CN118181505B - Grabbing type prefabricated box girder U-shaped steel rib frame web longitudinal rib distributing method - Google Patents
Grabbing type prefabricated box girder U-shaped steel rib frame web longitudinal rib distributing method Download PDFInfo
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- CN118181505B CN118181505B CN202410299109.3A CN202410299109A CN118181505B CN 118181505 B CN118181505 B CN 118181505B CN 202410299109 A CN202410299109 A CN 202410299109A CN 118181505 B CN118181505 B CN 118181505B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 75
- 239000010959 steel Substances 0.000 title claims abstract description 75
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000002787 reinforcement Effects 0.000 claims abstract description 15
- 238000009826 distribution Methods 0.000 claims abstract description 11
- 229910001294 Reinforcing steel Inorganic materials 0.000 claims description 19
- 230000007246 mechanism Effects 0.000 claims description 18
- 238000007493 shaping process Methods 0.000 claims description 16
- 239000004744 fabric Substances 0.000 claims description 15
- 230000008719 thickening Effects 0.000 claims description 14
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000010008 shearing Methods 0.000 description 2
- 210000002435 tendon Anatomy 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B23/00—Arrangements specially adapted for the production of shaped articles with elements wholly or partly embedded in the moulding material; Production of reinforced objects
- B28B23/02—Arrangements specially adapted for the production of shaped articles with elements wholly or partly embedded in the moulding material; Production of reinforced objects wherein the elements are reinforcing members
- B28B23/04—Arrangements specially adapted for the production of shaped articles with elements wholly or partly embedded in the moulding material; Production of reinforced objects wherein the elements are reinforcing members the elements being stressed
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Ceramic Engineering (AREA)
- Mechanical Engineering (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The invention belongs to the field of prefabricated box girder U-shaped steel rib frames, and particularly relates to a grabbing type prefabricated box girder U-shaped steel rib frame web longitudinal rib distributing method, which comprises the following steps: the method comprises the steps that a bar arranging robot is used for grabbing bars which are arranged on a bar arranging platform one by one, and the bars are placed on a first fixture of a bar arranging bracket one by one to serve as web outer longitudinal bars; moving the rib distribution support with the arranged web outer side longitudinal ribs towards the U-shaped web direction to enable the web outer side longitudinal ribs to be closely attached to the U-shaped web outer side; stretching out the second clamps, grabbing the steel bars conveyed on the steel bar distributing platform one by using a steel bar distributing robot, and placing the steel bars on the second clamps of the steel bar distributing support one by one to serve as longitudinal ribs on the inner side of the web plate; after preliminary binding and fixing the longitudinal ribs on the outer side of the web plate and the longitudinal ribs on the inner side of the web plate, all the second clamps are recovered, and all the longitudinal ribs are welded; the invention can improve the assembly efficiency of the prefabricated box girder steel reinforcement framework, reduce the labor intensity and the labor cost.
Description
Technical Field
The invention belongs to the technical field of manufacturing of prefabricated box girder U-shaped steel rib frames, and particularly relates to a grabbing type prefabricated box girder U-shaped steel rib frame web longitudinal rib distributing method.
Background
At present, most of bridge construction is that box girders are prefabricated in the existing factory and then transported to a construction site for assembly. The normal process of the steel reinforcement framework in the prefabricated box girder is that firstly, a U-shaped web plate is manufactured and positioned on a positioning tool, then longitudinal ribs are manually placed on the inner side and the outer side of the U-shaped web plate, then the longitudinal ribs are welded by a manual or welding machine, and finally, lacing wires are manually installed. The labor intensity is high and the production efficiency is low when a large amount of manual work is involved in the production.
Accordingly, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a grabbing type prefabricated box girder U-shaped steel rib frame web longitudinal rib distributing method.
