WO2023029094A1 - 一种轨道隧道道床板钢筋铺设机器人 - Google Patents
一种轨道隧道道床板钢筋铺设机器人 Download PDFInfo
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- WO2023029094A1 WO2023029094A1 PCT/CN2021/118474 CN2021118474W WO2023029094A1 WO 2023029094 A1 WO2023029094 A1 WO 2023029094A1 CN 2021118474 W CN2021118474 W CN 2021118474W WO 2023029094 A1 WO2023029094 A1 WO 2023029094A1
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- WIPO (PCT)
- Prior art keywords
- fixedly installed
- steel bars
- laying
- welding
- clamping
- Prior art date
Links
- 229910001294 Reinforcing steel Inorganic materials 0.000 title abstract 7
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 118
- 239000010959 steel Substances 0.000 claims abstract description 118
- 238000003466 welding Methods 0.000 claims abstract description 84
- 230000005540 biological transmission Effects 0.000 claims description 39
- 210000000078 claw Anatomy 0.000 claims description 13
- 230000032258 transport Effects 0.000 claims description 10
- 238000010276 construction Methods 0.000 abstract description 13
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000003014 reinforcing effect Effects 0.000 description 9
- 230000002787 reinforcement Effects 0.000 description 7
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/14—Lining predominantly with metal
- E21D11/15—Plate linings; Laggings, i.e. linings designed for holding back formation material or for transmitting the load to main supporting members
- E21D11/152—Laggings made of grids or nettings
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D11/00—Lining tunnels, galleries or other underground cavities, e.g. large underground chambers; Linings therefor; Making such linings in situ, e.g. by assembling
- E21D11/40—Devices or apparatus specially adapted for handling or placing units of linings or supporting units for tunnels or galleries
- E21D11/406—Placing endless lining elements, e.g. from reels
Definitions
- the invention relates to the technical field of rails, in particular to a robot for laying steel bars on rail tunnel bed slabs.
- Track refers to a transportation system that uses vehicles to run on fixed guide rails and is mainly used for urban passenger transportation.
- the invention proposes a robot for laying steel bars on the track tunnel bed slab, which includes a driving car, and also includes a vertical laying device, a feeding device, a clamping manipulator and a welding device.
- the vertical laying device is located on the outer surface of the car of the driving car Vertical steel bars are laid on the bed slab of the track tunnel;
- the feeding device is located on the upper surface of the carriage of the driving car and transports the steel bars used for horizontal laying upward;
- the clamping manipulator is located on the outer side of the carriage of the driving car and fixes the steel bars used for horizontal laying transported by the feeding device before transporting them;
- the welding device is located at one end of the clamping manipulator and welds and fixes the vertically laid steel bars and the horizontally laid steel bars.
- the vertical laying device includes a bracket, a steel coil and a conveying mechanism, the lower surface of the bracket is fixedly installed on the upper surface of the carriage of the driving car, and the inner walls of a plurality of the steel coils are rotatably socketed on the bracket The outer surface of the bracket, the steel bars are rolled into a rectangular array and distributed on the outer surface of the bracket;
- the conveying mechanism includes an adjustment hydraulic cylinder
- the outer surfaces of the plurality of adjustment hydraulic cylinders are fixedly installed on the lower surface of the carriage of the driving vehicle
- the piston rod of the adjustment hydraulic cylinder is fixedly installed with an adjustment plate.
- the lower surface of the adjusting plate is fixedly equipped with straightening boxes distributed in a rectangular array
- the inner wall of the straightened box is fixedly equipped with pressing rollers distributed in a rectangular array through bearings, and one end of the steel bar of the steel bar roll runs through the
- the lower surface of the compartment of the driving car is slidably connected with the outer surface of the pressure roller wheel;
- the rebar roll is composed of a frame body and steel bars wound on the frame body.
- the adjusting hydraulic cylinder can adjust the position of one end of the rebar to facilitate welding of the rebar.
- One end of the rebar passes between two sets of pressure rollers, and the two The set of pressure rollers is symmetrically distributed. Through the relative rotation of the symmetrical pressure rollers, the bent steel bars can be straightened, which is convenient for later welding with the horizontally placed steel bars.
- the outer surface of the tunnel bed is inserted along the steel bars to be laid Connecting steel bars, it is convenient to weld one end of the vertical steel bar and the horizontally laid steel bar on the tunnel bed plate, and weld one end of multiple steel bars to the outer surface of the steel bar on the upper surface of the tunnel bed plate through the welding device. fixed.
- a conveying motor is fixedly installed on the outer surface of the straightening box, and conveying rollers are fixedly installed on both sides of the inner wall of the straightening box, and the output shaft of the conveying motor is connected to one of the conveying rollers.
- One end is fixedly installed, and the other end of one of the conveying rollers drives the other conveying roller to rotate through a gear set;
- the rotation of a conveying roller is driven by the conveying motor, and the gear set is composed of two meshing gears, and the two gears are fixedly installed on one end of the two conveying rollers respectively, so that the two conveying rollers rotate in opposite directions, so that the two The steel bars in the middle of the two conveying rollers can move to the outside of the straightening box.
- the straightening box is composed of a box and a tapered trough.
- the tapered trough is fixed on the outer side of the box, which is convenient for multiple The bars are kept at the same level while the final straightening is carried out.
- the feeding device includes a feeding trough, the lower surface of the feeding trough is fixedly mounted on the upper surface of the driving car, the inner side wall of the feeding trough is slidably inserted into a feeding rack, and the driving car
- a feeding hydraulic cylinder is fixedly installed on the lower surface of the two feeding hydraulic cylinders, and one end of the two feeding hydraulic cylinders respectively penetrates through the upper surface of the carriage of the driving car, and a plug-in plate is fixedly installed at one end of the piston rod.
- the outer surface of the plug-in board and the The lower surface of the feeding rack described below is slidingly plugged;
- the two ends of the feeding frame are fixedly installed with multiple grooves, and the grooves on one side are connected by connecting rods, which is convenient for the gripping manipulator to grip the feeding frame without steel bars.
- the gripping manipulator placed in other positions, it is convenient for the feeding frame with steel bars on the next layer to be pushed upward through the feeding hydraulic cylinder, and the gripping manipulator can grip the steel bars used for horizontal laying.
