Steel bar prestressing auxiliary stretching system and method

Abstract

The invention relates to the technical field of steel bar tensioning, and discloses a steel bar prestressed auxiliary stretching system and method. In this scheme, a grabbing component is set to realize pulling a plurality of groups of steel bars wound on a steel bar cylinder to a predetermined position and feeding them into a prestressed jack, so that the steel bars can be tensioned without manual pulling of the steel bars, thereby improving the construction efficiency and the continuity of the construction work and meeting the processing requirements of the prestressed building structure of a large construction site; an elastic modulus detection component is set on a manipulator to realize the detection of the elastic modulus of the steel bars, and a tension detection component is set on the manipulator to realize real-time measurement of the tensioning force of the steel bars, so as to obtain the tensioning force of the steel bars during the tensioning process, thereby controlling the tension value of each steel bar, and controlling the prestressed tensioning component to stop working when the tension reaches the standard; the elastic modulus detection component and the tension detection component are set on the manipulator to avoid the inconvenience caused by the traditional installation of the above detection components on the steel bars.

Description

Technical Field

[0001] The invention relates to the technical field of steel bar tensioning, and in particular to a steel bar prestressed auxiliary tensioning system and a tensioning method. Background Art

[0002] In the field of construction, prestressing of steel bars is an important engineering technology. It applies tension in the components in advance, so that the components will produce a certain compressive stress before they are subjected to external loads, thereby improving the bearing capacity and seismic resistance of the components (bridges, floor slabs, precast panels).

[0003] At present, the equipment used for prestressing steel bars has a low degree of automation, and manual intervention is required in multiple links; for example, the reinforcement hole on the mold is usually a complete hole, and the steel bar needs to be inserted manually, resulting in a low degree of automation in the stretching process and affecting the continuity and efficiency of the construction work; or a robot is used instead of manual labor to insert the steel bar, but a simple robot alone cannot complete the reinforcement insertion process. Multiple robots need to be set up to clamp a steel bar in order to pass the steel bar through the reinforcement hole, which increases cost expenditure. Summary of the invention

[0004] The purpose of the present invention is to provide a prestressed steel bar auxiliary stretching system and method, which is used to solve the problems in the prior art that a lot of manual intervention is required when prestressing steel bars, resulting in low construction efficiency or using multiple manipulators to operate one steel bar, resulting in high cost expenditure.

[0005] In order to achieve the above-mentioned object, in a first aspect, the present invention provides a steel bar prestressed auxiliary stretching system, comprising:

[0006] A steel bar releasing component, wherein the steel bar releasing component can release at least two groups of steel bars spaced apart along a first direction and extending along a second direction; the first direction and the second direction are perpendicular to each other;

[0007] The mold unit comprises a lower box body and an upper box body which can be opened and closed; a plurality of first semicircular holes arranged at intervals along the first direction are penetrated on the side walls at two opposite ends of the lower box body along the second direction, and a plurality of second semicircular holes arranged at intervals along the first direction are penetrated on the side walls at two opposite ends of the upper box body along the second direction, the first semicircular holes and the second semicircular holes are arranged correspondingly, and when the upper box body is covered on the lower box body, the corresponding first semicircular holes and the second semicircular holes constitute reinforcing bar holes; a locking assembly corresponding to the reinforcing bar is provided at one end of the mold unit close to the reinforcing bar releasing assembly, and a non-return assembly corresponding to the reinforcing bar is provided at one end of the mold unit away from the reinforcing bar releasing assembly;

[0008] A grabbing assembly, which can move vertically and in the second direction respectively and is used to grab the steel bar to drive the steel bar to pass through the top of the lower box;

[0009] A guide assembly is provided between the mold unit and the steel bar release assembly and guides the steel bar, so that when the grabbing assembly drives the steel bar to move along the second direction, the steel bar and the corresponding steel bar penetration hole are aligned in a vertical direction;

[0010] A cutting assembly, disposed between the guide assembly and the mold unit;

[0011] A prestressed tensioning assembly is provided at one end of the mold unit away from the steel bar releasing assembly; and

[0012] The elastic modulus detection component is used to measure the elastic modulus of the steel bar, and the tension detection component is used to measure the tension of the steel bar.

[0013] In some embodiments of the present application, the locking assembly includes a first semi-conical cylinder provided on a side wall of one end of the lower box body close to the steel bar releasing assembly and coaxially arranged with the first semicircular hole, and a second semi-conical cylinder provided on a side wall of one end of the upper box body close to the steel bar releasing assembly and coaxially arranged with the second semicircular hole, the first semi-conical cylinder and the second semi-conical cylinder cooperate to form a locking cylinder, and the inner diameter of the locking cylinder gradually increases in a direction away from the mold unit;

[0014] It also includes a first clamping ring piece and a second clamping ring piece coaxially arranged in the locking cylinder, the first clamping ring piece and the second clamping ring piece are symmetrically arranged and a certain distance is spaced between them; the first clamping ring piece and the second clamping ring piece can be moved vertically and in the second direction respectively, and the outer diameters of the first clamping ring piece and the second clamping ring piece gradually decrease towards the direction approaching the mold unit.

[0015] In some embodiments of the present application, the non-return assembly includes a third semi-conical cylinder provided on the side wall of one end of the lower box away from the steel bar releasing assembly and coaxially arranged with the first semicircular hole, and a fourth semi-conical cylinder provided on the side wall of one end of the upper box away from the steel bar releasing assembly and coaxially arranged with the second semicircular hole, the third semi-conical cylinder and the fourth semi-conical cylinder cooperate to form a non-return cylinder and the inner diameter of the non-return cylinder gradually increases in the direction away from the mold unit;

[0016] It also includes a third clamping ring piece and a fourth clamping ring piece coaxially disposed in the check cylinder, wherein the third clamping ring piece and the fourth clamping ring piece are symmetrically arranged and a certain distance is spaced between them; the third clamping ring piece and the fourth clamping ring piece can be moved vertically and in the second direction respectively, and the outer diameters of the third clamping ring piece and the fourth clamping ring piece gradually decrease toward the direction approaching the mold unit;

[0017] It also includes a stop rod disposed on a side wall of the upper box body and the lower box body away from the steel bar releasing assembly, and the stop rod is used to prevent the third clamping ring piece and the fourth clamping ring piece from moving in a direction away from the mold unit.

