Full-automatic secondary structure steel bar planting device and construction method

Abstract

The invention provides a full-automatic secondary structure bar planting device and a construction method. The full-automatic secondary structure bar planting device comprises a trolley, an xy platform is arranged at the top of the trolley, a stand column is arranged at the top of the xy platform, sliding tables are arranged on the vertical side walls of the four faces of the stand column and connected with a lifting mechanism, and a drilling device, a hole cleaning device, a glue injection device and a bar inserting device are arranged on the sliding tables correspondingly. During construction, the distances between a laser beam and the working axes of the drilling device, the hole cleaning device, the glue injection device and the rib inserting device on the horizontal projection plane are calibrated, and the working stroke of each device is obtained; according to the construction steps and the calibrated working stroke, the xy platform completes the operations of drilling, hole cleaning, glue injection and rib inserting in one construction position in sequence; and after all the operations are completed at one construction position, the xy platform continues to complete the operations of drilling, hole cleaning, glue injection and rib insertion according to the stored construction positions. According to the invention, full-automatic steel bar planting construction at one array construction position can be realized, and the construction efficiency of steel bar planting is greatly improved.

Description

Technical Field

[0001] The invention relates to the field of building structure strengthening construction equipment, in particular to a full-automatic secondary structure reinforcement implanting device and a construction method. Background Art

[0002] In building construction, secondary structures (such as infill walls, structural columns, ring beams, etc.) are not cast together with the main structure to form a whole. By planting steel bars, the steel bars in the secondary structure can be implanted into the main structural components (such as concrete columns, beams, slabs, etc.), so that a reliable and firm connection is established between the secondary structure and the main structure, effectively transferring loads and internal stresses, allowing the entire building structure to be synergistically stressed, and enhancing the integrity and stability of the structure. The construction steps of secondary structure planting steel bars include construction preparation, preparing materials and equipment, drilling holes at the locations where steel bars need to be planted, cleaning the holes, injecting glue into the holes, and then inserting steel bars into the holes. During the construction process, the planting of steel bars at the top position is particularly difficult, and retractable brackets or operating platforms are used for drilling. The existing problems are: if an operating platform is set up, on the one hand, the work efficiency is low, and the construction process of setting up the platform is increased; on the other hand, the safety of platform setting and the safety of workers at heights increase the potential safety hazards of construction. The solution of using a retractable bracket, on the one hand, is difficult to control the drilling positioning of the ceiling (beam bottom, slab bottom), and the hole depth, hole diameter, and hole body inclination are difficult to accurately control, which can easily cause problems such as insufficient or excessive hole depth, large or small hole diameter, and skewed drilling, resulting in inaccurate positioning of the rebar and reduced rebar planting qualification rate. 2. It is inconvenient to clean the holes after drilling the ceiling (beam bottom, slab bottom), and the hole cleaning is not thorough. 3. The fullness of the rebar injection glue is difficult to control. 4. The degree of automation is low, the construction efficiency is low, and the labor occupation is high. Chinese patent document CN220667004U records a device that integrates drilling, hole cleaning, glue injection, and rebar planting. It includes a bottom fixing part and a top fixing plate, and a lifting mechanism arranged between the bottom fixing part and the top fixing plate. The lifting mechanism is movably sleeved with a device disc sliding connector, and the outer wall of the device disc sliding connector is fixedly connected with a rotatable device disc. The rotatable device disc is provided with a rotating motor for realizing rotation inside, and the side of the rotatable device disc is respectively provided with a drilling machine, a hole cleaning machine, a glue injection machine, and a rebar planting machine. This scheme sets multiple working structures on a slidable disc. However, this structure is difficult to adapt to rebar planting with a longer length. CN217080323U is an integrated drilling, hole cleaning, and rebar planting equipment. The drill rod, nozzle, glue injection head, air pump, and glue box body are set on one device, and the drilling, cleaning, and glue injection operations are concentrated together. The staff can perform all operations with only one device. The problem is that this structure is difficult to realize automated operation, and manual operation is required throughout the process, which belongs to semi-mechanized operation. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a fully automatic secondary structure rebar embedding device and construction method, which can realize full automation of top surface rebar embedding operation and greatly improve the efficiency, construction accuracy and construction quality of the rebar embedding operation.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a fully automatic secondary structure rebar embedding device, including a trolley, an xy platform is provided on the top of the trolley, a column is provided on the top of the xy platform, slides are provided on the four vertical side walls of the column, the slide is connected to the lifting mechanism, and a drilling device, a hole cleaning device, a glue injection device and a rebar insertion device are respectively provided on the slide.

[0005] In a preferred solution, a walking mechanism is provided at the bottom of the trolley, and a supporting mechanism is also provided on the trolley, and the supporting mechanism is used to support on the ground to fix the position of the trolley and keep the trolley in a horizontal state.

