A shield steel frame production line

Abstract

The present invention belongs to the technical field of steel cage production line, and discloses a shield steel skeleton production line, including a bar steel feeding module, a single-piece net forming module and a three-dimensional forming module. The bar steel feeding module includes a shearing main machine, a rear conveying roller, a step feeding device and a main bar conveying roller. The single-piece net forming module includes an arc bending machine, an arc shaping device, a welding main machine, a bending main machine and a three-coordinate welding device. The three-dimensional forming module includes a single-piece net stacking mold core, a single-piece net grabbing device and a stirrup forming welding device. In the present invention, the bar steel is fed by the bar steel feeding module, and then the single-piece net forming module bends and welds the bar steel to form an outer contour rib and welds the transverse rib on the outer contour rib to form a single-piece net, and then the three-dimensional forming module is connected to stack and stack the single-piece net and weld stirrups thereon to form a shield steel skeleton. The overall forming process has a low human participation rate, smooth flow connection and high production efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of steel cage production lines, and in particular to a shield steel frame production line. Background Art

[0002] During the tunnel construction process, after the shield machine digs a circular hole, multiple arc-shaped shield segments are needed to fix the circular hole to provide a solid and safe space for subsequent projects. The shield segment is formed by combining the shield steel skeleton with concrete anchors.

[0003] The existing shield reinforcement skeleton is composed of multiple arc-shaped single-piece meshes and multiple stirrups. The multiple single-piece meshes are arranged in parallel and spaced from each other, and the multiple stirrups are welded and fixed to the outer edges of the multiple single-piece meshes in parallel and spaced from each other. After the multiple single-piece meshes are fixed, an arc-shaped shield reinforcement skeleton is formed.

[0004] In the prior art, the shield steel skeleton is manufactured by manual welding with welding jigs. With the help of steel bar shearing production lines, bending machines, bending machines and other equipment, the main bars are sheared, bent, and the tension bars and stirrups are manufactured. Finally, they are manually placed on the welding jig and the steel cage is manufactured by manual welding. This processing method has a cumbersome process, high manpower investment, low production efficiency, poor welding conditions, and cannot guarantee the safety of operators. Summary of the invention

[0005] The object of the present invention is to provide a shield steel bar skeleton production line with low manual participation rate, smooth flow and connection and high production efficiency.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] A shield steel frame production line, comprising:

[0008] A bar steel bar feeding module, the bar steel bar feeding module comprises a shearing main machine, a rear conveying roller, a step feeding device and a main reinforcement conveying roller, the shearing main machine and the rear conveying roller are configured to cut the bar steel bars to a fixed length and convey the bar steel bars of the fixed length to the step feeding device, and the step feeding device is configured to convey the bar steel bars to the main reinforcement conveying roller;

[0009] A single-piece mesh forming module, the single-piece mesh forming module comprises an arc bending machine, an arc shaping device, a welding host, a bending host and a three-coordinate welding device, the arc bending machine is configured to bend the bar steel bars conveyed by the main reinforcement conveying roller into main reinforcements, the arc shaping device is configured to shape the main reinforcements, the welding host is configured to place and weld transverse reinforcements on the main reinforcements, the bending host and the three-coordinate welding device are configured to bend and weld the main reinforcements into outer contour reinforcements, and the outer contour reinforcements and the transverse reinforcements welded together form a single-piece mesh;

[0010] A three-dimensional forming module, which includes a single-piece net stacking mold core, a single-piece net grabbing device and a stirrup forming welding device. The single-piece net stacking mold core is configured to carry the single-piece net moved by the single-piece net grabbing device, and the stirrup forming welding device is configured to form stirrups and move and weld the stirrups to the single-piece net on the single-piece net stacking mold core to form a shield steel bar skeleton.

[0011] Preferably, the bar and steel bar feeding module also includes a bar and steel bar storage bin, an automatic loader and a front conveyor roller, the bar and steel bar storage bin is used to store the bar and steel bars, the automatic loader is configured to move the bar and steel bars in the bar and steel bar storage bin to the front conveyor roller, and the front conveyor roller is configured to convey the bar and steel bars to the rear conveyor roller via the shearing main machine.

