Underground diaphragm wall truss web bar feeding device and feeding method

Abstract

The invention belongs to the technical field of constructional engineering, and discloses an underground diaphragm wall truss web bar feeding device and method. When the underground diaphragm wall truss web bar feeding device is used, position adjustment in the three-dimensional direction can be achieved through the position adjusting mechanism, angle adjustment of the electromagnet can be achieved through the first driving part, height adjustment of the electromagnet can be achieved through the second driving part, and the grabbing assembly grabs and releases web bars. The feeding mechanism can grab the web bars and achieve accurate feeding, manual carrying and placing of the web bars are replaced, the labor cost is remarkably reduced, and the accuracy of the feeding position is guaranteed. The mechanical structure and the control logic are simple and reliable, the manufacturing cost and the maintenance cost are greatly reduced, and the adaptability to a complex working environment is improved. According to the underground diaphragm wall truss web bar feeding method, automatic, accurate and rapid feeding and angle adjustment of the first web bar or the second web bar are achieved, and the overall efficiency and quality of underground diaphragm wall truss manufacturing are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building engineering, and in particular to a underground continuous wall truss web reinforcement feeding device and method. BACKGROUND

[0002] The underground continuous wall is a long and deep trench excavated along the project perimeter on the ground by a special trenching equipment, then a pre-bundled steel cage is hoisted into the trench, and finally the concrete is poured to form a continuous reinforced concrete wall, which mainly plays the role of retaining soil, water stopping and load bearing. The steel cage is the skeleton of the underground continuous wall, which is the core component of load bearing, strength and stiffness guaranteeing, mainly including main reinforcement, horizontal reinforcement and reinforced truss structure. In the process of steel cage binding and manufacturing, in order to ensure the welding quality and stiffness of the truss and improve the production efficiency of the steel cage, the truss usually needs to be manufactured separately.

[0003] In the traditional manufacturing process of the underground continuous wall steel cage truss, manual web reinforcement feeding is mainly used, which has high labor cost and is not conducive to the automatic welding process of the truss. Some existing automatic assembly lines usually use mechanical arms and conveyor belt systems to feed the truss web reinforcement. The mechanical arm can accurately feed under the control of the preset program and complete the feeding process of the truss web reinforcement. However, the mechanical arm is expensive, the control of hardware and software is complex, and the requirement for the use environment is high, which is not suitable for the feeding process of the underground continuous wall steel cage truss web reinforcement.

[0004] Therefore, it is urgent to provide an underground continuous wall truss web reinforcement feeding device and method which can ensure the accuracy of the underground continuous wall steel cage truss web reinforcement feeding, has low manufacturing cost and simple operation and control method. SUMMARY

[0005] The purpose of the present application is to provide an underground continuous wall truss web reinforcement feeding device and method which can ensure the accuracy of the underground continuous wall steel cage truss web reinforcement feeding, has low manufacturing cost and simple operation and control method.

[0006] To achieve this purpose, the present application adopts the following technical solutions:

[0007] In a first aspect, the present application provides an underground continuous wall truss web reinforcement feeding device, which comprises:

[0008] The position adjusting mechanism comprises a first adjusting member, a second adjusting member and a third adjusting member, an output end of the first adjusting member is horizontally position-adjustable, the second adjusting member is connected to the output end of the first adjusting member, an output end of the second adjusting member is vertically position-adjustable, the third adjusting member is connected to the output end of the second adjusting member, and an output end of the third adjusting member is position-adjustable in a third direction which is perpendicular to both the horizontal direction and the vertical direction;

[0009] The feeding mechanism comprises a connecting member and a grabbing assembly, the connecting member is connected to the output end of the third adjusting member, the grabbing assembly comprises a position adjusting member, an electromagnet, a first driving member and a second driving member, the position adjusting member is rotationally connected to the connecting member, the position adjusting member is capable of rotating around a vertical axis and has a vertical lifting degree of freedom, the electromagnet is arranged at a lower end of the position adjusting member, the first driving member is connected to the connecting member and is configured to drive the position adjusting member to rotate around the vertical axis, and the second driving member is connected to the connecting member and is configured to drive the position adjusting member to vertically lift.

