A telescopic steel cage assembly system and assembly method

Abstract

The present invention provides a telescopic steel cage assembly system and assembly method, which belong to the technical field of building construction. The assembly system can efficiently complete the automatic assembly of the telescopic steel cage, and can ensure the assembly accuracy. The assembly system of the telescopic steel cage includes: a flexible steel strand feeding mechanism, a steel bar feeding and forming mechanism, a steel bar ring assembly and unloading mechanism, a steel sheet feeding and forming mechanism, a steel sheet ring assembly and unloading mechanism and a steel cage assembly main line; the flexible steel strand feeding mechanism is used to convey the flexible steel strand to the steel cage assembly main line; the steel bar feeding and forming mechanism is used to prepare steel bar rings; the steel bar ring assembly and unloading mechanism is used to complete the assembly of steel bar rings in situ; the steel sheet feeding and forming mechanism is used to prepare steel sheet rings as the end reinforcement rings of the telescopic steel cage; the steel sheet ring assembly and unloading mechanism is used to complete the assembly of steel sheet rings in situ; the steel cage assembly main line is used to assemble the flexible steel strand on the steel bar rings and steel sheet rings to form a telescopic steel cage.

Description

Technical Field

[0001] The invention relates to an assembly system and an assembly method, in particular to an assembly system and an assembly method for a telescopic steel cage, and belongs to the technical field of building construction. Background Art

[0002] Bored piles have been widely used in the foundations of highways, railways, bridges and other structural engineering projects due to their mature construction technology, high bearing capacity and wide application range. During the construction of bored piles, usually a steel cage is placed in the pile hole after drilling, and then concrete is poured. The traditional bored pile construction process is roughly divided into the steps of drilling, tying and placing the steel cage, and pouring concrete.

[0003] The steel cage of the cast-in-place pile is an important component of the pile and an important guarantee for the effective connection between the pile and other components. However, the steel cage in the prior art has the following technical defects:

[0004] When constructing bored cast-in-place piles in certain special occasions, such as in the basement of an existing building, under high-voltage wires, under an elevated bridge, in a tunnel, or near an airport runway, the complete steel cage cannot be tied and hoisted into the hole due to the limited height outside the hole and the low-altitude or height-restricted conditions. In this case, not only the mechanical height of the hole needs to be solved, but also the steel cage needs to be manufactured in sections and lowered into the pile hole section by section, and each section of the steel cage needs to be lengthened by welding.

[0005] However, the manufacturing method of the above-mentioned steel cage is affected by the height of the space, the construction and installation method is inefficient, time-consuming, and labor-intensive, and the steel cage welded section by section has poor integrity, which reduces the quality of the final pile. At the same time, a large number of round steel bars are used as measure hangers during the construction process. After the concrete is poured, the hangers cannot be taken out and reused, which invisibly increases a large amount of construction costs and causes waste of materials. In addition, when cast-in-place piles need to be prestressed, the steel cage welded section by section cannot meet the requirements of prestressed tensioning construction.

[0006] The telescopic steel cage can solve the problems existing in the above-mentioned steel cage; the longitudinal reinforcement of the telescopic steel cage is ordinary flexible steel strand or slow-bonding flexible steel strand; when the slow-bonding flexible steel strand is used as the longitudinal reinforcement, after the construction of the bored pile is completed, the prestressing tensioning operation of the slow-bonding steel strand can be carried out, so that the bored pile can provide sufficient prestressing effect during the construction process, improve the bearing capacity and service life of the bored pile, and at the same time can also reduce the specifications of the bored pile and improve the economic benefits of the project.

[0007] For traditional steel cages, it is only necessary to tie or weld the longitudinal bars (generally steel bars) and stirrups during assembly, and the assembly method is simple. For example, a steel cage welding device and a welding method disclosed in Chinese patent document CN 115889636 A can automatically weld and form a steel cage with a closed structure of annular stirrups. However, for telescopic steel cages, the longitudinal bars need to be connected to the stirrups through rotating fasteners. Therefore, the traditional steel cage production line is not suitable for the assembly of telescopic steel cages. If the longitudinal bars are assembled by manual pushing, there are problems of low efficiency and high labor intensity. Therefore, a telescopic steel cage assembly system and an assembly method are needed, which can realize the assembly of telescopic steel cages and meet the goal of automated and efficient production. Summary of the invention

[0008] In view of this, the present invention provides a telescopic steel cage assembly system, which can efficiently complete the automatic assembly of the telescopic steel cage, save time and labor; and ensure assembly accuracy.

[0009] The technical solution of the present invention is: an assembly system of a telescopic steel cage, comprising: a flexible steel strand feeding mechanism, a steel bar feeding and forming mechanism, a steel bar ring assembly and unloading mechanism, a steel sheet feeding and forming mechanism, a steel sheet ring assembly and unloading mechanism and a steel cage assembly main line;

[0010] The flexible steel strand feeding mechanism is used to deliver a set length of flexible steel strand used as the longitudinal reinforcement of the telescopic steel cage to the steel cage assembly main line;

[0011] The steel bar feeding and forming mechanism is used to prepare steel bar rings as stirrups for the telescopic steel bar cage;

[0012] The steel bar ring assembly and unloading mechanism is used to complete the assembly of the steel bar ring in situ, and move the assembled steel bar ring to the main assembly line of the steel cage; the assembly of the steel bar ring includes welding the ends of the steel bar ring after rounding and assembling the rotating fasteners and bolts and nuts on the steel bar ring;

[0013] The steel sheet feeding and forming mechanism is used to prepare steel sheet rings as end reinforcement rings of the telescopic steel cage;

[0014] The steel sheet ring assembly and unloading mechanism is used to complete the assembly of the steel sheet ring in situ, and move the assembled steel sheet ring to the main assembly line of the steel cage; the assembly of the steel sheet ring includes welding the ends of the steel sheet ring after rounding and assembling the fixing fasteners on the steel sheet ring;

[0015] The main steel cage assembly line is used to assemble the flexible steel strands on the steel rings and steel sheet rings to form a telescopic steel cage.

[0016] As a preferred embodiment of the present invention, the flexible steel strand feeding mechanism comprises: a flexible steel strand feeding rack, a flexible steel strand conveying mechanism and a flexible steel strand cutting mechanism;

[0017] The flexible steel strand feeding rack stores the flexible steel strand by winding the flexible steel strand on a reel;

[0018] The flexible steel strand conveying mechanism is arranged at the discharge position of the flexible steel strand loading rack, and the flexible steel strand conveying mechanism is provided with a flexible steel strand cutting mechanism for cutting the flexible steel strand at the corresponding position; the cut flexible steel strand enters the main line of the steel cage assembly as the longitudinal reinforcement of the telescopic steel cage.

[0019] As a preferred embodiment of the present invention, the flexible steel strand conveying mechanism comprises: a linear electric cylinder, a clamp and a workbench;

[0020] The linear electric cylinder and the flexible steel strand cutting mechanism are both arranged on the workbench, respectively located at the two ends of the longitudinal direction of the workbench; the telescopic end of the linear electric cylinder is provided with an openable and closable clamp for clamping the flexible steel strand;

[0021] The flexible steel strand is conveyed forward by the extension of the linear electric cylinder.

[0022] As a preferred embodiment of the present invention, the steel bar feeding and forming mechanism comprises: a steel bar feeding rack, a steel bar conveying mechanism, a steel bar cutting mechanism, a shaping unit A, a shaping unit B and a steel bar ring forming turntable;

[0023] The steel bar loading rack stores steel bars by winding them on a reel;

[0024] The discharging position of the steel bar loading rack is provided with a shaping unit A and two steel bar conveying mechanisms in sequence along the longitudinal direction. The two steel bar conveying mechanisms are arranged in parallel along the longitudinal direction. A steel bar cutting mechanism is provided between the two steel bar conveying mechanisms for cutting the steel bars at the corresponding positions. The steel bar conveying mechanism located behind the steel bar cutting mechanism conveys the cut steel bars of a set length to the steel bar ring forming turntable.

[0025] Each of the steel bar conveying mechanisms is provided with a shaping unit B; the shaping unit A is used to achieve left-right shaping of the steel bars, and the shaping unit B is used to achieve up-and-down shaping of the steel bars;

[0026] The steel bar ring forming turntable is used to round the delivered steel bars to form steel bar rings as stirrups for the telescopic steel bar cage;

[0027] A batching and loading unit A is provided on the front side of the steel ring forming turntable for loading the rotating fasteners on the stirrups and the corresponding bolts and nuts, so as to facilitate the assembly of the rotating fasteners on the steel ring by the steel ring assembly and unloading mechanism in situ.

[0028] As a preferred embodiment of the present invention, the batching feeding unit A comprises: a rotating fastener feeding mechanism A, a bolt feeding mechanism A and a nut feeding mechanism A;

[0029] The rotary fastener feeding mechanism A is used to transport the rotary fastener to a set grabbing point;

[0030] The rotating fastener feeding mechanism includes: a frame and a three-axis electric cylinder, an image acquisition unit and a storage slot arranged on the frame; a plurality of rotating fasteners are stored in the storage slot; a mechanical claw is arranged on the three-axis electric cylinder, and the movement of the three-axis electric cylinder drives the mechanical claw to move, thereby grabbing the rotating fastener at a set position in the storage, and placing the grabbed rotating fastener to a set grabbing point; the image acquisition unit is supported on the frame, and is used to collect the image of the rotating fastener in the storage slot and send it to the host computer, and the host computer determines the position information of the rotating fastener to be grabbed through image recognition, and thereby controls the three-axis electric cylinder and the mechanical claw.

[0031] As a preferred embodiment of the present invention, the steel bar ring assembly and unloading mechanism is arranged above the steel bar feeding and forming mechanism;

[0032] The steel bar ring assembly and unloading mechanism comprises: a platform and two manipulators supported on the steps, a slide rail is arranged on the top cross bar of the platform, and the two manipulators are respectively installed on the platform through brackets that slide with the slide rails, and each bracket is correspondingly provided with a manipulator moving motor for driving the manipulator to move on the slide rail;

[0033] The two manipulators are manipulator A and manipulator B respectively; the manipulator A is used for welding the ends of the steel bar rings, and the manipulator A is provided with a welding gun, a first positioning CCD and a rotatable clamp A; the rotatable clamp A is used to clamp the steel bar ring to be welded, so as to facilitate welding by the welding gun;

[0034] The manipulator B is used for assembling the rotating fasteners and the corresponding bolts and nuts on the steel ring. The manipulator B is provided with a screw locking machine A and a rotatable clamp B; the rotatable clamp B is used to clamp and install the nuts, bolts and rotating fasteners provided by the batching and feeding unit A; the screw locking machine A is used to tighten the nuts to achieve fastening;

[0035] The first positioning CCD uses visual positioning to guide the robot A to move to the position to be welded, and guides the robot B to move to the assembly position.