In order to achieve the above object, the present invention provides the following technical solutions:
a grabbing type prefabricated box girder U-shaped steel rib frame web longitudinal rib distributing method comprises the following steps:
Step 0, arranging a rib distributing platform and a rib distributing robot arranged on the rib distributing platform at the top of the positioning tool; the positioning tool comprises a bottom bracket for supporting and positioning the U-shaped web plate and the bottom longitudinal ribs, and rib distribution brackets for positioning the longitudinal ribs on two sides of the U-shaped web plate, wherein the two rib distribution brackets can move relative to the bottom bracket; the rib-distributing bracket comprises a bracket body, a first fixture fixed on the bracket body and a second fixture which is arranged on the bracket body in a telescopic manner;
Step 1, using a bar distributing robot to grab the bars arranged on a bar distributing platform one by one, and placing the bars one by one on a first fixture of a bar distributing bracket to serve as longitudinal bars on the outer side of a web plate;
Step 2, moving the rib distribution support provided with the longitudinal ribs on the outer side of the web plate to the direction of the U-shaped web plate, so that the longitudinal ribs on the outer side of the web plate are closely attached to the outer side of the U-shaped web plate;
Step 3, stretching out the second clamps, grabbing the steel bars conveyed on the steel bar distributing platform one by using a steel bar distributing robot, and placing the steel bars on the second clamps of the steel bar distributing support one by one to serve as longitudinal ribs on the inner side of the web plate;
and 4, recovering all the second clamps after preliminary binding and fixing of the longitudinal ribs on the outer side of the web and the longitudinal ribs on the inner side of the web, and welding all the longitudinal ribs.
Further, all the rib-distributing robots on each rib-distributing platform are longitudinally arranged in a row, and the distance between two adjacent rib-distributing robots is 1.5-2.2 m.
Further, a plurality of diagonal braces are arranged on opposite surfaces of the two reinforcement-distributing brackets, and the first clamping apparatus is fixed on a first side surface of the diagonal brace; a rod barrel is fixed on the second side surface of the diagonal brace, the second clamp is rod-shaped and penetrates through the rod barrel in a sliding manner, and a clamp control mechanism for controlling the second clamp to stretch out and draw back is arranged at one end, far away from the U-shaped web, of the second clamp; the first side surface and the second side surface are opposite and parallel to the U-shaped web plate; the upper surfaces of the first clamp and the second clamp are equal in height.
Further, the second fixture comprises a rod body which is horizontally or obliquely arranged.
Further, the step 4 also comprises a step of shaping the reinforcing steel bars in the thickening area of the box girder;
the box girder thickening area the reinforcing steel bar shaping step comprises the following steps: and fixing two ends of the longitudinal ribs on the inner side of the web plate, and then controlling the second clamping apparatus of the non-thickened area to be recovered to the shaping gear so that the longitudinal ribs on the inner side of the web plate of the non-thickened area are closely attached to the U-shaped web plate of the standard section.
Further, step 4 also includes a step of shaping the reinforcing steel bars in the thickened area of the box girder, and the step of shaping the reinforcing steel bars in the thickened area of the box girder includes: and fixing two ends of the longitudinal ribs on the inner side of the web plate, then controlling the second clamping apparatus in the range of the thickened area of the box girder to recycle, and then withdrawing the whole cloth rib bracket outwards to enable the longitudinal ribs on the inner side of the web plate in the non-thickened area to be closely attached to the U-shaped web plate in the standard section.
Further, the second clamp positioned in the thickening area is made of a rod body, and the surface of the rod body is free of protrusions;
The second clamp positioned in the non-thickening area comprises a rod body, a clamping rod rotatably arranged on the side surface of the inner end of the rod body, a reset piece arranged on the clamping rod and used for enabling the upper end of the clamping rod to tend to vertically upwards, a push-pull electromagnet fixed on the lower side of the inner end of the rod body and a locking piece fixed at the telescopic end of the push-pull electromagnet; the upper end and the lower end of the clamping rod exceed the upper end face and the lower end face of the rod body;
The motion track of the locking block is close to the outer side of the clamping rod and penetrates through the rotation plane of the locking block; when the locking block moves to exceed the rod body, the locking block limits the upper end of the clamping rod to rotate outwards; when the locking piece moves to be completely retracted below the rod body, the upper end of the clamping rod can freely rotate so as to avoid the reinforcing steel bars when the second clamping apparatus is recovered.
