Automatic binding device for prefabricated box girder reinforcing steel bars

Abstract

An automatic binding device for prefabricated box girder steel bars comprises a base, an x moving base, a y moving base, a driving device, a mechanical arm with a clamp and a mechanical arm with a binding gun. And the driving device and the two mechanical arms are mounted on the upper-layer main body. Linear motion of the x moving base and the y moving base on the guide rail and three-dimensional motion of the clamping device are controlled by motors, and all the motors are closed-loop motors, so that motion stability is achieved. An x moving base on a linear guide rail of a base bears a load through a roller, the movement is driven through rolling of the roller, the left and right sides of the roller are fixed through a screw to prevent deviation, the x moving base bears a y moving base through a double-dovetail closed guide rail, and it is guaranteed that the device does not deviate when working.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to an automatic binding device for prefabricated box beam reinforcement bars. Background Art

[0002] The stability and safety of bridge engineering directly depends on the professionalism of construction technology. The effective application of prefabricated box girder construction and erection technology can improve the construction efficiency of bridge engineering and create favorable conditions for the smooth development of bridge construction. Since the construction of bridge engineering is complicated and has a certain degree of complexity, it is necessary to master the characteristics and key points of prefabricated box girder construction and erection technology to effectively improve the standardization of the overall bridge engineering construction and ensure the quality of engineering construction.

[0003] The key points and difficulties of prefabricated box girders can be explained from the following aspects: Part 1, design process: the design of prefabricated box girders needs to consider many factors, such as materials, structure, weight, etc., which involves the adjustment of concrete mix ratio, the determination of the size, shape and weight of prefabricated box girders, as well as the structural design and force analysis of prefabricated box girders; Part 2, construction process: the construction process of prefabricated box girders needs to be strictly controlled, including formwork engineering, embedded parts engineering, prestressed engineering, concrete pouring sequence and maintenance, etc., which involves concrete mixing, pouring, vibration, maintenance and other links, which need to be strictly carried out in accordance with construction specifications operation; The third part, quality control: The quality control of prefabricated box girders is very important, and strict quality control is required for each process, including formwork acceptance, formwork polishing, anti-corrosion and positioning of embedded parts, prestressed pipe positioning and adjustment of tension stress, anchor plate spiral reinforcement installation, grouting and end sealing, concrete mixing quality and finishing, concrete maintenance and finished product protection; The fourth part, safety management: Safety management should be paid attention to during the construction of prefabricated box girders, including the safety of construction personnel, equipment, environment, etc. Strict safety management systems and measures need to be formulated to ensure the safety of the construction process.

[0004] To solve the above problems, an automatic binding device for prefabricated box girder steel bars will be used in the production process of prefabricated box girders. The three major pain points of the traditional prefabricated box girder production process, namely, the long and labor-intensive production process, unstable production quality, and health risks for construction workers, will be addressed, so as to reduce costs and increase efficiency for engineering companies and construction groups and improve construction quality. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides an automatic steel bar bundling device for a prefabricated box girder, which is used to solve the problem that the prefabricated box girder consumes a lot of manpower, has low efficiency, and has a high risk factor, making the prefabricated box girder difficult to manufacture.

[0006] To solve the above problems, the present invention achieves the above object through the following technical solutions: a base, an x moving base, a y moving base, a driving device, an electrical box, a robotic arm with a fixture, and a robotic arm with a strapping gun. The specific structure and connection relationship are as follows: The base 1 serves to support the entire welding machine. The base is in the shape of a Chinese character 'Ri' (日), which reduces the overall mass while supporting the welding device. An I-beam is connected above the base, and the base and the I-beam are reinforced by screws. The I-beam is connected to the x moving base. The rollers below the x moving base are connected to both sides of an I-beam, and at the same time, the upper part of the I-beam is connected to the rollers. The rollers on both sides of the I-beam are firmly connected to the x moving base by screws. An iron column is connected inside the I-beam with screws to ensure that the fixed pulley on the I-beam will not slide up and down.

[0007] The x moving base 2 is welded by steel plates. Its feature is that, below the base, the movement of the base is carried out by the rolling movement of the rollers, and above the base, a double dovetail closed guide rail is fixed to carry the y moving base and determine the movement track of the y moving base.

[0008] The y moving base 3 consists of a basic bracket, a support plate 1, a support plate 2, and two slide rails. Its features are: a robotic arm and a fixture are installed on the top of the support plate 1; a driving device is installed on the top of the support plate 2; the top of the slide rails is fixed to the bottom of the y moving base.

[0009] The robotic arm 6 is characterized in that the movement of the robotic arm is controlled by driving a pneumatic device through a motor.