- the grooves on the adjacent feeding frames are staggered, which is convenient The bent steel bars at both ends are placed without interfering with each other.
- the clamping manipulator includes a mechanical arm and a clamping mechanism, and one end of the two mechanical arms is respectively fixedly installed on both sides of the outer surface of the carriage of the driving car, and the clamping mechanism is opposite to the feeding rack.
- the steel bars used for horizontal laying are used for clamping;
- the clamping mechanism includes a connecting plate, the upper surface of the connecting plate is fixedly mounted on one end of the mechanical arm, and the lower surface of the connecting plate is fixedly mounted with a clamping casing, and the clamping casing
- a clamping cylinder is fixedly installed on the inner top wall of the housing, and a clamping tank is fixedly installed on the lower surface of the clamping casing, and one end of the piston rod of the clamping cylinder passes through the rear two sides of the upper surface of the clamping tank
- Both are hinged with a hinged link, one end of the hinged link is fixedly mounted with a half gear, and the outer surfaces of the two said half gears are respectively hinged to the inner side wall of the clamping groove body through pin shafts, and the clamping groove
- Both sides of the inner bottom wall of the body are fixedly installed with limiting grooves, and the inner walls of the two limiting grooves are all slidably inserted with racks, and the upper surfaces of the two racks are connected to the two half gears respectively.
- the hinged connecting rod can be driven to pull the half gear to rotate, and the racks on both sides can be driven to perform relative or relative movement in the limit groove, so that the claws can be relatively Or on the contrary, to realize the clamping action, the opposite surface of the claws is serrated, which is convenient for clamping and moving the steel bar.
- the outer surface of the clamping casing is fixed with a camera, which is convenient for controlling the clamping mechanism for precise positioning and clamping.
- the welding device includes a two-axis mobile platform, a lifting hydraulic cylinder and a welding mechanism, the upper surface of the two-axis mobile platform is fixedly installed on the lower surface of the connecting plate, and the slider of the two-axis mobile platform is The surface is fixedly installed with one end of the lifting hydraulic cylinder;
- the two-axis mobile platform is composed of two groups of mobile platforms, the mobile platform is composed of a casing, a motor, a threaded rod and a slider, and the motor drives the threaded rod to rotate to drive the sliding insertion of the outer surface of the threaded rod into the casing
- the slider on the inner wall slides, and the upper surface of the shell of the other mobile platform is fixedly installed on the lower surface of the slider of the first mobile platform, so that the welding mechanism can be adjusted in both the X-axis direction and the Y-axis direction, and the lifting hydraulic cylinder It can drive the welding mechanism to go up and down, so that the welding mechanism can be adjusted in the Z-axis direction.
- the welding mechanism includes a fixed frame, the outer surface of the fixed frame is fixedly installed with one end of the piston rod of the lifting hydraulic cylinder, and a support frame is fixedly installed on the upper surface of the fixed frame, and the two sides of the support frame
- the welding rod roll is connected with the end rotation
- the upper surface of the fixed frame is fixedly equipped with a transmission frame, and the outer surfaces of both sides of the transmission frame are fixed with transmission rollers through bearings, and the outer surface of the transmission frame is fixedly installed with A transmission motor, the output shaft of the transmission motor is fixedly installed with one end of one of the transmission rollers, and one of the transmission rollers drives the other transmission roller to rotate through a gear set;
- the two symmetrically distributed transmission rollers can rotate in opposite directions, so that the welding rod can be pulled, and the welding rod can be automatically conveyed, which is convenient for the welding torch to perform welding work.
- a welding torch is fixedly installed on the outer surface of the fixing frame, and one end of the welding rod of the welding rod roll goes around the outer surface of the conveying roller and extends to the inside of the welding torch;
- the camera is fixedly installed on the lower surface of the fixed frame, which can capture the place to be welded and control the welding torch in the welding mechanism to perform welding.
- vertical steel bars By setting up the vertical laying device, vertical steel bars can be laid on the track bed slab of the tunnel, and the conveying rollers are driven to rotate by the conveying motor, so that the steel bars between the conveying rollers can be extended outwards, and multiple sets of pressure rollers Rotate to straighten the steel bars, which is convenient for the steel bars to be welded in the later stage. Adjusting the hydraulic cylinder drives the adjustment plate to rise and fall, which can adjust the height of multiple vertical steel bars from the ground, which is convenient for welding according to the required height, so that it can be carried out automatically.
- the welding of vertical steel bars does not require manual handling of steel bars for fixing, which solves the problem that the existing tunnel steel bar laying is time-consuming and labor-intensive, which prolongs the construction period and increases the construction cost. question.
- the two clamping manipulators can clamp the steel bars used for laying horizontally on the feeding frame, and place them on the upper surface of the vertical steel bars for positioning and fixing, which is convenient for welding by the welding mechanism.
- the feeding rack on the next floor becomes the uppermost layer, and the clamping manipulator can clamp and use the steel bar on it, thereby reducing labor input, automatically retrieving materials, and driving the welding mechanism at the same time
- Welding is carried out by moving, which solves the technical problem that the existing tunnel steel bar laying is time-consuming and requires a lot of labor, which prolongs the construction period and increases the construction cost.
- the welding work between the steel bars can be carried out.
- the positioning can be accurately carried out through the adjustment of the two-axis mobile platform and the lifting hydraulic cylinder, so that the muzzle of the welding torch is located at the welding place.
- the welding wire can be transmitted through the transmission motor to drive the rotation of the transmission roller, which is convenient for the welding torch to keep working, and the two steel bars are welded and fixed, so that there is no need to manually use steel wire ropes to fix the steel bars, which solves the problem that the existing tunnel steel bars are laid manually.
- the operation takes a long time, requires a large amount of labor, prolongs the construction period, and increases the technical problems of construction costs.