[0006] In a preferred solution, the xy platform includes an x-direction moving platform and a y-direction moving platform; The x-direction moving platform is arranged on the top of the trolley through a guide rail, and is driven by a motor through a lead screw nut mechanism to reciprocate along the x-axis direction of the trolley. The y-direction moving platform is arranged on the top of the x-direction moving platform through a guide rail, and is driven by a motor through a lead screw nut mechanism to reciprocate along the y-axis direction of the trolley. A laser locator is arranged on the top of the Y-moving platform, and the laser beam emitted by the laser locator points vertically to the top.

[0007] In the preferred solution, eight vertical slide rail seats are provided at the four corners of the column, slide rails are provided on the inner sides of the slide rail seats, and pulleys are provided on both sides of the first slide, the second slide, the third slide and the fourth slide, the pulleys are clamped on the slide rails and driven by the lifting mechanism to move along the slide rails; A stroke sensor is provided on each slide.

[0008] In a preferred solution, the lifting mechanism is a cylinder, a hydraulic cylinder or an electric push rod, one end of the lifting mechanism is connected to the column, and the other end of the lifting mechanism is connected to the slide.

[0009] In the preferred scheme, the structure of the lifting mechanism is as follows: a guide wheel corresponding to each slide is provided at the top of the column, and a plurality of drums corresponding to each guide wheel are provided below the guide wheel. The drum is connected to the winch motor through an elastic coupling and a winch reducer, one end of the corresponding steel wire rope is wound around the drum, and the other end of the steel wire rope passes around the guide wheel and is connected to each slide.

[0010] In a preferred solution, the structure of the drilling device is as follows: the drilling device is fixed on the first slide, the drill bit is installed on the top of the drilling device, and the drill bit is vertically pointed in the direction of the top; The structure of the hole cleaning device is as follows: the gas joint is fixedly arranged on the second slide, the hole cleaning brush tube is connected to the gas joint, the hole cleaning brush tube vertically points to the top direction, the outer diameter of the hole cleaning brush tube is smaller than the diameter of the drill bit, a brush is arranged on the outer wall of the hole cleaning brush tube, the gas joint is connected to the compression fan through a pipeline, and the compression fan adopts an air compressor or a centrifugal fan; A dust collecting cover is also arranged on the outer wall of the drill bit and the hole cleaning brush tube, and the dust collecting cover is connected with the dust collector through a hose.

[0011] In a preferred solution, the structure of the glue injection device is as follows: the glue cylinder is fixedly connected to the third slide, the top of the glue cylinder is connected to the glue injection tube, and the outer diameter of the glue injection tube is smaller than the diameter of the drill bit; A rubber plug is provided near the top of the rubber injection tube; A piston is provided in the rubber cylinder, and a rubber injection screw is connected to the piston. A rubber injection motor is also provided. The rubber injection motor is a through-structure stepping or servo motor. The output shaft of the rubber injection motor is connected to the input part of the rubber injection reducer. The output part of the rubber injection reducer is connected to a nut and drives the nut to rotate. The nut is threadedly connected to the rubber injection screw.

[0012] In a preferred solution, the structure of the rebar insertion device is as follows: the rebar insertion fixing jaw is fixedly connected to the fourth slide via a cantilever, an opening is provided on one side of the rebar insertion fixing jaw, a space for accommodating the rebar to be inserted is provided at the center of the rebar insertion fixing jaw, the axis of the rebar to be inserted is perpendicular to the top surface, a rotatable rebar insertion rotating jaw is provided in the rebar insertion fixing jaw, and an opening is also provided on one side of the rebar insertion rotating jaw, when the rebar insertion rotating jaw is rotated to the opening position of the rebar insertion fixing jaw, the diameter of the space for accommodating the rebar to be inserted is reduced to clamp the rebar to be inserted; A spiral tooth is provided on the outer wall of the rebar inserting rotating clamp, and a rebar inserting locking motor is fixed on the cantilever. The rebar inserting locking motor is connected to the rebar inserting locking screw, and the rebar inserting locking screw is meshedly connected with the spiral tooth to drive the rebar inserting rotating clamp to reciprocate; A rebar storage tank is also provided on one side of the rebar fixing clamp, and the rebar storage tank is used to store multiple rebars to be inserted. An opening facing the rebar fixing clamp is provided on one side of the rebar storage tank, a rebar limiting mechanism is provided near the opening of the rebar storage tank, and a rebar pushing rod is provided at a position away from the opening of the rebar storage tank. The rebar pushing rod is used to push the rebar to be inserted into the space of the rebar fixing clamp.

[0013] A construction method using the above-mentioned fully automatic secondary structure reinforcing bar embedding device comprises the following steps: S1, calibration, fix the laser locator on the surface of the xy platform so that the laser beam of the laser locator is perpendicular to the top surface; Calibrate the distance between the laser beam and the working axis of the drilling device, hole cleaning device, glue injection device and reinforcing bar insertion device on the horizontal projection plane to obtain the working stroke of each device; S2, positioning, move the trolley to the construction site, operate the support mechanism to make the trolley fixed and level, make the travel range of the xy platform cover the construction range, operate the terminal or input the coordinates, move the xy platform, and align the laser beam to the first construction position; Operate the terminal or input coordinates in sequence to aim the laser beam at the next construction location; The control system stores each construction location; S3, execution, according to the construction steps and the calibrated working stroke, the xy platform moves the working axes of the drilling device, the hole cleaning device, the glue injection device and the reinforcing bar insertion device to align with the construction position in sequence, controls the lifting devices of the drilling device, the hole cleaning device, the glue injection device and the reinforcing bar insertion device to respectively complete the operations of drilling, hole cleaning, glue injection and reinforcing bar insertion at one construction position; After all operations are completed at one construction location, the xy platform continues to complete the operations of drilling, hole cleaning, glue injection and reinforcing bar insertion according to the stored construction locations; S4, the construction is finished and all lifting devices return to their positions; The above steps can realize the fully automated construction of secondary structure reinforcement.