Further, the reset piece is a counterweight fixed at the lower part of the clamping rod, or a compression spring connected between the first side surface of the lower part of the clamping rod and the lower surface of the rod body, and the first side surface of the lower part of the clamping rod refers to the side surface of the clamping rod facing the rod body.
Further, the rib-laying robot is a two-axis manipulator, the rib-laying robot comprises a vertical column vertically arranged on the outer side of a rib-laying platform, a transverse moving mechanism arranged on the top end of the vertical column and a vertical moving mechanism arranged on the inner end of the transverse moving mechanism, and an electric gripper for grabbing steel bars is arranged at the bottom of the vertical moving mechanism.
Further, the rib distributing platform comprises a high platform fixed at the top of the rib distributing bracket and a chain conveyor arranged in the high platform, wherein a plurality of poking teeth are uniformly arranged on a conveying chain of the chain conveyor at intervals, and the poking teeth are exposed out of the upper surface of the high platform;
The steel bars are fed to the side edge of the steel bar distributing platform by the steel bar straightening machine, then the chain conveyor drives the shifting teeth to rotate, and the steel bars are transferred one by one to be spread on the high platform until the number of the steel bars on the high platform is not less than the number of the longitudinal bars on the outer side of the single-side web plate or the number of the longitudinal bars on the inner side of the web plate.
The beneficial effects of the invention are as follows:
According to the invention, after the steel bars are arranged at intervals by using the bar arranging robot, the steel bars are grabbed one by the mechanical hand and placed on the first fixture and the second fixture, so that automatic arrangement of the longitudinal bars at the outer side of the web plate and the longitudinal bars at the inner side of the web plate can be realized, the assembly efficiency of the prefabricated box girder steel bar skeleton is improved, the labor intensity is reduced, and the labor cost is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. Wherein:
fig. 1 is a schematic diagram of a process of step 1 according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a step 2 process according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a front view process of step 2 according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a front view process of step 3 according to an embodiment of the present invention.
Fig. 5 is a schematic process diagram of step 3 according to an embodiment of the present invention.
Fig. 6 is a schematic front view of a reinforcement bracket according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a second fixture according to an embodiment of the present invention.
In the figure, 1-cloth bar bracket, 11-diagonal brace, 12-first clamp, 13-second clamp, 131-rod body, 132-rotating shaft, 133-clamping rod, 134-push-pull electromagnet, 135-locking block, 14-supporting seat, 15-push cylinder, 16-push frame, 17-rod barrel, 2-cloth bar platform, 21-poking tooth, 31-upright post, 32-transverse moving mechanism, 33-vertical moving mechanism, 4-bottom bracket, 100-web outside longitudinal bar, 200-web inside longitudinal bar and 300-bottom longitudinal bar.
Detailed Description
The following description of the technical solutions in the embodiments of the present invention will be clear and complete, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the invention, fall within the scope of protection of the invention.
In the description of the present invention, the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", etc. refer to the orientation or positional relationship based on that shown in the drawings, merely for convenience of description of the present invention and do not require that the present invention must be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. The terms "coupled" and "connected" as used herein are to be construed broadly and may be, for example, fixedly coupled or detachably coupled; either directly or indirectly through intermediate components, the specific meaning of the terms being understood by those of ordinary skill in the art as the case may be.
