T-beam web stirrup placing equipment

Abstract

The invention provides T-beam web stirrup placing equipment, and belongs to the technical field of T-beam framework machining. The equipment comprises a clamping unit, a correcting unit, an X-axis walking mechanism, a Y-axis walking mechanism and a Z-axis walking mechanism, the clamping unit is used for synchronously clamping a plurality of stirrups, the correcting unit is used for adjusting the straightness of the stirrups, the X-axis walking mechanism is provided with a walking rail and a walking frame which are arranged in the extending direction of the X axis, and the Z-axis walking mechanism is provided with a Z-axis walking mechanism. The clamping unit and the correcting unit are both arranged in the walking frame, and the X-axis walking mechanism is used for driving the clamping unit and the correcting unit to reciprocate in the extending direction of the X axis. The Y-axis walking mechanism is slidably arranged at the top of the walking frame and used for driving the clamping unit and the correcting unit to reciprocate in the extending direction of the Y axis. The Z-axis walking mechanism is arranged in the Y-axis walking mechanism in a sliding mode and used for driving the clamping unit and the correcting unit to do reciprocating motion in the extending direction of the Z axis. The stirrup placing device is used for solving the technical problems that an existing stirrup placing mode is large in labor intensity and low in production efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of T-beam skeleton processing, and in particular relates to a T-beam web stirrup placement device. Background Art

[0002] T-beam web stirrups have various models according to the different models of T-beams and different sections of T-beams. In the specific process of producing and processing T-beam steel frame, the processed stirrups need to be placed on the buffer rack first, and then transported to the placement station of the steel frame to facilitate subsequent binding.

[0003] However, there are usually two ways to place existing stirrups. One is manual placement, that is, manually taking out the stirrups from the cache rack and placing them one by one in the installation rack at the specified position according to the processing requirements. This processing method has technical problems of high labor intensity and low production efficiency; the other is robot placement, which requires the robot to grab the stirrups from the cache rack one by one and place them in the installation rack at the placement station. However, when the stirrups are placed in the cache rack, only the bottom is placed in the card slot of the cache rack. Due to insufficient steel bar rigidity and transportation and other reasons, the top of the stirrup is prone to tilt, which makes the robot inaccurately positioned during the grabbing process, which makes it difficult to use the robot to grab and place the stirrups as a whole.

[0004] Therefore, it is necessary to provide an improved technical solution to address the above-mentioned deficiencies in the prior art. Summary of the invention

[0005] The object of the present invention is to provide a T-beam web stirrup placement device for solving the technical problems of high labor intensity and low production efficiency in the existing method of placing stirrups.

[0006] In order to achieve the above-mentioned purpose, the T-beam web stirrup placement device of the present invention provides the following technical solutions:

[0007] A T-beam web stirrup placement device, comprising:

[0008] A clamping unit, the clamping unit is used to clamp a plurality of stirrups synchronously;

[0009] A correction unit, the correction unit is used to adjust the straightness of the stirrup;

[0010] An X-axis walking mechanism, wherein the X-axis walking mechanism has a walking track and a walking frame that are slidably matched, the walking track is arranged along the extension direction of the X-axis, the clamping unit and the correction unit are both arranged inside the walking frame, and the correction unit is arranged below the clamping unit, and the walking frame is used to drive the clamping unit and the correction unit to reciprocate on the walking track along the extension direction of the X-axis;

[0011] A Y-axis walking mechanism, wherein the Y-axis walking mechanism is slidably disposed on the top of the walking frame and is used to drive the clamping unit and the correction unit to reciprocate in the extension direction of the Y-axis;

[0012] A Z-axis walking mechanism, wherein the Z-axis walking mechanism is slidably disposed inside the Y-axis walking mechanism and is used to drive the clamping unit and the correction unit to reciprocate in the extension direction of the Z-axis;

[0013] Any two of the extending directions of the X-axis, the Y-axis, and the Z-axis are perpendicular to each other.

[0014] As a further optimized technical solution, the bottom of the walking frame is provided with walking wheels, the walking frame moves along the walking track through the walking wheels, and the walking frame is provided with a first driving structure for driving the walking frame to run along the walking track;

[0015] The top of the walking frame is provided with a crossbeam arranged along the extension direction of the Y-axis, and the Y-axis walking mechanism is slidably connected with the crossbeam.

