Steel bar mounting module based on multifunctional steel bar and embedded part mounting equipment

Abstract

The invention discloses a reinforcing steel bar mounting module based on multifunctional reinforcing steel bar and embedded part mounting equipment. The reinforcing steel bar mounting module based on the multifunctional reinforcing steel bar and embedded part mounting equipment comprises a base, a directional control unit, a center alignment unit, a clamping unit and a screwing unit. The base is provided with a first connecting end, and the directional control unit, the center alignment unit, the clamping unit and the screwing unit are all arranged at the first connecting end of the base. The directional control unit is used for monitoring postures of reinforcing steel bars in real time; the center alignment unit is used for eliminating axis deviation of the clamped steel bars; the clamping unit is used for clamping steel bars; and the screwing unit is used for screwing the mounting steel bars. A plurality of functional units are integrated through the base, so that the reinforcing steel bar mounting module based on the multifunctional reinforcing steel bar and embedded part mounting equipment integrates the core functions of grabbing, carrying, tightening and the like, and mounting operation of vertical reinforcing steel bars and horizontal reinforcing steel bars can be effectively completed through the same equipment.

Description

Technical Field

[0001] This invention relates to the field of building construction equipment technology, and specifically to a rebar installation module based on a multifunctional rebar and embedded part installation equipment. Background Technology

[0002] In traditional construction of large-scale building projects, the installation of vertical and horizontal reinforcing bars requires different specialized equipment: vertical reinforcing bar installation necessitates a separate vertical hoisting and positioning system, while horizontal reinforcing bar installation requires a separate clamping and pushing device, resulting in a discrete operation mode of "one task, one piece of equipment." Under this mode, each changeover requires readjusting the hoisting plan, calibrating the positioning benchmark, and even replacing the operating team, with a single equipment changeover process typically taking more than 30 minutes. Taking nuclear power plant construction as an example, the installation of vertical and horizontal reinforcing bars needs to be carried out alternately on the same work surface. Frequent equipment entry and exit shortens the average daily effective working time by 2-3 hours, severely impacting the efficiency of process coordination.

[0003] Single-function equipment is prone to being idle in assembly line operations: for example, after the vertical rebar installation equipment completes its work, it must wait for the horizontal rebar binding process to be completed before it can enter the site again, and the daily utilization rate of the equipment is less than 50%; moreover, large equipment occupies a large area (traditional hoisting equipment occupies ≥5m×5m). In space-constrained scenarios such as nuclear power plant buildings, the cross-operation of multiple equipment can easily cause site conflicts, further reducing the continuity of construction and increasing the difficulty of coordination and management. Summary of the Invention

[0004] The technical problem to be solved by the present invention is that vertical and horizontal reinforcing bars are installed using different equipment. The purpose is to provide a reinforcing bar installation module based on a multifunctional reinforcing bar and embedded part installation equipment to solve the above-mentioned problem.

[0005] This invention is achieved through the following technical solution:

[0006] A rebar installation module based on a multifunctional rebar and embedded part installation equipment includes a base, a directional control unit, a center alignment unit, a clamping unit, and a screwing unit;

[0007] The base has a first connecting end. The orientation control unit, the center alignment unit, the clamping unit and the screwing unit are all set on the first connecting end of the base. The center alignment unit, the clamping unit and the screwing unit are respectively provided with base grooves. The three base grooves are coaxial and form a clamping groove adapted to the reinforcing bar.

[0008] The orientation control unit is used to monitor the posture of the reinforcing bars in real time; the center alignment unit is used to eliminate axial deviation of the clamped reinforcing bars; the clamping unit is used to clamp the reinforcing bars; and the tightening unit is used to tighten and install the reinforcing bars.

[0009] In one possible design, the base has two opposing ends, one end of which is provided with several inner grooves and serves as a first connecting end, and accordingly, the orientation control unit, the center alignment unit, the clamping unit and the screwing unit are respectively installed in the inner grooves; the other end serves as a second connecting end for connecting other devices.

[0010] In one possible design, the center alignment unit, orientation control unit, screwing unit, and clamping unit are arranged sequentially at intervals at the first connecting end of the base, with the center alignment unit and clamping unit located at both ends, and the orientation control unit staggered from the other units.