[0036] As a preferred embodiment of the present invention, the steel sheet feeding and forming mechanism comprises: a steel sheet feeding rack, a steel sheet conveying mechanism, a steel sheet cutting mechanism, a steel sheet ring forming turntable, a punching mechanism and a batching and feeding unit B;

[0037] The steel sheet loading rack stores steel sheets by winding them on a reel; two steel sheet conveying mechanisms are arranged in parallel at the discharge of the steel sheet loading rack along the conveying direction of the steel sheets, and a steel sheet cutting mechanism and a punching mechanism are arranged between the two steel sheet conveying mechanisms for cutting and punching the steel sheets at corresponding positions;

[0038] The cut steel sheets of set length are transported to the steel sheet ring forming turntable for rounding to form a steel sheet ring, which serves as the end reinforcement ring of the telescopic steel cage;

[0039] A batching and feeding unit B is provided on the front side of the steel sheet ring forming turntable for feeding the fixing fasteners and corresponding riveted parts on the end reinforcement ring, so as to facilitate the assembly of the fixing fasteners on the steel sheet ring by the steel sheet ring assembly and unloading mechanism in situ.

[0040] As a preferred embodiment of the present invention, the steel sheet feeding and forming mechanism includes: a rivet pressing mechanism is arranged at the center of the steel sheet ring forming turntable; the telescopic end of the rivet pressing mechanism is vertically upward, and a limit seat is arranged on the steel sheet ring forming turntable corresponding to each riveted position of the steel sheet ring, and the limit seat is provided with a groove for accommodating fixing fasteners and riveted parts corresponding to each riveted position; after the fixing fasteners and corresponding riveted parts on the steel sheet ring are assembled and unloading mechanism is completed in situ, the cylinder is started to push up and press the riveted parts at the corresponding positions to realize the fastening installation of the riveted parts.

[0041] As a preferred embodiment of the present invention, the main assembly line of the steel cage comprises: a base, two bracket guide rails longitudinally arranged on the base, a plurality of steel ring brackets and a plurality of steel sheet ring brackets coaxially arranged on the bracket guide rails and slidingly matched with the bracket guide rails; the number of the steel ring brackets is the same as the number of stirrups in the telescopic steel cage to be assembled and corresponds one to one; the number of the steel sheet ring brackets is the same as the number of end reinforcement rings in the telescopic steel cage to be assembled and corresponds one to one;

[0042] The steel bar ring bracket is used to support the steel bar ring assembly and the steel bar ring unloaded by the unloading mechanism;

[0043] The steel sheet ring bracket is used to support the steel sheet ring assembly and the steel sheet ring unloaded by the unloading mechanism;

[0044] On the base, a manipulator guide rail is arranged outside each of the two bracket guide rails, and a manipulator mechanism is installed on the slide seat of each manipulator guide rail;

[0045] The two manipulator mechanisms are used to move the steel bar ring bracket supporting the steel bar ring and the steel sheet ring bracket supporting the steel sheet ring to the set position on the bracket guide rail; at the same time, the two manipulator mechanisms alternately move to complete the assembly of the flexible steel strand on the steel bar ring and the steel sheet ring.

[0046] As a preferred embodiment of the present invention, the structure of the steel sheet ring bracket is the same as that of the steel bar ring bracket, and both of them include: a driving rotation mechanism, a rotation guide mechanism and a bracket stand;

[0047] The bracket platform is slidably matched with the two bracket guide rails;

[0048] The bracket platform has a V-shaped support surface;

[0049] The bracket bottom plate is provided with a driving rotation mechanism for driving the steel bar ring or steel sheet ring supported on the bracket stand to rotate around its own axis;

[0050] A rotation guide mechanism is arranged on the bracket stand.

[0051] As a preferred embodiment of the present invention, the manipulator mechanism comprises: a guiding flexible steel strand gripper, a second positioning CCD, a moving frame, a screw locking machine B and a rotatable gripper C;

[0052] The guiding flexible steel strand gripper is used to grip the flexible steel strand transmitted by the flexible steel strand feeding mechanism and pass it through the rotating fastener on the steel bar ring and the fixed fastener on the steel sheet ring; the guiding flexible steel strand gripper is slidably mounted on the mobile frame and can move along the mobile frame;

[0053] The rotatable clamp C is used to clamp bolts or nuts, and cooperate with the screw locking machine B to complete the locking of bolts and nuts; the rotatable clamp C is also used to clamp the steel bar ring bracket and the steel sheet ring bracket, driving them to move on the bracket guide rail;

[0054] The second positioning CCD uses visual positioning to guide the robot mechanism to move to a set assembly position.

[0055] In addition, the present invention provides a method for assembling a telescopic steel cage, which uses the above-mentioned telescopic steel cage assembly system;

[0056] According to the number of annular stirrups and end reinforcement rings in the retractable steel cage to be assembled, a corresponding number of steel sheet ring brackets and steel bar ring brackets are placed on the main steel cage assembly line;

[0057] Initially, all the steel sheet ring brackets and steel bar ring brackets on the main steel bar cage assembly line are stacked and arranged at the lower ends of the steel bar ring assembly and unloading mechanism and the steel sheet ring assembly and unloading mechanism;

[0058] The steel sheet feeding and forming mechanism sequentially prepares a steel sheet ring as a reinforcement ring at one end; after the steel sheet ring assembly and unloading mechanism sequentially completes the steel sheet ring assembly in situ, the steel sheet ring equipped with the fixing fastener is sequentially placed on the steel sheet ring bracket at the rear end of the steel cage assembly main line;

[0059] The steel bar feeding and forming mechanism sequentially prepares the required number of steel bar rings, and after the steel bar ring assembly and unloading mechanism sequentially completes the steel bar ring assembly in situ, the steel bar rings equipped with rotating fasteners are sequentially placed on the steel bar ring brackets corresponding to the main line of steel bar cage assembly;

[0060] After all the steel rings are cut, the steel sheet feeding and forming mechanism sequentially prepares the steel sheet rings as the reinforcement rings at the other end; after the steel sheet ring assembly and cutting mechanism sequentially completes the steel sheet ring assembly in situ, the steel sheet rings equipped with fixing fasteners are sequentially placed on the steel sheet ring bracket at the front end of the steel cage assembly main line;

[0061] The manipulator mechanism sequentially clamps the steel bar ring bracket supporting the steel bar ring and the steel sheet ring bracket supporting the steel sheet ring and moves them to a set position on the bracket guide rail, so that before assembling the flexible steel strand, each annular stirrup in the telescopic steel cage is in an extended state;

[0062] Then, the two manipulator mechanisms in the main line of the steel cage assembly move alternately to pass the flexible steel strand through the rotating fasteners on the steel ring and the fixed fasteners on the steel sheet ring; thus, during the process of assembling the flexible steel strand, the two manipulator mechanisms move on the corresponding manipulator guide rails to pass the flexible steel strand through all the steel rings and steel sheet rings by working alternately;

[0063] Each time the assembly of a flexible steel strand is completed, the two manipulator mechanisms complete the assembly of all rotating fasteners on the flexible steel strand and the bolts and nuts on the fixed fasteners.

[0064] As a preferred embodiment of the present invention, the two manipulator mechanisms are controlled by a host computer, and the control instructions of the host computer for the two manipulator mechanisms to drive the steel bar ring bracket supporting the steel bar ring and the steel sheet ring bracket supporting the steel sheet ring to move on the bracket guide rail are:

[0065] D n =A1+(n-1)D

[0066] All the steel bar ring brackets and steel sheet ring brackets are numbered from 1 to n from front to back on the main steel bar cage assembly line, wherein number 1 is the frontmost steel sheet ring bracket on the main steel bar cage assembly line;

[0067] The steel bar ring bracket and the steel sheet ring bracket are collectively referred to as brackets; wherein: D n It indicates the distance that the nth bracket needs to move on the main line of steel cage assembly, A1 indicates the reserved distance at the end of the telescopic steel cage; D is the spacing between adjacent brackets;

[0068]

[0069] Where: L1 represents the total length of the telescopic steel cage, S1 represents the stirrup gain coefficient, π represents the circumference, R1 represents the design radius of the telescopic steel cage, ρ V represents the volume reinforcement ratio of stirrups, and r1 represents the radius of the steel bar used to process stirrups.

[0070] As a preferred embodiment of the present invention, the steel bar feeding and forming mechanism is controlled by a host computer, and the host computer controls the flexible steel strand feeding rack and the flexible steel strand cutting mechanism as follows:

[0071]

[0072] Where: R M It represents the number of revolutions of the steel bar conveying roller in the steel bar conveying mechanism before each cutting action of the flexible steel strand cutting mechanism, π represents the pi, R1 represents the design radius of the telescopic steel bar cage, S2 represents the steel bar adjustment coefficient, L2 represents the steel bar length reserved between the steel bar conveying roller and the blade in the steel bar cutting mechanism, r2 represents the radius of the steel bar conveying roller, and μ1 represents the slip coefficient of steel bar conveying.

[0073] Therefore, the steel bar conveying roller in the steel bar conveying mechanism rotates R M The upper computer controls the steel bar cutting mechanism to complete a cutting action.

[0074] Beneficial effects:

[0075] (1) The assembly system of the telescopic steel cage of the present invention can automatically and efficiently complete the assembly of the telescopic steel cage, saving time and effort; it can multiply the production efficiency of the telescopic steel cage, reduce labor costs, and overall reduce the manufacturing cost of the telescopic steel cage.

[0076] (2) In the assembly system of the telescopic steel cage of the present invention, the steel bar feeding and forming mechanism is provided with a shaping unit A for realizing left-right shaping of the steel bars, and a shaping unit B for realizing top-bottom shaping of the steel bars; thereby, the steel bars are straightened while being conveyed, thereby ensuring the quality of the formed stirrups.

[0077] (3) In the assembly system of the telescopic steel cage of the present invention, a batching and loading unit A is provided on the front side of the steel bar ring forming turntable, and a batching and loading unit B is provided on the front side of the steel sheet ring forming turntable. Thus, the steel bar ring assembly and unloading mechanism can complete the assembly of the steel bar ring in situ, and the steel sheet ring assembly and unloading mechanism can complete the assembly of the steel sheet ring in situ, thereby simplifying the assembly process and improving the assembly efficiency.

