Flexible positioning device for longitudinal web reinforcement of automatic box girder reinforcement framework welding station

Abstract

The application provides a web longitudinal reinforcement flexible arrangement device used by a box girder reinforcement cage automatic welding station, and belongs to the technical field of box girder reinforcement cage processing. The device comprises a stock bin mechanism, a poking mechanism and an arrangement mechanism. The stock bin mechanism comprises a stirrup stock bin used for storing three-in-one stirrups, and a penetrating reinforcement pipe is fixed in the stirrup stock bin. The poking mechanism comprises a poking assembly, and the poking assembly clamps the stirrup to move between the stock bin mechanism and the arrangement mechanism. The arrangement mechanism comprises a mounting bracket, and an upper mounting frame and a lower mounting frame are vertically and spacedly arranged in the mounting bracket. A bottom plate longitudinal reinforcement arrangement assembly is arranged between the upper mounting frame and the lower mounting frame, and web longitudinal reinforcement arrangement assemblies are arranged on both sides of the upper mounting frame. The three-in-one cage is intermittently clamped from the cage stock bin by the poking assembly, and the longitudinal reinforcement is pulled, pressed downward and moved at the arrangement mechanism to make the longitudinal reinforcement adhere to the stirrup, so that the longitudinal reinforcement and the stirrup are welded into one by a welding robot and the like, and the processing efficiency of the box girder reinforcement cage is improved.

Description

Technical Field

[0001] This invention relates to the field of box girder reinforcement cage processing technology, and in particular to a flexible placement device for web longitudinal reinforcement used in an automatic welding station for box girder reinforcement cages. Background Technology

[0002] In municipal road and bridge construction, box girders are indispensable. To improve construction efficiency, structural components and internal reinforcing steel cages in box girders are usually prefabricated. When fabricating the bottom and web steel cages of the box girder, the arranged bottom and web stirrups need to be welded into a three-in-one combined stirrup. External longitudinal bars are welded to the outside of the combined stirrup, and internal longitudinal bars are welded to the inside of the combined stirrup, thus forming the overall steel cage of the bottom and web of the box girder.

[0003] Patent CN113828975B discloses a processing system and method for bottom and web stirrups of a small box girder. The system includes: a CNC stirrup bending machine; welding equipment, including a welding table, a gripping robot for picking up the reinforcing bars output from the CNC stirrup bending machine and transferring them to the welding table, a welding robot for welding the reinforcing bars into bottom and web stirrups, and a conveying robot for transporting the bottom and web stirrups to a storage area; and storage equipment, including a guide rail and an electrically movable support platform. One end of the guide rail is installed in the storage area, and the other end extends to the reinforcing bar binding station of the small box girder. The electrically movable support platform is installed on the guide rail, and two support beams arranged in the same direction are mounted on the upper part of the platform. The platform is equipped with a placement device for hanging the two web stirrups on the two support beams and arranging them sequentially along the length of the support beams. This device arranges the bottom and web stirrups and welds them into a single, integrated stirrup, which is then hung on a storage bin.

[0004] Currently, when fabricating the bottom and web reinforcement cages of box girders, the pre-fabricated stirrups are arranged one by one on a formwork. The formwork has platforms corresponding to the installation positions of the longitudinal reinforcement bars on the cage. After the longitudinal reinforcement bars are placed on the platforms, the contact points between each stirrup and each longitudinal reinforcement bar on the formwork are manually tied together. The manual assembly of the box girder cage and longitudinal reinforcement bars is extremely labor-intensive, requiring multiple workers to perform the work simultaneously, wasting a significant amount of human resources and resulting in low work efficiency. Summary of the Invention

[0005] In view of the above problems, the present invention provides a flexible placement device for the longitudinal reinforcement of the web plate used in an automatic welding station for the steel reinforcement cage of a box girder.

[0006] To achieve the above-mentioned objectives, the technical solution adopted by this invention is as follows: A flexible placement device for web longitudinal reinforcement in an automatic welding station for box girder steel reinforcement cage is provided, comprising a hopper mechanism, a conveying mechanism and a placement mechanism arranged in sequence. The silo mechanism includes a stirrup silo, which has a storage cavity for storing three-in-one stirrups. The storage cavity is open at one end facing the placement mechanism. The stirrup silo is equipped with a pushing component for pushing the three-in-one stirrups in the storage cavity toward the opening. Several through-tubes for longitudinal bars to pass through are fixedly arranged in the stirrup silo along its own length. The feeding mechanism includes feeding components symmetrically arranged on both sides of the stirrup hopper. The feeding components move between the hopper mechanism and the placement mechanism along the length of the stirrup hopper. The feeding components are used to clamp the three-in-one stirrup at the opening of the storage cavity. The placement mechanism includes a mounting bracket, which includes an upper horizontal arm and vertical columns connected to both ends of the upper horizontal arm. An upper mounting frame is fixedly installed on the upper horizontal arm, and a lower mounting frame is installed below the upper mounting frame. A bottom plate longitudinal reinforcement placement component for placing the bottom plate stirrups and corresponding longitudinal reinforcement is installed between the upper and lower mounting frames. Web longitudinal reinforcement placement components for placing the web stirrups and corresponding longitudinal reinforcement are installed on both sides of the upper mounting frame.

