A steel bar installation trolley

Abstract

This utility model relates to a rebar installation trolley, comprising: a trolley body, an automatic binding mechanism, and a longitudinal rebar storage mechanism; the trolley body includes an arc-shaped guide rail, with guide rail grooves on both sides of the arc-shaped guide rail; the automatic binding mechanism includes a moving rod and an industrial vision recognition system, the moving rod extending into the interior of the guide rail groove to drive the automatic binding machine to move along the direction of the guide rail groove, and a rebar binding machine is mounted on the top of the moving rod via an electric guide rail and an automatic telescopic rod; the industrial vision recognition system includes a vision camera mounted on the side of the rebar binding machine; the longitudinal rebar storage mechanism is located on one side of the moving rod. By configuring the electric guide rail, the automatic telescopic rod, the rebar binding machine, and the industrial vision recognition system, the industrial vision recognition system identifies the junction of longitudinal and circumferential rebars, and after identification, drives the electric guide rail and the automatic telescopic rod to perform automatic binding operations.

Description

Technical Field

[0001] This utility model relates to the field of tunnel reinforcement installation technology, specifically to a reinforcement installation trolley. Background Technology

[0002] During tunnel construction, the binding of steel reinforcement cages is a necessary procedure. Only after the steel reinforcement cages are bound can the secondary lining concrete of the tunnel be poured. The quality and efficiency of the steel reinforcement cage binding directly affect the quality and progress of subsequent procedures and even the entire tunnel construction.

[0003] The reinforcing cage is mainly composed of circumferential reinforcing bars, longitudinal reinforcing bars, and stirrups. The binding requirements for the reinforcing cage are as follows: the circumferential reinforcing bars are arranged in an arc along the tunnel's arch direction with a spacing of 200mm; the longitudinal reinforcing bars are arranged circumferentially along the inner wall of the tunnel with a spacing of 250mm. The longitudinal reinforcing bars are individually bound to the inner and outer layers of circumferential reinforcing bars. Manual binding is inefficient and requires a large number of personnel (a single cycle takes approximately 4-6 hours). Currently, existing reinforcing bar installation trolleys only function as scaffolding, facilitating worker standing, but their efficiency in installing longitudinal reinforcing bars is difficult to improve. Therefore, a new reinforcing bar installation trolley is proposed to address the aforementioned problems. Utility Model Content

[0004] Based on the above description, this utility model provides a rebar installation trolley to solve the problem of low work efficiency when installing longitudinal rebars.

[0005] The technical solution of this utility model to solve the above-mentioned technical problems is as follows: A steel bar installation trolley, comprising: a trolley body, an automatic binding mechanism, and a longitudinal bar storage mechanism;

[0006] The trolley body includes an arc-shaped guide rail, and guide rail grooves are provided on both sides of the arc-shaped guide rail;

[0007] The automatic binding mechanism includes a moving rod and an industrial vision recognition system. The moving rod extends into the interior of the guide rail groove to drive the automatic binding machine to move along the direction of the guide rail groove. The top of the moving rod is equipped with a rebar binding machine via an electric guide rail and an automatic telescopic rod. The industrial vision recognition system includes a vision camera installed on the side of the rebar binding machine.

[0008] The longitudinal rib storage mechanism is located on one side of the movable rod.

[0009] Based on the above technical solution, the present invention can be further improved as follows.

[0010] Furthermore, the trolley body includes at least two main frames, which are connected by a workbench, and the main frames are provided with arc-shaped guide rails along their outer edges.

[0011] Furthermore, the movable rod includes a transverse rod disposed above the main frame, and a track trolley is disposed on the lower surface of the transverse rod. The track trolley extends into the interior of the guide rail groove and is capable of moving along the direction of the guide rail groove.

[0012] Furthermore, the electric guide rail includes a linear track, and an electric slider is sleeved on the outside of the linear track, the electric slider being able to move along the direction of the linear track.

