Pre-positioning device and method for bottom ribs and surface ribs of single mesh pipe segment

Abstract

The present invention relates to the technical field of mesh positioning, and discloses a pre-positioning device and method for the bottom reinforcement and surface reinforcement of a single mesh of a pipe segment. The invention aims to solve the technical problems of low mechanization, insufficient processing accuracy, low processing quality, low automation and high labor intensity in the prior art. The present invention adopts a handling robot to transport the bottom reinforcement and surface reinforcement in sequence, and the pre-positioning device includes a bracket, a cushion block, and a positioning cylinder; the handling robot includes a base, at least two mechanical arms, a suction cup assembly, an auxiliary suction cup, a grabbing frame, and a grabbing assembly. The present invention can automatically and accurately pre-position the bottom reinforcement and surface reinforcement of a single mesh of a pipe segment; it can meet the pre-positioning of bottom reinforcement and surface reinforcement of different models and sizes. The reinforcement positioning process is made more efficient, human operation errors are reduced, construction accuracy and automation level are improved, safety is ensured, and the construction process is optimized, which meets the construction requirements of modern building industrialization and high efficiency and energy efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of mesh positioning, and in particular to a pre-positioning device and method for bottom ribs and surface ribs of a single mesh pipe segment. Background Art

[0002] In the field of construction technology, the existing steel bar processing technology is mainly based on manual processing with mechanical assistance. In the field of modern construction and infrastructure construction, especially in the construction of reinforced concrete structures such as bridges, tunnels, high-rise buildings, underground projects, marine structures, and prefabricated components, the processing of single mesh steel bars in the segment is a key link. The shield segment steel cage includes multiple arc-shaped meshes. In the prior art, the arc-shaped meshes are formed by first processing the straight steel bars into inner arc steel bars and outer arc steel bars using an arc bending machine, and then manually using an oxygen welding machine to weld the joint points between the inner arc steel bars and the outer arc steel bars and the overlap points between the transverse bars and the inner arc steel bars and the outer arc steel bars.

[0003] The Chinese patent document in the prior art: CN111451665A discloses an automatic welding device for a pipe segment reinforcement cage and a construction method thereof, comprising: a welding manipulator; a pedestal relatively arranged on two sides of the welding manipulator; a fixing frame which can rotate in a horizontal direction and is rotatably connected to the pedestal, and the fixing frame is provided with a plurality of positioning grooves for positioning stirrups spaced apart along the length direction of the mesh unit; and clamping members which are adjustably mounted on two opposite sides of the fixing frame.

[0004] However, the above scheme has at least the following technical problems in the implementation process: due to the low degree of mechanization, it causes defects such as insufficient processing accuracy, low processing quality, low degree of automation and high labor intensity. Therefore, it is urgent to propose a pre-positioning device for the bottom ribs and surface ribs of the single mesh of the pipe segment. Summary of the invention

[0005] In view of the above technical problems, the present invention provides a pre-positioning device and method for the bottom ribs and surface ribs of a single mesh pipe segment, which solves the technical problems in the prior art of low mechanization level, insufficient processing accuracy, low processing quality, low degree of automation and high labor intensity.

[0006] After the bottom reinforcement and surface reinforcement are transported to the designated area by the robotic arm in turn, they are precisely positioned by the positioning cylinder, and the positioning cylinder has a reserved stroke for use with various types of single mesh steel bars, so as to achieve precise docking of the bottom reinforcement and surface reinforcement of the single mesh of the pipe segment, so as to facilitate the welding and assembly of the connecting reinforcement in the later stage. The bottom reinforcement and surface reinforcement of the pipe segment are precisely docked automatically.

[0007] According to one aspect of the present disclosure, a pre-positioning device for bottom ribs and surface ribs of a single mesh sheet of a pipe segment is provided, wherein a handling robot is used to sequentially transfer the bottom ribs and surface ribs, and the pre-positioning device comprises a bracket, on which a plurality of pads are laid at intervals to install a plurality of positioning cylinders and support the bottom ribs and surface ribs, wherein the bottom ribs and surface ribs are located within the travel range of the positioning cylinders;

[0008] The handling robot includes a base; at least two robotic arms are sequentially connected to the base, the robotic arms include a main robotic arm and an auxiliary robotic arm that are hingedly connected, the end of the auxiliary robotic arm is hingedly connected to a suction cup assembly, the suction cup assembly is magnetically connected to the auxiliary suction cup, and the auxiliary suction cup is connected to multiple grasping assemblies via a grasping frame to grasp the bottom gluten and surface gluten.