[0010] Optionally, the position adjusting member is a portal linkage comprising a first vertical rod, a second vertical rod and a horizontal rod, the first vertical rod and the second vertical rod are horizontally and vertically spaced apart and both extend in the vertical direction, the horizontal rod is connected to upper ends of the first vertical rod and the second vertical rod, lower ends of the first vertical rod and the second vertical rod are both provided with the electromagnet, the first vertical rod is rotationally connected to the connecting member, the first vertical rod is capable of rotating around the vertical axis and has a vertical lifting degree of freedom, the first driving member is capable of driving the first vertical rod to rotate around the vertical axis, and the second driving member is capable of driving the horizontal rod to vertically lift.

[0011] Optionally, the connecting member is provided with a mounting hole which penetrates through the connecting member in the vertical direction, the first vertical rod is arranged in the mounting hole, an outer circumferential side of the first vertical rod is provided with a driven gear, the first vertical rod and the driven gear are connected through a spline and allow the first vertical rod to axially slide along itself, an output end of the first driving member is fixedly connected with a driving gear, the driving gear and the driven gear are in transmission connection, and the driving gear is capable of driving the driven gear to rotate around the vertical axis.

[0012] Optionally, the connecting member comprises two connecting plates which are vertically spaced apart, the mounting hole is arranged on both of the two connecting plates, and a connecting cavity is formed between the two connecting plates, the output end of the first driving member, the driving gear and the driven gear are all arranged in the connecting cavity.

[0013] Optionally, the connecting piece further comprises a rotating connecting rod, one end of the rotating connecting rod is connected to the first vertical rod through a spline and allows the first vertical rod to slide along its own axis, the other end of the rotating connecting rod is sleeved on the outer circumferential side of the second vertical rod, the second driving piece is connected to the rotating connecting rod, and the output end of the second driving piece is connected to the cross rod.

[0014] Optionally, the first adjusting piece comprises a first adjusting base and a first sliding plate, the first adjusting base is provided with a first rack extending in a horizontal direction, the first sliding plate is slidingly connected to the first adjusting base along the extension direction of the first rack, the first sliding plate is provided with a first rotary driving piece, the output end of the first rotary driving piece is fixedly connected with a first gear, and the first gear and the first rack are in transmission connection.

[0015] Optionally, the second adjusting piece comprises a second adjusting base and a second sliding plate, the second adjusting base is fixedly connected to the first sliding plate, the second adjusting base is provided with a second rack extending in a vertical direction, the second sliding plate is slidingly connected to the second adjusting base along the extension direction of the second rack, the second sliding plate is provided with a second rotary driving piece, the output end of the second rotary driving piece is fixedly connected with a second gear, and the second gear and the second rack are in transmission connection.

[0016] Optionally, the third adjusting piece comprises a third adjusting base and a third rotary driving piece, the third adjusting base is slidingly connected to the second sliding plate in a third direction, the third adjusting base is provided with a third rack extending in the third direction, the third rotary driving piece is arranged on the second sliding plate, the output end of the third rotary driving piece is fixedly connected with a third gear, and the third gear and the third rack are in transmission connection.

[0017] Optionally, the underground continuous wall truss web reinforcement feeding device further comprises a control unit, the control unit is electrically connected to the position adjusting mechanism and the feeding mechanism, the control unit is configured to adjust the positions of the first adjusting piece, the second adjusting piece and the third adjusting piece, the control unit is configured to control the power supply of the electromagnet, and the control unit is configured to control the start and stop of the first driving piece and the second driving piece.

[0018] In a second aspect, the present application further provides an underground continuous wall truss web reinforcement feeding method, wherein the truss web reinforcement feeding is performed by using the underground continuous wall truss web reinforcement feeding device, and the method further comprises the following steps:

[0019] S1, material preparation: placing the first web reinforcement and the second web reinforcement required by the truss in a preset direction in the web reinforcement material bin, and fixing the main reinforcement of the truss according to a preset position;

[0020] S2, adjusting: adjust the position of the underground continuous wall truss web reinforcement feeding device to be consistent with the adjustment direction of the first adjusting member and the extension direction of the main reinforcement, adjust the position adjusting mechanism, and make the electromagnet adjust to above the web reinforcement bin and opposite to the first web reinforcement or the second web reinforcement required by the truss;

