Rock-fill dam panel reinforcing mesh four-direction automatic feeding device and method

Abstract

The invention discloses a four-direction automatic feeding device and method for a rock-fill dam panel reinforcing mesh, and belongs to the technical field of reinforcing meshes. A reinforcing mesh bin is arranged to be of a rectangular structure formed by long and short reinforcing mesh storage areas, jacking and loading mechanisms are arranged in the four directions of the rectangular structure correspondingly, and the jacking and loading mechanisms jack and transversely move reinforcing steel bars; the jacking rod transfers the reinforcing steel bars from one end of the butt-joint material positioning area outer frame to the other end of the butt-joint material positioning area outer frame, arrangement and transposition of the reinforcing steel bars are achieved, so that the to-be-grabbed reinforcing steel bars which are regular in posture and clear in position are formed, four-direction automatic feeding in the reinforcing steel bar mesh construction process is achieved, and the situation that a grabbing manipulator generates grabbing deviation or mistaken grabbing when grabbing the multiple reinforcing steel bars in the stacked state is avoided; and meanwhile, the positioning device, the conveying device, the binding device and the welding device are integrated on the sliding table, cooperative operation of recognizing, grabbing, laying, binding and welding of the reinforcing steel bars is achieved under the unified control of the control system, and therefore the automation degree, laying precision and overall construction efficiency of construction of the rock-fill dam panel reinforcing steel bar mesh are improved.

Description

Technical Field

[0001] This invention relates to the field of steel mesh processing technology, specifically to a four-way automatic feeding device and method for steel mesh of rockfill dam panels. Background Technology

[0002] The concrete face of a rockfill dam is the core structure of the dam's seepage prevention system, and its safety, durability, and integrity directly affect the project's safety, stability, and long-term operation. The reinforcing mesh, as the internal skeleton of the face, plays a crucial role in resisting temperature stress, shrinkage stress, and uneven settlement; its construction quality directly determines the face's crack resistance and structural reliability.

[0003] Chinese patent document (publication number: CN108867572A) discloses a trackless trolley and construction method for transferring steel mesh panels of rockfill dams. The trolley frame has multiple traveling tires at its bottom, which are connected to the trolley frame via a lifting mechanism. Multiple liftable hooks are also provided at the bottom of the trolley frame. The construction method includes the following steps: When the traveling tires of the trackless trolley transfer steel mesh panels on the post-cast blocks, the height of the trolley is adjusted to suit the construction site through the cooperation of the lifting mechanism and the liftable hooks. The liftable hooks suspend the steel mesh panels, and the trolley transports the steel mesh panels to a designated position. After completing the arrangement of steel mesh panels in the current column, the trackless trolley is moved to other columns, and the above steps are repeated. The steel mesh panels are transferred through these steps. The liftable traveling tires enable rapid hanging, transfer, and installation of steel mesh panels of various panel thicknesses during the construction of pre-cast and post-cast blocks.

[0004] Currently, the construction of steel mesh for rockfill dam panels is mostly carried out manually or semi-mechanized. It usually requires manual handling of steel bars and laying of longitudinal and transverse steel bars one by one. Then, construction workers perform positioning, binding or welding operations on the steep dam slope to form an overall steel mesh structure. This process is not only labor-intensive and inefficient, but also makes it difficult to accurately control key parameters such as rebar spacing and protective layer thickness because the placement of rebars and the handling of joints mainly rely on manual experience. Meanwhile, the quality of the binding nodes is greatly affected by the workers' skill level, and problems such as uneven spacing, insufficient lap length or loose nodes are prone to occur, thus affecting the overall structural quality of the steel mesh. Moreover, most of the existing improvement measures only optimize the transportation, connection or local construction links of steel bars separately, and lack the system integration of multiple construction procedures. As a result, a lot of manual connection and adjustment is still required between the construction links, making it difficult to form a continuous and automated collaborative operation process. This not only affects the overall construction efficiency, but also makes it difficult to guarantee the accuracy of steel mesh laying and the quality of node connection. In addition, steel bars are usually supplied by centralized stacking or unidirectional conveying, which can lead to steel bars of different lengths at the same concentration point, making selection more difficult, and the direction may need to be adjusted after grabbing. Before being supplied and grabbed, the steel bars in centralized stacks are often in a state of mutual contact, staggered stacking or messy posture. When the grabbing equipment is picking up material from multiple steel bars, it is easy to have problems such as grabbing center deviation, unstable clamping posture, misgrabbing multiple bars or missing bars, thus affecting the stability and accuracy of steel bar grabbing and laying. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a four-way automatic feeding device and method for steel reinforcement mesh in rockfill dam panels. This invention sets up a rectangular structure with a storage area for both long and short steel bars in the steel bar silo, and sets up jacking and transferring mechanisms in each of the four directions of the rectangular structure. By integrating a positioning device, a transport device, a binding device, and a welding device on the sliding platform, and under the unified control of the control system, the invention achieves coordinated operations of steel bar identification, gripping, laying, binding, and welding, thereby improving the automation level, laying accuracy, and overall construction efficiency of the steel reinforcement mesh construction for rockfill dam panels.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: An automatic four-way feeding device for steel reinforcement mesh of a rockfill dam panel includes a feeding device comprising a steel reinforcement hopper and a sliding platform. The steel reinforcement hopper includes two sets of oppositely arranged long steel reinforcement storage areas and two sets of oppositely arranged short steel reinforcement storage areas, which are sequentially connected to form a rectangular structure. A sliding platform is installed above the steel reinforcement storage areas, and a positioning device, a transport device, a binding device, and a welding device are installed on the sliding platform. Conveying mechanisms are respectively installed inside the four-way steel reinforcement storage areas, and a receiving positioning area frame is installed at the end of the conveying mechanism. A top-pushing and transferring mechanism is installed at the bottom of the receiving positioning area frame. A control system is installed outside the steel reinforcement hopper to realize precise four-way feeding and automated transfer of steel reinforcement.