[0018] In some embodiments of the present application, the guide assembly includes a plurality of guide cylinders spaced apart along the first direction and corresponding to the reinforcement holes, and the plurality of guide cylinders are commonly connected to a load-bearing rod and are installed on the reinforcement release assembly via the load-bearing rod.

[0019] In some embodiments of the present application, the steel bar release assembly includes a support frame and a rotating shaft extending along the first direction is rotatably mounted on the support frame, and a winding drum matching the number of the reinforcement holes and used for winding the steel bars is coaxially spaced on the rotating shaft.

[0020] In some embodiments of the present application, the grabbing assembly includes a liftable gantry and the bottom of the gantry is equipped with a guide rail assembly for moving the gantry along the second direction;

[0021] It also includes a robot arm which is fixedly installed on the gantry at intervals along the first direction and is arranged to match the reinforcement holes.

[0022] In some embodiments of the present application, the elastic modulus detection component is an ultrasonic sensor and is installed on the manipulator;

[0023] The tension detection component includes two detection rods which are slidably installed on the manipulator along the second direction and are vertically spaced apart. The detection rod has an abutment rod which is vertically abutted against the outer peripheral wall of the steel bar at one end away from the manipulator, and the two abutment rods are spaced apart along the second direction. The detection rod is elastically connected to the manipulator, and the detection rod is connected to a distance measuring component. The distance measuring component and the ultrasonic sensor are both connected to a control and metering module.

[0024] In some embodiments of the present application, there is also a first camera disposed at an end of the mold unit close to the steel bar releasing component, and a second camera disposed at an end of the mold unit away from the steel bar releasing component.

[0025] In a second aspect, an embodiment of the present invention provides a stretching method for the prestressed steel bar auxiliary stretching system in the above embodiment, comprising the following steps:

[0026] S1: Control the grabbing assembly to descend and grab the corresponding steel bar through the grabbing assembly;

[0027] S2: Control the grabbing assembly to move along the second direction, and drive the steel bar to pass over the lower box, so that the free end of the steel bar moves to the position of the prestressing tensioning assembly;

[0028] S3: Control the grabbing assembly to descend and make the steel bar fall downward into the corresponding first semicircular hole, and then control the grabbing assembly to continue to move forward so that the free end of the steel bar is sent into the prestressing tensioning assembly;

[0029] S4: Cover the upper box body with the lower box body and fix the upper box body and the lower box body;

[0030] S5: Control the cutting assembly to work and cut an incision on the steel bar between the guide assembly and the mold unit to disconnect the released steel bar from the steel bar wrapped around the steel bar releasing assembly;

[0031] S6: Control the prestressing tensioning components to tension the steel bars.

[0032] In some embodiments of the present application, during the process of tensioning the steel bars, the clamping force applied by the manipulator on the outer wall of the steel bars is reduced, and the steel bars are made movable relative to the manipulator, and the tension of the steel bars is detected in real time through the elastic modulus detection component and the tension detection component.

[0033] Compared with the prior art, the present invention provides a prestressed steel bar auxiliary stretching system and stretching method, which have the following beneficial effects: the present invention provides a grabbing assembly to pull multiple groups of steel bars wrapped around a steel bar cylinder to a predetermined position and feed them into a prestressed jack, thereby achieving tensioning of the steel bars without the need for manual pulling of the steel bars, and each steel bar only requires one manipulator to complete the threading of the steel bars, thereby improving the automation of the equipment, and also improving the construction efficiency and the continuity of the construction work, thereby meeting the processing requirements of prestressed building structures on large construction sites; by providing an elastic modulus detection assembly on the manipulator, the elastic modulus of the steel bar can be detected, and by providing a tension detection assembly on the manipulator, the tensioning force of the steel bar can be measured in real time, so as to obtain the tensioning force to which the steel bar is subjected during the tensioning process, thereby controlling the tension value of each steel bar, and controlling the prestressed tensioning assembly to stop working when the tension reaches the standard; by providing the elastic modulus detection assembly and the tension detection assembly on the manipulator, the inconvenience caused by the traditional installation of the above-mentioned detection assembly on the steel bar is avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0035] Figure 2 It is a front view structural schematic diagram of the overall structure of the present invention;

[0036] Figure 3 This is a schematic diagram of the state in which the grabbing assembly of the present invention pulls the steel bar to the other end;

[0037] Figure 4 This is a schematic diagram of the mold unit structure of the present invention;

[0038] Figure 5 For the present invention Figure 4 A schematic diagram of the structure enlargement in the middle;

[0039] Figure 6 This is a schematic diagram of the state when the upper box body and the lower box body of the present invention are separated;

[0040] Figure 7 For the present invention Figure 6 A magnified schematic diagram of the structure at B in the middle;

[0041] Figure 8 This is a structural schematic diagram of the upper box body and the lower box body of the present invention separated from another viewing angle;

[0042] Fig. 9 For the present invention Figure 8 A magnified schematic diagram of the structure at C in the middle;

[0043] Fig.10 It is a cross-sectional schematic diagram of a mold unit of the present invention;

[0044] Fig.11 It is a schematic diagram of the structure of the locking assembly of the present invention after cross-section;

[0045] Fig.12 This is a schematic diagram of the installation relationship between the manipulator and the tension detection component of the present invention.

