WO2025026413A1 - 布料单元、纵筋布料设备及布料方法 - Google Patents

布料单元、纵筋布料设备及布料方法 Download PDF

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Publication number
WO2025026413A1
WO2025026413A1 PCT/CN2024/109349 CN2024109349W WO2025026413A1 WO 2025026413 A1 WO2025026413 A1 WO 2025026413A1 CN 2024109349 W CN2024109349 W CN 2024109349W WO 2025026413 A1 WO2025026413 A1 WO 2025026413A1
Authority
WO
WIPO (PCT)
Prior art keywords
platform
material distribution
movable
steel bars
rod
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2024/109349
Other languages
English (en)
French (fr)
Inventor
陈晓明
周铮
丁德申
贾宝荣
余伟
王涛
滕延锋
沈恺达
金晶
陈旭阳
马盛
李冀清
周蓉峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Mechanized Construction Group Co Ltd
Shanghai Mechanized Construction Group Co Ltd
Original Assignee
Shanghai Mechanized Construction Group Co Ltd
Shanghai Mechanized Construction Group Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Mechanized Construction Group Co Ltd, Shanghai Mechanized Construction Group Co Ltd filed Critical Shanghai Mechanized Construction Group Co Ltd
Publication of WO2025026413A1 publication Critical patent/WO2025026413A1/zh
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
    • B23K37/0461—Welding tables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
    • B23K37/0426—Fixtures for other work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2103/00—Materials to be soldered, welded or cut
    • B23K2103/02—Iron or ferrous alloys
    • B23K2103/04—Steel or steel alloys

Definitions

  • the present application relates to the technical field of building construction, for example, to a material laying unit, longitudinal reinforcement laying equipment and a material laying method.
  • underground continuous wall has the advantages of high strength, small footprint and good anti-seepage performance, and is widely used in foundation pit construction. Its main construction process is: use trenching machinery to dig a certain length of trench section, then put the steel cage in the trench section, and finally pour concrete in the trench section to complete the construction of a unit trench section. In this way, the reinforced concrete wall of the underground continuous wall is formed by construction section by section.
  • the steel cage of the underground continuous wall is mainly welded by longitudinal bars, transverse bars, sealing bars and trusses.
  • the longitudinal bars are arranged along the length of the steel cage and are the main force-bearing bars; transverse bars are arranged at a certain distance on the longitudinal bars to connect multiple longitudinal bars together; sealing bars are arranged at the ends of the steel cage to form a closed loop; trusses are arranged inside the steel cage to improve the strength of the steel cage.
  • the longitudinal bars are arranged at a certain interval in the welding area, and then the transverse bars are arranged above the longitudinal bars and welded to form a lower mesh; then the trusses are welded above the lower mesh; finally, the longitudinal bars are welded above the trusses to form an upper mesh to form a steel cage, and the sealing bars are welded at both ends of the steel cage.
  • the present application provides a laying unit, longitudinal reinforcement laying equipment and a laying method, which can transport the longitudinal reinforcement to a designated position of a welding platform, are easy to operate, save labor, and improve the laying accuracy of the longitudinal reinforcement.
  • the present application provides a material distribution unit, which is configured to transport steel bars to a welding platform for making a steel cage, and comprises:
  • a bearing platform is liftably disposed at one end of the welding platform and is configured to bear steel bars
  • the material-dropping mechanism comprises a movable support and a material-dropping assembly arranged on the movable support, wherein the movable support is movably arranged on the carrying platform, the movable support can be moved to a preset position above the welding platform, the movable support can carry steel bars, and the material-dropping assembly can flip the steel bars on the movable support onto the welding platform;
  • a feeding mechanism is arranged on the carrying platform, and the feeding mechanism is movable along the extension direction of the carrying platform, and includes a grabbing assembly and a detection element.
  • the grabbing assembly is configured to grab the steel bars on the carrying platform, and the steel bars grabbed by the grabbing assembly can be transported to the movable bracket by moving the feeding mechanism, and the detection element is configured to detect whether there are steel bars placed on the carrying platform.
  • the grabbing assembly includes a first material fork and a second material fork arranged opposite to each other, and a first guide rail and a second guide rail are arranged opposite to each other on the supporting platform, the first guide rail and the second guide rail both extend along the extension direction of the supporting platform, the first material fork is slidably connected to the first guide rail, and the second material fork is slidably connected to the second guide rail, the first material fork and the second material fork can both be lifted and lowered, and the first material fork and the second material fork can lift the steel bars on the supporting platform by lifting and lowering.
  • the loading mechanism also includes a first driving member and a second driving member, a first connecting plate is slidably provided on the first guide rail, a second connecting plate is slidably provided on the second guide rail, the first driving member is arranged on the first connecting plate, and the output end of the first driving member is connected to the first material fork, and is configured to drive the first material fork to rise and fall, the second driving member is arranged on the second connecting plate, and the output end of the second driving member is connected to the second material fork, and is configured to drive the second material fork to rise and fall.
  • the blanking assembly includes a push rod, a accommodating space is provided in the supporting platform, a telescopic arm is provided in the accommodating space, the telescopic arm can extend or retract into the accommodating space, and the length of extending or retracting into the accommodating space is adjustable, the mobile bracket is movably provided on the telescopic arm, a guide slope is provided at one end of the telescopic arm close to the welding platform, the push rod is rotatably provided on the mobile bracket, and rotating the push rod can make the steel bars on the mobile bracket slide in contact with the guide slope so as to flip the steel bars on the mobile bracket onto the welding platform.
  • the material dropping assembly further comprises a buffer plate, which is liftably disposed on the movable bracket, and the buffer plate can support the steel bars that fall from the movable bracket by being lifted.
  • the blanking assembly also includes a blocking rod, which includes a first rod and a second rod that are connected and set at an angle, and the first rod is rotatably connected to the movable bracket. Rotating the first rod can make the steel bars on the movable bracket be located between the first rod and the second rod.
  • the blanking assembly includes a first clamping portion and a second clamping portion, wherein the first clamping portion and the second clamping portion are disposed on the movable bracket relative to each other.
  • the second clamping parts are both retractable and rotatably connected to the movable bracket.
  • the first clamping part and the second clamping part are both provided with electromagnets, which can adsorb the steel bars on the movable bracket by energizing.
  • the material distribution unit also includes a support frame and a driving mechanism
  • the driving mechanism includes a scissors-type lifting arm and a fifth driving member
  • the first end of the scissors-type lifting arm is connected to the carrying platform
  • the second end of the scissors-type lifting arm is connected to the support frame
  • the fifth driving member is configured to provide power to the scissors-type lifting arm to drive the carrying platform to rise and fall.
  • the present application also provides a longitudinal reinforcement distributing device, comprising a welding platform, a control unit, and a plurality of distributing units as described above, wherein the plurality of distributing units are arranged at intervals on one side of the welding platform along a first direction, and the plurality of distributing units are all communicatively connected to the control unit, and the control unit is configured to control the operation of each of the distributing units.
  • the present application also provides a longitudinal reinforcement laying method, using the longitudinal reinforcement laying device as described above, comprising:
  • the carrying platform is driven to rise and fall to a preset height, and the plurality of feeding mechanisms are driven to synchronously reciprocate along the extension direction of the carrying platform corresponding to each of the feeding mechanisms, and the plurality of detection elements detect in real time whether a steel bar is placed on the carrying platform corresponding to each of the detection elements;
  • the plurality of feeding mechanisms are driven to synchronously move to the placement positions of the longitudinal bars, and the longitudinal bars are transported to the plurality of movable brackets;
  • FIG1 is a first perspective schematic diagram of a fabric unit provided by the present application.
  • FIG2 is a second perspective schematic diagram of a fabric unit provided by the present application.
  • Fig. 3 is an enlarged view of point A in Fig. 1;
  • FIG4 is a partial view of FIG1
  • FIG5 is a partial view of FIG2
  • FIG6 is a partial view of a top view of a cloth unit provided by the present application.
  • FIG7A is a schematic diagram of a first position of a buffer plate of a material distribution unit provided by the present application during a material dropping process
  • 7B is a schematic diagram of a second position of a buffer plate of a material distribution unit provided by the present application during a material dropping process
  • FIG7C is a schematic diagram of a third position of the buffer plate of the material distribution unit during the material dropping process provided by the present application.
  • 7D is a schematic diagram of a fourth position of the buffer plate of the material distribution unit during the material dropping process provided by the present application.
  • FIG8A is a schematic diagram of a first position of a push rod of a material distribution unit provided by the present application during a material distribution process
  • FIG8B is a schematic diagram of a second position of a push rod of a material distribution unit provided by the present application during a material distribution process
  • FIG8C is a schematic diagram of the third position of the push rod of the material distribution unit provided in the present application during the material distribution process.
