurality of layers of sliding artificial platforms 4, and the artificial platforms 4 are fixed on the platforms through bolts; the artificial platform 4 can be fixed at different positions by bolts.
Video monitoring equipment is arranged on the inner cavity platform 1 and the outer cavity platform 2 and used for controlling the insertion position of the hooking bars. The position of the hook rib is detected for the video monitoring equipment, and the automatic insertion of the hook rib is also facilitated.
In a preferred scheme, the lifting frames comprise a first lifting frame 10 and a second lifting frame 1001, wherein the first lifting frame 10 is arranged on the outer cavity platform 2, and the second lifting frame 1001 is arranged on the inner cavity platform 1; the first and second lifters 10 and 1001 are identical in structure.
The two ends of the first lifting frame 10 are connected with the sliding rails 7 on the upright posts of the outer cavity platform 2, one side of the first lifting frame 10 is provided with a first motor 9, and a gear 901 of the first motor 9 is meshed with the rack 6 on the outer cavity platform 2; the gear 901 of the first motor 9 drives the entire first elevation frame 10 to slide up and down.
The first transverse driving frame 11 comprises a plurality of sliding shafts 1101, a first screw rod 1102 is arranged in the middle of the transverse driving frame 11, and the first screw rod 1102 is connected with a second motor 1103; the first transverse driving frame 11 and the second transverse driving frame 1104 are identical in structure.
The draw hook bar material frame 8 is fixedly connected with the first lifting frame 10 through nuts, the draw hook bar material frame 8 is arranged at one end of the first lifting frame 10, a plurality of upward bent placing buckles 801 are arranged on the draw hook bar material frame 8, and the straight sections of the draw hook bars 3 are placed on the placing buckles 801. The draw hook bar material frame 8 is convenient to detach, and the draw hook bars 3 are also convenient to place by a plurality of upward bent placing buckles 801 on the draw hook bar material frame 8.
In the preferred scheme, a sliding collar 1201 at the lower end of the hooking bar feeding platform 12 is arranged on a sliding shaft 1101 of the first transverse driving frame 11, and a driving nut seat 1202 at the lower end of the hooking bar feeding platform 12 is in threaded connection with a first screw 1102; the sliding collar 1201 of the hooking strip feeding platform 12 slides on the sliding shaft 1101 of the first transversal driving frame 11, and the whole hooking strip feeding platform 12 is driven to slide on the first transversal driving frame 11 by the first screw 1102.
The hooking bar feeding platform 12 is provided with a feeding claw 14 and a fixed claw 15, and the feeding claw 14 and the fixed claw 15 are arranged on the lifting seat 18; the feeding claw 14 is used for transverse feeding, and the fixing claw 15 plays a role in fixing the position of the drag hook rib 3 and is equivalent to a role of a guide wheel.
A transverse support 1204 is arranged on a support 1203 on the hooking bar feeding platform 12, a transverse material taking sliding frame 1205 is connected with the transverse support 1204 in a sliding way, a fourth screw 21 on the transverse support 1204 is connected with the transverse material taking sliding frame 1205 in a threaded way, and a fifth motor 22 on the support 1203 is connected with the fourth screw 21; the fifth motor 22 drives the fourth screw 21 to rotate, and the fourth screw 21 drives the entire transverse feeding carriage 1205 to transversely slide, so as to adjust the transverse positions of the feeding claw 14 and the fixing claw 15.
The lifting seat 18 is vertically and slidably connected with the transverse material taking sliding frame 1205, a third screw rod 19 on the transverse material taking sliding frame 1205 is in threaded connection with the lifting seat 18, and a fourth motor 20 on the transverse material taking sliding frame 1205 is connected with the third screw rod 19; the fourth motor 20 drives the third screw 19 to rotate, and the third screw 19 drives the lifting seat 18 to slide up and down, so that the feeding claw 14 and the fixed claw 15 can take materials up and down conveniently.