[0021] S3, grabbing: make the second driving member drive the position adjusting member to descend in the vertical direction, the electromagnet grabs the first web reinforcement or the second web reinforcement, and then drives the position adjusting member to ascend in the vertical direction;

[0022] S4, feeding: adjust the position adjusting mechanism, make the feeding mechanism transport the first web reinforcement or the second web reinforcement to the specified position, and again adjust the first web reinforcement or the second web reinforcement to the preset angle through the position adjusting mechanism and the first driving member, the second driving member drives the position adjusting member to descend in the vertical direction, and the electromagnet releases the first web reinforcement or the second web reinforcement;

[0023] S5, repeat steps S2-S4 until the underground continuous wall truss web reinforcement feeding is completed.

[0024] The beneficial effects of the present application are as follows:

[0025] In the first aspect, the present application provides an underground continuous wall truss web reinforcement feeding device, which can realize the position adjustment of the feeding mechanism in the horizontal direction, the vertical direction and the third direction through the position adjusting mechanism. The first driving member can drive the position adjusting member to rotate around the vertical axis, thereby realizing the angle adjustment of the electromagnet. The second driving member can drive the position adjusting member to ascend and descend in the vertical direction, thereby realizing the height adjustment of the electromagnet. The grabbing assembly can grab and release the web reinforcement by controlling the magnetic on-off of the electromagnet, so that the feeding mechanism can effectively grab the web reinforcement and realize precise feeding, replacing manual handling and placing of the web reinforcement, significantly reducing labor cost and ensuring the accuracy of the feeding position, providing a precise material positioning basis for subsequent automatic welding of the truss. The mechanical structure and control logic of the underground continuous wall truss web reinforcement feeding device are simpler and more reliable than the mechanical arm, the manufacturing and maintenance costs are greatly reduced, and the adaptability to complex working environment is improved.

[0026] In the second aspect, the present application also provides an underground continuous wall truss web reinforcement feeding method, which utilizes the three-dimensional adjustment, electromagnetic grabbing and in-plane rotation functions of the underground continuous wall truss web reinforcement feeding device to realize automatic, precise and rapid feeding and angle adjustment of the first web reinforcement or the second web reinforcement, solves the process difficulty that the first web reinforcement or the second web reinforcement needs to be welded on the main reinforcement at a specific angle, and significantly improves the overall efficiency and quality of the underground continuous wall truss manufacturing. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1It is the structural schematic view of the underground continuous wall truss web reinforcement feeding device of the embodiment of the present application.

[0028] Figure 2 It is the side view of the underground continuous wall truss web reinforcement feeding device of the embodiment of the present application.

[0029] Figure 3 It is the left view of the underground continuous wall truss web reinforcement feeding device of the embodiment of the present application.

[0030] Figure 4 It is Figure 1 The local enlarged schematic view of A part in the middle.

[0031] Figure 5 It is the structural schematic view of the feeding mechanism and the web reinforcement of the embodiment of the present application. Figure 1 ;

[0032] Figure 6 It is the structural schematic view of the feeding mechanism and the web reinforcement of the embodiment of the present application. Figure 2 ;

[0033] Figure 7 It is the feeding process of the underground continuous wall truss web reinforcement feeding device of the embodiment of the present application. Figure 1 ;

[0034] Figure 8 It is the feeding process of the underground continuous wall truss web reinforcement feeding device of the embodiment of the present application. Figure 2 ;

[0035] Figure 9 It is the feeding process of the underground continuous wall truss web reinforcement feeding device of the embodiment of the present application. Figure 3 .

[0036] In the figure:

[0037] 1, position adjusting mechanism; 11, first adjusting part; 111, first adjusting base; 112, first sliding plate; 12, second adjusting part; 121, second adjusting base; 122, second sliding plate; 13, third adjusting part; 131, third adjusting base; 2, feeding mechanism; 21, connecting part; 211, mounting hole; 212, connecting cavity; 213, rotating connecting rod; 22, position adjusting part; 221, first vertical rod; 222, second vertical rod; 223, cross rod; 224, driven gear; 23, electromagnet; 24, first driving part; 241, driving gear; 25, second driving part; 100, web reinforcement storage; 200, first web reinforcement; 300, second web reinforcement; 400, main reinforcement. DETAILED DESCRIPTION

[0038] ​Embodiments of the present application are described in detail below with reference to the attached drawing figures, wherein the same or like component have the same or similar designations. The embodiments described below are exemplary in nature, and are intended to be illustrative of the present application rather than to limit the same.

