Intelligent construction device and method for reinforcing mesh of rock-fill dam panel

Abstract

The invention relates to the technical field of reinforcing mesh machining, in particular to an intelligent construction device and method for a reinforcing mesh of a rock-fill dam panel. Two sets of movable sliding tables are arranged on guide rails, and a positioning device, a conveying device, a binding device and a welding device are integrated on the sliding tables; the equipment can form a continuous operation system integrating recognition, grabbing, laying, binding and welding around rock-fill dam panel reinforcing mesh construction, and automatic treatment can be achieved aiming at the problems that in the reinforcing mesh construction process, positioning is difficult, carrying is disordered, and the node treatment efficiency is low; multi-procedure collaborative linkage can be completed under the unified control of a control system, the laying precision of the reinforcing mesh, the joint connection quality and the overall construction efficiency are improved, and meanwhile the two sets of sliding tables can be flexibly switched between the collaborative operation state and the independent operation state according to construction requirements; and the device still has good adaptive capacity and construction coverage capacity in a complex dam face environment.

Description

Technical Field

[0001] This invention relates to the field of steel mesh processing technology, specifically to an intelligent construction device and method for steel mesh reinforcement in 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, existing technologies often only optimize steel bar transportation, connection, or local construction processes individually, lacking system integration across multiple construction procedures. This results in a significant need for manual coordination and adjustment between different construction stages, making it difficult to form a continuous and automated collaborative work process. This not only affects overall construction efficiency but also makes it difficult to guarantee the accuracy of steel mesh laying and the quality of node connections. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an intelligent construction device and method for reinforced mesh in rockfill dam panels. This invention utilizes two movable sliding platforms arranged on a guide rail, integrating positioning, transportation, binding, and welding devices on these platforms. This enables the equipment to form a continuous operation system encompassing identification, gripping, laying, binding, and welding of the reinforced mesh in the rockfill dam panel construction. This not only automates the problems of difficult positioning, chaotic handling, and low efficiency in node processing during reinforced mesh construction, but also allows for multi-process collaborative operation under unified control, improving the accuracy of reinforced mesh laying, the quality of node connections, and overall construction efficiency. Furthermore, the two sliding platforms can flexibly switch between collaborative and independent operation modes according to construction needs, ensuring good adaptability and construction coverage even in complex dam environments.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A smart construction device for reinforced steel mesh in rockfill dam panels includes: a feeding device for storing and transporting reinforcing steel bars to the construction area; a positioning device for identifying the node positions of the reinforcing steel mesh in the construction area and establishing node coordinate information; a transport device for grabbing the reinforcing steel bars transported by the feeding device and laying them to the node positions determined by the positioning device; a binding device for binding and fixing the laid reinforcing steel nodes; a welding device for welding the bound reinforcing steel nodes; and a control system connected to the feeding device, positioning device, transport device, binding device, and welding device, for controlling the transport device to grab and lay the reinforcing steel bars according to the node position information obtained by the positioning device, and controlling the binding device and welding device to perform construction operations on the reinforcing steel nodes; thereby achieving coordinated and automated construction of reinforcing steel bar transportation, node positioning, reinforcing steel bar laying, node binding, and welding, thus completing the integrated smart construction of the reinforced steel mesh in rockfill dam panels.

[0007] Preferably, the feeding device includes a steel bar silo and a connecting seat. The steel bar silo includes two sets of oppositely arranged long steel bar storage areas and two sets of oppositely arranged short steel bar storage areas, which are sequentially connected to form a rectangular structure. A connecting seat is provided at the connection position between the long steel bar storage areas and the short steel bar storage areas. A guide rail is fixed between two adjacent connecting seats along the direction of the long steel bar. Two sets of slides are slidably arranged between the two oppositely arranged guide rails. Each set of slides is independently driven and connected to a screw module, which is installed on the guide rail. A positioning device, a transportation device, a binding device, and a welding device are installed on the slides.

[0008] Preferably, the positioning device includes a 3D camera, which is mounted in the middle of the two sets of slides via brackets to identify and locate the holes and binding points of the steel mesh, providing positional basis for subsequent binding and welding processes.

