• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a production plant (18) for producing a three-dimensional reinforcing element for a reinforced concrete element, comprising a receiving table (19) for receiving the reinforcing element and a manipulation device (21) for manipulating and joining individual parts of the reinforcing element. The manipulation device (21) comprises a first articulated-arm robot (22) with a gripping device (24) for positioning reinforcing mats and / or spacers of the reinforcing element and a second articulated-arm robot (23) with a welding device (25) for welding the Spacer with the reinforcement mats.
    公开号:AT517912A1
    申请号:T50900/2015
    申请日:2015-10-21
    公开日:2017-05-15
    发明作者:
    申请人:Hubert Ing Rapperstorfer；
    IPC主号:
    专利说明:

    The invention relates to a manufacturing plant for producing a three-dimensional reinforcing element for a reinforced concrete element, and to a method for producing the three-dimensional reinforcing element on the production line.
    From US 4,667,707 a device for the production of three-dimensional wire structures is known. This device has a complex structure and is not very flexible with respect to the production of various wire structures.
    The present invention has for its object to provide an apparatus for producing a reinforcing element, which can be used flexibly for the production of various reinforcing elements, as well as to provide a method for operating such a device.
    This object of the invention is achieved by the device according to claim 1, or by the method according to claim 15.
    The invention relates to a production plant for producing a three-dimensional reinforcing element, comprising a receiving table for receiving the reinforcing element and a manipulation device for manipulating and joining individual parts of the reinforcing element. The manipulation device comprises a first articulated robot with a gripping device for positioning reinforcing mats and / or spacers of the reinforcing element and a welding device for materially connecting the spacers with the reinforcing mats.
    An advantage of the inventive design of the manufacturing plant is that the flexibility of the manufacturing plant over known and conventional manufacturing equipment can be increased by the arrangement of articulated robots. Thus, differently designed reinforcing elements can be manufactured on this automatable production line. Only by combining the first articulated robot with the gripping device and the second articulated arm device with the welding device on a common manipulation device, this high flexibility can be achieved.
    Furthermore, it can be provided that the welding device is arranged on a second articulated robot. The advantage here is that thereby the flexibility of the manufacturing plant can be increased.
    Furthermore, it may be expedient that the first and the second articulated arm robots are each arranged by means of a guide unit on a common linear guide and thus relative to each other and relative to the receiving table in a longitudinal direction of the receiving table are displaceable. In this case, it is advantageous that the two articulated-arm robots can have increased flexibility and, as a result, reinforcing elements with increased longitudinal extent can also be produced by the two articulated-arm robots.
    Alternatively, it can be provided that the first and the second articulated robot are designed as a dual-arm robot and have a common base unit. The advantage here is that a dual-arm robot with common base unit is simpler, as two independently movable robot. Therefore, the initial cost of such a dual-arm robot can be kept low, whereby the profitability of the manufacturing plant can be increased.
    In addition, it can be provided that a second manipulation device is formed, which comprises a third articulated robot with a gripping device for positioning reinforcing mats and / or spacers of the reinforcing element and a fourth articulated robot with a welding device for materially connecting the spacers with the reinforcing mats, the second Manipulation device is arranged on the opposite side of the first manipulation device of the receiving table. It is advantageous that the flexibility and the processing speed of the production line can be increased by the second manipulation device. In particular, both manipulation devices can be used for the simultaneous machining of the reinforcement element.
    Also advantageous is an embodiment according to which it can be provided that at least one of the articulated-arm robots has a coupling device in order to be able to receive differently configured gripping devices and / or welding devices. The advantage here is that, for example, several different gripping devices and / or welding devices can be designed for different spacers, these different gripping devices and / or welding devices can be selectively attached to the various articulated robots.
    According to a development, it is possible that the welding device is designed as a resistance welding device. In particular, a resistance welding device is well suited for welding a variety of rod-shaped elements. In addition, the necessary welding time can be kept as low as possible in a resistance welding ßvorrichtung, whereby the efficiency of the manufacturing plant can be increased.
    Furthermore, it may be expedient for a lifting unit, in particular a crane, to be designed for manipulating the individual parts and / or the entire reinforcing element. Through the crane, the reinforcing element, which has a high mass, can be easily and efficiently manipulated. In particular, the reinforcing element can be passed on to a further processing plant, such as a concreting plant for producing a double wall.
    In addition, it can be provided that a provision device for cutting and providing the spacers and / or reinforcing mats is formed. The advantage here is that the spacers can be cut directly on the pro duction plant, and thus the flexibility of the manufacturing plant can be increased.
    Furthermore, it can be provided that at least one conveyor unit is arranged on a longitudinal side of the receiving table, wherein the conveyor unit is designed for feeding spacers to the articulated robot. By the conveyor unit, the spacers can be fed to the articulated robots. As a result, the processing time can be minimized, since the articulated robot with the gripping head only have to travel the shortest possible distances.
    According to a particular embodiment, it is possible for the delivery unit to be in the form of a revolving carrier unit, in particular a chain, wherein the carrier unit comprises a plurality of carrier elements which serve to receive a respective spacer. Such a circumferential carrier unit can accommodate a plurality of spacers, the spacers can be steadily fitted to the carrier unit and removed from this again.
    According to an advantageous development, provision may be made for a manipulation unit, in particular an articulated-arm robot, to be arranged on the front side of the receiving table, which is designed for equipping the conveyor unit with spacers. It is advantageous that such a articulated robot can be used, for example, for equipping two conveyor units. In addition, an articulated robot can have a high degree of flexibility in order to be able to accommodate a wide variety of spacers.
    In particular, it may be advantageous that the gripping device comprises a gripping head, which has a first and a second gripping fingers, wherein the two gripping fingers each have a V-shaped groove on the side facing each other and wherein the two gripping fingers each have diametrically opposite recesses and thereby meshing mesh. By the V-shaped groove or the opposite recesses of the gripping fingers can be achieved that different diameters of the spacers can be advantageously used with the gripping fingers, which can be achieved by the V-shaped groove of the gripping finger that the spacers centered and properly aligned in the gripper direction can be recorded
    In addition, it can be provided if the front side of the receiving table, an injection molding device is formed, which serves for overmolding at least one end portion of the rod-shaped spacer with a protective cap.