[0007] Preferably, the conveying mechanism includes a conveyor belt installed on the bottom plate of the rebar storage area, with partitions fixed on the bottom plate of the rebar storage area on both sides of the conveyor belt; a buffer block is set on the outside of the end of the conveyor belt near the construction rockfill dam panel, and the buffer block is fixedly connected to the bottom plate of the rebar storage area; a receiving positioning area frame is fixed downstream of the buffer block to support the rebar, and two sets of V-shaped grooves are opened on the top of the receiving positioning area frame; the two sets of V-shaped grooves are spaced apart and are respectively close to the two ends of the receiving positioning area frame.

[0008] Preferably, the jacking and transferring mechanism includes a vertical plate and a servo motor. The vertical plate is fixed to the bottom plate of the rebar storage area, located below the outer frame of the receiving and positioning area, and its large surfaces are parallel. A servo motor and a sliding plate are fixedly installed on the two large surfaces of the vertical plate, respectively. A rectangular groove is formed on the sliding plate, and the corners of the rectangular groove are arc-shaped. The shaft of the servo motor passes through the vertical plate and the sliding plate in sequence and then a guide block is fixedly installed. A guide groove is formed on the guide block. A guide post is slidably fitted inside the guide groove, and the end of the guide post extends into the rectangular groove and is slidably fitted. The guide post is further... A rotating rod is fixed at one end of the rectangular groove; guide sliding units are symmetrically arranged at the upper and lower ends of the vertical plate. The guide sliding unit includes a guide rod fixed on the vertical plate, a sliding plate is slidably fitted on the guide rod, a transmission rod is fixed between the upper and lower sliding plates, a guide rod is fixed on one side of the transmission rod, and the guide rod is perpendicular to the guiding direction of the guide rod; a slider is slidably fitted on the guide rod, a lifting rod is fixed on one side of the slider, and the rotating rod is rotatably fitted in the lifting rod; a lifting rod is fixed at the top of the lifting rod, the lifting rod is located between the outer frames of the two sets of material receiving positioning areas, and V-shaped groove supports are fixed at both ends of the lifting rod.

[0009] Preferably, the transport device includes a second lead screw module, which is installed on one side of the top of the slide table. The lead screw end of the second lead screw module is connected to the output end of the second motor. A slider is installed on the lead screw by a threaded connection. The slider slides in a groove on the top of the slide table. A support plate is fixedly installed on the slider. The support plate is an inverted L-shaped plate structure with a horizontal plate and a vertical plate. A guide rail motor is installed at the top of the horizontal plate of the support plate, and a gear is installed at the output end of the guide rail motor. The vertical plate of the support plate is fixedly connected to the slider. Multiple spaced guide wheels are set on the outer side of the vertical plate of the support plate. A vertical sliding channel is formed between the guide wheels, and a U-shaped slide rod is slidably installed in the channel. A rack is fixed inside the slide rod, and the rack meshes with a gear. A lifting arm is fixed on the slide rod, and a gripping manipulator is fixed on the end of the lifting arm near the rockfill dam.

[0010] Preferably, the binding device includes a lead screw module three and a binding robot. The lead screw module three is located on one side of the bottom end of the slide table. The binding robot includes a first robotic arm and a binding hand. The first robotic arm includes a rotary motor, a worm gear, and a base with a cavity structure. The top of the base is fixedly installed on the slider of the lead screw module three. The rotary motor is fixedly installed on the outer wall of the base. The output end of the rotary motor passes through the cavity of the base and is fixedly fitted with a worm gear. A worm gear is rotatably installed inside the cavity of the base, and the worm gear meshes with the worm gear for transmission. The worm gear shaft, which is fixedly connected to the worm gear, extends to the outside of the base and is fixedly fitted with a drive arm seat. The drive arm seat is connected to a large arm through a first joint drive unit. The bottom end of the large arm is connected to a small arm through a second joint drive unit. A binding hand is installed at the end of the small arm.

[0011] Preferably, the welding device includes a lead screw module four and a welding robot. The lead screw module four is located at the bottom of the slide table and on the side away from the lead screw module three. The welding robot includes a second robotic arm and a welding torch. The base of the second robotic arm is fixedly connected to the slider of the lead screw module four, and the welding torch is mounted on the forearm of the second robotic arm.

[0012] Preferably, lead screw modules two, three, and four are lead screw modules of the same model and with similar functions; the first robotic arm and the second robotic arm are robotic arms of the same model, which are suitable for control and drive by the control system to achieve collaborative integrated operation.

[0013] Preferably, guide grooves are symmetrically arranged on both outer sides of the slide rod, and the guide wheel slides into the groove to form directional sliding; the guide rail motor has a self-locking structure.

[0014] Preferably, each of the two sets of slides is equipped with an independent lead screw module, and the slides are connected to the lead screw in the lead screw module. The lead screw in the lead screw module is connected to the output end of the motor. This allows the two sets of slides to freely choose to cooperate in construction or to adjust the position of the slides on the guide rail for independent construction operations.