[0007] Furthermore, the pushing component includes drive rollers. Multiple drive rollers are spaced apart circumferentially along the storage cavity inside the stirrup hopper. The drive rollers are parallel to the length direction of the stirrup hopper and are rotatably connected to the stirrup hopper. Limiting ribs are spirally fixed on the outer wall of the drive rollers. The three-in-one stirrups in the stirrup hopper are embedded in the gaps between the upper limit ribs of the drive rollers. A first drive motor is provided on the stirrup hopper. The first drive motor is used to synchronously drive the multiple drive rollers to rotate.

[0008] Furthermore, the feeding assembly includes a base, a first movable seat, and a movable frame. The first movable seat is slidably disposed on the base along the length direction of the stirrup hopper, and the movable frame is horizontally slidably disposed on the first movable seat along the width direction of the stirrup hopper. At least two second movable seats are slidably disposed on the movable frame along the length direction of the stirrup hopper, and the second movable seats are provided with pneumatic grippers for clamping the stirrups.

[0009] Furthermore, the bottom plate longitudinal reinforcement placement assembly includes an upper lifting seat and a lower lifting seat that are vertically and vertically connected to the upper mounting frame and the lower mounting frame, respectively. The upper mounting frame and the lower mounting frame are each provided with a first electric push rod for driving the upper lifting seat / lower lifting seat to rise and fall. The upper lifting seat and the lower lifting seat are respectively provided with a hook that slides horizontally along the width direction of the stirrup hopper and a second electric push rod for driving the hook to move. The web longitudinal reinforcement placement assembly includes two sets of movable supports arranged in pairs on both sides of the upper mounting frame. The top of the movable supports is slidably connected to the upper cross arm. The upper cross arm is provided with a second driving component for driving the movable supports to move. Limiting rows are fixedly provided on the side walls of each set of movable supports that are close to each other. Several through sleeves for longitudinal reinforcement to pass through are fixedly provided on the limiting rows.

[0010] Furthermore, the second driving component includes a second driving motor, a rack is provided on the upper cross arm along its own length direction, the second driving motor is fixedly mounted on the movable bracket, and a driving gear is connected to the output circumference of the second driving motor, the driving gear meshing with the rack.

[0011] Furthermore, the reinforcing pipes on the stirrup hopper include web reinforcing pipes and bottom plate reinforcing pipes, with each web reinforcing pipe corresponding to a reinforcing sleeve. A longitudinal rib passage pipe is provided between the silo mechanism and the placement mechanism. One end of the longitudinal rib passage pipe is connected to the web reinforcement pipe, and the other end is connected to the reinforcement sleeve. The longitudinal rib passage pipe is made of flexible material.

[0012] Furthermore, the longitudinal reinforcement is connected to the pipe using PVC flexible tubing. The two ends of the longitudinal reinforcement are respectively connected to the reinforcing sleeve and the web reinforcing pipe with interference fit. The inner wall of the reinforcing sleeve is provided with a guide arc surface near the end of the stirrup hopper.

[0013] Furthermore, a connecting seat is fixedly connected to the outer wall of the through-rib sleeve, and multiple connecting holes are spaced apart along the length of the limiting row. The connecting seat is connected to the limiting row by connecting bolts, and the connecting bolts are threaded to the connecting seat after passing through the connecting holes.

[0014] Furthermore, a stirrup retaining device is provided on the side of the mounting bracket away from the dispensing mechanism. The stirrup retaining device is used to receive the three-in-one stirrup from the dispensing mechanism. The limit rows on the movable bracket are spaced apart, and a clearance gap is provided between adjacent limit rows for the pneumatic gripper to pass through. The stirrup holding device includes a support base located on the side of the mounting bracket away from the feeding mechanism. A support rod is fixedly installed on the support base. The support rod is symmetrically located on both sides of the three-in-one stirrup. At least two sets of clamping components are spaced apart along the length of the support rod. The clamping components include clamping plates with limit grooves. A third driving member is fixedly installed on the support rod. The third driving member drives the clamping plates to move so that the limit grooves on the clamping plates move from the side of the three-in-one stirrup and engage with the three-in-one stirrup.

[0015] Furthermore, a bottom plate longitudinal rib layering mechanism is provided on the side of the mounting bracket near the conveying mechanism. The bottom plate longitudinal rib layering mechanism includes a lifting platform, a rotating seat is rotatably provided on the top of the lifting platform, and a layering support column is fixedly provided on the side wall of the rotating seat. A rotary cylinder is provided on the lifting platform to drive the rotating seat to rotate. The lifting platform is vertically raised and lowered relative to the ground by a fourth driving component. The layering support column is raised and lowered between the upper and lower longitudinal ribs of the bottom plate longitudinal ribs by the fourth driving component. The support column is rotated to be parallel to the length direction of the stirrup hopper and with the movable end facing the stirrup hopper / parallel to the horizontal width direction of the stirrup hopper and located between the upper and lower longitudinal ribs of the bottom plate longitudinal ribs by the rotary cylinder.