    The advantage here is that the pre-cut spacers can be provided with protective caps by the injection molding device, wherein the sprayed directly on the spacers protective caps can have a high strength.
    Furthermore, a method for producing a three-dimensional reinforcing element is provided, the method comprising the following method steps: providing a first reinforcing mat with metallic mat rods welded at intersections at an angle to each other, wherein the first reinforcing mat is positioned on and received by a receiving table; - Providing and positioning of rod-shaped spacers relative to the mat rods of the first reinforcing mat by means of a gripping device of a first articulated robot; Welding the spacers to the mat bars of the first reinforcing mat by means of a welding device arranged on a second articulated arm robot, the mat bars being held in position during the welding operation by the gripping device of the first articulated arm robot; Providing and positioning a second reinforcing mat at a normal distance from the first reinforcing mat by means of the gripping device of the first articulated-arm robot; - Welding the spacers with the mat bars of the second reinforcing mat by means of the arranged on the second articulated robot robot welding device.
    An advantage of the method is that three-dimensional reinforcing elements can be produced with a high stability or strength by the individual process steps of reinforcing mats or spacers. In addition, the three-dimensional reinforcing elements can be designed differently and produced by the manufacturing plant or the process steps with a high degree of automation. In particular, the flexibility in the production of reinforcement elements can be increased so far by the production plant or by the method that a lot size one can be produced. In other words, each reinforcing element can be designed differently.
    According to a development, it is possible that before the positioning of the rod-shaped spacers in the manufacturing plant, these are cut to length in a supply device. The advantage here is that the rod-shaped spacers can be tailored exactly for the required application, with different-length spacers just-in-time and can be made in required quantities. As a result, the storage of the spacers can be kept as low as possible.
    Furthermore, it may be expedient if the rod-shaped spacers are conveyed to the first articulated-arm robot by means of a conveyor unit, which is arranged on a longitudinal side of the receiving table. The advantage here is that the articulated robot has to move only small trajectories and thereby the production speed of the reinforcing element can be increased or the cost of the manufacturing process can be increased.
    In addition, it can be provided that the rod-shaped spacers are conveyed to the conveyor unit by means of a manipulation unit, in particular an articulated arm robot. The advantage here is that the conveyor unit can be equipped by the articulated robot, whereby the most efficient operation of the conveyor unit can be achieved.
    Furthermore, it can be provided that the rod-shaped spacers are provided on at least one end portion with protective caps prior to positioning in the reinforcement element. The advantage here is that the protective caps cover the end portions of the spacers and thus on the one hand prevent damage to the support table and beyond the corrosion of a built-spacer can prevent.
    In addition, it can be provided that prior to positioning the second reinforcing mat positioned at a certain distance from the first reinforcing mat support rods are attached to the rod-shaped spacers to provide a support plane for the second reinforcing mat. The advantage here is that the second reinforcing mat can be held by the support rods in position, whereby the second reinforcing mat can be pre-positioned and the articulated robots can be used for exact positioning or welding of the second reinforcement mat.
    Furthermore, it can be provided that the thickness of the spacers and / or the mat rods is determined before the welding of the spacers with the mat rods by means of the welding device. The advantage here is that thereby the strength of the burn-in depth can be determined during the welding process. Thus, a certain strength of the weld can be ensured.
    In addition, it can be provided that the receiving table for receiving the reinforcing element is designed as a horizontally oriented straightening table for placing the reinforcing element.
    For a better understanding of the invention, this will be explained in more detail with reference to the following figures.
    In each case, in a highly simplified, schematic representation:
    Fig. 1 is a perspective view of a reinforcing element;
    Fig. 2 is a perspective view of an embodiment of a pro duction plant for producing the reinforcing element;
    Fig. 3 is a plan view of an embodiment of the manufacturing plant for producing the reinforcing element;
    Fig. 4 is a side view of an embodiment of the manufacturing plant for producing the reinforcing element;
    5 is a front view of an embodiment of the manufacturing plant for producing the reinforcing element.
    Fig. 6 is a front view of another embodiment of the manufacturing plant for producing the reinforcing element;
    Fig. 7 is a perspective view of an embodiment of a gripping device of the manufacturing plant;
    8 is a perspective view of an embodiment of the gripping head of the gripping device;
    9 shows a side view of an embodiment of the gripping head of the gripping device;
    10 is a plan view of an embodiment of a conveyor unit.
    11 is a perspective view of an embodiment of the conveyor unit;
    Fig. 12 is a perspective view of an embodiment of the welding apparatus;
    13 is a schematic representation of a further embodiment of the welding device;
    FIG. 14 is a perspective view of another embodiment of the welding apparatus; FIG.
    Fig. 15 is a perspective view of a lifting head of a lifting unit;
    16 is a perspective view of another embodiment of a
    Gripping device of the manufacturing plant.
    By way of introduction, it should be noted that in the variously described embodiments, the same parts are provided with the same reference numerals or identical component names, wherein the disclosures contained in the entire description can be mutatis mutandis transferred to the same parts with the same reference numerals or component names. Also, the location information chosen in the description, such as top, bottom, side, etc. related to the immediately described and illustrated figure and these position information in a change in position mutatis mutandis to transfer to the new location.
    FIG. 1 shows a three-dimensional reinforcement element 1 shown by way of example in a perspective view.
    The reinforcement element 1 can be used as a reinforcement or reinforcement in reinforced concrete construction. The reinforcing element 1 has a first reinforcing mat 2 and a second reinforcing mat 3, which have a first mat plane 4 and a second mat plane 5, respectively. The two mat levels 4, 5 are defined, in each case by the outermost points of the reinforcing mats 2, 3.
    The reinforcing mats 2, 3 each have a plurality of mat rods 6, which are arranged at an angle to each other. This results in a lattice shape, wherein the mat bars 6 are welded together in nodes 7 at which they overlap. The mat bars 6 are preferably made of a reinforcing steel. A reinforcing mat 2, 3 is a lattice structure of bars welded together. The distance between the individual bars to each other can be regular or irregular.