[0013] Furthermore, the automatic telescopic rod includes an electric telescopic rod disposed on the top of the electric slider, and a rebar tying machine is disposed on the top of the electric telescopic rod.

[0014] Furthermore, the longitudinal rib storage mechanism includes a second square tube and a first square tube arranged sequentially from top to bottom. The first square tube and the second square tube are connected by a supporting vertical rod. One end of the first square tube is provided with an opening, and a stop bar is provided inside the opening. The outer surface of the first square tube is provided with a first pin and a second pin that penetrate the stop bar. The first pin and the second pin are designed to be detachable.

[0015] Furthermore, the bottom of the first square tube is provided with a partition that penetrates the first square tube and extends into the interior of the second square tube. The partition includes a vertical plate, and the side of the vertical plate is provided with two locking holes. The upper locking hole is located inside the second square tube, and the lower locking hole is located below the first square tube.

[0016] Furthermore, one end of the second square tube is provided with a second insert rod extending into the interior of the second square tube, the second insert rod passing through the upper locking hole, and the lower part of the first square tube is provided with a first insert rod passing through the lower locking hole, the first square tube being connected to the transverse rod via a fixed bracket.

[0017] Compared with the prior art, the technical solution of this application has the following beneficial technical effects:

[0018] 1. This utility model, by setting up components such as a trolley body, a moving rod, and a longitudinal rib storage mechanism, enables the trolley to move along the direction of the guide rail groove through the cooperation between the track trolley and the trolley body. During this process, the longitudinal rib storage mechanism moves along with the track trolley, thereby achieving the effect of lifting the longitudinal rib.

[0019] 2. By setting up an electric guide rail, an automatic telescopic rod, a rebar tying machine, and an industrial vision recognition system, the effect of automatically tying longitudinal bars is achieved. The industrial vision recognition system identifies the junction of longitudinal and circumferential bars. After identification, the electric guide rail is driven, which in turn moves the rebar tying machine to below the junction. The automatic telescopic rod drives the rebar tying machine to move vertically to the junction and perform automatic tying. Attached Figure Description

[0020] Figure 1 A structural schematic diagram of a rebar installation trolley provided for an embodiment of this utility model;

[0021] Figure 2 This is a schematic diagram of the structure of the trolley body in an embodiment of the present utility model;

[0022] Figure 3 This is a schematic diagram of the connection structure between the automatic binding mechanism and the longitudinal rib storage mechanism in an embodiment of this utility model;

[0023] Figure 4 for Figure 3 Another structural diagram from a different perspective;

[0024] Figure 5 This is a schematic diagram of the automatic binding mechanism in an embodiment of the present utility model;

[0025] Figure 6 This is a schematic diagram of the connection structure of the longitudinal rib storage mechanism in an embodiment of this utility model;

[0026] Figure 7 for Figure 6 Another structural diagram from another perspective;

[0027] Figure 8 for Figure 6 Structural sectional view;

[0028] Figure 9 for Figure 8 Another structural diagram from another perspective;

[0029] Figure 10 This is a schematic diagram of the partition structure in an embodiment of the present invention;

[0030] The attached diagram lists the components represented by each number as follows:

[0031] 1. Main body of the trolley; 11. Main frame; 12. Arc-shaped guide rail; 13. Guide rail groove; 14. Workbench; 2. Moving rod; 21. Horizontal rod; 22. Track trolley; 3. Linear track; 4. Electric slider; 5. Rebar tying machine; 6. Electric telescopic rod; 7. Longitudinal reinforcement storage mechanism; 71. First square tube; 72. Second square tube; 73. Supporting vertical rod; 74. Opening; 75. Partition; 751. Vertical plate; 752. Locking hole; 76. First insertion rod; 77. Second insertion rod; 78. Fixed bracket; 79. First pin; 710. Second pin; 711. Stop bar; 8. Vision camera. Detailed Implementation

[0032] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0034] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0035] Please see Figure 1 and Figure 2 A steel bar installation trolley includes: a trolley body 1, an automatic binding mechanism, and a longitudinal bar storage mechanism 7;

[0036] The trolley body 1 includes an arc-shaped guide rail 12, and guide rail grooves 13 are provided on both sides of the arc-shaped guide rail 12. The trolley body 1 includes at least two main frames 11, which are connected by a worktable 14. The main frames 11 are provided with arc-shaped guide rails 12 along their outer edges, and the bottom of the main frames 11 is provided with wheels to drive the trolley body 1 to move.

