Shield segment reinforcement cage forming assembly line and forming method

Abstract

The invention relates to the field of steel bar machining, and provides a shield segment steel bar framework forming assembly line and method.The shield segment steel bar framework forming assembly line comprises an automatic discharging system, a steel bar mold table, a stirrup mounting station and a main bar assembly body mounting station; the automatic unloading system is positioned above the main reinforcement assembly body mounting station and is used for grabbing and unloading the main reinforcement assembly body; the reinforcing steel bar mold table is located on the main reinforcement assembly body mounting station or the stirrup mounting station, and the reinforcing steel bar mold table is used for circulation of an assembly line, automatic assembly of main reinforcement assembly bodies, stirrup penetrating and sleeving, secondary pushing and resetting of the main reinforcement assembly bodies and secondary re-bending bearing of the bending angle of the stirrups; and the stirrup mounting station is arranged on one side of the main reinforcement assembly body mounting station. The stirrup bending device has the beneficial effects that stirrups can be conveniently and rapidly sleeved, and meanwhile the stirrup bending effect conforming to specifications is stably provided.

Description

Technical Field

[0001] This application relates to the field of steel bar processing, and particularly to a shield segment steel bar skeleton forming production line and a forming method. Background Art

[0002] The shield segment steel bar skeleton is an indispensable key component in tunnel construction, and its quality is directly related to the safety and durability of the entire tunnel structure. The traditional manual production method can no longer meet the requirements of modern construction, and the industry is gradually developing towards mechanization and automation to improve production efficiency and ensure product quality.

[0003] According to the requirements of the design drawings and relevant specifications, the bending angle of the hook at the end of the stirrup should not be less than 135°, and the length after bending should not be less than 10 times the diameter of the stirrup. The 135° hook brings great trouble to the threading of the inner and outer arc main bars, and it is basically very difficult to thread. Therefore, in the steel bar skeleton manufacturing technology, to solve the assembly problem of the inner and outer arc main bars and stirrups, it is usually adopted to connect the end of the stirrup to the main body by welding to form a closed-loop stirrup. However, when using the welded closed-loop stirrup, since long-distance welding is required for the end of the stirrup, it not only increases the operation difficulty but also easily leads to unstable welding quality. Summary of the Invention

[0004] To improve the above problems, this application provides a shield segment steel bar skeleton forming production line and a forming method.

[0005] The shield segment steel bar skeleton forming production line and forming method provided by this application adopt the following technical solutions: A shield segment steel bar skeleton forming production line includes an automatic unloading system, a steel bar formwork table, a stirrup installation station, and a main bar assembly installation station; the automatic unloading system is located above the main bar assembly installation station to provide the grasping and unloading of the main bar assembly; the steel bar formwork table is located at the main bar assembly installation station or the stirrup installation station, and the steel bar formwork table undertakes the transfer of the production line, the automatic assembly of the main bar assembly, the threading of the stirrup, the secondary jacking and resetting of the main bar assembly, and the secondary re-bending of the stirrup bending angle; the stirrup installation station is arranged on one side of the main bar assembly installation station and is located on the transfer path of the steel bar formwork table; the stirrup installation station includes a stirrup bending device for threading, bending, and secondary re-bending the stirrup on the main bar assembly.

[0006] By adopting the above technical solution, after the main reinforcement assembly is assembled, the automatic unloading system grabs the casting assembly, moves it to the installation station of the main reinforcement assembly, and places it on the steel bar formwork at the installation station of the main reinforcement assembly. The steel bar formwork drives the main reinforcement assembly to move to the stirrup installation station. After the stirrup installation station manually puts the stirrup on the main reinforcement assembly, the stirrup bending and forming device is used to press and bend it, and the end of the stirrup is pressed and bent into 135°. Welding is not required, providing more convenient operation, and at the same time meeting the requirements of relevant specifications to ensure the quality of the connection.

[0007] Optionally, the automatic unloading system includes a unloading steel portal frame, a mounting seat, a grasping mechanism, a transverse walking and positioning mechanism, a longitudinal walking and positioning mechanism, and a lifting mechanism; the unloading steel portal frame covers the installation station of the main reinforcement assembly; the lifting mechanism is installed on the mounting seat, and the grasping mechanism is composed of two single-acting cylinders and a steel bar clamp block and is controlled in linkage; the longitudinal walking and positioning mechanism is located on the unloading steel portal frame, and the transverse walking and positioning mechanism is located on the mounting seat; the longitudinal walking and positioning mechanism provides the drive for the mounting seat to move longitudinally along the unloading steel portal frame, and the transverse walking and positioning mechanism provides the drive for the lifting mechanism to move transversely along the mounting seat. The grasping mechanism is connected to the lifting mechanism and provides the lifting drive for the grasping mechanism.

[0008] By adopting the above technical solution, after the grasping mechanism grabs the main reinforcement assembly, the lifting mechanism lifts the main reinforcement assembly, and the longitudinal walking and positioning mechanism drives the mounting seat to move along the unloading steel portal frame until it is above the installation station of the main reinforcement assembly. The transverse walking and positioning mechanism drives the lifting mechanism and the grasping mechanism to move transversely along the mounting seat to adjust the placement position. Then the lifting mechanism drives the grasping mechanism to descend so that the main reinforcement assembly is located on the steel bar formwork. After releasing the grasping mechanism, the main reinforcement assembly is separated from the grasping mechanism, and the lifting mechanism pulls back the grasping mechanism, and so on in sequence to achieve the function of conveniently moving the main reinforcement assembly.

[0009] Optionally, the steel bar formwork is provided with a main beam, a secondary beam, a baffle, a limiting angle steel, and a jacking cylinder; the front of the baffle is provided with a main reinforcement assembly slot, and the main reinforcement assembly slot adopts a guiding "Y" - shaped structure formed by bending a steel plate; both sides of the baffle are provided with movable slots, and movable steel plates are arranged in the movable slots, and the movable steel plates are limited to the back side of the baffle by the limiting angle steel, and the movable steel plates are connected to the jacking cylinder; the main reinforcement assembly is inserted into the main reinforcement assembly slot, and through the expansion and contraction of the jacking cylinder, the movable steel plates are driven to move along the movable slots to complete the secondary jacking and resetting of the main reinforcement assembly at the "jaws" of the stirrup.