[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 bearing plate is fixedly installed on the slider. The bearing 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 bearing plate, and a gear is installed at the output end of the guide rail motor. The vertical plate of the bearing plate is fixedly connected to the slider. Multiple spaced guide wheels are set on the outside of the vertical plate of the bearing plate. A vertical sliding channel is formed between the guide wheels, and a U-shaped slide rod is slidably arranged 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 manipulator. The lead screw module three is located on one side of the bottom end of the slide table. The binding manipulator 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 installed on the forearm of the second robotic arm.

[0012] Preferably, the lead screw module 2, lead screw module 3, and lead screw module 4 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, the slide rod is provided with symmetrical guide grooves on both outer sides, 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 construction using the aforementioned intelligent construction device for reinforced steel mesh in rockfill dam panels includes the following steps: S1. Material feeding steps: The steel bars are stored and transported through a feeding device. The steel bars are placed in the steel bar silo and transported to the transfer platform through a transmission mechanism under the action of the inclined surface of the steel bar silo. The transfer platform limits and positions the steel bars. 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, by arranging two movable sliding platforms on the guide rail and integrating positioning devices, transportation devices, binding devices, and welding devices on the sliding platforms, the equipment can form a continuous operation system integrating identification, grabbing, laying, binding, and welding around the construction of the steel mesh of the rockfill dam panel. This not only automates the problems of difficult positioning, chaotic handling, and low efficiency of node processing during the construction of the steel mesh, but also completes multi-process collaborative linkage under the unified control of the control system, improving the laying accuracy of the steel mesh, the quality of node connection, and the overall construction efficiency. At the same time, the two sliding platforms can flexibly switch between collaborative operation and independent operation according to construction needs, so that the device still has good adaptability and construction coverage in complex dam surface environments.

[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 slide table layout structure in the device of the present invention; Figure 5 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 6 This is a three-dimensional schematic diagram of the support plate mounting structure in the device of the present invention; Figure 7 This is a three-dimensional schematic diagram of the guide wheel mounting structure in the device of the present invention; Figure 8 This is a three-dimensional schematic diagram of the installation structure of the binding device in the device of the present invention; Figure 9 This is a three-dimensional schematic diagram of the installation structure of the welding device in the apparatus of the present invention; Figure 10 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; Positioning device-2; Transporting device-3; Binding device-4; Welding device-5; Control system-6; Rebar silo-11; Transmission mechanism-12; Transfer platform-13; Connecting seat-14; 3D camera-21; Guide rail-22; Slide table-23; Screw module one-24; Screw motor one-241; Screw module two-31; Bearing plate-32; Lifting arm-33; Gripping robot-34; Screw motor two-311; Slide groove-312 ; Slider-313; Guide wheel-321; Guide rail motor-331; Slide rod-332; Gear-333; Rack-334; Lead screw module three-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; Lead screw module four-51; Welding robot-52; Welding torch-521. 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 1-10A smart construction device for reinforced steel mesh of a rockfill dam face includes: a feeding device 1 for storing and transporting reinforcing steel bars to the construction area; a positioning device 2 for identifying the node positions of the reinforcing steel mesh in the construction area and establishing node coordinate information; a transport device 3 for grabbing the reinforcing steel bars transported by the feeding device and laying them to the node positions determined by the positioning device; a binding device 4 for binding and fixing the laid reinforcing steel nodes; a welding device 5 for welding the bound reinforcing steel nodes; and a control system 6 connected to the feeding device 1, positioning device 2, transport device 3, binding device 4, and welding device 5, for controlling the transport device 3 to grab and lay the reinforcing steel bars according to the node position information obtained by the positioning device 2, and controlling the binding device 4 and welding device 5 to perform construction operations on the reinforcing steel nodes; thereby realizing the coordinated and automated construction of reinforcing steel transport, node positioning, reinforcing steel laying, node binding, and welding, and thus completing the integrated smart construction of the reinforced steel mesh of the rockfill dam face.

[0024] In this invention, by arranging two movable sliding platforms 23 on the guide rail 22, and integrating a positioning device 2, a transportation device 3, a binding device 4, and a welding device 5 on the sliding platforms 23, the equipment can form a continuous operation system integrating identification, grabbing, laying, binding, and welding around the construction of the steel mesh of the rockfill dam panel. This not only automates the problems of difficult positioning, chaotic handling, and low efficiency of node processing during the construction of the steel mesh, but also completes multi-process collaborative linkage under the unified control of the control system 6, improving the laying accuracy of the steel mesh, the quality of node connection, and the overall construction efficiency. At the same time, the two sliding platforms 23 can flexibly switch between collaborative operation and independent operation according to construction needs, so that the device still has good adaptability and construction coverage in complex dam surface environments.