[0014] The present invention provides a fully automatic secondary structure reinforcing bar implanting device and construction method, which has the following beneficial effects: 1. The present invention integrates the operations of drilling, hole cleaning, glue injection and rebar insertion on a trolley, and can realize fully automatic rebar planting construction at one array construction position at a time, greatly improving the construction efficiency of rebar planting.

[0015] 2. The present invention adopts a structure in which slides are arranged on the four sides of the column, which has good force rigidity and can meet the requirements of anchor bar construction in indoor spaces with a net height of more than 3 meters. It also has high construction accuracy and can ensure the accuracy of hole depth, hole diameter and hole body inclination.

[0016] 3. The rebar insertion device of the present invention can store multiple rebars at a time and can realize the operations of automatic rebar feeding and automatic rebar insertion. Moreover, the structure is very simple, easy to process and implement, occupies a small space, and can meet the requirements of the length of the rebar to be inserted, such as the rebar whose length exceeds 1 / 2 to 3 / 4 of the net height.

[0017] 4. The present invention can realize the rapid positioning and storage of the working position by using a simple laser locator, and in the subsequent construction process, it can be reproduced by using accurate calibration, thereby realizing automated and high-precision construction.

[0018] 5. The invention has a simple structure, a small size, is light and portable, and is easy to implement transformation.

[0019] 6. The construction method of the present invention can realize the fully automated construction of a group of secondary reinforcing bars in one array, which is a pioneering process method. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 It is a main structural schematic diagram of the present invention.

[0021] Figure 2 It is a top view schematic diagram of the column structure of the present invention.

[0022] Figure 3 It is a structural schematic diagram of the lifting mechanism of the present invention.

[0023] Figure 4 It is a structural schematic diagram of the glue injection device of the present invention.

[0024] Figure 5 It is a structural schematic diagram of the reinforcing bar inserting device of the present invention.

[0025] Figure 6 yes Figure 5 AA cross-sectional view of .

[0026] Figure 7 It is a flow chart of the construction method of the present invention.

[0027] In the figure: trolley 1, supporting mechanism 101, walking mechanism 102, column 2, slide rail seat 21, slide rail 22, xy platform 3, x-moving platform 31, y-moving platform 32, slide 4, first slide 41, second slide 42, third slide 43, fourth slide 44, pulley 45, lifting mechanism 5, drum 51, guide wheel 52, wire rope 53, elastic coupling 54, winch reducer 55, winch motor 56, glue injection device 6, glue injection tube 61, glue plug 62, piston 63, nut 64, glue injection Reducer 65, glue injection motor 66, glue injection screw 67, glue cylinder 68, drilling device 7, drill bit 71, drilling rig device 72, hole cleaning device 8, hole cleaning brush tube 81, gas connector 82, rebar insertion device 9, rebar insertion push rod 91, rebar insertion storage tank 92, rebar to be inserted 93, rebar insertion fixing jaw 94, rebar insertion rotating jaw 95, rebar insertion locking screw 96, rebar insertion locking motor 97, cantilever 98, rebar insertion limiting mechanism 99, dust collection hood 10, vacuum cleaner 11, pipeline 12, compressor fan 13, laser locator 14. DETAILED DESCRIPTION

[0028] Embodiment 1: like Figure 1 , 2In the invention, a fully automatic secondary structure rebar embedding device includes a trolley 1, an xy platform 3 is provided on the top of the trolley 1, a column 2 is provided on the top of the xy platform 3, a slide 4 is provided on the four vertical side walls of the column 2, the slide 4 is connected to a lifting mechanism 5, and a drilling device 7, a hole cleaning device 8, a glue injection device 6 and a rebar insertion device 9 are respectively provided on the slide 4. With this structure, the trolley 1 can be conveniently moved to a position where rebar embedding construction is required, and the xy platform 3 can move the column 2 to an appropriate position through precise horizontal displacement, so that the drilling device 7, the hole cleaning device 8, the glue injection device 6 and the rebar insertion device 9 are respectively aligned with the positions where construction is required, so as to perform drilling, hole cleaning, glue injection and rebar insertion construction.

[0029] The preferred solution is Figure 1 In the embodiment, the bottom of the trolley 1 is provided with a walking mechanism 102, and the trolley 1 is also provided with a supporting mechanism 101, which is used to support on the ground to fix the position of the trolley 1 and make the trolley 1 in a horizontal state. The supporting mechanism 101 preferably adopts a screw mechanism, and the supporting mechanism 101 is rotated so that the supporting feet of the screw mechanism fall on the ground, and each screw mechanism is adjusted, and the trolley 1 is leveled with a level meter.