The lower end of the lifting seat 18 is provided with a sliding groove 13, the feeding claw 14 is in sliding connection with the sliding groove 13, a third motor 17 at one end of the sliding groove 13 is provided with a second screw 16, the second screw 16 is arranged in parallel with the sliding groove 13, and the feeding claw 14 is in threaded connection with the second screw 16; the third motor 17 drives the second screw 16 to drive the feeding claw 14 to transversely slide, so that the technical effect of feeding the draw hook rib 3 forward is achieved.
The fixed claw 15 is arranged at the other end of the sliding groove 13, two claw ends of the fixed claw 15 are provided with oppositely clamped rolling shafts, and the middle part of each rolling shaft is concave and two ends of each rolling shaft are convex; the fixed jaw 15 plays a role of lifting guide.
The fixed claw 15 and the feeding claw 14 clamp the draw hook bar 3, and the feeding claw 14 pushes the draw hook bar 3 to penetrate through the reinforced bar part 5.
In a preferred embodiment, the fixed jaw 15 and the feeding jaw 14 are driven by a clamping cylinder 1401, the telescopic rod end of the clamping cylinder 1401 is hinged to the corner short side of the counter jaw 1402, and the corner position of the counter jaw 1402 is hinged to the clamping cylinder 1401. The clamping cylinder 1401 drives the fixing jaw 15 and the feeding jaw 14 to clamp the draw hook bar 3.
Example 2
As further described in connection with embodiment 1, in the preferred embodiment, as shown in fig. 1-21, the welding bending device is disposed on the welding sliding seat 23, the welding sliding seat 23 is slidably connected to the second transverse driving frame 1104, and the second transverse driving frame 1104 is disposed on the second lifting frame 1001; the lower part of the welding sliding seat 23 is in threaded connection with a screw rod on the second transverse driving frame 1104, and the screw rod is driven by a motor; the welding sliding seat 23 transversely slides on the second transverse driving frame 1104, and the second transverse driving frame 1104 vertically slides on the inner cavity platform 1, so that multi-position welding and bending are realized.
The structure of the welding bending device is as follows: the welding gun control device 26 is arranged on the bending device 24, the bending device 24 is in sliding connection with the welding sliding seat 23, a fifth screw 2302 is arranged at the output end of a sixth motor 2301 on the welding sliding seat 23, the fifth screw 2302 is in threaded connection with the welding sliding seat 23, and the sixth motor 2301 drives the fifth screw 2302 to rotate so as to drive the whole welding bending device to be close to the reinforced bar part 5. The position close to the steel bar part 5 is convenient, and the stretching out drag hook 3 is bent and welded.
Preferably, the welding gun 28 is arranged on the welding gun control device 26, and the welding gun control device 26 controls the welding gun 28 to move for welding at multiple positions; the bending device 24 comprises a fixed frame, the fixed frame is connected with the welding sliding seat 23, one side of the fixed frame is provided with a hook rib clamping seat 27, and the hook rib clamping seat 27 is used for clamping a hook rib straight section; a bending electric push rod 25 is arranged on one side of the fixed frame, a fixed support arm 2407 is arranged on the bending electric push rod 25, the end part of a telescopic rod of the bending electric push rod 25 is hinged with the end part of a bending crank arm 2404, the end part of the fixed support arm 2407 is hinged with the middle part of the bending crank arm 2404 through a bending hinge arm 2406, and a V-shaped bending positioning groove 2405 is arranged at the movable end of the bending crank arm 2404; the bending electric push rod 25 pushes the bending crank arm 2404, the bending crank arm 2404 is limited by the bending hinge arm 2406, the bending crank arm 2404 forms a bending annular structure, and the end part of the hooking bar is bent and hung on the reinforced bar part 5. After the hooking bar clamping seat 27 clamps the hooking bar straight section, the bending electric push rod 25 pushes the bending crank arm 2404 to bend the hooking bar straight end. After the hooking bar clamping seat 27 clamps the hooking bar straight section, the bending electric push rod 25 pushes the bending crank arm 2404 to bend the hooking bar straight end.