[0016] As a further optimized technical solution, the Z-axis walking mechanism has a support frame, which is slidably connected to the Y-axis walking mechanism in the extension direction of the Z axis, the clamping unit is arranged on the top of the support frame, and the correction unit is arranged on the bottom of the support frame.

[0017] As a further optimized technical solution, the clamping unit includes:

[0018] A clamp structure, wherein a plurality of the clamp structures are evenly spaced and arranged along the extension direction of the X-axis, and each clamp structure is used to clamp a stirrup;

[0019] The first telescopic structure is fixedly arranged on the support frame, the clamp structures are evenly arranged on the first telescopic structure, and the first telescopic structure is used to adjust the distance between the clamp structures.

[0020] As a further optimized technical solution, the clamp structure has a connecting seat and two oppositely arranged clips, both of which are hinged on the connecting seat. The connecting seat has a second driving mechanism for driving the two clips to clamp or open relative to each other to clamp or release the stirrups.

[0021] As a further optimized technical solution, the first telescopic structure has a sliding groove, in which a plurality of scissor fork assemblies connected in sequence are slidably arranged, each of the scissor fork assemblies has two connecting rods of the same size, and the two connecting rods are hinged at the middle position. A support groove is slidably arranged at the end of any scissor fork assembly, and the support groove is used to clamp the scissor fork assembly in the sliding groove and slidably connected with the sliding groove. One of the scissor fork assemblies is connected to the sliding groove, which pushes a connecting rod of the scissor fork assembly in the end position to move, and all the scissor fork assemblies can be driven to move synchronously, and the clamp structure is arranged on the support groove and moves synchronously with the scissor fork assembly.

[0022] As a further optimized technical solution, the correction unit has at least one adjustment component, which is arranged on the inner side of the support frame and slidably cooperates with the support frame in the extension direction of the Y axis and the extension direction of the Z axis, and is used to correct the stirrups;

[0023] The adjustment component comprises:

[0024] Combing rollers, two combing rollers are arranged opposite to each other to form a combing assembly that can be placed on both sides of the stirrup to comb the stirrup;

[0025] The second telescopic structure is used to adjust the distance between all combing components to adapt to the placement spacing of stirrups on the cache rack.

[0026] As a further optimized technical solution, two adjustment components are symmetrically arranged, and the two adjustment components are used to adjust the stirrups from both sides of the stirrups simultaneously.

[0027] As a further optimized technical solution, the combing roller has a fixed shaft, and a rolling sleeve is rotatably connected to the outer side of the fixed shaft, and the rolling sleeve is used to directly contact the stirrups.

[0028] As a further optimized technical solution, the support frame has a support column extending along the Z axis, a sliding track is fixedly arranged on the support column, the extension direction of the sliding track is the same as that of the support column, a sliding block is slidably arranged on the sliding track, and a third driving mechanism is arranged on the support frame to drive the sliding block to reciprocate along the sliding track, a sliding structure that slides along the extension direction of the Y axis is arranged on one side of the sliding block, and the adjustment component is arranged on the sliding structure for sliding along the extension direction of the Y axis with the movement of the sliding structure, and the sliding structure moves with the sliding block on the sliding track to carry the adjustment component to slide along the extension direction of the Z axis.

[0029] Beneficial effect: by using the stirrup placing device provided by the present invention, when the buffer rack moves to a position near one side of the stirrup placing station, the Y-axis walking mechanism drives the clamping unit and the correction unit to move to above the buffer rack, and then the Z-axis walking mechanism drives the clamping unit and the correction unit to descend relative to the buffer rack until the correction unit is located at the bottom of the stirrup, which is convenient for straightening and correcting the stirrup, and the clamping unit descends to a position close to the top of the stirrup, and when the correction unit completes the correction, the clamping unit synchronously clamps multiple stirrups, and then the Z-axis walking mechanism drives the clamping unit and the correction unit to move upward relative to the buffer rack until the stirrup is out of the way Leave the buffer rack, and then the Y-axis walking mechanism drives the clamping unit and the correction unit to move to above the stirrup placement station, and the relative distance between the clamped stirrups and the mounting frame on the stirrup placement station is adjusted by the X-axis walking mechanism, so as to facilitate the accurate placement of the stirrups on the mounting frame on the stirrup placement station, and finally the stirrups are lowered and installed on the stirrup placement station by the Z-axis walking mechanism. Compared with the manual placement of the prior art, the placement efficiency is effectively improved, and compared with the placement of the robot, the equipment can simultaneously correct and place multiple stirrups at one time, thereby ensuring the positioning accuracy of the clamped stirrups and improving the work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. Among them:

[0031] Figure 1 It is a schematic diagram of the overall structure of a T-beam web stirrup placement device from one perspective according to an embodiment of the present invention;

[0032] Figure 2 It is a schematic diagram of the overall structure of a T-beam web stirrup placement device from another perspective according to an embodiment of the present invention;

[0033] Figure 3 for Figure 1 A schematic diagram of the structure of part A in the middle;

[0034] Figure 4 for Figure 1 A schematic diagram of the structure of part B in the middle;

[0035] Figure 5 for Figure 2 A schematic diagram of the structure enlargement of the C part;

[0036] Figure 6 A schematic diagram of the structure of a Z-axis walking mechanism according to an embodiment of the present invention;

[0037] Figure 7 It is a structural schematic diagram of a clamping unit according to an embodiment of the present invention;

[0038] Figure 8for Figure 7 A schematic diagram of the structure of the D part;

[0039] Fig. 9 A partial structural schematic diagram of a clamp structure according to an embodiment of the present invention;

[0040] Fig.10 The figure is a schematic cross-sectional view of a combing roller according to an embodiment of the present invention.

[0041] In the figure: 1. Clamping unit; 101. Clamp structure; 1011. Clip; 1012. Second driving mechanism; 1013. Connecting seat; 102. First telescopic structure; 1021. Sliding groove; 1022. Connecting rod; 1023. Support groove; 1024. Sliding block; 1025. Stop plate; 2. Correction unit; 201. Combing roller; 2011. Fixed shaft; 2012. Rolling sleeve; 202. Second telescopic structure; 2021. Pulley; 3. X-axis walking mechanism; 301. Walking track; 302. Walking frame; 3021. Crossbeam; 3 03, walking wheel; 304, first driving structure; 3041, rotating driving source; 3042, active transmission component; 3043, strip transmission component; 305, anti-collision device; 306, anti-overturning device; 307, track pressure plate; 4, Y-axis walking mechanism; 5, Z-axis walking mechanism; 501, support frame; 5011, support column; 502, sliding track; 503, sliding block; 504, third driving mechanism; 505, sliding structure; 5051, connecting plate; 5052, slideway; 5053, sliding connecting block; 5054, driving cylinder. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention belong to the scope of protection of the present invention.

[0043] In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention. The terms "connected" and "connected" used in the present invention should be understood in a broad sense. For example, they can be fixed connections or detachable connections; they can be directly connected or indirectly connected through intermediate components. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0044] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present invention can be combined with each other without conflict.

[0045] The present invention provides a T-beam web stirrup placement device, which has an X-axis walking mechanism, a Y-axis walking mechanism and a Z-axis walking mechanism. The X-axis walking mechanism, the Y-axis walking mechanism and the Z-axis walking mechanism jointly adjust the clamping unit and the correction unit to work, thereby realizing one-time joint correction and clamping of multiple stirrups, and placing the stirrups together in the installation frame of the placement station, effectively improving the production efficiency.

[0046] Example 1

[0047] like Figure 1 , Figure 2 As shown, the T-beam web stirrup placement device includes an X-axis walking mechanism, a Y-axis walking mechanism, a Z-axis walking mechanism, a clamping unit 1 and a correction unit 2. The clamping unit 1 is used to clamp multiple stirrups synchronously, and the correction unit 2 is used to adjust the straightness of the stirrups.

[0048] Specifically, Figure 1 , Figure 2 , Figure 3 As shown, the X-axis walking mechanism 3 has two walking rails 301 arranged in parallel along the extension direction of the X-axis, and the walking rails 301 are fixed on the ground through a rail pressing plate 307. A walking frame 302 is slidably arranged on the walking rails 301, and a walking wheel 303 is arranged at the bottom of the walking frame 302, and the walking wheel 303 is used to run along the walking rails 301.