[0015] Preferably, a method for constructing a rockfill dam face steel mesh using a four-way automatic feeding device includes the following steps: S1. Material feeding steps: The reinforcing bars are placed in the reinforcing bar silo and transported to the outer frame of the receiving and positioning area via a transmission mechanism. The reinforcing bars on the outer frame of the receiving and positioning area are then lifted and transferred by a jacking and transferring mechanism. The jacking rod moves the reinforcing bars from the V-groove at one end of the outer frame of the receiving and positioning area to the V-groove at the other end, so as to sort and reposition the reinforcing bars and make them easier for the gripping robot to grasp, thereby improving the accuracy and continuity of subsequent reinforcing bar grasping and laying. S2, Node Identification Steps: The construction area is scanned and identified by a positioning device, and the location of the steel mesh holes and steel nodes is obtained by a 3D camera. The identified node location information is then transmitted to the control system. S3. Reinforcing bar grabbing and laying steps: The control system controls the operation of the transport device based on the node position information, enabling the gripping robot to grab the steel bars conveyed by the feeding device; the position of the slide table and the gripping robot is adjusted along the length direction of the steel bar bin by the first screw module; the position of the slider and the gripping robot is adjusted along the width direction of the steel bar bin by the second screw module; further, the guide rail motor drives the gear and rack to mesh and drive the slide bar to rise and fall, thereby driving the lifting arm and the gripping robot to move up and down together, realizing displacement adjustment, so that the gripping robot can lay the steel bars to the corresponding node position; S4. Node binding steps: The control system controls the displacement adjustment step in S3, moving the binding manipulator of the binding device to the position of the rebar node; then the rotary motor drives the worm gear to rotate the drive arm seat, and the two sets of joint drive units drive the upper arm and lower arm to move, so that the binding manipulator binds and fixes the rebar node. S5. Node welding steps: The control system controls the implementation of the displacement adjustment step in S3, moves the welding torch of the welding device to the position of the rebar node that has been tied, and uses the welding torch to weld the rebar node. S6. Cyclic construction steps: The control system controls the material supply device, transportation device, binding device and welding device to cycle through the above steps based on the node location information in the construction area, so as to complete the automated construction of the steel mesh of the rockfill dam face.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. In this invention, the steel reinforcement silo is set as a rectangular structure formed by storing long and short steel reinforcements. A jacking and transferring mechanism is installed in each of the four directions of the rectangular structure. This mechanism lifts and laterally transfers the steel reinforcements on the outer frame of the material positioning area, allowing the lifting rod to transfer the steel reinforcements from one V-groove at one end of the outer frame to the other. This achieves the sorting and repositioning of the steel reinforcements during the feeding process, resulting in neatly positioned steel reinforcements ready to be grasped. This enables four-way automatic feeding during the construction of the rockfill dam panel steel reinforcement mesh, avoiding grasping deviations or mis-grabbing when the grabbing robot grasps multiple steel reinforcements piled up. It ensures the stability of the grabbing and conveying process of the transport device, creating a continuous and reliable automatic feeding connection between the feeding device and the grabbing robot. Simultaneously, by integrating a positioning device, transport device, binding device, and welding device on the slide, the coordinated operation of steel reinforcement identification, grasping, laying, binding, and welding is achieved under the unified control of the control system. This improves the automation level, laying accuracy, and overall construction efficiency of the rockfill dam panel steel reinforcement mesh construction.

[0017] 2. In this invention, the positioning device is set in the middle of the two sets of sliding platforms, and a 3D camera is used to identify and spatially locate the holes and binding points of the steel mesh in real time. This not only allows for the continuous acquisition of node information of the construction area during the movement of the sliding platforms, ensuring that the subsequent transportation, binding, and welding devices always have clear operational coordinates, but also, combined with the independent screw modules configured in each of the two sets of sliding platforms, enables the two sets of sliding platforms to freely choose to cooperate synchronously or carry out independent construction in different areas according to construction needs. This avoids the problems of low efficiency, large errors, and inflexible area switching in traditional manual layout and node finding methods. At the same time, the combination of dual sliding platforms and dual 3D cameras makes the construction area coverage more comprehensive, which not only improves the continuity of identification and positioning accuracy under complex dam surface conditions, but also enhances the adaptability and operational rhythm of the whole machine in multi-station and multi-area construction.

[0018] 3. In this invention, the transport device is constructed as a three-dimensional conveying structure consisting of a screw module, a bearing plate, guide wheels, a slide bar, a guide rail motor, gears, a rack, and a gripping robot. It can achieve precise lateral movement of the slider by relying on the screw module, and can also utilize the guide rail motor to drive the gears and racks to mesh and transmit power, allowing the slide bar to stably rise and fall along the vertical channel formed by the guide wheels. This enables the gripping robot to complete the gripping, transporting, and fixed-point placement of steel bars within the dam construction area, avoiding the problems of cumbersome manual coordination, large placement deviations, and difficulty in controlling height differences inherent in traditional steel bar transport methods. More importantly, the guide grooves on both sides of the slide bar form a directional sliding engagement with the guide wheels, significantly reducing swaying and jamming during the lifting process. Furthermore, the guide rail motor with its self-locking structure can stably maintain its current position after the drive stops. This not only improves the positional stability during steel bar gripping and placement but also further enhances the safety and reliability of high-level suspended operations.

[0019] 4. In this invention, the binding device and welding device are respectively set on both sides of the bottom of the slide table, and the binding robot and welding robot are moved by screw modules respectively. This allows the rebar nodes to be bound and welded sequentially on the same construction platform. It can achieve precise adjustment of the node position and working posture through the multi-joint linkage of the first and second robotic arms. Furthermore, by using the same type of screw module and the same type of robotic arm for the first and second robotic arms, a collaborative operation system with unified drive, unified control, and unified maintenance is formed. This avoids the problems of complicated equipment types, scattered control logic, and poor process connection in traditional node processing procedures. At the same time, the side-by-side arrangement of the binding device and welding device ensures that the two processes do not interfere with each other in space. Under the coordination of the control system, continuous connection and efficient linkage can be achieved. This not only improves the consistency and firmness of the rebar node connection, but also significantly enhances the automation integration and engineering application value of the entire device. Attached Figure Description

[0020] Figure 1 This is a three-dimensional schematic diagram of the overall installation structure of the device of the present invention. Figure 1 ; Figure 2 This is a three-dimensional schematic diagram of the overall installation structure of the device of the present invention. Figure 2 ; Figure 3 This is a three-dimensional schematic diagram of the installation structure of the feeding device in the apparatus of the present invention; Figure 4 This is a three-dimensional schematic diagram of the jacking and transferring mechanism in the device of the present invention. Figure 1 ; Figure 5 This is a three-dimensional schematic diagram of the jacking and transferring mechanism in the device of the present invention. Figure 2 ; Figure 6 This is a three-dimensional schematic diagram of the slide plate structure in the device of the present invention; Figure 7 This is a three-dimensional schematic diagram of the slide table layout structure in the device of the present invention; Figure 8 This is a schematic diagram of the installation structure of the lead screw module 2 on the slide table in the device of the present invention; Figure 9 This is a three-dimensional schematic diagram of the support plate mounting structure in the device of the present invention; Figure 10 This is a three-dimensional schematic diagram of the guide wheel mounting structure in the device of the present invention; Figure 11 This is a three-dimensional schematic diagram of the installation structure of the binding device in the device of the present invention; Figure 12 This is a three-dimensional schematic diagram of the installation structure of the welding device in the apparatus of the present invention; Figure 13 This is a three-dimensional schematic diagram of the robotic arm structure in the device of the present invention; In the diagram: Feeding device-1; Rebar hopper-11; Transmission mechanism-12; Outer frame of receiving and positioning area-13; Connecting seat-14; Conveyor belt-121; Partition plate-122; Buffer block-131; Vertical plate-132; Servo motor-133; Rotating shaft-134; Slide plate-135; Rectangular groove-136; Guide block-137; Guide groove-138; Guide column-139; Rotating rod-140; Transmission rod-141; Guide rod-142; Slide plate-143; Guide rod-144; Slider-145; Lifting rod-146; Lifting rod-147; V-groove support-148; Positioning device-2; 3D camera-21; Guide rail-22; Slide table-23; Lead screw module-1-24; Lead screw motor-1- 241; Transport device-3; Screw module II-31; Bearing plate-32; Lifting arm-33; Grasping robot-34; Screw motor II-311; Slide rail-312; Slider-313; Guide wheel-321; Guide rail motor-331; Slide rod-332; Gear-333; Rack-334; Binding device-4; Screw module III-41; Binding robot-42; Base-421; Worm gear-422; Rotary motor-423; Drive arm seat-424; Upper arm-425; Connecting rod-426; First joint drive unit-427; Forearm-428; Binding hand-429; Welding device-5; Screw module IV-51; Welding robot-52; Welding torch-521; Control system-6. Detailed Implementation