[0010] The robotic arm with a fixture is provided with two fixtures at the front end of the robotic arm. Different from the robotic arm with a strapping gun, the robotic arm with a fixture has two-axis drive. The fixture is connected to the front end of the second axis of the robotic arm. The first axis of the robotic arm is connected to the end of the second axis. The second-axis motor is arranged at the connection of the second axis and the first axis. The second-axis motor changes the front and back positions by rotating the motor. The first axis is connected to the y moving base, and the first-axis motor changes the height position of the fixture by rotating the motor.

[0011] The robot arm 10 is characterized in that the front end of the fifth axis of the robot arm is connected to the strapping gun; the fourth axis of the robot arm is connected to the end of the fifth axis, the fifth axis motor is arranged at the connection between the fifth axis and the fourth axis, the rotation axis is the central axis of the circular ring connected by the two axes, and the rotation of the motor enables the fifth axis to rotate around the central axis; the third axis is connected to the end of the fourth axis, the fourth axis motor is arranged inside the third axis, the rotation axis is the central axis of the circular ring at the connection between the third axis and the fourth axis, and the rotation of the motor enables the fourth axis to rotate with the axis as the rotation center; the second axis is connected to the side of the end of the third axis, and the third axis motor is arranged on the second axis At the place where the three axes are connected, the rotating center axis is the concentric axis of the two axes after the connection, and the three axes can rotate around the concentric axis through the rotation of the motor; axis one is connected to the side of the end of axis two, and the two-axis motor is arranged at the connection of axis one and axis two. The rotating center axis is the concentric axis of the two axes after the connection of axis one and axis two, and the two axes are driven to rotate around the concentric axis through the rotation of the motor; axis one is connected to the embracing robot arm base, and a one-axis motor is arranged at the bottom of axis one. The one-axis motor drives the one axis to rotate on the robot arm base by adjusting the output rotation speed through two internal bevel gears and a gear plate.

[0012] The outstanding advantages of the present invention are: The setting of the node connection assembly of the present invention can ensure the reliable transmission of power between the prefabricated box beam devices, and can improve the safety and installation efficiency during the structural construction process while realizing green construction. Specifically, the y mobile base is composed of a basic bracket, a support plate 1, a support plate 2 and two slide rails, and the x mobile base is welded by the support plate. The x mobile base and the y mobile base are connected by a double dovetail closed guide rail, and then the x mobile base is fixed to the base by the guide rail and screws, thereby ensuring reliable transmission.

[0013] The mechanical arm with a strapping gun of the present invention is composed of five axes, and a motor is installed at the connection between each axis. The motors are flexibly coordinated to realize the multi-degree-of-freedom movement of the mechanical arm, and can work in all directions at the place where strapping is required, thereby reducing the workload and improving the work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A three-dimensional schematic diagram of an automatic strapping device applicable to multiple scenarios in an example of this application; Figure 2 The structure of the base, the x mobile base, and the y mobile base in the example of this application; Figure 3 for Figure 2 The positive y-axis view mainly illustrates the structure of the x-moving base; Figure 4 for Figure 2 The positive y-axis view mainly shows the connection part and the y-movement structure; Figure 5 for Figure 2A partial structural diagram of the y-mobile base; Figure 6 The structure of the robot arm 6 in the example of this application; Figure 7 The structure of the clamp 7 in the example of this application; Figure 8 The structure of the mechanical arm 8 in the present application example; In the figure: 1. base; 101. base support plate; 102. x mobile base; 2. x mobile base; 201. support plate; 202. fixing block; 203. motor; 204. y mobile base; 205. fixing plate; 206. fixing screw; 207. motor power conversion device; 208. y mobile base; 3. y mobile base; 301. support plate; 302. base frame; 303. support plate; 304. slide rail guide; 305. slide rail guide; 4. electrical box; 5. drive device; 6. robotic arm; 7. clamp; 8. robotic arm; 9. strapping gun. Specific implementation plan

[0015] Figure 1 A three-dimensional schematic diagram of an automatic strapping device applicable to multiple scenarios in an example of this application; Figure 2 The structure of the base, the x mobile base, and the y mobile base in the example of this application; Figure 3 for Figure 2 The positive y-axis view mainly illustrates the structure of the x-moving base; Figure 4 for Figure 2 The positive y-axis view mainly shows the connection part and the y-movement structure; Figure 5 for Figure 2 A partial structural diagram of the y-mobile base; Figure 6 The structure of the robot arm 6 in the example of this application; Figure 7 The structure of the clamp 7 in the example of this application; Figure 8 The structure of the mechanical arm 8 in the present application example;

[0016] In order to better understand the technical solution of the present application, the technical solution of the present application will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0017] Reference Figure 1 As shown, an automatic binding device for prefabricated box girder reinforcement includes a base 1, an x-mobile base 2, a y-mobile base 3, an electric box 4, a driving device 5, a mechanical arm 6, a clamp 7, a mechanical arm 8, and a binding gun 9.

