Autonomous manufacturing, transferring and mounting equipment and method for reinforcement cage

Abstract

The invention provides a reinforcement cage autonomous manufacturing, transferring and installing device and method, and relates to the field of reinforcement cage manufacturing and installing.The device comprises an integrated crawler-type carrier provided with a material storage bin, the material storage bin comprises a main reinforcement storage area and a stirrup storage area, and a sorting mechanical arm is arranged in the material storage bin; the hydraulic erecting bearing platform comprises a bearing platform frame with the tail end hinged to the integrated crawler-type carrier and a hydraulic system used for driving the bearing platform frame to be overturned to the vertical state. Each gantry crane robot comprises a rectangular-ambulatory-plane frame installed on the bearing platform frame in a sliding mode, a first universal mechanical arm, a second universal mechanical arm and supporting claws, the first universal mechanical arm and the second universal mechanical arm are arranged on the inner walls of the two sides of the rectangular-ambulatory-plane frame and used for grabbing the main reinforcements and the stirrups, the supporting claws are arranged on the other two side walls of the rectangular-ambulatory-plane frame and used for fixing the main reinforcements, and a welding gun is arranged on the first universal mechanical arm; a hydraulic pulley used for driving the hoop reinforcement cage to rotate and advance in the concentric-square-shaped frame is arranged in the concentric-square-shaped frame. The manufacturing, transferring and mounting efficiency of the reinforcement cage can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of steel reinforcement cage manufacturing and installation, and particularly relates to a steel reinforcement cage autonomous manufacturing, transferring and installation device and method. BACKGROUND

[0002] In a building project, a bored pile foundation, as a kind of deep foundation, is widely used in high-rise buildings, bridges, wharfs and other projects. Steel reinforcement cage, as the core structure of the bored pile, its processing and installation quality directly affects the bearing capacity and durability of the pile body.

[0003] In terms of manufacturing, the traditional steel reinforcement cage is manufactured by manual binding. First, the manual binding speed is limited by the proficiency of workers, and the efficiency is prone to decline due to fatigue. Second, manual operation cannot guarantee the uniformity of the steel reinforcement spacing, resulting in uneven stress of the pile body. In addition, high-altitude binding operation is prone to falling accidents, and sparks and high temperature generated in the welding process may cause fire. In terms of installation, the traditional equipment such as fixed gantry crane needs to be leveled on a hardened site, and cannot be operated in complex terrains such as mud and slopes, resulting in limited construction range. SUMMARY

[0004] In order to overcome the technical problems of the prior art, the present application provides a steel reinforcement cage autonomous manufacturing, transferring and installation device and method.

[0005] In a first aspect, the present application provides a steel reinforcement cage autonomous manufacturing, transferring and installation device, which adopts the following technical scheme: A steel reinforcement cage autonomous manufacturing, transferring and installation device, comprising An integrated tracked carrier is used to transfer the steel reinforcement cage, and a material storage bin is arranged on the integrated tracked carrier. The material storage bin includes a main reinforcement storage area and a stirrup storage area, and a sorting mechanical arm for grabbing the main reinforcement or the stirrup is arranged in the material storage bin. A hydraulic vertical lifting platform is arranged on the integrated tracked carrier and above the material storage bin. The hydraulic vertical lifting platform includes a platform frame hinged at the tail end of the integrated tracked carrier, a top rod between the platform frame and the integrated tracked carrier, and a hydraulic system on the integrated tracked carrier. One end of the top rod is hinged to the middle of the platform frame, and the other end is hinged with a sliding block. The sliding block is slidingly installed on the integrated tracked carrier. The hydraulic system drives the sliding block to reciprocate on the integrated tracked carrier, so that the top rod pushes the platform frame to overturn on the integrated tracked carrier. The gantry crane robot is arranged at intervals along the length direction of the pile cap frame, and is arranged to slide along the length direction of the pile cap frame. The gantry crane robot comprises a meandering frame slidingly mounted on the pile cap frame, a first universal manipulator and a second universal manipulator arranged on the inner walls on both sides of the meandering frame respectively and used for grabbing the main reinforcement and the stirrup, and a supporting claw arranged on the other two side walls of the meandering frame and used for fixing the main reinforcement. The first universal manipulator is provided with a welding gun used for welding the main reinforcement and the stirrup. A plurality of hydraulic pulleys are arranged in the meandering frame and used for driving the stirrup to drive the main reinforcement to rotate and progress in the meandering frame, so that the stirrup is bent and spirally wound on the main reinforcement.