[0016] The beneficial effects of the present invention are as follows: 1. The stirrup silo with through-tubes is used, and the through-tubes corresponding to the longitudinal reinforcement of the web are set on the outside of the stirrup in the three-in-one stirrup, so that the stirrup silo and the through-tubes of the longitudinal reinforcement form a centralized whole, which facilitates the rapid construction of the automatic welding station for the steel reinforcement cage. At the same time, the longitudinal reinforcement of the web directly passes through the longitudinal reinforcement placement component. 2. During the process of conveying the longitudinal bars through the stirrup hopper forward via the longitudinal bar feeding mechanism, the three-in-one stirrups are also clamped and sent to the placement mechanism from the opening of the stirrup hopper via the conveying mechanism. Then, the pushing component in the stirrup hopper continues to push the three-in-one stirrups in the storage cavity to the opening of the storage cavity. At the placement mechanism, the hooks on the upper and lower lifting seats lift and press down to fit the bottom plate longitudinal bars against the inner top and bottom walls of the bottom plate stirrups. The moving support moves the threading sleeve closer to the three-in-one stirrups, so that the web longitudinal bars fit against the outer wall of the web stirrups, realizing the automatic placement operation of the longitudinal bars in the box girder steel reinforcement skeleton. Finally, the welding robot welds and fixes the longitudinal bars and stirrups into one piece. The workers use trolleys, traction machines and other equipment to gradually drag the formed steel reinforcement skeleton away, thus completing the automatic welding operation of the box girder steel reinforcement skeleton. The assembly and placement of the steel reinforcement skeleton is completed by automated equipment, with accurate stirrup spacing and longitudinal bar positions, and high efficiency in steel reinforcement skeleton assembly and welding. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the longitudinal rib flexible placement device according to an embodiment of this application.

[0018] Figure 2 This is a side view of the longitudinal rib flexible placement device according to an embodiment of this application.

[0019] Figure 3 This is a partial structural diagram of the silo mechanism according to an embodiment of this application.

[0020] Figure 4 This is a schematic diagram of the overall structure of the dialing component in an embodiment of this application.

[0021] Figure 5 This is a schematic diagram of the overall structure of the dialing component from another perspective in an embodiment of this application.

[0022] Figure 6 This is a schematic diagram of the overall structure of the placement mechanism according to an embodiment of this application.

[0023] Figure 7 for Figure 6 A magnified view of part A in the diagram.

[0024] Figure 8 This is a schematic diagram of the overall structure of the placement mechanism from another perspective, according to an embodiment of this application.

[0025] Figure 9 for Figure 8 A magnified view of part B in the diagram.

[0026] Figure 10 This is an exploded structural diagram of the limiting strip and the through-rib sleeve according to an embodiment of this application.

[0027] Figure 11 This is a schematic diagram of the longitudinal reinforcement connected by a pipe in an embodiment of this application.

[0028] The components include: 1. Hopper mechanism; 11. Stirrup hopper; 121. Web plate reinforcing tube; 122. Bottom plate reinforcing tube; 13. Storage cavity; 14. Drive roller; 15. Limiting winding; 16. First drive motor; 2. Feeding mechanism; 21. Base; 22. First moving seat; 23. Moving frame; 24. Second moving seat; 25. Pneumatic gripper; 3. Placement mechanism; 31. Mounting bracket; 311. Upper cross arm; 312. Column; 32. Upper mounting frame; 321. Upper lifting seat; 33. Lower mounting frame; 331. Lower lifting seat; 34. Bottom plate longitudinal reinforcing rib placement assembly; 341. 342. Hook; 343. First electric push rod; 344. Second electric push rod; 35. Web longitudinal reinforcement placement assembly; 351. Movable bracket; 352. Second drive component; 353. Limiting bar; 354. Through-reinforcement sleeve; 3541. Guide arc surface; 355. Longitudinal reinforcement through pipe; 356. Connecting seat; 357. Connecting bolt; 358. Clearance gap; 41. Support seat; 42. Support rod; 43. Clamping plate; 44. Limiting groove; 45. Third drive component; 51. Lifting platform; 52. Rotating seat; 53. Layered support column; 54. Rotary cylinder; 55. Fourth drive component. Detailed Implementation

[0029] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0030] This application discloses a flexible placement device for the longitudinal reinforcement of the web plate used in an automatic welding station for the steel reinforcement cage of a box girder, referring to... Figure 1 and Figure 2 The system includes a silo mechanism 1, a conveying mechanism 2, and a placement mechanism 3 arranged in sequence. The silo mechanism 1 is used to centrally store the three-in-one stirrups and allow longitudinal reinforcement bars to pass through. The conveying mechanism 2 moves the three-in-one stirrups from the silo mechanism 1 to the placement mechanism 3. The placement mechanism 3 then places the longitudinal reinforcement bars and the three-in-one stirrups in a way that keeps the longitudinal reinforcement bars close to the three-in-one stirrups, so that the subsequent automatic welding robot or wire binding robot can combine the longitudinal reinforcement bars and the three-in-one stirrups into a steel reinforcement skeleton.

[0031] Reference Figure 3The silo mechanism 1 includes a stirrup silo 11, which contains a storage cavity 13 for storing three-in-one stirrups. Specifically, the three-in-one stirrups are the bottom and web plate stirrups in the box girder reinforcement cage, which have been welded together with the bottom plate stirrups and the web plate stirrups on both sides. In traditional box girder reinforcement cages, the web plate longitudinal bars are all threaded inside the web plate stirrups. During the placement operation, the web plate longitudinal bars in the web plate stirrups are pulled outwards to maintain the web plate stirrups in close contact with the web plate longitudinal bars. Furthermore, when the steel reinforcement cage of this type of box girder is processed with the matching automated system, the stirrup hopper 11 and the longitudinal reinforcement pipe are separate structures. After the stirrup hopper 11 is filled, the longitudinal reinforcement pipe is inserted into the stirrup hopper 11 from one end, so that the longitudinal reinforcement pipe can be located inside each stirrup. This process is complicated, and there are many longitudinal reinforcements in the longitudinal reinforcement pipe, especially the longitudinal reinforcement corresponding to the web. The pipes are also connected to each other to maintain their relative positions. However, the fact that one end of the pipe is suspended for a long time will bring new risks to the connection stability of the end plate of the pipe end.