[0049] In order to conveniently drive the walking frame 302 to run along the walking track 301, the walking frame 302 is provided with a first driving structure 304, and the first driving structure 304 specifically includes a bar-shaped transmission component 3043, an active transmission component 3042, and a rotation driving source 3041. The bar-shaped transmission 3043 is fixedly arranged on the inner side of the walking track 301, and the active transmission component 3042 is rotationally connected to the bottom of the walking frame 302. In this embodiment, the active transmission component 3042 is a gear, and the bar-shaped transmission component 3043 is a rack, and the gear and the rack are meshed, and the rotation driving source 3041 is fixedly installed on the walking frame 302 to drive the gear to rotate.

[0050] Specifically, during operation, when the walking frame 302 needs to run along the walking track 301, the gear can be controlled to rotate forward and reverse by controlling the rotation drive source 3041, so that the gear engages with the rack, thereby driving the walking frame 302 to reciprocate along the extension direction of the X-axis.

[0051] During the operation of the walking frame 302, in order to ensure the stability of the operation of the X-axis walking mechanism 3, anti-overturning devices 306 are relatively arranged on both sides of the bottom of the walking frame 302. The anti-overturning devices 306 are clamped on both sides of the top of the walking track 301 and slide with the walking track 301 to ensure the balance of the walking frame 302 during operation. In addition, an anti-collision device 305 is installed at the end of the walking frame 302 to monitor the operating limit travel of the walking frame 302 on the walking track 301 to avoid collision with other equipment.

[0052] The top of the walking frame 302 has two crossbeams 3021 arranged along the extension direction of the Y axis. The Y-axis walking mechanism 4 is arranged on the crossbeams 3021 and is slidably connected with the crossbeams 3021. The Y-axis walking mechanism 4 is a rectangular parallelepiped frame structure, the length (extension direction of the X axis) is the same as that of the walking frame 302, and the width (extension direction of the Y axis) is smaller than that of the walking frame 302, so as to facilitate walking along the width direction of the walking frame 302. Specifically, the crossbeam 3021 acts as a walking track, and a walking wheel is arranged at the bottom of the Y-axis walking mechanism 4. At the same time, a servo motor is arranged on the Y-axis walking mechanism 4 as a driving source. The servo motor is also used to drive the gear. A rack is fixedly connected to the side wall of the crossbeam 3021, and the gear and the rack are meshed with each other for transmission, so that the Y-axis walking mechanism 4 can be driven to run on the crossbeam 3021 along the extension direction of the Y axis.

[0053] like Figure 1 , Figure 6 As shown, the Z-axis walking mechanism 5 is slidably arranged inside the Y-axis walking mechanism 4, wherein the Z-axis walking mechanism 5 has a support frame 501 which is roughly in the shape of a rectangular parallelepiped, and the support frame 501 is slidably connected with the Y-axis walking mechanism 4 in the extension direction of the Z-axis. Specifically, a slide rail is arranged on the support frame 501, and a sliding block for clamping the slide rail is arranged on the inner side wall of the Y-axis walking mechanism 4, so that the support frame 501 can slide in the Y-axis walking mechanism 4 along the extension direction of the Z-axis. For the same reason, a driving component is arranged on the Z-axis walking mechanism 5 for driving the Z-axis walking mechanism 5 to move. The specific driving component can be other common chain lifting structures. In this embodiment, a gear rack transmission structure can also be selected. The rack is fixedly connected to the outer side of the support frame 501 along the extension direction of the Z-axis, and a gear for driving the rack is arranged on the inner side of the Z-axis walking mechanism 5, which can also realize the operation of the Z-axis walking mechanism 5 along the extension direction of the Z-axis.

[0054] The clamping unit 1 is arranged on the top of the support frame 501 , and the correction unit 2 is arranged on the bottom of the support frame 501 .

[0055] It should be noted that any two of the extension directions of the X-axis, the Y-axis, and the Z-axis are perpendicular to each other. In this embodiment, the extension direction of the X-axis refers to the front-to-back direction of the device, the extension direction of the Y-axis refers to the left-to-right direction of the device, and the extension direction of the Z-axis refers to the up-down direction of the device.