[0006] Further, the hydraulic pulley comprises a displacement table mounted on the inner wall of the meandering frame, a rotating table fixed on the displacement table, a hydraulic rod fixed on the rotating table, and a grooved wheel rotatably mounted on the hydraulic rod. The groove on the circumference of the grooved wheel is matched with the stirrup.

[0007] Further, a through groove is formed through the side of the meandering frame close to the pile cap frame. A chain plate machine is mounted on the pile cap frame in the through groove. A poking plate is fixed on the chain plate of the chain plate machine. When the poking plate moves to the end of the chain plate machine in the meandering frame, the poking plate can push the reinforcement cage to rotate in the meandering frame.

[0008] Further, the welding gun comprises a laser welding head used for welding and an infrared thermal imager used for measuring the temperature of the weld. The laser welding head and the infrared thermal imager are both located on the upper end of the first universal manipulator.

[0009] Further, a telescopic conveyor is arranged on one side of the material storage bin and used for transporting the main reinforcement to the main reinforcement storage area.

[0010] Further, a three-roller straightening machine is arranged in the main reinforcement storage area and used for straightening the main reinforcement.

[0011] Further, a laser scanner is arranged on the integrated tracked carrier and used for three-dimensional modeling of the terrain around the pile hole. An infrared range finder is arranged on the meandering frame.

[0012] Further, a hydraulic suspension leveling system is arranged on the integrated tracked carrier. An inclination sensor is arranged on the chassis of the integrated tracked carrier and electrically connected to the hydraulic suspension leveling system.

[0013] Further, the hydraulic system comprises a top rod between the pile cap frame and the integrated tracked carrier, and a hydraulic drive on the integrated tracked carrier. One end of the top rod is hingedly connected to the middle of the pile cap frame, and the other end is hingedly connected to a sliding block. The sliding block is slidingly mounted on the integrated tracked carrier. The hydraulic drive drives the sliding block to reciprocally slide on the integrated tracked carrier, so that the top rod pushes the pile cap frame to overturn on the integrated tracked carrier.

[0014] In a second aspect, the application provides a method for autonomous manufacturing, transferring and installing a reinforcement cage, based on the above-mentioned device for autonomous manufacturing, transferring and installing a reinforcement cage, comprising the following steps, S1, material preparation, storing the main reinforcement for manufacturing the reinforcement cage in the main reinforcement storage area, and storing the stirrup coil for manufacturing the reinforcement cage in the stirrup storage area; S2, reinforcement cage manufacturing, first driving the sorting mechanical arm to grab and deliver multiple main reinforcements in the material storage bin one by one to the clamping jaw of the first universal mechanical hand in the meandering frame, so that the supporting jaw stably grabs and positions the main reinforcement; then the sorting mechanical arm grabs one end of the stirrup coil in the material storage bin and delivers it to the clamping jaw of the second universal mechanical hand, and the second universal mechanical hand pulls the stirrup to the main reinforcement; then the welding gun at the end of the first universal mechanical hand is started, so that the welding gun welds and connects the main reinforcement and the stirrup; at the same time, multiple hydraulic pulleys are started synchronously, so that multiple hydraulic pulleys synchronously push the stirrup to drive the main reinforcement to rotate and advance in the meandering frame, so that the stirrup can be spirally wound on the main reinforcement with constant pitch; S3, reinforcement cage transfer, the integrated tracked carrier transfers the reinforcement cage to the work area; S4, reinforcement cage installation, starting the hydraulic system, the hydraulic system drives the pile cap frame to overturn the reinforcement cage to the vertical state, so that the reinforcement cage is aligned with the pile hole, and the meandering frame is driven to slide down on the pile cap frame, completing the lowering of the reinforcement cage; S5, instrument reset, after the lowering is completed, the supporting jaw hydraulic pressure is released, the hydraulic pulley is separated from the reinforcement cage, and the hydraulic pile erecting is reset to the initial state.