[0030] The preferred solution is Figure 1 In the embodiment, the xy platform 3 includes an x-direction moving platform 31 and a y-direction moving platform 32; The x-direction moving platform 31 is arranged on the top of the trolley 1 through a guide rail, and is driven by a motor through a screw nut mechanism to reciprocate along the X-axis direction of the trolley 1. The y-direction moving platform 32 is arranged on the top of the x-direction moving platform 31 through a guide rail, and is driven by a motor through a screw nut mechanism to reciprocate along the Y-axis direction of the trolley 1. The xy platform 3 is a commonly used structure in the prior art. In this example, the column 2 is fixedly connected to the top of the y-direction moving platform 32 through a screw, and a rubber pad is provided at the bottom of the column 2 to reduce the impact of vibration on the xy platform 3.

[0031] A laser locator 14 is provided at the top of the y-direction movable platform 32, and the laser beam emitted by the laser locator 14 is vertically pointed to the top. The laser beam of the laser locator 14 is perpendicular to the plane of the top plate, and the laser locator 14 is set in a place where it is not blocked by various devices. The working axis of each drilling device 7, hole cleaning device 8, glue injection device 6 and bar insertion device 9 is calibrated at the top of the y-direction movable platform 32. In order to conveniently locate the distance between the axis of the laser beam and the working axis of each device. The working axis of the drilling device 7 is the axis of the drill bit 71, the working axis of the hole cleaning device 8 is the axis of the hole cleaning brush tube 81, the working axis of the glue injection device 6 is the axis of the glue injection tube 61, and the working axis of the bar insertion device 9 is the axis of the steel bar 93 to be inserted in the space of the bar insertion fixed clamp 94. During the calibration process, the distance between the laser beam and each working axis is directly measured at the top of the y-direction movable platform 32. Alternatively, in the control system, a plane coordinate system is established with the top of the y-moving platform 32, the coordinates of each working axis are calibrated first, and then the coordinates of the laser locator 14 are calibrated, and the coordinates of the laser beam are set as the origin. The coordinates of each working axis are the displacement and displacement direction required by the xy platform 3 relative to the origin coordinates when drilling, cleaning, injecting glue and inserting reinforcement. Preferably, the laser locator 14 is also used as a laser rangefinder to measure the distance between the y-moving platform 32 and the top working surface. At the same time, the distance parameter to the top surface is output as data for full automatic control.

[0032] The preferred solution is Figure 2 In the figure, eight vertical slide rail seats 21 are provided at the four corners of the column 2, slide rails 22 are provided on the inner sides opposite to the slide rail seats 21, pulleys 45 are provided on both sides of the first slide 41, the second slide 42, the third slide 43 and the fourth slide 44, the pulley 45 is clamped on the slide rail 22, and is driven by the lifting mechanism 5 to move along the slide rail 22; thus, the processing difficulty is greatly reduced, and it is easy to process and manufacture.

[0033] A stroke sensor is provided on each slide 4. The stroke of each slide 4 is collected by the stroke sensor, so that the working depth of drilling, hole cleaning, glue injection and reinforcing bar insertion, that is, the drilling depth, hole cleaning insertion depth, glue injection insertion depth and reinforcing bar insertion depth can be controlled. Avoid the situation where the drilling depth is insufficient or too deep. It is also more convenient to adapt to construction positions at different heights. For example, the top beam and the top plate are located at different heights, and the stroke of the slide 4 needs to be dynamically adjusted. Further preferably, the stroke sensor includes an absolute value sensor arranged on a drive mechanism, such as a winch motor 56, or a magnetostrictive displacement sensor arranged on a cylinder, a hydraulic cylinder or an electric push rod, or a non-contact Hall sensor arranged on each slide 4.

[0034] In a preferred solution, the lifting mechanism 5 is a cylinder, a hydraulic cylinder or an electric push rod, one end of the lifting mechanism 5 is connected to the column 2, and the other end of the lifting mechanism 5 is connected to the slide 4. This solution is suitable for construction occasions with a low space height, such as a height of less than 3 meters. Because an overly long lifting mechanism 5 leads to a significant increase in cost, or poor stress conditions and inconvenience in construction.

[0035] The preferred solution is Figure 2 , 3 In the embodiment, the structure of the lifting mechanism 5 is as follows: a guide wheel 52 corresponding to each slide 4 is provided on the top of the column 2, and a plurality of drums 51 corresponding to each guide wheel 52 are provided below the guide wheel 52. The drum 51 is connected to the hoisting motor 56 through an elastic coupling 54 and a hoisting reducer 55. One end of the corresponding steel wire rope 53 is wound on the drum 51, and the other end of the steel wire rope 53 is connected to each slide 4 by passing the guide wheel 52. This structure is suitable for occasions with a high space height, such as construction occasions with a height exceeding 3 meters.