[0032] In this application, the process is improved. In this embodiment, the storage cavity 13 in the stirrup hopper 11 is open at one end facing the placement mechanism 3. The stirrup hopper 11 is provided with a pushing component for pushing the three-in-one stirrups in the storage cavity 13 toward the opening. Several reinforcing pipes for longitudinal bars to pass through are fixedly arranged in the stirrup hopper 11 along its own length direction. The reinforcing pipes are divided into web reinforcing pipes 121 and bottom reinforcing pipes 122, which are used for the web longitudinal bars that are in contact with the web stirrups and the bottom longitudinal bars that are in contact with the bottom stirrups, respectively. The web reinforcing pipes 121 are arranged around the outer wall of the storage cavity 13, and the bottom reinforcing pipes 122 are arranged in the storage cavity 13, so that after the three-in-one stirrups and longitudinal bars pass through the outlet side of the storage cavity 13, the web longitudinal bars are located outside the web stirrups of the three-in-one stirrups, and the bottom longitudinal bars are located inside the bottom stirrups of the three-in-one stirrups. The web reinforcement tube 121 is completely fixed to the stirrup hopper 11, which can maintain the straightness of the web reinforcement tube 121 and ensure that the relative positions of the web reinforcement tubes 121 are determined.

[0033] In this embodiment, the silo mechanism 1 also includes a placement frame. The three-in-one stirrups in the stirrup silo 11 are centrally arranged and stored by a robotic arm. The stirrup silo 11, which is full of three-in-one stirrups, is then hoisted and placed on the placement frame by a hoisting device. The two ends of the rebar pipe are connected. The side of the silo mechanism 1 away from the conveying mechanism 2 can be located at the longitudinal rebar conveying mechanism. The longitudinal rebar conveying mechanism can be a rebar traction machine, or it can be a longitudinal rebar clamping device that is spaced apart along the length of the longitudinal rebar, which alternately clamps and fixes the longitudinal rebar. At least one set of longitudinal rebar clamping devices moves back and forth along the longitudinal rebar conveying direction after clamping and fixing the longitudinal rebar. With the cooperation of the two sets of longitudinal rebar clamping devices, the longitudinal rebar is intermittently conveyed forward.

[0034] To accurately and effectively move the three-in-one stirrups in the storage cavity 13 to the designated position for the conveying mechanism 2 to clamp and transport them piece by piece, in this embodiment, the pushing component includes drive rollers 14. Multiple drive rollers 14 are spaced circumferentially along the storage cavity 13 within the stirrup hopper 11. The drive rollers 14 are parallel to the length of the stirrup hopper 11 and are rotatably connected to it. Limiting ribs 15 are spirally fixed on the outer wall of the drive rollers 14, and the three-in-one stirrups in the stirrup hopper 11 are embedded in the gaps between the upper limit ribs 15 on the drive rollers 14. A first drive motor 16 is provided on the stirrup hopper 11 to synchronously drive the multiple drive rollers 14. Specifically, a sprocket or gear is coaxially fixedly connected to the same side end of each drive roller 14 on the stirrup hopper 11. The first drive motor 16 is simultaneously connected to the multiple drive rollers 14 via a chain or synchronous belt, thereby achieving synchronous operation of the multiple drive rollers 14.

[0035] Reference Figure 4 and Figure 5The feeding mechanism 2 includes feeding components symmetrically arranged on both sides of the stirrup hopper 11. The feeding components move between the hopper mechanism 1 and the placement mechanism 3 along the length of the stirrup hopper 11. The feeding components are used to clamp the three-in-one stirrups at the opening of the storage cavity 13. The feeding components include a base 21, a first movable seat 22, and a movable frame 23. The first movable seat 22 is slidably arranged on the base 21 along the length of the stirrup hopper 11. The movable frame 23 is horizontally slidably arranged on the first movable seat 22 along the width of the stirrup hopper 11. At least two second movable seats 24 are slidably arranged on the movable frame 23 along the length of the stirrup hopper 11. The second movable seats 24 are provided with pneumatic grippers 25 for clamping the stirrups. A rack is fixedly mounted on the base 21 along the length of the stirrup hopper 11. A servo motor is mounted on the first movable seat 22. The output end of the servo motor is connected to a gear and meshes with the rack on the base 21. A slide rail is fixed on the first movable seat 22 along the width of the stirrup hopper 11. A movable frame 23 is slidably connected to the slide rail. A servo electric push rod is fixed on the first movable seat 22. The output end of the servo electric push rod is fixedly connected to the movable frame 23. A linear slide rail is horizontally fixed on the movable frame 23. A slider is slidably connected to the linear slide rail along the length of the stirrup hopper 11. A second movable seat 24 is fixed on the slide rail. By sliding the first movable seat 22 and the second movable seat 24, the pneumatic gripper 25 can slide between the hopper mechanism 1 and the placement mechanism 3. Specifically, the pneumatic gripper 25 includes a fixed gripper and a movable gripper driven by a cylinder to move away from / close to the fixed gripper. A clamping groove is formed between the fixed gripper and the movable gripper to accommodate the edge of the three-in-one stirrup. By sliding the movable frame 23 relative to the first movable seat 22, the pneumatic gripper 25 can make way for the stirrup in the stirrup hopper 11, so that the clamping groove can be aligned from the side of the three-in-one stirrup after the pneumatic gripper 25 makes way for the side of the three-in-one stirrup to be embedded in the clamping groove. The alignment operation of the pneumatic gripper 25 with the three-in-one stirrup at the opening of the stirrup hopper 11 can be carried out by the operator manually operating the first movable seat 22 and the second movable seat 24 to move a distance, and the pneumatic gripper 25 can be stopped at the position where the clamping groove is aligned with the three-in-one stirrup at the opening of the stirrup hopper 11 by visual observation. Alternatively, by installing a contact sensor or an infrared photoelectric sensor on the movable frame 23 and controlling it by a computer, the movable frame 23 can be stopped in time when the sensor detects the three-in-one stirrup. Then, the second movable seat 24 and the pneumatic gripper 25 on it can be moved to the sensor position to clamp the three-in-one stirrup.