[0015] In summary, the application includes at least one of the following beneficial technical effects: 1. The integrated tracked carrier can adapt to complex geological conditions such as mud, sand, slope, etc., and is equipped with a high-precision GPS module, an inertial navigation system and a laser scanner. The operator inputs the pile hole coordinates on the touch screen in the cab, and the system automatically generates the optimal path. Then the laser scanner performs three-dimensional modeling on the terrain around the pile hole, identifies obstacles such as stones and pits, and plans a safe operation area, so that the integrated tracked carrier can quickly transfer the reinforcement cage to the vicinity of the pile hole. 2. The supporting jaw clamps and positions the main reinforcement, the second universal mechanical hand pulls the stirrup to the main reinforcement, the welding gun at the end of the first universal mechanical hand welds and connects the main reinforcement and the stirrup, and at the same time, multiple grooved wheels are started synchronously, so that multiple grooved wheels synchronously push the stirrup to drive the main reinforcement to rotate and advance in the meandering frame, so that the stirrup can be spirally wound on the main reinforcement with constant pitch. This design improves the efficiency and quality of reinforcement cage manufacturing to some extent. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort.

[0017] Figure 1 is a structural schematic diagram of the integrated track carrier transferring the reinforcement cage in the embodiment of the present application.

[0018] Figure 2 is a structural schematic diagram of the integrated track carrier installing the reinforcement cage in the embodiment of the present application.

[0019] Figure 3 is a structural schematic diagram of the integrated track carrier, material storage bin, backshaped frame, telescopic conveyor belt, first universal mechanical hand and supporting claw in the embodiment of the present application.

[0020] Figure 4 is a structural schematic diagram of the integrated track carrier, backshaped frame, first universal mechanical hand, second universal mechanical hand and supporting claw in the embodiment of the present application.

[0021] Figure 5 is a structural schematic diagram of the first universal mechanical hand, welding gun, displacement table, rotary table, hydraulic rod, grooved wheel, chain plate machine and poking plate in the embodiment of the present application.

[0022] Figure 6 is a structural schematic diagram of the laser welding head, infrared thermal imager and clamping jaw in the embodiment of the present application.

[0023] Figure 7 is a structural schematic diagram of the bearing platform frame, hydraulic system, backshaped frame, first universal mechanical hand, second universal mechanical hand, grooved wheel, chain plate machine and supporting claw in the embodiment of the present application.

[0024] The drawings are as follows: 1, integrated track carrier; 2, material storage bin; 3, bearing platform frame; 4, hydraulic system; 5, backshaped frame; 6, first universal mechanical hand; 7, second universal mechanical hand; 8, welding gun; 81, laser welding head; 82, infrared thermal imager; 9, displacement table; 10, rotary table; 11, hydraulic rod; 12, grooved wheel; 13, chain plate machine; 14, poking plate; 15, telescopic conveyor belt; 16, supporting claw; 17, visual recognition camera; 18, inclination sensor; 19, laser scanner; 20, clamping jaw. DETAILED DESCRIPTION

[0025] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0026] The embodiments of the present application disclose a steel reinforcement cage autonomous manufacturing, transferring and installing device and a method thereof. Referring to Figure 1 、 Figure 2 and Figure 3 , the steel reinforcement cage autonomous manufacturing, transferring and installing device comprises an integrated tracked carrier 1 for transferring the steel reinforcement cage, a hydraulic lifting platform support arranged on the integrated tracked carrier 1 and a plurality of gantry crane robots for manufacturing the steel reinforcement cage. The integrated tracked carrier 1 has a single-sided 9-wheel, double-sided 18-wheel wide track chassis, the track width is 800 mm, the ground pressure is less than or equal to 0.05 MPa, and the passability on soft ground is ensured; the track wheels are made of high-strength alloy steel, and the surface is covered with anti-skid lines to improve the grip. At the same time, a hydraulic suspension system is also provided, the response time is less than or equal to 0.5 seconds, the frequency modulation range is 10-30 Hz, each track wheel is independently provided with a hydraulic cylinder, supports real-time height adjustment, the adjustment range is positive and negative 300 mm, and the horizontal positioning of the integrated tracked carrier 1 on the inclined ground is ensured. In addition, it is also equipped with six motor drives, the single motor power is 150 kW, and the all-time four-wheel drive and differential lock functions are provided, the maximum climbing angle is 35°, the turning radius is less than or equal to 6 m, and it can adapt to complex terrains such as mud, sand, slopes with a slope of less than or equal to 35°, etc. In order to enable the integrated tracked carrier 1 to quickly and smoothly transfer the steel reinforcement cage to the positioning pile hole, the integrated tracked carrier 1 is internally provided with a high-precision GPS module with a precision of positive and negative 10 cm and an inertial navigation system, and a laser scanner 19 for three-dimensional modeling of the terrain around the pile hole, the position of the integrated tracked carrier 1 is calculated in real time through a multi-sensor fusion algorithm, the operator inputs the pile hole coordinates on the touch screen in the cab, the system automatically generates an optimal path, and controls the tracked integrated tracked carrier 1 to move at a speed of less than or equal to 5 km / h to the center of the pile hole within a range of 5 m, and then the laser scanner 19 performs three-dimensional modeling of the terrain around the pile hole, identifies obstacles such as stones, pits, etc., and plans a safe operation area.