[0036] The preferred solution is Figure 1 , 2 In the embodiment, the structure of the drilling device 7 is as follows: the drilling device 72 is fixed on the first slide 41, the drill bit 71 is installed on the top of the drilling device 72, and the drill bit 71 is vertically pointed to the top direction; in order to save costs, the drilling device 72 in this example can directly use an existing impact drill, and the drilling device 72 is fixedly installed on the first slide 41 with a corresponding fixture. Ensure that the axis of the drill bit 71 is perpendicular to the top surface, and the axis of the drill bit 71 corresponds to the calibrated position of the top working axis of the y-axis movable platform 32.

[0037] like Figure 1 In the embodiment, the structure of the hole cleaning device 8 is as follows: the gas connector 82 is fixed on the second slide 42, the hole cleaning brush tube 81 is connected to the gas connector 82, the hole cleaning brush tube 81 is vertically pointed to the top direction, the outer diameter of the hole cleaning brush tube 81 is smaller than the diameter of the drill bit 71, a brush is provided on the outer wall of the hole cleaning brush tube 81, the gas connector 82 is connected to the compression fan 13 through the pipeline 12, and the compression fan 13 adopts an air compressor or a centrifugal fan; in this example, the outer diameter of the hole cleaning brush tube 81 is only slightly smaller than the diameter of the drill bit 71, and the compression fan 13 preferably adopts a 0.6MPa high-pressure air compressor. The inner wall of the drill hole is cleaned by the brush and high-speed compressed air, without floating dust and unstable and easily detachable structures.

[0038] A further preferred structure is Figure 1 In the embodiment, a dust collecting cover 10 is also provided on the outer wall of the drill bit 71 and the hole cleaning brush tube 81, and the dust collecting cover 10 is connected to the dust collector 11 through a hose. With this structure, dust can be absorbed during the drilling or hole cleaning process.

[0039] The preferred solution is Figure 1, 2 4, the structure of the glue injection device 6 is: the glue cylinder 68 is fixedly connected to the third slide 43, the top of the glue cylinder 68 is connected to the glue injection tube 61, and the outer diameter of the glue injection tube 61 is slightly smaller than the diameter of the drill bit 71; when the glue injection tube 61 is inserted into the drill hole and glue is injected into the drill hole, the glue injection tube 61 itself will occupy a certain space, thereby avoiding excessive glue injection to save costs.

[0040] A glue plug 62 is provided near the top of the glue injection tube 61; the provided glue plug 62 can avoid waste of glue and can ensure that the glue fully fills the drill hole and is dense under pressure.

[0041] A piston 63 is provided in the rubber cylinder 68, and a rubber injection screw 67 is connected to the piston 63. A rubber injection motor 66 is also provided. The rubber injection motor 66 is a through-core stepping or servo motor. The output shaft of the rubber injection motor 66 is connected to the input part of the rubber injection reducer 65. The output part of the rubber injection reducer 65 is connected to the nut 64 and drives the nut 64 to rotate. The nut 64 is threadedly connected to the rubber injection screw 67. By controlling the rotation angle of the rubber injection motor 66, the rotation angle of the nut 64 is accurately controlled, and then the stroke of the piston 63 is accurately controlled, so that the amount of rubber injection can be accurately controlled.

[0042] The preferred solution is Figure 2 , 5 , 6, the structure of the rebar insertion device 9 is as follows: the rebar insertion fixing clamp 94 is fixedly connected to the fourth slide 44 through a cantilever 98. Preferably, the length of the cantilever 98 allows the axis of the reinforcing bar 93 to be inserted to fall outside the y-direction moving platform 32, or an opening is provided at a position corresponding to the y-direction moving platform 32, so as to facilitate the provision of a temporary pier at the bottom of the inserted rebar. An opening is provided on one side of the rebar insertion fixing clamp 94, and a space for accommodating the rebar 93 to be inserted is provided at the center position of the rebar insertion fixing clamp 94, and the axis of the rebar 93 to be inserted is perpendicular to the top surface. A rotatable rebar insertion rotating clamp 95 is provided in the rebar insertion fixing clamp 94, and an opening is also provided on one side of the rebar insertion rotating clamp 95. When the rebar insertion rotating clamp 95 rotates to the opening position of the rebar insertion fixing clamp 94, the diameter of the space for accommodating the rebar 93 to be inserted is reduced to clamp the rebar 93 to be inserted; The outer wall of the rebar inserting rotating clamp 95 is provided with spiral teeth, and a rebar inserting locking motor 97 is fixed on the cantilever 98. The rebar inserting locking motor 97 is connected to the rebar inserting locking screw 96, and the rebar inserting locking screw 96 is meshed with the spiral teeth to drive the rebar inserting rotating clamp 95 to reciprocate. A rebar storage tank 92 is also provided on one side of the rebar fixing clamp 94. The rebar storage tank 92 is used to store multiple rebars 93 to be inserted. An opening facing the rebar fixing clamp 94 is provided on one side of the rebar storage tank 92. A rebar limiting mechanism 99 is provided near the opening of the rebar storage tank 92. The rebar limiting mechanism 99 is preferably a spring bull's eye in this example, that is, a steel ball with a spring, which faces the direction of the rebar to limit the position of the rebar. A rebar push rod 91 is provided at a position away from the opening of the rebar storage tank 92. The rebar push rod 91 is preferably an electric push rod. The rebar push rod 91 is used to push the rebar 93 to be inserted into the space of the rebar fixing clamp 94. With this structure, the operation of rebar insertion is very convenient, especially it can realize continuous rebar insertion construction and install temporary piers at the same time.