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

[0022] Contents not described in detail in this specification are prior art known to those skilled in the art. In the description of this invention, it should be understood that terms such as "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing the 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, and therefore should not be construed as a limitation of the invention. Furthermore, terms such as "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0023] Figures 1-10 As shown, a four-way automatic feeding device for steel reinforcement mesh of a rockfill dam panel includes a feeding device 1, which includes a steel reinforcement hopper 11 and a sliding table 23. The steel reinforcement hopper 11 includes two sets of oppositely arranged long steel reinforcement storage areas and two sets of oppositely arranged short steel reinforcement storage areas, which are connected in sequence to form a rectangular structure. A sliding table 23 is set above the steel reinforcement storage areas, and a positioning device 2, a transport device 3, a binding device 4, and a welding device 5 are installed on the sliding table 23. Conveying mechanisms 12 are respectively set inside the four-way steel reinforcement storage areas. A receiving and positioning area frame 13 is set at the end of the conveying mechanism 12, and a top-pushing and transferring mechanism is set at the bottom of the receiving and positioning area frame 13. A control system 6 is set outside the steel reinforcement hopper 11 to realize four-way precise feeding and automated transfer of steel reinforcement. A connecting seat 14 is provided at the connection position between the long bar storage area and the short bar storage area. A guide rail 22 is fixed between two adjacent connecting seats 14 along the direction of the long bar. A slide table 23 is slidably arranged between two oppositely arranged guide rails 22. A lead screw module 24 is drivenly connected to the slide table 23. The lead screw module 24 is installed on the guide rail 22. The lead screw module 24 is driven by a lead screw motor 241. Two sets of slides 23 are set up, and each set of slides 23 is equipped with an independent screw module 24, which facilitates the independent construction and operation of the two sets of slides 23, or they can cooperate to adapt to various working scenarios; the slides 23 are connected to the screw drive in the screw module 24, and the screw module 24 is controlled by the motor 241 to adjust the position of the slides 23 on the guide rail 22; the control system 6 is installed on the outer wall of the steel bar silo 11.

[0024] In this invention, a rectangular structure is formed by setting up a steel reinforcement silo for storing long and short steel bars. A jacking and transferring mechanism is installed in each of the four directions of the rectangular structure. This mechanism lifts and laterally transfers the steel bars on the outer frame 13 of the material positioning area, causing the lifting rod 147 to transfer the steel bars from one end of the V-groove of the outer frame 13 to the other end. This achieves the sorting and repositioning of the steel bars during the material supply process, resulting in neatly positioned steel bars ready to be picked up. This enables four-way automatic material supply during the construction of the rockfill dam panel steel mesh, avoiding… When the gripping robot 34 grips multiple stacked steel bars, it may experience gripping deviations or mis-grip phenomena. This ensures the stability of the gripping and conveying process of the transport device 3, enabling a continuous and reliable automatic feeding connection between the feeding device 1 and the gripping robot 34. At the same time, by integrating positioning devices, transport devices, binding devices, and welding devices on the slide, the coordinated operation of steel bar identification, gripping, laying, binding, and welding is realized under the unified control of the control system. This improves the automation level, laying accuracy, and overall construction efficiency of the rockfill dam panel steel mesh construction.

[0025] Furthermore, the conveying mechanism 12 includes a conveyor belt 121 installed on the bottom plate of the rebar storage area, and partitions 122 fixed on the bottom plate of the rebar storage area on both sides of the conveyor belt 121; a buffer block 131 is provided on the outside of the conveyor belt 121 near the end of the construction rockfill dam panel, and the buffer block 131 is fixedly connected to the bottom plate of the rebar storage area; a receiving and positioning area frame 13 is fixed downstream of the buffer block 131 to support the rebar, and two sets of V-shaped grooves are opened on the top of the receiving and positioning area frame 13; the two sets of V-shaped grooves are spaced apart and are respectively close to the two ends of the receiving and positioning area frame 13. The bottom plate of the steel bar storage area is an inclined structure, tilting from the outside towards the construction rockfill dam panel area inside; the conveyor belt 121 is installed on two rollers, the rotating shaft of one of the rollers is connected to the conveyor belt motor, and multiple support rollers are arranged at intervals between the two rollers.

[0026] The steel bar silo 11 is used to store steel bars and transports them to the receiving and positioning area outer frame 13 via the conveyor belt 121 in the conveying mechanism 12, thereby realizing the automatic transport of steel bars from the storage area to the construction area. The bottom slab of the steel bar storage area adopts a structure that is inclined towards the construction rockfill dam panel. With the help of the partition plate 122, the steel bars are guided and limited, so that the steel bars remain stably arranged during the transmission process. The buffer block 131 is set at the position of the conveyor belt 121 near the discharge end to slow down and buffer the steel bars conveyed to the end, so as to avoid the steel bars from impacting or misaligning. The outer frame 13 of the receiving and positioning area is used to support the steel bars conveyed by the conveyor belt 121. Two sets of V-shaped grooves on its top support and initially position the steel bars.