[0056] In this way, when the cache rack moves to the vicinity of the stirrup placement station, the Y-axis walking mechanism 4 drives the clamping unit 1 and the correction unit 2 to move to the top of the cache rack, and then the Z-axis walking mechanism 5 drives the clamping unit 1 and the correction unit 2 to descend until the correction unit 2 is located at the bottom of the stirrup, which is convenient for straightening and correcting the stirrup. The clamping unit 1 descends to a position close to the top of the stirrup. When the correction unit 2 completes the correction, the clamping unit 1 synchronously clamps multiple stirrups. Then the Z-axis walking mechanism 5 drives the clamping unit 1 and the correction unit 2 to move upward until the stirrups are separated from the cache rack, and then the Y-axis walking mechanism 4 drives the clamping unit 1 and the correction unit 2 to move to the top of the stirrup placement station, and adjusts the relative distance between the clamped stirrups and the mounting frame (stirrup placement tooling) on ​​the stirrup placement station through the X-axis walking mechanism 3, so as to facilitate the accurate placement of the stirrups on the mounting frame on the stirrup placement station.

[0057] That is, the walking frame 302 is used to drive the clamping unit 1 and the correction unit 2 to reciprocate along the extension direction of the X-axis on the walking track 301; the Y-axis walking mechanism 4 is used to drive the clamping unit 1 and the correction unit 2 to reciprocate in the extension direction of the Y-axis; the Z-axis walking mechanism 5 is slidably arranged inside the Y-axis walking mechanism 4, and is used to drive the clamping unit 1 and the correction unit 2 to reciprocate in the extension direction of the Z-axis.

[0058] like Figure 7 , Figure 8 , Fig. 9 As shown, the clamping unit 1 includes a clamp structure 101 and a first telescopic structure 102 , and the clamp structure 101 is installed on the inner top of the Z-axis walking mechanism 5 through the first telescopic structure 102 .

[0059] There are multiple clamp structures 101, and the multiple clamp structures 101 are evenly spaced along the extension direction of the X-axis, and each clamp structure 101 is used to clamp a stirrup. The first telescopic structure 102 is fixedly set on the support frame 501, and the clamp structures 101 are evenly arranged on the first telescopic structure 102, and the first telescopic structure 102 is used to adjust the distance between the clamp structures 101.

[0060] like Fig. 9As shown, the clamp structure 101 has a connecting seat 1013 and two oppositely arranged clips 1011. The top ends of the two clips 1011 are relatively bent and hinged together at the bottom end inside the connecting seat 1013. The connecting seat 1013 has a pushing cylinder as a second driving mechanism 1012, so as to facilitate driving the two clips 1011 to clamp or open relative to each other to clamp or release the stirrups.

[0061] like Figure 7 , Figure 8 As shown, the first telescopic structure 102 has a sliding groove 1021, and a plurality of scissor fork assemblies connected in sequence are slidably arranged in the sliding groove 1021, and each scissor fork assembly has two connecting rods 1022 of the same size, and the two connecting rods 1022 are hinged at the middle position. A support groove 1023 is slidably arranged at the end of any scissor fork assembly, and the support groove 1023 is sleeved on the end of the scissor fork assembly, and is used to clamp the scissor fork assembly in the sliding groove 1021 and slide connected with the sliding groove 1021. Because the scissor fork assembly will change along the width direction of the sliding groove 1021 during the movement, in order to ensure that the scissor fork assembly runs stably in the sliding groove 1021, the support groove 1023 is sleeved on the end of the scissor fork assembly, and the size of the support groove 1023 along the width direction of the sliding groove 1021 is fixed and larger than the notch of the sliding groove 1021, thereby ensuring that the scissor fork assembly is installed in the sliding groove 1021. The hinged positions of the two connecting rods 1022 of one of the scissor fork assemblies are hinged to the sliding groove 1021, which pushes a connecting rod 1022 of the scissor fork assembly at the end position to move, and can drive all the scissor fork assemblies to move synchronously. The clamp structure 101 is fixedly connected to the outer wall of the support groove 1023 through the connecting seat 1013, and moves synchronously with the scissor fork assembly.

[0062] Furthermore, in order to ensure that the scissor fork assembly can be extended and retracted smoothly, a structure for reducing sliding friction can be provided at both ends of the support groove 1023, such as a slider 1024, or a ball bearing or other structure.