[0043] A control system is also provided, and in this example, a PLC is preferably used. The laser locator 14, the travel sensor, and the rotation angle sensors of each motor are connected to the input end of the PLC, and the output end of the PLC is electrically connected to the walking mechanism 102, the xy platform 3, the lifting mechanism 5, the drilling device 72, the compression fan 13, the vacuum cleaner 11, the glue injection motor 66, the reinforcing bar push rod 91 and the reinforcing bar locking motor 97 to control the operation of these drivers. A wireless communicator is also provided, and preferably WIFI is used to communicate with the terminal. In this example, an industrial computer is also provided, and an Android control interface is provided. The terminal uses a mobile phone to input parameters.

[0044] Embodiment 2: like Figure 7 A construction method using the above-mentioned fully automatic secondary structure reinforcing bar embedding device comprises the following steps: S1, calibration, fix the laser locator 14 on the surface of the xy platform 3, so that the laser beam of the laser locator 14 is perpendicular to the top surface; The distance between the laser beam and the working axes of the drilling device 7, the hole cleaning device 8, the glue injection device 6 and the reinforcing bar insertion device 9 on the horizontal projection plane is calibrated to obtain the working stroke of each device; preferably, the position where the laser beam of the laser locator 14 is positioned is used as the origin, and the working axes of other devices are also calibrated on the surface of the y-direction moving platform 32. The coordinates of each working axis relative to the origin are the displacement of the xy platform 3 during the construction process. That is, the drilling device 7 is (x 钻 ,y 钻 ), the hole cleaning device 8 is (x 清 ,y 清 ), the glue injection device 6 is (x 注 ,y 注 ), the reinforcing bar device 9 is (x 插 ,y 插 ).

[0045] S2, positioning, moving the trolley 1 to the construction site, operating the support mechanism 101 to fix and level the trolley 1, making the travel range of the xy platform 3 cover the construction range, operating the terminal or inputting coordinates, moving the xy platform 3, and aligning the laser beam to the first construction position; Operate the terminal or input coordinates in sequence to aim the laser beam at the next construction location; The control system stores each construction location; S3, execution, according to the construction steps and the calibrated working stroke, the xy platform 3 moves the working axes of the drilling device 7, the hole cleaning device 8, the glue injection device 6 and the reinforcing bar insertion device 9 in sequence to align with the construction position, controls the lifting devices of the drilling device 7, the hole cleaning device 8, the glue injection device 6 and the reinforcing bar insertion device 9 to complete the operations of drilling, hole cleaning, glue injection and reinforcing bar insertion at one construction position; After all operations are completed at one construction position, the xy platform 3 continues to complete the operations of drilling, hole cleaning, glue injection and reinforcing bar insertion according to the stored construction positions; S4, the construction is finished and all lifting devices return to their positions; The above steps can realize the fully automated construction of secondary structure reinforcement.

[0046] Embodiment 3: On the basis of Example 2, a group of 6×6 embedded bars are constructed at the top beam position. First, the trolley 1 is moved to the bottom of the top beam construction position, and the laser locator 14 is used to assist in positioning to ensure that the displacement range of the xy platform 3 covers the top beam construction position. The support mechanism 101 is extended and supported on the ground to lift the trolley 1 and lift the wheels of the walking mechanism 102 off the ground. Use the spirit level on the trolley 1 to level the top of the trolley 1. The xy platform 3 is controlled by a mobile phone terminal to position the laser locator 14 with the position of the 6×6 embedded bars in turn, that is, the xy platform 3 is moved in turn to align the laser beam of the laser locator 14 with the position of the 6×6 embedded bars, and the industrial computer stores the position and the measured distance. First, the position of the 6×6 embedded bars is drilled, and the PLC determines the position according to the calibrated (x 钻 ,y 钻) Move the drilling device 7 to align with the first rebar embedding position, calculate the lifting height of the slide 4 according to the measured distance, return the slide to zero position first, PLC operates the hoisting motor 56 of the lifting mechanism 5, inputs the calculated angle parameter, the hoisting motor 56 lifts the preset height, and the drilling device 72 rotates at the same time. Preferably, the hoisting motor 56 adopts a fixed torque output. When the preset torque is exceeded, the hoisting motor 56 stops to avoid damage to the hoisting motor 56 due to drilling resistance. According to the previously located 6×6 rebar embedding position, the drilling is completed in sequence. At the same time, PLC controls the vacuum cleaner 11 to work and suck away the dust. PLC controls the compressed air fan 13, in this case, the air compressor is started, PLC controls the xy platform 3 to align the hole cleaning brush tube 81 of the hole cleaning device 8 with each borehole, PLC controls the lifting mechanism to extend the hole cleaning brush tube 81 into the borehole, the valve of the air compressor is opened, and the compressed air cleans the borehole to complete the hole cleaning construction of each borehole. The PLC controls the xy platform 3 to align the glue injection device 6 with each drill hole in turn. At each drill hole position, the PLC controls the lifting mechanism to extend the glue injection tube 61 into the drill hole. The PLC controls the glue injection motor 66 to rotate at a preset angle to inject a certain amount of glue into the drill hole, and fill it tightly with the help of the glue plug 62. The PLC controls the xy platform 3 to align the rebar insertion device 9 with each drill hole in turn. The rebar insertion push rod 91 is an electric push rod, which pushes a rebar into the rebar insertion fixed clamp 94. The rebar insertion locking motor 97 rotates, and the rebar insertion locking screw 96 drives the rebar insertion rotating clamp 95 to rotate, sealing the opening of the rebar insertion fixed clamp 94 and locking the rebar. At the same time, it also pushes the extra rebar back into the rebar insertion storage tank 92 and is blocked by the rebar insertion limit mechanism 99. The PLC controls the lifting mechanism 5 to move, so that the rebar insertion fixed clamp 94 rises, and the rebar is inserted into the glue-coated drill hole. The bottom of the rebar is supported and fixed by a temporary pier. Through the above steps, the 6×6 rebar planting construction is completed in a fully automatic manner.