The invention will be described in detail below with reference to the drawings in connection with embodiments. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
A grabbing type prefabricated box girder U-shaped steel rib frame web longitudinal rib distributing method comprises the following steps:
Step 0, arranging a rib distributing platform 2 and a rib distributing robot arranged on the rib distributing platform 2 at the top of a positioning tool; the positioning tool comprises a bottom bracket 4 for supporting and positioning the U-shaped web and the bottom longitudinal ribs 300, and a cloth rib bracket 1 for positioning the longitudinal ribs on two sides of the U-shaped web, wherein the two cloth rib brackets 1 can move relative to the bottom bracket 4, and the moving range of a cloth rib robot required to cover all web outer longitudinal ribs 100 on one side when placing the steel bars is at least not less than the whole width of all web outer longitudinal ribs 100 on one side; the transverse movement of the rib-distributing bracket 1 is generally realized by transversely paving a rail on the ground and installing pulleys at the bottom of the rib-distributing bracket 1, and the power of the rib-distributing bracket 1 can be provided by an oil cylinder, an electric car device and the like; the cloth reinforcement bracket 1 comprises a bracket body, a first clamp 12 fixed on the bracket body and a second clamp 13 which is arranged on the bracket body in a telescopic way;
step 1, using a bar arranging robot to grasp the bars arranged on the bar arranging platform 2 one by one, and placing the bars one by one on a first clamp 12 of a bar arranging bracket 1 to serve as web outer longitudinal bars 100; as shown in fig. 1, a schematic diagram of a state that a rib-distributing robot on a single rib-distributing bracket 1 is arranged with web outer longitudinal ribs 100, and a rib-distributing platform 2 is already loaded with steel bars as web inner longitudinal ribs 200, in this embodiment, the number of web inner longitudinal ribs 200 and web outer longitudinal ribs 100 is 10;
Step 2, moving the cloth reinforcement bracket 1 with the arranged web outer side longitudinal ribs 100 towards the U-shaped web direction to enable the web outer side longitudinal ribs 100 to be closely attached to the outer side of the U-shaped web; fig. 2 and 3 are schematic diagrams of the positions of the rebar bracket 1 after the rebar bracket is close to the bottom bracket 4 and is in place;
Step 3, stretching out the second clamps 13, grabbing the steel bars conveyed on the steel bar distributing platform 2 one by using a steel bar distributing robot, and placing the steel bars on the second clamps 13 of the steel bar distributing support 1 one by one to serve as web inner side longitudinal bars 200; as shown in fig. 4 and 5, the second clamping device 13 extends inwards to a proper position, and the bar distributing robot has grabbed and placed the web inner side longitudinal bar 200;
And 4, after the web outer longitudinal ribs 100 and the web inner longitudinal ribs 200 are bound and fixed preliminarily, all the second clamps 13 are recovered, and all the longitudinal ribs are welded.
Further, the rebar placement robot can grasp and place the rebar in any order, but preferably the rebar placement robot grasps the rebar well in a unidirectional order, and places the rebar one by one onto the first clamp 12 or the second clamp 13 in a bottom-to-top order or a top-to-bottom order, so that when the rebar placement robot finds an error, a worker beside can understand how much the box girder rebar skeleton is assembled in time.
As shown in fig. 1 to 6, a plurality of diagonal braces 11 are arranged on opposite surfaces of two rib brackets 1, and a first clamping apparatus 12 is fixed on a first side surface of the diagonal braces 11; a rod barrel 17 is fixed on the second side surface of the diagonal brace 11, the second clamp 13 is rod-shaped and penetrates through the rod barrel 17 in a sliding manner, and a clamp control mechanism for controlling the second clamp 13 to stretch and retract is arranged at one end, away from the U-shaped web, of the second clamp 13; the first side surface and the second side surface are opposite and parallel to the U-shaped web plate; the upper surfaces of the first clamp 12 and the second clamp 13 are equal in height; based on the orientation in fig. 1 to 6, the first side is the front side of the diagonal brace 11, the second side is the rear side of the diagonal brace 11, or the first side is the rear side of the diagonal brace 11, and the second side is the front side of the diagonal brace 11;
The fixture control mechanism comprises a supporting seat 14 fixed on the cloth bar bracket 1, a plurality of pushing cylinders 15 horizontally arranged on the supporting seat 14, and pushing frames 16 fixed at the telescopic ends of the pushing cylinders 15, wherein the outer ends of the second fixtures 13 are directly or fixedly arranged on the pushing frames 16 through connecting rods; the outer ends of each row of second clamps 13 are mounted on the same pushing frame 16.
As shown in fig. 1 to 3, in this embodiment, the second clamp 13 only needs to be recovered after supporting the longitudinal ribs 200 on the inner side of the web, so the second clamp 13 may be horizontally disposed or the second clamp 13 may be obliquely disposed, and when the second clamp 13 is obliquely disposed, the inner ends of the second clamp 13 on the left side and the second clamp 13 on the right side are both tilted upward, and since the surface of the second clamp 13 is straight in this embodiment, the second clamp 13 may be directly recovered by using the pushing cylinder 15 through the pushing frame 16 during recovery.
