CN-122007285-A - Four-way automatic feeding device and method for reinforced mesh of rock-fill dam panel

CN122007285ACN 122007285 ACN122007285 ACN 122007285ACN-122007285-A

Abstract

The invention discloses a four-way automatic feeding device and method for a concrete-filled rockfill dam panel reinforcing steel bar net, which belong to the technical field of reinforcing steel bar nets, wherein a rectangular structure formed by arranging a reinforcing steel bar storage area into a reinforcing steel bar storage bin is provided, pushing and transferring mechanisms are respectively arranged in four directions of the rectangular structure, and are used for lifting and transversely moving reinforcing steel bars, so that a lifting rod is used for transferring the reinforcing steel bars from one end of an outer frame of a butt joint material positioning area to the other end of the outer frame, the arrangement and transposition of the reinforcing steel bars are realized, the reinforcing steel bars to be grabbed are formed in a regular posture and definite position, the four-way automatic feeding in the construction process of the reinforcing steel bar net is realized, the grabbing deviation or the false grabbing caused by grabbing a plurality of reinforcing steel bars in the pile state of a grabbing manipulator is avoided, and meanwhile, the cooperative operation of reinforcing steel bar identification, grabbing, laying, binding and welding is realized under the unified control of a control system, so that the automation degree, the laying precision and the whole construction efficiency of the concrete-filled rockfill dam panel reinforcing steel bar net are improved.

Inventors

ZHOU HUAWEI
DAI LELE
BAI JUNJIE
Pei Tianbai
WANG RUI
YANG YUXUAN
JIANG YIYANG
YU ZHENG
LIANG ZHIPENG
ZHOU YIHONG
ZHAO CHUNJU
WANG FANG
Zuo Xiangao
PENG JIAYAO
QIU YONGQI

Assignees

湖北工业大学

Dates

Publication Date: 20260512
Application Date: 20260320

Claims (10)