[0012] Preferably, the main ribs include inner arc ribs and outer arc ribs, and two of the step feeding devices and the main rib conveying rollers are respectively provided in a one-to-one relationship. One of the step feeding devices and one of the main rib conveying rollers are configured to convey the inner arc ribs to the arc bending machine, and another of the step feeding devices and another of the main rib conveying rollers are configured to convey the outer arc ribs to the arc bending machine.

[0013] Preferably, the curvature shaping device comprises a shaping support plate and a plurality of curvature shaping wheels arranged on the shaping support plate.

[0014] Preferably, the main reinforcement includes inner arc reinforcement and outer arc reinforcement, the bending machine is configured to bend the two ends of the inner arc reinforcement and overlap them on the outer arc reinforcement, and the three-coordinate welding device is configured to weld the overlapping points of the bent inner arc reinforcement and the outer arc reinforcement.

[0015] Preferably, the single-piece net stacking mold core includes a single-piece net stacking support frame and a support driver. The single-piece net stacking support frame is evenly distributed with multiple layers in the vertical direction, and each layer is provided with multiple support drivers. The output end of the support driver of each layer can support one single-piece net when extended.

[0016] Preferably, the stirrup forming and welding device includes a stirrup forming frame, a stirrup penetration assembly and a welding robot, the stirrup forming frame is configured to form stirrups, the stirrup penetration assembly is configured to move the stirrups to the single-piece mesh stacking mold core, and the welding robot is configured to weld the single-piece mesh and the stirrups on the single-piece mesh stacking mold core.

[0017] Preferably, the stirrup forming welding device also includes a forming frame traction motor and a forming frame arc track, the stirrup penetration assembly and the welding manipulator are respectively arranged on the stirrup forming frame, and the forming frame traction motor is configured to drive the stirrup forming frame to slide along the forming frame arc track.

[0018] Preferably, the three-dimensional forming module also includes a circulating workbench, the single-piece mesh stacking mold core is arranged on the circulating workbench, the circulating workbench is configured to drive the single-piece mesh stacking mold core to move between the stacking area and the stirrup operation area, the single-piece mesh grabbing device is configured to move the single-piece mesh to the single-piece mesh stacking mold core in the stacking area, and the stirrup forming welding device is configured to move and weld the stirrups on the single-piece mesh stacking mold core in the stirrup operation area.

[0019] Preferably, it also includes a steel cage grabbing module, the circulating workbench is configured to drive the single-piece net stacking mold core to move between the stacking area, the stirrup operation area and the cage exit area, and the steel cage grabbing module is configured to grab the shield steel frame on the single-piece net stacking mold core in the cage exit area.

[0020] Beneficial effects of the present invention:

[0021] According to the structural characteristics of the shield steel skeleton, it is divided into a single mesh and stirrups, and further according to the structure of the single mesh, it is divided into outer contour bars and transverse bars. The bar steel feeding module loads the bar steel, and then the single mesh forming module bends and welds the bar steel into outer contour bars and welds transverse bars on the outer contour bars to form a single mesh. Then the three-dimensional forming module is connected to stack the single mesh and weld stirrups on them to form the shield steel skeleton. The overall forming process has low labor participation rate, smooth flow and connection, and high production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of a shield reinforcement skeleton production line according to an embodiment of the present invention;

[0023] Figure 2 is a structural schematic diagram of a single-piece mesh forming module according to an embodiment of the present invention;

[0024] Figure 3is a structural schematic diagram of a single-piece web stacking mold core according to an embodiment of the present invention;

[0025] Figure 4 It is a schematic structural diagram of the stirrup forming welding device and the circulating workbench according to an embodiment of the present invention;

[0026] Figure 5 It is a structural schematic diagram of the cooperation between the single-sheet net stacking mold core and the circulation workbench when the stacking area, the stirrup operation area and the cage-out area are provided according to the embodiment of the present invention;

[0027] Figure 6 It is a structural schematic diagram of the cooperation between the single-sheet net stacking mold core and the circulation workbench when the stacking area, stirrup operation area, cage-out area and waiting area are provided according to the embodiment of the present invention;

[0028] Figure 7 It is a structural schematic diagram of a steel cage grabbing module according to an embodiment of the present invention;

[0029] Figure 8 It is a schematic structural diagram of the shield reinforcement skeleton described in an embodiment of the present invention.