  • Carrying platform 11. First guide rail; 111. First connecting plate; 12. Second guide rail; 2. blanking mechanism; 21. movable bracket; 211. third guide rail; 22. blanking assembly; 221. push rod; 222, buffer plate; 223, stop rod; 2231, first rod; 2232, second rod; 224, fourth driving member; 3. Feeding mechanism; 311. First material fork; 3111. Positioning groove; 312. Second material fork; 313. First driving member; 32. Detection element; 4. Telescopic arm; 41. Guide slope; 5. Support frame; 6. Driving mechanism; 61. Scissor lift arm; 611. Outer arm frame; 612. Inner arm frame; 62. Fifth driving member; 100. Steel bars; 200. Welding platform.
  • connection should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements.
  • connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements.
  • a first feature is “on” a second feature.
  • “or”below” may include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them.
  • “above”, “above” and “above” the first feature of the second feature include that the first feature is directly above and obliquely above the second feature, or indicate that the first feature is higher in level than the second feature.
  • “Below”, “below” and “below” the first feature of the second feature include that the first feature is directly below and obliquely below the second feature, or indicate that the first feature is lower in level than the second feature.
  • the terms “upper”, “lower”, “right”, etc. are based on the directions or positions shown in the drawings, and are for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction.
  • the terms “first” and “second” are provided for distinction in the description and have no special meaning.
  • this embodiment provides a material distribution unit, which is configured to transport steel bars 100 to a welding platform 200 for making steel bar cages, and includes a carrying platform 1 , a material placement mechanism 2 and a material loading mechanism 3 .
  • the carrying platform 1 is movably arranged at one end of the welding platform 200, and is arranged to carry the steel bar 100.
  • the blanking mechanism 2 includes a mobile bracket 21 and a blanking assembly 22 arranged on the mobile bracket 21.
  • the mobile bracket 21 is movably arranged on the carrying platform 1.
  • the mobile bracket 21 can move to a preset position above the welding platform 200.
  • the mobile bracket 21 can carry the steel bar 100.
  • the blanking assembly 22 can flip the steel bar 100 on the mobile bracket 21 onto the welding platform 200.
  • the feeding mechanism 3 is arranged on the carrying platform 1.
  • the feeding mechanism 3 is movable along the extension direction of the carrying platform 1, and includes a grabbing assembly and a detection element 32.
  • the grabbing assembly is arranged to grab the steel bar 100 on the carrying platform 1.
  • the steel bar 100 grabbed by the grabbing assembly can be transported to the mobile bracket 21 by moving the feeding mechanism 3.
  • the detection element 32 is arranged to detect whether the steel bar 100 is placed on the carrying platform 1.
  • the steel bar 100 is first placed on the bearing platform 1; then the bearing platform 1 is driven to rise and fall to a preset height, and the feeding mechanism 3 is driven to move back and forth along the extension direction of the bearing platform 1.
  • the detection element 32 can detect the bearing platform 1 in real time.
  • the feeding mechanism 3 is driven to move to the position of the steel bar 100, and the steel bar 100 is transported to the mobile bracket 21 through the feeding mechanism 3.
  • the mobile bracket 21 is driven to move to the preset position above the welding platform 200, and finally the blanking assembly 22 is driven to flip the steel bar 100 to the preset position on the welding platform 200.
  • the bearing platform 1 can provide stable support for the steel bar 100.
  • the bearing platform 1 can be raised and lowered, the bearing platform 1 can be located at a suitable height by driving the bearing platform 1 to rise and fall, so as to facilitate the welding of the mesh sheet of the steel cage, so that the construction personnel do not need to manually lift the steel bar when welding the mesh sheet, which is convenient to operate and ensures the safety of the construction personnel.
  • the steel bar 100 can be transported to any position above the welding platform 200.
  • the steel bar 100 is transported to the preset position of the welding platform 200, the steel bar 100 is flipped onto the welding platform 200 by the blanking assembly 22, and the steel bar 100 can be arranged at the preset position of the welding platform 200. That is, the arrangement position of the steel bar 100 can be accurately controlled by the mobile bracket 21 and the blanking assembly 22, thereby improving the reinforcement accuracy of the steel bar 100 and improving the welding process. And ensure the structural strength of the steel cage.
  • the detection element 32 is communicatively connected with the control unit of the longitudinal reinforcement laying equipment, and the detection element 32 is a laser sensor, which has high precision and strong anti-interference ability.
  • the grabbing assembly includes a first material fork 311 and a second material fork 312 arranged opposite to each other, a first guide rail 11 and a second guide rail 12 are arranged opposite to each other on the carrying platform 1, the first guide rail 11 and the second guide rail 12 both extend along the extension direction of the carrying platform 1, the first material fork 311 is slidably connected to the first guide rail 11, the second material fork 312 is slidably connected to the second guide rail 12, the first material fork 311 and the second material fork 312 can both be raised and lowered, and the first material fork 311 and the second material fork 312 can lift the steel bar 100 on the carrying platform 1 by being raised and lowered.
  • the first guide rail 11 can provide a guiding effect for the movement of the first material fork 311, and the second guide rail 12 can provide a guiding effect for the movement of the second material fork 312, thereby ensuring the stability of the movement of the first material fork 311 and the second material fork 312.
  • the first guide rail 11 can also limit the moving stroke of the first material fork 311, and the second guide rail 12 can limit the moving stroke of the second material fork 312, so as to prevent the first material fork 311 and the second material fork 312 from being separated from the carrying platform 1, thereby ensuring the stability of the material distribution unit structure.
  • the first material fork 311 and the second material fork 312 move to the placement position of the steel bar 100, the first material fork 311 and the second material fork 312 are synchronously driven to rise, so that the first material fork 311 and the second material fork 312 hold up the steel bar 100, and then the first material fork 311 and the second material fork 312 are synchronously driven to move along the carrying platform 1 to the top of the feeding mechanism 3, and then the first material fork 311 and the second material fork 312 are synchronously driven to fall, so that the steel bar 100 falls on the mobile bracket 21, which is convenient for operation.
  • the first material fork 311 and the second material fork 312 are relatively arranged on both sides of the carrying platform 1 to avoid interference with the steel bar 100 on the carrying platform 1.
  • the first material fork 311 and the second material fork 312 are both provided with a positioning groove 3111 on the side facing the steel bar 100, and the steel bar 100 can be inserted into the positioning groove 3111, so that the first material fork 311 and the second material fork 312 can stably hold up the steel bar 100 on the carrying platform 1, and prevent the steel bar 100 from being separated from the first material fork 311 and the second material fork 312.
  • the positioning groove 3111 is set as a V-shaped groove to facilitate matching with the steel bar 100.
  • the V-shaped positioning groove 3111 can increase the contact area with the steel bar 100 and improve the stability when holding up the steel bar 100.
  • the first guide rail 11 and the second guide rail 12 are both electric slide rails, and a motor is provided on the electric slide rail.
  • the first material fork 311 and the second material fork 312 can be driven to slide along the extension direction of the carrying platform 1 by driving the motor, and the adjustment is very convenient.
  • the motor of the electric slide rail is communicatively connected to the control unit of the longitudinal reinforcement distributing device, so as to automatically control the first material fork 311 and the second material fork 312 to move along the extension direction of the carrying platform 1 through the control unit.
  • the feeding mechanism 3 further includes a first driving member 313 and a second driving member, a first connecting plate 111 is slidably provided on the first guide rail 11, a second connecting plate is slidably provided on the second guide rail 12, the first driving member 313 is provided on the first connecting plate 111, and an output end of the first driving member 313 is connected to the first material fork 311.
  • the first connecting plate 111 is connected to the first material fork 311, and the second driving member is arranged on the second connecting plate, and the output end of the second driving member is connected to the second material fork 312, and is arranged to drive the second material fork 312 to rise and fall.
  • a first limiting protrusion is arranged on the first connecting plate 111
  • a second limiting protrusion is arranged on the second connecting plate
  • a first guide groove is arranged on the first guide rail 11
  • a second guide groove is arranged on the second guide rail 12.
  • the first limiting protrusion is inserted into the first guide groove and slidably cooperates with the first guide groove
  • the second limiting protrusion is inserted into the second guide groove and slidably cooperates with the second guide groove, thereby realizing the sliding connection between the first connecting plate 111 and the first guide rail 11, and the sliding connection between the second connecting plate and the second guide rail 12.
  • the first driving member 313 and the second driving member are both electric cylinders, and are both communicatively connected with the control unit of the longitudinal reinforcement distributing equipment, so that the lifting and lowering of the first material fork 311 and the second material fork 312 can be automatically controlled by the control unit.