In the preferred scheme, after the hook rib clamping seat 27 clamps the hook rib straight section, the bending electric push rod 25 pushes the bending crank arm 2404 to bend the hook rib straight end, the hook rib clamping seat 27 is arranged on one side of the fixed frame, and the fixed frame is provided with a positioning clamping groove 2401 on one side of the hook rib clamping seat 27. The steel bar of the steel bar part 5 is clamped on the positioning clamping groove 2401, the hook bar is clamped on the hook bar clamping seat 27, and then the bending structure bends the straight end of the whole hook bar.
The steel bars of the steel bar part 5 are clamped on the positioning clamping groove 2401 for positioning, the steel bar hooking clamping seat 27 comprises an upper clamping block 2701 and a lower clamping block 2708 of two butt clamps, and the two clamping blocks respectively drive the butt clamps through two third air cylinders 2703; the end of a pressing pushing rod 2709 of the third air cylinder 2703 is connected with a pushing sliding block 2710, the pushing sliding block 2710 is in sliding connection with a fixed plate 2702, the fixed plate 2702 is fixedly connected with a fixed frame, the lower end of the pushing sliding block 2710 is hinged with an upper clamping block 2701 through a pushing hinging rod 2711, and the upper clamping block 2701 is in sliding connection with the fixed plate 2702 through a plurality of guide posts 2712. The upper and lower clamping blocks 2701 and 2708 of the two opposite clamps are driven to clamp by a third cylinder 2703.
In a preferred scheme, the upper clamping block 2701 and the lower clamping block 2708 are provided with a hooking rib clamping groove 2706, and the hooking rib clamping groove 2706 is used for clamping hooking ribs; the clamping groove 2706 facilitates clamping of the entire hooking bar.
The upper clamping block 2701 is provided with a plurality of positioning projections 2705, and the lower clamping block 2708 is provided with a plurality of positioning grooves 2707 which are matched with the positioning projections 2705. The positioning projection 2705 is clamped in the positioning groove 2707, so that the upper clamping block 2701 and the lower clamping block 2708 are more stably abutted.
In a preferred embodiment, the welding gun control device 26 has the following structure: the welding gun mounting bracket 2604 is arranged on one side of the bending device 24, the welding gun 28 is arranged on the sliding block 2603, the sliding block 2603 is in sliding connection with the sliding groove 2605, the sliding groove 2605 is in sliding connection with a sliding rod 2606 of the welding gun mounting bracket 2604, the telescopic rod end of the first air cylinder 2602 on the welding gun mounting bracket 2604 is connected with the sliding block 2603, the telescopic rod end of the second air cylinder 2607 on the side face of the welding gun mounting bracket 2604 is connected with the sliding groove 2605, the welding end of the welding gun 28 stretches into the inside of the bending device 24, and the first air cylinder 2602 and the second air cylinder 2607 move the position of the welding gun 28 to weld the hooking bar on the reinforced bar part 5.
The welding gun 28 is mounted on the welding gun control device 26, and the first air cylinder 2602 and the second air cylinder 2607 adjust whether the welding gun 28 approaches the welding position or not, and slide laterally to achieve the welding length. The welding end of the welding gun 28 extends into the bending device 24, and the first air cylinder 2602 and the second air cylinder 2607 move the position of the welding gun 28 to weld the hooked bar on the reinforced bar part 2.