[0046] In the figure, 1, steel bar release assembly; 11, bearing frame; 12, rotating shaft; 13, winding drum;

[0047] 2. mold unit; 21. lower box; 211. first semicircular hole; 22. upper box; 221. second semicircular hole;

[0048] 3. Grabbing assembly; 31. Gantry; 32. Manipulator; 33. Guide rail assembly; 34. Auxiliary wheel;

[0049] 4. Cutting machine;

[0050] 5. Locking assembly; 51. First semi-cone; 52. Second semi-cone; 53. First clamping ring; 54. Second clamping ring;

[0051] 6. Check assembly; 61. Third semi-cone; 62. Fourth semi-cone; 63. U-shaped rod; 631. Cantilever; 632. Telescopic rod; 64. Third clamping ring; 65. Fourth clamping ring; 66. Stop rod;

[0052] 7. Guide assembly; 71. Guide cylinder; 72. Bearing rod;

[0053] 8. First camera; 9. Second camera; 10. Workbench; 101. Mold table; 102. Tensioning jack; 103. Detection rod; 104. Abutment rod; 105. Ultrasonic sensor; 106. Electric rod; Y, first direction; X, second direction. DETAILED DESCRIPTION

[0054] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0055] In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. It should be understood that the terms "first", "second", etc. are used in the present invention to describe various information, but such information should not be limited to these terms, which are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information.

[0056] like Figure 1-Figure 12As shown, in the first aspect, the embodiment of the present application proposes a prestressed steel bar auxiliary stretching system, including a steel bar release component 1, which can release at least two groups of steel bars arranged at intervals along a first direction Y and extending along a second direction X; the first direction Y and the second direction X are perpendicular to each other; the mold unit 2 includes a lower box body 21 and an upper box body 22 that can be opened and closed; the side walls of the lower box body 21 at opposite ends along the second direction X are penetrated with a plurality of first semicircular holes 211 arranged at intervals along the first direction Y, and the side walls of the upper box body 22 at opposite ends along the second direction X are penetrated with a plurality of second semicircular holes 211 arranged at intervals along the first direction Y The semicircular hole 221, the first semicircular hole 211 and the second semicircular hole 221 are arranged correspondingly, and when the upper box body 22 is covered on the lower box body 21, the corresponding first semicircular hole 211 and the second semicircular hole 221 form a reinforcing hole (used to allow the reinforcing bar to pass through the mold unit 2 through the reinforcing hole); the mold unit 2 is provided with a locking component 5 corresponding to the reinforcing bar at one end close to the reinforcing bar release component 1, which is used to position the reinforcing bar when the reinforcing bar is tensioned; the mold unit 2 is provided with a non-return component 6 corresponding to the reinforcing bar at one end away from the reinforcing bar release component 1, which is used to prevent the reinforcing bar from retreating after the reinforcing bar is tensioned (to ensure that the reinforcing bar is positioned properly). The applied prestress will not be reduced); the grabbing assembly 3 can move in the vertical direction and the second direction X respectively and is used to grab the steel bar to drive the steel bar to pass through the top of the lower box 21; the guide assembly 7 is arranged between the mold unit 2 and the steel bar release assembly 1 and guides the steel bar, and is used to make the steel bar and the corresponding steel bar penetration hole in the vertical projection collinear when the grabbing assembly 3 drives the steel bar to move in the second direction X; the cutting assembly is arranged between the guide assembly 7 and the mold unit 2, and is a cutting machine 4 corresponding to each steel bar and arranged below the steel bar. Multiple cutting machines 4 are installed together on the lifting plate and the lifting plate is connected to a lifting cylinder. When it is needed When the steel bars need to be cut, the lifting cylinder is controlled to rise and drive multiple cutting machines 4 to move upward, so that the cutting blades of the cutting machines 4 are in contact with the corresponding steel bars, thereby realizing the cutting process of the steel bars (after the cutting of the steel bars is completed, the lifting cylinder is controlled to descend, so that the cutting machines 4 are out of contact with the steel bars); the prestressed tensioning component is a tensioning jack 102 and is set to match the reinforcement hole, and the tensioning jack 102 is connected to a hydraulic workstation; it is arranged at one end of the mold unit 2 away from the steel bar release component 1; and an elastic modulus detection component, which is used to measure the elastic modulus of the steel bars, and a tension detection component, which is used to measure the tension of the steel bars.

[0057] In the specific implementation of this embodiment, the grasping assembly 3 is controlled to descend a set distance and complete the grasping of the steel bar, and then the grasping assembly 3 is controlled to move along the second direction X to drive the steel bar to pass through the top of the lower box 21; in the above process, the guide assembly 7 is used to guide the direction of the steel bar so that the steel bar and the corresponding through-bar hole are in a collinear vertical projection. After the grasping assembly 3 drives the free end of the steel bar to completely pass through the lower box 21, the grasping assembly 3 is controlled to descend a set distance so that the steel bar enters downward into the corresponding first semicircular hole 211, and then the grasping assembly 3 is controlled to continue to move forward so that the free end of the steel bar is sent into the corresponding tensioning jack 102; then the upper box 22 is covered on the lower box 21 and the upper box 22, the lower box 21 and the lower box 21 are fixed (specifically, as shown in FIG. Figure 1 As shown, the above-mentioned devices are all arranged on a workbench 10 and a mold table 101 is arranged on the workbench 10. The lower box 21 is placed on the upper end surface of the mold table 101. A limit block is arranged on the upper end surface of the mold table 101 to fit the outer peripheral wall of the lower box 21, which is used to realize the positioning of the lower box 21, so as to prevent the lower box 21 from being displaced relative to the mold table 101 during the subsequent steel bar pulling process; the upper box 22 and the lower box 21 can be connected by bolts or buckles), at this time, the steel bar is in the corresponding steel bar penetration hole; then the cutting assembly is controlled to cut the steel bar Cutting completes the truncation of the steel bar (in the above process, the grabbing component 3 always grabs the steel bar); in the above process, the elastic modulus of the pulled steel bar is detected by the elastic modulus detection component to obtain whether the steel bar has sufficient rigidity and strength (whether it meets the requirements of stress change); then the prestressed tensioning component is controlled to complete the tensioning of the steel bar. In the process of tensioning the steel bar, the tension value of the steel bar is obtained in real time through the tension detection component. When the tension of the steel bar reaches the standard, the prestressed tensioning component is controlled to stop working, that is, the tensioning process of the steel bar is completed.