[0030] In the figure:

[0031] 100, shield reinforcement skeleton; 101, inner arc reinforcement; 102, outer arc reinforcement; 103, transverse reinforcement; 104, stirrups;

[0032] 1. Bar and steel bar feeding module;

[0033] 11. Main shearing machine; 12. Rear conveyor roller; 13. Step feeding device; 14. Main reinforcement conveyor roller; 15. Bar and reinforcement storage bin; 16. Automatic feeder; 17. Front conveyor roller;

[0034] 2. Single-piece mesh forming module;

[0035] 21. Arc bending machine; 22. Arc shaping device; 221. Shaping support plate; 222. Arc shaping wheel; 23. Welding host; 24. Bending host; 25. Three-coordinate welding device;

[0036] 3. Three-dimensional molding module;

[0037] 31. Single-piece net stacking mold core; 311. Single-piece net stacking support frame; 312. Support driver;

[0038] 32. Single-piece net grabbing device;

[0039] 33. Stirrup forming welding device; 331. Stirrup forming frame; 332. Stirrup insertion assembly; 333. Welding manipulator; 334. Forming frame traction motor; 335. Forming frame arc track;

[0040] 34. Circular workbench; 341. Workbench frame; 3411. Code sheet area; 3412. Stirrup operation area; 3413. Out of cage area; 3414. Waiting area; 342. Auxiliary walking wheel; 343. Frame circular track; 344. Circular traction motor;

[0041] 4. Steel cage grabbing module;

[0042] 41. Lifting bracket; 42. Winch; 43. Lifting clamp. DETAILED DESCRIPTION

[0043] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar parts or parts having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0044] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection or a detachable 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. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] In the description of the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in contact with the second feature through another feature between them instead of being in direct contact. Moreover, a first feature being "above", "above" and "above" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0046] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0047] like Figure 1-Figure 8As shown, the present invention provides a shield steel bar skeleton production line, including a bar steel bar feeding module 1, a single-piece net forming module 2 and a three-dimensional forming module 3. Among them, the bar steel bar feeding module 1 includes a shearing main machine 11, a rear conveying roller 12, a step feeding device 13 and a main reinforcement conveying roller 14. The shearing main machine 11 and the rear conveying roller 12 are configured to cut the bar steel bars to a fixed length and convey the bar steel bars of the fixed length to the step feeding device 13. The step feeding device 13 is configured to convey the bar steel bars to the main reinforcement conveying roller 14. The single-piece net forming module 2 includes an arc bending machine 21, an arc shaping device 22, a welding main machine 23, a bending main machine 24 and a three-coordinate welding device 25. The arc bending machine 21 is configured to bend the bar steel bars conveyed by the main reinforcement conveying roller 14 into main reinforcements, and the arc shaping device 22 is configured to shape the bar steel bars. The main reinforcement, the welding host 23 is configured to place and weld the transverse reinforcement 103 on the main reinforcement, the bending host 24 and the three-coordinate welding device 25 are configured to bend and weld the main reinforcement into outer contour reinforcement, the outer contour reinforcement and the transverse reinforcement 103 welded together form a single-piece mesh, the three-dimensional forming module 3 includes a single-piece mesh stacking mold core 31, a single-piece mesh grabbing device 32 and a stirrup forming welding device 33, the single-piece mesh stacking mold core 31 is configured to carry the single-piece mesh moved by the single-piece mesh grabbing device 32, the stirrup forming welding device 33 is configured to form stirrups 104 and move and weld the stirrups 104 to the single-piece mesh on the single-piece mesh stacking mold core 31 to form a shield steel bar skeleton 100.