    The reinforcement mats 2, 3 can be purchased as standard finished parts and cut accordingly on site. In an alternative variant, it is also possible to cut off the mat rods 6 in the course of the manufacturing process of the reinforcing element 1 on site and to weld them together.
    As further shown in FIG. 1, rod-shaped spacers 8 are provided, which keep the individual reinforcing mats 2, 3 spaced from each other in a desired and predefined normal distance 9. The normal distance 9 is the distance in which the two mat levels 4, 5 of the reinforcing mats 2, 3 are arranged spaced from each other. The rod-shaped spacers 8, which are made of a metallic material, are protected by a welding
    Connection 10 connected to the mat rods 6. The welded connection is preferably realized by resistance welding, in particular by resistance spot welding. The advantage here is that the resistance spot welding process is easy to automate, and that no filler material is needed in this welding process.
    As an alternative to a resistance welding, however, it is also possible for the spacers 8 to be connected to one another, for example, by a MAG welding method or by a laser welding. It is advantageous if at least three spacers 8 are provided on a reinforcing element 1. As a result, the reinforcing element 1 rest well on the spacers 8.
    Furthermore, it can be provided that the spacers 8 protrude in a direction 11 facing away from the second reinforcing mat 3 about a first projection 12 with respect to the first mat plane 4.
    Furthermore, it can be provided that the spacers 8 are arranged protruding in a direction away from the first reinforcing mat 2 direction 13 about a second projection 14 relative to the second mat plane 5.
    Furthermore, it can be provided that in addition to straight spacers 8 and oblique spacers 8 are arranged on the reinforcing element 1. The oblique spacers 8 preferably extend between the first mat plane 4 and the second mat plane 5. Furthermore, the oblique spacers 8 are preferably arranged in pairs V-shaped, whereby the reinforcing element 1 increased rigidity can be imparted. In particular, it can be achieved that a parallel displacement of the two reinforcing mats 2, 3 is opposed to each other increased resistance or increased strength. The oblique spacers 8 may preferably have a smaller diameter than the straight spacers 8. In addition, it may be provided that the oblique spacers 8 have the same diameter as the mat rods 6.
    Furthermore, it can be provided that in the region of the second reinforcing mat 3 support rods 15 are formed. These support rods 15 may be particularly advantageous in the production of the reinforcing element 1, since they can be well connected to the spacers 8. As a result, a support plane can be formed on which the second reinforcing mat 3 can be placed in the manufacturing process. It can thus be achieved that the second reinforcing mat 3 is already arranged approximately in its final position during the manufacturing process prior to welding to the spacers 8.
    Furthermore, it may be expedient that protection caps 17 are arranged on at least one end section 16 of the spacers 8, which protect the spacer 8 against corrosion or serve as a support element in the manufacturing process.
    The described reinforcement elements 1 are preferably used for the production of precast concrete elements. For example, it is conceivable that the reinforcing element 1 is used for producing a double wall. Furthermore, it is also conceivable that the reinforcing element 1 is used for producing an element ceiling.
    2 shows a perspective view of an exemplary embodiment of a production plant 18 for producing the reinforcing element 1. As can be seen in FIG. 2, the production plant 18 comprises a receiving table 19, which serves to receive the reinforcing element 1. The receiving table 19 may have a flat table surface 20. The reinforcement element 1 or its main components 2, 3, 8 can rest on the table surface 20 for processing in the production plant 18.
    In a further, not shown, embodiment variant is also conceivable that the receiving table 19 has a contoured surface, which is designed specifically for receiving the individual parts of the reinforcing element 1. Moreover, it is possible that 19 clamping elements are arranged on the receiving table, which serve for holding the reinforcing element 1 and for holding the main components 2, 3, 8 of the reinforcing element 1.
    The production facility 18 furthermore has a manipulation device 21, which comprises a first articulated-arm robot 22 and a second articulated-arm robot 23. At the first articulated robot 22, a gripping device 24 is arranged, by means of which the reinforcing mats 2, 3 or the rod-shaped spacers 8 can be gripped and manipulated. At the second articulated robot 23, a welding device 25 is arranged, which serves for welding the spacer 8 with the reinforcing mats 2, 3.
    The welding device 25 may preferably be designed as a resistance welding device. Alternatively, it is also conceivable that the welding device 25 for performing an arc welding, such as by means of sheath electrodes, or arc welding under inert gas, in particular MAG, is formed.
    Furthermore, it can be provided that the first articulated arm robot 22 and the second articulated arm robot 23 each have a guide unit 26, and are arranged displaceably on a linear guide 27 by means of the guide unit 26. In particular, it can be provided that the linear guide 27 has one or more guide rails, in which the guide unit 26 engages positively. By means of the guide unit 26, the articulated-arm robots can be displaceably guided in a longitudinal direction 28. The longitudinal direction 28 preferably runs parallel to a longitudinal side 29 of the receiving table 19.
    The guide unit 26 can furthermore have a drive unit 30, by means of which the guide unit 26 and thus the articulated arm robots 22, 23 can be displaced in the longitudinal direction 28. The drive unit 30 may for example be connected to a pinion and engage in a arranged on the linear guide 27 rack.
    In an alternative embodiment, it is also conceivable that the drive unit 30 is not arranged on the guide unit 26, but that the drive unit 30 is arranged on the linear guide 27 and that the guide unit 26 is driven for example by a traction means such as a toothed belt.
    In yet another embodiment, it is also conceivable that the drive unit 30 is coupled to a ball screw, wherein the guide unit 26 may comprise a spindle nut.
    The drive unit for moving the guide unit 26 is not limited to the variants described, but any drive unit known to the person skilled in the art can be realized.
    The first articulated-arm robot 22 with the gripping device 24 is preferably arranged next to a first end face 31 of the receiving table 19. The second articulated arm robot 23 with the welding device 25 is preferably arranged next to a second end face 32 of the receiving table 19.
    As is further apparent from FIG. 2, provision can be made for a second manipulation device 33 to be formed, which has a third articulated-arm robot 34 and a fourth articulated-arm robot 35. The third articulated robot 34 may also receive one of the gripping devices 24 and the fourth articulated robot 35 one of the welding devices 25. In particular, it can be provided that the second manipulation device 33, together with the third articulated arm robot 34 and the fourth articulated arm robot 35, represents a mirrored image of the manipulation device 21. The second manipulation device 33 may be arranged on the receiving table 19 on the opposite side of the first manipulation device 21.