As shown in fig. 1 to 6, the tendon placement robot is a two-axis manipulator, and comprises a stand column 31 vertically arranged at the outer side of the tendon placement platform 2, a traversing mechanism 32 arranged at the top end of the stand column 31, and a vertical moving mechanism 33 arranged at the inner end of the traversing mechanism 32, wherein an electric gripper for grabbing the steel bars is arranged at the bottom of the vertical moving mechanism 33; all the rib-distributing robots on each rib-distributing platform 2 are longitudinally arranged in a row, the length of the web outer side longitudinal rib 100 or the web inner side longitudinal rib 200 in the embodiment is 30 meters, the distance between every two adjacent rib-distributing robots is 1.5-2.2 m, the distance cannot be too large, otherwise, the shape of the reinforcing steel bar cannot be maintained, the distance between every two adjacent rib-distributing robots can be adjusted according to the diameter of the reinforcing steel bar, for example, for the reinforcing steel bar with the diameter of 10mm, the distance between every two adjacent rib-distributing robots can be set to be 2m; the two-axis manipulator is a mature technology, and is not described herein, and the requirement of the two-axis manipulator is that the translation distance reaches the web inner side longitudinal rib 200 at the innermost side, the vertical translation distance reaches the web inner side longitudinal rib 200 at the lowest part, and the electric grippers synchronously move and are longitudinally arranged on a straight line, so that the steel bars can be grabbed.
As shown in fig. 1 to 6, the reinforcement distribution platform 2 comprises a high platform fixed on the top of the reinforcement distribution support 1 and a chain conveyor arranged in the high platform, wherein a plurality of poking teeth 21 are uniformly arranged on a conveying chain of the chain conveyor at intervals, and the poking teeth 21 are exposed out of the upper surface of the high platform; the steel bars are fed to the side edge position of the steel bar distributing platform 2 by a steel bar straightening machine, then the chain conveyor drives the shifting teeth 21 to rotate, and the steel bars are transferred one by one to be spread on a high platform until the number of the steel bars on the high platform is not less than the number of the longitudinal bars 100 on the outer side of the single-side web or the number of the longitudinal bars 200 on the inner side of the web; after a sufficient number of web outside longitudinal ribs 100 or web inside longitudinal ribs 200 are distributed on each rib distribution platform 2, grabbing the steel bars by a rib distribution robot for placement until the last steel bar of the wheel is grabbed, starting feeding by a steel bar straightening machine, discharging one steel bar by the steel bar straightening machine, feeding one grid by a conveying chain, and then feeding the next steel bar by the steel bar straightening machine;
in this embodiment, taking 10 web outer longitudinal ribs 100 or web inner longitudinal ribs 200 on one side as an example, the number of the teeth 21 exposed on the surface of the plateau is not less than 11, so that 10 spacing spaces for accommodating and positioning the reinforcing steel bars can be formed between the teeth 21 exposed on the surface of the plateau.
