Whole bundle penetrating robot

Abstract

The invention belongs to the technical field of prestress construction equipment, and particularly discloses a whole bundle penetrating robot which comprises a main machine frame, a disc storage system, a relay conveying device, a bundle forming device, a moving platform and a whole bundle penetrating system, and the disc storage system, the relay conveying device, the bundle forming device and the moving platform are arranged on the main machine frame. The robot can measure and cut steel strands on a steel strand coil, and the whole bundle of steel strands with the required number is stored to a spiral strand storage slide way path of the disc storage system. After the steel strands are bundled through the bundling device, the whole bundle of steel strands which are gathered through the whole bundle penetrating system is pushed in a circulating mode to penetrate into a hole channel of a precast beam, the automation degree of the mode is high, and the whole bundle penetrating efficiency is improved. Meanwhile, the site is saved, and it can be guaranteed that the length of each steel strand is the preset length. And the external length of the steel strand is ensured to be within a controllable range, so that the leakage amount of the steel strand is small.

Description

Technical Field

[0001] The invention relates to the technical field of prestressed construction equipment, in particular to a whole-beam threading robot. Background Art

[0002] In the current steel strand threading equipment for reserved holes in precast concrete bridges, when threading the steel strands, several steel strands are gathered together and then directly threaded into the reserved holes in the concrete through the threading equipment. However, when threading the strands, the existing whole-bundle threading trolley needs to cut the steel strands to a suitable length in advance, which is labor-intensive. In addition, the steel strands are generally long, occupying a large area, and need to be manually aligned before threading, and the degree of automation is not high.

[0003] For example, the patent document with patent application number 202011308688.1 discloses a prestressed whole bundle threading trolley, which guides a plurality of steel strands through vertical guide wheels and passes through a combing device for combing, and then is driven by upper and lower pressure wheels to thread the strands. However, when using it, it is necessary to manually place a plurality of steel strands in the vertical guide wheels, and the trolley needs to be loaded with steel strands of appropriate length in advance, which is not only labor-intensive but also occupies space. Moreover, the trolley drives the whole bundle of steel strands to thread the strands continuously through the upper and lower pressure wheels, which easily leads to excessive leakage of the whole bundle of steel strands after threading. Summary of the invention

[0004] The first purpose of the present invention is to provide a whole-bundle threading robot, so as to overcome the defects of the existing whole-bundle loading trolley that the steel strands of appropriate length need to be unloaded in advance, which is not only labor-intensive but also occupies space.

[0005] The second object of the present invention is to provide a whole-bundle threading robot, so as to overcome the defect that when the existing whole-bundle loading trolley drives the whole bundle of steel strands for continuous threading, it is easy to cause excessive leakage of the whole bundle of steel strands after threading.

[0006] To achieve the above-mentioned purpose, the present invention provides a whole-beam beam threading robot, comprising a main frame and a storage system arranged on the main frame, a relay conveying device, a beam forming device, a mobile platform and a whole-beam beam threading system arranged on the mobile platform;

[0007] A disk storage system, comprising a disk storage rack arranged on the main rack, and a disk storage mechanism, a single-wire threading mechanism, a length measuring mechanism and a cutting mechanism arranged on the disk storage rack;

[0008] The storage mechanism is provided with a spiral wire storage slideway path group, and the spiral wire storage slideway path group has a plurality of side-by-side spiral wire storage slideway paths; the single wire bundle threading mechanism is used to connect a single steel strand to one of the spiral wire storage slideway paths for transmission, the length measuring mechanism is used to measure the conveying length of the steel strand in real time, and the cutting mechanism is used to cut the steel strand when the conveyed steel strand reaches a predetermined length;

[0009] The bundling device is provided with a wire converging and bundling tube and a bundling fixing assembly, and the relay conveying device is used to receive a plurality of steel strands arranged side by side on each set of spiral wire storage slideway path groups and transmit them to the wire converging and bundling tube, and after passing through the wire converging and bundling tube, a whole bundle of steel strands is formed and then inserted into the bundling fixing assembly;

[0010] The whole bundle threading system is provided with a jack pushing assembly and a clamping assembly arranged on the jack pushing assembly. When the whole bundle of steel strands is transmitted to the clamping assembly, the clamping assembly clamps the whole bundle of steel strands, the jack pushing assembly drives the clamping assembly to transport a predetermined distance, and the clamping assembly releases the whole bundle of steel strands. When the jack pushing assembly shrinks to a predetermined position, the clamping assembly clamps the whole bundle of steel strands again and is pushed a predetermined distance by the jack pushing assembly. This pushing is repeated until the threading operation of the whole bundle of steel strands is completed.

[0011] Preferably, in the above technical solution, the storage mechanism includes:

[0012] A disk storage main frame, which is provided with a first guide rail;

[0013] A disk storage mechanism, comprising a disk storage rack, a plurality of support components and a plurality of disk storage components; the disk storage rack is arranged on the disk storage main rack, and a plurality of support components are arranged on the disk storage rack in a circular ring shape; a plurality of disk storage components are respectively fixed on the plurality of support components, each group of disk storage components is provided with a plurality of wire storage slideways, and a plurality of wire storage slideways of the disk storage components on different support components are mutually corresponding and connected to form a plurality of wire storage slideway paths, the wire storage slideway path is a spiral wire storage slideway path, and one side of the wire storage slideway path is a disk storage line inlet;

[0014] A single-wire bundle-threading mechanism, comprising a bundle-threading frame, a single-wire conveying mechanism, a first driving device and a second guide rail, wherein the bundle-threading frame is slidably arranged on the first guide rail, the first driving device is used to drive the bundle-threading frame to move along the first guide rail, the single-wire conveying mechanism is provided with a bundle-threading inlet and a bundle-threading outlet, and the single-wire conveying mechanism is arranged on the bundle-threading frame to drive the steel strand to be conveyed to the storage inlet;

[0015] A main line inlet slot, which corresponds to the line inlet port of the single-line transmission mechanism;

[0016] A length measuring mechanism, which is used to measure the incoming length of the steel strand;

[0017] The cutting mechanism comprises a cutting frame, a cutting device and a second driving device, wherein the cutting frame is slidably arranged on the second guide rail, the second driving device is used to drive the cutting frame to move along the second guide rail, and the cutting device is arranged on the cutting frame to cut the steel strand.

[0018] Preferably, in the above technical solution, the single-line transmission mechanism includes a transmission frame, multiple groups of transmission roller groups and a transmission drive device, each group of the transmission roller groups includes two rollers arranged side by side, the surface of the roller is an annular groove, and a transmission channel is formed between the annular grooves of the two rollers. The transmission channels of different groups of the transmission roller groups correspond to each other, and the transmission drive device is used to drive the two rollers of each group of the transmission roller groups to rotate relative to each other.

[0019] Preferably, in the above technical solution, the bundling device comprises a bundling rack and a converging wire bundling tube, the converging wire bundling tube comprises a converging wire cone tube and a conical conical conduit, the converging wire cone tube is arranged on the bundling rack, the converging wire cone tube is provided with a first inlet and a first outlet, and the size of the first inlet is larger than the size of the first outlet;

[0020] The special-shaped converging pipe is arranged in front of the converging conical pipe, and the conical converging pipe is provided with a second inlet, a second outlet and a conical pipe body connecting the second inlet and the second outlet, the first inlet corresponds to the second inlet, the size of the second outlet is larger than the size of the first outlet and smaller than the size of the first inlet, wherein a plurality of steel strands arranged side by side in a single layer are converged through the conical pipe body to output a plurality of steel strands distributed in multiple layers, and the plurality of steel strands distributed in multiple layers are converged through the conical converging pipe to output a steel strand bundle.