[0058] Since the reinforcing hole on the mold in the traditional technology is a complete hole, the robot grasping the steel bar cannot pass through the reinforcing hole (the automatic reinforcing process cannot be completed), which results in the inability to achieve automatic reinforcing with a simple robot, and manual reinforcing is required; in this solution, the reinforcing hole is divided into two semicircular holes (respectively arranged on two openable and closable upper boxes 22 and lower boxes 21), so that the steel bar can be grasped by a robot and the steel bar is first passed through the first semicircular holes 211 on both sides of the lower box, and then the upper box 22 is covered on the lower box 21, and finally the steel bar is in the reinforcing hole formed by the first semicircular hole 211 and the second semicircular hole 221, thereby realizing the automatic reinforcing process.

[0059] After completing the tensioning of a group of steel bars (the mold unit 2 can be moved to the pouring area, and the pouring of concrete can be completed in the pouring area), the grabbing assembly 3 is controlled to move to the initial position, and then the next round of steel bar pulling work can be started; in the embodiment of the present application, when the steel bars are stretched, the traction of the steel bars is completed throughout the process by the grabbing assembly 3, without the need for manual intervention, thereby improving the efficiency of the construction work and reducing the labor intensity of the workers. At the same time, the steel bars can be prestressed continuously in a cycle, which can meet the processing needs of prestressed building structures in large construction sites.

[0060] In some embodiments of the present application, Figure 4 , Figure 5 , Figure 6 As shown, the locking assembly 5 includes a first semi-conical cylinder 51 which is arranged on the side wall of one end of the lower box body 21 close to the steel bar release assembly 1 and is coaxially arranged with the first semicircular hole 211, and a second semi-conical cylinder 52 which is arranged on the side wall of one end of the upper box body 22 close to the steel bar release assembly 1 and is coaxially arranged with the second semicircular hole 221. When the upper box body 22 and the lower box body 21 are covered together, the first semi-conical cylinder 51 and the second semi-conical cylinder 52 cooperate to form a locking cylinder, as shown in FIG. Fig.10As shown, the inner diameter of the locking cylinder gradually increases in the direction away from the mold unit 2; it also includes a first clamping ring piece 53 and a second clamping ring piece 54 coaxially disposed in the locking cylinder, the first clamping ring piece 53 and the second clamping ring piece 54 are arranged at intervals (there is a certain gap between the first clamping ring piece 53 and the second clamping ring piece 54), and this embodiment provides an implementation method in which the first clamping ring piece 53 and the second clamping ring piece 54 can be moved vertically and in the second direction X respectively: it includes a U-shaped rod 63 connected between the box body and the clamping ring piece, the U-shaped rod 63 includes two cantilevers 631, one of which is connected to the clamping ring piece, and the other cantilever 631 is slidably installed on the side wall of the upper box body 22 or the lower box body 21 (to meet the effect that the first clamping ring piece 53 and the second clamping ring piece 54 can be moved along the second direction X, and the cantilever 631 can be elastically connected to the upper box body 22 or the lower box body 21), and a cantilever 631 connected between the two cantilevers 631. The telescopic rod 632 (the telescopic rod 632 has a certain degree of damping to meet the effect that the first clamping ring piece 53 and the second clamping ring piece 54 can be moved vertically); a spring can be connected to a cantilever 631 that slides with the U-shaped rod 63 and the upper box body 22 and the lower box body 21, and the other end of the spring is connected to the upper box body 22 and the lower box body 21. As a result, when the grabbing component drives the steel bar to move downward and fall into the first semicircular hole 211, it drives the steel bar to continue to move toward the prestressed tensioning component. When the steel bar moves in the first semicircular hole 211, it will not drive the first clamping ring piece 53 located below to move (the elastic force of the spring provides a certain degree of damping force), so that when the upper box body 22 is covered on the lower box body 21, the first clamping ring piece 53 and the second clamping ring piece 54 are still in corresponding positions, so as to facilitate the subsequent locking and positioning of the steel bar when the steel bar is tensioned.

[0061] In the specific implementation of this embodiment, when the grabbing assembly 3 pulls the steel bar to the predetermined position and covers the upper box body 22 on the lower box body 21 (completing the fixation between the upper box body 22, the lower box body 21 and the lower box body 21), as shown in FIG. Fig.10As shown, at this time, the steel bar is placed in the steel bar penetration hole and the end close to the steel bar release component 1 is in the locking cylinder, and the first clamping ring piece 53 and the second clamping ring piece 54 are respectively in contact with the outer peripheral wall of the steel bar; when the prestressed tensioning component starts to tension the steel bar, the steel bar is subjected to a tensioning force toward the prestressed tensioning component. At this time, part of the steel bar located in the locking cylinder has a tendency to move toward the direction close to the prestressed tensioning component, and then the first clamping ring piece 53 and the second clamping ring piece 54 are driven to move synchronously under the action of friction force. As the first clamping ring piece 53 and the second clamping ring piece 54 move in the locking cylinder toward the direction close to the prestressed tensioning component, the first clamping ring piece 53 and the second clamping ring piece 54 are gradually moved under the action of the inner wall of the locking cylinder. It gradually moves in the direction of further squeezing the outer peripheral wall of the steel bar (that is, the first clamping ring piece 53 and the second clamping ring piece 54 move in the locking cylinder towards each other), thereby further increasing the abutment force between the first clamping ring piece 53, the second clamping ring piece 54 and the outer peripheral wall of the steel bar, and as the steel bar continues to move in the locking cylinder, the squeezing force applied by the first clamping ring piece 53 and the second clamping ring piece 54 on the steel bar is greater (the better the locking effect on the steel bar passing through the locking cylinder), thereby achieving the effect of positioning and locking the steel bar through the cooperation between the locking cylinder, the first clamping ring piece 53, and the second clamping ring piece 54, which is used to cooperate with the prestressed tensioning component to jointly realize the tensioning of the steel bar passing through the mold unit 2.