[0011] In one possible design, the orientation control unit includes a mounting bracket and a mounting base. The mounting bracket is fixedly connected to the base, and the mounting base is mounted on the mounting bracket and has a gyroscope and an angle sensor.

[0012] In one possible design, the center alignment unit includes a first motor and a clamping plate;

[0013] The first motor is fixed on the base, and the output end of the first motor is connected to the clamping plate;

[0014] The clamps are provided in two and are arranged opposite each other. The clamps are arc-shaped and form grooves. The grooves of the two clamps form the base groove.

[0015] Correspondingly, the first motor is used to drive the two clamps to close or separate, so as to control the opening and closing of the base trench.

[0016] In one possible design, the center alignment unit includes a bracket and an alignment seat; one end of the bracket is connected to the base, and the other end of the bracket is provided with an intermediate plate. The alignment seat is set on the intermediate plate and is provided with a V-groove for center alignment.

[0017] In one possible design, the clamping unit includes a hydraulic actuator and grippers;

[0018] The hydraulic actuator is fixed on the base, and the output end of the hydraulic actuator passes through the intermediate frame and is connected to the gripper;

[0019] The gripper has two grippers arranged opposite each other. One end of the gripper is hinged to the intermediate frame, and the other end of the gripper is used to clamp the steel bar. The two grippers are connected by a hinge plate, and the output end of the hydraulic actuator is connected to the hinge plate.

[0020] Accordingly, the hydraulic actuator drives the two grippers to rotate via the hinge plate to control the two grippers to close or separate;

[0021] Accordingly, the gap between the two grippers is used as a base groove.

[0022] In one possible design, the turning unit includes a second motor, a planetary reducer, and a turning sleeve;

[0023] The second motor is fixed on the base and connected to the screwing sleeve via a planetary reducer;

[0024] The screwing sleeve includes a base cylinder, a rotating chuck, and a rotating chuck. The base cylinder is connected to the base and extends outside the base. The output end of the second motor extends into the base cylinder. The planetary reducer is rotatably mounted in the base cylinder. The rotating chuck is annular and rotatably mounted on the base cylinder, and has opposing outer and inner rings. The outer ring of the rotating chuck meshes with the planetary reducer, and the inner ring of the rotating chuck is connected to the rotating chuck via a transmission rod. One end of the rotating chuck is connected to the rotating chuck, and the other end is provided with a screwing surface for screwing steel bars.

[0025] Accordingly, the inner ring of the rotating bracket is used as a base groove.

[0026] In one possible design, the base, orientation control unit, center alignment unit, clamping unit, and screwing unit are made of aluminum alloy.

[0027] In one possible design, a control module is also included, which controls the operation of the orientation control unit, the center alignment unit, the clamping unit, and the screwing unit.

[0028] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0029] The base integrates multiple functional units, enabling the rebar installation module based on the multifunctional rebar and embedded part installation equipment to combine core functions such as gripping, handling, and tightening. The same equipment can effectively complete the installation of vertical and horizontal rebars, reducing the types of equipment used in rebar installation, improving the situation of frequent equipment entry and exit, and effectively solving the prominent problems of low efficiency and poor equipment adaptability that are common in current rebar installation operations. Attached Figure Description

[0030] To more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be considered as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort. In the drawings:

[0031] Figure 1 This is a structural schematic diagram of a rebar installation module based on a multifunctional rebar and embedded part installation equipment.

[0032] Figure 2 A schematic diagram of the structure of the center alignment unit, including the support and alignment seat.

[0033] Figure 3 This is a schematic diagram of the clamping unit.

[0034] Figure 4 This is a schematic diagram of the screw-on sleeve.

[0035] Figure 5 This is an exploded schematic diagram of the screwing unit.

[0036] The attached diagram shows the markings and corresponding component names:

[0037] 1. Base; 2. Orientation control unit; 201. Mounting bracket; 202. Mounting seat; 3. Center alignment unit; 301. First motor; 302. Clamping plate; 303. Bracket; 304. Alignment seat; 4. Clamping unit; 401. Hydraulic actuator; 402. Gripper; 403. Intermediate frame; 404. Hinge plate; 5. Twisting unit; 501. Second motor; 502. Planetary reducer; 503. Twisting sleeve; 504. Base cylinder; 505. Rotary chuck; 506. Rotary chuck bar. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0039] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that these specific details are not necessary to practice the invention. In other embodiments, well-known structures, circuits, materials, or methods have not been specifically described in order to avoid obscuring the invention.