[0010] By adopting the above technical solution, the main reinforcement assembly is fixed in the baffle through the slot of the main reinforcement assembly. The main reinforcement assembly is fixed by the pushing cylinder using the movable steel plate. After the stirrup is sleeved, the movable steel plate is pushed by the pushing cylinder, moves along the movable slot, and performs a secondary pushing and resetting on the main reinforcement assembly, enabling the main reinforcement assembly to move in the direction away from the baffle, and cooperating with the lifting structure to facilitate separation or material taking.

[0011] Optionally, the baffle is inclined along the steel bar formwork, and a support rib plate connected to the secondary beam is provided on the back of the baffle to form a stable structure.

[0012] By adopting the above technical solution, the support rib plate provides force relief for the baffle, so that when the baffle bears the main reinforcement assembly, the force can be transmitted to the secondary beam through the support rib plate, and the secondary beam is connected to the main beam, thereby dispersing the force and forming a more stable structure.

[0013] Optionally, the stirrup installation station further includes a stirrup steel gantry and a laser alignment instrument; an elastic cord is connected to the stirrup steel gantry, and the stirrup bending and forming device is connected to the elastic cord; the laser alignment instrument is installed on the stirrup steel gantry, and the laser alignment instrument provides a laser mark for the main reinforcement assembly.

[0014] By adopting the above technical solution, the main reinforcement assembly is arc-shaped. The elastic effect of the elastic cord can be used to manually pull the stirrup bending and forming device up or down to adjust the height to adapt to the installation height required for the stirrups on the main reinforcement assembly. When the steel bar formwork reaches the stirrup installation station, after the background control system receives the signal from the sensor, the laser alignment instrument is started. Through the "one"-shaped infrared ray emitted by the laser alignment instrument, the binding positions of the stirrups can be marked at the inner and outer arc main reinforcements of the main reinforcement assembly, ensuring the accuracy of the binding positions.

[0015] Optionally, a conveying mechanism is provided in both the stirrup installation station and the main reinforcement assembly installation station, including a number of fixed columns, guide wheels and a driving wheel set; the guide wheels are pivotally connected to the fixed columns, and the steel bar formwork is placed on the guide wheels; the driving wheel set has a lifting function and contacts the bottom surface of the steel bar formwork when lifting.

[0016] By adopting the above technical solution, the steel bar formwork is placed on the guide wheels at the top of the fixed columns. The driving wheel set lifts and contacts the bottom surface of the steel bar formwork, and provides driving force to drive the steel bar formwork to roll along the guide wheels, thereby achieving the function of quickly and conveniently changing the position of the steel bar formwork, and making the steel bar formwork more stable to switch from the main reinforcement assembly installation station to the stirrup installation station.

[0017] Optionally, an inspection station is provided between the stirrup installation station and the main reinforcement assembly installation station, and the conveying mechanism is synchronously provided at the inspection station.

[0018] By adopting the above technical solution, when the steel bar formwork moves from the main reinforcement assembly installation station to the stirrup installation station by means of the conveying mechanism, it passes through the inspection station. The main reinforcement assembly on the steel bar formwork can be inspected through the inspection station to ensure the integrity or non-damage of the main reinforcement assembly. After the inspection is completed, the conveying mechanism continues to convey to move the steel bar formwork to the stirrup installation station for stirrup installation, reducing the defective rate.

[0019] Optionally, one set of the stirrup installation stations corresponds to one set of the main reinforcement assembly installation stations, and the automatic unloading system is provided with at least two sets of the main reinforcement assembly installation stations, so that the bending and forming of the stirrups and the installation of the main reinforcement assembly are carried out in a crosswise manner.

[0020] By adopting the above technical solution, when the stirrup installation station installs stirrups on the main reinforcement assembly, the automatic unloading system grabs another main reinforcement assembly and conveys it to an empty steel bar formwork, enabling crosswise operation to improve the forming efficiency.

[0021] Optionally, on the side of the automatic unloading system away from the main reinforcement assembly installation station, there is also a main reinforcement assembly welding production area, including a rotating manipulator, a rotating disk, an automatic unloading station, an adjustment station, a welding station, and an automatic loading station; the rotating disk provides clockwise rotation, and the periphery is divided into four stations, which are, in clockwise order, the automatic loading station, the adjustment station, the welding station, and the automatic unloading station, and the rotating manipulator is located at the center of the rotating disk; when the rotating disk rotates clockwise, the automatic loading station loads the main reinforcement material onto the rotating disk, then rotates to the adjustment station to adjust the position of the main reinforcement material, then rotates to the welding station to weld the main reinforcement material into a main reinforcement assembly, and finally rotates to the automatic unloading station, and the automatic unloading station is on the unloading path of the automatic unloading system.

[0022] By adopting the above technical solution, when it is necessary to assemble the main reinforcement assembly, the rotating disk rotates clockwise, the automatic loading station loads the main reinforcement material onto the rotating disk, the adjustment station adjusts the position of the main reinforcement material to ensure accurate assembly position and stable connection, the welding station welds the main reinforcement material into a main reinforcement assembly, and the automatic unloading station is on the unloading path of the automatic unloading system. Therefore, the automatic unloading system can grab and move the assembled main reinforcement assembly to the main reinforcement assembly installation station, and the rotating disk rotates synchronously, and each station performs its own duties to quickly form the main reinforcement assembly.

[0023] A forming method for the steel bar framework of a shield segment includes the following steps: Automatically assemble the main reinforcement assembly; the main reinforcement assembly welding production area assembles and welds the main reinforcement material into the main reinforcement assembly; The automatic unloading system grabs the main reinforcement assembly and places it on the steel bar formwork; The steel bar formwork is transported to the stirrup installation station; Stirrup installation: The laser alignment instrument emits infrared rays to mark the binding positions of the stirrups at the inner and outer arc main bars of the main bar assembly; The worker pulls the two legs of the fabricated stirrup flat and apart; The two separated legs are horizontally sleeved onto the main bar assembly; The stirrup is rotated 90°, completing the threading of the stirrup. In this way, all the stirrups are threaded in sequence; The push cylinders at both ends of the steel bar formwork are started, so that the main bar assemblies on both sides of the stirrup are reset under the pushing of the cylinders; The stirrup bending device is used to further bend the end of the stirrup on the horizontal side from 90° to 135° directly on the steel bar skeleton, thus completing the assembly of the main bars and stirrups of the entire segment steel bar skeleton; Lifting and collecting.