[0036] Reference Figure 6 and Figure 7The placement mechanism 3 includes a mounting bracket 31, which includes an upper horizontal arm 311 and two vertical columns 312 connected to both ends of the upper horizontal arm 311. The two columns 312 are fixed to the ground. The upper horizontal arm 311 is arranged parallel to the width direction of the stirrup hopper 11. A vertically downward extending upper mounting frame 32 is fixed in the middle of the upper horizontal arm 311. A lower mounting frame 33 is fixed to the ground below the upper mounting frame 32. A bottom plate longitudinal reinforcement placement assembly 34 for placing the bottom plate stirrups and corresponding longitudinal reinforcements is provided between the upper mounting frame 32 and the lower mounting frame 33. Web longitudinal reinforcement placement assemblies 35 for placing the web stirrups and corresponding longitudinal reinforcements are provided on both sides of the upper mounting frame 32.

[0037] Specifically, the bottom plate longitudinal reinforcement placement assembly 34 includes an upper lifting seat 321 and a lower lifting seat 331 that are vertically and vertically connected to the upper mounting frame 32 and the lower mounting frame 33, respectively. The upper mounting frame 32 and the lower mounting frame 33 are each provided with a first electric push rod 342 for driving the upper lifting seat 321 / lower lifting seat 331 to rise and fall. The upper lifting seat 321 and the lower lifting seat 331 are respectively provided with a hook 341 that slides horizontally along the width direction of the stirrup hopper 11 and a second electric push rod 343 for driving the hook 341 to move. Specifically, a moving plate is slidably connected to the bottom wall of the upper lifting seat 321 and the top wall of the lower lifting seat 331 along the width direction of the stirrup hopper 11. The hook 341 is fixed on the moving plate. The second electric push rod 343 can drive multiple hooks 341 to move simultaneously by driving the moving plate to move. By moving the hooks 341 on the upper lifting seat 321 and the lower lifting seat 331 to the side of the corresponding longitudinal reinforcement of the bottom plate, and then lowering and raising the upper lifting seat 321 and the lower lifting seat 331 on the upper mounting frame 32 and the lower mounting frame 33 respectively, the end of the hook 341 enters the projection area of ​​the bottom plate stirrup and is located on the side of the corresponding longitudinal reinforcement. The end of the hook 341 is integrally provided with a hook part in the direction close to the longitudinal reinforcement. By moving the hook 341 so that the hook part is located directly below the longitudinal reinforcement, and then driving the upper lifting seat 321 and the lower lifting seat 331 away from the bottom plate stirrup, the bottom plate longitudinal reinforcement in the bottom plate stirrup can be lifted and pressed down, so that the bottom plate longitudinal reinforcement is divided into two groups, which respectively fit the inner top wall and the inner bottom wall of the bottom plate stirrup, so as to facilitate the subsequent connection and fixation of the bottom wall stirrup and the bottom wall longitudinal reinforcement.

[0038] In order to reduce the bending of the upper layer of bottom plate longitudinal reinforcement when the bottom plate longitudinal reinforcement passes through the bottom plate reinforcing tube in the stirrup hopper 11 and extends to the bottom plate longitudinal reinforcement placement assembly 34, so that the hooks 341 on the upper lifting seat 321 and the lower lifting seat 331 can quickly and accurately grab the corresponding longitudinal reinforcement, in this embodiment of the application, a bottom plate longitudinal reinforcement layering mechanism is provided on the side of the mounting bracket 31 near the feeding mechanism 2. Specifically, the layering mechanism for the longitudinal ribs of the base plate includes a lifting platform 51, a rotating seat 52 rotatably mounted on the top of the lifting platform 51, and a layering support column 53 fixedly mounted on the side wall of the rotating seat 52. A rotary cylinder 54 is mounted on the lifting platform 51 to drive the rotating seat 52 to rotate. The lifting platform 51 is vertically raised and lowered relative to the ground via a fourth driving component 55. At the start of processing, the fourth driving component 55 drives the layering support column 53 to rise and fall between the upper and lower longitudinal ribs of the base plate, and the rotary cylinder 54 drives the layering support column 53 to rotate parallel to the length direction of the stirrup hopper 11 with its movable end facing the stirrup hopper 11. After the longitudinal reinforcement of the plate is delivered to the position of the bottom plate longitudinal reinforcement placement component 34, the rotary cylinder 54 drives the support column to rotate again, so that the movable end of the layered support column 53 moves from a position near the stirrup hopper 11 where the upper bottom plate longitudinal reinforcement has a small amount of sag, into the space between the upper and lower bottom plate longitudinal reinforcements, until the layered support column 53 is parallel to the horizontal width direction of the stirrup hopper 11 and is located between the upper and lower bottom plate longitudinal reinforcements. This provides further support to the upper longitudinal reinforcement near the bottom plate longitudinal reinforcement placement component 34, reducing the amount of sag of the upper bottom plate longitudinal reinforcement, so that the hook 341 on the upper lifting seat 321 can accurately hook and lift the upper bottom plate longitudinal reinforcement.