  • the electric cylinder has a compact structure and high precision.
  • the first driving member 313 and the second driving member may also be cylinders, hydraulic cylinders, etc., as long as they can drive the first material fork 311 and the second material fork 312 to rise and fall.
  • the blanking assembly 22 includes a push rod 221, a receiving space is provided in the carrying platform 1, a telescopic arm 4 is provided in the receiving space, the telescopic arm 4 can extend or retract into the receiving space, and the length of the extending or retracting into the receiving space is adjustable, the mobile bracket 21 is movably provided on the telescopic arm 4, a guiding inclined surface 41 is provided at one end of the telescopic arm 4 close to the welding platform 200, the push rod 221 is rotatably provided on the mobile bracket 21, and the rotation of the push rod 221 can make the steel bar 100 on the mobile bracket 21 slide and contact with the guiding inclined surface 41, so as to flip the steel bar 100 on the mobile bracket 21 onto the welding platform 200.
  • a push rod 221 a receiving space is provided in the carrying platform 1
  • a telescopic arm 4 is provided in the receiving space
  • the telescopic arm 4 can extend or retract into the receiving space
  • the length of the extending or retracting into the receiving space is adjustable
  • the push rod 221 is horizontally provided to avoid the steel bar 100 on the mobile bracket 21.
  • the push rod 221 is driven to rotate upward so that the push rod 221 abuts against the steel bar 100 on the mobile bracket 21, thereby applying a thrust to the steel bar 100.
  • the steel bar 100 is tilted under the action of the thrust and has a tendency to fall, and then slides in contact with the guide slope 41, so that the steel bar 100 can fall onto the welding platform 200.
  • the steel bar 100 can be flipped onto the welding platform 200 by rotating the push rod 221, which is easy to operate.
  • the guide slope 41 can provide a guiding effect for the falling of the steel bar 100, so that the steel bar 100 can fall stably.
  • the drop assembly 22 also includes a third driving member, which is arranged on the mobile bracket 21, and the output end of the third driving member is connected to the push rod 221, and is arranged to drive the push rod 221 to rotate.
  • the third driving member is connected to the control unit of the longitudinal reinforcement laying equipment, so that the rotation of the push rod 221 can be automatically controlled by the control unit.
  • the third driving member is a motor.
  • the end of the mobile bracket 21 can be made to reach any position above the welding platform 200 by adjusting the length of the accommodation space when the telescopic arm 4 is extended or retracted.
  • the steel bar 100 is flipped onto the welding platform 200 by the material dropping mechanism 2, and the steel bar 100 can be arranged at the preset position of the welding platform 200. That is, the arrangement position of the steel bar 100 can be accurately controlled by changing the length of the accommodation space when the telescopic arm 4 is extended or retracted, thereby improving the reinforcement accuracy of the longitudinal reinforcement, and then ensuring the structural strength of the steel cage.
  • the mobile bracket 21 is provided with a running wheel, and the telescopic arm 4 is provided with a track along its telescopic direction, and the running wheel is inserted into the track and can slide along the track.
  • the mobile bracket 21 is provided with a driving motor, and the output end of the driving motor is connected to the running wheel, and is configured to drive the running wheel to rotate, so that the mobile bracket 21 can move along the telescopic arm 4.
  • the driving motor is communicatively connected to the control unit of the longitudinal reinforcement laying equipment, so as to automatically control the movement of the mobile bracket 21 through the control unit.
  • the telescopic arm 4 includes a fixed arm, a multi-stage movable arm (for example, a primary movable arm and a secondary movable arm) and a power unit
  • the fixed arm is fixed in the accommodation space
  • the primary movable arm is slidably sleeved in the fixed arm
  • the secondary movable arm is slidably sleeved in the primary movable arm, and so on to form a sleeve-shaped telescopic arm 4
  • the power unit is configured to provide power for the multi-stage movable arm to drive the multi-stage movable arm to be telescopic step by step.
  • the number of movable arms can be determined according to construction requirements
  • the power unit can be a hydraulic cylinder, an electric cylinder or an electric push rod, etc.
  • the structure of the telescopic arm 4 is a conventional setting in the art.
  • the blanking assembly 22 further includes a buffer plate 222, which is movably disposed on the mobile bracket 21, and the buffer plate 222 can support the steel bar 100 that falls from the mobile bracket 21 by being lifted.
  • the buffer plate 222 is first driven to rise synchronously, and then the push rod 221 is driven to rotate, so that the steel bar 100 on the mobile bracket 21 falls, and the buffer plate 222 is driven to fall synchronously.
  • the steel bar 100 it is always in contact with the buffer plate 222, so that the steel bar 100 can stably contact with the guide inclined surface 41.
  • the steel bar 100 When the buffer plate 222 falls to the bottom, the steel bar 100 is separated from the guide inclined surface 41 and falls on the welding platform 200.
  • the setting of the buffer plate 222 ensures the stability of the steel bar 100 when it falls, reduces the impact generated during the falling process of the steel bar 100, thereby preventing the steel bar 100 from damaging the material on the welding platform 200 and avoiding injuring the construction personnel on the welding platform 200, thereby improving the safety of construction.
  • a third guide rail 211 extending in the vertical direction is provided on one side of the mobile bracket 21, and the buffer plate 222 is slidably connected to the third guide rail 211.
  • the third guide rail 211 is an electric slide rail, and the lifting and lowering of the buffer plate 222 can be achieved by driving the electric slide rail.
  • the electric slide rail is connected to a control unit of the longitudinal reinforcement laying equipment, so that the lifting and lowering of the buffer plate 222 can be automatically controlled.
  • the material drop assembly 22 further includes a stopper 223, the stopper 223 includes a first rod 2231 and a second rod 2232 which are connected and arranged at an angle, the first rod 2231 is rotatably connected to the movable bracket 21, and the first rod 2231 is rotated so that the steel bar 100 on the movable bracket 21 is located between the first rod 2231 and the second rod 2232.
  • the stopper 223 can play a stopping role, preventing the steel bar 100 from falling off the guide inclined surface 41 during the falling process, so that the steel bar 100 can fall stably.
  • the first rod 2231 and the second rod 2232 are arranged vertically. Referring to FIGS.
  • the blocking rod 223 can avoid the steel bars 100 on the movable bracket 21 when in the initial position.
  • the blocking rod 223 is first rotated in the second direction (the direction of the arrow in FIG. 8A is the second direction).
  • the push rod 221 can be driven to drop the material (as shown in FIG. 8C ).
  • the steel bars 100 are located between the first rod 2231 and the second rod 2232, and the second rod 2232 will not interfere with the guide inclined surface 41.
  • the steel bars 100 on the movable bracket 21 are located between the first rod 2231 and the second rod 2232.
  • the space enclosed by the second rods 2232 is formed so as to improve the stability of the contact between the steel bar 100 and the guide slope 41 when the steel bar 100 falls, and then the push rod 221 is rotated to drop the steel bar.
  • the buffer plate 222 and the blocking rod 223 are respectively arranged on both sides of the mobile bracket 21 to avoid interference between the buffer plate 222 and the blocking rod 223, and to avoid interference between the blocking rod 223 and the steel bar 100 on the mobile bracket 21 during the transportation of the steel bar 100.
  • the blanking assembly 22 further includes a fourth driving member 224, which is disposed on the mobile bracket 21, and an output end of the fourth driving member 224 is connected to the first rod 2231, and the fourth driving member 224 is configured to drive the first rod 2231 to rotate, thereby driving the blocking rod 223 to rotate.
  • the fourth driving member 224 is a motor, and is communicatively connected to a control unit of the longitudinal reinforcement laying device.
  • the blanking assembly 22 includes a first clamping part and a second clamping part, which are relatively arranged on the mobile bracket 21, and the first clamping part and the second clamping part are both retractable and rotatably connected to the mobile bracket 21.
  • the first clamping part and the second clamping part are both provided with electromagnets, and the electromagnets can adsorb the steel bars 100 on the mobile bracket 21 by energizing. In the initial position, the first clamping part and the second clamping part are arranged vertically upward.
  • the first clamping part and the second clamping part are synchronously driven to rise, so that the first clamping part and the second clamping part hold up the steel bars 100 on the bearing platform 1, and at the same time, the electromagnets on the first clamping part and the second clamping part are energized to adsorb the steel bars 100.
  • the mobile bracket 21 is driven to move to the end of the telescopic arm 4 close to the welding platform 200, and the first clamping part and the second clamping part are synchronously driven to rotate, so that the first clamping part and the second clamping part rotate to face the welding platform 200, and then the first clamping part and the second clamping part are continuously driven to extend, so that the first clamping part and the second clamping part are close to the welding platform 200, and then the electromagnet is turned off, and the steel bar 100 can be transported to the welding platform 200.