[0024] By adopting the above technical solution, the main bar assembly and the stirrup can be stably connected by the forming method, and the stirrup can be bent by 135°.

[0025] In summary, the present application includes at least one of the following beneficial technical effects: 1. After the main bar assembly is assembled, the casting assembly is grabbed by the automatic unloading system, moved to the main bar assembly installation station, and placed on the steel bar formwork at the main bar assembly installation station. The steel bar formwork drives the main bar assembly to move to the stirrup installation station. After the stirrup is manually sleeved onto the main bar assembly at the stirrup installation station, the stirrup bending and forming device is used to press-bend the end of the stirrup into 135°, without using welding, providing more convenient operation, and meeting the relevant specification requirements at the same time, ensuring the quality of the connection; 2. After the grabbing mechanism grabs the main bar assembly, the lifting mechanism lifts the main bar assembly. The longitudinal walking and positioning mechanism drives the mounting seat to move along the unloading steel portal until it is above the main bar assembly installation station. The transverse walking and positioning mechanism drives the lifting mechanism and the grabbing mechanism to move horizontally along the mounting seat to adjust the placement position. Subsequently, the lifting mechanism drives the grabbing mechanism to descend, so that the main bar assembly is located on the steel bar formwork. After releasing the grabbing mechanism, the main bar assembly is separated from the grabbing mechanism, and the lifting mechanism pulls back the grabbing mechanism, reciprocating in sequence, to achieve the effect of conveniently moving the main bar assembly; 3. The main bar assembly is fixed in the baffle through the main bar assembly slot, and the main bar assembly is fixed by the push cylinder using the movable steel plate. After the stirrup is threaded, the movable steel plate is pushed by the push cylinder, moves along the movable slot, and performs a secondary push and reset on the main bar assembly, enabling the main bar assembly to move in the direction away from the baffle, and cooperating with the lifting structure to facilitate separation or material taking; 4. The support rib plate provides force relief for the baffle, so that when the baffle bears the main bar assembly, the force can be transmitted to the secondary beam through the support rib plate. The secondary beam is connected to the main beam, thereby dispersing the force and forming a more stable structure. Description of the Drawings

[0026] Figure 1 It is a top - view structural schematic diagram of an assembly line in an embodiment of the present application; Figure 2 It is a front - view structural schematic diagram of an assembly line in some embodiments of the present application; Figure 3 It is a cross - sectional structural schematic diagram of a stirrup bending device in some embodiments of the present application; Figure 4 It is a top - view structural schematic diagram of an automatic unloading system in some embodiments of the present application; Figure 5 It is a front - view structural schematic diagram of an automatic unloading system in some embodiments of the present application; Figure 6 It is the present application Figure 5 an enlarged structural schematic diagram of A; Figure 7 It is a cross - sectional structural schematic diagram of a baffle in the top - view direction in some embodiments of the present application; Figure 8 It is a cross - sectional structural schematic diagram of a baffle in the side - view direction in some embodiments of the present application; Figure 9 It is a partial front - view structural schematic diagram of a stirrup installation station in some embodiments of the present application; Figure 10 It is a top - view structural schematic diagram of a main - bar assembly welding production area in some embodiments of the present application; The reference numerals in the drawings are: 1. Automatic unloading system, 11. Unloading steel portal frame, 12. Mounting seat, 13. Grabbing mechanism, 14. Transverse walking and positioning mechanism, 15. Longitudinal walking and positioning mechanism, 16. Lifting mechanism, 2. Reinforcing bar formwork, 21. Main beam, 22. Secondary beam, 23. Baffle, 231. Main - bar assembly slot, 232. Movable slot, 24. Limit angle steel, 241. Upper angle steel, 242. Lower angle steel, 25. Thrust cylinder, 26. Support rib plate, 27. Movable steel plate, 3. Stirrup installation station, 31. Stirrup bending device, 32. Stirrup steel portal frame, 321. Elastic cord, 33. Laser alignment instrument, 4. Main - bar assembly installation station, 5. Conveying mechanism, 51. Fixed column, 52. Guide wheel, 53. Driving wheel set, 6. Inspection station, 7. Lifting station, 8. Main - bar assembly welding production area, 81. Automatic loading station, 82. Adjusting station, 83. Welding station, 84. Automatic unloading station, 85. Rotary disk, 86. Rotary manipulator. Detailed implementation manners

[0027] The following describes the implementation manners of the present application through specific specific examples. Those skilled in the art can easily understand other advantages and effects of the present application from the information disclosed in the present application. The present application can also be implemented or applied through other different specific implementation manners. The details in the present application can also be variously modified or changed according to different viewpoints and application systems without departing from the spirit of the present application. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0028] The following takes the drawings as a reference and details the embodiments of the present application so that those skilled in the technical field to which the present application belongs can easily implement it. The present application can be embodied in many different forms and is not limited to the embodiments described herein.

[0029] In the description of the present application, the reference terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials or characteristics represented by combining with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or characteristics represented can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples represented in the present application and the features of the different embodiments or examples.

[0030] In addition, the terms "first" and "second" are only used for indication purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "a plurality" is two or more unless otherwise specifically defined.

[0031] Throughout the specification, when it is said that a certain device is "connected" to another device, this includes not only the case of "direct connection", but also the case of "indirect connection" where other elements are placed in between. Additionally, when it is said that a certain device "includes" a certain constituent element, unless there is a particularly contrary record, it does not exclude other constituent elements, but means that other constituent elements can also be included.

[0032] The following combines the attached Figure 1 - attached Figure 10 , and further details the present application.

[0033] The embodiments of the present application disclose a shield segment steel bar framework forming production line and a forming method.

[0034] A shield segment steel bar framework forming production line, refer to Figure 1And Figure 2 As shown in Figure 2 , it includes an automatic unloading system 1, a steel bar formwork 2, a stirrup installation station 3, and a main reinforcement assembly installation station 4; the automatic unloading system 1 is located above the main reinforcement assembly installation station 4. After the automatically unloaded system 1 grabs the assembled main reinforcement assembly, it is transported to the main reinforcement assembly installation station 4 for unloading, mainly providing the grasping and unloading of the main reinforcement assembly.