[0039] Reference Figure 8 , Figure 9 and Figure 10 In this embodiment, the web longitudinal reinforcement placement assembly 35 includes two sets of movable supports 351 arranged in pairs on both sides of the upper mounting frame 32. The top of the movable supports 351 is slidably connected to the upper cross arm 311. The upper cross arm 311 is provided with a second driving member 352 for driving the movable supports 351 to move. Limiting rows 353 are fixedly provided on the side walls of each set of movable supports 351 that are close to each other. Several through sleeves 354 for longitudinal reinforcement to pass through are fixedly provided on the limiting rows 353. The second driving member 352 can specifically be a second driving motor. A rack and a slide rail are fixedly provided on the bottom wall of the upper cross arm 311 along its own length direction. The movable supports 351 are slidably connected to the slide rail of the upper cross arm 311. The second driving motor is fixed on the movable supports 351. The output shaft of the second driving motor is connected to a gear and meshes with the rack.

[0040] In this process, at the start of processing, a section of steel bar needs to be welded to the end of the longitudinal bar extending from the web reinforcement tube 121 on the stirrup hopper 11. This allows the welded steel bar to be inserted into the corresponding reinforcement sleeve 354 of the web longitudinal bar placement assembly 35, thereby enabling automatic feeding of the web longitudinal bars. By bringing the paired movable supports 351 closer together, the web longitudinal bars on the movable supports 351 that pass through the reinforcement sleeve 354 can contact the two side walls of the web stirrups, thus realizing the placement operation of the web longitudinal bars.

[0041] Reference Figure 11 Furthermore, in order to eliminate the need for welding additional steel bars to the front end of the longitudinal reinforcement bars of the web, in this embodiment of the application, a longitudinal reinforcement through pipe 355 can also be provided between the silo mechanism 1 and the placement mechanism 3. One end of the longitudinal reinforcement through pipe 355 is connected to the web reinforcement through pipe 121, and the other end is connected to the reinforcement through sleeve 354, so that after the longitudinal reinforcement bars are sent out of the web reinforcement through pipe 121, they directly enter the corresponding reinforcement through sleeve 354 through the longitudinal reinforcement through pipe 355, thus avoiding the alignment problem of the web longitudinal reinforcement bars at the reinforcement through sleeve 354.

[0042] Meanwhile, since the width of the box girder reinforcement cage changes during processing, the longitudinal reinforcement through-pipe 355 in this embodiment uses a flexible material. Specifically, the longitudinal reinforcement through-pipe 355 can be a PVC flexible hose, with both ends of the longitudinal reinforcement through-pipe 355 interference-fitted with the through-sleeve 354 and the web through-pipe 121, respectively. The flexible longitudinal reinforcement through-pipe 355 allows the through-sleeve 354 on the movable support 351 to maintain its one-to-one correspondence with the web through-pipe 121 even when its position changes during processing. In other embodiments, to improve the connection stability between the longitudinal reinforcement through-pipe 355 and the through-sleeve 354 / web through-pipe 121, metal strips can be used to tighten and fix the longitudinal reinforcement through-pipe 355.

[0043] Furthermore, to ensure that the longitudinal reinforcement bars of the web plate within the conduit 355 can smoothly enter the reinforcing sleeve 354 during automatic feeding, the inner wall of the reinforcing sleeve 354 near the stirrup hopper 11 can be configured as a guide arc surface 3541. The guide arc surface 3541 can guide the ends of the longitudinal reinforcement bars of the web plate that contact the reinforcing sleeve 354, improving the efficiency of the longitudinal reinforcement bars passing through the reinforcing sleeve 354.

[0044] To address the varying inclinations in the web longitudinal reinforcement bars during the fabrication of different box girder steel reinforcement cages, the through-sleeve 354 can be detachably connected to the limiting row 353. Specifically, a connecting seat 356 is fixedly connected to the outer wall of the through-sleeve 354, and multiple connecting holes are spaced apart along the length of the limiting row 353. The connecting seat 356 is connected to the limiting row 353 via connecting bolts 357, which pass through the connecting holes and are threaded into the connecting seat 356.