[0078] (4) In the assembly method of the telescopic steel cage of the present invention, the flexible steel strands are passed through the rotating fasteners on all the steel rings and the fixed fasteners on the steel sheet rings by alternating the left and right manipulator mechanisms in the main line of the steel cage assembly, which can not only ensure the assembly reliability of the flexible steel strands but also improve the assembly efficiency.

[0079] (5) In the assembly method of the telescopic steel cage of the present invention, the assembly quality of telescopic steel cages of different specifications is ensured by the host computer accurately controlling the movement of the left manipulator mechanism and the right manipulator mechanism.

[0080] (6) The assembly method of the telescopic steel cage of the present invention can achieve high-precision preparation and assembly of the steel bar ring and steel sheet ring of the telescopic steel cage, thereby improving the overall quality of the telescopic steel cage and ensuring that the cast-in-place piles meet the construction quality requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] Figure 1 It is a structural schematic diagram of the telescopic steel cage in the present invention;

[0082] Figure 2 It is a schematic diagram of the overall structure of the telescopic steel cage assembly system of the present invention;

[0083] Figure 3 It is a structural schematic diagram of the feeding mechanism of the flexible steel strand;

[0084] Figure 4 It is a structural schematic diagram of the flexible steel strand conveying mechanism;

[0085] Figure 5 This is a front view schematic diagram of the steel bar feeding and forming mechanism;

[0086] Figure 6 This is a schematic diagram of the back of the steel bar feeding and forming mechanism;

[0087] Figure 7 It is a structural schematic diagram of a steel bar ring forming turntable;

[0088] Figure 8 It is a structural schematic diagram of the batching and feeding unit A;

[0089] Fig. 9 A schematic diagram of the structure of a rotary fastener feeding mechanism A and a bolt feeding mechanism A from one perspective;

[0090] Fig.10 It is a structural schematic diagram of the rotary fastener feeding mechanism A and the bolt feeding mechanism A from another perspective;

[0091] Fig.11 It is a structural diagram of the steel bar ring assembly and unloading mechanism;

[0092] Fig.12It is the structural schematic diagram of robot A;

[0093] Fig.13 It is a structural schematic diagram of robot B;

[0094] Fig.14 It is a structural schematic diagram of the steel sheet feeding and forming structure;

[0095] Fig.15 It is a structural schematic diagram of a steel sheet ring forming turntable;

[0096] Fig.16 A schematic diagram of the structure of the main line for assembling the steel cage;

[0097] Fig.17 It is a structural schematic diagram of a steel bar ring pallet;

[0098] Fig.18 It is a structural schematic diagram of the right manipulator mechanism;

[0099] Fig.19 This is a schematic diagram of the finished product after the telescopic steel cage is compressed after assembly.

[0100] Among them: 100-stirrups, 200-longitudinal reinforcement, 300-end reinforcement ring, 400-rotating fastener, 500-fixed fastener;

[0101] 1-flexible steel strand feeding mechanism, 11-flexible steel strand feeding rack, 12-flexible steel strand conveying mechanism, 121-linear electric cylinder, 122-clamp, 123-workbench, 13-flexible steel strand cutting mechanism;

[0102] 2-steel feeding and forming mechanism, 21-steel feeding rack, 22-steel conveying mechanism, 23-steel cutting mechanism, 24-shaping unit A, 25-shaping unit B, 26-steel ring forming turntable, 261-turntable A, 262-inner ring pressure roller group A, 263-outer ring pressure roller group A; 27-batch feeding unit A, 271-rotating fastener feeding mechanism A, 272-bolt feeding mechanism A, 273-nut feeding mechanism A; 2711-frame, 2712-three-axis electric cylinder, 2713-image acquisition unit, 2714-storage trough; 2721-bolt storage box, 2722-turntable, 2723-conveyor belt A, 2731-vibration discharge box, 2732-conveyor belt B;

[0103] 3- steel ring assembly and unloading mechanism, 31- stand, 32- manipulator A, 321- welding gun, 322- rotatable clamp A, 323- first positioning CCD, 33- manipulator B, 331- screw locking machine A, 332- rotatable clamp B, 34- slide rail;

[0104] 4-steel sheet feeding and forming mechanism, 41-steel sheet feeding rack, 42-steel sheet conveying mechanism, 43-steel sheet cutting mechanism, 44-steel sheet ring forming turntable, 441-turntable B, 442-inner ring pressure roller group B, 443-outer ring pressure roller group B; 45-punching mechanism, 46-riveted parts pressing mechanism, 47-batch feeding unit B; 48-limiting seat;

[0105] 5-Steel ring assembly and unloading mechanism;

[0106] 6-rebar cage assembly main line, 60-base, 61-bracket guide rail, 62-left manipulator guide rail, 63-rebar ring bracket, 631-rotation drive mechanism, 632-bracket positioning structure, 633-rotation guide structure, 634-bracket stand; 64-steel sheet ring bracket, 65-left manipulator mechanism, 66-right manipulator mechanism, 661-guide flexible steel strand clamp, 662-second positioning CCD, 663-mobile frame, 664-screw locking machine B, 67-right manipulator guide rail, 68-bolt loading tray, 69-nut loading tray. DETAILED DESCRIPTION

[0107] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0108] Embodiment 1:

[0109] This embodiment provides an assembly system for a telescopic steel cage, which can efficiently complete the assembly of the telescopic steel cage, saving time and labor.

[0110] like Figure 1 As shown, the telescopic steel cage includes: a plurality of annular stirrups 100 coaxially arranged and evenly spaced along the axial direction, and a plurality of flexible longitudinal bars 200 evenly spaced along the circumferential direction and distributed on the inner circumference of the stirrups 100, wherein the longitudinal bars 200 are flexible steel strands (which may be ordinary flexible steel strands or slow-bonding flexible steel strands); in addition, a plurality of rotating fasteners 400 for connecting the stirrups 100 and the longitudinal bars 200 are included; the rotating fasteners 400 include two closed-end rotatably connected buckles, the open ends of the buckles are fastened by bolts and nuts, and the two buckles are respectively clamped on the stirrups 100 and the longitudinal bars 200.

[0111] The axial ends of the telescopic steel cage are respectively provided with end reinforcement rings 300 for end reinforcement, and the end reinforcement rings 300 are located on the inner side of the longitudinal reinforcement 200, that is, the outer circumferential surface of the end reinforcement ring 300 is connected to the longitudinal reinforcement 200 through a fixing fastener 500. The end reinforcement ring 300 is made of a steel sheet ring, and buckles corresponding to the longitudinal reinforcement 200 are evenly distributed along the circumference of the end reinforcement ring 300 as fixing fasteners 500, wherein the closed end of the buckle is fastened to the end reinforcement ring 300 by a riveted member (such as a rivet), and the open end is used to clamp the longitudinal reinforcement 200 (and is fastened by bolts and nuts after clamping).

[0112] The assembly system of the telescopic steel cage is used to realize the forming and assembly of the telescopic steel cage.

[0113] like Figure 2 As shown, the assembly system of the telescopic steel cage includes: a flexible steel strand feeding mechanism 1, a steel bar feeding and forming mechanism 2, a steel bar ring assembly and unloading mechanism 3, a steel sheet feeding and forming mechanism 4, a steel sheet ring assembly and unloading mechanism 5 and a steel cage assembly main line 6;

[0114] The flexible steel strand feeding mechanism 1 is arranged at one longitudinal end of the steel cage assembly main line 6, and is used to feed a set length of flexible steel strand used as longitudinal reinforcement 200 to the steel cage assembly main line 6; the flexible steel strand feeding mechanism 1 is used to feed the flexible steel strand in the longitudinal direction of the steel cage assembly main line 6. Figure 3 As shown, the flexible steel strand feeding mechanism 1 includes: a flexible steel strand feeding rack 11, a flexible steel strand conveying mechanism 12 and a flexible steel strand cutting mechanism 13; the flexible steel strand feeding rack 11 stores the flexible steel strand by winding the flexible steel strand on a drum; the flexible steel strand conveying mechanism 12 is arranged at the discharge position of the flexible steel strand feeding rack 11, and the flexible steel strand conveying mechanism 12 is provided with a flexible steel strand cutting mechanism 13 for cutting the flexible steel strand at the corresponding position. The cut flexible steel strand enters the steel cage assembly main line 6 as the longitudinal reinforcement 200 of the telescopic steel cage.

[0115] As an example, the flexible steel strand cutting mechanism 13 is provided with a sensor for monitoring the conveying length of the flexible steel strand. When the length of the flexible steel strand passing through the flexible steel strand cutting mechanism 13 reaches a set length (the length is the length of the steel cage to be assembled in the expanded state), the flexible steel strand cutting mechanism 13 is started to cut off the flexible steel strand.

[0116] As an example, the flexible steel strand conveying mechanism 12 uses a linear electric cylinder 121 as a power source to convey the flexible steel strand. Figure 4As shown, the flexible steel strand conveying mechanism 12 includes: a linear electric cylinder 121, a clamp 122 and a workbench 123; the linear electric cylinder 121 and the flexible steel strand cutting mechanism 13 are both arranged on the workbench 123, and are respectively located at the two ends of the longitudinal direction of the workbench 123; the telescopic end of the linear electric cylinder 121 clamps the flexible steel strand through the openable clamp 122, so that when the clamp 122 closes and clamps the flexible steel strand, the flexible steel strand is driven to be conveyed forward (i.e., conveyed toward the end where the flexible steel strand cutting mechanism 13 is located) by the extension of the linear electric cylinder 121; conveyed forward to a set length (such as after the maximum stroke of the linear electric cylinder 121); the clamp 122 is released, the linear electric cylinder 121 retracts, and after retracting to the minimum stroke, the clamp 122 closes again to clamp the flexible steel strand, thereby reciprocating to realize the forward conveyance of the flexible steel strand.