[0035] The steel bar formwork 2 is located on the main reinforcement assembly installation station 4 or the stirrup installation station 3. The steel bar formwork 2 provides the bearing and position switching of the main reinforcement assembly. The steel bar formwork 2 can be used for the flow of the production line, the automatic assembly of the main reinforcement assembly, the threading of stirrups, the secondary pushing and resetting of the main reinforcement assembly, and the secondary re-bending of the stirrup bending angle.

[0036] The stirrup installation station 3 is arranged on one side of the main reinforcement assembly installation station 4 and is located on the flow path of the steel bar formwork 2, so that the main reinforcement assembly can move from the main reinforcement assembly installation station 4 to the stirrup installation station 3 through the steel bar formwork 2.

[0037] The stirrup installation station 3 includes a stirrup bending and forming device, which can perform stirrup threading, bending, and secondary re-bending on the main reinforcement assembly, so that the stirrup can be bent into 135°.

[0038] Specifically, after the main reinforcement assembly is assembled, the casting assembly is grabbed by the automatic unloading system 1, moved to the main reinforcement assembly installation station 4, and placed on the steel bar formwork 2 on the main reinforcement assembly installation station 4. The steel bar formwork 2 drives the main reinforcement assembly to move to the stirrup installation station 3. After the stirrup is manually threaded onto the main reinforcement assembly at the stirrup installation station 3, it is bent by using the stirrup bending and forming device, and the end of the stirrup is bent into 135°. Welding is not required, providing more convenient operation, meeting the relevant specification requirements at the same time, and ensuring the quality of the connection.

[0039] Among them, referring to Figure 3 As shown in Figure 3 , the stirrup bending and forming device includes a frame, a driving member, a push rod, and a stirrup positioning plate; the driving member is installed at one end of the frame and extends a preset distance along the horizontal direction of the frame. The driving member can be a cylinder.

[0040] The stirrup positioning plate is installed on the frame and is clamped with the stirrup to provide the fixation of the stirrup. The stirrup positioning plate clamps the part of the stirrup that does not need to be bent, which can prevent the stirrup from shifting during bending and can also determine the position of the stirrup. The push rod is connected to the output end of the driving member, and the driving direction of the driving member is the same as the extending direction of the frame, and the extending direction of the push rod. The driving member can drive the push rod to move towards the required bending section of the stirrup, so that the push rod applies pressure to the stirrup.

[0041] Press the frame tightly against the main reinforcement bars, and then snap the stirrups into the stirrup positioning plate to ensure accurate positioning when bending the stirrups. The driving member drives the push rod to move towards the stirrups, and the stirrups are bent along the main reinforcement bars under pressure, thus forming the stirrups into shape.

[0042] Among them, a main reinforcement bar buckle plate can also be set to provide fixation for the main reinforcement bars, preventing the entire forming device from rotating when the stirrups are bent.

[0043] Further, referring to Figure 4 and Figure 5 As shown, the automatic unloading system 1 includes a unloading steel portal frame 11, a mounting seat 12, an encoder, a grasping mechanism 13, a lateral walking positioning mechanism 14, a longitudinal walking positioning mechanism 15, and a lifting mechanism 16; the mounting seat 12 is slidably connected to the top of the unloading steel portal frame 11, and the unloading steel portal frame 11 covers the main reinforcement bar assembly installation station 4. The gear rack is installed on the inner top wall of the unloading steel portal frame 11, and the unloading steel portal frame 11 provides the load-bearing capacity when the main reinforcement bar assembly is grasped or unloaded.

[0044] Both the encoder and the lifting mechanism 16 are installed on the mounting seat 12. The encoder is electrically connected to a background control system. By using the background control system to cooperate with the encoder to provide encoding of the travel path data, the travel of the lateral walking positioning mechanism 14, the longitudinal walking positioning mechanism 15, and the lifting mechanism 16 can be controlled.

[0045] The grasping mechanism 13 is composed of two single-acting cylinders and steel bar clamping blocks and is controlled in a linkage manner to grasp the main reinforcement bar assembly.

[0046] Both the lateral walking positioning mechanism 14 and the longitudinal walking positioning mechanism 15 can adopt a combination of a servo motor and a gear rack. The servo motor is connected with a gear and meshes with the gear rack. The gear rack is installed on the unloading steel portal frame 11 and the mounting seat 12. When the servo motor of the longitudinal walking positioning mechanism 15 drives the gear to rotate, it can drive the mounting seat 12 to move along the unloading steel portal frame 11. When the servo motor of the lateral walking mechanism drives the gear to rotate, it drives the lifting mechanism 16 to move horizontally along the mounting seat 12. Therefore, the longitudinal walking positioning mechanism 15 and the lateral walking positioning mechanism 14 can be collectively referred to as the walking mechanism.

[0047] The lifting mechanism 16 can adopt structures such as several cylinders or electric wire reels.

[0048] Specifically, after the grabbing mechanism 13 grabs the main reinforcement assembly, the lifting mechanism 16 lifts the main reinforcement assembly, and the longitudinal walking and positioning mechanism 15 drives the mounting seat 12 to move along the discharging steel portal frame 11 until it is above the installation station 4 of the main reinforcement assembly. Then, the transverse walking and positioning mechanism 14 drives the lifting mechanism 16 and the grabbing mechanism 13 to move horizontally along the mounting seat 12 to adjust the placement position. Subsequently, the lifting mechanism 16 drives the grabbing mechanism 13 to descend, so that the main reinforcement assembly is located on the steel bar formwork 2. After releasing the grabbing mechanism 13, the main reinforcement assembly is separated from the grabbing mechanism 13, and the lifting mechanism 16 pulls back the grabbing mechanism 13, repeating this process in sequence to achieve the function of conveniently moving the main reinforcement assembly.

[0049] Among them, the automatic discharging system 1 is electrically connected to the background control system, and uses inductive sensors and weighing sensors on the workstations to determine whether there is an empty steel bar formwork 2 at the installation station 4 of the main reinforcement assembly. If there are empty formworks at both stations, the installation will start first at the station closer to the installation position.

