CN109178908B

CN109178908B - Prefabricated member production line reinforcing steel bar mesh sheet threading process

Info

Publication number: CN109178908B
Application number: CN201810924842.4A
Authority: CN
Inventors: 林艳江
Original assignee: China Minsheng Zhuyou Co Ltd
Current assignee: China Minsheng Zhuyou Co Ltd
Priority date: 2018-08-14
Filing date: 2018-08-14
Publication date: 2021-01-05
Anticipated expiration: 2038-08-14
Also published as: CN109178908A

Abstract

The invention relates to a reinforced mesh sheet threading process of a prefabricated member production line, which comprises the following working procedures: (1) a net pulling procedure: pulling the processed reinforcing mesh to a preset position of an online working section; (2) grabbing the steel bar net: the reinforcing mesh clamping mechanism moves above the reinforcing mesh, moves downwards and grabs the reinforcing mesh, and returns upwards to the walking position after grabbing the reinforcing mesh; (3) the storage or online process of the steel mesh comprises the following steps: the steel bar mesh clamping mechanism conveys the grabbed steel bar meshes to a preset production die table, or conveys the grabbed steel bar meshes to a storage mechanism for temporary storage; the production line of the prefabricated part is linked with the production of the reinforcing mesh, so that the automatic feeding of the reinforcing mesh in the prefabricated part production line is realized, the feeding process without personnel operation is realized, the transportation time of the reinforcing mesh is saved, the production efficiency is improved, and the problem that a product cannot be directly conveyed to the production line by single equipment is solved.

Description

Prefabricated member production line reinforcing steel bar mesh sheet threading process

Technical Field

The invention belongs to the technical field of prefabricated part production, and particularly relates to a reinforcing mesh plate threading process of a prefabricated part production line.

Background

In the house building PC prefabricated part industry, the existing steel bar net sheets are hoisted and transported away or stacked or hoisted on a prefabricated part production line by adopting a manually operated hoisting device after production is finished. The carrying and hoisting usually needs two persons to complete corresponding work, manual hoisting needs longer time to carry out the hook, if no tool is adopted in the carrying process, the bending condition of the net piece needs to be noticed, and then the net piece can be placed into the side die of the component more quickly and better when the net piece is lifted to the die line of the prefabricated component table, and various unstable factors exist in the manual hoisting, such as shaking, unevenness of the net piece, low falling positioning precision, secondary positioning again and the like. The storage mode is mainly placed on the ground, so that the occupied area is larger, space resources are wasted, and meanwhile, due to the fact that the automation degree is low, manual work is involved for many times in the process, the one-time mold entering precision is low.

In view of the foregoing, it is desirable to provide a process for threading a reinforcing mesh sheet on a preform production line, which can achieve automated transportation, reduce some uncertain damages during transportation, and improve production efficiency.

Disclosure of Invention

The invention aims to provide a process for threading the reinforcing mesh sheets on the prefabricated member production line, which can realize automatic transportation, reduce certain uncertain injuries in the transportation process and improve the production efficiency.

The above purpose is realized by the following technical scheme: a technology for threading a reinforcing mesh sheet on a prefabricated member production line comprises the following steps:

(1) a net pulling procedure: pulling the processed reinforcing mesh to a preset position of an online working section by using a mesh pulling mechanism;

(2) grabbing the steel bar net: the steel bar mesh clamping mechanism moves to the position above the steel bar mesh conveyed in the mesh pulling process, moves downwards and grabs the steel bar mesh, and returns upwards to the walking position after grabbing the steel bar mesh;

(3) the storage or online process of the steel mesh comprises the following steps: the steel mesh clamping mechanism moves along a transfer track on the online conveying support, and conveys the grabbed steel mesh to a preset production die table according to production needs, or conveys the grabbed steel mesh to a storage mechanism for temporary storage;