- Fig. 1 is the schematic diagram of a kind of track tunnel bed slab reinforcement laying robot that the present invention proposes
- Fig. 2 is the three-dimensional view of the support plate structure of a kind of track tunnel bed slab reinforcing bar laying robot that the present invention proposes;
- Fig. 3 is the three-dimensional view of the pressure roller structure of a kind of track tunnel bed slab reinforcing bar laying robot that the present invention proposes;
- Fig. 4 is the three-dimensional view of the conveying roller structure of a kind of track tunnel road bed reinforcing bar laying robot that the present invention proposes;
- Fig. 5 is the three-dimensional view of the feeding trough body structure of a kind of track tunnel bed slab reinforcing bar laying robot that the present invention proposes;
- Fig. 6 is the three-dimensional view of the feeding frame structure of a kind of rail tunnel road bed reinforcement laying robot that the present invention proposes;
- Fig. 7 is the three-dimensional view of the feeding hydraulic cylinder structure of a kind of rail tunnel road bed reinforcement laying robot that the present invention proposes;
- Fig. 8 is the three-dimensional view of the mechanical arm structure of a kind of track tunnel trackbed steel bar laying robot that the present invention proposes;
- Fig. 9 is a three-dimensional view of the clamping cylinder structure of a track tunnel bed slab reinforcing bar laying robot proposed by the present invention.
- Fig. 10 is a three-dimensional view of the claw structure of a track tunnel bed slab reinforcing bar laying robot proposed by the present invention.
- Fig. 11 is the three-dimensional view of the structure of the two-axis mobile platform of a track tunnel bed slab reinforcing bar laying robot proposed by the present invention.
- Fig. 12 is the three-dimensional view of the fixed frame structure of a kind of track tunnel road bed reinforcing bar laying robot that the present invention proposes;
- Fig. 13 is the three-dimensional view of the welding rod coil structure of a kind of track tunnel road bed reinforcement laying robot that the present invention proposes;
- Fig. 14 is a perspective view of a welding torch structure of a robot for laying steel bars on track tunnel bed slabs proposed by the present invention.
- Driving car 2. Bracket; 21. Reinforcement coil; 22. Regulating hydraulic cylinder; 23. Regulating plate; 24. Straightening box; 25. Pressing roller; ;3. Feeding trough; 31. Feeding frame; 32. Feeding hydraulic cylinder; 33. Inserting plate; 4. Clamping manipulator; 41. Mechanical arm; 42. Connecting plate; Cylinder; 5. Clamping tank; 51. Hinged connecting rod; 52. Half gear; 53. Limiting tank; 54. Rack; 55. Claw; 6. Two-axis mobile platform; 62, fixed frame; 63, support frame; 64, welding rod roll; 65, transmission frame; 66, transmission roller; 67, transmission motor; 68, welding torch.
- a robot for laying steel bars on track tunnel bed slabs includes a driving car 1, a vertical laying device, a feeding device, a gripping manipulator 4 and a welding device.
- the vertical laying device is located on the outer surface of the carriage of the driving car 1 and lays vertical steel bars on the track tunnel bed slab;
- the vertical laying device includes a support 2, a steel bar roll 21 and a conveying mechanism.
- the lower surface of the support 2 is fixedly installed on the upper surface of the compartment of the driving car 1.
- the inner walls of a plurality of steel bar rolls 21 are rotatably socketed on the outer surface of the support 2.
- the steel bar roll 21 Distributed in a rectangular array on the outer surface of the bracket 2;
- the conveying mechanism is installed on the lower surface of the carriage of the driving car 1.
- the adjusting hydraulic cylinder 22 is fixedly installed on the lower surface of the driving car 1.
- An adjustment plate 23 is fixedly installed at one end of the piston rod.
- a straightening box 24 distributed in a rectangular array is fixedly installed on the lower surface of the adjustment plate 23.
- Both sides of the inner side wall of the straight box body 24 are fixedly installed with pressure roller wheels 25 distributed in a rectangular array through bearings, and then one end of the steel bar roll 21 penetrates the lower surface of the carriage of the driving car 1 and is slidingly connected with the outer surface of the pressure roller wheels 25 , one end of the steel bar of the steel bar roll 21 is located between the two symmetrical pressure rollers 25;
- a transport motor 26 is fixedly installed on the outer surface of the straightening box 24, and in order to transport the vertical steel bars, both sides of the inner wall of the straightening box 24 are fixedly installed Conveying roller 27, two conveying rollers 27 are symmetrically distributed, then the output shaft of conveying motor 26 is fixedly installed with one end of one conveying roller 27, in order to keep two conveying rollers 27 to carry out the rotation of opposite direction, the other end of one conveying roller 27
- the other conveying roller 27 is driven to rotate through the gear set, and the gear set is composed of two meshing gears, and the two gears are fixedly mounted on one end of the two conveying rollers 27 respectively, so that the two conveying rollers 27 are rotated in opposite directions.
- the feeding device is located on the upper surface of the carriage of the driving car 1 and transports the steel bars used for horizontal laying upward;
- the feeding device is installed on the upper surface of the carriage of the driving car 1.
- the feeding chute body 3 is fixedly installed on the upper surface of the carriage of the driving car 1.
- feed hydraulic cylinder 32 is fixedly installed on the lower surface of the compartment of driving car 1, in order to facilitate feeding rack 31 to lift, the piston of feeding hydraulic cylinder 32
- One end of the rod is fixedly installed with a flashboard 33 , and then the outer surface of the flashboard 33 is slidably inserted into the lower surface of the lower feeding frame 31 .
- the clamping manipulator 4 is located on the outer side of the compartment of the driving car 1 and transports after fixing the steel bars used for the horizontal laying conveyed by the feeding device;
- the clamping manipulator 4 includes a mechanical arm 41 and a clamping mechanism. One end of the two mechanical arms 41 is fixedly installed on both sides of the outer surface of the compartment of the driving car 1 respectively. ;
- the clamping mechanism is installed on one end of the mechanical arm 41.
- the connecting plate 42 is fixedly installed at one end of the mechanical arm 41.
- the clamping machine is fixedly installed on the lower surface of the connecting plate 42.
- Shell 43 then the inner top wall of the clamping casing 43 is fixedly installed and clamped cylinder 44, in order to fix the reinforcing bar that horizontal laying uses, the lower surface of clamping casing 43 is fixedly installed and clamped groove body 5, in clamping cylinder
- One end of the piston rod of 44 runs through the upper surface of the clamping tank body 5 and both sides are hinged hinged connecting rods 51.
- a limiting tank body 53 is fixedly installed on both sides of the inner bottom wall of the clamping tank body 5.