[0021] Preferably, in the above technical solution, the bundling and fixing assembly includes a circular sleeve, a plurality of wedge-shaped clips, a conical sleeve and an elastic member, the outlet of the circular sleeve is a conical outlet, the plurality of wedge-shaped clips are radially movably arranged in the outlet of the circular sleeve, the conical sleeve is threadedly connected to the outlet of the circular sleeve, an elastic member is arranged between the wedge-shaped clip and the conical sleeve, and the conical sleeve squeezes the plurality of wedge-shaped clips toward the inner side of the conical outlet of the circular sleeve through the elastic member to perform a clamping action.

[0022] Preferably, in the above technical solution, the relay conveying device includes an input end, a transmission mechanism and an output end, the input end is used to connect to multiple steel strands arranged in a single layer, the output end is adapted to the second inlet, and the transmission mechanism is used to push the multiple steel strands arranged in a single layer into the second inlet.

[0023] Preferably, in the above technical solution, the jack pushing assembly includes a beam-penetrating jack and a clamping jack, and the beam-penetrating jack includes a first cylinder, a first piston disposed in the first cylinder, and beam-penetrating channels penetrating both ends of the first cylinder;

[0024] The clamping jack includes a second cylinder body, a second piston arranged in the second cylinder body, and a support channel running through both ends of the second cylinder body, the support channel is connected to the beam passage, the first piston is fixedly connected to the first end of the second cylinder body, and the clamping assembly is connected to the second end of the second cylinder body. When the second piston moves toward the second end, the clamping assembly can be driven to perform a clamping action, and when the second piston moves toward the first end, the clamping assembly releases and returns to an initial state.

[0025] Preferably, in the above technical solution, the clamping assembly includes a support sleeve and a clip, the support sleeve is installed on the outer side of the second end, the outlet of the support sleeve is connected to the support channel, the clip is radially movably arranged on the inner periphery of the outlet of the support sleeve, and the second piston is used to drive the clip to perform a clamping action.

[0026] Preferably, in the above technical scheme, the mobile platform includes a first movable guide rail, a transverse movement drive device, a telescopic frame, a lifting drive device, an X-shaped lifting frame, a first mounting frame, a longitudinal movement drive device, a second movable guide rail, a longitudinal movement drive device, a second mounting frame and a rotation drive device; the first movable guide rail is arranged on the main frame, the telescopic frame is arranged on the first movable guide rail so as to be able to slide transversely, the transverse movement drive device is used to drive the telescopic frame to slide transversely, the X-shaped lifting frame is arranged on the telescopic frame, the lifting drive device is used to drive the telescopic frame to be telescoped to drive the X-shaped lifting frame to be lifted and moved, the first mounting frame is arranged on the X-shaped lifting frame, the second movable guide rail is arranged on the first mounting frame, the second mounting frame is arranged on the second movable guide rail so as to be able to slide longitudinally, the longitudinal movement drive device is used to drive the second mounting frame to slide longitudinally, the whole bundle threading system is arranged on the second mounting frame so as to be able to rotate, and the rotation drive device is used to drive the whole bundle threading system to rotate.

[0027] Preferably, in the above technical solution, the whole bundle threading system also includes a first ranging module, a second ranging module, a first pressure measuring module and a positioning module; the first ranging module is used to detect whether the end of the whole bundle of steel strands is delivered to the preset position of the support channel, the second ranging module is used to collect the cumulative advancement distance of the bundle threading jack, the first pressure measuring module is used to detect whether the pressure of the clamping assembly clamping the whole bundle of steel strands reaches a preset pressure value, and the positioning module is used to detect whether the jack pushing assembly reaches the predetermined position of the prefabricated beam hole.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. The whole-bundle threading robot in the present invention can directly connect the steel strands on the steel strand coil to the single-wire threading mechanism. Driven by the single-wire threading mechanism, the steel strands are transported to a wire storage slide path of the storage device for storage. At the same time, the length of the incoming wire is measured by the length measuring mechanism. After the storage is completed, the steel strands are cut off by the cutting mechanism. In this way, the whole bundle of required number of steel strands can be stored on a set of spiral wire storage slide paths of the storage mechanism. This method not only has a high degree of automation and saves space, but also can ensure that the length of each steel strand is at a predetermined length. Compared with the traditional method of cutting the length of the steel strands in advance, it saves more space, has a lower area requirement for the construction site, is easier to carry out construction, and avoids the defect that the traditional site is too small to carry out construction.

[0030] 2. The present invention controls the clamping jack to drive the clamping assembly to clamp and fix the entire bundle of steel strands in the support channel, and controls the bundle threading jack to cyclically push the clamping jack, so as to thread the entire bundle of steel strands after multiple steel strands are gathered, thereby improving the threading efficiency of the entire bundle. The steel strands are threaded into the hole of the prefabricated beam by cyclic pushing, ensuring that the length of the steel strands remaining outside is within a controllable range, so that the amount of steel strands leaking outside is small.

[0031] 3. The present invention is provided with a length measuring device. When one end of a certain steel strand needs to protrude a certain length from other steel strands, the length of the steel strand can be measured in real time. When the length of the steel strand stored in the storage device meets the predetermined length, it can be cut by the cutting device. Because the other steel strands in the whole bundle of steel strands have been stored in order on the storage device, after measurement by the length measuring device, one end of a certain steel strand can protrude a predetermined length from other steel strands, which can ensure the normal operation of subsequent bundle threading.

[0032] 4. The storage mechanism of the present invention stores multiple groups of parallel steel strands. After one group of parallel steel strands completes the whole bundle threading work, another group of parallel steel strands can continue the whole bundle threading work, which improves the efficiency of the whole bundle threading. And the multiple parallel steel strands are gathered into a circular arrangement and inserted into the bundle fixing assembly, which can prevent the steel strands from twisting during the threading process.

[0033] 5. The present invention can complete the cutting, storage, bundling and bundling operations of multiple steel strands by pulling the steel strands out from the steel strand coils, thus realizing the automated bundling operation of the integrated steel strands, which not only saves labor but also improves the efficiency of the prefabricated beam steel strand bundling. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a first structural schematic diagram of the whole-beam threading robot of the present invention.

[0035] Figure 2 This is a second structural schematic diagram of the whole-beam threading robot of the present invention.

[0036] Figure 3 It is a structural schematic diagram of the steel strand threading and storage system of the present invention.

[0037] Figure 4 For the present invention Figure 3 Schematic diagram of local I.

[0038] Figure 5 It is a structural schematic diagram of the single-line transmission mechanism of the present invention.

[0039] Figure 6 It is a structural schematic diagram of the disk storage mechanism of the present invention.

[0040] Figure 7 It is a schematic diagram of the top view of the disk storage mechanism of the present invention.

[0041] Figure 8 It is a structural schematic diagram of the disk storage pulley block of the present invention.

[0042] Fig. 9 It is a first structural schematic diagram of the relay conveying device and the bundling device of the present invention.

[0043] Fig.10 It is a second structural schematic diagram of the relay conveying device and the bundling device of the present invention.

[0044] Fig.11 It is a third structural schematic diagram of the relay conveying device and the bundling device of the present invention.

[0045] Fig.12 It is a schematic structural diagram of the converging tapered tube of the present invention.

[0046] Fig.13 It is a schematic diagram of the internal structure of the guide head of the present invention.

[0047] Fig.14 It is a schematic diagram of the external structure of the beam jack and the clamping jack of the present invention.

[0048] Fig.15It is a schematic diagram of the internal structure of the beam-threading jack and the clamping jack of the present invention.

[0049] Fig.16 and Fig.17 It is a schematic diagram of the internal structure of the clamping jack of the present invention in the released state.

[0050] Fig.18 and Fig.19 It is a schematic diagram of the internal structure of the clamping jack of the present invention in the clamping state.

[0051] Fig. 20 It is a schematic diagram of the separation surface structure of the three-petal structure clip of the present invention.