the steel bar mesh production line comprises an online working section and an online working section, wherein the online working section comprises a mesh pulling mechanism, a steel bar mesh clamping mechanism, a storage mechanism and an online mechanism, the online mechanism comprises an online transportation support, a walking platform and a walking driving piece, the online transportation support is provided with a transfer track, the walking platform is arranged on the online transportation support, the mesh pulling mechanism comprises a support and a walking gripper, the support is provided with a track and a supporting platform for supporting the steel bar mesh, the support extends to the steel bar mesh production working section from the bottom of the online transportation support, and the walking gripper can move along the track and pull the steel bar mesh to the bottom of the online transportation support, so that the working procedure (1) is completed; the steel bar mesh clamping mechanism comprises a clamp frame, a plurality of groups of grabbing clamps and lifting driving members are arranged on the clamp frame side by side, the lifting driving members can drive the grabbing clamps to move vertically, the grabbing clamps realize the clamping of the steel bar mesh, and the working procedure (2) is further completed; the reinforcing bar net piece clamping mechanism is connected with the walking platform, the walking driving piece can drive the walking platform to follow the transfer track to walk, and the walking platform can drive the reinforcing bar net piece clamping mechanism to move to complete the operation of the working procedure (3).

The prefabricated part production line is linked with the manufacturing production of the steel bar net, so that the automatic on-line of the steel bar net in the prefabricated part production line is realized, the on-line process without personnel operation is realized, the problem of overlarge floor area of planar stacking of the steel bar net is solved, the hanging and rotating distance in the middle of the steel bar net can be saved, the transportation time of the steel bar net is saved, certain uncertain injuries in the transportation process are reduced, the production efficiency is improved, the one-time die-entering precision problem of the steel bar net is improved, and the problem that a product cannot be directly conveyed to the production line by a single device is.

A further technical scheme is, it is equipped with two connecting portion at least to snatch the anchor clamps top, two connecting portion link to each other with the lift drive component respectively, link to each other through synchronizing member between two lift drive components of connecting two connecting portion, synchronizing member swing joint is in on the anchor clamps frame, the lift drive component includes extensible member and rack, synchronizing member includes gear connecting rod and two at least synchronizing gear, the stiff end and the anchor clamps frame fixed connection of extensible member, flexible end with the rack links to each other, two synchronizing gear respectively with rack toothing, gear connecting rod's both ends respectively with two synchronizing gear link to each other.

The lifting driving component drives the grabbing clamp to extend downwards into meshes of the steel bar net sheets to grab in the concrete application process, then the steel bar net sheets are lifted to be transported, in order to improve the grabbing effect of grabbing the steel bar net sheets, the grabbing clamp is used for line grabbing, in order to guarantee balance, the grabbing clamp is provided with two connecting parts which are respectively connected with the lifting driving component, and in order to guarantee the lifting synchronism of the two sides of the grabbing clamp in the lifting process, the two lifting driving components which are connected with the two connecting parts are connected through the synchronizing component. Preferably, the gear connecting rod is connected with the clamp frame through a supporting bearing, so that good meshing performance of the synchronous gear and the cylindrical rack is guaranteed.

The further technical scheme is that the telescopic end of the telescopic piece is connected with the top end of the rack through a connecting rod, the fixed end of the telescopic piece is hinged to the clamp frame, and the two ends of the connecting rod are hinged to the telescopic piece and the rack respectively. The fixture frame is fixedly connected with a vertically arranged guide bearing sleeve, the rack is cylindrical, and the rack is connected with the guide bearing sleeve in a penetrating manner. The rack moves up and down under the limit of the guide bearing sleeve, so that the deviation is prevented. And the upper end and the lower end of the telescopic piece are connected by movable hinge points, so that the flexibility of the telescopic piece is ensured. Meanwhile, the telescopic air rod under non-working condition is protected from being pulled, and the function of protecting the telescopic cylinder is achieved.

The further technical scheme is that the walking platform is provided with a hoisting mechanism, the hoisting mechanism is connected with the clamp frame, the hoisting mechanism can drive the reinforcing mesh clamping mechanism to move vertically integrally in the working procedures (2) and (3), a positioning hole is formed in the preset position of the walking platform, the clamp frame is provided with a stable limiting rod, and the stable limiting rod penetrates through the positioning hole in the hoisting process of the reinforcing mesh in the working procedure (3). . The lifting mechanism is mainly used for the whole vertical movement of the reinforcing mesh clamping mechanism, and the stable limiting rod is matched with the positioning hole after the reinforcing mesh clamping mechanism is lifted to a preset position, so that the stability of the lifting mechanism during walking and transportation is guaranteed, and the phenomenon that the reinforcing mesh falls off or even accidents are caused due to the fact that the whole support swings after the reinforcing mesh is grabbed and walks is avoided.