[0040] Throughout this specification, references to "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with that embodiment or example is included in at least one embodiment of the invention. Therefore, the phrases "an embodiment," "an example," "an example," or "an example" appearing in various places throughout the specification do not necessarily refer to the same embodiment or example. Furthermore, specific features, structures, or characteristics can be combined in one or more embodiments or examples in any suitable combination and / or sub-combination. Moreover, those skilled in the art will understand that the illustrations provided herein are for illustrative purposes and are not necessarily drawn to scale. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0041] In the description of this invention, the terms "front", "rear", "left", "right", "up", "down", "vertical", "horizontal", "high", "low", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention.

[0042] Example 1:

[0043] like Figures 1-5 As shown, a rebar installation module based on a multifunctional rebar and embedded part installation equipment includes a base 1, a directional control unit 2, a center alignment unit 3, a clamping unit 4, and a screwing unit 5.

[0044] The base 1 has a first connecting end. The orientation control unit 2, the center alignment unit 3, the clamping unit 4 and the screwing unit 5 are all set on the first connecting end of the base 1. The center alignment unit 3, the clamping unit 4 and the screwing unit 5 are respectively provided with base grooves. The three base grooves are coaxial and form a clamping groove adapted to the reinforcing bar.

[0045] The orientation control unit 2 is used to monitor the posture of the reinforcing bar in real time; the center alignment unit 3 is used to eliminate the axial deviation of the clamped reinforcing bar; the clamping unit 4 is used to clamp the reinforcing bar; and the screwing unit 5 is used to screw and install the reinforcing bar.

[0046] The rebar installation module based on the multifunctional rebar and embedded part installation equipment integrates multiple functional units through the base 1, enabling the rebar installation module based on the multifunctional rebar and embedded part installation equipment to integrate core functions such as gripping, handling, and tightening. The same equipment can effectively complete the installation of vertical and horizontal rebars, reducing the types of equipment in rebar installation operations, improving the situation of frequent equipment entry and exit, and effectively solving the prominent problems of low efficiency and poor equipment adaptability that are common in current rebar installation operations.

[0047] Specifically, through the coordinated operation of multiple functional units, a series of actions such as grabbing, transporting, positioning, and tightening are completed in the rebar installation operation. The vertical and horizontal rebar clamping functions are combined to form an integrated tightening and clamping module. Vertical and horizontal rebar installation can be completed without changing modules, completely replacing the traditional multi-equipment alternating operation mode, reducing process switching time, and improving the overall utilization rate of equipment to over 95%.

[0048] The rebar installation module based on the multifunctional rebar and embedded part installation equipment can be used for the installation of different types of rebar without the need to temporarily replace the clamp components, adapting to diverse construction needs; and in conjunction with manual operation, it effectively improves the positioning accuracy of rebar installation, ensures that the rebar connection strength meets the standards, reduces subsequent rectification costs, and improves the seismic resistance and protection performance of the structure.

[0049] During operation, the rebar installation module based on the multi-functional rebar and embedded part installation equipment is connected to a transport device via a robotic arm. The transport device moves the module to the construction site, and the robotic arm connects the rebar to the module. First, the rebar passes through the center alignment unit 3 for initial connection and center alignment. Then, the rebar passes through the tightening unit 5 and the clamping unit 4, which clamps and secures the rebar. The robotic arm then moves to the installation point. During this movement, the orientation control unit 2 monitors the rebar's posture in real time to ensure it meets design requirements and prevents deviation beyond the specified range. Once at the installation point, the tightening unit 5 tightens the rebar to connect it to the rebar sleeve. The rebar installation module can then be separated and reset by the robotic arm, allowing for rebar grabbing and installation operations.

[0050] Notably, the posture of the rebar installation module based on the multifunctional rebar and embedded part installation equipment is adjusted by a robotic arm to adapt to the installation needs of vertical or horizontal rebars. During the installation operation, the orientation control unit 2 performs real-time monitoring to ensure posture stability.