Example 3
Further described in connection with examples 1-2, the structure shown in FIGS. 1-21, comprises the following construction steps:
s1, preparation before work: lifting the artificial platform 4 to the top, fixing the artificial platform on the top of the platform by utilizing a bolt, and moving the internal and external cavity drag hook rib mounting equipment to the bottoms of the internal cavity platform 1 and the external cavity platform 2;
s2, loading of drag hook ribs: carrying a drag hook bar material frame 8 loaded with drag hook bars to the end part of a first lifting frame 10 of the outer cavity platform 2 for fixing;
s3, grid identification: the first lifting frame 10 on the outer cavity platform 2 is lifted to the bottom height of the area to be installed, the machine vision equipment on the hook bar feeding platform 12 starts to scan the area to be installed with the hook bar on the steel bar part 5, the steel bar grid formed by the main bar and the stirrup is identified, the machine vision scans a certain area in sequence, and after each scanning is finished, the control system can automatically calculate the position of the inserting locating point of the hook bar in the scanning area;
s4, feeding the drag hook ribs: the feeding claw 14 and the fixing claw 15 on the hook rib feeding platform 12 move to the hook rib material frame 8, and the hook rib 3 starts to be grabbed from top to bottom in sequence;
when the drag hook bar 3 is grabbed, the feeding claw 14 moves to the far end away from the steel bar part 5 through the third motor 17, the feeding claw 14 controls clamping of the clamping claw through the air cylinder, the fixed claw 15 forms a rolling channel through two concave rollers, the drag hook bar 3 can be clamped, and meanwhile, the drag hook bar 3 can be slightly loosened to enable the drag hook bar 3 to slide along a clamping groove between two wheels;
after the drag hook bar 3 is clamped, the two clamping jaws clamp, the drag hook bar 3 is grabbed, and the drag hook bar moves to a steel bar grid to be penetrated along with the third motor 17;
moving to a positioning point to be inserted, and penetrating the straight end of the drag hook bar 3 into the grid of the steel bar part from the grid of the external cavity steel bar part 5;
when the draw hook bar 3 is used for feeding, as the draw hook bar is relatively long, the two clamping jaws need to be matched, when the feeding clamping jaw 14 moves to be close to the fixed clamping jaw 15, the cylinder of the fixed clamping jaw 15 clamps at the moment, the cylinder of the feeding clamping jaw 14 is opened and moves to the most far end reversely, the draw hook bar 3 clamps, and then the fixed clamping jaw 15 is slightly loosened;
the feeding claw 14 clamps the draw hook bar to continue feeding until the hook of the draw hook bar 3 is contacted with the stirrup of the steel bar part 5 and the draw hook bar 3 can not move any more;
s5, positioning a drag hook rib: after the drag hook 3 penetrates into the part, the machine vision on the bending mechanism scans the grid of the inner cavity steel bar part 5, and the grid is calculated according to a program and positioned to the position of the drag hook 3 to be installed;
when the clamping end of the hook bar feeding platform 12 approaches to a part of the article after the hook bar 3 penetrates, an opening receiving mechanism on the bending mechanism stretches into the grid to prepare for receiving;
at this time, the straight end is already close to the opening of the bending mechanism, and the draw hook bar 3 is clamped by the hook bar clamping seat 27 along the opening;
at the moment, the tail part of the draw hook bar 3 is provided with a hook part, the elbow part is inserted into the grid, the hook part of the draw hook bar is abutted against the part stirrup, and a welding gun on the feeding mechanism spot welds the draw hook bar and the stirrup;
s6, drag hook rib material receiving: after the draw hook bar 3 is inserted into the opening of the bending mechanism, the draw hook bar enters the bending device 24 along the draw hook bar clamping grooves 2706 of the lower clamping block 2708 and the upper clamping block 2701;
s7, automatic bending: after the bent hook part of the drag hook rib 3 is welded with the external cavity stirrup, the part to be bent of the tail part of the drag hook rib 3 enters the bending device 24, the bending mechanism acts to bend the end part of the drag hook rib by 90 degrees and is attached to the main rib, and then the drag hook rib, the bent part and the stirrup are immediately welded together;
s8, shifting: when the drag hook 3 feeding mechanism performs spot welding on the drag hook, the feeding mechanism moves to the next grid to feed the drag hook of the next grid, and when the drag hook enters a clamping groove of the bending mechanism during feeding, the feeding mechanism starts spot welding after being clamped by the bending mechanism;
after the spot welding is finished, the spot welding is moved to the next grid, and the actions of the hooking bar feeding platform 12 and the bending device 24 are not synchronous;
s9, feeding the drag hook ribs: after the drag hook bar on the drag hook bar 3 frame is installed, at this time, the bending device 24 moves to the area where the next drag hook bar is to be installed;
the hook rib feeding platform 12 descends to the bottom along with the platform, and the next group of hook ribs starts to feed;
and repeating the steps S1 to S9 until all the drag hook ribs in the area are completely installed.