[0052] Fig.21 It is a first structural schematic diagram of the mobile platform of the present invention.

[0053] Fig. 22 It is a second structural schematic diagram of the mobile platform of the present invention.

[0054] Description of reference numerals:

[0055] 1- Main frame;

[0056] 2-disk storage system, 21-disk storage rack, 211-first guide rail;

[0057] 22-disk storage mechanism, 221-disk storage rack, 222-support assembly, 2221-support rod, 223-disk storage assembly, 2231-pulley block, 22311-annular groove, 224-disk storage line slot;

[0058] 23-single-line bundle threading mechanism, 231-single-line transmission mechanism, 2311-transmission frame, 2312-transmission roller group, 2313-transmission drive device, 232-first drive device, 233-second guide rail, 234-bundle threading frame;

[0059] 24-length measuring mechanism, 241-measuring frame, 242-cable meter, 243-guide wheel;

[0060] 25-main inlet duct;

[0061] 26-cutting mechanism, 261-cutting device, 262-second driving device, 263-cutting frame;

[0062] 3-relay conveying device, 31-transmission mechanism, 311-relay motor, 312-conveying wheel set, 313-pressing assembly, 3131-lower pressing wheel set, 3132-pressing cylinder, 314-base, 3141-inlet slot;

[0063] 4-bundling device, 41-bundling mechanism, 411-converging cone tube, 412-converging cone tube, 4121-circular outlet, 4122-elliptical inlet, 413-fixed bracket, 414-movable bracket, 415-converging support rod, 416-connecting piece, 417-slide platform, 418-triangular roller group;

[0064] 42-end fixing assembly, 421-support platform, 422-clamping claw, 423-guide head, 4231-circular sleeve, 4232-wedge-shaped clip, 4233-conical sleeve;

[0065] 5-mobile platform, 51-first mobile guide rail, 52-telescopic frame, 53-transverse driving device, 54-X-type lifting frame, 55-lifting driving device, 56-first mounting frame, 57-second mobile guide rail, 58-second mounting frame, 59-longitudinal driving device, 510-rotation driving device;

[0066] 6-whole beam threading system, 61-beam threading jack, 611-beam threading channel, 612-first cylinder, 613-first piston;

[0067] 62-clamping jack, 621-support channel, 622-clamping assembly, 6221-support sleeve, 6222-clamping piece, 6223-spring, 6224-three-finger claw, 6225-slider, 623-second cylinder, 624-second piston;

[0068] 63-limiting assembly, 631-hydraulic chuck, 632-wire feed frame, 633-rotating roller. DETAILED DESCRIPTION

[0069] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0070] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or suggesting relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0071] like Figure 1-Figure 20As shown, this embodiment discloses a whole-beam threading robot, including a main frame 1 and a storage system 2 arranged on the main frame 1, a relay conveying device 3, a beam forming device 4, a mobile platform 5 and a whole-beam threading system arranged on the mobile platform 5.

[0072] Continue to refer Figure 3-Figure 8 The storage system 2 comprises: a storage rack 21, a storage mechanism 22, a single-line bundle threading mechanism 23, a length measuring mechanism 24, a main line feed slot 25 and a cutting mechanism 26. The storage rack 21 is provided with a first guide rail 211.

[0073] Continue to refer Figure 3 and Figure 6-Figure 8 The disk storage mechanism is provided with a plurality of spiral storage line slide path groups. Specifically, the disk storage mechanism 22 includes a storage plate rack 221, a plurality of support components 222 and a plurality of storage components 23. The storage plate rack 221 is provided on the storage plate rack 1, and the plurality of support components 222 are provided on the storage plate rack 221 in a circular ring shape. The plurality of storage components 223 are respectively fixed on the plurality of support components 222, and each storage component 223 is provided with a plurality of storage line slides. The plurality of storage line slides of the storage components 223 on different support components 222 correspond to each other and are connected to form a plurality of storage line slide paths. The storage line slide path is a spiral storage line slide path. For details, refer to Figure 7 One side of the storage line slide path is the storage disk line inlet. The storage disk line inlet slot 224 is provided with a plurality of line inlet channels, each of which corresponds to a line inlet of the storage line slide path.

[0074] In this embodiment, a specific structural design of a disk storage device is disclosed. Specifically, the support assembly 222 includes three support rods 2221, and the three support rods 2221 are arranged on the disk storage rack 221 in a triangular distribution. The disk storage assembly 223 includes three groups of pulley blocks 2231, and each group of pulley blocks 2231 is respectively installed on a support rod 2221. Each group of pulley blocks 2231 includes a plurality of pulleys, and the pulleys are installed on the support rod 2221 through rolling bearings. The plurality of pulleys of each group of pulley blocks 2231 are arranged in a side-by-side manner, and the plurality of pulleys of different groups are arranged in a circular array. The three pulleys on the same longitudinal surface of the three pulley blocks 2231 correspond to each other, and an annular groove 22311 is provided on the surface of the pulleys. A wire storage slideway is formed between the annular grooves 22311 of the three corresponding pulleys, and the pulley blocks 2231 of different groups are arranged in a spiral manner. After the wire storage slideways of different groups are connected, a spiral wire storage slideway path can be formed. One side of the spiral wire storage slideway path is a wire storage disk inlet. For details, refer to Figure 7The storage tray wire inlet slot 224 is provided with a plurality of wire inlet channels, each of which corresponds to a wire inlet port of a wire storage slideway path. When storing steel strands, the steel strands are pushed into the spiral wire storage slideway path for storage, so that steel strands of more than ten meters to several tens of meters can be stored in a circular manner, saving space.

[0075] Continue to refer Figure 3-Figure 5 The single-line beam threading mechanism 23 includes a beam threading frame 234, a single-line transmission mechanism 231, a first driving device 232 and a second guide rail 233. The second guide rail 233 is transversely arranged on the beam threading frame 234. The beam threading frame 234 is slidably arranged on the first guide rail 211. The first guide rail 211 is preferably arranged in parallel with the support rod 2221 of the disk storage mechanism 22 and is located in front of the disk storage line feed slot 224. The first driving device 232 is used to drive the beam threading frame 234 to move transversely along the first guide rail 211. In this embodiment, the first driving device 232 can preferably be a first transverse motor, and the first transverse motor drives the beam threading frame 234 to move transversely along the first guide rail 211 through a gear rack transmission.

[0076] Continue to refer Figure 3-Figure 5 The single-line transmission mechanism 231 is provided with a bundle inlet and a bundle outlet. The single-line transmission mechanism 231 is arranged on the bundle frame 234 to drive the steel strand to be transported to the storage inlet slot 224. This embodiment specifically discloses a single-line transmission mechanism 231, which includes a transmission frame 2311, multiple transmission roller groups 2312 and a transmission drive device 2313. Each transmission roller group 2312 includes two rollers arranged side by side on the transmission frame 2311 through a rotating shaft. The surface of the roller is an annular groove. The two rollers are arranged at intervals. A transmission channel is formed between the annular grooves of the two rollers. The transmission channels of different groups of transmission roller groups 2312 correspond to each other to form a linear transmission path. When transmitting, the transmission channel clamps the steel strand and pushes it forward. The transmission drive device 2313 is used to drive the two rollers of each transmission roller group 2312 to rotate relative to each other (that is, one roller rotates forward and the other roller rotates reversely). The transmission drive device 2313 can preferably be a permanent magnet synchronous transmission motor, and the transmission motor drives two rollers of different groups of transmission roller groups 2312 to rotate relative to each other through gear transmission.

[0077] When in use, the first driving device 232 drives the bundle threading frame 234 to move laterally along the first guide rail 211 so that the bundle threading outlet of the single-line conveying mechanism 231 corresponds to an inlet channel of the storage disk inlet groove 224. The steel strand enters from the bundle threading inlet of the single-line conveying mechanism 231, and enters the inlet channel of the storage disk inlet groove 224 under the clamping drive of the conveying channel of the conveying roller group 2312, and then enters the spiral storage slide path of the storage disk mechanism 22 for storage.