[0062] In some embodiments of the present application, Fig.10As shown, the non-return assembly 6 includes a third semi-conical cylinder 61 which is arranged on the side wall of the end of the lower box body 21 away from the steel bar releasing assembly 1 and is coaxially arranged with the first semicircular hole 211, and a fourth semi-conical cylinder 62 which is arranged on the side wall of the end of the upper box body 22 away from the steel bar releasing assembly 1 and is coaxially arranged with the second semicircular hole 221. When the upper box body 22 and the lower box body 21 are covered with each other, the third semi-conical cylinder 61 and the fourth semi-conical cylinder 62 cooperate to form a non-return cylinder and the inner diameter of the non-return cylinder gradually increases in the direction away from the mold unit 2; it also includes a third clamping ring piece 64 and a fourth clamping ring piece 65 which are coaxially arranged in the non-return cylinder, and the third clamping ring piece 64 and the fourth clamping ring piece 65 are symmetrically arranged and spaced a certain distance apart; the third clamping ring piece 64 and the fourth clamping ring piece 65 can be moved vertically and in the second direction X respectively. This embodiment provides a third clamping ring The embodiment of the third clamping ring piece 64 and the fourth clamping ring piece 65 being movable in the vertical direction and the second direction X respectively comprises a U-shaped rod 63 connected between the box body and the clamping ring piece, the U-shaped rod 63 comprises two cantilevers 631, one of which is connected to the clamping ring piece, and the other cantilever 631 is slidably mounted on the side wall of the upper box body 22 or the lower box body 21 (to satisfy the effect that the third clamping ring piece 64 and the fourth clamping ring piece 65 can be movable in the second direction X, and the cantilever 631 can be elastically connected to the upper box body 22 or the lower box body 21), and a telescopic rod 632 connected between the two cantilevers 631 (the telescopic rod 632 has a certain degree of damping to satisfy the effect that the third clamping ring piece 64 and the fourth clamping ring piece 65 can be movable in the vertical direction); the outer diameters of the third clamping ring piece 64 and the fourth clamping ring piece 65 gradually decrease towards the direction close to the mold unit 2; as Figure 8 , Fig. 9 As shown, it also includes a stop rod 66 arranged on a side wall of the upper box body 22 and the lower box body 21 away from the steel bar release assembly 1. When the stop rod abuts against the telescopic rod 632 between the two cantilevers 631 in the U-shaped frame, it is used to prevent the third clamping ring piece 64 and the fourth clamping ring piece 65 from moving in a direction away from the mold unit 2.

[0063] In the specific implementation of this embodiment, when the grabbing assembly 3 pulls the steel bar to the predetermined position and covers the upper box body 22 on the lower box body 21 (completing the fixation between the upper box body 22, the lower box body 21 and the lower box body 21), as shown in FIG. Fig.10As shown, at this time, the steel bar is placed in the steel bar penetration hole and one end close to the prestressed tensioning component is in the check cylinder. At this time, the third clamping ring piece 64 and the fourth clamping ring piece 65 are respectively in contact with the outer peripheral wall of the part of the steel bar placed in the check cylinder. When the prestressed tensioning component starts to tension the steel bar, the steel bar is subjected to a tensioning force toward the prestressed tensioning component. At this time, the part of the steel bar located in the check cylinder has a tendency to move toward the direction close to the prestressed tensioning component, and then through the friction between the third clamping ring piece 64 and the fourth clamping ring piece 65, the third clamping ring piece 64 and the fourth clamping ring piece 65 also have a tendency to move in the same direction. However, since the U-shaped rod 63 is blocked by the stop rod 66, the third clamping ring piece 64 and the fourth clamping ring piece 65 cannot move toward the direction close to the prestressed tensioning component, and at this time, the steel bar passing through the check cylinder is subjected to the pulling force from the prestressed tensioning component and is pulled by the prestressed tensioning component. Under the pulling action, it is stretched in the direction close to the prestressed tensioning assembly, and the stretched part moves relative to the third clamping ring piece 64 and the fourth clamping ring piece 65; after the tensioning of the steel bar is completed, the prestressed tensioning assembly no longer applies the pulling force, and the stretched steel bar has a tendency to shrink (restore the initial length). At this time, the steel bar inserted in the non-return cylinder drives the third clamping ring piece 64 and the fourth clamping ring piece 65 to move in the non-return cylinder in the direction away from the prestressed tensioning assembly, and under the cooperation between the non-return cylinder and the third clamping ring piece 64 and the fourth clamping ring piece 65, the third clamping ring piece 64 and the fourth clamping ring piece 65 will be prompted to move in the direction of further squeezing the outer peripheral wall of the steel bar (that is, the third clamping ring piece 64 and the fourth clamping ring piece 65 move in the direction close to each other), thereby applying a greater squeezing force to the steel bar, thereby realizing the positioning of the steel bar, preventing the steel bar from shrinking, and ensuring that the prestress applied to the steel bar will not decrease.