[0027] Referring to Figure 2 、 Figure 3 and Figure 4, the integrated crawler carrier 1 rear end is provided with a material storage warehouse 2, the material storage warehouse 2 includes a main reinforcement storage area and a stirrup storage area, the main reinforcement storage area stores steel bars with a diameter of 12-40mm and a length of 6-12m, and the stirrup storage area stores coils with a diameter of 8-16mm. A telescopic conveyor belt 15 is arranged on one side of the material storage warehouse 2 for transporting the main reinforcement into the main reinforcement storage area, the telescopic conveyor belt has a width of 800mm, a maximum conveying speed of 1m / s, and a telescopic length of 5m, and can convey the steel bar raw material in the yard to the main reinforcement storage area from the side of the integrated crawler carrier 1, the speed of the telescopic conveyor belt is self-adaptively adjusted according to the diameter of the steel bar, the formula is: v=0.2xd+0.5, d is the diameter of the steel bar, and the unit is m / s. Two sorting mechanical arms are further arranged in the material storage warehouse 2, one of the sorting mechanical arms is provided with a visual identification camera 17 with a resolution of 1280x960 and a weight sensor with a range of 500kg, can identify the specifications of the steel bars, and grasp the main reinforcement and the corresponding storage of the stirrup into the main reinforcement area and the stirrup area; the other sorting mechanical arm is provided with a three-roll straightening machine, the roll pressure of the three-roll straightening machine is 20MPa, and the straightening speed is 1m / s, which can straighten the main reinforcement with a bending degree greater than 2mm / m, and ensure that the straightness error of the main reinforcement is less than or equal to 1mm / m.

[0028] Referring to Figure 1 , Figure 2 and Figure 3 , the hydraulic vertical lifting platform is located above the material storage warehouse 2, the hydraulic vertical lifting platform is arranged as a double-layer box-type steel structure with a size of 6m*3m*1.5m and a maximum bearing capacity of 50 tons, the hydraulic vertical lifting platform includes a fixed frame fixed above the material storage warehouse 2, a platform frame 3 hingedly connected to the tail end of the fixed frame, and a hydraulic system 4 for driving the platform frame 3 to flip to a vertical state; the surface of the platform frame 3 is provided with a high-precision linear guide rail for the movement of the gantry robot, the high-precision linear guide rail has a length of 5.5m and a width of 120mm, the surface of the track is hardened, the hardness is HRC60, and an absolute value encoder is arranged, the resolution is 0.001mm, and the positioning accuracy is positive and negative 0.5mm. The hydraulic system 4 includes a top rod located between the platform frame 3 and the fixed frame and a hydraulic drive located on the fixed frame, the hydraulic drive is arranged as a hydraulic cylinder, one end of the top rod is hingedly connected to the middle of the platform frame 3, the other end is hingedly connected with a sliding block, and the sliding block is slidably installed on the fixed frame; the pressure of the hydraulic cylinder is 35MPa, the hydraulic cylinder drives the sliding block to reciprocatingly slide on the fixed frame, at this time the top rod pushes the platform frame 3 to flip on the fixed frame, so that the platform frame 3 can complete the vertical lifting of 0° to 90° in 90 seconds, and the lifting speed is 0.5° / s. A strain gauge and an accelerometer are further installed on the platform frame 3, based on the strain gauge and the accelerometer, the pressure of the hydraulic cylinder can be dynamically adjusted to ensure that the platform frame 3 is lifted stably, and the vibration amplitude is less than or equal to 2mm.