[0039] In the description of the present application, unless otherwise clearly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, can be fixedly connected, can be detachably connected, can be mechanically connected, can be electrically connected, can be directly connected, can be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0040] In the description of the present application, unless otherwise clearly specified and limited, the first feature "on" or "below" the second feature can include that the first feature and the second feature are in direct contact, or can include that the first feature and the second feature are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher than the second feature in horizontal height. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower than the second feature in horizontal height.

[0041] The technical solutions of the present application are further illustrated below by specific embodiments in combination with the drawings.

[0042] In a first aspect, as Figures 1 to 6As shown, the underground continuous wall truss web reinforcement feeding device provided by the present application comprises a position adjusting mechanism 1 and a feeding mechanism 2. The position adjusting mechanism 1 comprises a first adjusting member 11, a second adjusting member 12 and a third adjusting member 13. The output end of the first adjusting member 11 is horizontally position-adjustable. The second adjusting member 12 is connected to the output end of the first adjusting member 11, and the output end of the second adjusting member 12 is vertically position-adjustable. The third adjusting member 13 is connected to the output end of the second adjusting member 12, and the output end of the third adjusting member 13 is position-adjustable in a third direction (Z direction in the figure), which is perpendicular to both the horizontal direction and the vertical direction. The feeding mechanism 2 comprises a connecting member 21 and a grabbing assembly. The connecting member 21 is connected to the output end of the third adjusting member 13. The grabbing assembly comprises a position adjusting member 22, an electromagnet 23, a first driving member 24 and a second driving member 25. The position adjusting member 22 is rotationally connected to the connecting member 21 and has the freedom of lifting along the vertical direction. The electromagnet 23 is arranged at the lower end of the position adjusting member 22. The first driving member 24 is connected to the connecting member 21 and is configured to drive the position adjusting member 22 to rotate about the vertical axis. The second driving member 25 is connected to the connecting member 21 and is configured to drive the position adjusting member 22 to lift along the vertical direction.

[0043] When the underground continuous wall truss web reinforcement feeding device is in use, the position adjusting mechanism 1 can realize the position adjustment of the feeding mechanism 2 in the horizontal direction, the vertical direction and the third direction. The first driving member 24 can drive the position adjusting member 22 to rotate about the vertical axis, thereby realizing the angle adjustment of the electromagnet 23. The second driving member 25 can drive the position adjusting member 22 to lift along the vertical direction, thereby realizing the height adjustment of the electromagnet 23. The grabbing assembly can grab and release the web reinforcement by controlling the on-off of the magnetism of the electromagnet 23, so that the feeding mechanism 2 can effectively grab the web reinforcement and realize precise feeding, replacing manual carrying and placing of the web reinforcement, significantly reducing the labor cost and ensuring the precision of the feeding position, providing a precise material positioning basis for the subsequent automatic welding of the truss. The mechanical structure and control logic of the underground continuous wall truss web reinforcement feeding device are simpler and more reliable than those of the mechanical arm, the manufacturing cost and maintenance cost are greatly reduced, and the adaptability to complex working environments is improved.

[0044] Specifically, as Figure 4 and Figure 5As shown, the position adjusting member 22 is a portal frame linkage, including a first vertical rod 221, a second vertical rod 222 and a horizontal rod 223. The first vertical rod 221 and the second vertical rod 222 are arranged in parallel and spaced apart along the horizontal direction and both extend along the vertical direction, and the horizontal rod 223 is connected to the upper ends of the first vertical rod 221 and the second vertical rod 222. The lower ends of the first vertical rod 221 and the second vertical rod 222 are both provided with electromagnets 23, and the first vertical rod 221 is rotationally connected to the connecting member 21, and the first vertical rod 221 can rotate around a vertical axis and has the freedom of lifting along the vertical direction, and the first driving member 24 can drive the first vertical rod 221 to rotate around the vertical axis, and the second driving member 25 can drive the horizontal rod 223 to lift along the vertical direction. By designing the position adjusting member 22 as a portal frame linkage structure, and arranging electromagnets 23 at the lower ends of the first vertical rod 221 and the second vertical rod 222, the two electromagnets 23 can simultaneously adsorb the web, further improving the feeding stability and feeding accuracy of the feeding mechanism 2.