1. The four-way automatic feeding device for the reinforced mesh of the rock-fill dam panel comprises a feeding device (1) and is characterized in that the feeding device (1) comprises a reinforced material bin (11) and a sliding table (23), a control system (6) is arranged outside the reinforced material bin (11), the reinforced material bin (11) comprises two groups of long reinforced material storage areas and two groups of short reinforced material storage areas which are arranged oppositely, the long reinforced material storage areas and the short reinforced material storage areas are sequentially connected to form a rectangular structure, the sliding table (23) is arranged above the reinforced material storage areas, a positioning device (2), a conveying device (3), a binding device (4) and a welding device (5) are arranged on the sliding table (23), a conveying mechanism (12) is respectively arranged inside the four-way reinforced material storage areas, the tail end of the conveying mechanism (12) is provided with a material receiving positioning area outer frame (13), and the bottom of the material receiving positioning area outer frame (13) is provided with a transfer mechanism; The pushing and transferring mechanism is arranged between the steel bar storage area and the material receiving and positioning area and is used for lifting and transferring steel bars from the steel bar storage area to the material receiving and positioning area, the pushing and transferring mechanism comprises a driving assembly, a guiding assembly and a lifting assembly, the driving assembly is connected with the guiding assembly and is used for driving the guiding assembly to move along a preset track, the guiding assembly is connected with the lifting assembly and is used for driving the lifting assembly to generate lifting and transverse transferring motions, a supporting structure for supporting the steel bars is arranged at the top of the lifting assembly and is positioned between outer frames of the material receiving and positioning area and used for supporting and positioning the steel bars in the lifting process, and accordingly lifting conveying and transferring of the steel bars are achieved.
2. The four-way automatic feeding device for the rock-fill dam panel reinforcing mesh according to claim 1, wherein the conveying mechanism (12) comprises a conveying belt (121) arranged on a reinforcing steel bar storage area bottom plate, partition plates (122) are fixedly arranged on the reinforcing steel bar storage area bottom plate on two sides of the conveying belt (121), a buffer block (131) is arranged outside one end of the conveying belt (121) close to a construction rock-fill dam panel, the buffer block (131) is fixedly connected to the bottom plate of the reinforcing steel bar storage area, a material receiving and positioning area outer frame (13) is fixedly arranged at the downstream position of the buffer block (131) and used for supporting reinforcing steel bars, two groups of V-shaped grooves are formed in the top of the material receiving and positioning area outer frame (13), and the two groups of V-shaped grooves are arranged at intervals and are respectively close to two end parts of the material receiving and positioning area outer frame (13).
3. The four-way automatic feeding device for the reinforced bar mesh of the rock-fill dam panel according to claim 2, wherein the driving assembly comprises a servo motor (133) and a rotating shaft (134), the guiding assembly comprises a vertical plate (132) and a sliding groove plate (135) which are fixedly connected, the vertical plate (132) is fixedly arranged on a bottom plate of a reinforced bar storage area, the vertical plate (132) is positioned below an outer frame (13) of a material receiving positioning area and is arranged in a large surface parallel manner, the two large surfaces of the vertical plate (132) are respectively fixedly provided with the servo motor (133) and the sliding groove plate (135), the sliding groove plate (135) is provided with a rectangular groove (136) with an arc angle structure, the rotating shaft (134) of the servo motor (133) sequentially penetrates through the vertical plate (132) and the sliding groove plate (135) and is fixedly provided with a guide block (137), the guide block (138) is arranged on the guide block (137), the guide block (138) is internally provided with a guide post (139) in a sliding sleeve, the end part of the guide post (139) extends into the rectangular groove (136) and is arranged in a sliding sleeve, one end of the guide post (139) far away from the rectangular groove (136) is respectively fixedly provided with a rectangular groove (136), the guide post (143) is respectively provided with a guide rod (142) fixedly arranged between two upper sliding plates (142) and a lower sliding plate (142) respectively arranged on the vertical guide rod (132), a guide rod (144) is fixedly arranged on one side of a transmission rod (141), the guide rod (144) is perpendicular to the guide direction of a guide rod (142), a sliding block (145) is sleeved on the guide rod (144) in a sliding mode, a lifting rod (146) is fixedly arranged on one side of the sliding block (145), the rotating rod (140) is rotatably sleeved in the lifting rod (146), a lifting assembly is fixedly arranged at the top end of the lifting rod (146), the lifting assembly comprises a lifting rod (147), the lifting rod (147) is located between two groups of material positioning area outer frames (13), and V-shaped groove supports (148) are respectively and fixedly arranged at two ends of the lifting rod (147).
4. The four-way automatic feeding device for the rock-fill dam panel reinforcing mesh according to claim 3, wherein the conveying device (3) comprises a screw rod module II (31), the screw rod module II (31) is installed on one side of the top of the sliding table (23), the screw rod end of the screw rod module II (31) is in transmission connection with the output end of the motor II (311), a sliding block (313) is installed on the screw rod in a threaded connection mode, the sliding block (313) slides in a sliding groove (312) on the top of the sliding table (23), a bearing plate (32) is fixedly installed on the sliding block (313), the bearing plate (32) is of an inverted L-shaped plate structure and is provided 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 guide rail motor (331), the vertical plate of the bearing plate (32) is fixedly connected to the sliding block (313), a plurality of spaced guide wheels (321) are arranged on the outer side of the vertical plate of the bearing plate (32), a sliding channel in the vertical direction is formed, a sliding rod (332) of a U-shaped structure is arranged in the sliding channel in a sliding mode, a sliding rod (332) is fixedly arranged in the sliding rod (334), a gear (334) is fixedly arranged in the sliding rod (334), and a rack (334) is fixedly arranged on the inside the sliding rod (332) and is fixedly arranged on the sliding rod (334) and is close to one end of a lifting arm (33) and is fixedly arranged on the lifting arm (33).