[0029] Referring to Figure 3 ,Figure 4 、 Figure 5 and Figure 7 The gantry crane robot is provided with two groups and is spaced along the length direction of the pile cap frame 3, and the gantry crane robot is slidably arranged along the length direction of the pile cap frame 3 through high-precision linear guides. The gantry crane robot comprises a meandering frame 5 slidably mounted on the pile cap frame 3, a first universal mechanical hand 6 and a second universal mechanical hand 7 respectively arranged on the inner walls on both sides of the meandering frame 5 and respectively used for grabbing the main reinforcement and the stirrup, and a supporting claw 16 arranged on the other two side walls of the meandering frame 5 and used for fixing the main reinforcement, and the first universal mechanical hand 6 and the second universal mechanical hand 7 are mechanical arm devices with multiple degrees of freedom joints. The supporting claw 16 is made of high-strength spring steel, and the size of a single piece is 1.5m*0.3m, six supporting claws 16 are arranged on the same side inner wall of the meandering frame 5, the six supporting claws 16 are sequentially distributed along the length direction of the side wall of the meandering frame 5, and the adjacent two supporting claws 16 are connected through quick-release interfaces. A plurality of micro hydraulic cylinders are arranged between the supporting claw 16 and the side wall of the meandering frame 5, one end of the hydraulic cylinder is slidably connected to the inner side wall of the meandering frame 5 along the length direction of the side wall of the meandering frame 5, the other end is fixedly connected with the connecting part of the adjacent two supporting claws 16, and the position of the hydraulic cylinder on both sides of the supporting claw 16 and the length of the piston rod are controlled, so that the supporting claw 16 is driven to bend from the flat state to 120°, and the stable gripping of the main reinforcement is realized.

[0030] Referring to Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 and Figure 7 The first universal mechanical hand 6 is arranged on the inner wall of the meandering frame 5 close to the pile cap frame 3, and the end of the first universal mechanical hand 6 is provided with a clamping jaw 20 and a welding gun 8. Two sorting mechanical arms grab and deliver a plurality of main reinforcements in the material storage bin 2 to the clamping jaw 20 of the first universal mechanical hand 6 in the meandering frame 5 one by one, the first universal mechanical hand 6 grabs and delivers the main reinforcements to the center lines of the twelve supporting claws 16 one by one, so that the twelve supporting claws 16 on both sides are bent and stably grab and position the main reinforcement under the drive of the hydraulic cylinder.

[0031] Referring to Figure 4 、 Figure 5 and Figure 6The second universal mechanical arm is provided with two, and is located on the inner wall of the meandering frame 5 away from the bearing platform frame 3. The end of the second universal mechanical arm 7 is also provided with a clamping jaw 20 and a welding gun 8. The sorting mechanical arm grasps one end of the stirrup disc in the material storage bin 2 and delivers it to the clamping jaw 20 of one of the second universal mechanical arms 7. The other second universal mechanical arm 7 grasps the rear end of the stirrup. The second universal mechanical arm 7 pulls the stirrup to move to the main reinforcement, and at the same time, the welding gun 8 at the end of the first universal mechanical arm 6 is started, so that the welding gun 8 welds the main reinforcement and the stirrup. In order to ensure the welding quality, the welding gun 8 includes a laser welding head 81 for welding and an infrared thermal imager 82 for measuring the temperature of the weld. The laser welding head 81 and the infrared thermal imager 82 are located at the end of the first universal mechanical arm 6 and the second universal mechanical arm 7. The temperature measuring range of the infrared thermal imager 82 is 300-1500℃, which can detect the temperature of the welding position and reflect the quality of the weld. If there is a lack of fusion defect, the first universal mechanical arm 6 automatically completes the repair welding work.