[0037] Based on the above, the arc-shaped guide rail 12 and the guide rail groove 13 cooperate with each other to guide the moving rod 2, thereby ensuring that the movement trajectory of the track trolley 22 is fixed. The setting of the workbench 14 makes it convenient for workers to stand on its surface to position and install the longitudinal steel bars. The main frame 11 plays a supporting role. The traveling wheels are common existing technology and are not the main technical feature of this solution. Therefore, their specific working principle and structure are not described in detail here.

[0038] like Figure 1 , Figure 3 , Figure 4 as well as Figure 5 As shown, the automatic binding mechanism includes a moving rod 2 and an industrial vision recognition system. The moving rod 2 extends into the interior of the guide rail groove 13 to drive the automatic binding machine to move along the direction of the guide rail groove 13. The top of the moving rod 2 is equipped with a rebar binding machine 5 via an electric guide rail and an automatic telescopic rod. The industrial vision recognition system includes a vision camera 8 installed on the side of the rebar binding machine 5. The vision camera 8 uses a 5-megapixel industrial camera with a 650nm infrared filter, achieving a recognition accuracy of 0.5mm (preferably a Hikvision MV-CA050-10GM camera).

[0039] The movable rod 2 includes a transverse rod 21 disposed above the main frame 11. A track trolley 22 is disposed on the lower surface of the transverse rod 21 (preferably a motor of model MSMD042G1U is used to drive the movement of the track trolley). The track trolley 22 extends into the interior of the guide rail groove 13 and can move along the direction of the guide rail groove 13.

[0040] The electric guide rail includes a linear track 3, and an electric slider 4 is sleeved on the outside of the linear track 3. The electric slider 4 has a moving speed of 0.1-0.5m / s and a positioning accuracy of ±0.5mm. It is driven by a servo motor (preferably a Panasonic MINASA6 servo motor). The electric slider 4 can move along the direction of the linear track 3. The automatic telescopic rod includes an electric telescopic rod 6 set on the top of the electric slider 4. Preferably a Dazhong Motor HD16 series servo electric cylinder is used. The telescopic stroke of the electric telescopic rod 6 is 0-500mm, the speed is 0.05-0.2m / s, and it has a built-in displacement sensor (resolution 0.1mm). It forms a Cartesian coordinate system XZ axis linkage with the electric slider 4 to ensure that the rebar tying machine 5 accurately reaches the three-dimensional target point. The rebar tying machine 5 is set on the top of the electric telescopic rod 6.

[0041] The track trolley 22, industrial vision recognition system, electric guide rail, rebar tying machine 5, and electric telescopic rod 6 are interconnected and controlled by a PLC controller (preferably a Siemens S7-200SMART controller).

[0042] Based on the above, the track trolley 22, industrial vision recognition system, electric guide rail, rebar tying machine 5 and electric telescopic pole 6 are all common existing technologies, so their specific structures and working principles are not described in detail here. The track trolley 22 drives the wheels through a motor, so that the track trolley can move along the direction of the guide rail groove 13, that is, along the direction of the arc-shaped guide rail 12.

[0043] The industrial vision recognition system can identify the state of the longitudinal reinforcement. The vision camera 8 takes pictures of the longitudinal reinforcement. After taking pictures, the industrial vision recognition system is linked with the track trolley (22), electric guide rail, rebar tying machine 5 and electric telescopic rod 6. That is, the electric guide rail is controlled to drive the rebar tying machine 5 to move to the lower part of the junction of the longitudinal reinforcement and the circumferential reinforcement. The electric telescopic rod 6 drives the rebar tying machine 5 to move vertically, and then the rebar tying operation is performed at the junction and reset. The above operation is repeated until the longitudinal reinforcement is tied.