[0050] Furthermore, referring to Figures 6 - 8 As shown, the steel bar formwork 2 is provided with main beams 21, secondary beams 22, baffles 23, limiting angle steels 24, jacking cylinders 25 and supporting rib plates 26; the overall load of the steel bar formwork 2 is relatively small. For example, for a segment of 7.5 - 8.3 - 1.8m, the standard block steel bars are only 0.6 tons. Therefore, the design of the steel bar formwork 2 mainly aims to meet the requirements of the flow production line for transfer, the automatic assembly of the main reinforcement assembly, the manual threading of stirrups, the secondary jacking and resetting of the main reinforcement assembly, and the secondary re - bending of the stirrup bending angle.

[0051] The structure of the steel bar formwork 2 in this embodiment is designed taking a segment of 5.5 - 6.2 - 1.5m as an example. The formwork is 1730mm wide and 4300mm long, and can meet the use of segments with an outer diameter of less than 8.3m and a width of less than 1.6m.

[0052] The main beams 21 and secondary beams 22 provide the load - bearing capacity of the steel bar formwork 2. The main beam 21 is provided with 16 grooves, and the secondary beam 22 is provided with 10 grooves.

[0053] The baffle 23 is made of 10mm Q235 steel plate. The baffles 23 at both ends of the steel bar formwork 2 are in close contact with both ends of the steel bar skeleton. Its inclination angle is the same as the end face angle of the main reinforcement assembly, forming a limit for the entire main reinforcement assembly. The front of the baffle 23 is provided with a main reinforcement assembly slot 231, and the main reinforcement assembly slot 231 adopts a guiding "Y" - shaped structure, which is formed by bending a 3mm steel plate.

[0054] On both sides of the baffle 23, there are movable slots 232 in the shape of a 98 * 87mm window, and there is a movable steel plate 27 in the movable slot 232. The movable steel plate 27 is limited to the back side of the baffle 23 by the limiting angle steel 24, and the movable steel plate 27 is connected to the jacking cylinder 25.

[0055] The main reinforcement assembly is inserted into the main reinforcement assembly slot 231. Through the expansion and contraction of the pushing cylinder 25, the movement of the movable steel plate 27 and the slot is driven to complete the secondary pushing and resetting of the main reinforcement assembly at the "jaws" of the stirrup.

[0056] Specifically, the main reinforcement assembly is fixed in the baffle 23 through the main reinforcement assembly slot 231. The pushing cylinder 25 uses the movable steel plate 27 to fix and push the main reinforcement assembly. The first push causes the main reinforcement assembly to lift, which facilitates the threading of the stirrup. After the stirrup is threaded, the movable steel plate 27 is pushed by the pushing cylinder 25 and moves along the movable slot 232, and the main reinforcement assembly is pushed and reset for the second time, which can make the main reinforcement assembly move in the direction away from the baffle 23. Cooperating with the lifting structure can facilitate separation or material taking.

[0057] Furthermore, referring to Figure 6 and Figure 7 As shown, the baffle 23 is inclined along the steel bar formwork 2, and a support rib plate 26 is provided on the back of the baffle 23 and connected to the secondary beam 22. The support rib plate 26 provides force relief for the baffle 23, so that when the baffle 23 bears the main reinforcement assembly, the force can be transmitted to the secondary beam 22 through the support rib plate 26. The secondary beam 22 is connected to the main beam 21, thereby dispersing the force and forming a more stable structure.

[0058] In some embodiments, referring to Figure 2 As shown, the stirrup installation station 3 further includes a stirrup steel gantry 32 and a laser marking instrument 33; the stirrup steel gantry 32 can be 4600×2800×3000mm in size and is all composed of 100 channel steels. Elastic ropes 321 are arranged on the main beams 21 on the two outer sides of the top of the stirrup steel gantry 32, and a stirrup bending and forming device is suspended by each elastic rope.

[0059] Referring to Figure 9 As shown, a laser marking instrument 33 is arranged on the inner longitudinal beam of the stirrup steel gantry 32, and the number of marking instruments is the same as the number of single-frame stirrups. The laser marking instrument 33 provides laser marking for the main reinforcement assembly, and the installation angle of the laser marking instrument 33 is consistent with the arc angle of the main reinforcement assembly, so as to make the marking position of the laser marking instrument 33 more accurate. The dotted line part in the figure represents the laser marking direction and the positioning center line of the stirrup threading.

[0060] Among them, the laser marking instrument 33 is electrically connected to the background control system. The background control system is electrically connected to the sensor, and the sensor provides a feedback signal. The sensor can be an inductive sensor or a photoelectric sensor. Specifically, the main reinforcement assembly is arc-shaped. Through the elastic effect of the elastic rope 321, the stirrup bending forming device can be manually pulled up or down to adjust the height, so as to adapt to the installation height required for the stirrups on the main reinforcement assembly. When the steel bar formwork 2 reaches the stirrup installation station 3, after the background control system receives the signal from the sensor, the laser marking instrument 33 is started. Through the "one"-shaped infrared ray emitted by the laser marking instrument 33, the binding positions of the stirrups can be marked on the inner and outer arc main reinforcements of the main reinforcement assembly, ensuring the accuracy of the binding positions.

[0061] In some embodiments, referring to Figure 5 and Figure 6 As shown, conveying mechanisms 5 are provided in both the stirrup installation station 3 and the main reinforcement assembly installation station 4. The conveying mechanism 5 provides automatic conveyance of the steel bar formwork 2, including a number of fixed columns 51, guide wheels 52 and drive wheel sets 53. The number of fixed columns 51 forms a support structure. The guide wheels 52 are pivotally connected to the tops of the fixed columns 51. The steel bar formwork 2 is placed on the guide wheels 52, so it can be pushed along the guide wheels 52. A guide groove can be provided on the bottom surface of the steel bar formwork 2, and the guide wheels 52 can be embedded in the guide groove, so that the moving track of the steel bar formwork 2 is fixed, preventing deviation.

[0062] The drive wheel set 53 has a lifting function and contacts the bottom surface of the steel bar formwork 2 when lifting. Specifically, the drive wheel set 53 can include a lifting cylinder, a fixed hinge frame, a lifting hinge frame, a drive motor and a rotating wheel. The fixed hinge frame and the lifting hinge frame are both fixedly installed on the ground or the working plane. A lifting cylinder is connected to the lifting hinge frame. One end of the drive motor is hinged to the fixed hinge frame, and the other end is hinged to the lifting cylinder. When the lifting cylinder provides a telescopic effect, it drives the drive motor to tilt along the fixed hinge frame to lift a certain height, and the rotating wheel is connected to the driving end of the drive motor. After lifting a certain height, the rotating wheel abuts against the bottom of the steel bar formwork 2, so as to transmit the driving force to the steel bar formwork 2 and drive the steel bar formwork 2 to move along the guide wheels 52 and the rotating wheel. Conversely, when the rotating wheel descends, it separates from the steel bar formwork 2.