[0117] The steel bar feeding and forming mechanism 2 is used to prepare steel bar rings as stirrups 100 of the steel bar cage; the actions required to be performed by the steel bar feeding and forming mechanism 2 include automatic shaping, cutting, and rolling of the steel bars and the assembly of the rotating fasteners 400 on the steel bar cage. Figure 5 and Figure 6 As shown, the steel bar feeding and forming mechanism 2 includes: a steel bar feeding rack 21, a steel bar conveying mechanism 22, a steel bar cutting mechanism 23, a shaping unit A24, a shaping unit B25 and a steel bar ring forming turntable 26; the steel bar feeding rack 21 stores steel bars by winding them on a reel; the steel bar feeding rack 21 is provided with a shaping unit A24 and two steel bar conveying mechanisms 22 in sequence along the longitudinal direction at the material discharge point, the two steel bar conveying mechanisms 22 are arranged in parallel along the longitudinal direction, and a steel bar cutting mechanism 23 is provided between the two steel bar conveying mechanisms 22 for cutting the steel bars at the corresponding position. In addition, each steel bar conveying mechanism 22 is provided with a shaping unit B25. The shaping unit A24 is used to achieve left and right shaping of the steel bars, and the shaping unit B25 is used to achieve top and bottom shaping of the steel bars; that is, left and right pressure rollers are set in the shaping unit A24, and the steel bars pass through the left and right pressure rollers; upper and lower pressure rollers are set in the shaping unit B25, and the steel bars pass through the upper and lower pressure rollers; thus, the steel bars can be straightened while being transported by the shaping unit A24 and the shaping unit B25.

[0118] The steel bars discharged from the steel bar loading rack 21 are shaped by the shaping unit A24 and then enter the first steel bar conveying mechanism, where they are transported forward (shaped while being transported); when the length of the steel bars passing through the steel bar cutting mechanism 23 reaches a set length (the length is the circumference of the annular stirrups), the steel bar cutting mechanism 23 starts to cut the steel bars; the second steel bar conveying mechanism transports the cut steel bars of the set length (shaped while being transported) to the steel bar ring forming turntable 26.

[0119] As an example, a sensor for monitoring the conveying length of the steel bars is provided on the steel bar cutting mechanism 23. When the length of the steel bars passing through the steel bar cutting mechanism 23 reaches a set length, the steel bar cutting mechanism 23 is started.

[0120] As an example, the rebar cutting mechanism 23 is controlled by an external host computer, and the relationship between the rebar conveying length and the number of rotations of the rebar conveying roller in the rebar conveying mechanism is preset in the host computer. When the rebar conveying roller in the rebar conveying mechanism rotates to the set number of rotations, it indicates that the rebar conveying length reaches the set value. At this time, the host computer controls the rebar cutting mechanism 23 to start (that is, the rebar cutting mechanism 23 is started once every time the rebar conveying roller in the rebar conveying mechanism rotates the set number of rotations).

[0121] The steel bar ring forming turntable 26 is used to round the delivered steel bars to form steel bar rings. Figure 7 As shown, the steel bar ring forming turntable 26 includes: a turntable A261 and an inner ring pressure roller group A262 and an outer ring pressure roller group A263 concentrically arranged on the turntable A261; the inner ring pressure roller group A262 and the outer ring pressure roller group A263 include one-to-one corresponding inner pressure rollers and outer pressure rollers uniformly distributed along the circumferential direction; the steel bars conveyed by the steel bar conveying mechanism 22 enter between the inner ring pressure roller group A262 and the outer ring pressure roller group A263, and the outer ring pressure roller group A263 can move radially relative to the inner ring pressure roller group A262 (such as being pushed by a hydraulic cylinder or an electric cylinder) to achieve clamping and loosening of the steel bars located therebetween, and the steel bars are rounded by maintaining the clamping for a set time, and are loosened after the rounding is completed, so as to facilitate the subsequent assembly of the steel bar ring and the grabbing of the unloading mechanism 3.

[0122] The front side of the steel ring forming turntable 26 is provided with a batching and loading unit A27, which is convenient for in-situ assembly of the rotating fastener 400 on the stirrup 100. The batching and loading unit A27 is used to load the rotating fastener 400 and the corresponding bolts and nuts, that is, the rotating fastener 400 and the corresponding bolts and nuts are respectively transferred to the set grasping points by the batching and loading unit A27, which is convenient for the assembly of the steel ring and the grasping of the unloading mechanism 3.

[0123] Based on this, Figure 8 As shown, the batching feeding unit A27 includes: a rotating fastener feeding mechanism A271, a bolt feeding mechanism A272 and a nut feeding mechanism A273. The rotating fastener feeding mechanism A271 is used to transport the rotating fastener 400 to the set grasping point, such as Fig. 9 and Fig.10As shown, the rotating fastener feeding mechanism 271 includes: a frame 2711 (the bolt feeding mechanism A272 is also arranged on the frame) and a three-axis electric cylinder 2712, an image acquisition unit 2713 (such as CCD) and a storage slot 2714 arranged on the frame 2711; a plurality of rotating fasteners 400 are stored in the storage slot 2714; a mechanical claw is arranged on the three-axis electric cylinder 2712, and the mechanical claw is driven to move by the movement of the three-axis electric cylinder 2712, thereby grabbing the rotating fastener 400 at a set position in the storage slot 2714, and placing the grabbed rotating fastener 400 to the set position The grasping point (such as setting the grasping point on the cylindrical fixture on the front side of the storage slot 2714); the three-axis electric cylinder 2712 and the mechanical claw are controlled by an external host computer, and the image acquisition unit 2713 is supported on the frame 2711 by a bracket, facing the storage slot 2714, and is used to collect the image of the rotating fastener 400 in the storage slot 2714 and send it to the host computer. The host computer determines the position information of the rotating fastener 400 to be grasped (the rotating fastener 400 to be grasped can be any rotating fastener in the storage slot 2714) through image recognition, and controls the three-axis electric cylinder and the mechanical claw accordingly.

[0124] The nut feeding mechanism A273 is used to feed the nut in the rotating fastener 400. As an example, Figure 8 As shown, the nut feeding mechanism A273 adopts a vibration discharging and belt conveying feeding method to convey the nuts to the set grabbing point. Based on this, the nut feeding mechanism A273 includes a vibration discharging box 2731 and a conveyor belt B2732. A plurality of nuts are stored in the vibration discharging box 2731, and a conveyor belt B2732 is arranged at the outlet of the vibration discharging box 2731; the vibration discharging box 2731 adopts a vibration discharging method to drop the nuts on the conveyor belt B2732, and then the nuts are conveyed to the set grabbing point through the conveyor belt B2732.

[0125] The bolt feeding mechanism A272 is used to feed the bolts in the rotating fastener 400. As an example, the bolt feeding mechanism A272 can use the same vibration discharging and belt conveying feeding method as the above-mentioned nut feeding mechanism A273 to convey the bolts to the set grasping point. As another example, Fig. 9 and Fig.10As shown, the bolt feeding mechanism A272 adopts a method of rotating discharging and belt conveying feeding; based on this, the bolt feeding mechanism A272 includes a bolt storage box 2721, a turntable 2722 and a conveyor belt A2723; a plurality of bolts are stored in the bolt storage box 2721, and the turntable 2722 is used to drive the bolts in the bolt storage box 2721 to rotate (i.e., stir the bolts in the bolt storage box 2721), and one end of the conveyor belt A2723 extends into the bolt storage box 2721. When the turntable 2722 drives the bolts in the bolt storage box 2721 to rotate, some of the bolts fall on the conveyor belt A2723. The part of the conveyor belt A2723 located in the bolt storage box 2721 has a limit groove, and only the bolts with a set posture can fall into the limit groove, and then are conveyed to the set grabbing point through the conveyor belt A2723.

[0126] The steel bar ring assembly and unloading mechanism 3 is arranged above the steel bar feeding and forming mechanism 2, and is used to complete the assembly of the steel bar ring in situ and unload the steel bar after the assembly is completed. The assembly of the steel bar ring includes welding the ends of the steel bar ring after the rounding (making it a closed circular ring) and the assembly of the rotating fastener 400 on the steel bar ring and the assembly of the corresponding bolts and nuts; unloading refers to placing the assembled steel bar ring on the main assembly line 6 of the steel cage. Fig.11 As shown, the steel bar ring assembly and unloading mechanism 3 includes: a stand 31 and two manipulators installed on the stand 31; the stand 31 adopts a gantry frame, and the stand 31 is horizontally arranged at the front end of the steel cage assembly main line 6, and is located above the steel bar feeding and forming mechanism 2. A slide rail 34 is arranged on the top cross bar of the stand 31, and the two manipulators are respectively installed on the stand 31 through brackets that slide with the slide rail 34, and each bracket is correspondingly provided with a manipulator moving motor, which is used to drive the manipulator (and the bracket) to move on the slide rail 34 for position adjustment.

[0127] The two manipulators are manipulator A32 and manipulator B33; manipulator A32 is used for welding the ends of the steel ring. Based on this, Fig.12 As shown, the robot A32 is provided with a welding gun 321, a first positioning CCD323 and a rotatable clamp A322; the rotatable clamp A322 adjusts its position through its own rotation to ensure that it can clamp the steel bar ring to be welded, so that the welding gun 321 can perform the welding action.

[0128] The robot B33 is used for assembling the rotating fastener 400 on the reinforcing steel ring and the corresponding bolts and nuts; based on this, Fig.13As shown, the manipulator B33 is provided with a screw locking machine A331 and a rotatable gripper B332; the rotatable gripper B332 adjusts its orientation through its own rotation to ensure that it can clamp and install the rotating fastener 400, nuts and bolts provided by the batching and feeding unit A27; the rotatable gripper B332 grabs the rotating fastener 400 located at the set grabbing point, and clamps it at the set position of the steel ring; then the bolt is inserted into the open end of the rotating fastener 400, the nut is put on the end of the bolt, and finally the screw locking machine A331 is used to tighten the nut to achieve tightening.

[0129] Manipulator A32 and manipulator B33 share the first positioning CCD323, which uses visual positioning to guide manipulator A32 to move to the position to be welded and guide manipulator B33 to move to the assembly position. For example, the first positioning CCD323 sends the collected image information to the host computer, which processes the image to obtain the displacement information of the two manipulators, and sends it to the corresponding manipulator displacement motors, respectively, to control the manipulator displacement motors to drive the corresponding manipulators to move.