  • the electromagnet after being energized generates magnetism, so that the first clamping part and the second clamping part can stably absorb the steel bar 100, ensuring the stability of the position limit of the steel bar 100 and the mobile bracket 21, and preventing the steel bar 100 from being separated from the mobile bracket 21 during transportation.
  • the electromagnet is turned off, so that the steel bar 100 can fall stably on the welding platform 200, thereby reducing the impact generated when the steel bar 100 falls, and improving the reinforcement accuracy of the steel bar 100.
  • the electromagnet is connected to a control unit of the longitudinal reinforcement laying equipment through a wire so that the control unit can automatically control the power on and off of the electromagnet.
  • two driving motors are arranged on both sides of the movable bracket 21, and the output ends of the two driving motors are connected to rockers one by one.
  • the driving motors are configured to drive the rockers to rotate.
  • the two electric cylinders are connected to one end of the two rockers away from the driving motors one by one.
  • the first clamping part and the second clamping part are respectively connected to the output ends of the two electric cylinders, and the first clamping part and the second clamping part are driven to extend and retract by the corresponding electric cylinders.
  • the material distribution unit further includes a support frame 5 and a driving mechanism 6,
  • the driving mechanism 6 includes a scissor lift arm 61 and a fifth driving member 62, the first end of the scissor lift arm 61 is connected to the carrying platform 1, the second end of the scissor lift arm 61 is connected to the support frame 5, and the fifth driving member 62 is configured to provide a motive force for the scissor lift arm 61. force to drive the load-bearing platform 1 to rise and fall.
  • the support frame 5 can provide stable support for the load-bearing platform 1, thereby ensuring the stability of the material distribution unit.
  • the scissor lift arm 61 can achieve smooth lifting and lowering.
  • the scissor lift arm 61 includes two outer arms 611 and two inner arms 612, the outer arms 611 and the inner arms 612 are cross-arranged, the middle parts of the outer arms 611 and the inner arms 612 are connected by a scissor shaft, the tops of the two outer arms 611 are hinged to the load-bearing platform 1, the bottoms of the two outer arms 611 are slidably connected to the support frame 5, the tops of the two inner arms 612 are slidably connected to the load-bearing platform 1, and the bottoms of the two inner arms 612 are hinged to the support frame 5.
  • the fifth driving member 62 is communicatively connected to the control unit of the longitudinal reinforcement material distribution equipment.
  • the fifth driving member 62 is a hydraulic cylinder.
  • This embodiment also provides a longitudinal reinforcement distributing device, including a welding platform 200, a control unit, and a plurality of distributing units as described above, wherein the plurality of distributing units are arranged at intervals on one side of the welding platform 200 along a first direction, and the plurality of distributing units are all connected to the control unit for communication, and the control unit is configured to control the operation of each distributing unit.
  • the longitudinal reinforcement distributing device can transport the longitudinal reinforcement to a designated position of the welding platform 200, is easy to operate, saves labor, and improves the distributing accuracy of the longitudinal reinforcement.
  • 10 distributing units are provided, and the spacing between two adjacent distributing units is 6 meters (m), and the first direction is the length direction of the welding platform 200. The number and spacing of the distributing units are determined according to actual construction requirements.
  • control unit may be, for example, a programmable logic controller (PLC).
  • PLC programmable logic controller
  • the welding platform 200 is fixed to the ground by anchor bolts, and a track is provided on the welding platform 200, and the track extends along the width direction of the welding platform 200.
  • the welding robot is slidably provided on the track, and is provided as a welding steel cage.
  • a plurality of slots are provided on the welding platform 200, and are provided as positioning steel bars 100.
  • This embodiment also provides a longitudinal reinforcement laying method, which uses the longitudinal reinforcement laying equipment as described above, and includes the following steps:
  • step S2 driving the carrying platform 1 to rise and fall to a preset height, and driving the plurality of feeding mechanisms 3 to synchronously reciprocate along the extension direction of the carrying platform 1 corresponding to each of the feeding mechanisms 3, and the plurality of detection elements 32 to detect in real time whether the steel bars 100 are placed on the carrying platforms 1 corresponding to each of the detection elements 32, and if so, executing step S3;
  • the longitudinal reinforcement laying equipment and laying method provided in this embodiment can realize automatic control of multiple laying units by setting a control unit.
  • construction personnel When in use, construction personnel only need to place multiple steel bars 100 one by one on the supporting platforms 1 of multiple laying units, and connect the multiple steel bars 100 into longitudinal reinforcements.
  • the longitudinal reinforcement laying equipment can be started to transport the longitudinal reinforcements to the preset position of the welding platform 200, thereby saving labor and reducing the labor intensity of construction personnel.
  • step S1 a construction worker stands between two adjacent material placing units and connects the steel bars 100 on two adjacent bearing platforms 1 together through a steel bar connector to form a longitudinal bar;
  • step S2 the fifth driving assembly of each material placing unit is controlled by the control unit so that the scissor lift arm 61 drives the carrying platform 1 to rise or fall to a suitable height, thereby being able to adapt to different construction heights, and at the same time, the multiple telescopic arms 4 are controlled to be synchronously extended to a preset length, and the detection element 32 detects in real time whether the steel bars 100 are placed on the carrying platform 1, and feeds back to the control unit in real time;
  • step S3 when the detection element 32 detects the steel bar 100 on the carrying platform 1, the control unit moves the feeding mechanism 3 to the longitudinal reinforcement position, and then drives the first material fork 311 and the second material fork 312 to rise, so that the first material fork 311 and the second material fork 312 hold up the longitudinal reinforcement.
  • the feeding mechanism 3 moves to the top of the mobile bracket 21, the first material fork 311 and the second material fork 312 are synchronously driven to descend, so that the longitudinal reinforcement falls on the mobile bracket 21.
  • the push rod 221 is located below the longitudinal reinforcement;
  • step S4 the multiple telescopic arms 4 are first synchronously extended to the farthest reinforcement laying position, and then the multiple telescopic arms 4 are driven to synchronously retract to a preset length until the reinforcement laying is completed.
  • the preset length is the distance between two adjacent longitudinal reinforcements, which is determined according to the specifications of the steel cage. For example, the preset length is 150 millimeters (mm);
  • step S5 the control unit controls the stopper 223 to rotate so that the steel bar 100 is located between the first rod 2231 and the second rod 2232, and drives the buffer plate 222 to rise so that the push rod 221 can receive the steel bar 100 on the movable bracket 21, and then drives the push rod 221 to rotate so that the push rod 221 abuts against the longitudinal reinforcement, and the longitudinal reinforcement can slide and contact with the guide inclined surface 41 under the thrust of the push rod 221, and drives the buffer plate 222 to fall while the longitudinal reinforcement falls, so that the buffer plate 222 supports the longitudinal reinforcement and falls steadily, and when the longitudinal reinforcement is separated from the guide inclined surface 41 and the buffer plate 222, it can fall at the preset position of the welding platform 200.
  • the stopper 223, the buffer plate 222 and the push rod 221 are driven to reset.
  • the reinforcement of the lower mesh is firstly carried out, and at this time, the bearing platform 1 is located at the initial position and does not rise.
  • the bearing platform 1 is driven to rise to a preset height to carry out the reinforcement of the mesh.
  • the initial position of the movable bracket 21 is located at one end of the telescopic arm 4 close to the carrying platform 1 .