[0063] Specifically, the steel bar formwork 2 is placed on the guide wheels 52 at the tops of the fixed columns 51. The drive wheel set 53 lifts and contacts the bottom surface of the steel bar formwork 2, and provides a driving force to drive the steel bar formwork 2 to roll along the guide wheels 52, so as to quickly and conveniently change the position of the steel bar formwork 2, and make the steel bar formwork 2 more stable to switch from the main reinforcement assembly installation station 4 to the stirrup installation station 3.

[0064] Furthermore, referring to Figure 1As shown in the figure, an inspection station 6 is provided between the stirrup installation station 3 and the main reinforcement assembly installation station 4. A conveying mechanism 5 is synchronously provided at the inspection station 6. The inspection station 6 creates a space between the stirrup installation station 3 and the main reinforcement assembly installation station 4, and the conveying mechanism 5 is installed therein. When the steel bar formwork 2 moves from the main reinforcement assembly installation station 4 towards the stirrup installation station 3, it first passes through the inspection station 6 and then enters the stirrup installation station 3 through the conveying mechanism 5.

[0065] The inspection station 6 can inspect the main reinforcement assembly. The inspection items can include whether the main reinforcement assembly is completely formed, whether the placement position is accurate, whether there is damage, etc. The inspection method can be manual inspection or mechanical scanning inspection. If mechanical scanning inspection is adopted, an inspection steel gantry needs to be set up, and an image sensor, such as a CCD image acquisition camera, is set on the inspection steel gantry. The images of the main reinforcement assembly and the steel bar formwork 2 at the inspection station 6 are collected and compared through the background control system to check and judge information such as whether the main reinforcement assembly is complete or the position is accurate.

[0066] Among them, when the stirrups are sleeved on the main reinforcement assembly and the bending is completed, the conveying mechanism 5 can be used to transfer the steel bar formwork 2 back to the inspection station 6 for stirrup binding inspection to ensure the accurate binding of the stirrups.

[0067] Among them, referring to Figure 1 As shown in the figure, a lifting station 7 can also be set on the side of the stirrup installation station 3 far from the inspection station 6. A conveying mechanism 5 is also provided at the lifting station 7. When the steel bar formwork 2 is transported to the lifting station 7 through the conveying mechanism 5, a lifting structure can be set at the lifting station 7 to lift and recycle the segment steel bar skeleton formed by binding the stirrups on the main reinforcement assembly.

[0068] Specifically, when the steel bar formwork 2 moves from the main reinforcement assembly installation station 4 to the stirrup installation station 3 by using the conveying mechanism 5, it passes through the inspection station 6. The main reinforcement assembly on the steel bar formwork 2 can be inspected through the inspection station 6 to ensure the integrity or non-damage of the main reinforcement assembly. After the inspection is completed, the conveying mechanism 5 continues to convey to move the steel bar formwork 2 to the stirrup installation station 3 for stirrup installation, reducing the defective rate.

[0069] In some embodiments, referring to Figure 1 As shown in the figure, a group of stirrup installation stations 3 are correspondingly provided for a single group of main reinforcement assembly installation stations 4, that is, a single main reinforcement assembly installation station 4 only matches a group of stirrup installation stations 3 to avoid the disorder of the conveying position of the steel bar formwork 2. At the same time, the automatic unloading system 1 has at least two groups of main reinforcement installation stations, so that the bending and forming of the stirrups and the installation of the main reinforcement assembly are carried out crosswise. In the figure, two groups are taken as an example.

[0070] Cross - operation can improve the forming efficiency. When the stirrup installation station 3 installs stirrups on the main - reinforcement assembly, the automatic unloading system 1 grabs and transports another main - reinforcement assembly to the empty steel - bar formwork 2. This process is carried out alternately. That is, when the segment steel - bar skeleton is formed on a group of stirrup installation stations 3, the steel - bar formwork 2 with the main - reinforcement assembly placed on it starts to move to the stirrup installation station 3 through the conveying mechanism 5 for installation, saving the assembly time of the main - reinforcement assembly and improving the forming efficiency.

[0071] In some embodiments, referring to Figure 1 and Figure 10 As shown, on the side of the automatic unloading system 1 away from the main - reinforcement assembly installation station 4, there is also a main - reinforcement assembly welding production area 8. The main - reinforcement assembly welding production area 8 mainly assembles and welds the main - reinforcement materials, that is, the segment steel - bars, to form the required main - reinforcement assembly.

[0072] The main - reinforcement assembly welding production area 8 includes a rotary manipulator 86, a rotary disk 85, an automatic unloading station 84, an adjustment station 82, a welding station 83, and an automatic loading station 81. The rotary disk 85 provides clockwise rotation (which can be adjusted to clockwise or counter - clockwise according to requirements, and the specific rotation direction is not limited here). The periphery of the rotary disk 85 is divided into four stations, which are, in clockwise order, the automatic loading station 81, the adjustment station 82, the welding station 83, and the automatic unloading station 84. Each of the four stations performs its own functions and can be supervised or assisted by workers.

[0073] The rotary manipulator 86 is located at the center of the rotary disk 85, and the rotary manipulator 86 can extend to each station to adjust or grab the materials at each station.

[0074] Specifically, when assembling the main - reinforcement assembly, the rotary disk 85 rotates clockwise. The automatic loading station 81 loads the main - reinforcement materials onto the rotary disk 85. The adjustment station 82 adjusts the position of the main - reinforcement materials to ensure accurate assembly position and stable connection. The welding station 83 welds the main - reinforcement materials into the main - reinforcement assembly. The automatic unloading station 84 is located on the unloading path of the automatic unloading system 1. Therefore, the automatic unloading system 1 can grab and move the assembled main - reinforcement assembly to the main - reinforcement assembly installation station 4, and the rotary disk 85 rotates synchronously. Each station performs its own functions to quickly form the main - reinforcement assembly.