[0078] Continue to refer Figure 3 and Figure 4 , the length measuring mechanism 24 is used to measure the incoming line length of the steel strand. Specifically in this embodiment, the length measuring mechanism 24 includes a measuring frame 241, a guide wheel 243 and a cable meter 242. The measuring frame 241 is arranged on the bundle threading frame 234, the cable meter 242 is arranged on the measuring frame 241, and the guide wheel 243 is arranged on the measuring frame 241 in front of the incoming line end of the cable meter 242. The outgoing line end of the cable meter 242 corresponds to the bundle threading inlet of the single-line transmission mechanism 231. The main incoming line slot 25 corresponds to the incoming line end of the cable meter 242. When in use, the steel strand enters the incoming line end of the cable meter 242 through the main incoming line slot 25. When the steel strand moves forward, the measuring gear of the meter is driven to rotate, thereby measuring the steel strand.

[0079] Continue to refer Figure 4 The cutting mechanism 26 includes a cutting frame 263, a cutting device 261 and a second driving device 262. The second guide rail 233 is preferably arranged in parallel with the support rod 2221 of the storage mechanism 22. The cutting frame 263 is slidably arranged on the second guide rail 233. The second driving device 262 is used to drive the cutting frame 263 to move along the second guide rail 233. In this embodiment, the second driving device 262 is preferably a second transverse motor, and the second transverse motor preferably drives the cutting frame 263 to move transversely through a gear rack transmission. The cutting device 262 is arranged on the cutting frame 263 to cut the steel strand. Specifically, the cutting device 262 preferably includes a cutting motor and a cutting blade installed on the cutting motor.

[0080] Continue to refer Figure 9-12The bundling device 4 includes a bundling rack, a bundling mechanism 41 and an end fixing assembly 42. The bundling mechanism 41 is provided with a wire bundling tube and a bundle fixing assembly arranged on the bundling rack. The relay conveying device 3 is used to connect the multiple steel strands arranged side by side on each group of spiral wire storage slideway path groups and transmit them to the wire bundling tube. After passing through the wire bundling tube, a whole bundle of steel strands is formed and then inserted into the bundle fixing assembly. Specifically in this embodiment, the wire-merging bundling tube includes a wire-merging cone tube 411 and a wire-merging cone tube 412. The wire-merging cone tube 411 is arranged on the bundling rack, and the wire-merging cone tube 411 is provided with a first inlet and a first outlet; the wire-merging cone tube 412 is arranged in front of the wire-merging cone tube 411, and the wire-merging cone tube 412 is provided with a second inlet, a second outlet and a cone tube body connecting the second inlet and the second outlet, the first inlet corresponds to the second outlet, the size of the second outlet is larger than the size of the first outlet and smaller than the size of the first inlet, wherein a plurality of steel strands arranged side by side in a single layer on the disk storage mechanism 22 are converged and output as a plurality of steel strands distributed in multiple layers through the cone tube body, and the plurality of steel strands distributed in multiple layers are converged and output as a steel strand bundle through the wire-merging cone tube 411. The relay conveying device 3 includes an input end, a conveying mechanism 31 and an output end. The input end is used to access multiple steel strands arranged in a single layer on the storage mechanism 22, and the output end is adapted to the second entrance. The conveying mechanism of the relay conveying device 3 is used to push multiple steel strands arranged in a single layer into the second entrance.

[0081] It can be understood that the relay conveying device 3 can provide power for the side-by-side conveying of multiple steel strands. After the single-layer side-by-side multiple steel strands are fed into the conical conical tube 412 from the second inlet, they are guided by the conical tube body to become multiple multi-layer distributed steel strands and output from the second outlet. The conical conical tube 411 can further converge the vertically multi-layer distributed steel strands fed therein into a steel strand bundle. The relay conveying device 3 is used in conjunction with the bundling device 4 to further converge the multi-layer distributed steel strands fed therein and output them as a steel strand bundle. The bundling device 4 and the relay conveying device 3 are used in conjunction to realize the side-by-side conveying and convergence output functions, thereby simplifying the manual processing steps before the steel strands are bundled and improving the bundling efficiency.

[0082] The converging conical tube 411 and the converging conical tube 412 in this embodiment are arranged on the bundling frame with a co-central axis, the second inlet is an elliptical inlet 4122, the second outlet is a circular outlet 4121, the circular outlet 4121 and the elliptical inlet 4122 are arranged with a co-central axis, and the major axis of the elliptical inlet 4122 is greater than the diameter of the circular outlet 4121, and the minor axis of the elliptical inlet 4122 is less than the diameter of the circular outlet 4121. Specifically, the conical tube body is formed by the elliptical inlet 4122 extending in the direction of the circular outlet 4121, wherein the major axis of the elliptical inlet 4122 is gradually shortened to the diameter of the circular outlet 4121, and the minor axis of the elliptical inlet 4122 is gradually extended to the diameter of the circular outlet 4121, and the inner wall of the conical tube body is smooth, which can efficiently guide multiple steel strands in a single-layer side-by-side state into a multi-layer distribution state.

[0083] Furthermore, the converging cone tube 411 is a conical tube structure, the diameter of the first inlet is larger than the diameter of the circular outlet 4121, and the diameter of the first outlet is smaller than the diameter of the circular outlet 4121, and the converging cone tube 411 can further converge the multiple strands of multi-layer distribution output by the converging cone tube 412 into a bundle. Preferably, the minor axis of the elliptical inlet 4122 is larger than the diameter of a single strand, and the diameter of the first outlet is slightly larger than three times the diameter of a single strand, so that the middle strand of the multiple strands transported side by side can become the center of the strand bundle convergence.

[0084] The converging cone tube 411 in this embodiment is preferably arranged on the bundling frame so as to be horizontally movable, so as to adjust the distance between the converging cone tube 411 and the conical conical tube 412 . Specifically, the bundling rack includes a fixed bracket 413, a movable bracket 414, a converging support rod 415, a connecting piece 416 and a slide rail platform 417. The fixed bracket 413 is installed at the output end of the relay conveying device 3. The fixed bracket 413 and the movable bracket 414 are connected by multiple converging support rods 415. The movable bracket 414 is horizontally movably arranged on the converging support rod 415. The converging cone tube 411 is installed on the movable bracket 414, and the converging cone tube 412 is installed on the fixed bracket 413. The upper end of the connecting piece 416 is fixedly connected to the movable bracket 414, and the lower end is adapted to the slide rail at the top of the slide rail platform 417. The movable bracket 414 can drive the connecting piece 416 to slide horizontally on the converging support rod 415. The slide rail platform 417 supports the movable bracket 414 through the connecting piece 416. The horizontal distance between the converging cone tube 411 and the converging cone tube 412 can be adjusted by horizontally moving the movable bracket 414.

[0085] The bundling device 2 also includes a triangular roller group 418, which is arranged at the first outlet and is used to guide the steel strand bundle to pass through the center of the triangular roller group 418. The triangular roller group 418 is provided with three pulleys, and the three pulleys are distributed at the first outlet with vertices of a regular triangle. The minimum distance between the pulley and the center of the triangular roller group 418 is slightly smaller than the radius of the first outlet, which can avoid excessive scratching between the steel strand bundle and the first outlet, thereby causing wear of the steel strand bundle or the first outlet.