[0025] Furthermore, the feeding device 1 includes a steel bar silo 11 and a connecting seat 14. The steel bar silo 11 includes two sets of oppositely arranged long bar storage areas and two sets of oppositely arranged short bar storage areas, which are connected in sequence to form a rectangular structure. 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. Two sets of slides 23 are slidably arranged between the two oppositely arranged guide rails 22. Each set of slides 23 is independently driven and connected to a screw module 24, which is installed on the guide rail 22. A positioning device 2, a transport device 3, a binding device 4, and a welding device 5 are installed on the slides 23. It should be noted that the steel bar silo 11 is set on an inclined surface, and a transmission mechanism 12 is set on the inclined surface; a transfer table 13 is set at the discharge end of the transmission mechanism 12. The transmission mechanism 12 can adopt a roller structure or a conveyor belt structure; the transfer table 13 limits the steel bar to a fixed position so that the gripping robot 34 of the transport device 3 can grip it and transfer it to the target position; The transfer platform 13 can be a horizontal support plate structure arranged in parallel, with recessed grooves on the support rods to form a limit, or a baffle is set at the end of the support plate near the rockfill dam construction area to limit the steel bars.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] The positioning device 2 uses a 3D camera 21 to perform visual recognition and spatial positioning of the steel mesh structure in the construction area. The 3D camera 21 is installed in the middle of the two sets of sliding tables 23 by brackets, so that it can continuously scan and collect data on the steel mesh area during the movement of the sliding table 23, thereby identifying the location of the steel mesh holes and the location of the binding points formed by the intersection of steel bars, and obtaining the corresponding spatial coordinate information, and then transmitting the identified location information to the control system 6. The transportation device 3 provides accurate positional information for laying and binding the reinforcing bars, while the binding and welding devices 4 and 5 perform binding and welding on the reinforcing bar nodes, thereby improving the positioning accuracy and automated construction efficiency during the construction of the reinforcing bar mesh.

[0030] 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 guide rail motor 331; the upright 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 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 arranged 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 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.

[0031] 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 grasp, transport, and precisely place steel bars within the construction area, thereby completing the steel bar transportation operation during the steel mesh laying process.

[0032] 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.

[0033] The binding device 4 drives the binding robot 42 to move to one side of the bottom of the slide table 23 through the screw module 3 41, so that the binding robot 42 can move to different rebar nodes to perform operations. The worm gear 422 is driven by the rotary motor 423 to rotate, thereby causing the worm wheel shaft, which is fixedly connected to the worm wheel 422 and extends to the outside of the base 421, to drive the drive arm seat 424 to rotate, thus realizing the rotary motion of the robotic arm. The drive arm base 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, so that the robotic arm forms a multi-joint linkage structure. The end of the lower arm 428 is equipped with a binding hand 429. Through the coordinated movement of each joint, the binding hand 429 can be accurately moved to the position of the rebar intersection node to automatically bind the rebar node, thereby improving the efficiency and stability of node fixing during the construction of the rebar mesh.

[0034] 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.

[0035] The welding device 5 is used to weld and fix the rebar nodes after they have been tied. It drives the welding robot 52 to move at the bottom of the slide table 23 through the screw module 4 51. The screw module 4 51 is located at the bottom of the slide table 23 and is located on the side away from the screw module 3 41, so that the welding process and the tying process are arranged in separate zones in space to avoid mutual interference. 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 4 51. Driven by the lead screw module 4 51, it can move along the slide table 23 to the corresponding rebar node position. The second robotic arm drives the welding torch 521 installed at the end of its forearm to adjust its posture and position through multi-joint motion, so that the welding torch 521 can accurately align with the already tied rebar intersection node to carry out welding operations, thereby achieving a firm connection of the rebar node, improving the overall stability of the rockfill dam panel rebar mesh structure and the degree of construction automation.

[0036] 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.

