CN-122013732-A - Intelligent construction device and method for reinforced net of rock-fill dam panel

CN122013732ACN 122013732 ACN122013732 ACN 122013732ACN-122013732-A

Abstract

The invention relates to the technical field of reinforcement mesh processing, in particular to an intelligent construction device and method for a reinforcement mesh of a face plate of a rock-fill dam, which are characterized in that two movable groups of sliding tables are arranged on a guide rail, and a positioning device, a conveying device, a binding device and a welding device are integrated on the sliding tables, so that equipment can form a continuous operation system integrating recognition, grabbing, laying, binding and welding around the reinforcement mesh of the face plate of the rock-fill dam, the problems of difficult positioning, messy carrying and low node processing efficiency in the construction process of the reinforcement mesh can be automatically treated, multi-working collaborative linkage can be completed under the unified control of a control system, the paving precision of the reinforcement mesh, the node connection quality and the integral construction efficiency of the reinforcement mesh can be improved, and meanwhile, the two groups of sliding tables can be flexibly switched between collaborative operation and independent operation states according to construction requirements, so that the device still has good adaptability and construction coverage capability under the complex dam face environment.

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. An intelligent construction device for a rock-fill dam panel reinforcing mesh, which is characterized by comprising: the feeding device (1) is used for storing the reinforcing steel bars and conveying the reinforcing steel bars to a construction area; The positioning device (2) is used for identifying the node position of the reinforcing mesh of the construction area and establishing node coordinate information; the conveying device (3) is used for grabbing the steel bars conveyed by the feeding device and paving the steel bars to the node positions determined by the positioning device; the binding device (4) is used for binding and fixing the paved steel bar nodes; The welding device (5) is used for carrying out welding connection on the bound steel bar nodes; The control system (6) is connected with the feeding device (1), the positioning device (2), the conveying device (3), the binding device (4) and the welding device (5) and is used for controlling the conveying device (3) to grab and lay the reinforcing steel bars according to the node position information acquired by the positioning device (2) and controlling the binding device (4) and the welding device (5) to construct reinforcing steel bar nodes; The cooperative automatic construction of reinforcement conveying, node positioning, reinforcement laying, node binding and welding is realized, so that the integrated intelligent construction of the reinforced mesh of the rock-fill dam panel is completed.
2. The intelligent construction device for the reinforced net of the rock-fill dam panel according to claim 1, wherein the feeding device (1) comprises a reinforced material bin (11) and a connecting seat (14), the reinforced material bin (11) comprises two groups of oppositely arranged long reinforced material storage areas and two groups of oppositely arranged short reinforced material storage areas, the long reinforced material storage areas and the short reinforced material storage areas are sequentially connected to form a rectangular structure, the connecting seat (14) is arranged at the connecting position of the long reinforced material storage areas and the short reinforced material storage areas, a guide rail (22) is fixedly arranged between two adjacent connecting seats (14) along the long reinforced material direction, two groups of sliding tables (23) are slidably arranged between the two oppositely arranged guide rails (22), a first screw rod module (24) is independently connected to each group of sliding tables (23) in a transmission mode, the first screw rod module (24) is arranged on the guide rail (22), and the positioning device (2), the conveying device (3), the binding device (4) and the welding device (5) are arranged on the sliding tables (23).
3. The intelligent construction device for the reinforcing mesh of the rock-fill dam panel according to claim 2, wherein the positioning device (2) comprises a 3D camera (21), the 3D camera (21) is respectively arranged in the middle of two groups of sliding tables (23) through a bracket, so that the recognition and positioning of the holes and binding points of the reinforcing mesh are realized, and a position basis is provided for the subsequent binding and welding procedures.
4. The intelligent construction 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 guide wheels (321) at intervals 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 (334) is fixedly arranged in the sliding rod (332), a horizontal bar (334) is fixedly arranged in the sliding rod (334), a gear (334) is fixedly arranged in the sliding bar (334) and is arranged in the sliding bar) and is fixedly arranged in the sliding channel, and is fixedly arranged in the sliding bar (334) in a mode, and is adjacent to one end (33) and is fixedly arranged on a lifting arm.
5. The intelligent construction device for the reinforced net 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 hand (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 arranged in the cavity of the base (421) in a rotating mode, the worm wheel (422) is meshed with a worm transmission mode, a worm wheel shaft fixedly connected with the worm wheel shaft extends 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 intelligent construction device for the reinforced net of the rock-fill dam panel 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 intelligent construction device for the reinforced net of the rock-fill dam panel 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 intelligent construction 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 intelligent construction device for the reinforced net 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 constructing by using the intelligent construction device for the reinforced net of the face plate of the rock-fill dam according to any one of claims 1 to 9, which is characterized by comprising the following steps: s1, a feeding step: The steel bars are stored and conveyed by the feeding device (1), are placed in the steel bar storage bin (11), and are conveyed to the transfer table (13) of the construction area by the transmission mechanism (12) under the action of the inclined plane of the steel bar storage bin (11); 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

Intelligent construction device and method for reinforced net of rock-fill dam panel Technical Field The invention relates to the technical field of reinforcement mesh processing, in particular to an intelligent construction 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, continuous and automatic collaborative operation flows are difficult to form, the overall construction efficiency is not only influenced, and the laying precision of the steel bar meshes and the node connection quality are also difficult to ensure. Disclosure of Invention According to the intelligent construction device and method for the reinforced bar net of the rock-fill dam panel, two movable groups of sliding tables are arranged on the guide rail, and the positioning device, the conveying device, the binding device and the welding device are integrated on the sliding tables, so that a continuous operation system integrating recognition, grabbing, laying, binding and welding can be formed by constructing around the reinforced bar net of the rock-fill dam panel, automatic treatment can be realized according to the problems of difficult positioning, mess in carrying and low node treatment efficiency in the construction process of the reinforced bar net, multi-working coordinated linkage can be completed under the unified control of the control system, the paving precision of the reinforced bar net, the node connection quality and the overall construction efficiency can be improved, and meanwhile, the two groups of sliding tables can be flexibly switched to the coordinated operation and the independent operation state according to the