[0009] Rollers are also installed below the base.

[0010] The suction cup assembly is a permanent magnetic suction cup assembly, an electromagnetic suction cup assembly, or an electro-permanent magnetic suction cup assembly.

[0011] The electric permanent magnetic chuck assembly includes a plurality of hexagonal prism-shaped magnetic pole units spliced ​​in a honeycomb structure, and the magnetic pole unit includes a circular magnetic yoke cavity, in which a main magnet is installed, and the main magnet is made of neodymium iron boron permanent magnet material. The main magnet is 6 fan-shaped ring magnets evenly distributed around the circular magnetic pole block; a reversible magnet is arranged under the main magnet, and the reversible magnet is made of aluminum nickel cobalt permanent magnet material and is surrounded by an excitation coil.

[0012] In some embodiments of the present disclosure, a magnetic force detection coil is wound around the periphery of the excitation coil.

[0013] In some embodiments of the present disclosure, a magnetic interference prevention collar is wound around the magnetic force detection coil.

[0014] In some embodiments of the present disclosure, the grabbing assembly includes a grabbing cylinder, which is connected to a wedge block via a piston, and a left clamp and a right clamp are respectively installed at both ends of the wedge block, the left clamp is connected to a left clamping jaw via a left pad, and the right clamp is connected to a right clamping jaw via a right pad.

[0015] In some embodiments of the present disclosure, a left slide groove is provided on the inner side of the left clamp, a right slide groove is provided on the inner side of the right clamp, a left protrusion that can slide in the left slide groove is provided on the left side of the wedge block, and a right protrusion that can slide in the right slide groove is provided on the right side.

[0016] In some embodiments of the present disclosure, the wedge block is installed in a shell, a shell slide groove is arranged on the inner side of the shell, and clamp protrusions that can slide in the shell slide groove are arranged at the connection between the left clamp, the right clamp and the shell.

[0017] According to another aspect of the present disclosure, a method for pre-positioning the bottom ribs and the surface ribs of a single mesh sheet of a pipe segment is provided, which is applicable to the pre-positioning device for the bottom ribs and the surface ribs of a single mesh sheet of a pipe segment, and comprises the following steps:

[0018] (1) Connecting the auxiliary suction cup: A positive pulse current is passed through the excitation coil to generate a magnetic field, and the suction cup is in an external magnetizing state. The suction cup assembly at the end of the robotic arm is magnetically connected to the auxiliary suction cup;

[0019] (2) The grabbing assembly opens: the grabbing cylinder extends, the piston abuts the wedge block and moves downward between the left clamp and the right clamp, pushing the left clamp and the right clamp to move to the left and right sides along the housing slide groove respectively;

[0020] (3) Grab the bottom rib and the surface rib: The bottom rib and the surface rib are placed between the left clamp and the right clamp, the grabbing cylinder contracts, the wedge block moves upward, and the left clamp and the right clamp clamp the bottom rib and the surface rib;

[0021] (4) Moving the bottom ribs and the top ribs: The robotic arm sequentially transfers the bottom ribs and the top ribs to the pads of the bracket;

[0022] (5) Positioning mesh: The positioning cylinder extends and abuts against the edge of the mesh within the stroke range of the positioning cylinder;

[0023] (6) Circular operation: Repeat steps (2) to (5) to achieve accurate docking of the bottom reinforcement and surface reinforcement of the single mesh of the pipe segment, so as to facilitate the subsequent welding and assembly with the connecting reinforcement;

[0024] (7) Remove the auxiliary suction cup: Pass a reverse instantaneous current through the excitation coil, the suction cup assembly is in an external demagnetization state, and then remove the auxiliary suction cup.