[0051] It is easy to understand that the robotic arm and the transport equipment can be any suitable existing model, and the present invention does not impose any restrictions on them.

[0052] In one possible implementation, the base 1 has two opposing ends, one end of which is provided with several inner grooves and serves as a first connecting end, and accordingly, the orientation control unit 2, the center alignment unit 3, the clamping unit 4 and the screwing unit 5 are respectively installed in the inner grooves; the other end serves as a second connecting end for connecting other devices.

[0053] Based on the above design scheme, the first connecting end of the base 1 is used to connect various functional units to achieve functional integration, and the second connecting end of the base 1 is used to connect equipment such as robotic arms, so as to connect the steel bar installation module based on the multifunctional steel bar and embedded part installation equipment to other engineering equipment, so as to realize intelligent and automated construction, improve construction efficiency and convenience, and reduce the workload and operational risks of workers.

[0054] In one possible implementation, the center alignment unit 3, the orientation control unit 2, the screwing unit 5, and the clamping unit 4 are arranged sequentially at intervals at the first connecting end of the base 1, with the center alignment unit 3 and the clamping unit 4 located at the two ends respectively, and the orientation control unit 2 being staggered from the other units.

[0055] Based on the above design scheme, the center alignment unit 3 is located at the end to facilitate the connection of the reinforcing bars first, so as to achieve center alignment of the reinforcing bars and help improve the installation accuracy of the reinforcing bars; the screwing unit 5 is located in the middle area of ​​the first connecting end of the base 1 to facilitate better screwing of the reinforcing bars; the clamping unit 4 is preferably provided with anti-slip structures such as anti-slip teeth to improve its stability in clamping the reinforcing bars.

[0056] Since the center alignment unit 3, the screwing unit 5 and the clamping unit 4 are all fitted together with the reinforcing bar, they are located on the same plane, while the orientation control unit 2 is located on another plane and is staggered to avoid the orientation control unit 2 blocking the reinforcing bar.

[0057] In one possible implementation, the orientation control unit 2 includes a mounting bracket 201 and a mounting base 202. The mounting bracket 201 is fixedly connected to the base 1, and the mounting base 202 is disposed on the mounting bracket 201. The mounting base 202 is provided with a gyroscope and an angle sensor.

[0058] Based on the above design scheme, the gyroscope and angle sensor work together to collect attitude data in real time. Combined with the control system on the transportation equipment or control terminal, the preset direction is compared with the actual direction. Then, the robotic arm makes fine adjustments to compensate for the attitude deviation, keeping the clamp direction unchanged and avoiding the rebar from shifting, thus realizing the directional handling of the rebar.

[0059] In one possible implementation, the center alignment unit 3 includes a first motor 301 and a clamping plate 302;

[0060] The first motor 301 is fixed on the base 1, and the output end of the first motor 301 is connected to the clamping plate 302;

[0061] Two clamping plates 302 are provided and arranged opposite each other. The clamping plates 302 are arc-shaped and form grooves. The grooves of the two clamping plates 302 form a base groove.

[0062] Accordingly, the first motor 301 is used to drive the two clamping plates 302 to close or separate, so as to control the opening and closing of the base groove.

[0063] Based on the above design, during the rebar gripping process, the clamping plates 302 close together to form a base groove adapted to the outer diameter of the rebar. As the rebar is inserted into the base groove, its position is corrected to ensure center alignment. After the rebar installation is completed, the first motor 301 starts and drives the two clamping plates 302 to separate, causing the center alignment unit 3 to open and detach from the rebar.

[0064] Furthermore, the width of the foundation trench can be controlled by adjusting the distance between the two clamping plates 302, thereby adapting to steel bars of different sizes and increasing the applicability of the center alignment unit 3.

[0065] As is easily understood, the first motor 301 can be connected to the clamping plate 302 through any suitable transmission structure to realize the reciprocating sliding of the clamping plate 302, so that the two clamping plates 302 can be closed or separated.