[0130] The steel sheet feeding and forming mechanism 4 is used to prepare a steel sheet ring as the end reinforcement ring 300 of the telescopic steel cage end. The actions that the steel sheet feeding and forming mechanism 4 needs to perform include conveying, leveling, cutting, punching, rolling and assembling the fixing fasteners 500 on the steel sheet ring. Fig.14 As shown, the steel sheet feeding and forming mechanism 4 includes: a steel sheet feeding rack 41, a steel sheet conveying mechanism 42, a steel sheet cutting mechanism 43, a steel sheet ring forming turntable 44, a punching mechanism 45 and a batching feeding unit B47; the steel sheet feeding rack 41 stores steel sheets by winding them on a reel; two steel sheet conveying mechanisms 44 are arranged side by side at the discharge of the steel sheet feeding rack 41 along the conveying direction of the steel sheets, and a steel sheet cutting mechanism 43 and a punching mechanism 45 are arranged between the two steel sheet conveying mechanisms 44, which are used for cutting and punching steel sheets at corresponding positions (punching holes on the steel sheets is used to install and fix fasteners 500, and the holes need to be punched evenly spaced along the length direction of the steel sheets). The steel sheet discharged from the steel sheet loading rack 41 is conveyed forward by the first steel sheet conveying mechanism. During the conveying process, the punching mechanism 45 is activated once for punching each time the set length A is conveyed; when the length of the steel sheet passing through the steel sheet cutting mechanism 43 reaches the set length B (the length is the circumference of the end reinforcement ring 300), the steel sheet cutting mechanism 43 is activated to cut the steel sheet; the second steel sheet conveying mechanism conveys the cut steel sheet of the set length to the steel sheet ring forming turntable 44. The steel sheet conveying mechanism 42 is provided with upper and lower pressing rollers, and the steel sheet passes through the upper and lower pressing rollers, and the steel sheet is straightened while being conveyed.

[0131] As an example, a sensor for monitoring the conveying length of the steel sheet is provided on the steel sheet cutting mechanism 43. When the length of the steel sheet passing through the steel sheet cutting mechanism 43 reaches a set length, the steel sheet cutting mechanism 43 is started.

[0132] As an example, the steel sheet cutting mechanism 43 and the punching mechanism 45 are controlled by an external host computer. The relationship between the steel sheet conveying length and the number of rotations of the steel sheet conveying roller in the steel sheet conveying mechanism 42 is preset in the host computer. When the steel sheet conveying roller in the steel sheet conveying mechanism 42 rotates to the set number of rotations A, corresponding to the set length A, the host computer controls the punching mechanism 45 to start punching; when the steel sheet conveying roller in the steel sheet conveying mechanism 42 rotates to the set number of rotations B, corresponding to the set length B, the host computer controls the steel sheet cutting mechanism 43 to start.

[0133] The steel sheet ring forming turntable 44 is used to round the delivered steel sheet to form a steel sheet ring. Fig.15 As shown, the steel sheet ring forming turntable 44 includes: a turntable B441 and an inner ring pressure roller group B442 and an outer ring pressure roller group B443 concentrically arranged on the turntable B441; the inner ring pressure roller group B442 and the outer ring pressure roller group B443 include one-to-one corresponding inner pressure rollers and outer pressure rollers uniformly distributed along the circumferential direction; the steel sheet conveyed by the steel sheet conveying mechanism 42 enters between the inner ring pressure roller group B442 and the outer ring pressure roller group B443, and the outer ring pressure roller group B443 can move radially relative to the inner ring pressure roller group B442 (such as being pushed by a hydraulic cylinder or an electric cylinder) to achieve clamping and loosening of the steel sheet located therebetween, and the steel sheet is rounded by maintaining the clamping for a set time, and is loosened after the rounding is completed, so as to facilitate the subsequent steel sheet ring assembly and the grabbing of the unloading mechanism 5.

[0134] In this example, the rivet joint with a nut is used to fix the fixing fastener 500 on the steel sheet ring. Based on this, the batching and feeding unit B47 is used to realize the feeding of the fixing fastener 500 and the corresponding rivet and the nut matched with the rivet. The front side of the steel sheet ring forming turntable 44 is provided with a batching and feeding unit B47, through which the fixing fastener 500 and the corresponding rivet and the nut matched with the rivet are respectively transmitted to the set grabbing point, so as to facilitate the assembly of the steel sheet ring and the grabbing of the unloading mechanism 5.

[0135] As an example, the structural form of the batching feeding unit B47 is the same as that of the batching feeding unit A27.

[0136] The steel sheet ring assembly and unloading mechanism 5 is arranged above the steel sheet feeding and forming mechanism, and is used to complete the assembly of the steel sheet ring in situ and unload the steel sheet ring after the assembly is completed. The assembly of the steel sheet ring includes welding the ends of the steel sheet ring after the rounding (making it a closed ring) and the assembly of the fixing fasteners 500 on the steel sheet ring and the assembly of the corresponding rivets; unloading refers to placing the assembled steel sheet ring on the main assembly line 6 of the steel cage.

[0137] The structure of the steel sheet ring assembly and unloading mechanism 5 is the same as that of the steel bar ring assembly and unloading mechanism 3 .

[0138] In order to fix the riveted joint, a riveted part pressing mechanism 46 is also required; Fig.15 As shown, the rivet pressing mechanism 46 adopts a cylinder arranged at the center of the steel sheet ring forming turntable 44. The rivet pressing mechanism 46 is fixedly arranged and does not rotate with the steel sheet ring forming turntable 44. The telescopic end of the cylinder is vertically upward, and a limit seat 48 is arranged on the steel sheet ring forming turntable 44 corresponding to each riveted position of the steel sheet ring, and a groove for accommodating the fixing fastener 500 and the riveted joint is arranged on the limit seat 48; after the fixing fastener 500 and the corresponding rivet on the steel sheet ring are assembled and assembled in situ by the steel sheet ring assembly and unloading mechanism 5, the rivet pressing mechanism 46 (the rivet pressing mechanism 46 is controlled by an external upper computer) is started to push up and press the riveted joint to achieve the fastening installation of the riveted joint.

[0139] The steel sheet ring assembly and unloading mechanism 5 and the steel bar ring assembly and unloading mechanism 3 are arranged in parallel at one longitudinal end of the steel cage assembly main line 6 (let this end be the front end of the steel cage assembly main line 6) for easy unloading. The steel sheet feeding and forming mechanism 4 is arranged on the lateral side of the steel cage assembly main line 6, below the steel sheet ring assembly and unloading mechanism 5; the steel bar feeding and forming mechanism 2 is arranged on the lateral side of the steel cage assembly main line 6, below the steel bar ring assembly and unloading mechanism 3.

[0140] The main steel cage assembly line 6 is used to complete the assembly of the steel cage, including the assembly of the steel ring (i.e., the stirrup 100) and the flexible steel strand (i.e., the longitudinal reinforcement 200) and the assembly of the steel sheet ring (i.e., the end reinforcement ring 300) and the flexible steel strand, thereby forming a steel cage. Figure 1 The telescopic steel cage shown. The steel cage assembly main line 6 discharges the steel rings discharged by the steel ring assembly and discharging mechanism 3 and the steel sheet rings discharged by the steel sheet ring assembly and discharging mechanism 5 at a set interval (i.e., before assembling the flexible steel strand, each annular stirrup 100 in the telescopic steel cage is in an extended state); wherein the steel rings discharged by the steel ring assembly and discharging mechanism 3 are steel rings equipped with rotating fasteners 400, and the steel sheet rings discharged by the steel sheet ring assembly and discharging mechanism 5 are steel sheet rings equipped with fixed fasteners 500.

[0141] like Fig.16As shown, the main assembly line 6 of the steel cage includes: a base 60, two bracket guide rails 61 longitudinally arranged on the base 60, a plurality of steel ring brackets 63 and a plurality of steel sheet ring brackets 64 coaxially arranged on the bracket guide rails 61 and slidingly matched with the bracket guide rails 61; the number of steel ring brackets 63 is the same as the number of stirrups 100 in the telescopic steel cage to be assembled and corresponds one to one; the number of steel sheet ring brackets 64 is the same as the number of end reinforcement rings 30 in the telescopic steel cage to be assembled and corresponds one to one; the number of steel ring brackets 63 and steel sheet ring brackets 64 on the bracket guide rails 61 can be adjusted according to the structure of the telescopic steel cage to be assembled. In this example, two end reinforcement rings 300 are set at each end of the telescopic steel cage to be assembled, based on which, two steel sheet ring brackets 64 are set at each end of the bracket guide rails 61. The steel bar ring bracket 63 is used to support the steel bar ring unloaded by the steel bar ring assembly and unloading mechanism 3 (the steel bar ring is clamped by two manipulators in the steel bar ring assembly and unloading mechanism 3 and placed on the steel bar ring bracket 63); the steel sheet ring bracket 64 is used to support the steel sheet ring unloaded by the steel sheet ring assembly and unloading mechanism 5 (the steel sheet ring is clamped by two manipulators in the steel sheet ring assembly and unloading mechanism and placed on the steel sheet ring bracket 64).

[0142] On the base 60, a manipulator guide rail is arranged on the outer side of each of the two bracket guide rails 61, and a manipulator mechanism is installed on the slide seat of each manipulator guide rail (the slide seat slides with the manipulator guide rail); for the convenience of description, the two manipulator mechanisms are respectively a left manipulator mechanism 65 and a right manipulator mechanism 66, the guide rail that slides with the left manipulator mechanism 65 is the left manipulator guide rail 62, and the guide rail that slides with the right manipulator mechanism 66 is the right manipulator guide rail 67. The left manipulator mechanism 65 and the right manipulator mechanism 66 are used to pass the flexible steel strand delivered by the flexible steel strand feeding mechanism 1 through another buckle in the rotating fastener 400 on the steel bar ring and through the fixed fastener 500 on the steel sheet ring, and to lock the open end of the other buckle in the rotating fastener 400 and the open end of the fixed fastener 500 by bolts and nuts; in addition, the left manipulator mechanism 65 and the right manipulator mechanism 67 cooperate to move the steel bar ring bracket 63 supporting the steel bar ring and the steel sheet ring bracket 64 supporting the steel sheet ring to the set position on the bracket guide rail 61.

[0143] As an example, the left manipulator mechanism 65 moves on the left manipulator guide rail 62, and is used for assembling the nuts in the rotating fastener 400 and the fixed fastener 500, and the right manipulator mechanism 66 moves on the right manipulator guide rail 67, and is used for assembling the bolts in the rotating fastener 400 and the fixed fastener 500; based on this, a nut loading tray 69 is provided on the slide seat corresponding to the left manipulator mechanism 65, and a bolt loading tray 68 is provided on the slide seat corresponding to the right manipulator mechanism 66.