[0025] The beneficial effects of the present invention are:

[0026] 1. It can automatically and accurately pre-position the bottom reinforcement and surface reinforcement of the single mesh of the pipe segment; it can pre-position the bottom reinforcement and surface reinforcement of different models and sizes. It makes the reinforcement positioning process more efficient, reduces human operation errors, improves construction accuracy and automation level, ensures safety, optimizes the construction process, and meets the construction needs of modern building industrialization and high efficiency.

[0027] 2. Use automated handling robots to reduce manpower, improve work efficiency and ensure safety.

[0028] 3. Through the precise control of the positioning cylinder, the precise positioning of the bottom rib and the surface rib is ensured, which can adapt to the adjustment of different sizes and improve the flexibility of construction.

[0029] 4. The robotic arm and magnetic chuck assembly achieves precise grabbing and placement, which greatly speeds up the construction speed for high-frequency operations.

[0030] 5. The base is equipped with rollers to improve the mobility of the equipment, allowing the equipment to be quickly transferred between different working points, thereby improving overall operating efficiency.

[0031] 6. Install the magnetic detection coil, monitor the magnetic field in real time, calculate the magnetic force generated, and judge whether the auxiliary suction cup is completely magnetically attracted to the suction cup component by the size of the magnetic force.

[0032] 7. Anti-magnetic interference trap, when generating, weakening or increasing magnetic force, each NdFeB ring works independently, the magnetic fields do not interfere with each other, the magnetic field grouping is not chaotic, the magnetic field is released and recovered in a vertical cycle, which greatly improves the magnetic attraction ability.

[0033] 8. The grabbing components can be opened and closed quickly, and the grabbing and releasing can be done accurately, which can reduce the time of misoperation and improve efficiency.

[0034] 9. The slide design can adapt to different sizes of steel bars, improve versatility, reduce adjustment time, and make operation smoother.

[0035] 10. The housing slide improves the stability of the grabber's movement, reduces wear and tear, and improves long-term operating performance.

[0036] 11. The circular structure of the permanent magnetic chuck has the greatest excitation efficiency for the reversible magnet. The large chuck made of hexagonal magnetic pole units is like a honeycomb structure, which can better utilize the space to obtain greater suction. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the structure of the pre-positioning equipment for the bottom reinforcement and the surface reinforcement of the single mesh of the pipe segment;

[0038] Figure 2 It is a schematic diagram of the honeycomb structure of the suction cup assembly;

[0039] Figure 3 It is a schematic diagram of the structure of a hexagonal magnetic pole unit;

[0040] Figure 4 It is a top view of a hexagonal magnetic pole unit;

[0041] Figure 5 for Figure 4 Sectional view of the middle AA plane;

[0042] Figure 6 It is a structural schematic diagram of a hexagonal magnetic pole unit from another perspective;

[0043] Figure 7 It is a schematic diagram of the structure of the grabbing component;

[0044] Figure 8 This is the front view of the grab component;

[0045] Fig. 9To grab the component top view;

[0046] Fig.10 for Fig. 9 Middle BB plane section view;

[0047] Fig.11 To capture the exploded view of the component;

[0048] Fig.12 This is an exploded view of another perspective of the grab component;

[0049] Fig.13 The schematic diagram of the magnetization state of the suction cup assembly;

[0050] Fig.14 This is the schematic diagram of the demagnetization state of the suction cup assembly;

[0051] The names of the components in the figure are: 1. Handling robot; 2. Bottom ribs and surface ribs; 3. Pre-positioning device; 4. Bracket; 5. Pad; 6. Positioning cylinder; 7. Base; 8. Main robot arm; 9. Auxiliary robot arm; 10. Suction cup assembly; 11. Auxiliary suction cup; 12. Grabbing frame; 13. Grabbing assembly; 14. Hexagonal magnetic pole unit; 15. Yoke cavity; 16. Main magnet; 17. Circular magnetic pole block; 18. Reversible magnet ; 19. Excitation coil; 20. Magnetic detection coil; 21. Anti-magnetic interference snare; 22. Grasping cylinder; 23. Piston; 24. Wedge block; 25. Left clamp; 26. Right clamp; 27. Left pad block; 28. Left clamp; 29. ​​Right pad block; 30. Right clamp; 31. Left slide; 32. Right slide; 33. Left protrusion; 34. Right protrusion; 35. Shell; 36. Shell slide; 37. Clamp protrusion. DETAILED DESCRIPTION

[0052] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention. Example 1

[0053] This example discloses a pre-positioning device and method for the bottom ribs and the surface ribs of a single mesh pipe segment, see Figures 1 to 14 .