[0047] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, a person skilled in the art may make various modifications and variations to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A fully automatic secondary structure rebar planting device, characterized by: The invention comprises a trolley (1), wherein an xy platform (3) is provided on the top of the trolley (1), a column (2) is provided on the top of the xy platform (3), a slide (4) is provided on four vertical side walls of the column (2), the slide (4) is connected to a lifting mechanism (5), and a drilling device (7), a hole cleaning device (8), a glue injection device (6) and a reinforcing bar insertion device (9) are respectively provided on the slide (4).

2. The fully automatic secondary structure reinforcing bar implanting device according to claim 1 is characterized in that: The bottom of the trolley (1) is provided with a walking mechanism (102), and the trolley (1) is also provided with a supporting mechanism (101), the supporting mechanism (101) being used to support on the ground to fix the position of the trolley (1) and to keep the trolley (1) in a horizontal state.

3. The fully automatic secondary structure reinforcing bar implanting device according to claim 1 is characterized in that: The xy platform (3) comprises an x-direction moving platform (31) and a y-direction moving platform (32); The x-direction moving platform (31) is arranged on the top of the trolley (1) via a guide rail, and is driven by a motor through a lead screw nut mechanism to reciprocate along the x-axis direction of the trolley (1); the y-direction moving platform (32) is arranged on the top of the x-direction moving platform (31) via a guide rail, and is driven by a motor through a lead screw nut mechanism to reciprocate along the y-axis direction of the trolley (1); A laser locator (14) is provided on the top of the y-direction movable platform (32), and a laser beam emitted by the laser locator (14) is vertically directed toward the top.

4. The fully automatic secondary structure reinforcing bar implanting device according to claim 1 is characterized in that: Eight vertical slide rail seats (21) are provided at the four corners of the column (2), slide rails (22) are provided on the inner sides of the slide rail seats (21), and pulleys (45) are provided on both sides of the first slide (41), the second slide (42), the third slide (43) and the fourth slide (44), and the pulleys (45) are clamped on the slide rails (22) and driven by the lifting mechanism (5) to move along the slide rails (22); A travel sensor is provided on each slide (4).

5. The fully automatic secondary structure reinforcing bar implanting device according to claim 1 or 4 is characterized in that: The lifting mechanism (5) is a cylinder, a hydraulic cylinder or an electric push rod. One end of the lifting mechanism (5) is connected to the column (2), and the other end of the lifting mechanism (5) is connected to the slide (4).

6. The fully automatic secondary structure reinforcing bar implanting device according to claim 1 or 4 is characterized in that: The structure of the lifting mechanism (5) is as follows: a guide wheel (52) corresponding to each slide (4) is provided at the top of the column (2), and a plurality of drums (51) corresponding to each guide wheel (52) are provided below the guide wheel (52); the drums (51) are connected to the hoisting motor (56) via an elastic coupling (54) and a hoisting reducer (55); one end of the corresponding steel wire rope (53) is wound around the drum (51), and the other end of the steel wire rope (53) is wound around the guide wheel (52) and connected to each slide (4).

7. The fully automatic secondary structure reinforcing bar implanting device according to claim 1 is characterized in that: The structure of the drilling device (7) is as follows: the drilling device (72) is fixed on the first slide (41), the drill bit (71) is installed on the top of the drilling device (72), and the drill bit (71) is vertically pointed in the direction of the top; The hole cleaning device (8) has the following structure: a gas connector (82) is fixedly mounted on the second slide (42); a hole cleaning brush tube (81) is connected to the gas connector (82); the hole cleaning brush tube (81) is vertically pointed in the direction of the top; the outer diameter of the hole cleaning brush tube (81) is smaller than the diameter of the drill bit (71); a brush is provided on the outer wall of the hole cleaning brush tube (81); the gas connector (82) is connected to a compression fan (13) via a pipeline (12); and the compression fan (13) is an air compressor or a centrifugal fan; A dust collecting cover (10) is also provided on the outer walls of the drill bit (71) and the hole cleaning brush tube (81), and the dust collecting cover (10) is connected to the dust collector (11) via a hose.