    In a first variant for the operation of the production facility 18, it is conceivable that the first manipulation device 21 processes the reinforcement element 1 on a table half of the reception table 19 and that the second manipulation device 33 processes the reinforcement element 1 on the second table half of the reception table 19. Alternatively, it is also conceivable that all articulated robots 22, 23, 34, 35 can approach or reach the complete width 36 of the receiving table 19 and the complete length 37 of the receiving table 19. In such an embodiment variant, the individual tools of the articulated robot 22, 23, 34, 35 cooperate cooperatively. For example, it is conceivable for a reinforcing mat 2, 3 to be lifted by both the first articulated-arm robot 22 and the third articulated-arm robot 34.
    The articulated-arm robots 22, 23, 34, 35 are preferably designed as six-axis robots, with a linear axis being realized by the linear guide 27 in each case a seventh axis.
    2, it may be provided that a conveyor unit 38 is arranged on the longitudinal side 29 of the receiving table 19, which conveyor unit 41 serves for supplying spacers 8 to the articulated-arm robots 22, 34. The conveying unit 38 can be designed, for example, in the form of a circulating carrier unit, for example a chain, wherein a plurality of supporting elements 39 can be arranged on the chain, which serve for folding the rod-shaped spacers 8. As can be seen from FIG. 2, on both longitudinal sides 29 of the receiving table 19 such a conveying unit 38 can be arranged for the provision of spacers 8.
    The conveying unit 38 can be equipped with the spacers 8 by means of a manipulation unit 40, which is arranged on the first end face 31 of the receiving table 19. In particular, it is conceivable that only one manipulation unit 40 is designed for equipping two conveyor units 38.
    The manipulation unit 40 can be designed, for example, in the form of an articulated-arm robot, which is equipped with the gripping device 24 and can thus manipulate the rod-shaped spacers 8.
    In a first embodiment variant, it is conceivable that the bar-shaped spacers 8 are manufactured in an external production plant and are separated in the production plant 18 and supplied to the production process. For example, the spacers 8 can be supplied loosely to a separating station and removed from the manipulation unit 40. In such an embodiment, it may be necessary that the rod-shaped spacers 8 have a uniform and equal length.
    In an alternative variant it can be provided that a supply device 41 is formed, in which the rod-shaped spacers 8 cut to the neces sary length and the manipulation unit 40 are provided.
    For example, the delivery device 41 may be configured to cut and provide the rod-shaped spacers 8 with a bar stock. In a further embodiment, it can be provided that the raw material for the spacers 8 is wound on a roll and unwound from the supply device 41 and then cut to length.
    Furthermore, it can be provided that the manufacturing plant 18 comprises one or more injection molding devices 42, by means of which the protective caps 17 can be sprayed onto the rod-shaped spacers 8. Thus, it is possible that the rod-shaped spacers 8 are provided with the protective cap 17 after cutting.
    Fig. 3 shows a plan view of the embodiment of the manufacturing plant 18, which is shown in perspective in Fig. 2, wherein in turn for the same parts the same reference numerals or component designations as in the preceding Figures 1 and 2 are used. In order to avoid unnecessary repetition, reference is made to the detailed description in the preceding Figures 1 and 2 or reference.
    In the illustration in Fig. 3, the reinforcing element 1 is placed on the table surface 20 of the receiving table 19 and is processed by the manipulation devices 21,33.
    FIG. 4 shows a side view of the embodiment variant of the production plant 18 shown in FIG. 2, again using the same reference numerals or component designations for the same parts as in the preceding FIGS. 1 to 3. To avoid unnecessary repetition, reference is made to the detailed description in the preceding figures 1 to 3 or reference.
    Fig. 5 shows a view from the front viewed on the end face 32 of the embodiment of the manufacturing plant 18 of FIG. 2, again for the same
    Parts same reference numerals or component names as used in the preceding figures 1 to 4. In order to avoid unnecessary repetition, reference is made to the detailed description in the preceding figures 1 to 4 or reference.
    Fig. 6 shows a further embodiment of the manufacturing plant 18, wherein a view representation was selected according to the view in Fig. 5 and wherein again for the same parts the same reference numerals or component names as in the preceding Figures 1 to 5 are used. In order to avoid unnecessary repetition, reference is made to the detailed description in the preceding figures 1 to 5 or reference.
    As can be seen from FIG. 6, it can be provided that a flattening unit 43 is formed, which serves for manipulating the reinforcing element 1 or its components. The flattening unit 43 can be designed, for example, in the form of a crane, on which a specially designed mat and basket gripper can be arranged. In addition, a further supply device 41 may be formed, which is arranged in the vicinity of the manufacturing facility 18 and serves for Fierstellen of reinforcing mats 2, 3.
    In the following, the mode of operation of the production facility 18 or the individual method steps for the placement of the reinforcing element 1 will be described on the basis of a comparison of FIGS. 2-6.
    In a first method step, the first reinforcing mat 2 is placed on the receiving table 19. It can be provided that the first reinforcing mat 2 is not placed directly on the table surface 20 of the receiving table 19, but that on the receiving table 19 pad members 45 are arranged and thus the first reinforcing mat 2 is placed at a certain distance from the table surface 20 of the receiving table 19.
    The first reinforcing mat 2 can in this case be designed in the form of a tailored standard reinforcing mat. Alternatively, it is also conceivable that the first reinforcing mat 2 is made of individual mat bars 6 directly in the provision device 41 for reinforcing mats 2, 3.
    Now, if the first reinforcing mat 2 is placed on the receiving table 19, the orientation or position of the first reinforcing mat 2 can be controlled in a further method step, for this purpose it can be provided that a sensor unit is formed on the production system 18, which is provided with an optical detection means can detect the first reinforcing mat 2. The sensor unit may in particular be accommodated on one of the articulated-arm robots 22, 23, 34, 35, preferably on the gripping device 24 or on the welding device 25.