[0054] A handling robot 1 is used to sequentially transfer the bottom rib and the surface rib 2. The pre-positioning device 3 includes a bracket 4. A plurality of pads 5 are laid on the bracket 4 at intervals to install a plurality of positioning cylinders 6 and support the bottom rib and the surface rib 2. The bottom rib and the surface rib 2 are located within the travel range of the positioning cylinders 6.

[0055] The handling robot 1 includes a base 7; at least two robotic arms are sequentially connected to the base 7, and the robotic arms include a main robotic arm 8 and an auxiliary robotic arm 9 that are hingedly connected. The end of the auxiliary robotic arm 9 is hingedly connected to a suction cup assembly 10, and the suction cup assembly 10 is magnetically connected to an auxiliary suction cup 11. The auxiliary suction cup 11 is connected to multiple grasping assemblies 13 via a grasping frame 12 to grasp the bottom gluten and the surface gluten 2.

[0056] Rollers are also installed below the base 7.

[0057] The suction cup assembly 10 is a permanent magnetic suction cup assembly, an electromagnetic suction cup assembly, or an electro-permanent magnetic suction cup assembly.

[0058] The electric permanent magnetic chuck assembly includes a plurality of hexagonal prism-shaped magnetic pole units 14 spliced ​​in a honeycomb structure. The magnetic pole unit 14 includes a circular magnetic yoke cavity 15. A main magnet 16 is installed in the magnetic yoke cavity 15. The main magnet 16 is made of neodymium iron boron permanent magnet material. The main magnet 16 is 6 fan-shaped ring magnets evenly distributed around a circular magnetic pole block 17. A reversible magnet 18 is arranged below the main magnet 16. The reversible magnet 18 is made of aluminum nickel cobalt permanent magnet material and is surrounded by an excitation coil 19.

[0059] The pulse current in the excitation coil generates an electromagnetic field to change the direction of the magnetic field of the reversible magnet, thereby converting the internal magnetic circuit of the suction cup and achieving external magnetization or demagnetization.

[0060] Working principle: ① A positive pulse current is passed through the excitation coil to generate a magnetic field. The AlNiCo magnet around the coil is magnetized. The magnetic field of the magnetized AlNiCo reversible magnet is superimposed on the magnetic field of the NdFeB main magnet. The magnetic lines of force start from the N pole of the NdFeB main magnet and the N pole of the AlNiCo reversible magnet, pass through the external magnetic workpiece and the magnetic yoke or magnetic pole block and return to their respective S poles. The chuck is in an externally magnetized state.

[0061] ② When a reverse instantaneous current is passed through the excitation coil, the excitation coil forms a reverse magnetic field, which causes the AlNiCo magnet to be reversely magnetized, forming reverse N and S poles. The magnetic fields of the NdFeB magnet and the AlNiCo magnet cancel each other out inside the chuck, and the superimposed magnetic fields form a closed loop inside the chuck, with no magnetic circuit to the outside, and the chuck is in an external demagnetization state.

[0062] The circular structure of the permanent magnetic chuck has the greatest excitation efficiency for the reversible magnet. The shape is designed as a hexagonal prism, and the interior is kept as a circular cavity to assemble the main magnet, variable magnet, magnetic pole block and coil of the circular structure. The large chuck made of hexagonal magnetic pole units is like a honeycomb structure, which can better utilize space to obtain greater suction.

[0063] A magnetic force detection coil 20 is wound around the periphery of the exciting coil 19 .

[0064] Install the magnetic detection coil, calculate the magnetic force generated, and judge whether the auxiliary suction cup is completely magnetically attracted to the suction cup component by the size of the magnetic force.

[0065] A magnetic interference prevention collar 21 is wound around the magnetic force detection coil 20 .