[0144] The steel ring tray 63 has the same structure as the steel ring bracket 64. Taking the steel ring tray 63 as an example, its structure is described in detail. Fig.17 As shown, the steel bar ring tray 63 includes: a rotation drive mechanism 631, a bracket positioning structure 632, a rotation guide structure 633 and a bracket stand 634; the bracket stand 634 is slidably matched with the two bracket guide rails 61; as an example, the bracket stand 634 includes: a bracket base plate and two right-angled triangular brackets arranged opposite to each other at both ends of the bracket base plate, the hypotenuses of the two right-angled triangular brackets form a V-shaped supporting surface, and the triangular bracket is positioned by a bracket positioning structure 632 (such as a positioning pin) arranged on the bracket base plate; a rotation drive mechanism 631 is arranged on the bracket base plate, which is used to drive the steel bar ring supported on the bracket stand 634 to rotate around its own axis to adjust the position of the steel bar ring so that the left and right manipulator mechanisms can assemble the flexible steel strand at the set assembly position.

[0145] As an example, the rotary drive mechanism 631 includes a slide seat that slides with the bracket platform 634, and an openable and closable clamp that can be raised and lowered in the vertical direction (such as by a pneumatic cylinder or electric cylinder controlled by a host computer); when the steel bar ring needs to be rotated, the clamp is controlled to rise and clamp the steel bar ring, and then the slide seat is controlled to move, thereby driving the steel bar ring to rotate; when the steel bar ring rotates to the set angle and the current flexible steel strand is assembled (in the process of assembling the flexible steel strand, the steel bar ring is clamped to prevent it from rotating during assembly), the clamp releases the steel bar ring, controls the clamp to descend, and moves to the initial position driven by the slide seat.

[0146] The oblique sides of the triangular brackets at both ends are provided with a rotation guide structure 633, which can guide the rotation of the steel ring around its own axis while supporting the steel ring. As an example, the rotation guide structure 633 is a guide seat provided with a slot, and the steel ring passes through its slot.

[0147] The left manipulator mechanism 65 and the right manipulator mechanism 68 have the same structure. Taking the right manipulator mechanism 68 as an example, Fig.18As shown, it includes: a guiding flexible steel strand clamp 661, a second positioning CCD662, a moving frame 663, a screw locking machine B664 and a rotatable clamp C (not shown in the figure); the guiding flexible steel strand clamp 661 is used to clamp the flexible steel strand transmitted by the flexible steel strand feeding mechanism 1, and pass it into another buckle in the rotating fastener 400 on the steel bar ring and through the fixed fastener 500 on the steel sheet ring; the guiding flexible steel strand clamp 661 is slidably mounted on the moving frame 663 and can move along the moving frame 663; the rotatable clamp C is used to clamp bolts (the rotatable clamp C in the left manipulator mechanism 65 is used to clamp nuts); and cooperates with the screw locking machine B664 to complete the locking of the bolts and nuts, and realize the tightening of the buckle; at the same time, the rotatable clamp C on the left manipulator mechanism 65 and the right manipulator mechanism 68 can jointly clamp the steel bar ring bracket 63 and the steel sheet ring bracket 64, driving them to move on the bracket guide rail 61. The second positioning CCD 662 uses visual positioning to guide the right manipulator mechanism 68 to move to the assembly position.

[0148] The above-mentioned assembly system can realize the automatic assembly of the telescopic steel cage under the control of the host computer, thereby improving the assembly efficiency and automation level of the telescopic steel cage.

[0149] Embodiment 2:

[0150] Based on the above-mentioned embodiment 1, this embodiment provides a method for assembling a telescopic steel cage using the assembly system.

[0151] In this example, two steel sheet rings are provided at each axial end of the telescopic steel cage as end reinforcement rings. A corresponding number of steel sheet ring brackets 64 and steel bar ring brackets 63 are placed on the steel cage assembly main line 6 according to the number of annular stirrups and end reinforcement rings in the telescopic steel cage to be assembled.

[0152] Initially, all the steel sheet ring brackets 64 and steel sheet ring brackets 63 on the steel cage assembly main line 6 are stacked and arranged at the lower ends of the steel sheet ring assembly and unloading mechanism 3 and the steel sheet ring assembly and unloading mechanism 5.

[0153] The steel sheet feeding and forming mechanism 4 prepares two steel sheet rings in turn as the end reinforcement ring at one end; after the steel sheet ring assembly and unloading mechanism 5 completes the steel sheet ring assembly in situ in turn, the two steel sheet rings equipped with fixing fasteners 500 are respectively placed on the two steel sheet ring brackets 64 at the rear end of the steel cage assembly main line 6.

[0154] The steel bar feeding and forming mechanism 2 prepares the required number of steel bar rings in sequence. After the steel bar ring assembly and unloading mechanism 3 completes the steel bar ring assembly in situ in sequence, the steel bar rings equipped with rotating fasteners 400 are placed on the steel bar ring brackets 63 corresponding to the steel cage assembly main line 6 in sequence.

[0155] After completing the unloading of all the steel bar rings; the steel sheet feeding and forming mechanism 4 prepares two steel sheet rings in turn as the end reinforcement rings at the other end; after the steel sheet ring assembly and unloading mechanism 5 completes the steel sheet ring assembly in situ in turn, the steel sheet rings equipped with fixing fasteners 500 are placed on the two steel sheet ring brackets 64 at the front end of the steel cage assembly main line 6.

[0156] In the above process, after each assembly of a steel sheet ring on the steel sheet ring bracket 64 or a steel bar ring on the steel bar ring bracket 63 is completed, the left manipulator mechanism 65 and the right manipulator mechanism 68 clamp the steel sheet ring bracket 64 or the steel bar ring bracket 63, and drive it to move backward to a set position on the bracket guide rail 61. In this way, before the flexible steel strand is assembled, each annular stirrup 100 in the telescopic steel cage is in an extended state.

[0157] Then the left manipulator mechanism 65 and the right manipulator mechanism 68 in the main line 6 of the steel cage assembly act alternately (which can also be understood as a relay form) to pass the flexible steel strand through another buckle in the rotating fastener 400 on the steel bar ring and the fixed fastener 500 on the steel sheet ring; such as: the left manipulator mechanism 65 and the right manipulator mechanism 68 are respectively located at the front end and the rear end of the same steel bar ring, the left manipulator mechanism 65 passes the flexible steel strand through the buckle of the rotating fastener 400 on the steel bar ring, and the right manipulator mechanism 68 located at the rear end of the steel bar ring clamps the flexible steel strand that comes out of the buckle and passes it through the buckle of the rotating fastener 400 on the next steel bar ring (in this process, the left manipulator mechanism 65 moves to the rear end of the next steel bar ring); and so on, until the flexible steel strand passes through the fixed fastener 500 on the steel sheet ring at the end. Therefore, during the process of assembling the flexible steel strand, the left manipulator mechanism 65 and the right manipulator mechanism 68 move on the corresponding manipulator guide rails, and the flexible steel strand passes through all the steel bar rings and steel sheet rings by alternating working.

[0158] After each assembly of a flexible steel strand is completed, the left manipulator mechanism 65 and the right manipulator mechanism 68 cooperate to complete the assembly of all the rotating fasteners 400 and the bolts and nuts on the fixed fasteners 500 on the flexible steel strand.

[0159] After completing the assembly of one flexible steel strand, rotate each steel bar ring and steel sheet ring (rotate each steel bar ring and steel sheet ring by the same angle) so that each steel bar ring and steel sheet ring are in the assembly position of the next flexible steel strand.

[0160] After all the flexible steel strands are assembled, the telescopic steel cage is in the extended position. During transportation and storage, the telescopic steel bars need to be compressed to the position of Fig.19The state shown; based on this, after completing the assembly of all flexible steel strands, the left manipulator mechanism 65 and the right manipulator mechanism 66 are moved to the end of the telescopic steel cage, and ensure that the clamps of the rotating drive mechanism 631 on all steel ring trays 63 and the steel ring bracket 64 are in a lowered state (that is, the steel ring or steel ring is not clamped, ensuring that the steel ring can rotate freely on the steel ring tray 63, and the steel ring can rotate freely on the steel ring bracket 64); then the steel ring bracket 64 corresponding to the steel ring at the end is clamped by the left manipulator mechanism 65 and the right manipulator mechanism 66, and the telescopic steel cage is pushed to be compressed by controlling the left manipulator mechanism 65 and the right manipulator mechanism 66 to move forward (a positioning seat is provided on the front side of the steel ring bracket 64 located at the front end on the two bracket guide rails 61, so as to realize the positioning of the steel ring bracket 64 at the front end, and at the same time avoid the overall forward movement of the telescopic steel cage when it is compressed), and compressed to as shown in the figure. Fig.19 In the state shown, the distances that the left manipulator mechanism 65 and the right manipulator mechanism 66 need to move are preset in the host computer, thereby achieving automatic compression of the telescopic steel cage.

[0161] Embodiment 3:

[0162] On the basis of the above-mentioned embodiment 2, in order to ensure accurate control of the assembly system and improve assembly efficiency during the automated assembly process, the following logical control is performed in the host computer.

[0163] In the process of producing telescopic steel cages of different specifications (i.e., different reinforcement ratios, the reinforcement ratio of the telescopic steel cage affects the density of the stirrup 100), the left manipulator mechanism 65 and the right manipulator mechanism 66 need to assist in moving the steel ring bracket 63 and the steel sheet ring bracket 64 to the set position, so as to achieve the goal of arranging the steel rings and steel sheet rings of the telescopic steel cage according to technical requirements. After summarizing, the following calculation formula is proposed for the spacing control of the steel ring bracket 63 and the steel sheet ring bracket 64. The spacing between adjacent steel ring brackets 63, the spacing between adjacent steel sheet ring brackets 64, and the spacing between the steel ring bracket 63 and the adjacent steel sheet ring bracket 64 are all the same. Let the spacing be D, then:

[0164]

[0165] Where: L1 represents the total length of the telescopic steel cage, S1 represents the stirrup gain coefficient, π represents the circumference, R1 represents the design radius of the telescopic steel cage, ρ V represents the volume reinforcement ratio of stirrups, and r1 represents the radius of the steel bar used to process stirrups.