5. The four-way automatic feeding device for the reinforced mesh of the rock-fill dam panel according to claim 4, wherein the binding device (4) comprises a screw rod module III (41) and a binding manipulator (42), the screw rod module III (41) is located on one side of the bottom end of the sliding table (23), the binding manipulator (42) comprises a first mechanical arm and a binding manipulator (429), the first mechanical arm comprises a rotating motor (423), a worm wheel (422) and a base (421) of a cavity structure, the top end of the base (421) is fixedly arranged on a sliding block of the screw rod module III (41), the rotating motor (423) is fixedly arranged on the outer wall of the base (421), the output end of the rotating motor (423) penetrates into a cavity of the base (421) and is fixedly provided with a worm, the worm wheel (422) is rotatably arranged in the cavity of the base (421), the worm wheel (422) is meshed with a worm wheel shaft fixedly connected with the worm wheel shaft (422) to the outside of the base (421) and is fixedly provided with a driving arm seat (424), the driving arm seat (424) is connected with a large arm (425) through a first joint driving unit (427), the bottom end of the large arm (425) is fixedly connected with a small arm (428) through a second joint driving unit, and the small arm (428) is fixedly connected with the small arm (428).
6. The four-way automatic feeding device for the rock-fill dam panel reinforcing mesh according to claim 5, wherein the welding device (5) comprises a screw rod module IV (51) and a welding manipulator (52), the screw rod module IV (51) is located at the bottom end of the sliding table (23) and far away from one side of the screw rod module III (41), the welding manipulator (52) comprises a second mechanical arm and a welding gun (521), the base of the second mechanical arm is fixedly connected to a sliding block of the screw rod module IV (51), and the welding gun (521) is installed on a small arm of the second mechanical arm.
7. The four-way automatic feeding device for the rock-fill dam panel reinforcing mesh according to claim 6, wherein the screw rod module II (31), the screw rod module III (41) and the screw rod module IV (51) are screw rod modules with the same model and similar functions, and the first mechanical arm and the second mechanical arm are mechanical arms with the same model and are suitable for controlling and driving by a control system (6) so as to realize cooperative and integrative operation.
8. The four-way automatic feeding device for the rock-fill dam panel reinforcing mesh according to claim 4, wherein guide grooves are symmetrically formed on two outer sides of the sliding rod (332), guide wheels (321) extend into the grooves in a sliding mode to form directional sliding, and a guide rail motor (331) is provided with a self-locking structure.
9. The four-way automatic feeding device for the reinforced mesh of the rock-fill dam panel according to claim 1 is characterized in that independent screw rod modules I (24) are respectively arranged on two groups of sliding tables (23), the sliding tables (23) are in transmission connection with screw rods in the screw rod modules I (24), the screw rods of the screw rod modules I (24) are in transmission connection with the output end of a motor I (241), and the two groups of sliding tables (23) can freely select cooperative construction or respectively adjust the positions of the sliding tables (23) on a guide rail (22) to perform independent construction operation.
10. A method for construction using the four-way automatic feeding device for a rock-fill dam face reinforcing mat according to any one of claims 1 to 9, comprising the steps of: s1, a feeding step: The steel bars are arranged in a steel bar storage bin (11), are conveyed to an outer frame (13) of a material receiving and positioning area through a transmission mechanism (12), and are lifted and transferred through a pushing transfer mechanism, so that a lifting rod (147) transfers the steel bars from a V-shaped groove at one end of the outer frame (13) of the material receiving and positioning area to a V-shaped groove at the other end, the steel bars are arranged and transposed, and the steel bars are conveniently grasped by a grasping manipulator (34), so that the accuracy and the continuity of grasping and paving of the subsequent steel bars are improved; S2, node identification: Scanning and identifying the construction area through the positioning device (2), acquiring positions of the reinforcing steel bar mesh holes and reinforcing steel bar nodes by using the 3D camera (21), and transmitting node position information obtained by identification to the control system (6); S3, grabbing and paving the reinforcing steel bars: The control system (6) controls the transportation device (3) to operate according to the node position information, so that the grabbing manipulator (34) grabs the steel bars conveyed by the feeding device (1), the first screw module (24) drives the sliding table (23) and the grabbing manipulator (34) to adjust the position along the length direction of the steel bar storage bin together, the second screw module (31) drives the sliding block (313) and the grabbing manipulator (34) to adjust the position along the width direction of the steel bar storage bin together, and the guide rail motor (331) drives the gear (333) to move in an meshing way with the rack (334) to drive the sliding bar (332) to lift, so that the lifting arm (33) and the grabbing manipulator (34) are driven to move up and down together, displacement adjustment is realized, and the grabbing manipulator (34) lays the steel bars to the corresponding node positions; S4, node binding: The control system (6) controls the displacement adjustment step in the implementation S3 to move the binding manipulator (42) of the binding device (4) to the position of the steel bar node, then the rotating motor (423) drives the worm wheel (422) to drive the driving arm seat (424) to rotate, and the two groups of joint driving units drive the large arm (425) and the small arm (428) to move, so that the binding manipulator (429) carries out binding fixation on the steel bar node; S5, node welding: The control system (6) controls the displacement adjustment step in the implementation S3, the welding gun (521) of the welding device (5) is moved to the position of the binding-completed reinforcing steel bar node, and the reinforcing steel bar node is welded and connected by the welding gun (521); S6, circularly constructing: The control system (6) controls the feeding device (1), the conveying device (3), the binding device (4) and the welding device (5) to circularly execute the steps according to the node position information in the construction area so as to complete the automatic construction of the reinforced net of the face plate of the rock-fill dam.