[0066] When generating, weakening or increasing magnetic force, each NdFeB ring works independently, the magnetic fields do not interfere with each other, the magnetic field grouping is not chaotic, and the magnetic field is released and recovered in a vertical cycle, which greatly improves the magnetic attraction capacity.

[0067] The grabbing assembly 13 includes a grabbing cylinder 22, which is connected to a wedge block 24 via a piston 23. A left clamp 25 and a right clamp 26 are installed at both ends of the wedge block 24. The left clamp 25 is connected to a left clamp 28 via a left pad 27, and the right clamp 26 is connected to a right clamp 30 via a right pad 29.

[0068] A left slide groove 31 is provided inside the left clamp 25 , a right slide groove 32 is provided inside the right clamp 26 , a left protrusion 33 that can slide in the left slide groove 31 is provided on the left side of the wedge block 24 , and a right protrusion 34 that can slide in the right slide groove 32 is provided on the right side.

[0069] The wedge block 24 is installed in the housing 35 , a housing slide groove 36 is arranged inside the housing 35 , and clamp protrusions 37 that can slide in the housing slide groove 36 are arranged at the connection between the left clamp 25 , the right clamp 26 and the housing 35 .

[0070] The pre-positioning method of the bottom ribs and the surface ribs of a single mesh sheet of a pipe segment is applicable to the pre-positioning device of the bottom ribs and the surface ribs of a single mesh sheet of a pipe segment, and comprises the following steps:

[0071] (1) Connecting the auxiliary suction cup: A positive pulse current is passed through the excitation coil to generate a magnetic field, and the suction cup is in an external magnetizing state. The suction cup assembly at the end of the robotic arm is magnetically connected to the auxiliary suction cup;

[0072] (2) The grabbing assembly opens: the grabbing cylinder extends, the piston abuts the wedge block and moves downward between the left clamp and the right clamp, pushing the left clamp and the right clamp to move to the left and right sides along the housing slide groove respectively;

[0073] (3) Grab the bottom rib and the surface rib: The bottom rib and the surface rib are placed between the left clamp and the right clamp, the grabbing cylinder contracts, the wedge block moves upward, and the left clamp and the right clamp clamp the bottom rib and the surface rib;

[0074] (4) Moving the bottom ribs and the top ribs: The robotic arm sequentially transfers the bottom ribs and the top ribs to the pads of the bracket;

[0075] (5) Positioning mesh: The positioning cylinder extends and abuts against the edge of the mesh within the stroke range of the positioning cylinder;

[0076] (6) Circular operation: Repeat steps (2) to (5) to achieve accurate docking of the bottom reinforcement and surface reinforcement of the single mesh of the pipe segment, so as to facilitate the subsequent welding and assembly with the connecting reinforcement;

[0077] (7) Remove the auxiliary suction cup: Pass a reverse instantaneous current through the excitation coil, the suction cup assembly is in an external demagnetization state, and then remove the auxiliary suction cup.