- the rack 54 is slidably inserted into the inner wall of the limiting groove body 53.
- a half gear 52 is fixedly installed at one end of the two hinged connecting rods 51, and then both The outer surfaces of the two half gears 52 are engaged with the upper surfaces of the two racks 54 respectively.
- the lower surfaces of the two racks 54 are equipped with claws 55 .
- the welding device is located at one end of the clamping manipulator 4 and welds and fixes the steel bars laid vertically and the steel bars laid horizontally;
- the welding device comprises a two-axis mobile platform 6, a lifting hydraulic cylinder 61 and a welding mechanism.
- the upper surface of the two-axis mobile platform 6 is fixedly installed on the lower surface of the connecting plate 42.
- the two-axis mobile platform 6 is composed of two groups of mobile platforms. It is composed of a casing, a motor, a threaded rod and a slider, and the lower surface of the slider of the two-axis mobile platform 6 is fixedly installed with one end of the lifting hydraulic cylinder 61;
- the welding mechanism is installed at one end of the piston rod of the lifting hydraulic cylinder 61.
- a fixed frame 62 is fixedly installed at one end of the piston rod of the lifting hydraulic cylinder 61.
- the support frame 63 is fixedly installed on the surface, and then the two ends of the support 2 are rotated to connect the welding rod roll 64.
- a transmission frame 65 is fixedly installed on one side of the upper surface of the fixed frame 62, and then the outer surfaces of both sides of the transmission frame 65 pass through Bearing is fixedly installed transmission roller 66, and the welding rod of welding rod roll 64 is positioned between two opposite transmission rollers 66 and is connected with its outer surface slidingly, in order to control transmission roller 66 to rotate, fixedly install transmission motor 67 on the outer surface of transmission frame 65, then transmit The output shaft of the motor 67 is fixedly installed with one end of a transmission roller 66. In order to keep the two transmission rollers 66 rotating in the opposite direction, one transmission roller 66 drives the other transmission roller 66 to rotate through the gear train;
- a welding torch 68 is fixedly installed on the outer surface of the fixed frame 62 , and then one end of the welding rod of the welding rod roll 64 goes around the outer surface of the conveying roller 66 and extends to the inside of the welding torch 68 .
- the movement of the driving car 1 makes the vertical steel bar contact with the outer surface of the steel bar at one end of the ballast bed slab, and the mechanical arm 41 is controlled to drive the welding mechanism to move.
- the adjustment of the two-axis mobile platform 6 and the lifting hydraulic cylinder 61 makes the welding torch in the welding mechanism 68 can drive the welding rod to contact the vertical steel bar and the contact place of the steel bar, the welding torch 68 starts, and the transmission motor 67 drives the transmission roller 66 on the transmission frame 65 to rotate, and by the gear set, the two transmission rollers 66 can move in opposite directions.
- one end of the mechanical arm 41 is adjusted to be positioned above the feeding tank body 3, and the clamping cylinder 44 piston rod in the clamping casing 43 moves downward, and the hinged connecting rod 51 is controlled to drive the half gear 52 to rotate.
- the two racks 54 meshed with the two half gears 52 can move in the opposite direction, driving the claws 55 to move in the opposite direction, and the mechanical arm 41 will position the two claws 55 on both sides of the transverse steel bar on the feeding frame 31, and then clamp the claws 55
- the hinged connecting rod 51 is driven to pull the half gear 52 to rotate, so that the two racks 54 in the limiting groove body 53 can move relatively, and the two claws 55 move relatively simultaneously, and the two claws 55 move relatively.
- the steel bars between the two are clamped, and the synchronous movement of the two mechanical arms 41 is controlled to drive the clamped horizontal steel bars to be placed on the upper surface of the vertical steel bars, through the welding torch 68 on the fixed frame 62, and through the two-axis mobile platform 6
- the two ends of the horizontal steel bar are welded to the outer sides of the steel bar plugged on both sides of the ballast bed slab for fixing, and then the contact points of the vertical steel bar and the horizontal steel bar are welded by the movement of the welding torch 68;
- the feeding hydraulic cylinder 32 is pushed to make the feeding rack 31 rise, and the clamping casing 43 is controlled by the mechanical arm 41 to rotate, so that the machine claw 55 can hold the feeding rack 31
- the upper connecting rod is clamped, and the connecting frame is driven to leave the feeding tank body 3.
- the clamping manipulator can clamp the horizontal reinforcement of the next layer.