[0045] Further, as shown in Figures 4 to 6 The connecting member 21 is provided with a mounting hole 211 penetrating through itself along the vertical direction, and the first vertical rod 221 is arranged in the mounting hole 211. The outer circumferential side of the first vertical rod 221 is provided with a driven gear 224, and the first vertical rod 221 and the driven gear 224 are connected through a spline and allow the first vertical rod 221 to slide along the axial direction of itself. The output end of the first driving member 24 is fixedly connected with a driving gear 241, the driving gear 241 and the driven gear 224 are in transmission connection, and the driving gear 241 can drive the driven gear 224 to rotate around the vertical axis. The first vertical rod 221 and the driven gear 224 are connected through a spline and allow the first vertical rod 221 to slide along the axial direction of itself, so that the first vertical rod 221 can not only rotate around the vertical axis under the drive of the first driving member 24, but also lift along the vertical direction under the drive of the second driving member 25. The transmission between the first driving member 24 and the first vertical rod 221 is through gears, so that the control accuracy of the first driving member 24 on the position adjusting member 22 is higher, and the angle adjustment of the web is more accurate, further improving the feeding accuracy of the feeding mechanism 2.

[0046] Alternatively, as shown in Figure 5 Or Figure 6 The connecting member 21 includes two connecting plates arranged in parallel and spaced apart along the vertical direction, and the two connecting plates are both provided with mounting holes 211, and a connecting cavity 212 is formed between the two connecting plates, and the output end of the first driving member 24, the driving gear 241 and the driven gear 224 are all located in the connecting cavity 212. The connecting cavity 212 can encapsulate and protect the output end of the first driving member 24, the driving gear 241 and the driven gear 224, preventing dust or iron filings from affecting the transmission of the driving gear 241 and the driven gear 224, and improving the reliability and environmental adaptability of the gear transmission.

[0047] Exemplarily, as shown in Figure 5 or Figure 6 shown, the connecting piece 21 further comprises a rotating connecting rod 213, one end of the rotating connecting rod 213 is connected with the first vertical rod 221 through a spline and allows the first vertical rod 221 to slide along its own axis, the other end of the rotating connecting rod 213 is sleeved on the outer circumferential side of the second vertical rod 222, the second driving member 25 is connected with the rotating connecting rod 213, and the output end of the second driving member 25 is connected with the cross rod 223. The rotating connecting rod 213 further improves the synchronism and stability of the rotation of the first vertical rod 221 and the second vertical rod 222, so that the two electromagnets 23 can rotate synchronously, and the stability of the feeding mechanism 2 is improved.

[0048] In the embodiment, the first driving member 24 is a servo motor, and the second driving member 25 is a pneumatic cylinder. In other embodiments, the first driving member 24 can also be a pneumatic motor, and the second driving member 25 can also be an electric telescopic rod, which is not limited here.

[0049] Optionally, as shown in Figure 3 and Figure 4 shown, the first adjusting member 11 comprises a first adjusting base 111 and a first sliding plate 112. The first adjusting base 111 is provided with a first rack extending in the horizontal direction, and the first sliding plate 112 is slidingly connected to the first adjusting base 111 along the extension direction of the first rack. The first sliding plate 112 is provided with a first rotary driving member, and the output end of the first rotary driving member is fixedly connected with a first gear, which is in transmission connection with the first rack. The transmission connection between the first sliding plate 112 and the first adjusting base 111 is realized through a gear and rack mechanism, which has strong bearing capacity, stable operation, and positioning accuracy that can meet engineering requirements, and the cost is much lower than that of a linear motor or a precision lead screw module that realizes the same stroke and accuracy.