The above embodiments are only preferred embodiments of the present utility model, and should not be construed as limiting the present utility model, and the scope of the present utility model should be defined by the claims, including the equivalents of the technical features in the claims. I.e., equivalent replacement modifications within the scope of this utility model are also within the scope of the utility model.
Claims (10)
1. Simple installation robot for tower column drag hook ribs is characterized in that: the device comprises an inner cavity platform (1) and an outer cavity platform (2), wherein the inner cavity platform (1) and the outer cavity platform (2) are arranged on two sides of a steel bar part (5), a bending and welding device is arranged on the inner cavity platform (1), a draw hook bar material rack (8) is arranged on the outer cavity platform (2), and a hook bar material feeding platform (12) is arranged on one side of the draw hook bar material rack (8);
the hook bar feeding platform (12) takes out the hook bar (3) to penetrate through the steel bar part (5), and the bending welding device bends and welds the end part of the hook bar (3) on the steel bar part (5);
lifting frames capable of automatically lifting are arranged on the inner cavity platform (1) and the outer cavity platform (2), transverse driving frames are arranged on the lifting frames, a bending welding device on the inner cavity platform (1) and a hooking bar feeding platform (12) on the outer cavity platform (2) are respectively arranged on the two transverse driving frames, and the transverse driving frames drive the bending welding device and the hooking bar feeding platform (12) to transversely slide;
the inner cavity platform (1) and the outer cavity platform (2) are respectively provided with a plurality of layers of sliding artificial platforms (4), and the artificial platforms (4) are fixed on the platforms through bolts;
video monitoring equipment is arranged on the inner cavity platform (1) and the outer cavity platform (2), and the video monitoring equipment is used for controlling the insertion position of the hook rib.
2. The simple installation robot for a column drag hook rib according to claim 1, wherein: the lifting frames comprise a first lifting frame (10) and a second lifting frame (1001), the first lifting frame (10) is arranged on the outer cavity platform (2), and the second lifting frame (1001) is arranged on the inner cavity platform (1);
two ends of the first lifting frame (10) are connected with sliding rails (7) on the upright posts of the outer cavity platform (2), one side of the first lifting frame (10) is provided with a first motor (9), and a gear (901) of the first motor (9) is meshed with a rack (6) on the outer cavity platform (2);
the first transverse driving frame (11) comprises a plurality of sliding shafts (1101), a first screw rod (1102) is arranged in the middle of the transverse driving frame (11), and the first screw rod (1102) is connected with a second motor (1103);
the drag hook muscle work or material rest (8) passes through nut fixed connection with first crane (10), and drag hook muscle work or material rest (8) set up in first crane (10) one end, are equipped with a plurality of placing of upwards bending on drag hook muscle work or material rest (8) and detain (801), and drag hook muscle (3) straight section is placed on placing knot (801).