[0066] In one possible implementation, the center alignment unit 3 includes a bracket 303 and an alignment seat 304; one end of the bracket 303 is connected to the base 1, and the other end of the bracket 303 is provided with an intermediate plate, and the alignment seat 304 is disposed on the intermediate plate and is provided with a V-groove for center alignment.

[0067] Based on the above design scheme, if the type of reinforcing bar is fixed, the implementation scheme of using the alignment seat 304 as the center alignment component to replace the first motor 301 and clamping plate 302 helps to reduce the number of moving equipment. Preferably, if the alignment seat 304 is selected as the center alignment unit 3, there are two center units located at the two ends of the first connecting end of the base 1, and the remaining functional units are located between the two center alignment units 3.

[0068] In one possible implementation, the clamping unit 4 includes a hydraulic actuator 401 and a gripper 402;

[0069] The hydraulic actuator 401 is fixed on the base 1, and the output end of the hydraulic actuator 401 passes through the intermediate frame 403 and is connected to the gripper 402.

[0070] Two grippers 402 are provided and arranged opposite each other. One end of the gripper 402 is hinged to the intermediate frame 403, and the other end of the gripper 402 is used to clamp the steel bar. The two grippers 402 are connected by a hinge plate 404. The output end of the hydraulic drive 401 is connected to the hinge plate 404.

[0071] Accordingly, the hydraulic actuator 401 drives the two grippers 402 to rotate via the hinge plate 404, so as to control the two grippers 402 to close or separate.

[0072] Accordingly, the gap between the two grippers 402 serves as a base groove.

[0073] Based on the above design, the hydraulic actuator 401 opens and closes the gripper 402, providing power for the gripper 402 to clamp the rebar. During the opening and closing process, the gripper distance is adjusted to accommodate different types of rebar. At the start of the rebar installation, after the rebar is gripped and inserted into the gripper 402, the gripper 402 closes and clamps the rebar, thus fixing it in place. After the rebar is moved to the installation point, the end of the rebar is inserted into the rebar sleeve, and the gripper 402 slightly separates and loosens the rebar to allow the tightening unit 5 to tighten it. At the end of the rebar installation, the gripper 402 separates to allow the rebar to disengage from the clamping unit 4.

[0074] Optionally, a pressure sensor can also be installed on the gripper 402 to monitor the clamping force of the gripper 402 in real time, ensuring that there is no slippage or deformation during the clamping of the rebar. Furthermore, anti-slip structures such as anti-slip teeth can be installed on the gripper 402 for better anti-slip performance.

[0075] In one possible implementation, the screwing unit 5 includes a second motor 501, a planetary reducer 502, and a screwing sleeve 503;

[0076] The second motor 501 is fixed on the base 1 and connected to the screwing sleeve 503 through the planetary reducer 502;

[0077] The screwing sleeve 503 includes a base cylinder 504, a rotating chuck 505, and a rotating chuck 506. The base cylinder 504 is connected to the base 1 and extends outside the base 1. The output end of the second motor 501 extends into the base cylinder 504. The planetary reducer 502 is rotatably disposed in the base cylinder 504. The rotating chuck 505 is annular and rotatably disposed on the base cylinder 504, and has an outer ring and an inner ring. The outer ring of the rotating chuck 505 meshes with the planetary reducer 502, and the inner ring of the rotating chuck 505 is connected to the rotating chuck 506 through a transmission rod. One end of the rotating chuck 506 is connected to the rotating chuck 505, and the other end is provided with a screwing surface for screwing steel bars.

[0078] Accordingly, the inner ring of the rotating bracket 505 serves as a base groove.

[0079] Based on the above design, the screwing unit 5 provides the screwing torque to rotate the reinforcing bar, causing it to be screwed into the reinforcing bar sleeve and thus fixed at the corresponding installation point. Specifically, the reinforcing bar is inserted into the base cylinder 504. The second motor 501 is started, and the power is transmitted to the rotating clamp 505 via the planetary reducer 502. The rotating clamp 505 rotates, driving the rotating clamp 506 to rotate synchronously. The rotating clamp 506 rotates and fixes the reinforcing bar into the reinforcing bar sleeve. The second motor 501 controls the rotating clamp 506 to rotate the reinforcing bar, completing the installation. Similarly, the second motor 501 rotates in the opposite direction, thereby driving the rotating clamp 506 to separate from the reinforcing bar, so that the screwing unit 5 can then detach from the reinforcing bar.