[0166] As an example, based on the above formula, assuming that the length of the telescopic steel bar to be produced is 10000mm, the stirrup gain coefficient is 1.1, the pi is 3.14, the design radius of the telescopic steel cage is 530mm, the volume reinforcement ratio of the stirrup is 0.29%, and the radius of the steel bar used to process the stirrup is 11mm, then when the current specification telescopic steel cage is assembled, the spacing between adjacent steel ring brackets 63 on the steel cage assembly main line 6 is:

[0167]

[0168] That is, the spacing between adjacent steel ring brackets 63, the spacing between adjacent steel sheet ring brackets 64, and the spacing between the steel ring bracket 63 and the adjacent steel sheet ring bracket 64 should be controlled to be 550 mm.

[0169] Before assembling the flexible steel strand on the steel cage assembly main line 6, the left manipulator mechanism 65 and the right manipulator mechanism 66 are controlled to intelligently control the movement positions of the steel ring brackets 63 and the steel sheet ring brackets 64. Based on this, the following logic algorithm is added to the movement control instructions of the left manipulator mechanism 65 and the right manipulator mechanism 66:

[0170] D n =A1+(n-1)D

[0171] Where: D n It indicates the distance that the nth bracket (which can be the steel ring bracket 63 or the steel sheet ring bracket 64) needs to move on the main assembly line of the steel cage. A1 indicates the reserved distance at the end of the telescopic steel cage. All steel ring brackets and steel sheet ring brackets are numbered from 1 to n, where number 1 is the frontmost steel sheet ring bracket on the main assembly line 6 of the steel cage.

[0172] As an example, based on the above formula, assuming that the number of telescopic steel cage stirrups (i.e. steel rings) to be produced is 14 and the number of steel sheet rings is 4; the reserved distance A1 of the end of the telescopic steel cage is 325 mm, and the automatic control spacing D of the steel ring bracket 63 and the steel sheet ring bracket 64 is 550 mm, then the positions where the 1st, 2nd, 17th and 18th steel sheet ring brackets need to be assisted to move and the distances where the 3rd to 16th steel ring brackets need to be assisted to move are respectively:

[0173] D1=325+(1-1)550=325mm

[0174] D2=325+(2-1)550=875mm

[0175] D3=325+(3-1)550=1425mm

[0176] …

[0177] D16 =325+(16-1)550=8575mm

[0178] D 17 =325+(17-1)550=9125mm

[0179] D 18 =325+(18-1)550=9675mm.

[0180] In addition, in order to accurately control the steel bar feeding and forming mechanism 2, realize the automatic conveying and automatic cutting of the incoming steel bars, and automatically wind them into steel bar rings; the steel bar conveying mechanism 22 and the steel bar cutting mechanism 23 are controlled as follows in the upper computer:

[0181]

[0182] Where: R M It represents the number of revolutions of the steel bar conveying roller in the steel bar conveying mechanism 22 before each cutting action (i.e. the number of revolutions of the steel bar conveying roller between two adjacent cutting actions), π represents the pi, R1 represents the design radius of the telescopic steel cage, S2 represents the steel bar adjustment coefficient, L2 represents the steel bar length reserved between the steel bar conveying roller and the blade in the steel bar cutting mechanism, r2 represents the radius of the steel bar conveying roller, and μ1 represents the slip coefficient of steel bar conveying.

[0183] As an example, if the design radius of the telescopic steel cage to be produced is 530mm, the pi is 3.14, the adjustment coefficient is 1.05, the length of the steel bar reserved between the steel bar conveying roller and the blade is 375mm, the radius of the steel bar conveying roller is 137mm, and the slip coefficient of the steel bar conveying is 0.95, then:

[0184]

[0185] Therefore, every time the steel bar conveying roller in the steel bar conveying mechanism 22 rotates 3.82 circles, the steel bar cutting mechanism is controlled to complete a cutting action.

[0186] The same logic as above, in order to accurately control the steel sheet feeding and forming mechanism 4, realize the automatic conveying and automatic cutting of the incoming steel sheet, and automatically wind it into a steel sheet ring; the steel sheet conveying mechanism 42 and the steel sheet cutting mechanism 43 are controlled as follows in the upper computer:

[0187]

[0188] In the formula, R pIt represents the number of revolutions of the steel sheet conveying roller in the steel sheet conveying mechanism 42 before each cutting action (i.e. the number of revolutions of the steel sheet conveying roller between two adjacent cutting actions), π represents the ratio of pi, R1 represents the design radius of the telescopic steel cage, P1 represents the value by which the radius of the steel sheet circle needs to be reduced relative to the radius of the steel sheet circle (the flexible steel strand is located on the outside of the steel sheet circle and the inside of the steel sheet circle, so the radius of the steel sheet circle needs to be smaller than the radius of the steel sheet circle), S3 represents the steel sheet adjustment coefficient, L3 represents the reserved length of the steel sheet between the steel sheet conveying roller and the blade in the steel sheet cutting mechanism, r3 represents the radius of the steel sheet conveying roller, and μ2 represents the slip coefficient of the steel sheet conveying.

[0189] As an example, if the design radius of the telescopic steel cage to be produced is 530mm, the pi is 3.14, the value of the steel sheet circle radius design to be reduced is 45mm, the steel sheet adjustment coefficient is 1.08, the steel sheet length reserved between the steel sheet conveying roller and the blade in the steel sheet cutting mechanism is 390mm, the radius of the steel sheet conveying roller is 133mm, and the slip coefficient of the steel sheet conveying is 0.93, then:

[0190]

[0191] That is, every time the steel sheet conveying roller in the steel sheet conveying mechanism 43 rotates 3.73 times, the steel sheet cutting mechanism is controlled to complete a cutting action.

[0192] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A telescopic steel cage assembly system, characterized in that: include: Flexible steel strand feeding mechanism, steel bar feeding and forming mechanism, steel bar ring assembly and unloading mechanism, steel sheet feeding and forming mechanism, steel sheet ring assembly and unloading mechanism and steel cage assembly main line; The flexible steel strand feeding mechanism is used to deliver a set length of flexible steel strand used as vertical reinforcement of the telescopic steel cage to the steel cage assembly main line; The steel bar feeding and forming mechanism is used to prepare steel bar rings as stirrups for the telescopic steel bar cage; The steel bar ring assembly and unloading mechanism is used to complete the assembly of the steel bar ring in situ, and move the assembled steel bar ring to the main assembly line of the steel cage; the assembly of the steel bar ring includes welding the ends of the steel bar ring after rounding and assembling the rotating fasteners and bolts and nuts on the steel bar ring; The steel sheet feeding and forming mechanism is used to prepare steel sheet rings as end reinforcement rings of the telescopic steel cage; The steel sheet ring assembly and unloading mechanism is used to complete the assembly of the steel sheet ring in situ, and move the assembled steel sheet ring to the main assembly line of the steel cage; the assembly of the steel sheet ring includes welding the ends of the steel sheet ring after rounding and assembling the fixing fasteners on the steel sheet ring; The main steel cage assembly line is used to assemble the flexible steel strands on the steel rings and steel sheet rings to form a telescopic steel cage; The flexible steel strand feeding mechanism comprises: a flexible steel strand feeding rack, a flexible steel strand conveying mechanism and a flexible steel strand cutting mechanism; The flexible steel strand feeding rack stores the flexible steel strand by winding the flexible steel strand on a reel; The flexible steel strand conveying mechanism is arranged at the discharge position of the flexible steel strand feeding rack, and the flexible steel strand conveying mechanism is provided with a flexible steel strand cutting mechanism for cutting the flexible steel strand at the corresponding position; the cut flexible steel strand enters the main assembly line of the steel cage as the vertical reinforcement of the telescopic steel cage; The steel bar feeding and forming mechanism comprises: a steel bar feeding rack, a steel bar conveying mechanism, a steel bar cutting mechanism, a shaping unit A, a shaping unit B and a steel bar ring forming turntable; The steel bar loading rack stores steel bars by winding them on a reel; The discharging position of the steel bar loading rack is provided with a shaping unit A and two steel bar conveying mechanisms in sequence along the longitudinal direction. The two steel bar conveying mechanisms are arranged in parallel along the longitudinal direction. A steel bar cutting mechanism is provided between the two steel bar conveying mechanisms for cutting the steel bars at the corresponding positions. The steel bar conveying mechanism located behind the steel bar cutting mechanism conveys the cut steel bars of a set length to the steel bar ring forming turntable. Each of the steel bar conveying mechanisms is provided with a shaping unit B; the shaping unit A is used to achieve left-right shaping of the steel bars, and the shaping unit B is used to achieve up-and-down shaping of the steel bars; The steel bar ring forming turntable is used to round the delivered steel bars to form steel bar rings as stirrups for the telescopic steel bar cage; The front side of the steel ring forming turntable is provided with a batching and feeding unit A, which is used to realize the feeding of the rotating fasteners on the stirrups and the corresponding bolts and nuts, so as to facilitate the assembly of the rotating fasteners on the steel ring by the steel ring assembly and unloading mechanism in situ; The batching feeding unit A comprises: a rotating fastener feeding mechanism A, a bolt feeding mechanism A and a nut feeding mechanism A; The rotary fastener feeding mechanism A is used to transport the rotary fastener to a set grabbing point; The rotating fastener feeding mechanism includes: a frame and a three-axis electric cylinder, an image acquisition unit and a storage slot arranged on the frame; a plurality of rotating fasteners are stored in the storage slot; a mechanical claw is arranged on the three-axis electric cylinder, and the movement of the three-axis electric cylinder drives the mechanical claw to move, thereby grabbing the rotating fastener at a set position in the storage, and placing the grabbed rotating fastener to a set grabbing point; the image acquisition unit is supported on the frame, and is used to collect the image of the rotating fastener in the storage slot and send it to the host computer, and the host computer determines the position information of the rotating fastener to be grabbed through image recognition, and thereby controls the three-axis electric cylinder and the mechanical claw.

2. The telescopic steel cage assembly system according to claim 1, characterized in that: The flexible steel strand conveying mechanism comprises: a linear electric cylinder, a fixture and a workbench; The linear electric cylinder and the flexible steel strand cutting mechanism are both arranged on the workbench, respectively located at the two ends of the longitudinal direction of the workbench; the telescopic end of the linear electric cylinder is provided with an openable and closable clamp for clamping the flexible steel strand; The flexible steel strand is conveyed forward by the extension of the linear electric cylinder.