3. The simple installation robot for a column drag hook rib according to claim 1, wherein: a sliding lantern ring (1201) at the lower end of the hooking bar feeding platform (12) is arranged on a sliding shaft (1101) of the first transverse driving frame (11), and a driving nut seat (1202) at the lower end of the hooking bar feeding platform (12) is in threaded connection with the first screw rod (1102);
a feeding claw (14) and a fixed claw (15) are arranged on the hooking bar feeding platform (12), and the feeding claw (14) and the fixed claw (15) are arranged on the lifting seat (18);
a transverse supporting frame (1204) is arranged on a supporting frame (1203) on the hooking bar feeding platform (12), a transverse material taking sliding frame (1205) is in sliding connection with the transverse supporting frame (1204), a fourth screw rod (21) on the transverse supporting frame (1204) is in threaded connection with the transverse material taking sliding frame (1205), and a fifth motor (22) on the supporting frame (1203) is connected with the fourth screw rod (21);
the lifting seat (18) is vertically and slidably connected with the transverse material taking sliding frame (1205), a third screw rod (19) on the transverse material taking sliding frame (1205) is in threaded connection with the lifting seat (18), and a fourth motor (20) on the transverse material taking sliding frame (1205) is connected with the third screw rod (19);
the lower end of the lifting seat (18) is provided with a sliding groove (13), the feeding claw (14) is in sliding connection with the sliding groove (13), a third motor (17) at one end of the sliding groove (13) is provided with a second screw rod (16), the second screw rod (16) is arranged in parallel with the sliding groove (13), and the feeding claw (14) is in threaded connection with the second screw rod (16);
the fixed claw (15) is arranged at the other end of the sliding groove (13), two claw ends of the fixed claw (15) are provided with oppositely clamped rolling shafts, and the middle part of each rolling shaft is concave and two ends of each rolling shaft are convex;
the fixed claw (15) and the feeding claw (14) clamp the drag hook rib (3), and the feeding claw (14) pushes the drag hook rib (3) to penetrate through the steel bar part (5).
4. A tower retractor bar simple installation robot according to claim 3, wherein: the fixed claw (15) and the feeding claw (14) are driven by a clamping cylinder (1401), the end part of a telescopic rod of the clamping cylinder (1401) is hinged with the short side of a corner of the opposite claw (1402), and the corner position of the opposite claw (1402) is hinged with the clamping cylinder (1401).
5. The simple installation robot for a column drag hook rib according to claim 1, wherein: the welding bending device is arranged on the welding sliding seat (23), the welding sliding seat (23) is in sliding connection with the second transverse driving frame (1104), and the second transverse driving frame (1104) is arranged on the second lifting frame (1001);
the lower part of the welding sliding seat (23) is in threaded connection with a screw rod on the second transverse driving frame (1104), and the screw rod is driven by a motor;
the structure of the welding bending device is as follows: the welding gun control device (26) is arranged on the bending device (24), the bending device (24) is in sliding connection with the welding sliding seat (23), a fifth screw rod (2302) is arranged at the output end of a sixth motor (2301) on the welding sliding seat (23), and the fifth screw rod (2302) is in threaded connection with the welding sliding seat (23);
the sixth motor (2301) drives the fifth screw (2302) to rotate, and drives the whole welding bending device to be close to the reinforced bar part (5).
6. The simple installation robot for a column drag hook rib according to claim 5, wherein: the welding gun (28) is arranged on the welding gun control device (26), and the welding gun control device (26) controls the welding gun (28) to move for welding at multiple positions;
the bending device (24) comprises a fixed frame, the fixed frame is connected with the welding sliding seat (23), a hook rib clamping seat (27) is arranged on one side of the fixed frame, and the hook rib clamping seat (27) is used for clamping the hook rib straight section;
a bending electric push rod (25) is arranged on one side of the fixed frame, a fixed support arm (2407) is arranged on the bending electric push rod (25), the end part of a telescopic rod of the bending electric push rod (25) is hinged with the end part of a bending crank arm (2404), the end part of the fixed support arm (2407) is hinged with the middle part of the bending crank arm (2404) through a bending hinge arm (2406), and a V-shaped bending positioning groove (2405) is arranged at the movable end of the bending crank arm (2404);
after the hooking bar clamping seat (27) clamps the hooking bar straight section, the bending electric push rod (25) pushes the bending crank arm (2404) to bend the hooking bar straight end.