[0080] It is easy to understand that the rotating caliper 506 can be constructed into any suitable shape, and the present invention does not impose any restrictions on this.

[0081] Optionally, such as Figure 5 As shown, the planetary reducer 502 includes several gears that mesh in sequence, and the specific number of them can be determined according to factors such as transmission requirements and the size of the screwing sleeve 503.

[0082] Optionally, such as Figure 5 As shown, both the base cylinder 504 and the rotating clamp 505 are provided with an open end. The screwing unit 5 reciprocates to allow the reinforcing bar to be inserted into or removed from the base trench from the open end. When the reinforcing bar is inserted into the base trench, it abuts against the rotating clamp 506 to facilitate the screwing of the reinforcing bar.

[0083] In one possible implementation, the base 1, orientation control unit 2, center alignment unit 3, clamping unit 4, and screwing unit 5 are made of aluminum alloy.

[0084] Based on the above design scheme, aluminum alloy material has the advantages of being lightweight and high-strength, which helps to reduce weight, reduce the load on the robotic arm, reduce vibration of the robotic arm during movement, and greatly reduce posture deviation during the rebar installation operation.

[0085] It is easy to understand that the rebar installation module based on the multifunctional rebar and embedded part installation equipment can also be made of any other suitable material.

[0086] In one possible implementation, the rebar installation module based on the multifunctional rebar and embedded part installation equipment further includes a control module for controlling the operation of the orientation control unit 2, the center alignment unit 3, the clamping unit 4, and the screwing unit 5.

[0087] Based on the above design scheme, intelligent and automated construction can be achieved through the control module, which can improve construction efficiency and convenience, and reduce the workload and operational risks of workers.

[0088] It is worth noting that the control module is preferably integrated into the transport equipment, or any suitable remote terminal can be selected to avoid occupying the space of the base 1, facilitate the installation of other functional units, and also help reduce the total weight of the rebar installation module based on the multifunctional rebar and embedded part installation equipment.

[0089] Example 2:

[0090] This embodiment, based on Embodiment 1, describes the operation of the rebar installation module based on the multifunctional rebar and embedded part installation equipment:

[0091] 1. Installation process of vertical reinforcing bars:

[0092] S10 Rebar Grabbing: The robotic arm moves to the ground rebar stacking area; the center alignment unit 3, the screwing unit 5, and the clamping unit 4 are all in the open state; the base 1 is kept perpendicular to the ground by the orientation control unit 2; the robotic arm is slowly moved until the center alignment unit 3, the screwing unit 5, and the clamping unit 4 have all grabbed the rebar and closed.

[0093] S20 Oriented Handling: The robotic arm rotates and moves upward to transport the steel bar to the installation point. During the handling process, the orientation control unit 2 monitors the posture. When a deviation of 1° or more occurs, the robotic arm fine-tunes its joint angle to ensure that the steel bar is in the vertical direction.

[0094] S30 Automatic Tightening: After the reinforcing bar is aligned with the installation point, the tightening unit 5 is started and the reinforcing bar is screwed into the reinforcing bar sleeve; the torque of the tightening unit 5 is set in advance according to the construction requirements.

[0095] S40 Reset: Each functional unit opens and detaches from the reinforcing bar, the robotic arm resets, and the installation of a single reinforcing bar is completed.

[0096] 2. Installation process of horizontal reinforcing bars:

[0097] S10 Rebar Grabbing: The robotic arm moves to the ground rebar stacking area; the center alignment unit 3, the turning unit 5, and the clamping unit 4 are all in the open state; the base 1 is kept parallel to the ground by the orientation control unit 2; the robotic arm is slowly moved until the center alignment unit 3, the turning unit 5, and the clamping unit 4 have all grabbed the rebar and closed.

[0098] S20 Oriented Handling: The robotic arm rotates and moves upward to transport the steel bar to the installation point. During the handling process, the orientation control unit 2 monitors the posture. When a deviation of 1° or more occurs, the robotic arm fine-tunes its joint angle to ensure that the steel bar is in the vertical direction.

[0099] S30 auxiliary construction: Workers tie steel bars.