[0048] In the present invention, according to the structural characteristics of the shield reinforcement skeleton 100, it is divided into a single-piece mesh and stirrups 104, and further according to the structure of the single-piece mesh, it is divided into outer contour bars and transverse bars 103, the bar reinforcement feeding module 1 is used to feed the bar reinforcement, and then the single-piece mesh forming module 2 bends and welds the bar reinforcement to form outer contour bars and welds transverse bars 103 on the outer contour bars to form a single-piece mesh, and then the three-dimensional forming module 3 is connected to stack the single-piece mesh and weld stirrups 104 thereon to form the shield reinforcement skeleton 100. The overall forming process has low labor participation rate, smooth flow and connection, and high production efficiency.

[0049] Specifically, the bar and steel bar feeding module 1 also includes a bar and steel bar storage bin 15, an automatic feeding machine 16 and a front conveying roller 17. The bar and steel bar storage bin 15 is used to store bar and steel bars. The automatic feeding machine 16 is configured to transfer the bar and steel bars in the bar and steel bar storage bin 15 to the front conveying roller 17. The front conveying roller 17 is configured to convey the bar and steel bars to the rear conveying roller 12 through the shearing host 11. By configuring the bar and steel bar storage bin 15, the automatic feeding machine 16 and the front conveying roller 17 before the rear conveying roller 12, automatic feeding can be performed, which further improves the automation rate and improves the production efficiency.

[0050] More specifically, the main ribs include inner arc ribs 101 and outer arc ribs 102, and two step feeding devices 13 and main rib conveying rollers 14 are respectively provided in a one-to-one relationship. One step feeding device 13 and one main rib conveying roller 14 are configured to convey the inner arc ribs 101 to the arc bending machine 21, and another step feeding device 13 and another main rib conveying roller 14 are configured to convey the outer arc ribs 102 to the arc bending machine 21.

[0051] In the present embodiment, the bar and steel bar storage bin 15 is mainly used to store bar raw materials, i.e., raw materials for making main bars. According to the specifications of the main bars of the steel cage, the bar and steel bar storage bin 15 is provided with a plurality of storage bins, and raw materials of different specifications are placed in the bins for easy classification and retrieval. The automatic loader 16 can select the specifications of the steel bars to be grabbed according to the parameters set in advance, and automatically select the corresponding position of the bar and steel bar storage bin 15, grab the required raw materials and put them into the front conveyor roller 17. The device can grab a single bar or multiple bars. It is a conventional lifting mechanism or manipulator in the field. The specific structure and working principle are not repeated here. The front conveyor roller 17, the rear conveyor roller 12 and the main bar conveyor roller 14 are conventional conveyor rollers in the field. Its structure and working principle are not described in detail here. A conventional sizing mechanism in this field is provided on the rear conveying roller 12 to detect the length of the bar steel bars to be sheared. The shearing main machine 11 arranged between the front conveying roller 17 and the rear conveying roller 12 shears the bar steel bars according to the sizing size of the centering mechanism. It is a conventional shearing mechanism in this field, and its structure and working principle are not described in detail here. The bar steel bars after shearing are transported by the rear conveying roller 12 to the step feeding device 13. The step feeding device 13 is used to place the main bars after shearing, and to transport the main bars one by one to the main bar conveying roller 14 by step feeding. It is a conventional device in this field, and its structure and working principle are not described in detail here.

[0052] Specifically, the curvature shaping device 22 includes a shaping support plate 221 and a plurality of curvature shaping wheels 222 arranged on the shaping support plate 221. The main ribs after bending can maintain the curvature after bending in the curvature shaping wheels 222 to ensure the accuracy of the curvature.

[0053] More specifically, the welding host 23 is used to complete the welding of the main reinforcement and the transverse reinforcement 103. It is provided with a transverse reinforcement silo and a transverse reinforcement blanking device, which can store the transverse reinforcement 103 and automatically drop the transverse reinforcement 103 on the specified position of the main reinforcement according to the setting. The welding is then completed by the welding host 23. The bending host 24 is configured to bend the two ends of the inner arc reinforcement 101 and overlap them on the outer arc reinforcement 102. The three-coordinate welding device 25 is configured to weld the overlapping points of the bent inner arc reinforcement 101 and the outer arc reinforcement 102.