The shearing force at the two ends of the prefabricated box girder is maximum, and in order to meet the shearing-resistant section requirement, the girder ends of the prefabricated box girder are thickened; correspondingly, two ends of the longitudinal bar are required to be bent adaptively, and the conventional bending method is to manually bend the longitudinal bar firstly and then bind the bent bar on the U-shaped web plate, so that time and labor are wasted; preferably, the step 4 further comprises a step of shaping the reinforcing steel bars in the thickening area of the box girder; in one embodiment, the step of shaping the reinforcing steel bars in the thickened area of the box girder comprises the following steps: fixing two ends of the web inner side longitudinal ribs 200, and then controlling the second clamp 13 of the non-thickened area to recover to a shaping gear, so that the web inner side longitudinal ribs 200 of the non-thickened area are closely attached to the standard section U-shaped web, wherein the shaping gear is not a gear for completely recovering the second clamp 13 and is a special gear for pulling and shaping the web inner side longitudinal ribs 200, so that the web inner side longitudinal ribs 200 of the non-thickened area are closely attached to the standard section U-shaped web; in another embodiment, the step of shaping the reinforcing steel bars in the thickened area of the box girder comprises the following steps: fixing two ends of the web inner side longitudinal ribs 200, then controlling the second clamping apparatus 13 in the range of the thickening area of the box girder to recycle, and then withdrawing the whole cloth rib bracket 1 to enable the web inner side longitudinal ribs 200 in the non-thickening area to be closely attached to the standard section U-shaped web;
In this embodiment, the second clamping devices 13 in the thickened area and the non-thickened area may be designed to have the same structure, or may have different structures; the second clamping apparatus 13 in the thickened area only needs to support the web inner longitudinal rib 200, the second clamping apparatus 13 in the non-thickened area (standard section U-shaped web section) needs to hook the web inner longitudinal rib 200 to move outwards besides supporting the web inner longitudinal rib 200, so the second clamping apparatus 13 is horizontally arranged, and therefore, preferably, the second clamping apparatus 13 in the thickened area and the non-thickened area are designed to be different in structure, and the structure of the second clamping apparatus 13 in the thickened area can be simplified:
as shown in fig. 1 to 4, the second clamp 13 located in the thickened area is made of a rod 131, and the surface of the rod 131 is not convex, so that the second clamp 13 can be directly retracted when the second clamp needs to be retracted;
The second clamping apparatus 13 positioned in the non-thickened area comprises a rod body 131, a rotating shaft 132 rotatably arranged on the side surface of the inner end of the rod body 131, a clamping rod 133 fixed on the rotating shaft 132, a reset piece arranged on the clamping rod 133 and used for enabling the upper end of the clamping rod 133 to tend to vertically upwards, a push-pull electromagnet 134 fixed on the lower side of the inner end of the rod body 131 and a locking piece 135 fixed on the telescopic end of the push-pull electromagnet 134; the locking block 135 can be moved to lock and unlock the angle range of the clamping rod 133; the upper end and the lower end of the clamping rod 133 exceed the upper end face and the lower end face of the rod body 131; the upper end of the clamping rod 133 can form a clamping groove for positioning the reinforcing steel bar with the rod body 131, and the lower end of the clamping rod 133 is in stop fit with the block;
the reset piece is a counterweight fixed at the lower part of the clamping rod 133 or a compression spring connected between the first side surface of the lower part of the clamping rod 133 and the lower surface of the rod body 131, and the first side surface of the lower part of the clamping rod 133 refers to the side surface of the clamping rod 133 facing the rod body 131; preferably, the reset element adopts a counterweight form, for example, the clamping rod 133 can adopt a hollow tube, and stones, iron blocks or screw bolts are filled in the lower tube body of the clamping rod 133 and fixed;
The motion track of the locking block 135 is close to the outer side of the clamping rod 133 and passes through the rotation plane of the locking block 135; when the locking block 135 moves beyond the rod body 131, the locking block 135 limits the upper end of the locking rod 133 to rotate outwards, and the locking rod 133 in fig. 7 is in an angle range locking state, and at most, the locking rod 133 can only rotate anticlockwise; when the locking piece 135 moves to be completely retracted below the rod body 131, the upper end of the clamping rod 133 can freely rotate so as to avoid the reinforcing steel bars when the second clamping apparatus 13 is recovered; after the avoidance is completed, the locking piece 135 automatically returns under the action of the resetting piece, then the lock tongue is pushed out and is blocked at the middle lower section of the clamping rod 133, and then the next web outside longitudinal rib 100 or web inside longitudinal rib 200 is waited for placement;
The second clamp 13 of this embodiment achieves the purpose of recycling the second clamp 13 with low cost by skillfully arranging the positions of the clamping rods 133 and the push-pull electromagnet 134, and after the push-pull electromagnet 134 controls the bolt to retract, when the second clamp 13 is recycled, the clamping rods 133 can be prevented from naturally rotating by the longitudinal ribs 200 at the inner side of the web to avoid the second clamp 13, so that the second clamp 13 can be recycled smoothly.
It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto. The foregoing description of the preferred embodiments of the application is not intended to limit the application to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the application as defined by the appended claims.