    For manipulating the first reinforcing mat 2, it may be provided that it is moved in the production plant 18 by means of the lifting unit 43. Alternatively, it can be provided that the first reinforcing mat 2 is positioned by means of the manipulation device 21 in the production plant 18, in particular by means of the first articulated arm robot 22.
    Now, if the position of the first reinforcing mat 2 is known, the rod-shaped spacers 8 can be received by the gripping device 24 of the first articulated robot 22 and the third articulated arm robot 34 and held to one of the mat bars 6 of the first reinforcing mat 2.
    Depending on the degree of automation, different variants are conceivable, such as the rod-shaped spacer 8 can be received by the gripping device 24.
    In a fully automated production plant 18, it is conceivable, for example, that the rod-shaped spacers 8 in the provisioning device 41 are cut to length according to the specifications and are taken out of the provisioning device 41 by the manipulation unit 40. Subsequently, in a further method step by means of the injection molding device 42, the protective cap 17 can be sprayed onto one or both end sections 16 of the spacers 8. Furthermore, the rod-shaped spacer 8 can be transferred from the manipulation unit 40 into the conveying unit 38, from which it can be conveyed in the longitudinal direction 28 to the transfer position, from where it is received by the gripping device 24. By the conveyor unit 38, the
    Travel of the gripping device 24 are minimized. Thus, the efficiency of the manufacturing facility 18 can be increased.
    In principle, all system parts for feeding the rod-shaped spacer 8 to the gripping device 24 can be omitted individually or in groups. For example, it is also conceivable that the gripping device 24 is manually equipped with the rod-shaped spacers 8 or that the gripping device 24 picks up the rod-shaped spacers 8 directly from the supply device 41 or approximately from a supply box.
    Now, if the rod-shaped spacer 8 is positioned near a mat rod 6 of the first reinforcing mat 2, then by means of the welding device 25, the spacer 8 can be welded to the mat rod 6. By repeating the aforementioned method steps, a plurality of rod-shaped spacers 8 can be welded to the first reinforcing mat 2.
    If the rod-shaped spacers 8 are fixed according to the specifications on the first reinforcing mat 2, the second reinforcing mat 3 can now be positioned at normal distance 9 to the first reinforcing mat 2 and the rod-shaped spacers 8 are welded to the mat bars 6 of the second reinforcing mat 3 with the welding device 25 ,
    There are various possibilities for positioning the second reinforcing mat 3. For example, the second reinforcing mat 3 can be held in position by the gripping device 24 of the articulated-arm robots 22, 34.
    Alternatively, the second reinforcing mat 3 may be held in position by the lifting head 44 of the lifting unit 43.
    In yet another embodiment variant, it is conceivable that support rods 15 are welded by the articulated arm robots 22, 23, 34, 35 at a certain distance from the first reinforcing mat 2 with the mat rods 6. These support rods 15 can subsequently serve to allow the second reinforcement mat 3 to be placed on the support rods 15 and thus positioned at the correct distance from the first reinforcement mat 2.
    After completion of the welding work for connecting the second reinforcing mat 3 with the rod-shaped spacers 8, the finished welded reinforcing element 1 can be taken from the receiving table 19 and conveyed away by means of the lifting unit 43 or by means of the gripping device 24.
    7 shows a perspective view of a possible embodiment variant of the gripping device 24. As can be seen from FIG. 7, it can be provided that the gripping device 24 comprises two gripping heads 46 which are designed to grip rod-shaped spacers 8. The gripping heads 46 may each have a first gripping finger 47 and a second gripping finger 48. Furthermore, an actuator can be formed by means of which the two gripping fingers 47, 48 can be closed or opened. The actuator 49 may be formed, for example in the form of a pneumatic cylinder. In addition, an opening sensor 50 may be formed, through which an open position or a closed position of the gripping fingers 47, 48 can be detected.
    As can further be seen from FIG. 7, a detection unit 51 can be arranged on the gripping device 24, by means of which, for example, the position of one of the reinforcement mats 2, 3 or the distance between the gripping device 24 and the reception table 19 can be detected. Furthermore, it can be provided that a further detection unit is arranged on the welding tongs.
    Furthermore, it is conceivable that the gripping device 24 has a coupling device 52, by means of which coupling device 52 the gripping device 24 is coupled to one of the articulated-arm robots 22, 23, 34, 35. The coupling device 52 can be designed, for example, as a quick-coupling unit, so that the gripping device 24 can be exchanged, for example, against a differently configured gripping device 24.
    8 shows a perspective view of a possible embodiment variant of the two gripping fingers 47, 48. As can be clearly seen in FIG. 8, a groove 53 is formed parallel to the longitudinal extent of the two gripper fingers on the two mutually facing gripping surfaces. The groove 53 may be formed, for example, V-shaped. By the two gegenüberlie ing V-shaped grooves of the two gripping fingers 47, 48 can be achieved that the rod-shaped spacers 8, which are preferably made of a round material centered and accurately positioned between the gripping fingers 47, 48 can be added. In addition, by the V-shaped groove 53 a wide variety of spacers 8 with a variety of diameters between the gripping fingers 47, 48 are clamped. Furthermore, it can be provided that recesses 54 are formed on the gripper fingers 47, 48, in particular adjacent to the groove 53, through which the gripping fingers 47, 48 can intermesh with one another. It can thereby be achieved that the gripping fingers 47, 48 can be closed to a minimum and thus, for example, also rod-shaped spacers 8 with a very small diameter can be clamped in the gripping head 46.
    Furthermore, it can be seen from FIG. 8 that a further gripping groove 55 can be arranged on the gripper fingers 47, 48, which is arranged transversely to the longitudinal extension of the gripping fingers 47, 48. By means of the further gripping groove 55, for example, the individual mat rods 6 of one of the reinforcing mats 2, 3 can be gripped. If, as shown in Fig. 7, two gripping heads 46 are arranged on the gripping device 24, it is necessary that the further gripping groove 55 is arranged at a certain angle in the gripping fingers 47, 48. It can thereby be achieved that by means of the further gripping groove 55 of the two juxtaposed gripping heads 46, a straight mat rod 6 can be gripped.