[0054] In this embodiment, the arc bending machine 21 and the bending main unit 24 are conventional steel bar bending devices in the field, and their structures and working principles are not described in detail here. The welding main unit 23 is a conventional welding device in the field, and its structure and working principle are not described in detail here. When the traction mechanism pulls the main reinforcement through the welding main unit 23, the welding main unit 23 places and welds the transverse reinforcement 103 on the main reinforcement. The traction mechanism is a conventional device in the field, and its traction distance is determined by the distance between each transverse reinforcement 103. The three-coordinate welding device 25 is a conventional welding device capable of three-coordinate movement in the field, and its structure and working principle are not described in detail here.

[0055] Specifically, the single-piece net stacking mold core 31 includes a single-piece net stacking support frame 311 and a support driver 312. The single-piece net stacking support frame 311 is evenly distributed with multiple layers in the vertical direction. Each layer is provided with multiple support drivers 312. The output end of the support driver 312 of each layer can support a single-piece net when extended. The layer spacing is determined by the structure of the shield steel frame 100, and the two remain consistent.

[0056] More specifically, the supporting driver 312 is a cylinder, the piston rod of the cylinder is in a retracted state, and when bearing, the piston rods of the cylinder extend sequentially from bottom to top, and when the piston rod of each layer of the cylinder extends, the single-sheet net grabbing device 32 moves a single-sheet net and places it thereon.

[0057] In this embodiment, the single-sheet net grabbing device 32 is a conventional lifting mechanism or manipulator in the art, and the specific structure and working principle are not described in detail here.

[0058] Specifically, the stirrup forming welding device 33 includes a stirrup forming frame 331, a stirrup penetration assembly 332 and a welding robot 333. The stirrup forming frame 331 is configured to form stirrups 104, the stirrup penetration assembly 332 is configured to move the stirrups 104 to the single-piece mesh stacking mold core 31, and the welding robot 333 is configured to weld the single-piece mesh and stirrups 104 on the single-piece mesh stacking mold core 31.

[0059] More specifically, the stirrup forming welding device 33 also includes a forming frame traction motor 334 and a forming frame arc track 335. The stirrup penetration assembly 332 and the welding robot 333 are respectively arranged on the stirrup forming frame 331. The forming frame traction motor 334 is configured to drive the stirrup forming frame 331 to slide along the forming frame arc track 335.

[0060] In this embodiment, the stirrup forming frame 331 is used to make stirrups 104, and the sheared straight steel bars are bent into stirrups. It is equipped with a conventional steel bar bending machine in the art. The specific structure and working principle are not repeated here. The stirrup insertion component 332 is used to automatically insert the stirrups 104 into the single-piece net stacking mold core 31. The specific action is that the stirrup insertion component 332 automatically grabs the stirrups 104 that have been formed from the stirrup 104 forming, and stretches it as shown in the figure. Figure 4 The state shown, then the stirrups 104 are inserted into the single-piece mesh stacking mold core 31 and released, the stirrup insertion assembly 332 includes a stirrup 104 grabbing device such as a crane or a manipulator and a stirrup 104 spreading device, wherein the stirrup 104 spreading device is driven by a motor or a cylinder to open two arms to spread the stirrups 104, one end of the two arms is hinged, and the other end can respectively grab or hook the two sides of the stirrup 104, driven by the motor or the cylinder, the two arms are opened, so that the two arms drive the stirrups 104 to open, the welding manipulator 333 is a conventional device in this field, and its specific structure and working principle are not repeated here, it cooperates with 3D vision technology to automatically find the overlap point of the single-piece mesh and the stirrup 104, and automatically complete the welding.