[0064] In some embodiments of the present application, Figure 3 As shown, the guide assembly 7 includes a plurality of guide cylinders 71 which are arranged at intervals along the first direction Y and match the rebar penetration holes. The plurality of guide cylinders 71 are commonly connected to a load-bearing rod 72 and are installed on the rebar release assembly 1 via the load-bearing rod 72. The guide cylinders 71 are used to achieve the correspondence between the rebars released from the rebar cylinder and the corresponding rebar penetration holes, so that when the grabbing assembly 3 drives the free end of the rebar to move to the side of the mold unit 2 away from the rebar release assembly 1, after controlling the grabbing assembly 3 to descend a set distance, the rebar can just fall into the corresponding first semicircular hole 211.

[0065] In some embodiments of the present application, Figure 1As shown, the steel bar release assembly 1 includes a carrier 11 and a rotating shaft 12 extending along the first direction Y is rotatably mounted on the carrier 11. The rotating shaft 12 is provided with a coaxially spaced sleeve with a winding drum 13 matching the number of the reinforcing bar holes, and the winding drum 13 is used to wind the steel bar; when the grabbing assembly 3 grabs the corresponding steel bar and moves along the second direction X, the steel bar wound on the steel bar drum will be continuously released from the steel bar drum and the rotating shaft 12 and the steel bar drum will be driven to rotate. In order to better release the steel bar, an auxiliary motor can be installed on the carrier 11 to drive the rotating shaft 12 to rotate, thereby reducing the pulling force required for the grabbing assembly 3 to pull the steel bar to move. In this embodiment, the rotating shaft 12 can also be fixedly mounted on the carrier 11 and multiple winding drums 13 can be rotatably mounted on the rotating shaft 12, so as to realize the grabbing of the required number of steel bars by the grabbing assembly according to the demand.

[0066] In some embodiments of the present application, Figure 1 , Figure 2 As shown, the grabbing assembly 3 includes a liftable gantry 31 (electric telescopic rods are provided in the lifting frames on both sides of the gantry 31 to realize the liftable action of the gantry 31), and the bottom of the gantry 31 is matched with a guide rail assembly 33 for moving it along the second direction X. The guide rail assembly 33 includes a driving wheel (connected with a motor) provided at the bottom of the gantry 31, and guide rails arranged at intervals along the first direction Y. The driving wheel is clamped on the guide rail (auxiliary wheels 34 clamped with the guide rails are respectively installed on the gantry 31 located on both sides of the driving wheel to ensure the stable walking of the gantry 31). When the driving wheel rotates, it drives the gantry 31 to move along the direction of the guide rail; it also includes a manipulator 32 fixedly installed on the gantry 31 at intervals along the first direction Y and arranged to match the reinforcing bar holes. The manipulator 32 is used to clamp the steel bars and drive the steel bars to move along the second direction X with the gantry 31.

[0067] In some embodiments of the present application, the elastic modulus detection component is an ultrasonic sensor 105 installed on the manipulator 32, such as Fig.12 As shown, an electric rod 106 is installed on the manipulator 32 and an ultrasonic sensor 105 is installed on the retractable end of the electric rod 106. When the manipulator 32 clamps the steel bar, the electric rod 106 is controlled to move and the ultrasonic sensor 105 is brought into contact with the steel bar, thereby measuring the elastic modulus of the steel bar (by utilizing the characteristics of ultrasonic waves during propagation in materials) to detect whether the steel bar to be tensioned has sufficient rigidity and strength and whether it can meet the stress change requirements; when the steel bar is subsequently tensioned, the electric rod 106 is controlled to rise and the ultrasonic sensor 105 is disengaged from the outer wall of the steel bar.

[0068] like Fig.12As shown, the tension detection component includes two detection rods 103 which are slidably installed on the manipulator 32 along the second direction X and are vertically spaced apart. The detection rod 103 has an abutment rod 104 (the abutment rod 104 is an elastic telescopic rod) which is vertically abutted against the outer peripheral wall of the steel bar at one end away from the manipulator 32. The two abutment rods 104 are spaced apart along the second direction X. The bottom of the abutment rod 104 is arranged in an arc shape and a rubber pad is provided at the bottom of the abutment rod to increase the friction resistance between the abutment rod 104 and the outer peripheral wall of the steel bar (to ensure that the rubber pad is provided during the stretching process of the steel bar so that the contact position between the abutment rod 104 and the outer peripheral wall of the steel bar does not produce relative movement); the detection rod 103 is elastically connected to the manipulator 32, the detection rod is connected to a distance measuring component, and the distance measuring component and the ultrasonic sensor are both connected to a control and metering module. When the gantry 31 descends and grabs the steel bar through the manipulator 32, the abutment rod 104 is compressed to a certain extent and its bottom is pressed against the upper end surface of the steel bar, and then the manipulator 32 is controlled to clamp the steel bar; when the gantry 31 drives the steel bar and sends it into the tensioning jack 102, the clamping force of the manipulator 32 is controlled to be reduced (but the clamping of the steel bar is not released), so that the steel bar can move relative to the manipulator 32; before the steel bar is tensioned, the distance between the two abutment rods is a fixed value and is set to a (the contact point between the outer peripheral wall of the steel bar and one of the abutment rods is A, and the contact point between the outer peripheral wall of the steel bar and one of the abutment rods is A, and the contact point between the outer peripheral wall of the steel bar and one of the abutment rods is A, and the contact point between the outer peripheral wall of the steel bar and one of the abutment rods is A. One contact point is B), and then during the tensioning process of the steel bar, the steel bar is stretched, then point A and point B will move forward, and then synchronously drive the corresponding abutment rod 104 to move through friction resistance; after the tensioning of the steel bar is completed, the distance between the two abutment rods 104 is b (obtained by the distance measuring component, the distance measuring component can be a laser rangefinder or other distance measuring instruments), then ba is the elongation corresponding to the steel bar from point A to point B. Since the elastic modulus of the steel bar has been measured, the tensioning force of the steel bar can be calculated through the following formula: △L=(Pp×L)÷(Ap×Ep), where △L is the elongation, Pp is the tensioning force, L is the length of the steel bar, Ap is the cross-sectional area of ​​the steel bar (a fixed value), and Ep is the elastic modulus of the steel bar; the above calculation process is completed by the control and metering module, and the tensioning force of the steel bar is obtained in real time according to the change of the elongation.