[0100] S40 Reset: Each functional unit opens and detaches from the reinforcing bar, the robotic arm resets, and the installation of a single reinforcing bar is completed.

[0101] In summary, the rebar installation module based on the multifunctional rebar and embedded part installation equipment achieves the following technical effects:

[0102] 1. Comprehensive task adaptability

[0103] Vertical rebar operation: It can automatically and accurately grasp, straighten, intelligently align with the lower rebar sleeve, and tighten with high strength until the set torque is reached, and then automatically stop to ensure connection quality.

[0104] Horizontal rebar operations: It can perform high-level, long-distance rebar clamping, handling, and positioning installation, providing stable clamping force. Combined with the micro-manipulation performance of the robotic arm, it can effectively solve the problems of difficult and dangerous traditional manual lifting and positioning.

[0105] 2. Economic advantages

[0106] Significantly reduces the total cost of ownership (TCO): In traditional construction, project teams need to simultaneously lease or purchase various equipment such as specialized rebar handling machines, tightening equipment, and large hoisting machinery, resulting in large capital investments and high management costs. When the rebar installation module based on the multi-functional rebar and embedded part installation equipment is connected to transportation equipment via a robotic arm to form a construction system, one machine replaces multiple specialized pieces of equipment, greatly reducing the one-time purchase or long-term lease costs of equipment, while also saving on corresponding transportation, maintenance, repair, and operator costs.

[0107] Maximizing equipment utilization and eliminating idle waste: In traditional assembly line operations, specialized equipment often sits idle, waiting for the next process to complete, resulting in extremely low utilization. The construction system, through modular switching, enables seamless connection between different processes on the main platform. After steel reinforcement is moved, the turning module is immediately switched on for operation, allowing the main platform to operate almost continuously 24 hours a day, maximizing its value and increasing equipment utilization several times over.

[0108] Significantly reducing non-operating time and accelerating project progress: Project duration is one of the core elements of project cost. In the traditional model, the non-operating time consumed by equipment entry, exit, positioning, and waiting is considerable. This system only requires replacing the end module, avoiding the time delays caused by frequent relocation of large equipment and ensuring the continuity of the work process. This "time is money" saving directly translates into a shorter project duration and accelerated overall construction progress, and the resulting economic benefits far exceed the value of the equipment itself.

[0109] Therefore, it is particularly suitable for large or super-large engineering projects with intensive rebar work, numerous overlapping trades, and extremely high requirements for safety and precision. The modular design enables extremely fast response times, allowing for close alignment with construction schedules and flexible adjustments to specific tasks, reducing on-site equipment congestion and coordination difficulties. Simultaneously, the high degree of freedom of the hydraulic robotic arm ensures high precision and superior flexibility, enabling stable and accurate rebar positioning and installation in complex, high-risk, or inaccessible spaces, not only improving project quality but also significantly reducing the safety risks of manual high-altitude and heavy-duty work.

[0110] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A rebar installation module based on a multifunctional rebar and embedded part installation equipment, characterized in that, It includes a base (1), a orientation control unit (2), a center alignment unit (3), a clamping unit (4), and a screwing unit (5); The base (1) has a first connecting end. The orientation control unit (2), center alignment unit (3), clamping unit (4) and screwing unit (5) are all set on the first connecting end of the base (1). The center alignment unit (3), clamping unit (4) and screwing unit (5) are respectively provided with base grooves. The three base grooves are coaxial and form a clamping groove adapted to the reinforcing bar. The orientation control unit (2) is used to monitor the posture of the reinforcing bar in real time; the center alignment unit (3) is used to eliminate the axial deviation of the clamped reinforcing bar; the clamping unit (4) is used to clamp the reinforcing bar; and the screwing unit (5) is used to screw and install the reinforcing bar.

2. The rebar installation module based on the multifunctional rebar and embedded part installation equipment according to claim 1, characterized in that, The base (1) has two opposite ends, one end of which is provided with several inner grooves and serves as a first connecting end. Accordingly, the orientation control unit (2), the center alignment unit (3), the clamping unit (4) and the screwing unit (5) are respectively installed in the inner grooves; the other end serves as a second connecting end for connecting other devices.