[0027] Furthermore, the jacking and transferring mechanism includes a vertical plate 132 and a servo motor 133. The vertical plate 132 is fixedly mounted on the bottom plate of the rebar storage area and is located below the outer frame 13 of the receiving and positioning area, with its large surfaces parallel to each other. The servo motor 133 and the slide plate 135 are respectively fixedly installed on the two large surfaces of the vertical plate 132. The slide plate 135 has a rectangular groove 136, and the corners of the rectangular groove 136 are set to be arc-shaped. The rotating shaft 134 of the servo motor 133 passes through the vertical plate 132 and the slide plate 135 in sequence and then a guide block 137 is fixedly installed. The guide block 137 has a guide groove 138. A guide post 139 is slidably sleeved inside the guide groove 138. The end of the guide post 139 extends into the rectangular groove 136 and is slidably sleeved. A rotating rod 140 is fixedly installed on the end of the guide post 139 away from the rectangular groove 136. Guide sliding units are symmetrically arranged at the upper and lower ends of the upright plate 132. Each guide sliding unit includes a guide rod 142 fixed on the upright plate 132, a sliding plate 143 slidably sleeved on the guide rod 142, a transmission rod 141 fixed between the upper and lower sliding plates 143, a guide rod 144 fixed on one side of the transmission rod 141, and the guide rod 144 is perpendicular to the guiding direction of the guide rod 142; a slider 145 slidably sleeved on the guide rod 144, a lifting rod 146 fixed on one side of the slider 145, and the rotating rod 140 rotatably sleeved in the lifting rod 146; a lifting rod 147 is fixed at the top of the lifting rod 146, and the lifting rod 147 is located between the two sets of material receiving positioning area outer frames 13. V-shaped groove supports 148 are fixed at both ends of the lifting rod 147.

[0028] The jacking and transferring mechanism lifts and laterally transfers the steel bars supported on the outer frame 13 of the receiving and positioning area through the jacking rod 147 and the V-shaped groove supports 148 at both ends. This smoothly transfers the steel bars from one set of V-shaped grooves to another set of V-shaped grooves, realizing the secondary sorting and precise repositioning of the steel bars on the outer frame 13 of the receiving and positioning area. This provides the subsequent gripping robot 34 with steel bars that are in a regular posture, have a clear position, and are reasonably spaced. With the above settings, the gripping robot 34 does not need to blindly grab from the multiple stacked steel bars on the outer frame 13 of the receiving and positioning area. This effectively avoids problems such as gripping center deviation, clamping posture deviation, multiple bars being grabbed or missed in a single grab, swinging and shifting after grabbing, and inaccurate placement caused by the steel bars being close to each other, obstructing each other, overlapping, or having inconsistent axes. This improves the stability and accuracy of the transport device 3 in grabbing and transferring steel bars, and forms a continuous and reliable automatic feeding and transfer connection process between the feeding device 1, the outer frame 13 of the receiving and positioning area, and the gripping robot 34. This significantly improves the overall efficiency and work quality of automatic steel bar feeding, precise grabbing, and subsequent construction.

[0029] The material supply device 1 classifies and stores the steel bars required for construction through the steel bar silo 11. Two sets of opposite long bar storage areas and two sets of opposite short bar storage areas are connected in sequence to form a rectangular structure, so that long bars and short bars can be stored in an orderly manner and can be easily taken out as needed. A connecting seat 14 is set at the connection position between the long bar storage area and the short bar storage area to stabilize the entire steel bar silo 11 structure and form the equipment installation foundation. A guide rail 22 is fixedly set between two adjacent connecting seats 14 along the direction of the long bar to provide guidance support for the movement of the equipment. Two sets of slide tables 23 are slidably set between the two oppositely set guide rails 22 so that the slide tables 23 can move stably along the guide rails 22. Each set of slides 23 is independently connected to a lead screw module 24. The lead screw module 24 is installed on the guide rail 22 to drive the slide 23 to perform precise linear motion, thereby driving the positioning device 2, transportation device 3, binding device 4 and welding device 5 installed on the slide 23 to move along the length of the steel bar silo 11. This allows the devices to work together at different construction positions, realizing continuous and automated construction of steel bar positioning, transportation, binding and welding processes on the same platform, and improving the construction efficiency and accuracy of the steel bar mesh for the rockfill dam face.

[0030] Furthermore, the positioning device 2 includes a 3D camera 21, which is mounted in the middle of two sets of slides 23 via brackets to identify and locate the holes and binding points of the steel mesh, providing positional basis for subsequent binding and welding processes.

[0031] Furthermore, the transport device 3 includes a second lead screw module 31, which is installed on one side of the top of the slide table 23. The lead screw end of the second lead screw module 31 is connected to the output end of the second motor 311. A slider 313 is installed on the lead screw via a threaded connection. The slider 313 slides in a groove 312 on the top of the slide table 23. A support plate 32 is fixedly installed on the slider 313. The support plate 32 has an inverted L-shaped plate structure, with a horizontal plate and a vertical plate. A guide rail motor 331 is installed at the top of the horizontal plate of the support plate 32. A gear 333 is installed at the output end of the track motor 331; the vertical plate of the support plate 32 is fixedly connected to the slider 313, and multiple spaced guide wheels 321 are provided on the outer side of the vertical plate of the support plate 32; a vertical sliding channel is formed between the guide wheels 321, and a U-shaped slide rod 332 is slidably installed in the channel. A rack 334 is fixed inside the slide rod 332, and the rack 334 meshes with the gear 333; a lifting arm 33 is fixed on the slide rod 332, and a gripping robot 34 is fixed on one end of the lifting arm 33 near the rockfill dam. It should be noted that the entire transport device 3 can realize XYZ three-axis movement, grab the steel bars provided by the feeding device 1 and place them at the positioned binding location. The entire movement process is autonomously realized by the control system 6 based on a pre-set program.