8. The fully automatic secondary structure reinforcing bar implanting device according to claim 1 or 7 is characterized in that: The structure of the glue injection device (6) is as follows: the glue cylinder (68) is fixedly connected to the third slide (43), the top of the glue cylinder (68) is connected to the glue injection tube (61), and the outer diameter of the glue injection tube (61) is smaller than the diameter of the drill bit (71); A rubber plug (62) is provided near the top of the rubber injection tube (61); A piston (63) is provided in the rubber cylinder (68), a rubber injection screw (67) is connected to the piston (63), and a rubber injection motor (66) is also provided. The rubber injection motor (66) is a through-structure stepping motor or servo motor. The output shaft of the rubber injection motor (66) is connected to the input part of the rubber injection reducer (65). The output part of the rubber injection reducer (65) is connected to the nut (64) and drives the nut (64) to rotate. The nut (64) is threadedly connected to the rubber injection screw (67).

9. The fully automatic secondary structure reinforcing bar implanting device according to claim 1 or 7, characterized in that: The structure of the reinforcing bar insertion device (9) is as follows: the reinforcing bar insertion fixing clamp (94) is fixedly connected to the fourth slide (44) via a cantilever (98); an opening is provided on one side of the reinforcing bar insertion fixing clamp (94); a space for accommodating a reinforcing bar (93) to be inserted is provided at the center of the reinforcing bar insertion fixing clamp (94); the axis of the reinforcing bar (93) to be inserted is perpendicular to the top surface; a rotatable reinforcing bar insertion rotating clamp (95) is provided in the reinforcing bar insertion fixing clamp (94); an opening is also provided on one side of the reinforcing bar insertion rotating clamp (95); when the reinforcing bar insertion rotating clamp (95) rotates to the opening position of the reinforcing bar insertion fixing clamp (94), the diameter of the space for accommodating the reinforcing bar (93) to be inserted is reduced to clamp the reinforcing bar (93) to be inserted; A spiral tooth is provided on the outer wall of the rebar inserting rotating clamp (95), a rebar inserting locking motor (97) is fixedly provided on the cantilever (98), the rebar inserting locking motor (97) is connected to the rebar inserting locking screw (96), and the rebar inserting locking screw (96) is meshedly connected with the spiral tooth to drive the rebar inserting rotating clamp (95) to reciprocate; A rebar insertion storage tank (92) is also provided on one side of the rebar insertion fixing clamp (94), the rebar insertion storage tank (92) being used to store a plurality of rebars (93) to be inserted, an opening facing the rebar insertion fixing clamp (94) is provided on one side of the rebar insertion storage tank (92), a rebar insertion limiting mechanism (99) is provided at a position close to the opening of the rebar insertion storage tank (92), and a rebar insertion push rod (91) is provided at a position away from the opening of the rebar insertion storage tank (92), the rebar insertion push rod (91) being used to push the rebars (93) to be inserted into the space of the rebar insertion fixing clamp (94).

10. A construction method using the fully automatic secondary structure reinforcing bar implanting device according to any one of claims 1 to 9, characterized in that The following steps are involved: S1, calibration, fixing the laser locator (14) on the surface of the xy platform (3) so that the laser beam of the laser locator (14) is perpendicular to the top surface; Calibrate the distance between the laser beam and the working axes of the drilling device (7), the hole cleaning device (8), the glue injection device (6) and the reinforcing bar insertion device (9) on the horizontal projection plane to obtain the working stroke of each device; S2, positioning, moving the trolley (1) to the construction site, operating the support mechanism (101) to fix and level the trolley (1), making the travel range of the xy platform (3) cover the construction range, operating the terminal or inputting coordinates, moving the xy platform (3), and aligning the laser beam to the first construction position; Operate the terminal or input coordinates in sequence to aim the laser beam at the next construction location in sequence; The control system stores each construction location; S3, execution, according to the construction steps and the calibrated working stroke, the xy platform (3) moves the working axes of the drilling device (7), the hole cleaning device (8), the glue injection device (6) and the reinforcing bar insertion device (9) in sequence to align with the construction position, controls the movements of the lifting devices of the drilling device (7), the hole cleaning device (8), the glue injection device (6) and the reinforcing bar insertion device (9) respectively, and completes the operations of drilling, hole cleaning, glue injection and reinforcing bar insertion at one construction position; After all operations are completed at one construction location, the xy platform (3) continues to complete the operations of drilling, hole cleaning, glue injection and reinforcing bar insertion according to the stored construction locations; S4, the construction is finished and all lifting devices return to their positions; The above steps can realize the fully automated construction of secondary structure reinforcement.

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