The further technical scheme is that the hoisting mechanism comprises a hoisting drum and a hoisting motor, the hoisting drum and the hoisting motor are arranged at the top of the walking platform, the hoisting drum is connected with a lifting rope, and the lifting rope penetrates through a bend pulley and is connected with the clamp frame.

The technical scheme is that the storage mechanism is arranged on the lower portion of the walking platform and comprises a plurality of layers of mesh trays and a plurality of layers of tray guide rails which are correspondingly arranged, the tray guide rails are fixed on the online transportation support, the mesh trays are arranged in the tray guide rails, and the plurality of layers of mesh trays are driven by an independent tray driving piece to move along the tray guide rails respectively. So, according to the difference of production capacity in the production process, the quantity of reinforcing bar net piece is in the saturated condition in prefab production line, the effect of keeping in that reinforcing bar net piece can effectively be reached in storage mechanism's being equipped with, during the initial position, the net piece tray is in the distal end, when needing to store, multilayer net piece tray can move respectively and receive reinforcing bar net piece clamp to preset position and get the reinforcing bar net piece that the mechanism inclines down, can return to the initial position after receiving, also can stop at the receiving position, when stopping at the receiving position, receive reinforcing bar net piece to preset position in proper order by bottommost net piece tray, when extracting reinforcing bar net piece from storage mechanism, carry out above-mentioned reverse operation process. The setting of storage mechanism can effectively play the cushioning effect at the reinforcing bar net piece in-process that reaches the standard grade, the reinforcing bar net piece comes the storable buffer memory when measuring greatly, in time carries the reinforcing bar net piece to the production line from storage mechanism and carries out the production of prefab when measuring the hour, guarantees the problem of prefab production line, plays better supplementary effect, this storage mechanism novel structure simultaneously, the storage capacity is big, but the part is separately stored in batches to the separable model simultaneously, the perfect agrees with in this prefab production line reinforcing bar net piece line device.

The technical scheme is that chain wheels are respectively arranged at two ends of the tray track, one chain wheel is connected with an output shaft of the tray driving part, the mesh tray is provided with a tray roller, and the tray roller is fixed with a driving chain on the chain wheel.

The further technical scheme is that the side of the clamp frame is provided with a longitudinal distance adjusting groove, the telescopic piece and the guide bearing sleeve are connected on the clamp frame through a mounting plate, the mounting plate is arranged in the longitudinal distance adjusting groove, and the longitudinal distance adjusting groove of the mounting plate moves and can be fixed at a preset position of the longitudinal distance adjusting groove through a fastener. Therefore, the adaptability of the steel bar net piece clamp to steel bar net pieces of various specifications can be guaranteed, when the size of the steel bar net piece changes, only the fastener needs to be loosened, the position of the grabbing clamp on the clamp frame is adjusted, and then the grabbing clamp is fastened, so that the applicability of the steel bar net piece clamp is improved.

The grabbing fixture comprises a fixed claw body, a movable claw body and a claw body driving part for driving the movable claw body to move, wherein a plurality of groups of claw teeth are arranged at the bottom ends of the fixed claw body and the movable claw body, the claw teeth of the fixed claw body and the claw teeth of the movable claw body are arranged in a staggered mode to form a clamping groove, the claw body driving part can drive the movable claw body to move and change the size of the clamping groove to realize grabbing of the reinforcing mesh, claw hooks are arranged at the end parts of the claw teeth, and the claw hooks of the fixed claw body and the claw hooks of the movable claw body are arranged oppositely; in the process (2), the movable claw body is driven by the claw body driving part to move, the clamping groove is closed, the reinforcing steel bars are clamped and grabbed by the fixed claw body and the movable claw body, the hoisting grabbing clamp ascends to the walking position, the reinforcing steel bar mesh clamping mechanism moves along the upper line conveying support in the process (3) to convey the reinforcing steel bar mesh to a preset position, the clamping groove is opened, the reinforcing steel bar mesh is loosened, the releasing of the reinforcing steel bar mesh is realized, and then the reinforcing steel bar mesh returns to the position above the reinforcing steel bar mesh conveyed in the mesh pulling process to grab the next reinforcing steel bar mesh.

