Automatic installation method of hook bars based on six-degree-of-freedom robot

Abstract

The invention discloses a method for automatically installing hook ribs based on a six-degree-of-freedom robot, comprising the following steps: Step 1, bending and forming one end of the hook ribs; Send to the designated location; step 3, the lifting mechanism of the bending robot drags the stirrup for positioning, and pushes out the bending knife through the hydraulic ejection mechanism of the bending robot to bend the hook tendon, that is, complete a station hook Rib installation. The invention adopts an automatic device to realize batch installation of hook tendons, thereby greatly improving work efficiency.

Description

technical field [0001] The invention relates to the field of bridge engineering construction. More specifically, the present invention relates to a method for automatically installing hook tendons based on a six-degree-of-freedom robot. Background technique [0002] In bridge structures such as caps, pier columns, and cap beams, there are a large number of super-long and large-sized hook bars. According to the regulations, the bending angle of both ends of the hook bars is 135 degrees or 90 degrees. The end is bent and formed, hooked on the stress tendon or structural tendon and then tied and fixed. For ultra-long and super-sized hook bars, since the straight line length of the bent section is greater than the distance between the stress bars of the steel mesh, it is very difficult to position the hook bars after bending and forming. In extreme cases, even knocking is required to ensure the installation in place, which takes a lot Labor force, installation efficiency is re...

AI Technical Summary

Problems solved by technology

For ultra-long and super-sized hook bars, since the straight line length of the bent section is greater than the distance between the stress bars of the steel mesh, it is very difficult to position the hook bars after bending and forming. In extreme cases, even knocking is required to ensure the installation in place, which takes a lot Labor force, installation efficiency is relatively low

In addition, bridge projects such as bridge towers and caps have a large number of hook bars. The traditional installation of hook bars is done manually. Workers need to frequently climb high during the operation, which is labor-intensive and brings huge potential safety hazards.

For super-long and super-sized hook bars, it is very difficult to bend the two ends before placing them in place, and even requires the cooperation of multiple people to complete the installation efficiency is very low

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