    As further shown in FIG. 8, a depression 56 can be provided in the gripping fingers 47, 48, in particular on their side facing one another. The recess 56 may be provided in particular as a free space for receiving the protective cap 17 of the spacer 8.
    Fig. 9 shows a side view of the gripping head 46, which is in the open position and just after the rod-shaped spacer 8 engages. In Fig. 9 is particularly well visible that the recesses 54 of the two gripping fingers 47, 48 mesh with each other.
    11 shows a perspective view of an embodiment variant of the conveyor unit 38. As can be seen particularly clearly in FIGS. 10 and 11, it can be provided that the conveyor unit 38 comprises, for example, a conveyor chain 57 on which the individual carrier elements 39 are arranged could be. In particular, the support elements 39 may be attached to a chain link 58 or replace a chain link 58.
    The support elements 39 may comprise a U-shaped positioning plate 59, wherein on the two opposite legs of the U-shaped positioning plate 59 each have a positioning groove 60 may be formed. By a magnet 61, the rod-shaped spacer 8 can be pulled into the positioning groove 60, so that it is aligned and held in the support member 39. Furthermore, it can be provided that a plurality of positioning grooves 60 are formed, wherein the various positioning grooves 60 are formed for receiving spacers 8 with different diameters. The positioning grooves 60 can either be V-shaped, or preferably have a rounding, which is adapted to the diameter of the respective spacer 8.
    As an alternative variant to this embodiment can be provided, for example, that on the support member 39 locking elements are formed of an elastic steel or plastic, in which the rod-shaped spacer 8 can be clipped.
    As can be seen particularly well in FIG. 11, it may be provided that the conveyor unit 38 comprises a guide rail 62 in which the conveyor chain 57 can be guided. This allows the delivery unit 38 to extend over the entire length 37 of the receiving table 19, wherein the position of the support elements 39 and thus the rod-shaped spacer 8 can be fixed by the guide rail 62.
    12 shows a perspective view of a possible embodiment variant of the welding device 25. As can be seen from FIG. 12, it can be provided that the welding device 25 comprises a coupling device 52, by means of which it can be coupled to one of the articulated-arm robots 22, 23, 34, 35 , As with the gripping device 24, it can be provided that the coupling device 52 is designed as a quick coupling device.
    As can be seen particularly clearly in FIG. 12, it can be provided that the welding device 25 is designed as a resistance welding device. The welding device 25 may comprise a transformer 63, by which the welding current is transformed to the required high current intensity. Due to the high currents required for resistance welding, it is necessary for welding power cables 64 to have a large diameter. Thus, it is particularly advantageous if the transformer 63 is arranged as close as possible to a welding gun 65.
    As can be seen from FIG. 12, it can be provided that the welding tongs 65 have a first fleebeling arm 66 and a second fleebeling arm 67, which are connected to one another in a rotary joint 68 and the welding tongs 65 can be closed or opened by an actuator 69. By closing the welding gun 65, the two welding body 70 act with a predetermined or predeterminable force on the two components to be welded. By introducing current, the two components to be welded can then be welded. Such a trained welding gun 65 is referred to as X-forceps.
    Furthermore, it can be provided that the rotary joint 68 serves to pivotally receive the welding gun 65. As a result, it is possible to prevent the elements to be welded from being displaced or deformed when the welding tongs 65 are closed, since incorrect positioning of the welding device 25 can be compensated for. Furthermore, it can be achieved that the two welding body 70 exert an equal welding force on the elements to be welded.
    In a development of the welding device 25, it can be provided that the welding device 25 comprises a detection unit 71 by means of which an opening width of the welding tongs 65 can be detected. The detection unit 71 is preferably arranged on the welding gun 65, that the position of the first lever arm 66 and / or the second lever arm 67 is detected. As a result, the opening width of the welding gun 65 can be calculated. In particular, it can be provided that the diameter of the spacers 8 and / or the mat rods 6 is determined by the determination of the opening width of the welding gun 65 before the start of the welding operation. With this information, the necessary current or the necessary welding time can be calculated to achieve a certain burn-in depth. The optimum burn-in depth is approximately between 11% and 13% of the rod diameter. If the burn-in depth is lower, it may be that the strength of the weld is not sufficiently high. If the burn-in depth is greater, it may be that the rod is weakened in its tensile strength.
    Furthermore, it can be provided that after the completion of the welding operation, the opening width of the welding gun 65 is determined again to check the result of the weld. In particular, it can be provided here that the control software of the production facility 18 is designed in such a way that the welding current or the welding duration is adjusted on the basis of the measurements before the welding operation or after completion of the welding process and the control software is thus capable of learning. Furthermore, it can be provided that upon detection of a too low burn-in depth, the production system 18 outputs an acoustic and / or optical signal to a machine operator and stops the production process.
    FIG. 13 shows a possible further variant of the welding tongs 65, which is designed as a C-tongs. In this embodiment, the welding bodies 70 are arranged on a fixed arm 72 and on a displaceable arm 73. The displaceable arm 73 is linearly displaceable by means of an actuator in the direction of the stationary arm 72 or away from it. Due to the linear displacement of the welding body 70, the workpiece to be welded is clamped and can be welded.
    Fig. 14 shows a further embodiment of the welding gun 65. In this embodiment, the gripping device 24 is integrated directly into the welding gun 65 in. Thus, only the first articulated robot 22 is necessary, on which both the gripping device 24 and the welding gun 65 is arranged. In particular, it can be provided that the gripping device 24 is designed to hold the rod-shaped spacers 8 in the form of a magnet 74, which is arranged on one of the lever arms 66, 67. The spacers 8 can be supplied to the magnet 74 before welding. During the welding process, the spacers 8 are positioned and welded by the welding gun 65.