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Abstract

一种布料单元、纵筋布料设备及布料方法。其中，布料单元包括承载平台(1)、落料机构(2)和上料机构(3)。承载平台(1)可升降地设置于焊接平台(200)的一端；落料机构(2)包括移动支架(21)和设置于移动支架(21)上的落料组件(22)，移动支架(21)可移动地设置于承载平台(1)上，移动支架(21)能移动至焊接平台(200)上方的预设位置处，移动支架(21)能承载钢筋(100)，落料组件(22)能将移动支架(21)上的钢筋(100)翻落至焊接平台(200)上；上料机构(3)包括抓取组件和检测元件(32)，抓取组件设置为抓取承载平台(1)上的钢筋(100)，检测元件(32)设置为检测承载平台(1)上是否放置有钢筋(100)。

Description

布料单元、纵筋布料设备及布料方法
本申请要求在2023年8月2日提交中国专利局、申请号为202310963369.1的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及建筑施工技术领域，例如涉及一种布料单元、纵筋布料设备及布料方法。
背景技术
地下连续墙作为一种围护结构，具有强度高、占地面积小和防渗性能好等优点，广泛应用于基坑施工中。其主要施工流程为：使用挖槽机械开挖出一定长度的槽段，然后在槽段内下放钢筋笼，最后在槽段内浇筑混凝土，即可完成一个单元槽段的施工，如此逐段施工，即形成地下连续墙的钢筋混凝土墙。
地下连续墙的钢筋笼主要由纵筋、横筋、封口筋和桁架焊接而成。纵筋沿钢筋笼的长度方向布置，为受力主筋；在纵筋上每隔一定距离设置有横筋，以将多根纵筋连接在一起；封口筋设置在钢筋笼的端部，以使钢筋笼形成封闭环；桁架设置在钢筋笼的内部，以提高钢筋笼的强度。在钢筋笼的制作过程中，首先在焊接区域按照一定的间距布置纵筋，然后在纵筋的上方布置横筋并焊接形成下网片；之后在下网片的上方焊接桁架；最后在桁架上方焊接纵筋形成上网片，以形成钢筋笼，并在钢筋笼的两端焊接封口筋。
在上述制作过程中，由于纵筋的长度长，通常需要将多根短钢筋连接成为一根纵筋，并通过多名施工人员将连接好的纵筋搬运至焊接区域的指定区域，通过人工摆放控制相邻两个纵筋之间的间距，以完成纵筋的布置，同时在上网片的布筋过程中，由于布筋位置在地面上方，施工人员还需要抬起钢筋，并爬到上网片上搬运钢筋，如此操作费时费力，消耗大量人力，危险性高，并且也无法精确控制纵筋的布置位置。
发明内容
本申请提供一种布料单元、纵筋布料设备及布料方法，能将纵筋搬运至焊接平台的指定位置处，操作简便，节省人工，提高纵筋的布筋精度。
本申请提供了一种布料单元，设置为将钢筋运送至制作钢筋笼的焊接平台上，包括：
承载平台，可升降地设置于所述焊接平台的一端，设置为承载钢筋；
落料机构，包括移动支架和设置于所述移动支架上的落料组件，所述移动支架可移动地设置于所述承载平台上，所述移动支架能移动至所述焊接平台上方的预设位置处，所述移动支架能承载钢筋，所述落料组件能将所述移动支架上的钢筋翻落至所述焊接平台上；
上料机构，设置于所述承载平台上，所述上料机构沿所述承载平台的延伸方向可移动，包括抓取组件和检测元件，所述抓取组件设置为抓取所述承载平台上的钢筋，通过移动所述上料机构能将所述抓取组件抓取到的钢筋运送至所述移动支架上，所述检测元件设置为检测所述承载平台上是否放置有钢筋。
在一些实施例中，所述抓取组件包括相对设置的第一料叉和第二料叉，所述承载平台上相对设置有第一导轨和第二导轨，所述第一导轨和所述第二导轨均沿所述承载平台的延伸方向延伸，所述第一料叉与所述第一导轨滑动连接，所述第二料叉与所述第二导轨滑动连接，所述第一料叉和所述第二料叉均可升降，所述第一料叉和所述第二料叉通过升降能托起所述承载平台上的钢筋。
在一些实施例中，所述上料机构还包括第一驱动件和第二驱动件，所述第一导轨上滑动设置有第一连接板，所述第二导轨上滑动设置有第二连接板，所述第一驱动件设置于所述第一连接板上，且第一驱动件的输出端与所述第一料叉相连，设置为驱动所述第一料叉升降，所述第二驱动件设置于所述第二连接板上，且第二驱动件的输出端与所述第二料叉相连，设置为驱动所述第二料叉升降。
在一些实施例中，所述落料组件包括推杆，所述承载平台内设置有容纳空间，所述容纳空间内设置有伸缩臂，所述伸缩臂能伸出或缩回所述容纳空间，且伸出或缩回所述容纳空间的长度可调，所述移动支架可移动地设置于所述伸缩臂上，所述伸缩臂靠近所述焊接平台的一端设置有导向斜面，所述推杆转动设置于所述移动支架上，转动所述推杆能使所述移动支架上的钢筋与所述导向斜面滑动接触，以将所述移动支架上的钢筋翻落至所述焊接平台上。
在一些实施例中，所述落料组件还包括缓冲板，所述缓冲板可升降地设置于所述移动支架上，所述缓冲板通过升降能承托从所述移动支架上翻落的钢筋接触。
在一些实施例中，所述落料组件还包括挡杆，所述挡杆包括相连且呈夹角设置的第一杆和第二杆，所述第一杆与所述移动支架转动连接，转动所述第一杆能使所述移动支架上的钢筋位于所述第一杆和所述第二杆之间。
在一些实施例中，所述落料组件包括第一夹持部和第二夹持部，所述第一夹持部和所述第二夹持部相对设置于所述移动支架上，所述第一夹持部和所述 第二夹持部均可伸缩，且均与所述移动支架转动连接，所述第一夹持部和所述第二夹持部上均设置有电磁铁，所述电磁铁通过通电能吸附所述移动支架上的钢筋。
在一些实施例中，所述布料单元还包括支撑架和驱动机构，所述驱动机构包括剪叉升降臂和第五驱动件，所述剪叉升降臂的第一端与所述承载平台相连，所述剪叉升降臂的的第二端与所述支撑架相连，所述第五驱动件设置为为所述剪叉升降臂提供动力，以驱动所述承载平台升降。
本申请还提供了一种纵筋布料设备，包括焊接平台、控制单元、以及多个如上所述的布料单元，多个所述布料单元沿第一方向间隔设置于所述焊接平台的一侧，多个所述布料单元均与所述控制单元通讯连接，所述控制单元设置为控制每个所述布料单元的运行。
本申请还提供了一种纵筋布料方法，应用如上所述的纵筋布料设备，包括：
将多根钢筋一一对应地放置于多个所述承载平台上，并将多根钢筋连接成一根纵筋；
驱动所述承载平台升降至预设高度，同时驱动多个所述上料机构沿与所述上料机构各自对应的所述承载平台的延伸方向同步往复移动，多个所述检测元件实时检测与所述检测元件各自对应的所述承载平台上是否放置有钢筋；
响应于多个所述检测元件检测到与所述检测元件各自对应的所述承载平台上放置有钢筋，驱动多个所述上料机构同步移动至所述纵筋的放置位置处，并将所述纵筋运送至所述多个所述移动支架上；
驱动多个所述移动支架同步移动，以将所述纵筋运送至所述焊接平台上方的预设位置处；
同步驱动多个所述落料组件，以将所述纵筋翻落至所述焊接平台上，并驱动多个所述移动支架同步返回初始位置；
重复执行上述的所有步骤，以完成所述钢筋笼的纵筋的布筋。
附图说明
图1是本申请提供的布料单元的第一立体示意图；
图2是本申请提供的布料单元的第二立体示意图；
图3是图1中A处的放大图；
图4是图1的局部视图；
图5是图2的局部视图；
图6是本申请提供的布料单元的俯视图的局部视图；
图7A是本申请提供的布料单元在落料过程中缓冲板的第一位置示意图；
图7B是本申请提供的布料单元在落料过程中缓冲板的第二位置示意图；
图7C是本申请提供的布料单元在落料过程中缓冲板的第三位置示意图；
图7D是本申请提供的布料单元在落料过程中缓冲板的第四位置示意图；
图8A是本申请提供的布料单元在落料过程中推杆的第一位置示意图；
图8B是本申请提供的布料单元在落料过程中推杆的第二位置示意图；
图8C是本申请提供的布料单元在落料过程中推杆的第三位置示意图。
图中：
1、承载平台；11、第一导轨；111、第一连接板；12、第二导轨；
2、落料机构；21、移动支架；211、第三导轨；22、落料组件；221、推杆；
222、缓冲板；223、挡杆；2231、第一杆；2232、第二杆；224、第四驱动件；
3、上料机构；311、第一料叉；3111、定位槽；312、第二料叉；313、第
一驱动件；32、检测元件；
4、伸缩臂；41、导向斜面；
5、支撑架；
6、驱动机构；61、剪叉升降臂；611、外臂架；612、内臂架；62、第五驱
动件；
100、钢筋；
200、焊接平台。
具体实施方式
下面结合附图和实施例对本申请作说明。此处所描述的实施例用于解释本申请。另为了便于描述，附图中示出了与本申请相关的部分。