[0032] In order to enable the stirrup to be spirally wound on the main reinforcement with constant pitch, referring to Figure 4 、 Figure 5 and Figure 7 , a plurality of hydraulic pulleys for driving the stirrup to rotate and advance the main reinforcement in the meandering frame 5 are arranged on the four inner walls of the meandering frame 5. The hydraulic pulley includes a displacement table 9 mounted on the inner wall of the meandering frame 5, a rotating table 10 fixed on the displacement table 9, a hydraulic rod 11 fixed on the rotating table 10, and a grooved wheel 12 rotatably mounted on the hydraulic rod 11. The groove on the circumference of the grooved wheel 12 is matched with the stirrup. According to the designed pitch of the stirrup spiral winding, the displacement table 9, the rotating table 10 and the hydraulic rod 11 are started, so that the grooved wheel 12 translates and rotates on the inner wall of the meandering frame 5, so that the stirrup is clamped in the grooves on the plurality of grooved wheels 12. Then, the plurality of grooved wheels 12 are started synchronously to rotate synchronously, so that the plurality of grooved wheels 12 synchronously push the stirrup to rotate and advance the main reinforcement in the meandering frame 5. At the same time, the first universal mechanical arm 6 and the second universal mechanical arm 7 work cooperatively to continuously supply and weld the stirrup and the main reinforcement.

[0033] In order to ensure that the stirrup and the main reinforcement can stably rotate and advance in the meandering frame 5, referring to Figure 5The through slot is provided on one side of the L-shaped frame 5 close to the bearing platform frame 3, the chain plate machine 13 is installed on the bearing platform frame 3 in the through slot, a plurality of poking plates 14 are fixed on the chain plate of the chain plate machine 13 at intervals, the chain plate machine 13 drives the poking plates 14 to rotate in the through slot, when one poking plate 14 moves to one end of the chain plate machine 13 in the L-shaped frame 5, the poking plate 14 is inserted into the gap between the adjacent two main reinforcement, and with the continuous rotation of the poking plate 14, the poking plate 14 can assist the sprocket 12 to push the reinforcement cage to rotate in the L-shaped frame 5. When the adjacent two poking plates 14 are distributed on both sides of the end of the chain plate machine 13, the poking plates 14 on the chain plate machine 13 are not in contact with the reinforcement cage.

[0034] When the self-production of the reinforcement cage is completed, the reinforcement cage needs to be aligned to the pile hole below, for this purpose, referring to Figure 2 and Figure 7 , the integrated tracked carrier 1 drives the laser scanner 19 to perform three-dimensional modeling under the drive of the high-precision GPS module and the inertial navigation system, and transfers the reinforcement cage to the operation area. The integrated tracked carrier 1 is provided with a hydraulic suspension leveling system, and the chassis of the integrated tracked carrier 1 is provided with an inclination sensor 18 electrically connected with the hydraulic suspension leveling system, according to the monitoring result of the inclination sensor 18, the hydraulic suspension leveling system starts independent suspension adjustment to complete the leveling of the chassis of the integrated tracked carrier 1. Then the hydraulic system 4 is started, the hydraulic system 4 drives the bearing platform frame 3 to overturn the reinforcement cage to the vertical state, so that the reinforcement cage is aligned to the pile hole. Then the L-shaped frame 5 is driven to slide downward on the bearing platform frame 3, the L-shaped frame 5 drives the reinforcement cage to be below the pile hole, the L-shaped frame 5 is provided with an infrared range finder and a laser centering instrument, the infrared range finder and the laser centering instrument are integrated with the infrared thermal imager 82, the infrared range finder and the laser centering instrument cooperatively control the lowering process, and continuously monitor the offset amount of the lower end of the reinforcement cage and the center of the pile hole; if the offset exceeds the preset range, the system triggers the following correction mechanism: horizontal offset, the integrated tracked carrier 1 is adjusted to the target position; angle deviation, the hydraulic pulley on the gantry crane robot adjusts the inclination angle of the reinforcement cage. The gantry crane robot synchronously lowers the reinforcement cage at a speed of 0.2 m / s, and the laser centering instrument feedbacks the distance between the reinforcement cage and the pile hole wall in real time during the lowering process. When the bottom end of the reinforcement cage is 1 m away from the hole bottom, the speed is reduced to 0.05 m / s, and the final positioning error is controlled to be plus or minus 5 mm. After the lowering is completed, the hydraulic pressure of the supporting claw 16 is released, the hydraulic pulley is separated from the reinforcement cage, and the hydraulic vertical lifting bearing platform is reset to the initial state.