[0061] Specifically, the three-dimensional forming module 3 also includes a circulating workbench 34, and the single-piece mesh stacking mold core 31 is arranged on the circulating workbench 34. The circulating workbench 34 is configured to drive the single-piece mesh stacking mold core 31 to move between the code sheet area 3411 and the stirrup operation area 3412. The single-piece mesh grabbing device 32 is configured to move the single-piece mesh to the single-piece mesh stacking mold core 31 in the code sheet area 3411, and the stirrup forming welding device 33 is configured to move and weld stirrups 104 on the single-piece mesh stacking mold core 31 in the stirrup operation area 3412.

[0062] More specifically, when the stirrup insertion assembly 332 inserts the stirrups 104, the entire circulating workbench 34 does not move, so a forming frame traction motor 334 is set and fixed on the stirrup forming frame 331 to drive the walking wheels on the stirrup forming welding device 33 to rotate along the forming frame arc track 335 around the single-piece net stacking mold core 31 on the stirrup operation area 3412, thereby completing the insertion of the stirrups 104 at various positions.

[0063] Specifically, the shield steel bar skeleton production line also includes a steel cage grabbing module 4, the circulating workbench 34 is configured to drive the single-piece mesh stacking mold core 31 to move between the stacking area 3411, the stirrup operation area 3412 and the cage exit area 3413, and the steel cage grabbing module 4 is configured to grab the shield steel bar skeleton 100 on the single-piece mesh stacking mold core 31 in the cage exit area 3413.

[0064] More specifically, the steel cage grabbing module 4 includes a lifting bracket 41, a winch 42 and a lifting clamp 43. The lifting motor is fixedly arranged on the lifting bracket 41. The lifting clamp 43 is slidably arranged on the lifting bracket 41 along the vertical direction and is connected to the output end of the winch 42. The lifting clamp 43 can clamp or release the shield steel frame 100. The winch 42 drives the lifting clamp 43 to rise and fall, thereby realizing the grabbing and discharging action of the shield steel frame 100 on the single-piece net stacking mold core 31 at the cage exit area 3413.

[0065] In this embodiment, the circulating workbench 34 includes a workbench 341, auxiliary walking wheels 342, a frame annular track 343 and a circulating traction motor 344. The workbench 341 is annular in structure, and its diameter should be greater than or equal to the diameter of the shield reinforcement skeleton 100, so that the single-piece net stacking mold core 31 can be completely fixed on the workbench 341. Auxiliary walking wheels 342 are fixedly arranged at the bottom of the workbench 341, and the auxiliary walking wheels 342 travel in the frame annular track 343. The circulating traction motor 344 is fixedly arranged on the outer edge of the workbench 341. The circulating traction motor 344 adopts a gear transmission or chain transmission method to drive the workbench 341 to rotate around the frame annular track 343 to circulate between the code piece area 3411, the stirrup operation area 3412 and the cage-out area 3413, or circulate between the code piece area 3411, the stirrup operation area 3412, the cage-out area 3413 and the waiting area 3414.

[0066] To ensure concentricity and rotational balance, the three-dimensional forming module 3 further includes a center column, the workbench 341 is rotatably sleeved on the center column through a bearing, and the stirrup forming frame 331 is rotatably connected to the center column through a bearing.

[0067] When there are three workstations, namely, the stacking area 3411, the stirrup operation area 3412 and the cage-out area 3413, each workstation occupies a 120° sector surface. At this time, three single-piece net stacking mold cores 31 are configured, so that one single-piece net stacking mold core 31 can exist on the three workstations at the same time.

[0068] When four workstations, namely, the code piece area 3411, the stirrup operation area 3412, the cage exit area 3413 and the waiting area 3414, are provided, each workstation occupies a 90° sector surface. At this time, four single-piece mesh stacking mold cores 31 are configured, so that the production of standard blocks of the shield steel bar skeleton 100 can be met, as well as the production of adjacent blocks and capping blocks.

[0069] The working process of the shield steel reinforcement skeleton production line of the present invention is as follows:

[0070] The automatic loading machine 16 automatically selects the required steel bar raw materials from the bar and steel bar storage bin 15 according to the settings, and completes the grabbing and placing them into the front conveyor roller 17.