[0018] Reference Figure 2 As shown, the base includes a bottom plate 101 and an x-axis slide rail 102. The slide rail 102 is connected to the middle bearing 2. The upper body moves along the x-axis through rollers and the bottom plate 101. The fixed block 202 fixes the upper moving block along the y-axis.

[0019] Reference Figure 3 and Figure 2 As shown, the motor 203, the y moving base 204, the fixing plate 205, and the screws 206 are all fixed on the frame 201. The motor 203 is driven by a pneumatic device to enable the middle support member 2 and the upper part to perform x movement.

[0020] Reference Figure 4 As shown, the middle support member 2 is connected to the upper body by a concave groove 208, and the roller 207 drives the middle support member 2, the base 1 and the upper body to move in the x-axis through a pneumatic device.

[0021] Reference Figure 5 As shown, the support plates 301 and 303 are fixed above the base frame 302 of the y moving platform, and the slide rail guide bars 304 and 305 are fixed below the base frame 302.

[0022] Reference Figure 6 and Figure 1 As shown, the robot arm 6 includes brackets 601, 602, motors 603, 604, and 605. The base of the bracket 601 is fixed on the y-moving base, and the motor 604 drives the robot arm as a whole to move along the x-axis through a pneumatic device. The bracket 602 is fixed on the bracket 601, and the motor 605 drives the bracket 602 to move along the z-axis through a pneumatic device. The motor 603 drives the robot arm 602 to move along the y-axis through a pneumatic device.

[0023] Reference Figure 7 As shown, the clamp 7 includes a clamping element 701 and a clamping element 702. Both clamping elements are pneumatically driven, the clamping element 701 is used for clamping in the x direction, and the clamping element 702 is used for clamping in the z direction. By clamping the steel bars, bundling can be carried out more smoothly.

[0024] Reference Figure 8As shown, the front end of the five-axis 805 of the robot arm is connected to the strapping gun; the four-axis 804 of the robot arm is connected to the end of the five-axis 805, and the five-axis motor is arranged at the connection between the five-axis 805 and the four-axis 804. The rotation axis is the central axis of the circular ring connected by the two axes, and the rotation of the motor enables the five-axis 805 to rotate around the central axis; the three-axis 803 is connected to the end of the four-axis 804, and the four-axis motor is arranged in the three-axis. The rotation axis is the central axis of the circular ring at the connection between the three-axis 803 and the four-axis 804, and the rotation of the motor enables the four-axis to rotate with the axis as the rotation center; the two-axis 802 is connected to the side of the end of the three-axis 803, and the three-axis motor It is arranged at the connection of the second axis 802 and the third axis 803, and the rotation center axis is the concentric axis of the two axes after the connection, and the three axes can rotate around the concentric axis through the rotation of the motor; axis one 801 is connected to the side of the end of axis two 802, and the second axis motor is arranged at the connection of the first and second axes, and the rotation center axis is the concentric axis of the two axes after the first and second axes are connected, and the second axes are driven to rotate around the concentric axis through the rotation of the motor; axis one 801 is connected to the base of the robot arm, and a first axis motor is arranged at the bottom of the first axis, and the first axis motor drives the first axis 801 to rotate on the base of the robot arm by adjusting the output rotation speed through two internal bevel gears and a gear plate.

Claims

1. An automatic binding device for prefabricated box beam reinforcement bars, comprising a base, an x-moving base, a y-moving base, a driving device, an electric box, a mechanical arm with a clamp and a mechanical arm with a binding gun. The characteristics are: Base 1, used for supporting the device; x moving base 2, used for moving the device in the x direction; y moving base 3, used for moving the device in the y direction; electric box 4, used for power supply; driving device 5, used for displaying and controlling the motor; mechanical arm 6, used for moving the clamp in the z direction; mechanical arm 7, used for moving the clamp in the y direction; clamp 8, used for clamping the steel bars for bundling; bundling gun 9, used for bundling the steel bars; mechanical arm 10, used for moving the bundling gun to different angles.

2. The automatic binding device for prefabricated box beam reinforcement according to claim 1 is characterized in that: The robot arm 10 is composed of five axes and a gun, and the connecting part of each axis is controlled by a motor.

3. The automatic binding device for prefabricated box beam reinforcement according to claim 1 is characterized in that: The circular holes are evenly distributed inside and outside the Y movable base. The circular hole 1 is fixed to a mechanical arm with a clamp and a mechanical arm with a strapping gun by bolts. The circular hole 2 is fixed to a driving device and an electric box by bolts. The circular hole 3 plays a role of reducing weight.

4. The automatic binding device for prefabricated box beam reinforcement according to claim 1 is characterized in that: The slide rail of the y moving base is in the shape of an "I" steel, which is embedded in the double dovetail closed guide rail of the x moving base, and a strong friction belt is attached to the side of the slide rail, which drives the y moving base to move through contact and friction with the roller on the x moving base motor.

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