[0069] In some embodiments of the present application, Figure 1 , Figure 2 As shown, it also includes a first camera 8 (installed on the mold table 101) arranged at one end of the mold unit 2 close to the steel bar releasing component 1, and a second camera 9 (installed on the mold table 101) arranged at one end of the mold unit 2 away from the steel bar releasing component 1. The first camera 8 and the second camera 9 are used to observe whether the steel bars all fall accurately into the corresponding first semicircular holes 211.

[0070] In a second aspect, an embodiment of the present invention provides a stretching method using the steel bar prestressed auxiliary stretching system in the above embodiment, comprising the following steps:

[0071] S1: First, control the grasping assembly to descend and grasp the corresponding steel bar through the manipulator 32;

[0072] S2: Control the grabbing assembly to move along the second direction X, and drive the steel bar to pass over the lower box 21, so that the free end of the steel bar moves to the position of the prestressing tensioning assembly;

[0073] S3: Control the grabbing assembly to descend and make the steel bar fall downward into the corresponding first semicircular hole 211, and control the grabbing assembly to drive the steel bar to continue to move forward, so that the steel bar is sent into the prestressing tensioning assembly;

[0074] S4: Then, the upper box body 22 is covered on the lower box body 21 and the upper box body 22 and the lower box body 21 are fixed;

[0075] S5: Control the cutting assembly to work and cut an incision on the steel bar between the guide assembly 7 and the mold unit 2 to disconnect the released steel bar from the steel bar wrapped around the steel bar releasing assembly;

[0076] S6: Control the prestressing tensioning components to tension the steel bars.

[0077] In some embodiments of the present application, during the process of tensioning the steel bars, the clamping force applied by the manipulator on the outer wall of the steel bars is reduced, and the steel bars are made movable relative to the manipulator, and the metering module is controlled to detect the tension of the steel bars in real time through the elastic modulus detection component and the tension detection component.

[0078] The working process of the present invention is as follows: first, the gantry 31 is controlled to descend and the corresponding steel bar is grabbed by the manipulator 32; the gantry 31 is controlled to move along the second direction X and drive the steel bar to pass over the lower box 21 so that the free end of the steel bar moves to the position of the prestressed tensioning assembly; the gantry 31 is controlled to descend and the steel bar falls downward into the corresponding first semicircular hole 211, and then the upper box 22 is covered on the lower box 21 and the upper box 22 and the lower box 21 are fixed; the cutting assembly is controlled to cut the steel bar and an incision is made on the steel bar between the guide cylinder 71 and the mold unit 2 to disconnect the steel bar from the steel bar wrapped around the steel bar cylinder; and then the prestressed tensioning jack 102 is controlled to tension the steel bar.

[0079] In summary, the embodiment of the present invention provides a prestressed steel bar auxiliary stretching system and method. This solution sets a grabbing component 3 to pull multiple groups of steel bars wrapped around the steel bar cylinder to a predetermined position and send them into the prestressed jack, so as to achieve the tensioning of the steel bars. There is no need to manually pull the steel bars, which improves the automation level of the equipment, and also improves the construction efficiency and the continuity of the construction work, meeting the processing requirements of prestressed building structures in large construction sites; by setting an elastic modulus detection component on the manipulator 32, the elastic modulus of the steel bar can be detected, and by setting a tension detection component on the manipulator 32, the tensioning force of the steel bar can be measured in real time. , to obtain the tensioning force exerted on the steel bars during the tensioning process, and then control the tension value of each steel bar, and control the prestressed tensioning assembly to stop working when the tension reaches the standard; by arranging the elastic modulus detection assembly and the tension detection assembly on the manipulator 32, the inconvenience caused by the traditional installation of the above-mentioned detection assembly on the steel bars is avoided. In the prior art, when performing tension detection on steel bars, it is necessary to install a tension detector on the mold or mold bracket near the steel bars. When the use scene needs to be changed or the mold needs to be replaced, it needs to be removed, resulting in cumbersome work. The present solution directly installs the tension detection assembly on the manipulator to avoid the above situation and improves the convenience of the construction process.

[0080] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. The steel bar prestressed auxiliary tensioning system is characterized by: include: A steel bar releasing assembly, wherein the steel bar releasing assembly can release at least two groups of steel bars spaced apart in a first direction and extending in a second direction; The first direction and the second direction are perpendicular to each other; The mold unit comprises a lower box body and an upper box body which can be opened and closed; a plurality of first semicircular holes arranged at intervals along the first direction are penetrated on the side walls at opposite ends of the lower box body along the second direction, and a plurality of second semicircular holes arranged at intervals along the first direction are penetrated on the side walls at opposite ends of the upper box body along the second direction, the first semicircular holes are arranged correspondingly to the second semicircular holes, and when the upper box body is covered on the lower box body, the corresponding first semicircular holes and the second semicircular holes constitute reinforcing bar holes; a locking assembly corresponding to the reinforcing bar hole is provided at one end of the mold unit close to the reinforcing bar release assembly, and a non-return assembly corresponding to the reinforcing bar hole is provided at one end of the mold unit away from the reinforcing bar release assembly; A grabbing assembly, which can move vertically and in the second direction respectively and is used to grab the steel bar to drive the steel bar to pass through the top of the lower box; A guide assembly is provided between the mold unit and the steel bar release assembly and guides the steel bar, so that when the grabbing assembly drives the steel bar to move along the second direction, the steel bar and the corresponding steel bar penetration hole are aligned in a vertical direction; A cutting assembly, disposed between the guide assembly and the mold unit; A prestressed tensioning assembly is provided at one end of the mold unit away from the steel bar releasing assembly; and The elastic modulus detection component is used to measure the elastic modulus of the steel bar, and the tension detection component is used to measure the tension of the steel bar.