[0071] The front conveying roller 17 conveys the steel bars forward to pass through the shearing main machine 11 and enter the rear conveying roller 12 .

[0072] According to the required length of the main reinforcement, a fixed-length plate is set in the rear conveying roller 12. When the steel bar contacts the fixed-length plate, the steel bar stops conveying and the main reinforcement is sheared to complete the shearing of the main reinforcement.

[0073] After the shearing is completed, the sheared steel bars are respectively flipped and sent to the step feeding devices 13 corresponding to the inner arc ribs 101 and the outer arc ribs 102 by the turning device of the rear conveying roller 12 .

[0074] The step feeding device 13 conveys the steel bars to the main reinforcement conveying roller 14 corresponding to the inner arc reinforcement 101 and the outer arc reinforcement 102 in a step-by-step manner, and the main reinforcement conveying roller 14 conveys the inner arc reinforcement 101 and the outer arc reinforcement 102 to the single-piece mesh forming module 2.

[0075] The single-piece net forming module 2 completes the production of the single-piece net. After the production is completed, the single-piece net grabbing device 32 grabs the single-piece net and stacks it on the single-piece net stacking mold core 31 in the stacking area 3411 of the circulation workbench 34.

[0076] After all the single-piece meshes required for a shield reinforcement skeleton 100 are stacked, the circulating workbench 34 starts to rotate, and the single-piece mesh stacking mold core 31 in the stacking area 3411 is circulated to the stirrup operation area 3412. At this time, the stirrup forming frame 331 has bent the stirrup 104 into shape.

[0077] The stirrup insertion assembly 332 automatically grabs the stirrup 104 on the stirrup forming frame 331 and stretches it as shown in FIG. Figure 4 As shown, the single-piece mesh is inserted into the corresponding position of the stacking mold core 31, and then the welding robot 333 cooperates with the 3D vision technology to automatically complete the welding of the overlap points of the single-piece mesh and the stirrup 104.

[0078] When the stirrup operation area 3412 completes the insertion and welding of the stirrups 104, the single-piece mesh stacking mold core 31 in the code sheet area 3411 is synchronously performing the single-piece mesh stacking action.

[0079] After all stirrups 104 are inserted and welded, the circulation workbench 34 continues to rotate, circulating the single-piece mesh stacking mold core 31 in the stirrup operation area 3412 to the cage-out area 3413, and circulating the single-piece mesh stacking mold core 31 in the code area 3411 to the stirrup operation area 3412.

[0080] The steel cage grabbing module 4 in the cage exit area 3413 takes out the shield steel frame 100 after welding from the single-piece mesh stacking mold core 31. After completion, the single-piece mesh stacking mold core 31 enters the next working cycle.