[0045] To improve the processing efficiency of the reinforcing bar cage, that is, after the conveying mechanism 2 conveys the three-in-one stirrup to the placement mechanism 3, it promptly conveys the next three-in-one stirrup. In this embodiment, a stirrup holding device is provided on the side of the mounting bracket 31 away from the conveying mechanism 2. The stirrup holding device is used to receive the three-in-one stirrup from the conveying mechanism 2. Specifically, the stirrup holding device includes a support base 41 located on the side of the mounting bracket 31 away from the conveying mechanism 2. A support rod 42 is fixedly installed on the support base 41. The support rod 42 is symmetrically located on both sides of the three-in-one stirrup. At least two sets of clamping components are spaced apart along the length of the support rod 42. The clamping components include a clamping plate 43. A limiting groove 44 is opened on the clamping plate 43. A third driving member 45 is fixedly installed on the support rod 42. The third driving member 45 drives the clamping plate 43 to move so that the limiting groove 44 on the clamping plate 43 moves from the side of the three-in-one stirrup and engages the three-in-one stirrup. Meanwhile, in order to enable the pneumatic gripper 25 in the delivery mechanism 2 to send the three-in-one stirrup to the stirrup holding device after passing through the placement mechanism 3, the limit row 353 on the movable bracket 351 is spaced apart, and a clearance gap 358 is provided between adjacent limit rows 353 for the pneumatic gripper 25 to pass through.

[0046] After the longitudinal reinforcement bars are aligned with the three-in-one stirrups by the alignment device, they need to be fixed together. In this embodiment, a welding mechanism is provided on the side of the alignment mechanism 3 away from the feeding mechanism 2. The welding mechanism is a welding robot, which mainly includes a robotic arm and a welding gun installed at the movable end of the robotic arm. Controlled by a computer program, the welding robot welds the points where the longitudinal reinforcement bars and the three-in-one stirrups are aligned in the alignment mechanism 3. Two sets of welding robots are symmetrically arranged on both sides of the alignment mechanism 3, which can accelerate the automatic welding efficiency of the box girder reinforcement skeleton.

[0047] Those skilled in the art will understand that although preferred embodiments of the invention have been described, those skilled in the art, once they understand the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention. Clearly, those skilled in the art can make various alterations and modifications to the invention without departing from its spirit and scope. Thus, if these modifications and modifications of the invention fall within the scope of the claims of the invention and their equivalents, the invention also intends to include these modifications and modifications.

Claims

1. A flexible placement device for web longitudinal reinforcement in an automatic welding station for box girder steel reinforcement cages, characterized in that: It includes a sequentially arranged silo mechanism (1), a conveying mechanism (2), and a placement mechanism (3); The silo mechanism (1) includes a stirrup silo (11), which has a storage cavity (13) for storing three-in-one stirrups. The storage cavity (13) is open at one end facing the placement mechanism (3). The stirrup silo (11) is provided with a pushing component for pushing the three-in-one stirrups in the storage cavity (13) toward the opening. The stirrup silo (11) is fixedly provided with a number of reinforcing pipes for longitudinal reinforcement to pass through along its own length direction. The reinforcing pipes on the stirrup silo (11) include a web reinforcing pipe (121) and a bottom reinforcing pipe (122). The web reinforcing pipe (121) is arranged around the outer wall of the storage cavity (13), and the bottom reinforcing pipe (122) is arranged inside the storage cavity (13). The feeding mechanism (2) includes feeding components symmetrically arranged on both sides of the stirrup hopper (11). The feeding components move between the hopper mechanism (1) and the placement mechanism (3) along the length of the stirrup hopper (11). The feeding components are used to clamp the three-in-one stirrup at the opening of the storage cavity (13). The placement mechanism (3) includes a mounting bracket (31), which includes an upper horizontal arm (311) and vertical columns (312) connected to both ends of the upper horizontal arm (311). An upper mounting frame (32) is fixedly installed on the upper horizontal arm (311), and a lower mounting frame (33) is installed below the upper mounting frame (32). A bottom plate longitudinal reinforcement placement component (34) for placing the bottom plate stirrups corresponding to the longitudinal reinforcement is provided between the upper mounting frame (32) and the lower mounting frame (33). Web longitudinal reinforcement placement components (35) for placing the web stirrups corresponding to the longitudinal reinforcement are provided on both sides of the upper mounting frame (32). The bottom plate longitudinal reinforcement placement assembly (34) includes an upper lifting seat (321) and a lower lifting seat (331) that are vertically and vertically connected to the upper mounting frame (32) and the lower mounting frame (33), respectively. The upper mounting frame (32) and the lower mounting frame (33) are each provided with a first electric push rod (342) for driving the upper lifting seat (321) / lower lifting seat (331) to rise and fall. The upper lifting seat (321) and the lower lifting seat (331) are respectively provided with a hook (341) that slides horizontally along the width direction of the stirrup hopper (11) and a second electric push rod (343) for driving the hook (341) to move. The web longitudinal reinforcement placement assembly (35) includes two sets of movable supports (351) arranged in pairs on both sides of the upper mounting frame (32). The top of the movable support (351) is slidably connected to the upper cross arm (311). The upper cross arm (311) is provided with a second driving member (352) for driving the movable support (351) to move. Limiting rows (353) are fixedly provided on the side walls of the movable supports (351) that are close to each other. Several through sleeves (354) for longitudinal reinforcement to pass through are fixedly provided on the limiting rows (353).