[0044] After the longitudinal reinforcement is tied, the track trolley 22 drives the rebar tying machine 5 and the longitudinal reinforcement storage mechanism 7 to move together along the direction of the arc guide rail 12 and move to the position where the next longitudinal reinforcement is fixed (this can be controlled by a program to keep the movement of the track trolley 22 constant, or it can be controlled by a sensor, such as a position sensor). The reinforcement is then manually positioned and tied.

[0045] like Figures 6-10 As shown, the longitudinal rib storage mechanism 7 is disposed on one side of the movable rod 2. The longitudinal rib storage mechanism 7 includes a second square tube 72 and a first square tube 71 arranged sequentially from top to bottom. The first square tube 71 and the second square tube 72 are connected by a supporting vertical rod 73. One end of the first square tube 71 is provided with an opening 74. A stop bar 711 is provided inside the opening 74. A first pin 79 and a second pin 710 are provided on the outer surface of the first square tube 71, which penetrate the stop bar 711. The first pin 79 and the second pin 710 are designed to be detachable.

[0046] The bottom of the first square tube 71 is provided with a partition 75 that penetrates the first square tube 71 and extends into the interior of the second square tube 72. The partition 75 includes a vertical plate 751. The side of the vertical plate 751 is provided with two locking holes 752. The upper locking hole 752 is located inside the second square tube 72, and the lower locking hole 752 is located below the first square tube 71.

[0047] One end of the second square tube 72 is provided with a second insert rod 77 extending into the interior of the second square tube 72. The second insert rod 77 passes through the upper locking hole 752. The lower part of the first square tube 71 is provided with a first insert rod 76 passing through the lower locking hole 752. The first square tube 71 is connected to the transverse rod 21 through a fixing bracket 78.

[0048] Based on the above, the longitudinal rib storage mechanism 7 serves to store the longitudinal ribs. By placing the longitudinal ribs between the first square tube 71 and the second square tube 72, and fixing the stop bar 711 with the first pin 79 and the second pin 710, the longitudinal ribs are restricted between the first square tube 71, the second square tube 72, the support vertical bar 73, and the stop bar 711. Furthermore, through the cooperation between the partition 75, the first insert 76, and the second insert 77, the longitudinal ribs can be isolated by multiple partitions 75, thereby further restricting the longitudinal ribs and preventing excessive displacement of the longitudinal ribs during lifting.

[0049] When the longitudinal rib storage mechanism 7 is raised along with the moving rod 2, the longitudinal rib can be taken out by pulling out either the first pin 79 or the second pin 710, and moved to the fixed position by the operator. At this time, the industrial vision recognition system is powered on and works (this process can be controlled by the operator, for example by switching or signal transmission. Since the control methods are all existing technologies, they are not described here) to automatically bind the longitudinal rib.

[0050] In summary, the specific working process of this installation trolley is as follows:

[0051] 1. Construction preparation stage

[0052] Longitudinal reinforcement storage: Insert the longitudinal reinforcement from the opening 74 between the first square tube 71 and the second square tube 72, insert the stop bar 711 and fix it with the first pin 79 and the second pin 710. At the same time, insert the second rod 77 into the upper locking hole 752 of the partition 75 and insert the first rod 76 into the lower locking hole to complete the layered fixing of the longitudinal reinforcement.

[0053] 2. Automated strapping process

[0054] Positioning and movement: The track trolley 22 moves along the guide rail groove 13 to the installation position of the first longitudinal rib under the drive of the servo motor. The staff takes out the longitudinal rib from the storage mechanism through the worktable 14 and positions it at the junction of the circumferential rib.