[0032] The transport device 3 realizes the lateral movement of the gripping mechanism on the slide table 23 through the second lead screw module 31. The second lead screw module 31 is installed on one side of the top of the slide table 23, and its lead screw end is connected to the output end of the second motor 311. The second motor 311 drives the lead screw to rotate, thereby driving the slider 313, which is installed on the lead screw in a threaded connection, to move linearly along the slide groove 312 on the top of the slide table 23. During the movement, the slider 313 drives the bearing plate 32 fixed on it to move synchronously. A vertical sliding channel is formed between multiple guide wheels 321 on the bearing plate 32, which allows the U-shaped slide bar 332 to slide stably in the channel and facilitates the fixing of the rack, thereby ensuring the guiding stability of the lifting motion. Driven by the guide rail motor 331, the gear 333 drives the rack 334 to move up and down, thereby driving the slide bar 332 to perform vertical lifting and lowering motion within the sliding channel formed by the guide wheel 321; By coordinating the horizontal movement of slider 313 with the vertical lifting of slide bar 332, the gripping robot 34 can grip, transport, and precisely place steel bars within the construction area.

[0033] Furthermore, the binding device 4 includes a lead screw module 3 41 and a binding manipulator 42. The lead screw module 3 41 is located on one side of the bottom end of the slide table 23. The binding manipulator 42 includes a first robotic arm and a binding hand 429. The first robotic arm includes a rotary motor 423, a worm gear 422, and a base 421 with a cavity structure. The top of the base 421 is fixedly mounted on the slider of the lead screw module 3 41. The rotary motor 423 is fixedly mounted on the outer wall of the base 421. The output of the rotary motor 423... The end of the worm gear is fixedly installed in the cavity of the base 421; the worm wheel 422 is rotatably installed inside the cavity of the base 421, and the worm wheel 422 meshes with the worm gear for transmission; the worm wheel shaft fixedly connected to the worm wheel 422 extends to the outside of the base 421 and is fixedly installed with the drive arm seat 424; the drive arm seat 424 is connected to the upper arm 425 through the first joint drive unit 427; the bottom end of the upper arm 425 is connected to the lower arm 428 through the second joint drive unit; and the end of the lower arm 428 is equipped with a binding hand 429. It should be noted that a connecting rod 426 is installed between the drive boom base 424 and the boom 425 to ensure the stability of the structure; The joint drive unit is a core module integrating a servo motor, reducer (harmonic / RV), bearing, encoder, etc. The principle will not be explained in detail here.

[0034] Through the coordinated movement of each joint, the binding hand 429 can be precisely moved to the position of the rebar intersection and automatically bind the rebar joint.

[0035] Furthermore, the welding device 5 includes a lead screw module 41 and a welding robot 52. The lead screw module 41 is located at the bottom of the slide table 23 and on the side away from the lead screw module 31. The welding robot 52 includes a second robotic arm and a welding torch 521. The base of the second robotic arm is fixedly connected to the slider of the lead screw module 41, and the welding torch 521 is installed on the forearm of the second robotic arm. It should be noted that the first and second robotic arms have similar structures and functions, which will not be elaborated upon.

[0036] The welding and binding processes are arranged in separate zones to avoid mutual interference; The second robotic arm uses multi-joint motion to drive the welding torch 521 installed at the end of its forearm to adjust its posture and position, so that the welding torch 521 can accurately align with the already tied steel bar intersection to carry out welding operations.

[0037] Furthermore, the lead screw module 2 31, lead screw module 3 41, and lead screw module 4 51 are lead screw modules of the same model and with similar functions; the first robotic arm and the second robotic arm are robotic arms of the same model, suitable for control and drive by the control system 6 to achieve collaborative integrated operation.

[0038] Furthermore, guide grooves are symmetrically arranged on both outer sides of the slide rod 332, and the guide wheel 321 slides into the groove to form directional sliding; the guide rail motor 331 has a self-locking structure; It should be noted that guide grooves are symmetrically provided on both outer sides of the slide rod 332, and the guide wheel 321 slides into the guide groove and cooperates with it, thereby guiding and limiting the lifting and lowering movement of the slide rod 332, so that the slide rod 332 maintains a stable directional sliding state during vertical movement, and avoids deviation or shaking. Meanwhile, the guide rail motor 331 is configured as a motor with a self-locking structure, so that it can maintain its current position without rotation or displacement when it stops working.

[0039] Furthermore, each of the two sets of slides 23 is equipped with an independent lead screw module 24. The slides 23 are connected to the lead screw in the lead screw module 24, and the lead screw in the lead screw module 24 is connected to the output end of the motor 241. This allows the two sets of slides 23 to freely choose to cooperate in construction or to adjust the position of the slides 23 on the guide rail 22 for independent construction operations.

[0040] The above configuration enables each set of slides 23 to achieve independent walking control and position adjustment, so that the two sets of slides 23 can move synchronously and work together to complete the steel mesh construction in the same area, or they can move to different construction positions to work independently, thus improving work efficiency.

[0041] The construction method using the aforementioned four-way automatic feeding device for the steel mesh reinforcement of the rockfill dam face includes the following steps: S1. Material feeding steps: The reinforcing bars are placed in the reinforcing bar silo 11 and transported to the receiving and positioning area outer frame 13 by the transmission mechanism 12 of the reinforcing bar silo 11. The reinforcing bars on the receiving and positioning area outer frame 13 are lifted and transferred by the jacking and transferring mechanism, so that the jacking rod 147 transfers the reinforcing bars from the V-groove at one end of the receiving and positioning area outer frame 13 to the V-groove at the other end, so as to sort and reposition the reinforcing bars and put them in a positioning state that is easy for the gripping robot 34 to grasp. This avoids the problems of grasping deviation, misgrabbing, missed grasping, and laying position offset caused by the gripping robot 34 directly grasping the numerous piled reinforcing bars due to the reinforcing bars being close to each other, overlapping, having different postures, or unclear positions. This improves the accuracy and continuity of subsequent reinforcing bar grasping and laying. S2, Node Identification Steps: The positioning device 2 scans and identifies the construction area, and the 3D camera 21 acquires the location of the steel mesh holes and steel node positions, and transmits the identified node position information to the control system 6. S3. Reinforcing bar grabbing and laying steps: The control system 6 controls the operation of the transport device 3 according to the node position information, so that the gripping robot 34 grips the steel bars conveyed by the feeding device 1; the slide table 23 and the gripping robot 34 are adjusted together along the length direction of the steel bar bin by the first screw module 24; the slider 313 and the gripping robot 34 are adjusted together along the width direction of the steel bar bin by the second screw module 31; further, the guide rail motor 331 drives the gear 333 and the rack 334 to mesh and drive the slide bar 332 to rise and fall, thereby driving the lifting arm 33 and the gripping robot 34 to move up and down together, realizing displacement adjustment, so that the gripping robot 34 lays the steel bars to the corresponding node position; S4. Node binding steps: The control system 6 controls the displacement adjustment step in S3, moves the binding manipulator 42 of the binding device 4 to the position of the rebar node; then the rotary motor 423 drives the worm gear 422 to drive the drive arm seat 424 to rotate, and the two sets of joint drive units drive the upper arm 425 and the lower arm 428 to move, so that the binding hand 429 binds and fixes the rebar node. S5. Node welding steps: The control system 6 controls the implementation of the displacement adjustment step in S3, moves the welding torch 521 of the welding device 5 to the position of the rebar node that has been tied, and uses the welding torch 521 to weld the rebar node. S6. Cyclic construction steps: The control system 6 controls the feeding device 1, the transport device 3, the binding device 4 and the welding device 5 to cycle through the above steps based on the node location information in the construction area, so as to complete the automated construction of the steel mesh of the rockfill dam face.