在本申请的描述中，除非另有明确的规定和限定，术语“相连”、“连接”、“固定”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以视具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征之“上” 或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或表示第一特征水平高度小于第二特征。
在本实施例的描述中，术语“上”、“下”、“右”、等方位或位置关系为基于附图所示的方位或位置关系，是为了便于描述和简化操作，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作。此外，术语“第一”、“第二”设置为在描述上加以区分，并没有特殊的含义。
参阅图1和图2，本实施例提供了一种布料单元，设置为将钢筋100运送至制作钢筋笼的焊接平台200上，包括承载平台1、落料机构2和上料机构3。
承载平台1可升降地设置于焊接平台200的一端，设置为承载钢筋100，落料机构2包括移动支架21和设置于移动支架21上的落料组件22，移动支架21可移动地设置于承载平台1上，移动支架21能移动至焊接平台200上方的预设位置处，移动支架21能承载钢筋100，落料组件22能将移动支架21上的钢筋100翻落至焊接平台200上。上料机构3设置于承载平台1上，上料机构3沿承载平台1的延伸方向可移动，包括抓取组件和检测元件32，抓取组件设置为抓取承载平台1上的钢筋100，通过移动上料机构3能将抓取组件抓取到的钢筋100运送至移动支架21上，检测元件32设置为检测承载平台1上是否放置有钢筋100。
本实施例提供的布料单元，使用时，首先将钢筋100放置在承载平台1上；之后驱动承载平台1升降至预设高度，同时驱动上料机构3沿承载平台1的延伸方向往复移动，检测元件32能实时对承载平台1进行检测，当检测到承载平台1上放置有钢筋100时，驱动上料机构3移动至钢筋100位置处，并通过上料机构3将钢筋100运送至移动支架21上。然后驱动移动支架21移动至焊接平台200上方的预设位置处，最后驱动落料组件22即可将钢筋100翻落至焊接平台200上的预设位置处。承载平台1能为钢筋100提供稳定地支撑，由于承载平台1可升降，因此通过驱动承载平台1升降即可使承载平台1位于合适的高度，以便于对钢筋笼的上网片进行焊接，使得在焊接上网片时无需施工人员手动举起钢筋，操作方便，保障施工人员的安全。通过驱动移动支架21移动，能将钢筋100运送至焊接平台200上方的任意位置，当钢筋100运送至焊接平台200的预设位置处时，通过落料组件22将钢筋100翻落至焊接平台200上，即可将钢筋100布设在焊接平台200的预设位置，即，通过移动支架21和落料组件22即可精确控制钢筋100的布置位置，从而提高钢筋100的布筋精度，进 而保证钢筋笼的结构强度。
可选地，检测元件32与纵筋布料设备的控制单元通讯连接，检测元件32为激光传感器，激光传感器的精度高，抗干扰能力强。
可选地，参阅图3和图4，抓取组件包括相对设置的第一料叉311和第二料叉312，承载平台1上相对设置有第一导轨11和第二导轨12，第一导轨11和第二导轨12均沿承载平台1的延伸方向延伸，第一料叉311与第一导轨11滑动连接，第二料叉312与第二导轨12滑动连接，第一料叉311和第二料叉312均可升降，第一料叉311和第二料叉312通过升降能托起承载平台1上的钢筋100。如此设置，实现了第一料叉311和第二料叉312与承载平台1的滑动连接，第一导轨11能为第一料叉311的移动提供导向作用，第二导轨12能为第二料叉312的移动提供导向作用，从而保证了第一料叉311和第二料叉312移动的稳定性。同时，第一导轨11还能限制第一料叉311的移动行程，第二导轨12能限制第二料叉312的移动行程，从而避免第一料叉311和第二料叉312脱离承载平台1，保证了布料单元结构的稳定性。在布料的过程中，当第一料叉311和第二料叉312移动至钢筋100的放置位置处时，同步驱动第一料叉311和第二料叉312上升，使第一料叉311和第二料叉312托起钢筋100，然后同步驱动第一料叉311和第二料叉312沿承载平台1移动至上料机构3的上方，之后同步驱动第一料叉311和第二料叉312下降，从而使钢筋100落在移动支架21上，操作方便。在本实施例中，第一料叉311和第二料叉312相对设置于承载平台1的两侧，以避免与承载平台1上的钢筋100发生干涉。
在一些实施例中，第一料叉311和第二料叉312朝向钢筋100的一面均设置有定位槽3111，钢筋100能卡入定位槽3111内，从而使第一料叉311和第二料叉312能稳定地托起承载平台1上的钢筋100，避免钢筋100脱离第一料叉311和第二料叉312。在本实施例中，定位槽3111设置为V型槽，以便于与钢筋100适配，V型的定位槽3111能增大与钢筋100的接触面积，提高托起钢筋100时的稳定性。
可选地，第一导轨11和第二导轨12均为电动滑轨，电动滑轨上设置有电机，通过驱动电机即可驱动第一料叉311和第二料叉312沿承载平台1的延伸方向滑动，调节十分方便。在一些实施例中，电动滑轨的电机与纵筋布料设备的控制单元通讯连接，以通过控制单元自动化控制第一料叉311和第二料叉312沿承载平台1的延伸方向移动。
可选地，上料机构3还包括第一驱动件313和第二驱动件，第一导轨11上滑动设置有第一连接板111，第二导轨12上滑动设置有第二连接板，第一驱动件313设置于第一连接板111上，且第一驱动件313的输出端与第一料叉311 相连，设置为驱动第一料叉311升降，第二驱动件设置于第二连接板上，且第二驱动件的输出端与第二料叉312相连，设置为驱动第二料叉312升降。在本实施例中，第一连接板111上设置有第一限位凸起，第二连接板上设置有第二限位凸起，第一导轨11上设置有第一导向槽，第二导轨12上设置有第二导向槽，第一限位凸起卡入第一导向槽并与第一导向槽滑动配合，第二限位凸起卡入第二导向槽并与第二导向槽滑动配合，从而实现了第一连接板111与第一导轨11的滑动连接，以及第二连接板与第二导轨12的滑动连接。可选地，第一驱动件313和第二驱动件均为电动缸，并均与纵筋布料设备的控制单元通讯连接，从而能通过控制单元实现自动化控制第一料叉311和第二料叉312的升降。电动缸的结构紧凑，精度高。在其他实施例中，第一驱动件313和第二驱动件也可以均为气缸、液压缸等，只要能驱动第一料叉311和第二料叉312升降即可。
可选地，落料组件22包括推杆221，承载平台1内设置有容纳空间，容纳空间内设置有伸缩臂4，伸缩臂4能伸出或缩回容纳空间，且伸出或缩回容纳空间的长度可调，移动支架21可移动地设置于伸缩臂4上，伸缩臂4靠近焊接平台200的一端设置有导向斜面41，推杆221转动设置于移动支架21上，转动推杆221能使移动支架21上的钢筋100与导向斜面41滑动接触，以将移动支架21上的钢筋100翻落至焊接平台200上。参阅图5，在本实施例中，初始位置时，推杆221水平设置，以避让移动支架21上的钢筋100。落料时，参阅图5中的方位，驱动推杆221向上转动，以使推杆221与移动支架21上的钢筋100抵接，从而向钢筋100施加推力，钢筋100在推力的作用下发生倾斜而具有下落趋势，进而与导向斜面41滑动接触，使得钢筋100能下落至焊接平台200上。转动推杆221即可将钢筋100翻落至焊接平台200上，操作方便，导向斜面41能为钢筋100的下落提供导向作用，使得钢筋100能稳定下落。在一些实施例中，落料组件22还包括第三驱动件，第三驱动件设置在移动支架21上，且第三驱动件的输出端与推杆221相连，设置为驱动推杆221转动。可选地，第三驱动件与纵筋布料设备的控制单元相连，从而能通过控制单元自动化控制推杆221的转动。示例性地，第三驱动件为电机。
由于伸缩臂4伸出或缩回容纳空间的长度可调，且移动支架21可移动地设置于伸缩臂4上，因此通过调节伸缩臂4伸出或缩回容纳空间的长度即可使移动支架21的端部到达焊接平台200上方的任意位置，当移动支架21移动至伸缩臂4靠近焊接平台200的端部时，通过落料机构2将钢筋100翻落至焊接平台200上，即可将钢筋100布设在焊接平台200的预设位置。即，通过改变伸缩臂4伸出或缩回容纳空间的长度即可精确控制钢筋100的布置位置，从而提高纵筋的布筋精度，进而保证钢筋笼的结构强度。