[0050] Further, as shown in Figure 3 and Figure 4 shown, the second adjusting member 12 comprises a second adjusting base 121 and a second sliding plate 122, and the second adjusting base 121 is fixedly connected to the first sliding plate 112. The second adjusting base 121 is provided with a second rack extending in the vertical direction, and the second sliding plate 122 is slidingly connected to the second adjusting base 121 along the extension direction of the second rack. The second sliding plate 122 is provided with a second rotary driving member, and the output end of the second rotary driving member is fixedly connected with a second gear, which is in transmission connection with the second rack. The transmission connection between the second sliding plate 122 and the second adjusting base 121 is also realized through a gear and rack mechanism, so that the second adjusting member 12 has the characteristics of strong bearing capacity and stable operation, the positioning accuracy can meet the engineering requirements, and the cost is much lower than that of a linear motor or a precision lead screw module that realizes the same stroke and accuracy.

[0051] Still further, as shown in Figure 4As shown, the third adjusting member 13 comprises a third adjusting base 131 and a third rotary driving member, the third adjusting base 131 is slidingly connected to the second sliding plate 122 along a third direction, and a third rack extending along the third direction is arranged on the third adjusting base 131. The third rotary driving member is arranged on the second sliding plate 122, and the output end of the third rotary driving member is fixedly connected with a third gear, and the third gear is in transmission connection with the third rack. The transmission connection of the third adjusting base 131 relative to the second sliding plate 122 is realized through the gear and rack mechanism, so that the third adjusting member 13 has the characteristics of strong bearing capacity and stable operation, the positioning accuracy can meet the engineering requirements, and the cost is much lower than that of realizing the same stroke and accuracy of the linear motor or the precision screw module.

[0052] In the embodiment, the first rotary driving member, the second rotary driving member and the third rotary driving member are all servo motors.

[0053] Optionally, the underground continuous wall truss web reinforcement feeding device further comprises a control unit electrically connected to the position adjusting mechanism 1 and the feeding mechanism 2, the control unit is configured to adjust the positions of the first adjusting member 11, the second adjusting member 12 and the third adjusting member 13, the control unit is configured to control the power supply of the electromagnet 23, and the control unit is configured to control the start and stop of the first driving member 24 and the second driving member 25. The control unit enables the entire feeding process to be automatically completed according to a preset program, realizes the upgrading of the underground continuous wall truss web reinforcement feeding device from mechanization to automation, and further improves the operation convenience.

[0054] In a second aspect, the application also provides an underground continuous wall truss web reinforcement feeding method. Figures 7 to 9 As shown, the application also provides an underground continuous wall truss web reinforcement feeding method, which utilizes the above underground continuous wall truss web reinforcement feeding device to feed the truss web reinforcement, and further comprises the following steps:

[0055] S1, preparation: placing the first web reinforcement 200 and the second web reinforcement 300 required by the truss in a preset direction in the web reinforcement stock bin 100, and fixing the main reinforcement 400 of the truss according to a preset position; specifically, in order to ensure that the truss structure is more stable, a plurality of first web reinforcements 200 and second web reinforcements 300 with different orientations need to be welded between the two main reinforcements 400, so a sufficient number of first web reinforcements 200 and second web reinforcements 300 need to be placed in the preparation stage according to the preset direction.

[0056] S2, adjustment: adjusting the position of the underground continuous wall truss web reinforcement feeding device to be consistent with the extension direction of the main reinforcement 400 in the adjustment direction of the first adjusting member 11, adjusting the position adjusting mechanism 1, and adjusting the electromagnet 23 to be above the web reinforcement stock bin 100 and directly opposite the first web reinforcement 200 or the second web reinforcement 300 required by the truss; specifically, the adjustment direction of the first adjusting member 11 is adjusted to be consistent with the extension direction of the main reinforcement 400, which facilitates subsequent grabbing and feeding.

[0057] S3, grabbing: the second driving member 25 drives the position adjusting member 22 to descend in the vertical direction, the electromagnet 23 grabs the first web 200 or the second web 300, and then the position adjusting member 22 is driven to ascend in the vertical direction; specifically, the magnetism of the electromagnet 23 is controlled by controlling the power supply on-off, so as to facilitate the grabbing of the first web 200 or the second web 300.