[0037] Screw module 2 31, screw module 3 41 and screw module 4 51 adopt the same model and have the same structure and working principle, so that each actuator is consistent in structure, drive method and control logic, which facilitates unified installation, maintenance and control management, and reduces equipment manufacturing and use costs. Meanwhile, the first and second robotic arms adopt the same model of robotic arm structure, so that the two are consistent in terms of motion freedom, control method and motion accuracy. They can achieve coordinated operation under the unified control of the control system 6, so that the transportation device 3, the binding device 4 and the welding device 5 form a collaborative integrated operation process, thereby improving the overall construction efficiency and automation level.

[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 bar 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 bar 332, so that the slide bar 332 maintains a stable directional sliding state during vertical movement, avoiding deviation or shaking, and improving the stability and positioning accuracy of the lifting and lowering movement. Meanwhile, the guide rail motor 331 is equipped with a self-locking structure, which enables it to maintain its current position without rotation or displacement when it stops working. This ensures that the slide bar 332 driven by the gear 333 and rack 334 can stay stably at the set height position, avoiding slippage due to gravity or external force. This improves the operational stability and safety of the gripping robot 34 during the gripping and placement of steel bars.

[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] It should be noted that the above settings enable 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 according to construction needs, or they can move to different construction positions to work independently, thereby improving the flexibility and efficiency of the equipment under different construction conditions.

[0041] The method for constructing a rockfill dam face steel mesh using the aforementioned intelligent construction device includes the following steps: S1. Material feeding steps: The steel bars are stored and transported by the feeding device 1. The steel bars are placed in the steel bar silo 11 and transported to the transfer platform 13 in the construction area by the transmission mechanism 12 under the action of the inclined surface of the steel bar silo 11. 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 smart construction device for reinforcing mesh of rockfill dam face panels, characterized in that, include: A feeding device (1) is used to store steel bars and transport them to the construction area; Positioning device (2) is used to identify the node positions of the steel mesh in the construction area and establish node coordinate information; The transport device (3) is used to grab the steel bars conveyed by the feeding device and lay the steel bars to the node position determined by the positioning device; Binding device (4) is used to bind and fix the laid steel bar nodes; Welding device (5) is used to weld the tied steel bar nodes; The control system (6) is connected to the feeding device (1), positioning device (2), transport device (3), binding device (4) and welding device (5) to control the transport device (3) to grab and lay the steel bars according to the node position information obtained by the positioning device (2), and to control the binding device (4) and welding device (5) to carry out construction operations on the steel bar nodes. This enables the coordinated and automated construction of steel reinforcement transportation, node positioning, steel reinforcement laying, node binding and welding, thereby completing the integrated intelligent construction of the steel reinforcement mesh for the rockfill dam face.

2. The intelligent construction device for reinforced steel mesh of rockfill dam face according to claim 1, characterized in that, The feeding device (1) includes a steel bar silo (11) and a connecting seat (14). The steel bar silo (11) includes two sets of oppositely arranged long bar storage areas and two sets of oppositely arranged 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 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. Two sets of slides (23) are slidably arranged between the two oppositely arranged guide rails (22). Each set of slides (23) is independently connected to a screw module (24). The screw module (24) is installed on the guide rail (22). A positioning device (2), a transport device (3), a binding device (4), and a welding device (5) are installed on the slides (23).

3. The intelligent construction device for reinforced steel mesh of rockfill dam face according to claim 2, characterized in that, The positioning device (2) includes a 3D camera (21). The 3D camera (21) is installed in the middle of two sets of slides (23) by means of a bracket to realize the identification and positioning of the holes and binding points of the steel mesh, and to provide positional basis for subsequent binding and welding processes.

4. The intelligent construction device for reinforced steel mesh of 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 intelligent construction device for reinforced steel mesh of 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 intelligent construction device for reinforced steel mesh of 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 intelligent construction device for reinforced steel mesh of 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 intelligent construction device for reinforced steel mesh of 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 intelligent construction device for reinforced steel mesh of 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 intelligent construction device for reinforced steel mesh of rockfill dam face as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. Material feeding steps: The steel bars are stored and transported by the feeding device (1). The steel bars are placed in the steel bar silo (11). Under the action of the inclined surface of the steel bar silo (11), the steel bars are transported to the transfer platform (13) in the construction area by the transmission mechanism (12). 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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