[0042] The present invention has been illustrated through the above embodiments, but the present invention is not limited to the above embodiments, that is, it does not mean that the present invention must rely on the above embodiments to be implemented. Those skilled in the art should understand that all related improvements to the present invention fall within the protection and disclosure scope of the present invention.

Claims

1. A four-way automatic feeding device for steel mesh reinforcement in a rockfill dam panel, comprising a feeding device (1), characterized in that, The feeding device (1) includes a steel bar silo (11) and a slide (23). A control system (6) is installed outside the steel bar silo (11). The steel bar silo (11) includes two sets of opposite long bar storage areas and two sets of opposite short bar storage areas. The long bar storage areas and the short bar storage areas are connected in sequence to form a rectangular structure. A slide (23) is installed above the steel bar storage area. A positioning device (2), a transport device (3), a binding device (4), and a welding device (5) are installed on the slide (23). A conveying mechanism (12) is installed inside the four-way steel bar storage areas. A receiving positioning area frame (13) is installed at the end of the conveying mechanism (12). A top-pushing and transferring mechanism is installed at the bottom of the receiving positioning area frame (13). The jacking and transferring mechanism is located between the rebar storage area and the receiving and positioning area. It is used to lift and transfer the rebar from the rebar storage area to the receiving and positioning area. The jacking and transferring mechanism includes a driving component, a guiding component, and a lifting component. The driving component is connected to the guiding component and is used to drive the guiding component to move along a preset trajectory. The guiding component is connected to the lifting component and is used to drive the lifting component to generate lifting and lateral transfer movements. The top of the lifting component is provided with a support structure for supporting the rebar. The support structure is located between the outer frames of the receiving and positioning area and is used to support and position the rebar during the jacking process, thereby realizing the jacking, conveying, and transferring of the rebar.

2. The four-way automatic feeding device for the steel mesh of the rockfill dam face according to claim 1, characterized in that, The conveying mechanism (12) includes a conveyor belt (121) installed on the bottom plate of the rebar storage area, and partitions (122) fixed on the bottom plate of the rebar storage area on both sides of the conveyor belt (121); a buffer block (131) is set on the outside of the conveyor belt (121) near the end of the construction rockfill dam panel, and the buffer block (131) is fixedly connected to the bottom plate of the rebar storage area; a receiving positioning area frame (13) is fixed at the downstream position of the buffer block (131) to support the rebar, and two sets of V-shaped grooves are opened on the top of the receiving positioning area frame (13); the two sets of V-shaped grooves are spaced apart and are respectively close to the two ends of the receiving positioning area frame (13).

3. The four-way automatic feeding device for the steel mesh of the rockfill dam face according to claim 2, characterized in that, The drive assembly includes a servo motor (133) and a rotating shaft (134), and the guide assembly includes a fixedly connected upright plate (132) and a slide plate (135); the upright plate (132) is fixedly mounted on the bottom plate of the rebar storage area, and the upright plate (132) is located below the outer frame (13) of the receiving and positioning area and is arranged parallel to each other on its large surfaces; the servo motor (133) and the slide plate (135) are fixedly installed on the two large surfaces of the upright plate (132), and the slide plate (135) is provided with a tool. A rectangular groove (136) with rounded corners; the shaft (134) of the servo motor (133) passes through the vertical plate (132) and the sliding plate (135) in sequence and then a guide block (137) is fixedly installed. A guide groove (138) is opened on the guide block (137); a guide post (139) is slidably sleeved inside the guide groove (138), and the end of the guide post (139) extends into the rectangular groove (136) and is slidably sleeved; the guide post (139) is far away from the rectangular groove ( A rotating rod (140) is fixed at one end of the upright plate (136); guide sliding units are symmetrically arranged at the upper and lower ends of the upright plate (132), each guide sliding unit including a guide rod (142) fixed on the upright plate (132), a sliding plate (143) slidably sleeved on the guide rod (142), a transmission rod (141) fixed between the upper and lower sliding plates (143), a guide rod (144) fixed on one side of the transmission rod (141), and the guide rod (144) and the guide rod (142) are aligned in the same direction. Vertically; a slider (145) is slidably sleeved on the guide rod (144), and a lifting rod (146) is fixed on one side of the slider (145). The rotating rod (140) is rotatably sleeved in the lifting rod (146). A lifting assembly is fixed at the top of the lifting rod (146), and the lifting assembly includes a lifting rod (147). The lifting rod (147) is located between the outer frames (13) of the two sets of material receiving and positioning areas, and V-shaped groove supports (148) are fixed at both ends of the lifting rod (147).