3. The rebar installation module based on the multifunctional rebar and embedded part installation equipment according to claim 2, characterized in that, The center alignment unit (3), the orientation control unit (2), the screwing unit (5) and the clamping unit (4) are arranged at intervals on the first connecting end of the base (1), with the center alignment unit (3) and the clamping unit (4) located at the two ends respectively, and the orientation control unit (2) being staggered from the other units.

4. The rebar installation module based on the multifunctional rebar and embedded part installation equipment according to claim 1, characterized in that, The orientation control unit (2) includes a mounting bracket (201) and a mounting base (202). The mounting bracket (201) is fixedly connected to the base (1), and the mounting base (202) is set on the mounting bracket (201). The mounting base (202) is equipped with a gyroscope and an angle sensor.

5. The rebar installation module based on the multifunctional rebar and embedded part installation equipment according to claim 1, characterized in that, The center alignment unit (3) includes a first motor (301) and a clamping plate (302); The first motor (301) is fixed on the base (1), and the output end of the first motor (301) is connected to the clamp (302). Two clamping plates (302) are provided and arranged opposite each other. The clamping plates (302) are arc-shaped and form grooves. The grooves of the two clamping plates (302) form a base groove. Accordingly, the first motor (301) is used to drive the two clamps (302) to close or separate in order to control the opening and closing of the base groove.

6. The rebar installation module based on the multifunctional rebar and embedded part installation equipment according to claim 1, characterized in that, The center alignment unit (3) includes a bracket (303) and an alignment seat (304); one end of the bracket (303) is connected to the base (1), and the other end of the bracket (303) is provided with an intermediate plate. The alignment seat (304) is set on the intermediate plate and is provided with a V-groove for center alignment.

7. The rebar installation module based on the multifunctional rebar and embedded part installation equipment according to claim 1, characterized in that, The clamping unit (4) includes a hydraulic actuator (401) and a gripper (402); The hydraulic actuator (401) is fixed on the base (1), and the output end of the hydraulic actuator (401) passes through the intermediate frame (403) and is connected to the gripper (402). Two grippers (402) are provided and arranged opposite each other. One end of the gripper (402) is hinged to the intermediate frame (403), and the other end of the gripper (402) is used to clamp the steel bar. The two grippers (402) are connected by a hinge plate (404). The output end of the hydraulic drive (401) is connected to the hinge plate (404). Accordingly, the hydraulic actuator (401) drives the two grippers (402) to rotate via the hinge plate (404) to control the two grippers (402) to close or separate; Accordingly, the gap between the two grippers (402) is used as a base groove.

8. The rebar installation module based on the multifunctional rebar and embedded part installation equipment according to claim 1, characterized in that, The screwing unit (5) includes a second motor (501), a planetary reducer (502), and a screwing sleeve (503). The second motor (501) is fixed on the base (1) and connected to the screwing sleeve (503) through the planetary reducer (502); The screwing sleeve (503) includes a base cylinder (504), a rotating chuck (505), and a rotating chuck (506). The base cylinder (504) is connected to the base (1) and extends outside the base (1). The output end of the second motor (501) extends into the base cylinder (504). The planetary reducer (502) is rotatably disposed in the base cylinder (504). The rotating chuck (505) is annular and rotatably disposed on the base cylinder (504) and has an outer ring and an inner ring. The outer ring of the rotating chuck (505) meshes with the planetary reducer (502). The inner ring of the rotating chuck (505) is connected to the rotating chuck (506) through a transmission rod. One end of the rotating chuck (506) is connected to the rotating chuck (505), and the other end is provided with a screwing surface for screwing steel bars. Accordingly, the inner ring of the rotating bracket (505) serves as the base groove.

9. The rebar installation module based on the multifunctional rebar and embedded part installation equipment according to any one of claims 1-8, characterized in that, The base (1), orientation control unit (2), center alignment unit (3), clamping unit (4) and screwing unit (5) are made of aluminum alloy.

10. The rebar installation module based on the multifunctional rebar and embedded part installation equipment according to any one of claims 1-8, characterized in that, It also includes a control module, which is used to control the operation of the orientation control unit (2), the center alignment unit (3), the clamping unit (4) and the screwing unit (5).

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