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Abstract
一种轨道隧道道床板钢筋铺设机器人，包括驱动车（1），还包括竖铺装置、送料装置、夹取机械手（4）和焊接装置，所述竖铺装置位于所述驱动车（1）的车厢外表面并对轨道隧道道床板上进行铺设竖向钢筋。通过设置焊接装置，能够对钢筋之间进行焊接工作，通过夹取机械手（4）的大致定位后，通过二轴移动平台（6）与升降液压缸（61）的调节能够进行精准定位，使得焊枪（68）的枪口位于焊接处，焊丝通过传送电机（67）驱动传送辊（66）转动，能够进行传送，便于焊枪（68）保持工作，将两个钢筋进行焊接固定，从而不需要人工使用钢丝绳进行钢筋固定，解决了现有的人工铺设隧道钢筋操作耗时长，需要投入大量的劳动力，延长了建设工期，增加了建设成本的技术问题。
Description
本发明涉及轨道技术领域，尤其涉及一种轨道隧道道床板钢筋铺设机器人。
轨道是指使用车辆在固定导轨上运行并主要用于城市客运的交通系统。
现有的轨道隧道在建造时，需要在隧道的道床板上铺设横向和竖向的钢筋，便于后期的混凝土的浇灌，现有的钢筋铺设通过人工将钢筋铺设在隧道的道床板上，通过钢丝进行横向和竖向钢筋之间的固定，此操作耗时长，需要投入大量的劳动力，延长了建设工期，增加了建设成本。
基于现有的隧道钢筋铺设通过人工进行铺设此操作耗时长，需要投入大量的劳动力，延长了建设工期，增加了建设成本的技术问题，本发明提出了一种轨道隧道道床板钢筋铺设机器人。
本发明提出的一种轨道隧道道床板钢筋铺设机器人，包括驱动车，还包括竖铺装置、送料装置、夹取机械手和焊接装置，所述竖铺装置位于所述驱动车的车厢外表面并对轨道隧道道床板上进行铺设竖向钢筋；
所述送料装置位于所述驱动车的车厢上表面并将横向铺设使用的钢筋向上进行输送；
所述夹取机械手位于所述驱动车的车厢外侧面并对所述送料装置输送的横向铺设使用的钢筋进行固定后输送；
所述焊接装置位于所述夹取机械手的一端并对所述竖向铺设的钢筋与横向铺设的钢筋进行焊接固定。
优选地，所述竖铺装置包括支架、钢筋卷和输送机构，所述支架的下表面与所述驱动车的车厢上表面固定安装，多个所述钢筋卷的内壁转动套接在所述支架的外表面，所述钢筋卷成矩形阵列分布在所述支架的外表面；
优选地，所述输送机构包括调节液压缸，多个所述调节液压缸的外表面与所述驱动车的车厢下表面固定安装，所述调节液压缸的活塞杆固定安装有调节板，所述调节板的下表面固定安装有呈矩形阵列分布的压直箱体，所述压直箱体的内侧壁通过轴承固定安装有呈矩形阵列分布的压辊轮，所述钢筋卷的钢筋一端贯穿所述驱动车的车厢下表面后与所述压辊轮的外表面滑动连接；
通过上述技术方案，钢筋卷是由架体和缠绕在架体上的钢筋构成，调节液压缸能调节钢筋一端的位置，便于钢筋进行焊接，钢筋的一端穿过两组压辊轮之间，两组压辊轮呈对称分布，通过对称的压辊轮相对转动，能够对弯曲的钢筋进行压直，便于后期与横向放置的钢筋进行焊接，在隧道道床板的外表面沿着需要铺设的钢筋插接钢筋条，便于使得竖向钢筋与横向铺设的钢筋的一端与其进行焊接铺设在隧道道床板上，通过焊接装置，将多个钢筋的一端焊接在隧道道床板一端上表面的钢筋条外侧面进行固定。
优选地，所述压直箱体的外侧面固定安装有输送电机，所述压直箱体的内侧壁两侧均固定安装有输送辊，所述输送电机的输出轴与一个所述输送辊的一端固定安装，一个所述输送辊的另一端通过齿轮组驱动另一个所述输送辊转动；
通过上述技术方案，通过输送电机驱动一个输送辊的转动，齿轮组为两个啮合的齿轮构成，两个齿轮分别固定安装在两个输送辊的一端，使得两个输送辊进行相反转动，使得两个输送辊中间的钢筋能够进行向压直箱体外部移动，压直箱体是由箱体和呈锥形的槽体构成，锥形的槽体固定安装在箱体的外侧面，便于多个钢筋保持在同一水平面同时进行最后的压直。
优选地，所述送料装置包括送料槽体，所述送料槽体的下表面固定安装在所述驱动车的上表面，所述送料槽体的内侧壁滑动插接有送料架，所述驱动车的下表面固定安装有送料液压缸，两个所述送料液压缸的一端分别贯穿所述驱动车的车厢上表面后其活塞杆一端均固定安装有插板，所述插板的外表面与位于下方所述送料架的下表面滑动插接；
通过上述技术方案，其中送料架的两端固定安装有多个凹槽，位于一侧的凹槽之间通过连杆进行连接，便于夹取机械手进行夹取，将没有钢筋的送料架进行夹取，放置其他位置，便于下一层的放置有钢筋的送料架通过送料液压缸向上推动，夹取机械手能够进行夹取横向铺设使用的钢筋，相邻的送料架上的凹槽呈交错分布，便于两头弯曲的钢筋进行放置，之间互不干扰。
优选地，所述夹取机械手包括机械臂和夹持机构，两个所述机械臂的一端分别固定安装在所述驱动车的车厢外表面两侧，所述夹持机构对所述送料架上横向铺设使用的钢筋进行夹取；
优选地，所述夹持机构包括连接板，所述连接板的上表面固定安装在所述机械臂的一端，所述连接板的下表面固定安装有夹持机壳，所述夹持机壳的内顶壁固定安装有夹持气缸，所述夹持机壳的下表面固定安装有夹持槽体，所述夹持气缸的活塞杆一端贯穿所述夹持槽体的上表面后两侧均铰接有铰接连杆，所述铰接连杆的一端固定安装有半齿轮，两个所述半齿轮的外侧面通过销轴分别铰接在所述夹持槽体的内侧壁，所述夹持槽体的内底壁两侧均固定安装有限位槽体，两个所述限位槽体的内壁均滑动插接有齿条，两个所述齿条的上表面分别与两个所述半齿轮的外表面啮合，两个所述齿条的下表面均固定安装有机爪；
通过上述技术方案，通过夹持气缸伸缩杆的伸缩，能够带动铰接连杆拉动半齿轮进行转动，带动两侧的齿条进行在限位槽体内进行相对或者相对的移动，使得机爪能够进行相对或者相反，实现夹持动作，机爪相对面呈锯齿状，便于夹持钢筋进行移动，夹持机壳的外表面固定安装有摄像头，便于进行控制夹持机构进行精准定位夹持。