Description

Four-way automatic feeding device and method for reinforced mesh of rock-fill dam panel Technical Field The invention relates to the technical field of reinforcement mesh processing, in particular to a four-way automatic feeding device and method for a reinforcement mesh of a rock-fill dam panel. Background The concrete face plate of the rock-fill dam is a core structure of a dam body seepage-proofing system, and the safety, durability and integrity of the concrete face plate are directly related to the safety, stability and long-term operation of engineering. The reinforcing mesh is used as a framework in the panel, plays important roles in resisting temperature stress, shrinkage stress, uneven settlement and the like, and the construction quality directly determines the cracking resistance and the structural reliability of the panel. The Chinese patent document (publication number: CN 108867572A) discloses a trackless trolley for transferring reinforced meshes of a rock-fill dam panel and a construction method, wherein a plurality of traveling tire devices are arranged at the bottom of a trolley frame, the traveling tire devices are connected with the trolley frame through a lifting mechanism, and a plurality of lifting hooks are further arranged at the bottom of the trolley frame. The construction method comprises the following steps of adjusting the height of the trolley to adapt to a construction site through the cooperation of a lifting mechanism and a lifting hook when the steel bar net is transported on a post-pouring block by a travelling tire device of the trolley, hanging the steel bar net by the lifting hook, transporting the steel bar net to a set position by the trolley, moving the trolley to other columns after the arrangement of the steel bar net in the current column is completed, and continuing the steps, wherein the transportation of the steel bar net is realized through the steps. Through the liftable walking tire device that sets up, can adapt to the quick dress of hanging, transportation, the quick installation construction of taking one's place of reinforcing bar net piece when various panel thickness in panel waters earlier and later waters the piece construction. At present, in the construction process of the reinforced bar net of the face plate of the rock-fill dam, manual or semi-mechanized modes are adopted for operation, the reinforced bars are usually required to be manually conveyed, the longitudinal and transverse reinforced bars are paved one by one, and then constructors perform operations such as positioning, binding or welding on steep dam slopes to form an integral reinforced bar net structure; In the process, the labor intensity is high, the construction efficiency is low, and because the arrangement of the steel bars and the node treatment mainly depend on manual experience, key parameters such as the spacing of the steel bars, the thickness of a protective layer and the like are easy to be difficult to accurately control; meanwhile, the quality of binding nodes is greatly influenced by the proficiency of workers, and the problems of uneven spacing, insufficient lap joint length, loose nodes and the like are easy to occur, so that the overall structure quality of the reinforcing mesh is influenced; in addition, various improvement measures in the prior art are only optimized individually for the steel bar transportation, connection or local construction links, and a plurality of construction procedures are lacked for system integration, so that a large amount of manual connection and adjustment are still needed among the construction links, and a continuous and automatic cooperative operation flow is difficult to form, so that the overall construction efficiency is not only influenced, but also the laying precision of the steel bar mesh and the node connection quality are difficult to ensure; In addition, the steel bars are generally fed in a centralized stacking or unidirectional conveying mode, so that the steel bars at the same centralized point are different in length, the selection difficulty is increased, the direction may need to be adjusted after grabbing, the steel bars which are centralized to stack are often in a state of mutual leaning, staggered stacking or disordered in posture before feeding and grabbing, and the problems of deviation of the grabbing center, unstable clamping posture, mistaken grabbing of multiple or missing grabbing and the like easily occur when grabbing equipment is used for taking materials from multiple steel bars, so that the stability and accuracy of steel bar grabbing and paving are affected. Disclosure of Invention The invention provides a four-way automatic feeding device and a four-way automatic feeding method for a concrete-filled dam panel reinforcing mesh, which are characterized in that a rectangular structure formed by long and short reinforcing steel bar storage areas is arranged in a reinforcing steel bar storage bin, p