[0075] This application also provides a forming method for a shield - segment steel - bar skeleton, which is applied to the production line in the above - mentioned embodiments and includes the following steps: S100. Automatically assemble the main - reinforcement assembly: The main - reinforcement assembly welding production area 8 assembles and welds the main - reinforcement materials into the main - reinforcement assembly; S110. The automatic loading station 81 loads the main reinforcement materials onto the rotating disk 85. The adjustment station 82 adjusts the main reinforcement materials. The welding station 83 welds the main reinforcement materials into the main reinforcement assembly by means of the rotating manipulator 86. The automatic unloading system 1 can grab the assembled main reinforcement assembly at the automatic unloading station 84; S120. The rotating disk 85 rotates synchronously, gradually switching the main reinforcement materials to each station in the main reinforcement assembly welding production area 8; S200. The automatic unloading system 1 grabs the main reinforcement assembly and places it on the steel bar formwork 2: S210. The flow production line control system uses inductive sensors and weighing sensors on the stations to determine whether there is an empty formwork at the main reinforcement assembly installation station 4. If there are empty formworks at both stations, installation starts first at the nearer installation station; S220. After the automatic unloading system 1 completes the grabbing of the main reinforcement assembly at the automatic unloading station 84, the main reinforcement assembly is lifted from the working plane +0.663 to +1.500 at a speed of 2 m / min, and at the same time, it travels to the main reinforcement assembly installation station 4 through the longitudinal walking positioning mechanism 15 according to a predetermined program. Among them, when the number of main reinforcement assembly installation stations 4 is more than two groups, taking two groups as an example, the walking speed of the longitudinal walking positioning mechanism 15 to the nearer installation station is 2 m / min, and to the farther installation station is 4 m / min. When approaching the baffle 23 of the steel bar formwork 2 by 20 cm, the walking speed drops to 10 mm / s and gradually decelerates until it stops, covering a 20 - cm travel; S230. After the longitudinal walking positioning mechanism 15 and the transverse walking positioning mechanism 14 complete the positioning, to prevent the shaking of the main reinforcement assembly, it first pauses statically for 5 s and then starts the lifting mechanism 16, descending at a speed of 20 mm / s, so that the main reinforcement assembly is lowered along the main reinforcement assembly slot 231 of the baffle 23; S240. When the descending stroke reaches 215 mm, both ends of the main reinforcement assembly have completely entered the main reinforcement assembly slot 231, and there is still 85 mm from the bottom. At this time, the lifting mechanism 16 stops descending, and at the same time, the two cylinders of the grabbing mechanism 13 are released, and the main reinforcement assembly falls into the main reinforcement assembly slot 231; S250. After the cylinders are released, the lifting mechanism 16 and the walking mechanism start at the same time, returning to the automatic unloading station 84 to start grabbing the next main reinforcement assembly. After all the main reinforcement assemblies on the steel bar formwork 2 at this station are completely installed, preparations are made to start the installation at another installation station; S300. The steel bar formwork 2 is transported to the stirrup installation station 3: S310. The drive wheel set 53 is lifted to contact the bottom of the steel bar formwork 2 and provides driving force, so that the steel bar formwork 2 moves towards the stirrup installation station 3 through the guide wheels 52; S320. During the movement of the steel bar formwork table 2, when it passes through the inspection station 6, the inspection station 6 is used to check whether there are any damages or assembly defects in the main bar assembly. After the inspection, the driving wheel set 53 at the inspection station 6 drives the steel bar formwork table 2 to continue moving. S400. Stirrup installation: S410. When the steel bar formwork table 2 reaches the stirrup installation station 3, after the background control system receives the feedback information from the sensor, it starts the laser marking instrument 33. Through the "one"-shaped infrared ray emitted by the laser marking instrument 33, the binding positions of the stirrups can be marked on the inner and outer arc main bars of the main bar assembly. S420. The worker separates the two legs of the fabricated stirrup by pulling them flatly about 360 mm, and it is required to be greater than the distance between the inner and outer arcs of the main bar assembly. S430. Horizontally sleeve the separated two legs onto the main bar assembly. When all the main bar assemblies have entered the stirrup, turn the stirrup by 90°, and complete the threading of the stirrup. In this way, all the stirrups are threaded in sequence. S440. Start the push cylinders 25 at both ends of the steel bar formwork table 2 to make the main bar assemblies on both sides of the stirrup complete the reset under the push of the cylinders. S450. Use the stirrup bending device 31 to further bend the end of the stirrup on the horizontal side from 90° to 135° directly on the steel bar skeleton, thereby completing the assembly of the main bars and stirrups of the entire segment steel bar skeleton. S500. Lifting and collection: The steel bar formwork table 2 is moved to the lifting station 7 through the conveying mechanism 5. The formed segment steel bar skeleton is taken out from the steel bar formwork table 2 by using the lifting equipment for recycling, and the empty steel bar formwork table 2 is conveyed back to the main bar assembly installation station 4 through the conveying mechanism 5.

[0076] Among them, before the lifting equipment takes out the segment steel bar skeleton, step S510 can be set: The conveying mechanism 5 moves the steel bar formwork table 2 to the inspection station 6 to check the threading and bending of the stirrups to ensure the complete forming of the segment steel bar skeleton, and then the conveying mechanism 5 conveys the steel bar formwork table 2 to the lifting station 7, and it is taken out and recycled by the lifting equipment.

[0077] The embodiments of this specific implementation manner are all preferred embodiments of this application, and do not limit the protection scope of this application accordingly. The same components are denoted by the same reference numerals. Therefore, all equivalent changes made according to the structure, shape, and principle of this application should be covered within the protection scope of this application.

Claims

1. A shield segment steel frame forming line and forming method, characterized in that: The invention comprises an automatic unloading system (1), a steel bar mold platform (2), a stirrup installation station (3) and a main bar assembly installation station (4); the automatic unloading system (1) is located above the main bar assembly installation station (4) and provides for grabbing and unloading of the main bar assembly; the steel bar mold platform (2) is located on the main bar assembly installation station (4) or the stirrup installation station (3); the steel bar mold platform (2) is used for the flow of the assembly line, the automatic assembly of the main bar assembly, the threading of the stirrups, the secondary pushing and resetting of the main bar assembly and the secondary re-bending of the stirrup bending angle; the stirrup installation station (3) is arranged on one side of the main bar assembly installation station (4) and is located on the flow path of the steel bar mold platform (2); the stirrup installation station (3) comprises a stirrup bending device (31) for threading, bending and secondary re-bending the main bar assembly.