Therefore, the movable claw body is driven to move by the claw body driving part, the clamping groove is closed, the reinforcing steel bars are clamped and grabbed by the fixed claw body and the movable claw body, the steel bar mesh is conveyed to a preset position after the grabbing clamp is lifted, the clamping groove is opened, the steel bar mesh is loosened, the releasing of the steel bar mesh is realized, and the actions are continuously repeated to grab the next steel bar mesh; this snatch anchor clamps novel structure, what the reinforcing bar net piece snatched effectually, is difficult for droing. The clamping groove formed between the fixed claw body and the movable claw body in the grabbing process is in a closed state, the clamping effect can be effectively improved, and the steel mesh is prevented from falling off in the transferring process.

The on-line working section comprises a visual identification mechanism and a control system, wherein the visual identification mechanism and the reinforcing mesh clamping mechanism are in signal connection with the control system, and the control system comprises an identification module, a matching module and a positioning module; the visual identification mechanism acquires an image of a steel bar mesh to be grabbed, the acquired image is sent to the control system, the identification module performs image acquisition, image processing and feature extraction on the received image, the matching module compares and judges the material features extracted by the identification module with reference material feature data prestored in the control system, the positioning module converts coordinates of the extracted material features in a physical coordinate system of the visual identification mechanism into coordinates in a world coordinate system, effective grabbing coordinate parameters are generated according to grabbing characteristics of the grabbing fixture, and the grabbing coordinate parameters are sent to the steel bar mesh clamping mechanism as control commands and control the grabbing fixture to move to a grabbing coordinate position point to grab the steel bar mesh.

According to the invention, the intelligent and automatic transfer and online of the reinforcing mesh can be realized, the transfer time of the reinforcing mesh is saved, certain uncertain injuries in the transfer process are reduced, the labor cost is saved, and the production efficiency is improved.

The grabbing mechanism is characterized in that the movable claw bodies and the fixed claw bodies extend into grids which are adjacently arranged on the reinforcing mesh in the grabbing process. So, can grab the reinforcing bar when guaranteeing first claw tooth and second claw tooth to fold, prevent grabbing of clamping jaw empty, guarantee the efficiency of grabbing to the reinforcing bar net piece of clamping jaw to regard this as the basic point, calculate it through control system and snatch the target coordinate.

The visual identification mechanism comprises a first image collector and a second image collector, wherein the first image collector and the second image collector are arranged at two ends of a clamp frame, the relative position relation of the two image collectors is formed by calibrating the coordinate parameters of the first image collector and the second image collector, the coordinate relation is input into a control system to form the physical calibration of the two image collectors, and a physical coordinate system of the visual identification mechanism is constructed; and a world coordinate system is established by using a predetermined position of the reinforcing mesh clamping mechanism as a coordinate origin.

Therefore, the coordinate parameters of the two image collectors are calibrated to form the relative position relation of the two image collectors, the coordinate relation is input into the control system to form the physical calibration of the two image collectors, and the physical position of the material can be determined more accurately. The shadowless flash light source is arranged at the bottom of the clamp frame, and the flash function is automatically started according to the change of light. The image collector and the shadowless flash light source are both connected with the controller, and corresponding flash judgment is carried out according to the image collection requirement to carry out flash shooting.

The material is characterized by comprising the overall size of a steel bar mesh, the size of a grid, whether holes are formed, if so, the size of the holes and the thickness of steel bars; before grabbing, inputting the reference material characteristics into the control system, wherein the input reference material characteristics comprise a sheet object which is formed by at least two continuous small grids in two coordinate directions in a physical coordinate system and has the characteristics of equal flush edges, a linear object which is continuous in two orthogonal directions and spans at least two connected grids and has the same diameter, a reinforcing steel bar diameter size family table for a reinforcing steel bar mesh, a mesh pitch multiple modulus, and whether at least a certain number of grids are continuously missing under the characteristics of the continuous grids so as to determine whether the mesh has an open pore state, and if so, the open pore state of the mesh is proved to exist.