[0055] Visual recognition: The visual camera 8 captures images of the intersection of the steel bars, the industrial vision system calculates the coordinate deviation, and sends a signal to the electric slider 4, which drives the steel bar binding machine 5 to move horizontally to directly below the intersection.

[0056] Automatic binding: The electric telescopic pole 6 lifts the binding machine 5 to the binding point, starts the binding program, completes the wrapping and cutting of the binding wire, and then the telescopic pole falls back and the slider resets.

[0057] Cyclic operation: The track trolley moves sequentially at preset intervals (250mm), repeating the above steps until the entire ring of longitudinal reinforcement binding is completed.

[0058] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A reinforcing bar installation trolley characterised by, include: Trolley body (1), automatic binding mechanism and longitudinal rib storage mechanism (7); The trolley body (1) includes an arc-shaped guide rail (12), and guide rail grooves (13) are provided on both sides of the arc-shaped guide rail (12). The automatic binding mechanism includes a moving rod (2) and an industrial vision recognition system. The moving rod (2) extends into the interior of the guide rail groove (13) to drive the automatic binding machine to move along the direction of the guide rail groove (13). The top of the moving rod (2) is equipped with a rebar binding machine (5) via an electric guide rail and an automatic telescopic rod. The industrial vision recognition system includes a vision camera (8) located on the side of the rebar binding machine (5). The longitudinal rib storage mechanism (7) is located on one side of the movable rod (2).

2. The reinforcing cage installation trolley of claim 1, wherein The trolley body (1) includes at least two main frames (11), which are connected by a worktable (14). The main frames (11) are provided with arc-shaped guide rails (12) along their outer edges.

3. The steel bar installation trolley according to claim 2, characterized in that, The movable rod (2) includes a horizontal rod (21) disposed above the main frame (11). A track trolley (22) is disposed on the lower surface of the horizontal rod (21). The track trolley (22) extends into the interior of the guide rail groove (13) and can move along the direction of the guide rail groove (13).

4. The steel bar installation trolley according to claim 3, characterized in that, The electric guide rail includes a linear track (3), and an electric slider (4) is sleeved on the outside of the linear track (3). The electric slider (4) can move along the direction of the linear track (3).

5. The steel bar installation trolley according to claim 4, characterized in that, The automatic telescopic rod includes an electric telescopic rod (6) disposed on the top of the electric slider (4), and a rebar tying machine (5) is disposed on the top of the electric telescopic rod (6).

6. The steel bar installation trolley according to claim 3, characterized in that, The longitudinal rib storage mechanism (7) includes a second square tube (72) and a first square tube (71) arranged sequentially from top to bottom. The first square tube (71) and the second square tube (72) are connected by a support vertical rod (73). One end of the first square tube (71) is provided with an opening (74). A stop bar (711) is provided inside the opening (74). The outer surface of the first square tube (71) is provided with a first pin (79) and a second pin (710) that penetrate the stop bar (711). The first pin (79) and the second pin (710) are designed to be detachable.

7. The steel bar installation trolley according to claim 6, characterized in that, The bottom of the first square tube (71) is provided with a partition (75) that penetrates the first square tube (71) and extends into the interior of the second square tube (72). The partition (75) includes a vertical plate (751). The side of the vertical plate (751) is provided with two locking holes (752). The upper locking hole (752) is located inside the second square tube (72), and the lower locking hole (752) is located below the first square tube (71).

8. The steel bar installation trolley according to claim 7, characterized in that, One end of the second square tube (72) is provided with a second insert (77) extending into the interior of the second square tube (72), the second insert (77) passing through the upper locking hole (752), and the lower part of the first square tube (71) is provided with a first insert (76) passing through the lower locking hole (752), and the first square tube (71) is connected to the transverse rod (21) through a fixed bracket (78).

9. The steel bar installation trolley according to claim 5, characterized in that, The track trolley (22), industrial vision recognition system, electric guide rail, rebar tying machine (5) and electric telescopic rod (6) are interconnected and controlled by a PLC controller.

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