[0058] S4, feeding: adjusting the position adjusting mechanism 1, and feeding the first web 200 or the second web 300 to a specified position by the feeding mechanism 2, and then adjusting the first web 200 or the second web 300 to a preset angle by the position adjusting mechanism 1 and the first driving member 24 again, the second driving member 25 drives the position adjusting member 22 to descend in the vertical direction, and the electromagnet 23 releases the first web 200 or the second web 300; specifically, the first web 200 or the second web 300 is adjusted to the position shown in the figure by the position adjusting mechanism 1 and the first driving member 24, and the second driving member 25 drives the position adjusting member 22 to descend in the vertical direction, and the electromagnet 23 releases the first web 200 or the second web 300. Figures 7 to 9

[0059] S5, repeating steps S2-S4 until the feeding of the underground continuous wall truss web is completed.

[0060] The underground continuous wall truss web feeding method realizes the automatic, accurate and rapid feeding and angle adjustment of the first web 200 or the second web 300 by using the three-dimensional adjustment, electromagnetic grabbing and in-plane rotation functions of the underground continuous wall truss web feeding device, solves the process difficulty that the first web 200 or the second web 300 needs to be welded on the main rib 400 at a specific angle, and significantly improves the overall efficiency and quality of the underground continuous wall truss manufacturing.

[0061] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, it is not necessary and impossible to exhaust all the embodiments. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.​

Claims

1. A device for feeding a diaphragm reinforcement of a diaphragm wall truss, characterized in that The utility model relates to a kind of position adjusting mechanism (1), which includes first adjusting piece (11), second adjusting piece (12) and third adjusting piece (13), the output of the first adjusting piece (11) is adjustable in horizontal direction position, the output of the second adjusting piece (12) is adjustable in vertical direction position, the output of the third adjusting piece (13) is adjustable in third direction position, third direction is perpendicular to horizontal direction and vertical direction. The utility model relates to a kind of feeding mechanism (2), which includes connecting piece (21) and grabbing assembly, the output of the connecting piece (21) is connected to the third adjusting piece (13), the grabbing assembly includes position adjusting piece (22), electromagnet (23), first drive (24) and second drive (25), the position adjusting piece (22) is rotatably connected to the connecting piece (21), the position adjusting piece (22) can rotate around vertical axis and has the freedom of lifting in vertical direction, the electromagnet (23) is arranged in the lower end of the position adjusting piece (22), the first drive (24) is connected to the connecting piece (21) and is configured to drive the position adjusting piece (22) to rotate around vertical axis, the second drive (25) is connected to the connecting piece (21) and is configured to drive the position adjusting piece (22) to lift in vertical direction. The position adjusting piece (22) is portal type connecting rod, including first vertical rod (221), second vertical rod (222) and crossbar (223), the first vertical rod (221) and the second vertical rod (222) are horizontally parallel and spaced apart and extend in vertical direction, the crossbar (223) is connected to the upper end of the first vertical rod (221) and the second vertical rod (222), the lower end of the first vertical rod (221) and the second vertical rod (222) is provided with the electromagnet (23), the first vertical rod (221) is rotatably connected to the connecting piece (21), the first vertical rod (221) can rotate around vertical axis and has the freedom of lifting in vertical direction, the first drive (24) can drive the first vertical rod (221) to rotate around vertical axis, the second drive (25) can drive the crossbar (223) to lift in vertical direction.

2. The diaphragm wall truss web reinforcement feeding device according to claim 1, characterized in that, ​ 3. The diaphragm wall trussing reinforcement feeding device according to claim 2, wherein, The connecting piece (21) is provided with a mounting hole (211) penetrating in the vertical direction, the first vertical rod (221) is arranged in the mounting hole (211), the first vertical rod (221) is provided with a driven gear (224) on the outer periphery, the first vertical rod (221) and the driven gear (224) are connected by the spline and the first vertical rod (221) is allowed to slide in the axial direction, the output end of the first driving piece (24) is fixedly connected with a driving gear (241), the driving gear (241) and the driven gear (224) are in transmission connection, and the driving gear (241) can drive the driven gear (224) to rotate around the vertical axis.

4. The diaphragm wall trussing reinforcement feeding device according to claim 3, wherein, The connecting piece (21) comprises two connecting plates arranged in the vertical direction, the mounting hole (211) is arranged on the two connecting plates, and a connecting cavity (212) is formed between the two connecting plates, wherein the output end of the first driving piece (24), the driving gear (241) and the driven gear (224) are located in the connecting cavity (212).