7. The simple installation robot for a column drag hook rib according to claim 6, wherein: after the hooking bar clamping seat (27) clamps the hooking bar straight section, the bending electric push rod (25) pushes the bending crank arm (2404) to bend the hooking bar straight end;
the hook rib clamping seat (27) is arranged on one side of the fixed frame, a positioning clamping groove (2401) is formed in one side of the fixed frame at the position of the hook rib clamping seat (27), and the steel bars of the steel bar part (5) are clamped on the positioning clamping groove (2401) for positioning;
the hook rib clamping seat (27) comprises an upper clamping block (2701) and a lower clamping block (2708) of two opposite clamps, and the opposite clamps are driven by the two clamping blocks through two third air cylinders (2703) respectively;
the end part of a pressing pushing rod (2709) of a third air cylinder (2703) is connected with a pushing sliding block (2710), the pushing sliding block (2710) is in sliding connection with a fixed plate (2702), the fixed plate (2702) is fixedly connected with a fixed frame, the lower end of the pushing sliding block (2710) is hinged with an upper clamping block (2701) through a pushing hinging rod (2711), and the upper clamping block (2701) is in sliding connection with the fixed plate (2702) through a plurality of guide posts (2712).
8. The simple installation robot for a column drag hook rib according to claim 7, wherein: the upper clamping block (2701) and the lower clamping block (2708) are provided with a hook rib clamping groove (2706), and the hook rib clamping groove (2706) is used for clamping the hook rib.
9. The simple installation robot for a column drag hook rib according to claim 8, wherein: the upper clamping block (2701) is provided with a plurality of positioning convex blocks (2705), and the lower clamping block (2708) is provided with a plurality of positioning grooves (2707) matched with the positioning convex blocks (2705).
10. The simple installation robot for a column drag hook rib according to claim 6, wherein: the welding gun control device (26) has the structure that: the welding gun mounting frame (2604) is arranged on one side of the bending device (24), the welding gun (28) is arranged on the sliding block (2603), the sliding block (2603) is in sliding connection with the sliding groove (2605), the sliding groove (2605) is in transverse sliding connection with a sliding rod (2606) of the welding gun mounting frame (2604), the end part of a telescopic rod of a first air cylinder (2602) on the welding gun mounting frame (2604) is connected with the sliding block (2603), and the end part of a telescopic rod of a second air cylinder (2607) on the side surface of the welding gun mounting frame (2604) is connected with the sliding groove (2605);
the welding end of the welding gun (28) stretches into the bending device (24), and the first air cylinder (2602) and the second air cylinder (2607) move the welding gun (28) to weld the hook bar on the reinforced bar part (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223532323.4U CN219189297U (en) | 2022-12-29 | 2022-12-29 | Simple installation robot for tower column drag hook rib |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223532323.4U CN219189297U (en) | 2022-12-29 | 2022-12-29 | Simple installation robot for tower column drag hook rib |
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| CN219189297U true CN219189297U (en) | 2023-06-16 |
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| CN202223532323.4U Active CN219189297U (en) | 2022-12-29 | 2022-12-29 | Simple installation robot for tower column drag hook rib |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116274771A (en) * | 2022-12-29 | 2023-06-23 | 中交第二航务工程局有限公司 | Simple robot system for installing tower column drag hook ribs and construction method thereof |
| WO2024098947A1 (en) * | 2022-12-29 | 2024-05-16 | 中交第二航务工程局有限公司 | Automatic mounting robot system for tower column tie bar |
-
2022
- 2022-12-29 CN CN202223532323.4U patent/CN219189297U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116274771A (en) * | 2022-12-29 | 2023-06-23 | 中交第二航务工程局有限公司 | Simple robot system for installing tower column drag hook ribs and construction method thereof |
| WO2024098947A1 (en) * | 2022-12-29 | 2024-05-16 | 中交第二航务工程局有限公司 | Automatic mounting robot system for tower column tie bar |
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