2. The flexible placement device for the web longitudinal reinforcement used in the automatic welding station for box girder reinforcement cage according to claim 1, characterized in that, The pushing component includes a drive roller (14). Multiple drive rollers (14) are arranged circumferentially along the storage cavity (13) inside the stirrup hopper (11). The drive rollers (14) are arranged parallel to the length direction of the stirrup hopper (11). The drive rollers (14) are rotatably connected to the stirrup hopper (11). Limiting ribs (15) are spirally fixed on the outer wall of the drive rollers (14). The three-in-one stirrups in the stirrup hopper (11) are embedded in the gaps between the limiting ribs (15) of the drive rollers (14). A first drive motor (16) is provided on the stirrup hopper (11). The first drive motor (16) is used to synchronously drive the multiple drive rollers (14) to rotate.

3. The flexible placement device for the longitudinal reinforcement of the web plate used in the automatic welding station for the box girder reinforcement cage according to claim 2, is characterized in that, The feeding assembly includes a base (21), a first movable seat (22), and a movable frame (23). The first movable seat (22) is slidably disposed on the base (21) along the length direction of the stirrup hopper (11). The movable frame (23) is horizontally slidably disposed on the first movable seat (22) along the width direction of the stirrup hopper (11). At least two second movable seats (24) are slidably disposed on the movable frame (23) along the length direction of the stirrup hopper (11). The second movable seats (24) are provided with pneumatic grippers (25) for clamping the stirrups.

4. The flexible placement device for the longitudinal reinforcement of the web plate used in the automatic welding station for the box girder reinforcement cage according to claim 1, characterized in that, The second driving component (352) includes a second driving motor. A rack is provided on the upper cross arm (311) along its own length direction. The second driving motor is fixedly mounted on the movable bracket (351). The output shaft of the second driving motor is connected to a driving gear, and the driving gear meshes with the rack.

5. The flexible placement device for the longitudinal reinforcement of the web plate used in the automatic welding station for the box girder reinforcement cage according to claim 1, characterized in that, The web reinforcement tube (121) and the reinforcement sleeve (354) correspond one-to-one; A longitudinal reinforcement through pipe (355) is provided between the silo mechanism (1) and the placement mechanism (3). One end of the longitudinal reinforcement through pipe (355) is connected to the web reinforcement pipe (121), and the other end is connected to the reinforcement sleeve (354). The longitudinal reinforcement through pipe (355) is made of flexible material.

6. The flexible placement device for the web longitudinal reinforcement of the automatic welding station for box girder reinforcement cage according to claim 5, characterized in that, The longitudinal reinforcement is connected to the pipe (355) using a PVC flexible hose. The two ends of the longitudinal reinforcement are respectively connected to the reinforcing sleeve (354) and the web reinforcing pipe (121) with an interference fit. The inner wall of the reinforcing sleeve (354) is provided with a guide arc surface (3541) near the end of the stirrup hopper (11).

7. The flexible placement device for the longitudinal reinforcement of the web plate used in the automatic welding station for the box girder reinforcement cage according to claim 5, characterized in that, A connecting seat (356) is fixedly connected to the outer wall of the through sleeve (354). Multiple connecting holes are spaced apart along the length of the limiting row (353). The connecting seat (356) is connected to the limiting row (353) by a connecting bolt (357). The connecting bolt (357) passes through the connecting hole and is threaded to the connecting seat (356).

8. The flexible placement device for the longitudinal reinforcement of the web plate used in the automatic welding station for the box girder reinforcement cage according to claim 5, characterized in that, The mounting bracket (31) is provided with a stirrup retaining device on the side away from the feeding mechanism (2). The stirrup retaining device is used to receive the three-in-one stirrup from the feeding mechanism (2). The limiting row (353) on the movable bracket (351) is arranged at intervals, and a clearance gap (358) is provided between adjacent limiting rows (353) for the pneumatic gripper (25) to pass through. The stirrup holding device includes a support base (41) located on the side of the mounting bracket (31) away from the feeding mechanism (2). A support rod (42) is fixedly installed on the support base (41). The support rod (42) is symmetrically located on both sides of the three-in-one stirrup. At least two sets of clamping components are spaced apart along the length of the support rod (42). The clamping components include a clamping plate (43). A limiting groove (44) is opened on the clamping plate (43). A third driving member (45) is fixedly installed on the support rod (42). The clamping plate (43) is moved by the third driving member (45) so that the limiting groove (44) on the clamping plate (43) moves from the side of the three-in-one stirrup and engages with the three-in-one stirrup.

9. The flexible placement device for the web longitudinal reinforcement of the automatic welding station for box girder reinforcement cage according to claim 3, characterized in that, The mounting bracket (31) is provided with a bottom plate longitudinal rib layering mechanism on the side near the conveying mechanism (2). The bottom plate longitudinal rib layering mechanism includes a lifting platform (51). A rotating seat (52) is rotatably provided on the top of the lifting platform (51). A layered support column (53) is fixedly provided on the side wall of the rotating seat (52). A rotary cylinder (54) is provided on the lifting platform (51) for driving the rotating seat (52) to rotate. The lifting platform (51) is vertically raised and lowered relative to the ground by a fourth driving member (55). The layered support column (53) is raised and lowered between the upper and lower longitudinal ribs of the bottom plate longitudinal ribs by the fourth driving member (55). The layered support column (53) is rotated parallel to the length direction of the stirrup hopper (11) and the movable end is facing the stirrup hopper (11) / parallel to the horizontal width direction of the stirrup hopper (11) and located between the upper and lower longitudinal ribs of the bottom plate longitudinal ribs.

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