[0081] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A shield steel frame production line, characterized in that: include: A bar steel bar feeding module (1), the bar steel bar feeding module (1) comprising a shearing main machine (11), a rear conveying roller (12), a step feeding device (13) and a main reinforcement conveying roller (14), the shearing main machine (11) and the rear conveying roller (12) being configured to shear the bar steel bars to a fixed length and convey the bar steel bars of the fixed length to the step feeding device (13), the step feeding device (13) being configured to convey the bar steel bars to the main reinforcement conveying roller (14); A single-piece mesh forming module (2), the single-piece mesh forming module (2) comprising an arc bending machine (21), an arc shaping device (22), a welding main machine (23), a bending main machine (24) and a three-coordinate welding device (25), the arc bending machine (21) being configured to bend the bar steel bars conveyed by the main steel bar conveying roller (14) into main steel bars, the arc shaping device (22) being configured to shape the main steel bars, the welding main machine (23) being configured to place and weld transverse steel bars (103) on the main steel bars, the bending main machine (24) and the three-coordinate welding device (25) being configured to bend and weld the main steel bars into outer contour steel bars, the outer contour steel bars and the transverse steel bars (103) being welded together to form a single-piece mesh; A three-dimensional forming module (3), the three-dimensional forming module (3) comprising a single-sheet net stacking mold core (31), a single-sheet net grabbing device (32) and a stirrup forming welding device (33), the single-sheet net stacking mold core (31) being configured to carry the single-sheet net moved by the single-sheet net grabbing device (32), and the stirrup forming welding device (33) being configured to form stirrups (104) and to move and weld the stirrups (104) to the single-sheet net on the single-sheet net stacking mold core (31) to form a shield reinforcement skeleton (100); The bar steel bar feeding module (1) further comprises a bar steel bar storage bin (15), an automatic feeding machine (16) and a front conveying roller (17); the bar steel bar storage bin (15) is used to store the bar steel bars; the automatic feeding machine (16) is configured to transfer the bar steel bars in the bar steel bar storage bin (15) to the front conveying roller (17); the front conveying roller (17) is configured to convey the bar steel bars to the rear conveying roller (12) via the shearing main machine (11); The radian shaping device (22) comprises a shaping support plate (221) and a plurality of radian shaping wheels (222) arranged on the shaping support plate (221); The stirrup forming and welding device (33) comprises a stirrup forming frame (331), a stirrup insertion assembly (332) and a welding manipulator (333); the stirrup forming frame (331) is configured to form stirrups (104); the stirrup insertion assembly (332) is configured to transfer the stirrups (104) to the single-piece net stacking mold core (31); and the welding manipulator (333) is configured to weld the single-piece net and the stirrups (104) on the single-piece net stacking mold core (31); The stirrup forming welding device (33) further comprises a forming frame traction motor (334) and a forming frame arc track (335); the stirrup insertion assembly (332) and the welding manipulator (333) are respectively arranged on the stirrup forming frame (331); the forming frame traction motor (334) is configured to drive the stirrup forming frame (331) to slide along the forming frame arc track (335); The three-dimensional forming module (3) further comprises a circulating workbench (34), the single-piece mesh stacking mold core (31) being arranged on the circulating workbench (34), the circulating workbench (34) being configured to drive the single-piece mesh stacking mold core (31) to move between a stacking area (3411) and a stirrup operation area (3412), the single-piece mesh grabbing device (32) being configured to transfer the single-piece mesh to the single-piece mesh stacking mold core (31) in the stacking area (3411), and the stirrup forming welding device (33) being configured to transfer and weld the stirrup (104) on the single-piece mesh stacking mold core (31) in the stirrup operation area (3412); The steel cage grabbing module (4) is configured to drive the single-piece net stacking mold core (31) to move between the stacking area (3411), the stirrup operation area (3412) and the cage exit area (3413), and the steel cage grabbing module (4) is configured to grab the shield steel frame (100) on the single-piece net stacking mold core (31) in the cage exit area (3413).

2. The shield steel skeleton production line according to claim 1 is characterized in that: The main ribs include inner arc ribs (101) and outer arc ribs (102), and two of the step feeding devices (13) and the main rib conveying rollers (14) are respectively provided in a one-to-one correspondence, one of the step feeding devices (13) and one of the main rib conveying rollers (14) being configured to convey the inner arc ribs (101) to the arc bending machine (21), and another of the step feeding devices (13) and another of the main rib conveying rollers (14) being configured to convey the outer arc ribs (102) to the arc bending machine (21).

3. The shield steel skeleton production line according to claim 1 is characterized in that: The main rib comprises an inner arc rib (101) and an outer arc rib (102); the bending main machine (24) is configured to bend two ends of the inner arc rib (101) and overlap the inner arc rib (102); and the three-coordinate welding device (25) is configured to weld the overlapped points of the bent inner arc rib (101) and the outer arc rib (102).

4. The shield steel skeleton production line according to claim 1 is characterized in that: The single-piece net stacking mold core (31) comprises a single-piece net stacking support frame (311) and a support driver (312); the single-piece net stacking support frame (311) is evenly distributed with multiple layers in the vertical direction; each layer is provided with a plurality of the support drivers (312); and the output end of the support driver (312) of each layer is capable of supporting one single-piece net when extended.

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