2. A shield segment steel frame forming line and forming method according to claim 1, characterized in that: The automatic unloading system (1) comprises a unloading steel gantry (11), a mounting seat (12), a gripping mechanism (13), a lateral walking positioning mechanism (14), a longitudinal walking positioning mechanism (15) and a lifting mechanism (16); the unloading steel gantry (11) covers the main reinforcement assembly installation station (4); the lifting mechanism (16) is installed on the mounting seat (12); the gripping mechanism (13) is composed of two single-acting cylinders and a reinforcement clamp and is controlled in linkage; the longitudinal walking positioning mechanism (15) is located at ... On the unloading steel gantry (11), the transverse walking positioning mechanism (14) is located on the mounting seat (12); the longitudinal walking positioning mechanism (15) provides a driving force for the mounting seat (12) to move longitudinally along the unloading steel gantry (11); the transverse walking positioning mechanism (14) provides a driving force for the lifting mechanism (16) to move laterally along the mounting seat (12); the gripping mechanism (13) is connected to the lifting mechanism (16) and provides a lifting drive for the gripping mechanism (13).

3. A shield segment steel frame forming line and forming method according to claim 1, characterized in that: The steel bar mold platform (2) is provided with a main beam (21), a secondary beam (22), a baffle (23), a limiting angle steel (24) and a push cylinder (25); a main bar assembly slot (231) is provided on the front of the baffle (23); the main bar assembly slot (231) adopts a "Y"-shaped structure with a guide and is formed by bending a steel plate; movable slots (232) are provided on both sides of the baffle (23), and movable slots (232) are provided in the movable slots (232). The movable steel plate (27) is limited on the back side of the baffle (23) by the limiting angle steel (24), and the movable steel plate (27) is connected to the pushing cylinder (25); the main reinforcement assembly is inserted into the main reinforcement assembly slot (231), and the movable steel plate (27) is driven to move along the movable slot (232) by the extension and contraction of the pushing cylinder (25), thereby completing the secondary pushing and resetting of the main reinforcement assembly at the "jaw" of the stirrup.

4. A shield segment steel frame forming line and forming method according to claim 3, characterized in that: The baffle plate (23) is arranged obliquely along the steel bar formwork platform (2), and a supporting rib plate (26) connected to the secondary beam (22) is provided on the back of the baffle plate (23), thereby forming a stable structure.

5. A shield segment steel frame forming line and forming method according to claim 1, characterized in that: The stirrup installation station (3) further comprises a stirrup steel portal frame (32) and a laser marking instrument (33); an elastic rope (321) is connected to the stirrup steel portal frame (32), and the stirrup bending and forming device is connected to the elastic rope (321); the laser marking instrument (33) is installed on the stirrup steel portal frame (32), and the laser marking instrument (33) provides laser marking for the main reinforcement assembly.

6. A shield segment steel skeleton forming line and forming method according to any one of claims 1 to 5, characterized in that: The stirrup installation station (3) and the main reinforcement assembly installation station (4) are both provided with a conveying mechanism (5), comprising a plurality of fixed columns (51), guide wheels (52) and a driving wheel group (53); the guide wheels (52) are pivotally connected to the fixed columns (51), and the steel bar mold platform (2) is placed on the guide wheels (52); the driving wheel group (53) has a lifting function and contacts the bottom surface of the steel bar mold platform (2) when lifting.

7. A shield segment steel frame forming line and forming method according to claim 6, characterized in that: An inspection station (6) is provided between the stirrup installation station (3) and the main reinforcement assembly installation station (4), and the inspection station (6) is synchronously provided with the conveying mechanism (5).

8. A shield segment steel frame forming line and forming method according to claim 7, characterized in that: A single group of main reinforcement assembly installation stations (4) is provided with a corresponding group of stirrup installation stations (3), and the automatic unloading system (1) is provided with at least two groups of main reinforcement assembly installation stations, so that the bending and forming of the stirrups and the installation of the main reinforcement assembly are carried out alternately.

9. A shield segment steel frame forming line and forming method according to claim 8, characterized in that: The automatic unloading system (1) is also provided with a main reinforcement assembly welding production area (8) on one side away from the main reinforcement assembly installation station (4), comprising a rotating manipulator (86), a rotating disk (85), an automatic unloading station (84), an adjustment station (82), a welding station (83) and an automatic loading station (81); the rotating disk (85) is provided with clockwise rotation, and is divided into four stations around it, which are the automatic loading station (81), the adjustment station (82), the welding station (83) and the automatic unloading station in the clockwise direction. The rotating manipulator (86) is located at the center of the rotating disk (85); when the rotating disk (85) rotates clockwise, the automatic loading station (81) loads the main reinforcement material onto the rotating disk (85), then rotates to the adjustment station (82) to adjust the position of the main reinforcement material, then rotates to the welding station (83) to weld the main reinforcement material into a main reinforcement assembly, and finally rotates to the automatic unloading station (84), and the automatic unloading station (84) is on the unloading path of the automatic unloading system (1).

10. A method for forming a steel reinforcement skeleton of a shield segment, characterized in that: The shield segment steel skeleton forming assembly line applied to claim 9 comprises the following steps: Automatically assemble the main reinforcement assembly; the main reinforcement assembly welding production area (8) assembles and welds the main reinforcement materials into the main reinforcement assembly; The automatic unloading system (1) grabs the main reinforcement assembly and places the reinforcement mold platform (2); The steel bar formwork platform (2) is transported to the stirrup installation station (3); Installation of stirrups: The laser marking instrument (33) emits infrared rays to mark the binding positions of stirrups at the inner and outer arc main bars of the main bar assembly; the worker pulls the two legs of the prepared stirrup apart horizontally; the two separated legs are horizontally put on the main bar assembly; the stirrup is turned 90 degrees to complete the insertion of the stirrup, and all stirrups are inserted in sequence in this way; the pushing cylinders (25) at both ends of the steel bar mold (2) are started to reset the main bar assemblies on both sides of the stirrup under the pushing of the cylinders; the stirrup bending device (31) is used to directly bend the end of the stirrup on the horizontal side of the steel bar skeleton from 90 degrees to 135 degrees, thereby completing the assembly of the main bars and stirrups of the entire pipe segment steel bar skeleton; Lifting collection.

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