优选地，所述焊接装置包括二轴移动平台、升降液压缸和焊接机构，所述二轴移动平台的上表面固定安装在所述连接板的下表面，所述二轴移动平台的滑块下表面与所述升降液压缸的一端固定安装；
通过上述技术方案，其中二轴移动平台是由两组移动平台构成，移动平台是由外壳、电机、螺纹杆和滑块构成，通过电机驱动螺纹杆转动带动螺纹杆外表面的滑动插接在外壳内壁的滑块进行滑动，另一个移动平台的外壳尚上表面固定安装在第一个移动平台的滑块下表面，使得焊接机构具有X轴方向与Y轴方向两个方向的调节，升降液压缸能够带动焊接机构进行升降，使得焊接机构具有Z轴方向的调节。
优选地，所述焊接机构包括固定架，所述固定架的外侧面与所述升降液压缸的活塞杆一端固定安装，所述固定架的上表面固定安装有支撑架，所述支撑架的两端转动连接有焊条卷，所述固定架的上表面一侧固定安装有传送架，所述传送架的两侧外表面均通过轴承固定安装有传送辊，所述传送架的外侧面固定安装有传送电机，所述传送电机的输出轴与一个所述传送辊的一端固定安装，一个所述传送辊通过齿轮组驱动另一个所述传送辊转动；
通过上述技术方案，通过传送电机的驱动，两个对称分布的传送辊能够进行相反方向的转动，使得焊条能够被拉动，能够自动进行输送焊条，便于焊枪进行焊接工作。
优选地，所述固定架的外侧面固定安装有焊枪，所述焊条卷的焊条一端绕过所述传送辊的外表面延伸至所述焊枪的内部；
通过上述技术方案，其中固定架的下表面固定安装有摄像机，能够捕捉需要焊接的地方，控制焊接机构中的焊枪进行焊接。
1、通过设置竖铺装置，能够在隧道的道床板上进行铺设竖向的钢筋，通过输送电机带动输送辊进行转动，能够使得输送辊之间的钢筋向外进行延伸，多组压辊轮进行转动，对钢筋进行压直工作，便于钢筋在后期进行焊接，调节液压缸带动调节板的升降，能够调节多根竖向钢筋的距离地面的高度，便于根据需要的高度进行焊接，从而能够自动进行竖向钢筋的焊接工作，不需要人工进行搬运钢筋进行固定，解决了现有的隧道钢筋铺设通过人工进行铺设此操作耗时长，需要投入大量的劳动力，延长了建设工期，增加了建设成本的技术问题。
2、通过设置夹取机械手，两个夹取机械手能够夹取送料架上的横向铺设使用的钢筋，放置在竖向钢筋的上表面定位固定，便于焊接机构进行焊接，夹取机械手同时能够将取完钢筋的送料架搬运，下一层的送料架变为最上层，夹取机械手能够对其上的钢筋进行夹取使用，从而能够减少人工的投入，能够自动进行取料，同时能够带动焊接机构进行移动进行焊接，解决了现有的隧道钢筋铺设通过人工进行铺设此操作耗时长，需要投入大量的劳动力，延长了建设工期，增加了建设成本的技术问题。
3、通过设置焊接装置，能够对钢筋之间进行焊接工作，通过夹取机械手的大致定位后，通过二轴移动平台与升降液压缸的调节能够精准进行定位，使得焊枪的枪口位于焊接处，焊丝通过传送电机驱动传送辊的转动，能够进行传送，便于焊枪保持工作，将两个钢筋进行焊接固定，从而不需要人工使用钢丝绳进行固定钢筋，解决了现有的隧道钢筋铺设通过人工进行铺设此操作耗时长，需要投入大量的劳动力，延长了建设工期，增加了建设成本的技术问题。
图1为本发明提出的一种轨道隧道道床板钢筋铺设机器人的示意图；
图2为本发明提出的一种轨道隧道道床板钢筋铺设机器人的支撑板结构的立体图；
图3为本发明提出的一种轨道隧道道床板钢筋铺设机器人的压辊轮结构的立体图；
图4为本发明提出的一种轨道隧道道床板钢筋铺设机器人的输送辊结构的立体图；
图5为本发明提出的一种轨道隧道道床板钢筋铺设机器人的送料槽体结构的立体图；
图6为本发明提出的一种轨道隧道道床板钢筋铺设机器人的送料架结构的立体图；
图7为本发明提出的一种轨道隧道道床板钢筋铺设机器人的送料液压缸结构的立体图；
图8为本发明提出的一种轨道隧道道床板钢筋铺设机器人的机械臂结构的立体图；
图9为本发明提出的一种轨道隧道道床板钢筋铺设机器人的夹持气缸结构的立体图；
图10为本发明提出的一种轨道隧道道床板钢筋铺设机器人的机爪结构的立体图；
图11为本发明提出的一种轨道隧道道床板钢筋铺设机器人的二轴移动平台结构的立体图；
图12为本发明提出的一种轨道隧道道床板钢筋铺设机器人的固定架结构的立体图；
图13为本发明提出的一种轨道隧道道床板钢筋铺设机器人的焊条卷结构的立体图；
图14为本发明提出的一种轨道隧道道床板钢筋铺设机器人的焊枪结构的立体图。
图中：1、驱动车；2、支架；21、钢筋卷；22、调节液压缸；23、调节板；24、压直箱体；25、压辊轮；26、输送电机；27、输送辊；3、送料槽体；31、送料架；32、送料液压缸；33、插板；4、夹取机械手；41、机械臂；42、连接板；43、夹持机壳；44、夹持气缸；5、夹持槽体；51、铰接连杆；52、半齿轮；53、限位槽体；54、齿条；55、机爪；6、二轴移动平台；61、升降液压缸；62、固定架；63、支撑架；64、焊条卷；65、传送架；66、传送辊；67、传送电机；68、焊枪。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。
参照图1-14，一种轨道隧道道床板钢筋铺设机器人，包括驱动车1，还包括竖铺装置、送料装置、夹取机械手4和焊接装置。
如图2-4所示，竖铺装置位于驱动车1的车厢外表面并对轨道隧道道床板上进行铺设竖向钢筋；
竖铺装置包括支架2、钢筋卷21和输送机构，支架2的下表面与驱动车1的车厢上表面固定安装，多个钢筋卷21的内壁转动套接在支架2的外表面，钢筋卷21成矩形阵列分布在支架2的外表面；
输送机构，安装在驱动车1的车厢下表面，为了调节竖向钢筋距离道床板的高度，在驱动车1的车厢下表面固定安装调节液压缸22，为了固定输送机构，在调节液压缸22的活塞杆一端固定安装调节板23，为了便于对成卷的钢筋进行压直，在调节板23的下表面固定安装呈矩形阵列分布的压直箱体24，为了对钢筋进行压直工作，在压直箱体24的内侧壁两侧均通过轴承固定安装呈矩形阵列分布的压辊轮25，然后钢筋卷21的钢筋一端贯穿驱动车1的车厢下表面后与压辊轮25的外表面滑动连接，钢筋卷21的钢筋一端位于两个对称压辊轮25的之间；