[0086] The transmission mechanism 31 of the relay conveying device 3 in this embodiment includes a relay motor 311, a conveying wheel group 312 and a clamping assembly 313. A plurality of steel strands are placed side by side on the horizontally arranged conveying wheel group 312. The clamping assembly 313 is used to squeeze the plurality of steel strands downward from the top of the conveying wheel group 312. The relay motor 311 is used to drive the pulley of the conveying wheel group 312 to rotate and drive the plurality of steel strands to move horizontally. Specifically, the transmission mechanism 31 of the relay conveying device 3 also includes a base 314. A wire feed groove 3141 is provided on one side above the base 314, corresponding to the input end of the relay conveying device 3. A transmission assembly, such as a transmission gear assembly, is provided inside the base 314. The conveying wheel group 312 is horizontally installed in the base 314 below the wire feed groove 3141. The clamping assembly 313 includes a lower pressure wheel group 3131 and a clamping oil cylinder 3132. The lower pressure wheel group 3131 is horizontally arranged on the conveying wheel group 312. At the top, the top is fixedly connected to the movable end of the clamping cylinder 3132, the bottom pulley is slidably connected to the upper end of the steel strand transported on the conveying wheel group 312, and the fixed end of the clamping cylinder 3132 is fixedly connected to the top of the base 314, which is used to drive the lower pressure wheel group 3131 to move up and down, so that the lower pressure wheel group 3131 can squeeze multiple steel strands downward from above the conveying wheel group 312, which can increase the conveying power of the steel strands and prevent the steel strands from shifting during side-by-side transportation.

[0087] The present embodiment also includes an end fixing assembly 42, which is arranged outside the first outlet and is used to fix the end of the bundle fixing assembly. Specifically, the end fixing assembly 42 includes a support platform 421, a clamping claw 422 and a guide head 423, the support platform 421 is arranged outside the first outlet, the clamping claw 422 is installed above the support platform 421, and the clamping claw 422 is used to clamp and fix the bundle fixing assembly, and the bundle fixing assembly is used to fix the end of the steel strand bundle.

[0088] Continue to refer Fig.13The bundle fixing component is a guide head 423. In this embodiment, the guide head 423 includes a circular sleeve 4231, a plurality of wedge-shaped clips 4232, a conical sleeve 4233 and an elastic member. The outlet of the circular sleeve 4231 is a conical outlet. The wedge-shaped clip 4232 can be radially movably arranged in the conical outlet of the circular sleeve 4231. The conical sleeve 4233 is threadedly connected to the outlet of the circular sleeve 4231. An elastic member is arranged between the wedge-shaped clip 4232 and the conical sleeve 4233. The conical sleeve 4233 squeezes the wedge-shaped clip 4232 to clamp the inner side of the circular sleeve 4231. The guide head 423 is arranged on the same central axis as the converging cone 411, and the end of the middle steel strand among the multiple steel strands arranged in a single layer and arranged side by side protrudes from the other steel strands. When the steel strand bundle passes into the guide head 423, the end of the middle steel strand squeezes the wedge-shaped clamp 4232, causing the wedge-shaped clamp 4232 to move radially outward to loosen and further compress the elastic part in the conical sleeve 4233. The end of the middle steel strand passes through the wedge-shaped clamp 4232 and enters the conical sleeve 4233. The ends of the other steel strands pass into the circular sleeve 4231. The elastic mechanism in the conical sleeve 4233 squeezes the wedge-shaped clamp 4232 to clamp and fix the end of the middle steel strand bundle. The clamp 422 releases the guide head 423 that has fixed the end of the steel strand bundle, and the steel strand bundle and the guide head 423 can continue to be transported forward to obtain the steel strand bundle of the required length.

[0089] The whole bundle threading system 6 is provided with a jack pushing assembly and a clamping assembly 622 arranged on the jack pushing assembly. When the whole bundle of steel strands is transmitted to the clamping assembly 622, the clamping assembly clamps the whole bundle of steel strands, and the jack pushing assembly drives the clamping assembly to transport a predetermined distance. The clamping assembly 622 releases the whole bundle of steel strands, and waits for the jack pushing assembly to shrink to a predetermined position. The clamping assembly 622 clamps the whole bundle of steel strands again and is pushed a predetermined distance by the jack pushing assembly. This pushing is repeated until the threading operation of the whole bundle of steel strands is completed.

[0090] Continue to refer Figure 14-Figure 20This embodiment discloses a jack pushing assembly and a clamping assembly 22. Specifically, the jack pushing assembly includes a beam-penetrating jack 61 and a clamping jack 62. The beam-penetrating jack 61 includes a first cylinder 612, a first piston 613, and a beam-penetrating channel 611 that runs through both ends of the first cylinder 612; the clamping jack 62 includes a second cylinder 623, a second piston 624, and a support channel 621 that runs through both ends of the second cylinder 623. The support channel 621 is connected to the beam-penetrating channel 611, and the first piston 613 is fixedly connected to the first end of the second cylinder 623. The clamping assembly Part 622 is adapted to the second end of the second cylinder body 23. When the second piston 624 moves toward the second end, it can drive the clamping assembly 622 to perform a clamping action. When the second piston 624 moves toward the first end, it can drive the clamping assembly 622 to release and restore to the initial state. In this embodiment, the clamping jack 62 drives the clamping assembly 622 to clamp and fix the entire bundle of steel strands in the supporting channel 621. The bundle threading jack 61 cyclically pushes the clamping jack 62, so that the entire bundle of steel strands after the multiple steel strands are gathered can be threaded, thereby improving the threading efficiency of the entire bundle.

[0091] Continue to refer Figure 14-Figure 20This embodiment discloses a clamping assembly 22, which includes a support sleeve 6221, a clip 6222, a spring 6223, a three-finger claw 6224 and a slider 6225. The support sleeve 6221 is installed on the outer side of the second end of the second cylinder 623, and the outlet of the support sleeve 6221 is connected to the support channel 621. The clip 6222 is radially movably arranged on the inner peripheral edge of the outlet of the support sleeve 6221. The clip 6222 and the second piston 624 slide together to perform a clamping action. The second piston 624 is used to drive the clamping piece 6222 to perform a clamping action. The clamping piece 6222 is set to a three-petal structure. The separation surfaces on both sides of the clamping piece 6222 are provided with an angle, and the inclination is set between 1° and 12°, which can effectively increase the clamping stability of the entire bundle of steel strands; two adjacent clamping pieces 6222 are elastically connected by a spring 6223. When the second piston 624 drives the clamping piece 6222 to perform a clamping action, the spring 6223 is in a compressed state. When the clamping assembly 622 returns to its initial state, the spring 6223 is in a relaxed state. The expansion of the spring 6223 can open the clip 6222 and make them move away from each other, so as to realize the function of automatic reset of the clamping assembly 622; the three-finger claws 6224 are arranged in a circular array on the outer peripheral edge of the outlet of the support sleeve 6221, and are fixedly connected with the slider 6225, and the slider 6225 passes through the sliding groove mouth of the outlet peripheral edge of the support sleeve 6221 and is fixedly connected with the clip 6222, and the slider 6225 is slidably connected with the support sleeve 6221, and each slider 6225 is respectively connected with a three-finger claw 6224, a clip When the second piston 624 drives the clamping piece 6222 to clamp, the spring 6223 is compressed, and the clamping piece 6222 drives the slider 6225 and the three-finger claw 6224 to move and close along the outlet radial direction of the support sleeve 6221, thereby clamping and fixing the entire bundle of steel strands inside the support channel 621. When the clamping piece 6222 is opened, the three-finger claw 6224 can reduce the gap between the three-petal clamping piece, play the role of gathering multiple steel strands, and avoid the loose clamping and uneven force of the entire bundle of steel strands. It is worth noting that the inner surface of the clamping piece 6222 is provided with a large pitch spiral line protrusion, which can increase the friction between the clamping piece 6222 and the outer side of the steel strand.