5. The diaphragm wall trussing reinforcement feeding device according to claim 2, wherein The connecting piece (21) further comprises a rotating connecting rod (213), one end of the rotating connecting rod (213) and the first vertical rod (221) are connected by the spline and the first vertical rod (221) is allowed to slide in the axial direction, the other end of the rotating connecting rod (213) is sleeved on the outer periphery of the second vertical rod (222), the second driving piece (25) is connected to the rotating connecting rod (213), and the output end of the second driving piece (25) is connected to the horizontal rod (223).

6. The diaphragm wall trussing reinforcement feeding device according to claim 1, wherein The first adjusting piece (11) comprises a first adjusting base (111) and a first sliding plate (112), the first adjusting base (111) is provided with a first rack extending in the horizontal direction, the first sliding plate (112) is slidably connected to the first adjusting base (111) along the extension direction of the first rack, the first sliding plate (112) is provided with a first rotary driving piece, the output end of the first rotary driving piece is fixedly connected with a first gear, and the first gear is in transmission connection with the first rack.

7. The diaphragm wall trussing reinforcement feeding device of claim 6, wherein, The second adjusting piece (12) comprises a second adjusting base (121) and a second sliding plate (122), the second adjusting base (121) is fixedly connected to the first sliding plate (112), the second adjusting base (121) is provided with a second rack extending in the vertical direction, the second sliding plate (122) is slidably connected to the second adjusting base (121) along the extension direction of the second rack, the second sliding plate (122) is provided with a second rotary driving piece, the output end of the second rotary driving piece is fixedly connected with a second gear, and the second gear is in transmission connection with the second rack.

8. The diaphragm wall trussing reinforcement feeding device of claim 7, wherein, The third adjusting member (13) comprises a third adjusting base (131) and a third rotating driving member, the third adjusting base (131) is slidingly connected to the second sliding plate (122) along a third direction, a third rack extending along the third direction is arranged on the third adjusting base (131), and the third rotating driving member is arranged on the second sliding plate (122), the output end of the third rotating driving member is fixedly connected with a third gear, and the third gear is in transmission connection with the third rack.

9. The diaphragm wall trussing reinforcement feeding device according to any one of claims 1 to 8, wherein, The underground continuous wall truss web reinforcement feeding device further comprises a control unit electrically connected to the position adjusting mechanism (1) and the feeding mechanism (2), the control unit is configured to adjust the positions of the first adjusting member (11), the second adjusting member (12) and the third adjusting member (13), the control unit is configured to control the power on-off of the electromagnet (23), and the control unit is configured to control the start-stop of the first driving member (24) and the second driving member (25).

10. A method of feeding a diaphragm wall truss web, characterised by, The underground continuous wall truss web reinforcement feeding device according to any one of claims 1-9 is used for feeding the truss web reinforcement, and further comprises the following steps: S1, material preparation: placing the first web reinforcement (200) and the second web reinforcement (300) required by the truss in a preset direction in the web reinforcement material bin (100), and fixing the main reinforcement (400) of the truss according to a preset position; S2, adjustment: adjusting the position of the underground continuous wall truss web reinforcement feeding device to be consistent with the extension direction of the main reinforcement (400) in the adjustment direction of the first adjusting member (11), adjusting the position adjusting mechanism (1), and adjusting the electromagnet (23) to be above the web reinforcement material bin (100) and opposite to the first web reinforcement (200) or the second web reinforcement (300) required by the truss; S3, material grabbing: driving the position adjusting member (22) to descend along the vertical direction by the second driving member (25), the electromagnet (23) grabs the first web reinforcement (200) or the second web reinforcement (300), and then the position adjusting member (22) is driven to ascend along the vertical direction; S4, feeding: adjusting the position adjusting mechanism (1), the feeding mechanism (2) transports the first web reinforcement (200) or the second web reinforcement (300) to a specified position, and then the first web reinforcement (200) or the second web reinforcement (300) is adjusted to a preset angle by adjusting the position adjusting mechanism (1) and the first driving member (24) again, the position adjusting member (22) is driven to descend along the vertical direction by the second driving member (25), and the electromagnet (23) releases the first web reinforcement (200) or the second web reinforcement (300); S5, repeating steps S2-S4 until the underground continuous wall truss web reinforcement feeding is completed.

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