进一步地，为了对竖向钢筋进行自动输送，在压直箱体24的外侧面固定安装输送电机26，为了对竖向钢筋进行输送工作，在压直箱体24的内侧壁两侧均固定安装输送辊27，两个输送辊27呈对称分布，然后输送电机26的输出轴与一个输送辊27的一端固定安装，为了保持两个输送辊27进行相反方向的转动，一个输送辊27的另一端通过齿轮组驱动另一个输送辊27转动，齿轮组为两个啮合的齿轮构成，两个齿轮分别固定安装在两个输送辊27的一端，实现两个输送辊27进行相反转动。
如图5-7所示，送料装置位于驱动车1的车厢上表面并将横向铺设使用的钢筋向上进行输送；
送料装置，安装在驱动车1的车厢上表面的位置上，为了自动进行输送横向钢筋，在驱动车1的车厢上表面固定安装送料槽体3，为了减少人工放置横向钢筋的次数，在送料槽体3的内侧壁滑动插接送料架31，为了送料架31自动进行升降，在驱动车1的车厢下表面固定安装送料液压缸32，为了便于送料架31进行升降，在送料液压缸32的活塞杆一端固定安装插板33，然后插板33的外表面与位于下方送料架31的下表面滑动插接。
如图8-10所示，夹取机械手4位于驱动车1的车厢外侧面并对送料装置输送的横向铺设使用的钢筋进行固定后输送；
夹取机械手4包括机械臂41和夹持机构，两个机械臂41的一端分别固定安装在驱动车1的车厢外表面两侧，夹持机构对送料架31上横向铺设使用的钢筋进行夹取；
夹持机构，安装在机械臂41的一端位置上，为了进行固定作用，在机械臂41的一端固定安装连接板42，为了进行自动夹持钢筋，在连接板42的下表面固定安装夹持机壳43，然后夹持机壳43的内顶壁固定安装夹持气缸44，为了固定住横向铺设使用的钢筋，在夹持机壳43的下表面固定安装夹持槽体5，在夹持气缸44的活塞杆一端贯穿夹持槽体5的上表面后两侧均铰接铰接连杆51，为了进行限位，在夹持槽体5的内底壁两侧均固定安装有限位槽体53，为了根据钢筋的直径进行调节，在限位槽体53的内壁滑动插接齿条54，为了控制齿条54的移动，在两个铰接连杆51的一端均固定安装有半齿轮52，然后两个半齿轮52的外表面分别与两个齿条54的上表面啮合，为了进行夹持钢筋，在两个齿条54的下表面均固定安装机爪55。
如图11-14所示，焊接装置位于夹取机械手4的一端并对竖向铺设的钢筋与横向铺设的钢筋进行焊接固定；
焊接装置包括二轴移动平台6、升降液压缸61和焊接机构，二轴移动平台6的上表面固定安装在连接板42的下表面，二轴移动平台6是由两组移动平台构成，移动平台是由外壳、电机、螺纹杆和滑块构成，二轴移动平台6的滑块下表面与升降液压缸61的一端固定安装；
焊接机构，安装在升降液压缸61的活塞杆一端，为了起到支撑焊接机构的作用，在升降液压缸61的活塞杆一端固定安装固定架62，为了进行自动输送焊条，在固定架62的上表面固定安装支撑架63，然后支架2的两端转动连接焊条卷64，为了保持焊接工作，在固定架62的上表面一侧固定安装传送架65，然后传送架65的两侧外表面均通过轴承固定安装传送辊66，焊条卷64的焊条位于两个相对传送辊66之间并与其外表面滑动连接，为了控制传送辊66转动，在传送架65的外侧面固定安装传送电机67，然后传送电机67的输出轴与一个传送辊66的一端固定安装，为了保持两个传送辊66为相反方向转动，一个传送辊66通过齿轮组驱动另一个传送辊66转动；
进一步地，为了进行焊接工作，在固定架62的外侧面固定安装焊枪68，然后焊条卷64的焊条一端绕过传送辊66的外表面延伸至焊枪68的内部。
工作原理：在需要对隧道的道床板进行铺设钢筋时，先将多段钢筋条固定插接在需要铺设钢筋的道床板上表面四周，便于竖向钢筋与横向钢筋的焊接固定，通过控制压直箱体24外侧面的输送电机26带动输送辊27进行转动使得钢筋压直箱体24的外部进行延伸，钢筋卷21在支架2上进行转动，延长钢筋的长度，通过调节液压缸22的伸缩杆伸缩，调节板23进行升降，调节钢筋一端距离道床板的高度，高度调节完成后；
驱动车1的移动，使得竖向钢筋与道床板一端的钢筋条外侧面进行接触，控制机械臂41带动焊接机构进行移动，二轴移动平台6与升降液压缸61的调节使得焊接机构中的焊枪68能够带动焊条接触竖向钢筋与钢筋条接触地方，焊枪68启动，同时传送电机67带动传送架65上的传送辊66进行转动，通过齿轮组，两个传送辊66能够进行相反方向的移动，带动支撑架63上的焊条向焊枪68内进行输送，保持焊枪68能够一直进行焊接工作，通过机械臂41的移动，能够将多个竖向钢筋的一端与插接在道床板上的钢筋条进行焊接，保持竖向钢筋的一端进行固定；
通过驱动车1的移动，机械臂41的一端调节位于送料槽体3的上方，夹持机壳43中的夹持气缸44活塞杆向下移动，控制铰接连杆51带动半齿轮52进行转动，与两个半齿轮52啮合的两个齿条54能够进行相反移动，带动机爪55进行相反移动，机械臂41将两个机爪55位于送料架31上的横向钢筋的两侧，通过夹持气缸44的活塞杆回缩后，带动铰接连杆51拉动半齿轮52进行转动，使得限位槽体53内的两个齿条54能够进行相对移动，两个机爪55同时进行相对移动，将两者之间的钢筋进行夹持，控制两个机械臂41的同步移动，带动夹持的横向钢筋放置在竖向钢筋的上表面，通过固定架62上的焊枪68，通过二轴移动平台6与升降液压缸61的调节，将横向钢筋的两端焊接在道床板两侧插接的钢筋条外侧面进行固定，再通过焊枪68的移动，将竖向钢筋与横向钢筋接触点进行焊接；
在一侧的送料架31上的钢筋用完后，通过送料液压缸32的推动，使得送料架31上升，通过机械臂41控制夹持机壳43进行转动，使得机爪55能够将送料架31上的连杆进行夹持，带动连接架离开送料槽体3，将送料架31放置空闲地方后，夹持机械手能够夹取下一层的横向钢筋。