可选地，移动支架21上设置有行走轮，伸缩臂4上沿其伸缩方向设置有轨道，行走轮卡入轨道内且能沿轨道滑动。在一些实施例中，移动支架21上设置有驱动电机，驱动电机的输出端与行走轮相连，设置为驱动行走轮转动，从而使移动支架21能沿伸缩臂4移动。在一些实施例中，驱动电机与纵筋布料设备的控制单元通讯连接，以通过控制单元自动化控制移动支架21的移动。
示例性地，伸缩臂4包括固定臂、多级活动臂(例如包括一级活动臂和二级活动臂)和动力单元，固定臂固定在容纳空间内，一级活动臂滑动套设于固定臂内，二级活动臂滑动套设于一级活动臂内，以此类推形成一个套筒状的伸缩臂4，动力单元设置为为多级活动臂提供动力，以驱动多级活动臂逐级伸缩。活动臂的数量可以根据施工需求确定，动力单元可以是液压缸、电动缸或电推杆等，伸缩臂4的结构为本领域的常规设置。
在一些实施例中，落料组件22还包括缓冲板222，缓冲板222可升降地设置于移动支架21上，缓冲板222通过升降能承托从移动支架21上翻落的钢筋100。参阅图7A至图7D，落料时，首先驱动缓冲板222同步上升，之后驱动推杆221转动，使移动支架21上的钢筋100翻落，并同步驱动缓冲板222下降。钢筋100下落的过程中始终与缓冲板222接触，使得钢筋100能与导向斜面41稳定接触，当缓冲板222下降至底端时，此时钢筋100脱离导向斜面41而落在焊接平台200上。缓冲板222的设置保证了钢筋100下落时的稳定性，减少了钢筋100下落过程中产生的冲击，从而避免钢筋100损坏焊接平台200上的材料，以及避免砸伤焊接平台200上的施工人员，提高了施工的安全性。
示例性地，在本实施例中，参阅图6，移动支架21的一侧设置有沿竖直方向延伸的第三导轨211，缓冲板222与第三导轨211滑动连接。可选地，第三导轨211为电动滑轨，通过驱动电动滑轨即可实现缓冲板222的升降。在一些实施例中，电动滑轨与纵筋布料设备的控制单元相连，从而能实现自动化控制缓冲板222的升降。
可选地，落料组件22还包括挡杆223，挡杆223包括相连且呈夹角设置的第一杆2231和第二杆2232，第一杆2231与移动支架21转动连接，转动第一杆2231能使移动支架21上的钢筋100位于第一杆2231和第二杆2232之间。挡杆223能起到止挡作用，避免钢筋100在下落过程中脱离导向斜面41，使得钢筋100能稳定下落。示例性地，在本实施例中，第一杆2231和第二杆2232垂直设置，参阅图8A至图8C，挡杆223在初始位置时能避让移动支架21上的钢筋100，落料时，首先沿第二方向转动挡杆223(图8A中箭头的方向即为第二方向)，当挡杆223转动至第二杆2232与伸缩臂4垂直时即可驱动推杆221进行落料(如图8C所示)，此时钢筋100位于第一杆2231和第二杆2232之间，且第二杆2232不会与导向斜面41发生干涉。使移动支架21上的钢筋100位于第一杆2231和 第二杆2232之间围成的空间之内，从而提高钢筋100下落时与导向斜面41接触的稳定性，之后再转动推杆221进行落料即可。在本实施例中，缓冲板222和挡杆223分别设置于移动支架21的两侧，以避免缓冲板222和挡杆223发生干涉，同时避免在运送钢筋100的过程中挡杆223与移动支架21上的钢筋100发生干涉。
在一些实施例中，落料组件22还包括第四驱动件224，第四驱动件224设置在移动支架21上，且第四驱动件224的输出端与第一杆2231相连，第四驱动件224设置为驱动第一杆2231转动，从而实现驱动挡杆223转动。可选地，第四驱动件224为电机，并与纵筋布料设备的控制单元通讯连接。
在另一个可选的实施例中，落料组件22包括第一夹持部和第二夹持部，第一夹持部和第二夹持部相对设置于移动支架21上，第一夹持部和第二夹持部均可伸缩，且均与移动支架21转动连接，第一夹持部和第二夹持部上均设置有电磁铁，电磁铁通过通电能吸附移动支架21上的钢筋100。初始位置时，第一夹持部和第二夹持部竖直向上设置。当上料机构3将钢筋100运送至移动支架21的上方时，同步驱动第一夹持部和第二夹持部上升，使第一夹持部和第二夹持部托起承载平台1上的钢筋100，同时将第一夹持部和第二夹持部上的电磁铁通电以吸附住钢筋100。之后驱动移动支架21移动至伸缩臂4靠近焊接平台200的端部，并同步驱动第一夹持部和第二夹持部旋转，使第一夹持部和第二夹持部旋转至朝向焊接平台200，然后继续驱动第一夹持部和第二夹持部伸出，使第一夹持部和第二夹持部靠近焊接平台200，之后将电磁铁断电，即可将钢筋100运送至焊接平台200上。通电后的电磁铁产生磁性，使得第一夹持部和第二夹持部能稳定地吸附住钢筋100，保证了钢筋100与移动支架21限位的稳定性，避免在运送过程中钢筋100脱离移动支架21。当第一夹持部和第二夹持部靠近焊接平台200时，将电磁铁断电，使得钢筋100能稳定地落在焊接平台200上，从而减少了钢筋100下落时产生的冲击，提高了钢筋100的布筋精度。在一些实施例中，电磁铁通过导线与纵筋布料设备的控制单元相连，以通过控制单元自动化控制电磁铁的通电和断电。
示例性地，移动支架21的两侧相对设置有两个驱动电机，两个驱动电机的输出端一一对应连接有摇杆，驱动电机设置为驱动摇杆转动，两个电动缸一一对应地连接于两个摇杆远离驱动电机的一端，第一夹持部和第二夹持部分别对应连接于两个电动缸的输出端，第一夹持部和第二夹持部通过对应的电动缸驱动伸缩。
可选地，布料单元还包括支撑架5和驱动机构6，驱动机构6包括剪叉升降臂61和第五驱动件62，剪叉升降臂61的第一端与承载平台1相连，剪叉升降臂61的第二端与支撑架5相连，第五驱动件62设置为为剪叉升降臂61提供动 力，以驱动承载平台1升降。支撑架5能为承载平台1提供稳定地支撑，从而保证布料单元的稳定性。剪叉升降臂61能实现平稳升降，启动第五驱动件62能够为剪叉升降臂61提供动力，从而能驱动承载平台1稳定升降。示例性地，剪叉升降臂61包括两个外臂架611和两个内臂架612，外臂架611和内臂架612交叉设置，外臂架611和内臂架612的中部通过剪叉轴连接，两个外臂架611的顶部与承载平台1铰接，两个外臂架611的底部与支撑架5滑动连接，两个内臂架612的顶部与承载平台1滑动连接，两个内臂架612的底部与支撑架5铰接。在一些实施例中，第五驱动件62与纵筋布料设备的控制单元通讯连接。可选地，第五驱动件62为液压缸。
本实施例还提供了一种纵筋布料设备，包括焊接平台200、控制单元、以及多个如上所述的布料单元，多个布料单元沿第一方向间隔设置于焊接平台200的一侧，多个布料单元均与控制单元通讯连接，控制单元设置为控制每个布料单元的运行。该纵筋布料设备能将纵筋搬运至焊接平台200的指定位置处，操作简便，节省人工，提高纵筋的布筋精度。在本实施例中，布料单元设置有10个，相邻两个布料单元之间的间距为6米(m)，第一方向为焊接平台200的长度方向。布料单元的数量和间距根据实际施工需求确定。
在一些实施例中，控制单元例如可以是可编程逻辑控制器(Programmable Logic Controller，PLC)。
在一些实施例中，焊接平台200通过地脚螺栓固定在地面上，焊接平台200上设置有轨道，轨道沿焊接平台200的宽度方向延伸，焊接机器人滑动设置于轨道上，设置为焊接钢筋笼。在一些实施例中，焊接平台200上设置有多个卡槽，设置为定位钢筋100。
本实施例还提供了一种纵筋布料方法，应用如上所述的纵筋布料设备，包括以下步骤：
S1、将多根钢筋100一一对应地放置于多个承载平台1上，并将多根钢筋100连接成一根纵筋；
S2、驱动承载平台1升降至预设高度，同时驱动多个上料机构3沿与上料机构3各自对应的承载平台1的延伸方向同步往复移动，多个检测元件32实时检测与检测元件32各自对应的承载平台1上是否放置有钢筋100，若是，执行步骤S3；
S3、驱动多个上料机构3同步移动至纵筋的放置位置处，并将纵筋运送至多个移动支架21上；
S4、驱动多个移动支架21同步移动，以将纵筋运送至焊接平台200上方的预设位置处；
S5、同步驱动多个落料组件22，以将纵筋翻落至焊接平台200上，并驱动多个移动支架21同步返回初始位置；
S6、重复执行步骤S1至步骤S5，以完成钢筋笼的纵筋的布筋。