[0092] Furthermore, the present embodiment proposes an assembly structure of a bundle threading jack 1 and a clamping jack 2, wherein the bundle threading jack 1 and the clamping jack 2 are arranged on a common center axis, the bundle threading channel 11 and the bundle threading jack 1 are arranged on a common center axis, and the supporting channel 21 and the clamping jack 2 are arranged on a common center axis, so that the stability of the whole bundle threading device of the jack can be improved during operation; in addition, the bundle threading channel 11 passes through both ends of the first piston 13, and the supporting channel 21 passes through both ends of the second piston 24, and both ends of the second piston 24 are provided with inclined surfaces, and the clamping assembly 22 is provided with a conical surface matched with the inclined surface, that is, the clamping piece 222 is provided with a conical surface, and when the second piston 24 moves toward the second end, the inclined surface and the conical surface abut against each other, and can gradually squeeze the clamping piece 222 of the clamping assembly 2 to close, so as to meet the clamping and fixing requirements of the whole bundle of steel strands of different diameters. In addition, the inlet diameter of the second piston 24 is larger than the diameter of the bundle passage 11 , and a slope is provided at the inlet of the second piston 24 so that the entire bundle of steel strands transported by the bundle passage 11 can enter the support passage 21 more smoothly.

[0093] Furthermore, it also includes a limit component 63, which is arranged outside the entrance of the bundle threading channel 611. The limit component 63 includes a hydraulic chuck 631. The inner wall of the hydraulic chuck 631 is slidably connected to the side of the entire bundle of steel strands. The hydraulic chuck 631 is connected to the hydraulic system. Before the clamping component 622 releases the entire bundle of steel strands and the first piston 613 returns, the hydraulic chuck 631 is used to clamp and fix the entire bundle of steel strands to prevent the entire bundle of steel strands from retreating when the first piston 613 returns; the pressure measuring module is used to detect whether the pressure of the hydraulic chuck 631 clamping the entire bundle of steel strands reaches a preset pressure value. Specifically, a pressure sensor can be set to detect whether the pressure of the hydraulic chuck 631 clamping the entire bundle of steel strands reaches a preset pressure value. The preset pressure value of the hydraulic chuck 631 clamping the entire bundle of steel strands and the preset pressure value of the clamping component 622 clamping the entire bundle of steel strands are set to the same value.

[0094] It is worth mentioning that the limiting assembly 63 also includes an inlet frame 632 connected to the first cylinder body 612, and four rotating rollers 633 are vertically arranged in pairs on the inner wall of the inlet frame 632. The hydraulic chuck 631 is arranged in the inlet frame 632 near the entrance of the bundle threading channel 611. When the whole bundle of steel strands is fed into the inlet frame 632, the outer side surface of the whole bundle of steel strands is slidably connected with the rotating roller 633, which can avoid excessive friction between the whole bundle of steel strands and the entrance of the bundle threading channel 611.

[0095] Furthermore, in the present embodiment, the whole bundle threading system also includes a first ranging module, a second ranging module, a first pressure measuring module, a positioning module and a hydraulic system. The threading jack 61 and the clamping jack 62 are both hydraulic jacks. The hydraulic system is connected to the threading jack 61 and the clamping jack 62, respectively, and the hydraulic system can control the working status of the threading jack 61 and the clamping jack 62, respectively; the first ranging module is used to detect whether the end of the whole bundle of steel strands is delivered to the preset position. Specifically, an infrared ranging sensor can be set on the outside of the outlet of the support sleeve 6221 to detect whether the end of the whole bundle of steel strands is delivered to the preset position outside the outlet of the support sleeve 6221; the second ranging module is used to collect the cumulative advancement distance of the threading jack 1. Specifically, the cumulative advancement distance of the first piston 613 can be collected by setting a rope displacement sensor, so as to accurately control the exposed length of the whole bundle of steel strands after passing through the hole of the prefabricated beam. The first pressure measuring module is used to detect whether the pressure of the clamping assembly 622 clamping the whole bundle of steel strands reaches the preset pressure value. Specifically, a pressure sensor can be set to detect whether the pressure of the clamping assembly 622 clamping the whole bundle of steel strands reaches the preset pressure value. The preset pressure value needs to be set according to the clamping force of the clamping assembly 622 clamping the whole bundle of steel strands of different sizes. Generally, the greater the weight of the whole bundle of steel strands, the greater the required clamping force and the greater the preset pressure value. The positioning module is used to locate the position of the prefabricated beam hole. In this embodiment, the positioning module is preferably a laser sensor, and the laser sensor is arranged at the outlet of the support sleeve 6221. That is, the mobile platform 5 moves to the vicinity of the entrance position of the channel of the corrugated pipe to be penetrated, and the positioning module and the mobile platform 5 cooperate to achieve the alignment and positioning of the beam channel 611 and the channel of the corrugated pipe to be penetrated.

[0096] Furthermore, it also includes a limit component 63, which is arranged outside the entrance of the bundle passage 611. The limit component 63 includes a hydraulic chuck 631 and a second pressure measuring module. The inner wall of the hydraulic chuck 631 is slidably connected to the side of the entire bundle of steel strands. The hydraulic chuck 631 is connected to the hydraulic system. Before the clamping component 622 releases the entire bundle of steel strands and the first piston 613 returns, the hydraulic chuck 631 is used to clamp and fix the entire bundle of steel strands to prevent the entire bundle of steel strands from retreating when the first piston 613 returns; the second pressure measuring module is used to detect whether the pressure of the hydraulic chuck 631 clamping the entire bundle of steel strands reaches a preset pressure value. Specifically, a pressure sensor can be set to detect whether the pressure of the hydraulic chuck 631 clamping the entire bundle of steel strands reaches a preset pressure value. The preset pressure value of the hydraulic chuck 31 clamping the entire bundle of steel strands and the preset pressure value of the clamping component 622 clamping the entire bundle of steel strands are set to the same value.

[0097] Continue to refer Figure 21-22The mobile platform 5 includes a first moving guide rail 51, a transverse driving device 53, a telescopic frame 52, a lifting driving device 55, an X-shaped lifting frame 54, a first mounting frame 56, a longitudinal driving device 59, a second moving guide rail 57, a longitudinal driving device 59, a second mounting frame 58 and a rotating driving device 510. The first moving guide rail 51 is arranged on the main frame 1, and the telescopic frame 52 is arranged on the first moving guide rail 51 in a manner that can slide transversely, that is, the telescopic frame 52 includes a first sub-telescopic frame and a second sub-telescopic frame, and the second sub-telescopic frame is arranged on the first sub-telescopic frame in a telescopic manner. The transverse driving device 53 is used to drive the telescopic frame 52 to slide transversely, the X-shaped lifting frame 54 is arranged on the telescopic frame 52, and the lifting driving device 55 is used to drive the telescopic frame 52 to extend and retract to drive the X-shaped lifting frame 54 to move up and down (that is, one end of the X-shaped lifting frame is arranged on the first sub-telescopic frame, and the other end is arranged on the second sub-telescopic frame. When the second sub-telescopic frame is extended and retracted back and forth, the X-shaped lifting frame can be driven to move up and down). The first mounting frame 56 is arranged on the X-shaped lifting frame 54, the second moving guide rail 57 is arranged on the first mounting frame 56, and the second mounting frame 58 is arranged on the second moving guide rail 57 so as to be able to slide longitudinally. The longitudinal driving device 59 is used to drive the second mounting frame 58 to slide longitudinally. The whole beam threading system 6 is arranged on the second mounting frame 58 so as to be able to rotate, and the rotation driving device 510 is used to drive the whole beam threading system 6 to rotate.

[0098] The storage system, relay conveying device, bunching device, mobile platform and whole-bundle threading system are electrically connected to the PLC controller respectively, and the PLC controller controls each part of the equipment to realize automated operation.