3. The telescopic steel cage assembly system according to claim 1, characterized in that: The steel bar ring assembly and unloading mechanism is arranged above the steel bar feeding and forming mechanism; The steel bar ring assembly and unloading mechanism comprises: a platform and two manipulators supported on the steps, a slide rail is arranged on the top cross bar of the platform, and the two manipulators are respectively installed on the platform through brackets that slide with the slide rails, and each bracket is correspondingly provided with a manipulator moving motor for driving the manipulator to move on the slide rail; The two manipulators are manipulator A and manipulator B respectively; the manipulator A is used for welding the ends of the steel bar rings, and the manipulator A is provided with a welding gun, a first positioning CCD and a rotatable clamp A; the rotatable clamp A is used to clamp the steel bar ring to be welded, so as to facilitate welding by the welding gun; The manipulator B is used for assembling the rotating fasteners and the corresponding bolts and nuts on the steel ring. The manipulator B is provided with a screw locking machine A and a rotatable clamp B; the rotatable clamp B is used to clamp and install the nuts, bolts and rotating fasteners provided by the batching and feeding unit A; the screw locking machine A is used to tighten the nuts to achieve fastening; The first positioning CCD uses visual positioning to guide the robot A to move to the position to be welded, and guides the robot B to move to the assembly position.

4. The telescopic steel cage assembly system according to claim 1, characterized in that: The steel sheet feeding and forming mechanism comprises: a steel sheet feeding rack, a steel sheet conveying mechanism, a steel sheet cutting mechanism, a steel sheet ring forming turntable, a punching mechanism and a batching and feeding unit B; The steel sheet loading rack stores steel sheets by winding them on a reel; two steel sheet conveying mechanisms are arranged in parallel at the discharge of the steel sheet loading rack along the conveying direction of the steel sheets, and a steel sheet cutting mechanism and a punching mechanism are arranged between the two steel sheet conveying mechanisms for cutting and punching the steel sheets at corresponding positions; The cut steel sheets of set length are transported to the steel sheet ring forming turntable for rounding to form a steel sheet ring, which serves as the end reinforcement ring of the telescopic steel cage; A batching and feeding unit B is provided on the front side of the steel sheet ring forming turntable for feeding the fixing fasteners and corresponding riveted parts on the end reinforcement ring, so as to facilitate the assembly of the fixing fasteners on the steel sheet ring by the steel sheet ring assembly and unloading mechanism in situ.

5. The telescopic steel cage assembly system according to claim 4, characterized in that: The steel sheet feeding and forming mechanism includes: a rivet pressing mechanism is arranged at the center of the steel sheet ring forming turntable; the telescopic end of the rivet pressing mechanism is vertically upward, and a limit seat is arranged on the steel sheet ring forming turntable corresponding to each riveted position of the steel sheet ring, and the limit seat is provided with a groove for accommodating a fixing fastener and a riveted part corresponding to each riveted position; after the fixing fastener and the corresponding riveted part on the steel sheet ring are assembled in situ by the steel sheet ring assembly and unloading mechanism, the rivet pressing mechanism is started to push up and press the riveted part at the corresponding position to realize the fastening installation of the riveted part.

6. The telescopic steel cage assembly system according to claim 1, characterized in that: The main assembly line of the steel cage comprises: a base, two bracket guide rails longitudinally arranged on the base, a plurality of steel ring brackets and a plurality of steel sheet ring brackets coaxially arranged on the bracket guide rails and slidingly matched with the bracket guide rails; the number of the steel ring brackets is the same as the number of stirrups in the telescopic steel cage to be assembled and corresponds one to one; the number of the steel sheet ring brackets is the same as the number of end reinforcement rings in the telescopic steel cage to be assembled and corresponds one to one; The steel bar ring bracket is used to support the steel bar ring assembly and the steel bar ring unloaded by the unloading mechanism; The steel sheet ring bracket is used to support the steel sheet ring assembly and the steel sheet ring unloaded by the unloading mechanism; On the base, a manipulator guide rail is arranged outside each of the two bracket guide rails, and a manipulator mechanism is installed on the slide seat of each manipulator guide rail; The two manipulator mechanisms are used to move the steel bar ring bracket supporting the steel bar ring and the steel sheet ring bracket supporting the steel sheet ring to the set position on the bracket guide rail; at the same time, the two manipulator mechanisms alternately move to complete the assembly of the flexible steel strand on the steel bar ring and the steel sheet ring.

7. The telescopic steel cage assembly system according to claim 6, characterized in that: The structure of the steel sheet ring bracket is the same as that of the steel bar ring bracket, both of which include: a driving rotation mechanism, a rotation guide mechanism and a bracket stand; The bracket platform is slidably matched with the two bracket guide rails; The bracket platform has a V-shaped support surface; The bracket platform is provided with a driving rotation mechanism for driving the steel bar ring or steel sheet ring supported on the bracket platform to rotate around its own axis; A rotation guide mechanism is arranged on the bracket stand.

8. The telescopic steel cage assembly system according to claim 6 or 7, characterized in that: The manipulator mechanism comprises: a guiding flexible steel strand gripper, a second positioning CCD, a moving frame, a screw locking machine B and a rotatable gripper C; The guiding flexible steel strand gripper is used to grip the flexible steel strand transmitted by the flexible steel strand feeding mechanism and pass it through the rotating fastener on the steel bar ring and the fixed fastener on the steel sheet ring; the guiding flexible steel strand gripper is slidably mounted on the mobile frame and can move along the mobile frame; The rotatable clamp C is used to clamp bolts or nuts, and cooperate with the screw locking machine B to complete the locking of bolts and nuts; the rotatable clamp C is also used to clamp the steel bar ring bracket and the steel sheet ring bracket, driving them to move on the bracket guide rail; The second positioning CCD uses visual positioning to guide the robot mechanism to move to a set assembly position.

9. A method for assembling a telescopic steel cage, characterized in that: A telescopic steel cage assembly system according to any one of claims 6 to 8 above is adopted; According to the number of annular stirrups and end reinforcement rings in the retractable steel cage to be assembled, a corresponding number of steel sheet ring brackets and steel bar ring brackets are placed on the main steel cage assembly line; Initially, all the steel sheet ring brackets and steel bar ring brackets on the main steel bar cage assembly line are stacked and arranged at the lower ends of the steel bar ring assembly and unloading mechanism and the steel sheet ring assembly and unloading mechanism; The steel sheet feeding and forming mechanism sequentially prepares a steel sheet ring as a reinforcement ring at one end; after the steel sheet ring assembly and unloading mechanism sequentially completes the steel sheet ring assembly in situ, the steel sheet ring equipped with the fixing fastener is sequentially placed on the steel sheet ring bracket at the rear end of the steel cage assembly main line; The steel bar feeding and forming mechanism sequentially prepares the required number of steel bar rings, and after the steel bar ring assembly and unloading mechanism sequentially completes the steel bar ring assembly in situ, the steel bar rings equipped with rotating fasteners are sequentially placed on the steel bar ring brackets corresponding to the main line of steel bar cage assembly; After all the steel rings are cut, the steel sheet feeding and forming mechanism sequentially prepares the steel sheet rings as the reinforcement rings at the other end; after the steel sheet ring assembly and cutting mechanism sequentially completes the steel sheet ring assembly in situ, the steel sheet rings equipped with fixing fasteners are sequentially placed on the steel sheet ring bracket at the front end of the steel cage assembly main line; The manipulator mechanism sequentially clamps the steel bar ring bracket supporting the steel bar ring and the steel sheet ring bracket supporting the steel sheet ring and moves them to a set position on the bracket guide rail, so that before assembling the flexible steel strand, each annular stirrup in the telescopic steel cage is in an extended state; Then, the two manipulator mechanisms in the main line of the steel cage assembly move alternately to pass the flexible steel strand through the rotating fasteners on the steel ring and the fixed fasteners on the steel sheet ring; thus, during the process of assembling the flexible steel strand, the two manipulator mechanisms move on the corresponding manipulator guide rails to pass the flexible steel strand through all the steel rings and steel sheet rings by working alternately; Each time a flexible steel strand is assembled, the two manipulator mechanisms complete the assembly of all rotating fasteners on the flexible steel strand and the bolts and nuts on the fixed fasteners, thereby forming a telescopic steel cage.

10. The method for assembling a telescopic steel cage according to claim 9, characterized in that: The two manipulator mechanisms in the main line of the steel cage assembly are respectively a left manipulator mechanism and a right manipulator mechanism; after completing the assembly of all flexible steel strands, the left manipulator mechanism and the right manipulator mechanism are moved to the end of the telescopic steel cage; the steel sheet ring bracket corresponding to the steel sheet ring at the end is clamped by the left manipulator mechanism and the right manipulator mechanism; then the left manipulator mechanism and the right manipulator mechanism are controlled to move forward to push the telescopic steel cage to compress.

11. The method for assembling a telescopic steel cage according to claim 9 or 10, characterized in that: The two manipulator mechanisms are controlled by a host computer, and the control instructions in the host computer for the two manipulator mechanisms to drive the steel bar ring bracket supporting the steel bar ring and the steel sheet ring bracket supporting the steel sheet ring to move on the bracket guide rail are: All the steel bar ring brackets and steel sheet ring brackets are numbered from 1 to n from front to back on the main steel bar cage assembly line, wherein number 1 is the frontmost steel sheet ring bracket on the main steel bar cage assembly line; The steel bar ring bracket and the steel sheet ring bracket are collectively referred to as brackets; wherein: D n It indicates the distance that the nth bracket needs to move on the main line of steel cage assembly, A1 indicates the reserved distance at the end of the telescopic steel cage; D is the spacing between adjacent brackets; Where: Indicates the total length of the telescopic steel cage when unfolded. represents the stirrup gain factor, represents pi, represents the design radius of the telescopic reinforcement cage, represents the volume reinforcement ratio of stirrups, Indicates the radius of the steel bar used for making stirrups.

12. The method for assembling a telescopic steel cage according to claim 9 or 10, characterized in that: The steel bar feeding and forming mechanism is controlled by the host computer, and the host computer controls the flexible steel strand feeding rack and the flexible steel strand cutting mechanism in the steel bar feeding and forming mechanism as follows: Where: It indicates the number of revolutions of the steel bar conveying roller in the steel bar conveying mechanism before each cutting action of the flexible steel strand cutting mechanism. represents pi, represents the design radius of the telescopic reinforcement cage, Represents the reinforcement adjustment coefficient, Indicates the length of the steel bar reserved between the steel bar conveying roller and the blade in the steel bar cutting mechanism. Indicates the radius of the steel bar conveying roller, Indicates the slip coefficient of steel bar transportation; Thus, the steel bar conveying roller in the steel bar conveying mechanism rotates every time The upper computer controls the steel bar cutting mechanism to complete a cutting action.

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