    Fig. 15 shows a perspective view of the lifting head 44. In this figure it can be seen that it can be provided that the lifting head 44 has a plurality of lifting hooks 75. The lifting hooks 75 serve to be able to grip the reinforcing element 1 or the reinforcing mats 2, 3. In particular, the mat rods 6 are engaged behind by means of the lifting hooks 75. Furthermore, it can be provided that the lifting hooks 75 are each arranged on an actuator 76. Thereby, the lifting hooks 75 can be moved relative to the lifting head 44, wherein the individual mat rods 6 can be pressed against one or more counter-holders 77. The actuator 76 may preferably be in the form of a pneumatic cylinder, which may be displaceable between an extended position and a retracted position. By this measure, the mat rods 6 can be clamped and thus a secure hold of the reinforcing element 1 and the reinforcing mats 2, 3 can be ensured. In addition, it can be provided that the counter-holders 77 have a toothed surface, whereby slippage of the reinforcing mats 2, 3 can be obstructed.
    The lifting hooks 75 and the actuators 76, as well as the counter-holders 77 can each be arranged in rows on a common hook unit. The hook unit can optionally be arranged displaceably on the lifting head 44.
    Furthermore, it can be provided that the lifting head 44 has a main body 78 on which telescopic arms 79 are arranged on one or both broad sides. The telescopic arms 79 are preferably in the main body 78 can be pushed or pulled out of this. It can thereby be achieved that the length of the lifting head 44 can be varied.
    In a first embodiment, provision can be made for the telescopic arms 79 to be arranged on both broad sides of the main body 78 and for the telescopic arms 79 to be coupled to one another in such a way that they can be adjusted by means of a common drive unit, wherein they are always symmetrical with respect to the main body 78 be extended.
    In a further embodiment, it can be provided that the telescopic arms 79 are each driven by a separate drive unit and thus can be adjusted independently of each other.
    In yet another embodiment, it may be provided that the telescopic arms 79 can be manually extended or retracted.
    Furthermore, it can be provided that one or more hoisting ropes 80 are arranged on the main body 78 of the lifting head 44. The hoisting ropes 80 connect the hoisting head 44 to the hoisting unit 43. Preferably, the hoisting ropes 80 are arranged on the main body 78 such that the hoisting head 44 has high stability.
    16 shows a perspective view of a further possible embodiment variant of the gripping device 24. As can be seen from FIG. 16, it can be provided that the two gripping heads 46 are arranged opposite one another on the gripping device 24. This is particularly advantageous in order to avoid the colliding of bars.
    The embodiments show possible embodiments of the manufacturing plant 18 for producing the reinforcing element 1, wherein it should be noted that the invention is not limited to the specifically illustrated embodiments thereof, but also various combinations of the individual embodiments are mutually possible and this variation possibility due to Teaching for technical action by objective invention in the skill of those working in this technical field is the expert.
    Furthermore, individual features or combinations of features from the different exemplary embodiments shown and described can also represent independent, inventive or inventive solutions.
    The task underlying the independent inventive solutions can be taken from the description. All statements of value ranges in the present description should be understood to include any and all sub-ranges thereof, e.g. is the statement 1 to 10 to be understood that all sub-areas, starting from the lower limit 1 and the upper limit 10 are included, ie. all sub-areas begin with a lower limit of 1 or greater and end at an upper limit of 10 or less, e.g. 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.
    Above all, the individual embodiments shown in FIGS. 1, 2, 5, 6, 7, 9, 10, 11, 12, 13, 14, 15, 16 can form the subject of independent solutions according to the invention. The relevant objects and solutions according to the invention can be found in the detailed descriptions of these figures.
    For the sake of completeness, it should finally be pointed out that for a better understanding of the construction of the production plant 18, these or their components have been partially scaled.
    REFERENCE SIGNS LIST 1 reinforcing element 29 longitudinal side 2 first reinforcement mat 30 drive unit 3 second reinforcement mat 31 first face 4 first mat plane 32 second end face 5 second mat plane 33 second Manipulationsvorrich- 6 Mattenstab device 7 node 34 third articulated robot 8 rod-shaped spacer 35 fourth articulated robot 9 normal distance mat levels 36 width shooting table 10th Welded joint 37 Length of take-up table 11 of second reinforcing mat 38 Feed unit opposite direction 39 Supporting element 12 first protrusion 40 Manipulation unit 13 of first reinforcing mat 41 Provisioning device opposite direction 42 Injection molding device 14 second protrusion 43 Lifting unit 15 support bar 44 Lifting head 16 End section spacers 45 Underlay element 17 Protective cap 46 Gripping head 18 Production plant 47 first gripping finger 19 receiving table 48 second gripping finger 20 table surface 49 actuator 21 manipulation device 50 opening sensor 22 first kink armroboter 51 detection unit 23 second articulated arm robot 52 coupling device 24 gripping device 53 groove 25 welding device 54 recess 26 guide unit 55 further gripping groove 27 linear guide 56 recess 28 longitudinal direction 57 conveyor chain 58 chain link 59 positioning plate 60 positioning groove 61 magnet 62 guide rail 63 T rafo 64 welding power cable 65 welding gun 66 first lever arm 67 second lever arm 68 rotary joint 69 actuator 70 welding body 71 detection unit 72 fixed arm 73 sliding arm 74 magnet 75 lifting hook 76 actuator 77 counterholder 78 main body 79 telescopic arm 80 lifting cable
    权利要求:
    Claims (20)
    [1]
    claims
    1. Production plant (18) for producing a three-dimensional reinforcing element (1) for a reinforced concrete element, comprising a receiving table (19) for receiving the reinforcing element (1) and a manipulation device (21) for manipulating and joining individual parts (2, 3, 8) of the reinforcing element (1), characterized in that the manipulation device (21) comprises a first articulated arm robot (22) with a gripping device (24) for positioning reinforcing mats (2, 3) and / or spacers (8) of the reinforcing element (1) and a Welding device (25) for welding the spacers (8) with the reinforcing mats (2, 3).
    [2]
    2. Production plant according to claim 1, characterized in that the welding device (25) is arranged on a second articulated robot (23).
    [3]
    3. Production plant according to claim 2, characterized in that the first (22) and the second articulated robot (23) each by means of a guide unit (26) on a common linear guide (27) are arranged and thus relative to each other and relative to the receiving table (19) in a longitudinal direction (28) of the receiving table (19) are displaceable.
    [4]
    4. Production system according to claim 2, characterized in that the first (22) and the second articulated robot (23) are designed as a dual-arm robot and have a common base unit.