[0099] Specifically in this embodiment, the steel strand bundle storage system feeds a single steel strand into a storage mechanism for storage, and records the feeding length of the single steel strand through a length measuring mechanism. After reaching the set length, the current steel strand is cut off by a cutting mechanism, and the rear section of the steel strand is connected to a spiral wire storage slide path of the storage mechanism by controlling the lateral movement of the single-wire bundle threading mechanism, and then the next steel strand is stored. After storing a corresponding number of steel strands, multiple steel strands are simultaneously fed into the wire merging bundle tube of the wire merging mechanism through a relay conveying device, and the arrangement diameters of the multiple steel strands are further contracted through the wire merging bundle tube, and the strands are passed through the bundle fixing assembly, and the strands are locked through the bundle fixing assembly to form a whole bundle of steel strands; the relay conveying device continues to feed the whole bundle of steel strands into the jack whole bundle threading system, and the jack whole bundle threading system uses a positioning module to locate the prefabricated beam hole position through a mobile platform, and the mobile platform moves the jack whole bundle threading system to the corresponding hole position, and starts the jack pushing assembly to transport the whole bundle of steel strands. The specific implementation steps are as follows:

[0100] 1. Save the whole bundle of steel strands

[0101] First, the PLC controller controls the cable meter 242 to start, and the PLC controller controls the first drive device 232 to drive the bundle threading frame 234 to move horizontally, so that the bundle threading outlet of the single-line transmission mechanism 231 corresponds to the storage inlet of the storage inlet slot 24 of one of the storage mechanisms 22, and then the steel strands on the steel strand coil are inserted into the main inlet slot 25, pass through the measuring gear of the cable meter 242, and extend to the bundle threading inlet of the single-line transmission mechanism 231. When the steel strands move forward, the PLC controller controls the cable meter 242 to measure the length of the steel strands.

[0102] Then the PLC controller controls the transmission drive device 2313 to drive the transmission roller group 2312 of the single-line transmission mechanism 231 to drive the steel strand to be dragged out from the steel strand coil and pushed to the spiral wire storage slide path of the storage device 22. During the wire feeding process, the steel strand drives the measuring roller of the cable meter 2242 to rotate, and the measuring roller of the meter drives the rotation of its encoder, and transmits the rotation parameters back to the PLC controller to realize the real-time recording of the wire feeding length. When the meter measures that the steel strand reaches the predetermined wire feeding length, the PLC controller controls the single-line transmission mechanism 231 to stop transmission, so that the steel strand stops at the set length.

[0103] Then the cutting mechanism 26 is started, and the PLC controller controls the second driving device 262 to drive the cutting frame 263 to move along the second guide rail 233, and the cutting device 261 cuts the steel strand, thereby completing the storage of a single steel strand, and repeating this cycle to complete the storage of the required number of steel strands in a whole bundle.

[0104] 2. Gather the parallel steel strands stored on the storage mechanism into a bundle to form a whole bundle of steel strands

[0105] First, the PLC controller controls the relay clamping cylinder 3132 to lift up, and the steel strands at the output end of the storage mechanism enter the conveying wheel group 312 of the relay conveying device 3 through the wire feed groove 3141, and the relay clamping cylinder 3132 is pressed down, so that the lower pressure wheel group 3131 and the conveying wheel group 312 clamp multiple steel strands at the same time, and the multiple steel strands are sent to the wire merging mechanism at the same time by driving the lower pressure wheel group 3131 and the conveying wheel group 312.

[0106] When multiple steel strands pass through the converging mechanism at the same time, they are shrunk into multiple parallel steel strands through the front converging conical tube 412 to reduce the distance between the steel strands, and then further shrunk into a closely fitting quasi-circular distribution through the rear converging conical tube 411.

[0107] The steel strand bundling guide head is clamped on the clamping claw 422 by the end fixing assembly 42. After passing through the wire merging mechanism, the entire bundle of steel strands is directly inserted into the wedge-shaped clamp 4232 of the steel strand bundling guide head. One of the longer steel strands is clamped by the wedge-shaped clamp 4232, so that the steel strand bundling guide head and the steel strands are fixed. At this time, all the steel strands are gathered in the rear guide sleeve to prevent the steel strands from being tangled during the bundling process.

[0108] The PLC controller determines that multiple steel strands have been connected to the steel strand bundling guide and fixed by reading the changes in the power-on signal parameters of the relay motor 311 of the conveying wheel group 312 of the transmission mechanism of the relay conveying device 3, and controls the relay motor 311 of the conveying wheel group 312 to stop working. At the same time, it controls the relay clamping cylinder 3132 to loosen and release the multiple parallel steel strands that have been clamped, and controls the clamping claw 422 of the end fixing assembly 42 to open and release the steel strand bundling guide.

[0109] 3. Carry out the whole bundle of steel strands threading operation

[0110] The relay clamping oil cylinder 3132 is controlled to clamp, so that the relay clamping roller mechanism clamps multiple steel strands at the same time, and the lower pressing wheel group 3131 and the conveying wheel group 312 clamp multiple steel strands at the same time, driving the entire bundle of steel strands to be simultaneously fed into the bundle passing channel 611 and the support channel 621. Specifically, the relay conveying device 3 continues to convey so that the entire bundle of steel strands passes through the bundle passing channel 611 and the support channel 621 in sequence. When the first distance measuring module detects that the end of the entire bundle of steel strands is conveyed to the preset position, the relay conveying device 3 stops conveying and releases the steel strands.

[0111] The clamping jack 62 and the limit assembly 63 clamp and fix the entire bundle of steel strands. Specifically, the first pressure measuring module and the second pressure measuring module respectively detect the pressure of the clamping assembly 622 and the hydraulic clamp 631 clamping the entire bundle of steel strands in real time, and control the pressure of clamping the entire bundle of steel strands to maintain a preset pressure value.

[0112] The mobile platform 5 moves to the entrance of the channel of the corrugated pipe to be threaded, and cooperates with the positioning module to realize the alignment and positioning of the threading channel 611 and the channel of the corrugated pipe to be threaded. Specifically, when the alignment and positioning is completed, the hydraulic clamp 631 releases the entire bundle of steel strands.

[0113] The bundle threading jack 61 and the clamping jack 62 cooperate to push the entire bundle of steel strands into the channel of the corrugated pipe to be threaded. Specifically, the steps of the bundle threading jack 61 and the clamping jack 62 cooperating to complete a single cycle include: the first piston 613 is pushed to the maximum distance, the clamping assembly 622 releases the entire bundle of steel strands, the hydraulic clamp 631 clamps and fixes the entire bundle of steel strands, the first piston 613 returns to the initial position, the hydraulic clamp 631 releases the entire bundle of steel strands, and the clamping assembly 622 clamps and fixes the entire bundle of steel strands.

[0114] When the cumulative pushing distance of the whole bundle of steel strands reaches the preset length, the threading task is terminated, the clamping assembly 622 releases the whole bundle of steel strands, the first piston 613 returns to the initial position, and the mobile platform 5 returns to the initial position. It is worth noting that the preset length is set according to the exposed length requirement of the end of the whole bundle of steel strands after passing through the corrugated pipe channel, which can be obtained by measurement. The second distance measurement module collects the cumulative pushing distance of the first piston 613 in real time. When the cumulative pushing distance reaches the preset length, the threading task is terminated.