[0063] In order to ensure that when clamping multiple stirrups at the same time, the positions of the clamped stirrups are the same, and thus to ensure the neatness of the clamped stirrups, stop plates 1025 are symmetrically arranged on both sides of all clamp structures 101, and the distances of the clips 1011 extending from the stop plates 1025 are the same. In this way, when clamping the stirrups, since the width of the stirrups is greater than the width between the two opposite stop plates 1025, when the top of the stirrups contacts the stop plate 1025, the clamp structure 101 can clamp the stirrups. In addition, the stop plate 1025 also has the function of assisting the installation of the stirrups, that is, when the stirrups are clamped from the buffer rack and moved to the installation rack of the stirrup placement station, the clamp structure 101 releases the stirrups, and the stop plates 1025 uniformly press the top of the stirrups, thereby ensuring that the stirrups are neatly placed in the installation rack.

[0064] like Figure 4 , Figure 5 , Figure 6 As shown, the correction unit 2 has at least one adjustment component. In this embodiment, two adjustment components are symmetrically arranged, and the two adjustment components are used to adjust the stirrups from both sides of the stirrups simultaneously.

[0065] The adjustment assembly is disposed on the inner side wall opposite to the support frame 501 and is slidably matched with the support frame 501 in the extension direction of the Y axis and the extension direction of the Z axis for correcting the stirrups.

[0066] The specific adjustment component includes a combing roller 201 and a second telescopic structure 202 .

[0067] The two combing rollers 201 are arranged opposite to each other to form a combing assembly that can be placed on both sides of the stirrup to comb the stirrup; and a plurality of combing assemblies are arranged on the second telescopic structure 202 .

[0068] The second telescopic structure 202 is used to adjust the distance between all combing components to adapt to the placement spacing of the stirrups on the cache rack.

[0069] Specifically, the support frame 501 has a support column 5011 extending along the Z axis, a sliding track 502 is fixedly arranged on the support column 5011, the extension direction of the sliding track 502 is the same as that of the support column 5011, a sliding block 503 is slidably arranged on the sliding track 502, and a reciprocating screw is arranged on the support frame 501 as a third driving mechanism 504 for driving the sliding block 503 to reciprocate along the sliding track 502. A sliding structure 505 sliding along the extension direction of the Y axis is arranged on one side of the sliding block 503, and the sliding structure 505 includes a connecting plate 5051, a slideway 5052, a sliding connecting block 5053 and a driving cylinder 5054, the connecting plate 5051 is fixedly connected to the sliding block 503, the slideway 5052 is fixedly connected to the side of the connecting plate 5051 facing away from the sliding block 503, and the extension direction of the slideway 5052 is the same as the extension direction of the Y axis, and the sliding connecting block 5053 is clamped on the slideway 50 505 and slides with the slideway 5052. The driving cylinder 5054 is fixedly connected to the connecting plate 5051 and is used to push the sliding connecting block 5053 to slide. The adjusting component is fixedly connected to the sliding connecting block 5053. Therefore, the adjusting component is arranged on the sliding structure 505 and is used to slide along the extension direction of the Y-axis with the movement of the sliding structure 505. The sliding structure 505 moves on the sliding track 502 with the sliding block 503 to carry the adjustment component to slide along the extension direction of the Z-axis.

[0070] In this way, when the cache rack is placed in place, the adjustment components need to be moved relatively away from each other first, so as to avoid interference between the adjustment components and the stirrups on the cache rack during the descent process. When the Z-axis walking mechanism 5 is lowered into place, the two adjustment components are driven to move relative to each other and inserted into the bottom of the stirrups. Then, the adjustment components are moved back and forth along the extension direction of the Z-axis, so as to facilitate the adjustment of the stirrups to restore the original straightness.

[0071] Since the stirrups on the cache rack are placed at different distances, the second telescopic structure 202 is used to adjust the distance between the combing components, thereby facilitating the adjustment of the stirrups. In this embodiment, the specific components of the second telescopic structure 202 are similar to those of the first telescopic structure 102, except that the pulley 2021 used at the top of the support groove 1023 has the same working principle as the first telescopic structure 102, which will not be described in detail.