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，根据本发明的技术方案及其发明构思加以等同替换或改变，都应涵盖在本发明的保护范围之内。
Claims (10)
- 一种轨道隧道道床板钢筋铺设机器人，包括驱动车（1），其特征在于，还包括竖铺装置、送料装置、夹取机械手（4）和焊接装置，所述竖铺装置位于所述驱动车（1）的车厢外表面并对轨道隧道道床板上进行铺设竖向钢筋；所述送料装置位于所述驱动车（1）的车厢上表面并将横向铺设使用的钢筋向上进行输送；所述夹取机械手（4）位于所述驱动车（1）的车厢外侧面并对所述送料装置输送的横向铺设使用的钢筋进行固定后输送；所述焊接装置位于所述夹取机械手（4）的一端并对所述竖向铺设的钢筋与横向铺设的钢筋进行焊接固定。
- 根据权利要求1所述的一种轨道隧道道床板钢筋铺设机器人，其特征在于：所述竖铺装置包括支架（2）、钢筋卷（21）和输送机构，所述支架（2）的下表面与所述驱动车（1）的车厢上表面固定安装，多个所述钢筋卷（21）的内壁转动套接在所述支架（2）的外表面，所述钢筋卷（21）成矩形阵列分布在所述支架（2）的外表面。
- 根据权利要求2所述的一种轨道隧道道床板钢筋铺设机器人，其特征在于：所述输送机构包括调节液压缸（22），多个所述调节液压缸（22）的外表面与所述驱动车（1）的车厢下表面固定安装，所述调节液压缸（22）的活塞杆固定安装有调节板（23），所述调节板（23）的下表面固定安装有呈矩形阵列分布的压直箱体（24），所述压直箱体（24）的内侧壁通过轴承固定安装有呈矩形阵列分布的压辊轮（25），所述钢筋卷（21）的钢筋一端贯穿所述驱动车（1）的车厢下表面后与所述压辊轮（25）的外表面滑动连接。
- 根据权利要求3所述的一种轨道隧道道床板钢筋铺设机器人，其特征在于：所述压直箱体（24）的外侧面固定安装有输送电机（26），所述压直箱体（24）的内侧壁两侧均固定安装有输送辊（27），所述输送电机（26）的输出轴与一个所述输送辊（27）的一端固定安装，一个所述输送辊（27）的另一端通过齿轮组驱动另一个所述输送辊（27）转动。
- 根据权利要求1所述的一种轨道隧道道床板钢筋铺设机器人，其特征在于：所述送料装置包括送料槽体（3），所述送料槽体（3）的下表面固定安装在所述驱动车（1）的上表面，所述送料槽体（3）的内侧壁滑动插接有送料架（31），所述驱动车（1）的下表面固定安装有送料液压缸（32），两个所述送料液压缸（32）的一端分别贯穿所述驱动车（1）的车厢上表面后其活塞杆一端均固定安装有插板（33），所述插板（33）的外表面与位于下方所述送料架（31）的下表面滑动插接。
- 根据权利要求1所述的一种轨道隧道道床板钢筋铺设机器人，其特征在于：所述夹取机械手（4）包括机械臂（41）和夹持机构，两个所述机械臂（41）的一端分别固定安装在所述驱动车（1）的车厢外表面两侧，所述夹持机构对所述送料架（31）上横向铺设使用的钢筋进行夹取。
- 根据权利要求6所述的一种轨道隧道道床板钢筋铺设机器人，其特征在于：所述夹持机构包括连接板（42），所述连接板（42）的上表面固定安装在所述机械臂（41）的一端，所述连接板（42）的下表面固定安装有夹持机壳（43），所述夹持机壳（43）的内顶壁固定安装有夹持气缸（44），所述夹持机壳（43）的下表面固定安装有夹持槽体（5），所述夹持气缸（44）的活塞杆一端贯穿所述夹持槽体（5）的上表面后两侧均铰接有铰接连杆（51），所述铰接连杆（51）的一端固定安装有半齿轮（52），两个所述半齿轮（52）的外侧面通过销轴分别铰接在所述夹持槽体（5）的内侧壁，所述夹持槽体（5）的内底壁两侧均固定安装有限位槽体（53），两个所述限位槽体（53）的内壁均滑动插接有齿条（54），两个所述齿条（54）的上表面分别与两个所述半齿轮（52）的外表面啮合，两个所述齿条（54）的下表面均固定安装有机爪（55）。
- 根据权利要求7所述的一种轨道隧道道床板钢筋铺设机器人，其特征在于：所述焊接装置包括二轴移动平台（6）、升降液压缸（61）和焊接机构，所述二轴移动平台（6）的上表面固定安装在所述连接板（42）的下表面，所述二轴移动平台（6）的滑块下表面与所述升降液压缸（61）的一端固定安装。
- 根据权利要求8所述的一种轨道隧道道床板钢筋铺设机器人，其特征在于：所述焊接机构包括固定架（62），所述固定架（62）的外侧面与所述升降液压缸（61）的活塞杆一端固定安装，所述固定架（62）的上表面固定安装有支撑架（63），所述支撑架（63）的两端转动连接有焊条卷（64），所述固定架（62）的上表面一侧固定安装有传送架（65），所述传送架（65）的两侧外表面均通过轴承固定安装有传送辊（66），所述传送架（65）的外侧面固定安装有传送电机（67），所述传送电机（67）的输出轴与一个所述传送辊（66）的一端固定安装，一个所述传送辊（66）通过齿轮组驱动另一个所述传送辊（66）转动。
- 根据权利要求9所述的一种轨道隧道道床板钢筋铺设机器人，其特征在于：所述固定架（62）的外侧面固定安装有焊枪（68），所述焊条卷（64）的焊条一端绕过所述传送辊（66）的外表面延伸至所述焊枪（68）的内部。
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| CN118123336A (zh) * | 2024-04-01 | 2024-06-04 | 启东瑞周机械有限公司 | 一种建筑钢材加工焊接装置 |
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