[0035] The method for self-production, transfer and installation of the reinforcement cage provided in the application adopts the following technical scheme: S1, material preparation, the telescopic conveyor belt 15 on one side of the material storage warehouse 2 is extended and inclined to be erected between the ground and the integrated tracked carrier 1, the telescopic conveyor belt 15 is started, and the reinforcing bar raw material in the stockyard is transported to the main reinforcement storage area from the side of the integrated tracked carrier 1; at the same time, the stirrup disc is transported and stored in the stirrup storage area with the help of the telescopic conveyor belt 15; S2, reinforcement cage manufacturing, the two sorting mechanical arms are first driven to grab and deliver the plurality of main reinforcements in the material storage warehouse 2 one by one to the clamping jaw 20 of the first universal mechanical hand 6 in the meandering frame 5, the first universal mechanical hand 6 grabs and delivers the main reinforcements one by one to the center line of the twelve supporting claws 16, so that the twelve supporting claws 16 on both sides are curved and stably grab and position the main reinforcements under the drive of the hydraulic cylinder; then the sorting mechanical arm grabs and delivers one end of the stirrup disc in the material storage warehouse 2 to the clamping jaw 20 of one of the second universal mechanical hands 7, and the other second universal mechanical hand 7 grabs the rear end of the stirrup, the second universal mechanical hand 7 pulls the stirrup to the main reinforcement; then the welding gun 8 at the end of the first universal mechanical hand 6 is started, so that the welding gun 8 welds and connects the main reinforcement and the stirrup; at the same time, a plurality of groove wheels 12 are simultaneously started to rotate, so that the plurality of groove wheels 12 synchronously push the stirrup to drive the main reinforcement to rotate and progress in the meandering frame 5, so that the stirrup can be spirally wound on the main reinforcement according to a constant pitch; S3, reinforcement cage transfer, the integrated tracked carrier 1 is driven by the high-precision GPS module and the inertial navigation system, and the three-dimensional modeling is performed by the laser scanner 19, so as to transfer the reinforcement cage to the working area, according to the monitoring result of the inclination sensor 18, the hydraulic suspension leveling system starts independent suspension adjustment, and the leveling of the chassis of the integrated tracked carrier 1 is completed; S4, reinforcement cage installation, the hydraulic system 4 is started, the hydraulic system 4 drives the pile cap frame 3 to overturn the reinforcement cage to the vertical state, so that the reinforcement cage is aligned with the pile hole, and the meandering frame 5 is driven to slide downward on the pile cap frame 3, and the infrared range finder and the laser centering instrument cooperatively control the lowering process of the reinforcement cage; S5, instrument reset, after the lowering is completed, the hydraulic pressure of the supporting claw 16 is released, the hydraulic pulley is separated from the reinforcement cage, and the hydraulic vertical pile cap is reset to the initial state.

[0036] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A steel cage autonomous manufacturing, transferring and installing apparatus, characterized in that, The utility model relates to an integrated caterpillar carrier for transferring reinforcement cage, which is provided with a material storage bin including a main reinforcement storage area and a stirrup storage area, and a sorting mechanical arm for grabbing the main reinforcement or the stirrup is arranged in the material storage bin. A hydraulic lifting pile cap is arranged on the integrated caterpillar carrier above the material storage bin, and includes a pile cap frame hinged at the tail end of the integrated caterpillar carrier and a hydraulic system for driving the pile cap frame to overturn to a vertical state. A plurality of gantry crane robots are arranged at intervals along the length direction of the pile cap frame, and the gantry crane robots are arranged in a sliding manner along the length direction of the pile cap frame. The gantry crane robot includes a meandering frame slidingly mounted on the pile cap frame, a first universal mechanical hand and a second universal mechanical hand respectively arranged on the inner walls on both sides of the meandering frame and respectively used for grabbing the main reinforcement and the stirrup, and a supporting claw arranged on the other two side walls of the meandering frame and used for fixing the main reinforcement. A welding gun for welding the main reinforcement and the stirrup is arranged on the first universal mechanical hand. A plurality of hydraulic pulleys for driving the stirrup to drive the main reinforcement to rotate and progress in the meandering frame are arranged in the meandering frame, so that the stirrup is bent and spirally wound on the main reinforcement. The hydraulic pulley includes a displacement table mounted on the inner wall of the meandering frame, a rotating table fixed on the displacement table, a hydraulic rod fixed on the rotating table, and a grooved wheel rotatably mounted on the hydraulic rod. The groove on the circumference of the grooved wheel is matched with the stirrup.