[0072] Furthermore, if Fig.10 As shown, in order to reduce the friction between the combing roller 201 and the stirrups and avoid the stirrups being brought out of the cache rack during the correction process, the combing roller 201 has a fixed shaft 2011, and the outer side of the fixed shaft 2011 is rotatably connected to a rolling sleeve 2012 through a bearing, and the rolling sleeve 2012 is used to directly contact the stirrups.

[0073] The following takes the placement of 25 stirrups with a spacing of 100 mm as an example to explain the working process of this device.

[0074] Step 1: After the cache rack carries 25 stirrups arranged at a spacing of 100 mm to the specified position, the clamping unit 1 and the correction unit 2 move to above the stirrups along the extension direction of the Y-axis at the top of the walking frame 302.

[0075] Step 2: The Z-axis travel mechanism 5 moves downward until the clamping unit 1 stops at a position 10 mm away from the top of the stirrup.

[0076] Step 3: The correction unit 2 adjusts the distance between the combing components to 100 mm, then extends forward and inserts into the gap between the stirrups. The correction unit 2 moves repeatedly along the extension direction of the Z axis until the stirrups are adjusted to meet the requirements.

[0077] Step 4: After the correction unit 2 moves to the top of the clamping unit 1, the clamp structure 101 moves downward as a whole to clamp the top of the stirrup.

[0078] Step 5: After the clamping unit 1 clamps the top of the stirrup, the correction unit 2 moves downward to the lowest point and stops.

[0079] Step 6: The Z-axis walking mechanism 5 moves upward to lift the stirrup out of the buffer rack.

[0080] Step 7: After the stirrups are lifted out of the cache rack and lifted to a certain height, the clamping unit 1 moves the stirrups along the extension direction of the Y axis to the top of the stirrup installation frame and stops. The first telescopic structure 102 and the second telescopic structure 202 in the clamping unit 1 and the correction unit 2 work to adjust the overall spacing of the stirrups to 150 mm to meet the design requirements.

[0081] Step 8: The clamping unit 1 carries the stirrups and moves downward along the extension direction of the Z axis until all the stirrups are installed in the mounting frame, and the top clamp structure 101 releases the stirrups.

[0082] Step 9: The clamping unit 1 moves upward along the extension direction of the Z axis as a whole until the correction unit 2 is 50 mm higher than the top of the stirrup and stops.

[0083] Step 10: The web stirrup placement equipment moves along the X-axis to the next placement station, waiting for the buffer rack to carry the stirrups for the next cycle of placement.

[0084] It should be understood that the above description is merely exemplary and the embodiments of the present application do not limit this.

[0085] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are within the scope of protection of the pending claims of the present invention.

Claims

1. A T-beam web stirrup placement device, characterized in that: include: A clamping unit (1), the clamping unit (1) being used for synchronously clamping a plurality of stirrups; A correction unit (2), the correction unit (2) being used to adjust the straightness of the stirrup; An X-axis walking mechanism (3), the X-axis walking mechanism (3) comprising a walking track (301) and a walking frame (302) that are slidably matched, the walking track (301) being arranged along the extension direction of the X-axis, the clamping unit (1) and the correction unit (2) being arranged inside the walking frame (302), and the correction unit (2) being arranged below the clamping unit (1), and the walking frame (302) being used for driving the clamping unit (1) and the correction unit (2) to reciprocate on the walking track (301) along the extension direction of the X-axis; A Y-axis walking mechanism (4), wherein the Y-axis walking mechanism (4) is slidably arranged on the top of the walking frame (302) and is used to drive the clamping unit (1) and the correction unit (2) to reciprocate in the extension direction of the Y-axis; A Z-axis walking mechanism (5), wherein the Z-axis walking mechanism (5) is slidably arranged inside the Y-axis walking mechanism (4) and is used to drive the clamping unit (1) and the correction unit (2) to reciprocate in the extension direction of the Z-axis; Any two of the extending directions of the X-axis, the Y-axis, and the Z-axis are perpendicular to each other.

2. The T-beam web stirrup placement device according to claim 1 is characterized in that: The walking frame (302) has walking wheels (303) at the bottom, and the walking frame (302) moves along the walking track (301) through the walking wheels (303). The walking frame (302) has a first driving structure (304) for driving the walking frame (302) to move along the walking track (301); The top of the walking frame (302) is provided with a crossbeam (3021) arranged along the extension direction of the Y-axis, and the Y-axis walking mechanism (4) is slidably connected to the crossbeam (3021).