本实施例提供的纵筋布料设备及布料方法，控制单元的设置能够实现自动化控制多个布料单元，使用时，施工人员只需将多个钢筋100一一对应地放置于多个布料单元的承载平台1上，并将多个钢筋100连接成为纵筋，之后启动纵筋布料设备即可将纵筋运送至焊接平台200的预设位置处，节省人工，降低施工人员的劳动强度。
在步骤S1中，施工人员站在相邻两个布料单元之间，通过钢筋接驳器将相邻两个承载平台1上的钢筋100连接在一起，以形成一根纵筋；
在步骤S2中，通过控制单元控制每个布料单元的第五驱动组件，以使剪叉升降臂61带动承载平台1升降至合适高度，从而能适应不同的施工高度，同时控制多个伸缩臂4同步伸出至预设长度，检测元件32实时检测承载平台1上是否放置有钢筋100，并实时反馈至控制单元；
在步骤S3中，当检测元件32检测到承载平台1上的钢筋100时，通过控制单元将上料机构3移动至纵筋位置处，之后通过驱动第一料叉311和第二料叉312上升，使第一料叉311和第二料叉312托起纵筋，当上料机构3移动至移动支架21的上方时，同步驱动第一料叉311和第二料叉312下降，使纵筋落在移动支架21上，此时推杆221位于纵筋的下方；
在步骤S4中，首先使多个伸缩臂4同步伸出至最远的布筋位置处，之后驱动多个伸缩臂4同步缩回预设长度，直至布筋完成，预设长度为相邻两个纵筋之间的间距，其根据钢筋笼的规格确定，示例性地，预设长度为150毫米(mm)；
在步骤S5中，通过控制单元控制挡杆223转动，使钢筋100位于第一杆2231和第二杆2232之间，并驱动缓冲板222上升使推杆221能承接移动支架21上的钢筋100，之后驱动推杆221转动，使推杆221与纵筋抵接，纵筋即可在推杆221的推力作用下与导向斜面41滑动接触，在纵筋下落的同时驱动缓冲板222下降，使缓冲板222承托住纵筋而平稳下降，当纵筋脱离导向斜面41和缓冲板222时即可落在焊接平台200的预设位置处。落料完成后，驱动挡杆223、缓冲板222以及推杆221复位。在本实施例中，首先进行下网片的布筋，此时承载平台1位于初始位置而不上升，当下网片布筋结束时，驱动承载平台1上升至预设高度，以进行上网片的布筋。
在一实施例中，移动支架21的初始位置位于伸缩臂4靠近承载平台1的一端。

Claims (10)

  1. 一种布料单元，设置为将钢筋(100)运送至制作钢筋笼的焊接平台(200)上，包括：
    承载平台(1)，可升降地设置于所述焊接平台(200)的一端，设置为承载钢筋(100)；
    落料机构(2)，包括移动支架(21)和设置于所述移动支架(21)上的落料组件(22)，所述移动支架(21)可移动地设置于所述承载平台(1)上，所述移动支架(21)能移动至所述焊接平台(200)上方的预设位置处，所述移动支架(21)能承载钢筋(100)，所述落料组件(22)能将所述移动支架(21)上的钢筋(100)翻落至所述焊接平台(200)上；
    上料机构(3)，设置于所述承载平台(1)上，所述上料机构(3)沿所述承载平台(1)的延伸方向可移动，包括抓取组件和检测元件(32)，所述抓取组件设置为抓取所述承载平台(1)上的钢筋(100)，通过移动所述上料机构(3)能将所述抓取组件抓取到的钢筋(100)运送至所述移动支架(21)上，所述检测元件(32)设置为检测所述承载平台(1)上是否放置有钢筋(100)。
  2. 根据权利要求1所述的布料单元，其中，所述抓取组件包括相对设置的第一料叉(311)和第二料叉(312)，所述承载平台(1)上相对设置有第一导轨(11)和第二导轨(12)，所述第一导轨(11)和所述第二导轨(12)均沿所述承载平台(1)的延伸方向延伸，所述第一料叉(311)与所述第一导轨(11)滑动连接，所述第二料叉(312)与所述第二导轨(12)滑动连接，所述第一料叉(311)和所述第二料叉(312)均可升降，所述第一料叉(311)和所述第二料叉(312)通过升降能托起所述承载平台(1)上的钢筋(100)。
  3. 根据权利要求2所述的布料单元，其中，所述上料机构(3)还包括第一驱动件(313)和第二驱动件，所述第一导轨(11)上滑动设置有第一连接板(111)，所述第二导轨(12)上滑动设置有第二连接板，所述第一驱动件(313)设置于所述第一连接板(111)上，且所述第一驱动件(313)的输出端与所述第一料叉(311)相连，设置为驱动所述第一料叉(311)升降，所述第二驱动件设置于所述第二连接板上，且所述第二驱动件的输出端与所述第二料叉(312)相连，设置为驱动所述第二料叉(312)升降。
  4. 根据权利要求1所述的布料单元，其中，所述落料组件(22)包括推杆(221)，所述承载平台(1)内设置有容纳空间，所述容纳空间内设置有伸缩臂(4)，所述伸缩臂(4)能伸出或缩回所述容纳空间，且伸出或缩回所述容纳空间的长度可调，所述移动支架(21)可移动地设置于所述伸缩臂(4)上，所述伸缩臂(4)靠近所述焊接平台(200)的一端设置有导向斜面(41)，所述推杆(221)转动设置于所述移动支架(21)上，转动所述推杆(221)能使 所述移动支架(21)上的钢筋(100)与所述导向斜面(41)滑动接触，以将所述移动支架(21)上的钢筋(100)翻落至所述焊接平台(200)上。
  5. 根据权利要求4所述的布料单元，其中，所述落料组件(22)还包括缓冲板(222)，所述缓冲板(222)可升降地设置于所述移动支架(21)上，所述缓冲板(222)通过升降能承托从所述移动支架(21)上翻落的钢筋(100)。
  6. 根据权利要求4所述的布料单元，其中，所述落料组件(22)还包括挡杆(223)，所述挡杆(223)包括相连且呈夹角设置的第一杆(2231)和第二杆(2232)，所述第一杆(2231)与所述移动支架(21)转动连接，转动所述第一杆(2231)能使所述移动支架(21)上的钢筋(100)位于所述第一杆(2231)和所述第二杆(2232)之间。
  7. 根据权利要求1所述的布料单元，其中，所述落料组件(22)包括第一夹持部和第二夹持部，所述第一夹持部和所述第二夹持部相对设置于所述移动支架(21)上，所述第一夹持部和所述第二夹持部均可伸缩，且均与所述移动支架(21)转动连接，所述第一夹持部和所述第二夹持部上均设置有电磁铁，所述电磁铁通过通电能吸附所述移动支架(21)上的钢筋(100)。
  8. 根据权利要求1-7任一项所述的布料单元，其中，所述布料单元还包括支撑架(5)和驱动机构(6)，所述驱动机构(6)包括剪叉升降臂(61)和第五驱动件(62)，所述剪叉升降臂(61)的第一端与所述承载平台(1)相连，所述剪叉升降臂(61)的第二端与所述支撑架(5)相连，所述第五驱动件(62)设置为为所述剪叉升降臂(61)提供动力，以驱动所述承载平台(1)升降。
  9. 一种纵筋布料设备，包括焊接平台(200)、控制单元、以及多个如权利要求1-8任一项所述的布料单元，多个所述布料单元沿第一方向间隔设置于所述焊接平台(200)的一侧，多个所述布料单元均与所述控制单元通讯连接，所述控制单元设置为控制每个所述布料单元的运行。
  10. 一种纵筋布料方法，应用如权利要求9所述的纵筋布料设备，包括：
    将多根钢筋(100)一一对应地放置于多个所述承载平台(1)上，并将多根钢筋(100)连接成一根纵筋；
    驱动所述承载平台(1)升降至预设高度，同时驱动多个所述上料机构(3)沿与所述上料机构(3)各自对应的所述承载平台(1)的延伸方向同步往复移动，多个所述检测元件(32)实时检测与所述检测元件(32)各自对应的所述承载平台(1)上是否放置有钢筋(100)；
    响应于多个所述检测元件(32)检测到与所述检测元件(32)各自对应的所述承载平台(1)上放置有钢筋(100)，驱动多个所述上料机构(3)同步移 动至所述纵筋的放置位置处，并将所述纵筋运送至多个所述移动支架(21)上；
    驱动多个所述移动支架(21)同步移动，以将所述纵筋运送至所述焊接平台(200)上方的预设位置处；
    同步驱动多个所述落料组件(22)，以将所述纵筋翻落至所述焊接平台(200)上，并驱动多个所述移动支架(21)同步返回初始位置；
    重复执行上述的所有步骤，以完成所述钢筋笼的纵筋的布筋。
PCT/CN2024/109349 2023-08-02 2024-08-02 布料单元、纵筋布料设备及布料方法 Pending WO2025026413A1 (zh)

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