[0115] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A whole beam threading robot, characterized in that: It includes a main frame and a storage system arranged on the main frame, a relay conveying device, a beam forming device, a mobile platform and a whole beam threading system arranged on the mobile platform; A disk storage system, comprising a disk storage rack arranged on the main rack, and a disk storage mechanism, a single-wire threading mechanism, a length measuring mechanism and a cutting mechanism arranged on the disk storage rack; The storage mechanism is provided with a spiral wire storage slideway path group, and the spiral wire storage slideway path group has a plurality of side-by-side spiral wire storage slideway paths; the single wire bundle threading mechanism is used to connect a single steel strand to one of the spiral wire storage slideway paths for transmission, the length measuring mechanism is used to measure the conveying length of the steel strand in real time, and the cutting mechanism is used to cut the steel strand when the conveyed steel strand reaches a predetermined length; The bundling device is provided with a wire converging and bundling tube and a bundling fixing assembly, and the relay conveying device is used to receive a plurality of steel strands arranged side by side on each set of spiral wire storage slideway path groups and transmit them to the wire converging and bundling tube, and after passing through the wire converging and bundling tube, a whole bundle of steel strands is formed and then inserted into the bundling fixing assembly; The whole bundle threading system is provided with a jack pushing assembly and a clamping assembly arranged on the jack pushing assembly. When the whole bundle of steel strands is transmitted to the clamping assembly, the clamping assembly clamps the whole bundle of steel strands, the jack pushing assembly drives the clamping assembly to transport a predetermined distance, and the clamping assembly releases the whole bundle of steel strands. When the jack pushing assembly shrinks to a predetermined position, the clamping assembly clamps the whole bundle of steel strands again and is pushed a predetermined distance by the jack pushing assembly. This pushing is repeated until the threading operation of the whole bundle of steel strands is completed.

2. The whole beam threading robot according to claim 1, characterized in that: The storage mechanism comprises: A disk storage main frame, which is provided with a first guide rail; A disk storage mechanism, comprising a disk storage rack, a plurality of support components and a plurality of disk storage components; the disk storage rack is arranged on the disk storage main rack, and a plurality of support components are arranged on the disk storage rack in a circular ring shape; a plurality of disk storage components are respectively fixed on the plurality of support components, each group of disk storage components is provided with a plurality of wire storage slideways, and a plurality of wire storage slideways of the disk storage components on different support components are mutually corresponding and connected to form a plurality of wire storage slideway paths, the wire storage slideway path is a spiral wire storage slideway path, and one side of the wire storage slideway path is a disk storage line inlet; A single-wire bundle-threading mechanism, comprising a bundle-threading frame, a single-wire conveying mechanism, a first driving device and a second guide rail, wherein the bundle-threading frame is slidably arranged on the first guide rail, the first driving device is used to drive the bundle-threading frame to move along the first guide rail, the single-wire conveying mechanism is provided with a bundle-threading inlet and a bundle-threading outlet, and the single-wire conveying mechanism is arranged on the bundle-threading frame to drive the steel strand to be conveyed to the storage inlet; A main line inlet slot, which corresponds to the line inlet port of the single-line transmission mechanism; A length measuring mechanism, which is used to measure the incoming length of the steel strand; The cutting mechanism comprises a cutting frame, a cutting device and a second driving device, wherein the cutting frame is slidably arranged on the second guide rail, the second driving device is used to drive the cutting frame to move along the second guide rail, and the cutting device is arranged on the cutting frame to cut the steel strand.

3. The whole beam threading robot according to claim 2, characterized in that: The single-line transmission mechanism includes a transmission frame, multiple groups of transmission roller groups and a transmission drive device. Each group of the transmission roller groups includes two rollers arranged side by side. The surface of the roller is an annular groove. A transmission channel is formed between the annular grooves of the two rollers. The transmission channels of different groups of transmission roller groups correspond to each other. The transmission drive device is used to drive the two rollers of each group of the transmission roller groups to rotate relative to each other.

4. The whole beam threading robot according to claim 1, characterized in that: The bundling device comprises a bundling rack and a converging wire bundling tube, the converging wire bundling tube comprises a converging wire cone tube and a conical conical conduit, the converging wire cone tube is arranged on the bundling rack, the converging wire cone tube is provided with a first inlet and a first outlet, and the size of the first inlet is larger than the size of the first outlet; The special-shaped converging pipe is arranged in front of the converging conical pipe, and the conical converging pipe is provided with a second inlet, a second outlet and a conical pipe body connecting the second inlet and the second outlet, the first inlet corresponds to the second inlet, the size of the second outlet is larger than the size of the first outlet and smaller than the size of the first inlet, wherein a plurality of steel strands arranged side by side in a single layer are converged through the conical pipe body to output a plurality of steel strands distributed in multiple layers, and the plurality of steel strands distributed in multiple layers are converged through the conical converging pipe to output a steel strand bundle.

5. The whole beam threading robot according to claim 1, characterized in that: The bundling and fixing assembly includes a circular sleeve, a plurality of wedge-shaped clips, a conical sleeve head and an elastic member. The outlet of the circular sleeve is a conical outlet. The plurality of wedge-shaped clips are radially movably arranged in the outlet of the circular sleeve. The conical sleeve head is threadedly connected to the outlet of the circular sleeve. An elastic member is arranged between the wedge-shaped clips and the conical sleeve head. The conical sleeve head squeezes the plurality of wedge-shaped clips toward the inner side of the conical outlet of the circular sleeve through the elastic member to perform a clamping action.

6. The whole beam threading robot according to claim 4, characterized in that: The relay conveying device includes an input end, a conveying mechanism and an output end. The input end is used to connect multiple steel strands arranged in a single layer. The output end is adapted to the second inlet. The conveying mechanism is used to push the multiple steel strands arranged in a single layer into the second inlet.

7. The whole beam threading robot according to claim 4, characterized in that: The jack pushing assembly includes a beam-penetrating jack and a clamping jack, and the beam-penetrating jack includes a first cylinder, a first piston disposed in the first cylinder, and beam-penetrating channels penetrating both ends of the first cylinder; The clamping jack includes a second cylinder body, a second piston arranged in the second cylinder body, and a support channel running through both ends of the second cylinder body, the support channel is connected to the beam passage, the first piston is fixedly connected to the first end of the second cylinder body, and the clamping assembly is connected to the second end of the second cylinder body. When the second piston moves toward the second end, the clamping assembly can be driven to perform a clamping action, and when the second piston moves toward the first end, the clamping assembly releases and returns to an initial state.

8. The whole beam threading robot according to claim 7, characterized in that: The clamping assembly includes a support sleeve and a clip, the support sleeve is installed on the outer side of the second end, the outlet of the support sleeve is connected to the support channel, the clip is radially movably arranged on the inner periphery of the outlet of the support sleeve, and the second piston is used to drive the clip to perform a clamping action.

9. The whole beam threading robot according to claim 1, characterized in that: The mobile platform includes a first moving guide rail, a transverse driving device, a telescopic frame, a lifting driving device, an X-shaped lifting frame, a first mounting frame, a longitudinal driving device, a second moving guide rail, a longitudinal driving device, a second mounting frame and a rotation driving device; the first moving guide rail is arranged on the main frame, the telescopic frame is arranged on the first moving guide rail so as to be able to slide transversely, the transverse driving device is used to drive the telescopic frame to slide transversely, the X-shaped lifting frame is arranged on the telescopic frame, the lifting driving device is used to drive the telescopic frame to be telescoped to drive the X-shaped lifting frame to be lifted and moved, the first mounting frame is arranged on the X-shaped lifting frame, the second moving guide rail is arranged on the first mounting frame, the second mounting frame is arranged on the second moving guide rail so as to be able to slide longitudinally, the longitudinal driving device is used to drive the second mounting frame to slide longitudinally, the whole beam threading system is arranged on the second mounting frame so as to be able to rotate, and the rotation driving device is used to drive the whole beam threading system to rotate.

10. The whole beam threading robot according to claim 7, characterized in that: The whole bundle threading system also includes a first ranging module, a second ranging module, a first pressure measuring module and a positioning module; the first ranging module is used to detect whether the end of the whole bundle of steel strands is delivered to the preset position of the support channel, the second ranging module is used to collect the cumulative advancement distance of the bundle threading jack, the first pressure measuring module is used to detect whether the pressure of the clamping assembly clamping the whole bundle of steel strands reaches a preset pressure value, and the positioning module is used to detect whether the jack pushing assembly reaches the predetermined position of the prefabricated beam hole.

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