[0078] Although some preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0079] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of this application and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A pre-positioning device for bottom ribs and surface ribs of a single mesh sheet of a pipe segment, using a handling robot to sequentially transfer the bottom ribs and surface ribs, characterized in that: The pre-positioning device comprises a bracket, on which a plurality of pads are laid at intervals to install a plurality of positioning cylinders and support bottom ribs and surface ribs, wherein the bottom ribs and surface ribs are located within the travel range of the positioning cylinders; The handling robot comprises a base; at least two mechanical arms are sequentially connected to the base in a transmission manner, the mechanical arms comprise a main mechanical arm and a secondary mechanical arm which are hingedly connected, the end of the secondary mechanical arm is hingedly connected to a suction cup assembly, the suction cup assembly is magnetically connected to a secondary suction cup, the secondary suction cup is connected to a plurality of grasping assemblies via a grasping frame to grasp the bottom ribs and the surface ribs; the suction cup assembly is an electric permanent magnetic suction cup assembly; the electric permanent magnetic suction cup assembly comprises a plurality of hexagonal magnetic pole units spliced ​​in a honeycomb structure, the magnetic pole unit comprises a circular magnetic yoke cavity, a main magnet is installed in the magnetic yoke cavity, the main magnet is made of neodymium iron boron permanent magnetic material, the main magnet is 6 fan-shaped ring magnets, which are evenly distributed around the circular magnetic pole block; a reversible magnet is arranged below the main magnet, the reversible magnet is made of aluminum nickel cobalt permanent magnetic material, and an excitation coil is wound around it; The electromagnetic field is generated by the pulse current in the excitation coil to change the magnetic field direction of the reversible magnet, so as to realize the conversion of the internal magnetic circuit of the suction cup, thereby realizing external magnetization or demagnetization; The grabbing assembly comprises a grabbing cylinder, the grabbing cylinder is connected to a wedge block via a piston, a left clamp and a right clamp are respectively installed at both ends of the wedge block, the left clamp is connected to a left clamping claw via a left pad, and the right clamp is connected to a right clamping claw via a right pad; The wedge block is installed in the shell, a shell slide groove is arranged on the inner side of the shell, and the connection between the left clamp, the right clamp and the shell is provided with a clamp protrusion that can slide in the shell slide groove; The grabbing cylinder extends, and the piston abuts against the wedge block and moves downward between the left clamp and the right clamp, pushing the left clamp and the right clamp to move to the left and right sides along the housing slide groove respectively; The bottom rib and the surface rib are placed between the left clamp and the right clamp, the grabbing cylinder contracts, the wedge block moves upward, and the left clamp and the right clamp clamp the bottom rib and the surface rib.

2. The pre-positioning device for bottom ribs and surface ribs of a single mesh sheet of a pipe segment according to claim 1, characterized in that: Rollers are also installed below the base.

3. The pre-positioning device for bottom ribs and surface ribs of a single mesh sheet of a pipe segment according to claim 1, characterized in that: The magnetic force detection coil is wound around the periphery of the excitation coil.

4. The pre-positioning device for bottom ribs and surface ribs of a single mesh sheet of a pipe segment as claimed in claim 3, characterized in that: A magnetic interference-proof collar is wound around the magnetic force detection coil.

5. The pre-positioning device for bottom ribs and surface ribs of a single mesh sheet of a pipe segment according to claim 1, characterized in that: A left slide groove is arranged on the inner side of the left clamp, a right slide groove is arranged on the inner side of the right clamp, a left protrusion which can slide in the left slide groove is arranged on the left side of the wedge block, and a right protrusion which can slide in the right slide groove is arranged on the right side.

6. A method for pre-positioning bottom ribs and surface ribs of a single mesh sheet of a pipe segment, used for the pre-positioning device for bottom ribs and surface ribs of a single mesh sheet of a pipe segment as claimed in any one of claims 1 to 5, characterized in that: The steps include: (1) Connecting the auxiliary suction cup: A positive pulse current is passed into the excitation coil to generate a magnetic field, and the suction cup is in an externally magnetized state. The suction cup assembly at the end of the robotic arm is magnetically connected to the auxiliary suction cup; (2) The grabbing assembly opens: the grabbing cylinder extends, the piston abuts against the wedge block and moves downward between the left clamp and the right clamp, pushing the left clamp and the right clamp to move to the left and right sides along the housing slide groove respectively; (3) Grabbing the bottom rib and the surface rib: the bottom rib and the surface rib are placed between the left clamp and the right clamp, the grabbing cylinder contracts, the wedge block moves upward, and the left clamp and the right clamp clamp the bottom rib and the surface rib; (4) Moving the bottom ribs and the top ribs: The robotic arm sequentially transfers the bottom ribs and the top ribs to the pads of the bracket; (5) Positioning mesh: The positioning cylinder extends and abuts against the edge of the mesh within the stroke range of the positioning cylinder; (6) Circular operation: Repeat steps (2) to (5) to achieve accurate docking of the bottom reinforcement and the surface reinforcement of the single mesh of the pipe segment, so as to facilitate the subsequent welding and assembly with the connecting reinforcement; (7) Remove the auxiliary suction cup: Pass a reverse instantaneous current through the excitation coil, the suction cup assembly is in an external demagnetization state, and the auxiliary suction cup is removed.

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