Claims (10)
1. A grabbing type prefabricated box girder U-shaped steel rib frame web longitudinal rib distributing method is characterized by comprising the following steps:
Step 0, arranging a rib distributing platform (2) and a rib distributing robot arranged on the rib distributing platform (2) at the top of the positioning tool; the positioning tool comprises a bottom bracket (4) for supporting and positioning the U-shaped web plate and the bottom longitudinal ribs (300), and a cloth rib bracket (1) for positioning the longitudinal ribs on two sides of the U-shaped web plate, wherein the two cloth rib brackets (1) can move relative to the bottom bracket (4); the cloth reinforcement bracket (1) comprises a bracket body, a first clamp (12) fixed on the bracket body and a second clamp (13) which is telescopically arranged on the bracket body;
Step 1, using a reinforcement distribution robot to grasp the reinforcement arranged on a reinforcement distribution platform (2) one by one, and placing the reinforcement on a first clamp (12) of a reinforcement distribution bracket (1) one by one to serve as a web outside longitudinal reinforcement (100);
Step 2, moving a cloth reinforcement bracket (1) with arranged web outer side longitudinal ribs (100) to the direction of the U-shaped web, so that the web outer side longitudinal ribs (100) are closely attached to the outer side of the U-shaped web;
Step 3, stretching out the second clamps (13), grabbing the steel bars conveyed on the steel bar distributing platform (2) one by using a steel bar distributing robot, and placing the steel bars on the second clamps (13) of the steel bar distributing support (1) one by one to serve as web inner side longitudinal bars (200);
and 4, recovering all the second clamps (13) after preliminary binding and fixing the web outer side longitudinal ribs (100) and the web inner side longitudinal ribs (200), and welding all the longitudinal ribs.
2. The method for distributing longitudinal ribs of webs of grabbing type prefabricated box girder U-shaped steel rib frames according to claim 1, which is characterized by comprising the following steps of: all the rib distributing robots on each rib distributing platform (2) are longitudinally arranged in a row, and the distance between two adjacent rib distributing robots is 1.5-2.2 m.
3. The method for distributing longitudinal ribs of webs of grabbing type prefabricated box girder U-shaped steel rib frames according to claim 1, which is characterized by comprising the following steps of: a plurality of diagonal braces (11) are arranged on opposite surfaces of the two reinforcement-distributing brackets (1), and the first clamping apparatus (12) is fixed on a first side surface of the diagonal braces (11); a rod barrel (17) is fixed on the second side surface of the diagonal brace (11), the second clamp (13) is rod-shaped and penetrates through the rod barrel (17) in a sliding mode, and a clamp control mechanism for controlling the second clamp (13) to stretch is arranged at one end, far away from the U-shaped web, of the second clamp (13); the first side surface and the second side surface are opposite and parallel to the U-shaped web plate; the upper surfaces of the first clamp (12) and the second clamp (13) are equal in height.
4. The method for distributing longitudinal ribs of webs of grabbing type prefabricated box girder U-shaped steel rib frames according to claim 1, which is characterized by comprising the following steps of: the second clamp (13) comprises a rod body (131) which is horizontally or obliquely arranged.
5. The method for distributing longitudinal ribs of webs of grabbing type prefabricated box girder U-shaped steel rib frames according to claim 1, which is characterized by comprising the following steps of: step 4, a step of shaping the reinforcing steel bars in the thickening area of the box girder is further included;
the box girder thickening area the reinforcing steel bar shaping step comprises the following steps: and fixing two ends of the longitudinal rib (200) at the inner side of the web, and then controlling the second clamp (13) of the non-thickened area to be recovered to a shaping gear, so that the longitudinal rib (200) at the inner side of the web at the non-thickened area is closely attached to the U-shaped web at the standard section.
6. The method for distributing longitudinal ribs of webs of grabbing type prefabricated box girder U-shaped steel rib frames according to claim 1, which is characterized by comprising the following steps of: the step 4 also comprises a step of shaping the reinforcing steel bars in the thickening area of the box girder, the box girder thickening area the reinforcing steel bar shaping step comprises the following steps: and fixing two ends of the web inner side longitudinal ribs (200), then controlling the second clamping apparatus (13) in the range of the thickening area of the box girder to recycle, and then integrally withdrawing the cloth rib support (1) to enable the web inner side longitudinal ribs (200) in the non-thickening area to be closely attached to the standard section U-shaped web.