    [5]
    5. Production plant according to one of the preceding claims, characterized in that a second manipulation device (33) is formed, which has a third articulated arm robot (34) with a further gripping device (24) for positioning reinforcing mats (2, 3) and / or spacers ( 8) of the reinforcing element (1) and a fourth articulated arm robot (35) with a further welding device (25) for materially connecting the spacers (8) with the reinforcing mats (2, 3), wherein the second manipulation device (33) at the first manipulation device (21) opposite side of the receiving table (19) is arranged.
    [6]
    6. Production plant according to one of the preceding claims, characterized in that at least one of the articulated robot (22, 23, 34, 35) has a coupling device (52) to receive differently shaped gripping devices (24) and / or welding devices (25) can ,
    [7]
    7. Production plant according to one of the preceding claims, characterized in that the welding device (25) is designed as a resistance welding device.
    [8]
    8. Production plant according to one of the preceding claims, characterized in that a lifting unit (43), in particular a crane, for manipulating the individual parts (2, 3, 8) of the reinforcing element (1) and / or the entire reinforcing element (1) is formed ,
    [9]
    9. Production plant according to one of the preceding claims, characterized in that a supply device (41) for cutting and providing the spacer (8) and / or reinforcing mats (2, 3) is formed.
    [10]
    10. Production system according to one of the preceding claims, characterized in that at least one conveyor unit (38) on a longitudinal side (29) of the receiving table (19) is arranged, wherein the conveyor unit (38) for feeding spacers (8) to the articulated robots ( 22, 34) is formed.
    [11]
    11. Production plant according to claim 9, characterized in that the conveying unit (38) in the form of a revolving carrier unit, in particular a chain, is formed, wherein the carrier unit comprises a plurality of supporting elements, which serve to receive in each case a spacer (8).
    [12]
    12. Production system according to claim 10 or 11, characterized in that the front side of the receiving table (19) a manipulation unit (40), in particular a further articulated robot, is arranged, which is designed for equipping the conveyor unit (38) with spacers (8).
    [13]
    13. Production plant according to one of the preceding claims, characterized in that the gripping device (24) comprises a gripping head (46) which has a first (47) and a second gripping finger (48), wherein the two gripping fingers (47, 48) whose mutually facing side each have a V-shaped groove (53) and wherein the two gripping fingers (47, 48) each have opposite recesses (54) and thereby meshing with each other.
    [14]
    14. Production plant according to one of the preceding claims, characterized in that the end face of the receiving table (19) an injection molding device (42) is arranged, which for overmolding at least one end portion (16) of the rod-shaped spacer (8) with a protective cap (17).
    [15]
    15. A method for producing a three-dimensional reinforcing element (1), in particular using a manufacturing plant (18) according to one of the preceding claims, characterized in that the method comprises the following method steps: - Providing a first reinforcement mat (2) in in nodes (7) metallic mat rods (6) welded at an angle to each other, wherein the first reinforcing mat (2) is positioned on and received from a receiving table (19); - Providing and positioning of rod-shaped spacers (8) relative to the mat rods (6) of the first reinforcing mat (2) by means of a gripping device (24) of a first articulated arm robot (22); Welding the spacers (8) to the mat bars (6) of the first reinforcing mat (2) by means of a welding device (25) preferably arranged on a second articulated arm robot (23), the mat bars (6) being guided by the gripping device (24) during the welding operation the first articulated robot (22) are held in position; - Providing and positioning a second reinforcing mat (3) at a normal distance (9) to the first reinforcing mat (2) by means of the gripping device (24) of the first articulated arm robot (22); - Welding the spacer (8) with the mat rods (6) of the second reinforcing mat (3) by means of the second articulated robot (23) arranged welding device (25).
    [16]
    16. A method for producing a three-dimensional reinforcing element (1) according to claim 15, characterized in that prior to positioning of the rod-shaped spacers (8) these are cut to length in a supply device (41).
    [17]
    17. A method for producing a three-dimensional reinforcing element (1) according to claim 15 or 16, characterized in that the rod-shaped spacers (8) by means of a conveyor unit (38) which on a longitudinal side (29) of the receiving table (19) is arranged first articulated robot (22) are fed.
    [18]
    18. A method for producing a three-dimensional reinforcing element (1) according to claim 17, characterized in that the rod-shaped spacers (8) by means of a manipulation unit (40), in particular a articulated robot, the conveyor unit (38) are conveyed.
    [19]
    19. A method for producing a three-dimensional reinforcing element (1) according to any one of claims 15 to 18, characterized in that before positioning the second reinforcing mat (3) at a certain distance from the first reinforcing mat (2) positioned support rods on the rod-shaped spacers (8) are attached to provide a support plane for the second reinforcing mat (3).
    [20]
    20. A method for producing a three-dimensional reinforcing element (1) according to any one of claims 15 to 19, characterized in that before welding the spacer (8) with the mat rods (6) by means of the welding device (25), the diameter of the spacers (8). and / or the mat rods (6) is determined.
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    同族专利:
    公开号 | 公开日
    RU2018118321A|2019-11-21|
    AT517912B1|2019-03-15|
    WO2017067857A1|2017-04-27|
    EP3365124A1|2018-08-29|
    US20180333764A1|2018-11-22|
    CN108698113A|2018-10-23|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA50900/2015A|AT517912B1|2015-10-21|2015-10-21|Production plant for the production of reinforcement elements|ATA50900/2015A| AT517912B1|2015-10-21|2015-10-21|Production plant for the production of reinforcement elements|
    RU2018118321A| RU2018118321A|2015-10-21|2016-10-14|PRODUCTION UNIT FOR PRODUCTION OF REINFORCEMENT ELEMENTS|
    EP16781475.5A| EP3365124A1|2015-10-21|2016-10-14|Production plant for manufacturing reinforcement elements|
    CN201680070283.4A| CN108698113A|2015-10-21|2016-10-14|Manufacturing equipment for manufacturing reinforcing element|
    PCT/EP2016/074754| WO2017067857A1|2015-10-21|2016-10-14|Production plant for manufacturing reinforcement elements|
    US15/769,365| US20180333764A1|2015-10-21|2016-10-14|Production plant for manufacturing reinforcement elements|
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