3. The T-beam web stirrup placement device according to claim 2 is characterized in that: The Z-axis walking mechanism (5) comprises a support frame (501), the support frame (501) is slidably connected to the Y-axis walking mechanism (4) in the extension direction of the Z-axis, the clamping unit (1) is arranged on the top of the support frame (501), and the correction unit (2) is arranged on the bottom of the support frame (501).

4. The T-beam web stirrup placement device according to claim 1 is characterized in that: The clamping unit (1) comprises: A clamp structure (101), wherein a plurality of the clamp structures (101) are evenly spaced and arranged along the extension direction of the X-axis, and each clamp structure (101) is used to clamp a stirrup; A first telescopic structure (102), wherein the first telescopic structure (102) is fixedly arranged on the support frame (501), the clamp structures (101) are evenly arranged on the first telescopic structure (102), and the first telescopic structure (102) is used to adjust the distance between the clamp structures (101).

5. The T-beam web stirrup placement device according to claim 4, characterized in that: The clamp structure (101) comprises a connecting seat (1013) and two clamping pieces (1011) arranged opposite to each other. The two clamping pieces (1011) are both hinged on the connecting seat (1013). The connecting seat (1013) comprises a second driving mechanism (1012) for driving the two clamping pieces (1011) to clamp or open relative to each other so as to clamp or release the stirrup.

6. The T-beam web stirrup placement device according to claim 4, characterized in that: The first telescopic structure (102) has a sliding groove (1021), and a plurality of scissor fork assemblies connected in sequence are slidably arranged in the sliding groove (1021), and each of the scissor fork assemblies has two connecting rods (1022) of the same size, and the two connecting rods (1022) are hinged at a middle position. A support groove (1023) is slidably arranged at the end of any scissor fork assembly, and the support groove (1023) is used to clamp the scissor fork assembly in the sliding groove (1021) and slide connected to the sliding groove (1021). One of the scissor fork assemblies is connected to the sliding groove (1021), and a connecting rod (1022) of the scissor fork assembly at the end position is pushed to move, so that all the scissor fork assemblies can be driven to move synchronously. The clamp structure (101) is arranged on the support groove (1023) and moves synchronously with the scissor fork assembly.

7. The T-beam web stirrup placement device according to claim 3 is characterized in that: The correction unit (2) has at least one adjustment component, which is arranged inside the support frame (501) and slidably cooperates with the support frame (501) in the extension direction of the Y axis and the extension direction of the Z axis, and is used to correct the stirrups; The adjustment component comprises: Combing rollers (201), two combing rollers (201) are arranged opposite to each other to form a combing assembly that can be placed on both sides of the stirrup to comb the stirrup; The second telescopic structure (202) is used to adjust the distance between all combing components to adapt to the placement spacing of stirrups on the cache rack.

8. The T-beam web stirrup placement device according to claim 7, characterized in that: There are two adjustment components symmetrically arranged, and the two adjustment components are used to adjust the stirrups from both sides of the stirrups simultaneously.

9. The T-beam web stirrup placement device according to claim 7, characterized in that: The combing roller (201) has a fixed shaft (2011), and a rolling sleeve (2012) is rotatably connected to the outer side of the fixed shaft (2011), and the rolling sleeve (2012) is used to directly contact the stirrups.

10. The T-beam web stirrup placement device according to claim 7, characterized in that: The support frame (501) comprises a support column (5011) extending along the Z axis, a sliding track (502) is fixedly arranged on the support column (5011), the extension direction of the sliding track (502) is the same as that of the support column (5011), a sliding block (503) is slidably arranged on the sliding track (502), a third driving mechanism (504) is arranged on the support frame (501) for driving the sliding block (503) to reciprocate along the sliding track (502), a sliding structure (505) sliding along the extension direction of the Y axis is arranged on one side of the sliding block (503), the adjustment component is arranged on the sliding structure (505) for sliding along the extension direction of the Y axis with the movement of the sliding structure (505), and the sliding structure (505) moves along the sliding track (502) with the sliding block (503) to carry the adjustment component to slide along the extension direction of the Z axis.

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