7. The method for distributing longitudinal ribs of the web plates of the U-shaped steel rib frames of the grabbing prefabricated box girders according to claim 5 or 6, which is characterized in that: the second clamp (13) positioned in the thickening area is made of a rod body (131), and the surface of the rod body (131) is free of protrusions;
The second clamping device (13) positioned in the non-thickened area comprises a rod body (131), a clamping rod (133) rotatably arranged on the side surface of the inner end of the rod body (131), a reset piece arranged on the clamping rod (133) and used for enabling the upper end of the clamping rod (133) to tend to vertically upwards, a push-pull electromagnet (134) fixed on the lower side of the inner end of the rod body (131) and a locking piece (135) fixed on the telescopic end of the push-pull electromagnet (134); the upper end and the lower end of the clamping rod (133) exceed the upper end face and the lower end face of the rod body (131);
The motion track of the locking block (135) is close to the outer side of the clamping rod (133) and penetrates through the rotation plane of the locking block (135); when the locking block (135) moves to exceed the rod body (131), the locking block (135) limits the upper end of the clamping rod (133) to rotate outwards; when the locking block (135) moves to be completely retracted below the rod body (131), the upper end of the clamping rod (133) can freely rotate so as to avoid the reinforcing steel bars when the second clamping apparatus (13) is recovered.
8. The method for distributing the longitudinal ribs of the web plates of the U-shaped steel rib frame of the grabbing prefabricated box girder according to claim 7 is characterized in that: the reset piece is a counterweight fixed at the lower part of the clamping rod (133), or a compression spring connected between the first side surface of the lower part of the clamping rod (133) and the lower surface of the rod body (131), and the first side surface of the lower part of the clamping rod (133) refers to the side surface of the clamping rod (133) facing the rod body (131).
9. The method for distributing longitudinal ribs of webs of grabbing type prefabricated box girder U-shaped steel rib frames according to claim 1, which is characterized by comprising the following steps of: the steel bar distributing robot is a two-axis manipulator, the steel bar distributing robot comprises a vertical column (31) vertically arranged on the outer side of a steel bar distributing platform (2), a transverse moving mechanism (32) arranged at the top end of the vertical column (31) and a vertical moving mechanism (33) arranged at the inner end of the transverse moving mechanism (32), and an electric gripper for grabbing steel bars is arranged at the bottom of the vertical moving mechanism (33).
10. The method for distributing longitudinal ribs of webs of grabbing type prefabricated box girder U-shaped steel rib frames according to claim 1, which is characterized by comprising the following steps of: the rib distributing platform (2) comprises a high platform fixed at the top of the rib distributing bracket (1) and a chain conveyor arranged in the high platform, wherein a plurality of poking teeth (21) are uniformly arranged on a conveying chain of the chain conveyor at intervals, and the poking teeth (21) are exposed out of the upper surface of the high platform;
the steel bars are fed to the side edge position of the steel bar distributing platform (2) by a steel bar straightening machine, then the chain conveyor drives the poking teeth (21) to rotate, and the steel bars are transferred one by one to be spread on a high platform until the number of the steel bars on the high platform is not less than the number of the single-side web outside longitudinal bars (100) or the number of the web inside longitudinal bars (200).
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| CA3030895A1 (en) * | 2019-01-22 | 2020-07-22 | Step Ahead Tools Llc | Concrete form brace with multi-depth rebar positioning |
| US20220325544A1 (en) * | 2019-11-09 | 2022-10-13 | SkyMul Inc. | Robot for tying rebar on a rebar grid |
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| CN117644168A (en) * | 2024-01-19 | 2024-03-05 | 中铁七局集团郑州工程有限公司 | Forming process of prefabricated Liang Chao large-sized reinforced mesh |
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| CN114226601A (en) * | 2021-12-23 | 2022-03-25 | 中国建筑土木建设有限公司 | Feeding system of box girder bottom web plate through long steel bars |
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