2. A steel cage autonomous manufacturing, transferring and installing apparatus according to claim 1, characterized in that, A through groove is formed through the side of the meandering frame close to the pile cap frame. A chain plate machine is mounted on the pile cap frame in the through groove. A poking plate is fixed on the chain plate of the chain plate machine. When the poking plate moves to the end of the chain plate machine in the meandering frame, the poking plate can push the reinforcement cage to rotate in the meandering frame.

3. A steel cage autonomous manufacturing, transferring and installing apparatus as claimed in claim 2, wherein, The welding gun includes a laser welding head for welding and an infrared thermal imager for measuring the temperature of the weld. The laser welding head and the infrared thermal imager are both located on the upper end of the first universal mechanical hand.

4. A steel cage autonomous manufacturing, transferring and installing apparatus as claimed in claim 1, wherein, A telescopic conveyor belt for transporting the main reinforcement into the main reinforcement storage area is arranged on one side of the material storage bin.

5. A bar cage autonomous manufacturing, transferring and installing apparatus as claimed in claim 1, wherein, A three-roller straightening machine for straightening the main reinforcement is arranged in the main reinforcement storage area.

6. A steel cage autonomous manufacturing, transferring and installing apparatus as claimed in claim 5 wherein, A laser scanner for three-dimensional modeling of the terrain around the pile hole is arranged on the integrated caterpillar carrier. An infrared range finder is arranged on the meandering frame.

7. A bar cage autonomous manufacturing, transferring and installing apparatus as claimed in claim 1, wherein, A hydraulic suspension leveling system is arranged on the integrated caterpillar carrier. An inclination sensor electrically connected to the hydraulic suspension leveling system is arranged on the chassis of the integrated caterpillar carrier.

8. A steel cage autonomous manufacturing, transferring and installing apparatus as claimed in claim 7, wherein, The hydraulic system includes a top rod between the pile cap frame and the integrated caterpillar carrier and a hydraulic drive on the integrated caterpillar carrier. One end of the top rod is hinged to the middle of the pile cap frame, and the other end is hinged to a sliding block. The sliding block is slidingly mounted on the integrated caterpillar carrier. The hydraulic drive drives the sliding block to reciprocally slide on the integrated caterpillar carrier, so that the top rod pushes the pile cap frame to overturn on the integrated caterpillar carrier.

9. A bar cage autonomous manufacturing, transferring and installing apparatus as claimed in claim 1, wherein, The utility model relates to an integrated caterpillar carrier for transferring reinforcement cage, which is provided with a material storage bin including a main reinforcement storage area and a stirrup storage area, and a sorting mechanical arm for grabbing the main reinforcement or the stirrup is arranged in the material storage bin.

10. A method of autonomous fabrication, transfer and installation of reinforcement cages, based on a device for autonomous fabrication, transfer and installation of reinforcement cages according to any one of claims 1-9, characterized in that, S1, material preparation, the main reinforcement for making the reinforcement cage is stored in the main reinforcement storage area, and the stirrup disc for making the reinforcement cage is stored in the stirrup storage area. ​ S2, steel cage manufacturing, first, the sorting mechanical arm grabs and delivers each main reinforcement in the material storage bin to the gripper of the first universal mechanical hand in the back-shaped frame, so that the support claw stably grabs and positions the main reinforcement; then the sorting mechanical arm grabs and delivers one end of the hoop reinforcement disc in the material storage bin to the gripper of the second universal mechanical hand, the second universal mechanical hand pulls the hoop reinforcement to the main reinforcement; then the welding gun at the end of the first universal mechanical hand is started, so that the welding gun welds the main reinforcement and the hoop reinforcement; at the same time, multiple hydraulic pulleys are started synchronously, so that multiple hydraulic pulleys synchronously push the hoop reinforcement to drive the main reinforcement to rotate and advance in the back-shaped frame, so that the hoop reinforcement can be spirally wound on the main reinforcement according to a constant pitch; S3, steel cage transfer, the integrated tracked carrier transfers the steel cage to the operation area; S4, steel cage installation, start the hydraulic system, the hydraulic system drives the pile cap frame to overturn the steel cage to the vertical state, so that the steel cage is aligned with the pile hole, and the back-shaped frame is driven to slide down on the pile cap frame, completing the lowering of the steel cage; S5, instrument reset, after the lowering is completed, the support claw hydraulic pressure is released, the hydraulic pulley is separated from the steel cage, and the hydraulic pile cap is reset to the initial state.

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