2. The steel bar prestressed auxiliary stretching system according to claim 1 is characterized in that: The locking assembly comprises a first semi-conical cylinder provided on a side wall of one end of the lower box body close to the steel bar releasing assembly and coaxially arranged with the first semi-circular hole, and a second semi-conical cylinder provided on a side wall of one end of the upper box body close to the steel bar releasing assembly and coaxially arranged with the second semi-circular hole, the first semi-conical cylinder and the second semi-conical cylinder cooperate to form a locking cylinder, and the inner diameter of the locking cylinder gradually increases in a direction away from the mold unit; It also includes a first clamping ring piece and a second clamping ring piece coaxially arranged in the locking cylinder, the first clamping ring piece and the second clamping ring piece are symmetrically arranged and a certain distance is spaced between them; the first clamping ring piece and the second clamping ring piece can be moved vertically and in the second direction respectively, and the outer diameters of the first clamping ring piece and the second clamping ring piece gradually decrease towards the direction approaching the mold unit.

3. The steel bar prestressed auxiliary stretching system according to claim 1 is characterized in that: The non-return assembly includes a third semi-conical cylinder provided on the side wall of the lower box body away from the steel bar releasing assembly and coaxially arranged with the first semicircular hole, and a fourth semi-conical cylinder provided on the side wall of the upper box body away from the steel bar releasing assembly and coaxially arranged with the second semicircular hole, the third semi-conical cylinder and the fourth semi-conical cylinder cooperate to form a non-return cylinder, and the inner diameter of the non-return cylinder gradually increases in the direction away from the mold unit; It also includes a third clamping ring piece and a fourth clamping ring piece coaxially disposed in the check cylinder, wherein the third clamping ring piece and the fourth clamping ring piece are symmetrically arranged and a certain distance is spaced between them; the third clamping ring piece and the fourth clamping ring piece can be moved vertically and in the second direction respectively, and the outer diameters of the third clamping ring piece and the fourth clamping ring piece gradually decrease toward the direction approaching the mold unit; It also includes a stop rod disposed on a side wall of the upper box body and the lower box body away from the steel bar releasing assembly, and the stop rod is used to prevent the third clamping ring piece and the fourth clamping ring piece from moving in a direction away from the mold unit.

4. The steel bar prestressed auxiliary tensioning system according to claim 1 is characterized in that: The guide assembly includes a plurality of guide cylinders spaced apart along the first direction and correspondingly matched with the reinforcement holes. The plurality of guide cylinders are commonly connected to a bearing rod and are installed on the reinforcement release assembly via the bearing rod.

5. The steel bar prestressed auxiliary tensioning system according to claim 1 is characterized in that: The steel bar releasing assembly comprises a bearing frame on which a rotating shaft extending along the first direction is rotatably mounted, and a winding drum matching the number of the steel bar penetration holes and used for winding the steel bars is coaxially spaced on the rotating shaft.

6. The steel bar prestressed auxiliary tensioning system according to claim 1, characterized in that: The grabbing assembly comprises a liftable gantry, and the bottom of the gantry is equipped with a guide rail assembly for moving the gantry along the second direction; It also includes a robot arm which is fixedly installed on the gantry at intervals along the first direction and is arranged to match the reinforcement holes.

7. The steel bar prestressed auxiliary tensioning system according to claim 6, characterized in that: The elastic modulus detection component is an ultrasonic sensor that can move vertically and is installed on the manipulator; The tension detection component includes two detection rods which are slidably installed on the manipulator along the second direction and are vertically spaced apart. The end of the detection rod away from the manipulator is vertically connected to an abutment rod which abuts against the outer peripheral wall of the steel bar, and the two abutment rods are spaced apart along the second direction; the detection rod is elastically connected to the manipulator, the detection rod is connected to a distance measuring component, and the distance measuring component and the ultrasonic sensor are both connected to a control and metering module.

8. The steel bar prestressed auxiliary tensioning system according to claim 1, characterized in that: It also includes a first camera arranged at one end of the mold unit close to the steel bar releasing component, and a second camera arranged at one end of the mold unit away from the steel bar releasing component.

9. A stretching method using the steel bar prestressing auxiliary stretching system according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1: Control the grabbing assembly to descend and grab the corresponding steel bar through the grabbing assembly; S2: Control the grabbing assembly to move along the second direction, and drive the steel bar to pass over the lower box, so that the free end of the steel bar moves to the position of the prestressing tensioning assembly; S3: Control the grabbing assembly to descend and make the steel bar fall downward into the corresponding first semicircular hole, and then control the grabbing assembly to continue to move forward so that the free end of the steel bar is sent into the prestressing tensioning assembly; S4: Cover the upper box body with the lower box body and fix the upper box body and the lower box body; S5: Control the cutting assembly to work and cut an incision on the steel bar between the guide assembly and the mold unit to disconnect the released steel bar from the steel bar wrapped around the steel bar releasing assembly; S6: Control the prestressing tensioning components to tension the steel bars.

10. The stretching method according to claim 9, characterized in that: During the process of tensioning the steel bars, the clamping force applied by the manipulator on the outer wall of the steel bars is reduced, and the steel bars are made movable relative to the manipulator. The tension of the steel bars is detected in real time through the elastic modulus detection component and the tension detection component.

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