4. The four-way automatic feeding device for the steel mesh of the rockfill dam face according to claim 3, characterized in that, The transport device (3) includes a second lead screw module (31), which is installed on one side of the top of the slide table (23). The lead screw end of the second lead screw module (31) is connected to the output end of the second motor (311). A slider (313) is installed on the lead screw by a threaded connection. The slider (313) slides in the groove (312) on the top of the slide table (23). A bearing plate (32) is fixedly installed on the slider (313). The bearing plate (32) is an inverted L-shaped plate structure with a horizontal plate and a vertical plate. A guide rail motor (331) is installed on the top of the horizontal plate of the bearing plate (32). A gear (333) is installed at the output end of the machine (331); the upright plate of the support plate (32) is fixedly connected to the slider (313), and multiple spaced guide wheels (321) are set on the outside of the upright plate of the support plate (32); a vertical sliding channel is formed between the guide wheels (321), and a U-shaped sliding rod (332) is slidably set in the channel. A rack (334) is fixed inside the sliding rod (332), and the rack (334) meshes with the gear (333); a lifting arm (33) is fixed on the sliding rod (332), and a gripping manipulator (34) is fixed on the end of the lifting arm (33) near the rockfill dam.

5. The four-way automatic feeding device for the steel mesh of the rockfill dam face according to claim 4, characterized in that, The binding device (4) includes a lead screw module three (41) and a binding manipulator (42). The lead screw module three (41) is located on one side of the bottom end of the slide (23). The binding manipulator (42) includes a first robotic arm and a binding hand (429). The first robotic arm includes a rotary motor (423), a worm gear (422), and a base (421) with a cavity structure. The top of the base (421) is fixedly installed on the slider of the lead screw module three (41). The rotary motor (423) is fixedly installed on the outer wall of the base (421). The output end of the rotary motor (423) passes through... A worm gear is inserted into the cavity of the base (421) and fixed thereon; a worm wheel (422) is rotatably installed inside the cavity of the base (421), and the worm wheel (422) meshes with the worm gear for transmission; the worm wheel shaft, which is fixedly connected to the worm wheel (422), extends to the outside of the base (421) and is fixed thereon with a drive arm seat (424); the drive arm seat (424) is connected to a large arm (425) through a first joint drive unit (427); the bottom end of the large arm (425) is connected to a small arm (428) through a second joint drive unit; and a binding hand (429) is installed at the end of the small arm (428).

6. The four-way automatic feeding device for the steel mesh of the rockfill dam face according to claim 5, characterized in that, The welding device (5) includes a lead screw module four (51) and a welding robot (52). The lead screw module four (51) is located at the bottom of the slide table (23) and on the side away from the lead screw module three (41). The welding robot (52) includes a second robotic arm and a welding torch (521). The base of the second robotic arm is fixedly connected to the slider of the lead screw module four (51), and the welding torch (521) is installed on the forearm of the second robotic arm.

7. The four-way automatic feeding device for the steel mesh of the rockfill dam face according to claim 6, characterized in that, The lead screw module 2 (31), lead screw module 3 (41), and lead screw module 4 (51) are lead screw modules of the same model and with similar functions; the first robotic arm and the second robotic arm are robotic arms of the same model, which are suitable for control and drive by the control system (6) to achieve collaborative integrated operation.

8. The four-way automatic feeding device for the steel mesh of the rockfill dam face according to claim 4, characterized in that, The slide bar (332) has symmetrical guide grooves on both outer sides, and the guide wheel (321) slides into the groove to form directional sliding; the guide rail motor (331) has a self-locking structure.

9. The four-way automatic feeding device for the reinforcing mesh of the rockfill dam face according to claim 1, characterized in that, Each of the two sets of slides (23) is equipped with an independent lead screw module (24). The slides (23) are connected to the lead screw in the lead screw module (24). The lead screw in the lead screw module (24) is connected to the output end of the motor (241). This allows the two sets of slides (23) to freely choose to cooperate in construction or to adjust the position of the slides (23) on the guide rail (22) to carry out independent construction operations.

10. A method for construction using the four-way automatic feeding device for the steel mesh of a rockfill dam face as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. Material feeding steps: The reinforcing bars are placed in the reinforcing bar silo (11) and transported to the receiving positioning area outer frame (13) by the transmission mechanism (12). The reinforcing bars located on the receiving positioning area outer frame (13) are lifted and transferred by the jacking and transfer mechanism, so that the jacking rod (147) transfers the reinforcing bars from the V-shaped groove at one end of the receiving positioning area outer frame (13) to the V-shaped groove at the other end, so as to sort and reposition the reinforcing bars, so that the reinforcing bars are in a position that is easy for the gripping robot (34) to grab, thereby improving the accuracy and continuity of subsequent reinforcing bar grabbing and laying. S2, Node Identification Steps: The construction area is scanned and identified by the positioning device (2), and the location of the steel mesh holes and steel nodes is obtained by the 3D camera (21). The identified node location information is then transmitted to the control system (6). S3. Reinforcing bar grabbing and laying steps: The control system (6) controls the operation of the transport device (3) according to the node position information, so that the gripping robot (34) grips the steel bars conveyed by the feeding device (1); the slide table (23) and the gripping robot (34) are driven together by the screw module one (24) to adjust their positions along the length direction of the steel bar bin; the slider (313) and the gripping robot (34) are driven together by the screw module two (31) to adjust their positions along the width direction of the steel bar bin; further, the gear (333) and the rack (334) are driven by the guide rail motor (331) to mesh and drive the slide bar (332) to rise and fall, thereby driving the lifting arm (33) and the gripping robot (34) to move up and down together, realizing displacement adjustment, so that the gripping robot (34) lays the steel bars to the corresponding node position; S4. Node binding steps: The control system (6) controls the displacement adjustment step in S3, moves the binding manipulator (42) of the binding device (4) to the position of the rebar node; then drives the worm gear (422) through the rotary motor (423) to drive the drive arm seat (424) to rotate, and drives the upper arm (425) and lower arm (428) to move through two sets of joint drive units, so that the binding hand (429) binds and fixes the rebar node; S5. Node welding steps: The control system (6) controls the implementation of the displacement adjustment step in S3, moves the welding torch (521) of the welding device (5) to the position of the rebar node that has been tied, and uses the welding torch (521) to weld the rebar node. S6. Cyclic construction steps: The control system (6) controls the feeding device (1), the transportation device (3), the binding device (4) and the welding device (5) to perform the above steps in a cyclical manner according to the node location information in the construction area, so as to complete the automated construction of the steel mesh of the rockfill dam panel.

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