The further technical scheme is that the control method for grabbing the steel mesh comprises the following steps:

(1) image acquisition and image processing: acquiring an image of a material to be grabbed, and storing, analyzing and preprocessing the image;

(2) extracting material characteristics: extracting material characteristics including the overall size of the steel bar mesh, the size of the grid, whether holes are formed, if holes are formed, the size of the holes and the thickness of the steel bars from the material image acquired in the step (1) and subjected to image processing;

(3) matching of features: comparing and judging the material characteristics extracted in the step (2) with pre-stored reference material characteristic data; if the material characteristics extracted in the step (2) are not matched with the pre-stored reference material characteristic data, returning to the step (1) to continue to collect the image until the material characteristics extracted from the collected image are matched with the pre-stored reference material characteristic data;

(4) space positioning: converting the coordinates of the extracted material characteristics in a physical coordinate system of an image collector into coordinates in a world coordinate system, generating effective grabbing coordinate parameters according to the grabbing characteristics of a grabbing clamp, and sending the grabbing coordinate parameters to a grabbing mechanism as control commands;

(5) the removal of mechanism and the snatching of reinforcing bar net piece are got to reinforcing bar net piece clamp: and (4) receiving the control command in the step (4), moving to a grabbing coordinate position to grab the reinforcing mesh.

The gripping clamp further comprises a fixing piece, the fixing piece is fixedly connected with the fixed claw body, the fixing piece is provided with a guide rail, and the claw body driving piece can drive the movable claw body to move along the guide rail; the guide rail is internally provided with a roller which is connected with the movable claw body through a connecting piece. Therefore, the movable connection of the movable claw body and the fixing piece is realized, and the structure is simple and easy to process.

The further technical scheme is that the claw body driving part is a telescopic cylinder, one end of the telescopic cylinder is connected with the roller through a pulling plate, and the telescopic cylinder can drive the movable claw body to swing relative to the fixed main body.

The further technical scheme is that the fixed claw body and the movable claw body respectively comprise a top plate and a side plate, the claw teeth are arranged at the bottom end of the side plate, the side plate of the movable claw body is arranged on one side of the side plate of the fixed claw body, and the side plate of the movable claw body is attached to the side plate of the fixed claw body.

The technical scheme is that the claw body driving part is arranged on a top plate of the fixed claw body, the fixing part is arranged on the lower portion of the top plate of the fixed claw body, and the bottom end of the connecting part is fixedly connected with the top plate of the movable claw body.

The further technical scheme is that the connecting part is a connecting lug plate arranged on a top plate of the fixed claw body.

The further technical scheme is that the walking gripper comprises a bearing piece, a first driving piece, a walking piece and a gripping piece, the first driving piece, the walking piece and the gripping piece are arranged on the bearing piece, the first driving piece is used for driving the walking piece to move and driving the walking gripper to walk, the gripping piece comprises a claw finger and a second driving piece, the claw finger is hinged with the bearing piece, and the second driving piece can drive the claw finger to rotate along the hinged point of the claw finger and the bearing piece on the vertical plane; the grabbing piece further comprises a third driving piece, the claw fingers comprise fixed claw fingers and movable claw fingers, and the third driving piece can drive the movable claws to move towards the fixed claw fingers so as to adjust the distance between the movable claw fingers and the fixed claw fingers in the horizontal direction.

In the specific application process, the produced steel bar mesh is placed on the supporting platform, the second driving piece drives the claw fingers to lift up, after the first driving piece drives the walking gripper to walk to the preset position, the claw fingers are put down and extend into meshes of the steel bar mesh to grab the steel bar mesh, the walking gripper returns to convey the steel bar mesh to the preset position, and the claw fingers lift up and loosen the steel bar mesh to continue to repeat the actions to grab the next steel bar mesh. The movable claw fingers and the fixed claw fingers are spaced by a preset distance, when the claw fingers are put down, the movable claw fingers and the fixed claw fingers can respectively extend into different meshes of the reinforcing steel bar net piece, then the third driving piece drives the movable claw fingers to move, the reinforcing steel bars are clamped by the claw fingers along with the closing of the claw fingers, then the walking gripper integrally drives the net piece to move backwards, and when the net piece moves to a specified position to stop, the third driving piece drives the movable claw fingers to move, and the claw fingers are loosened. So set up, can improve greatly and grab the piece and to the effect of snatching of reinforcing bar net piece, avoid snatching not last or midway transportation reinforcing bar net piece condition of leaking and take place and influence the process of whole process.

The further technical scheme is that a limiting piece used for limiting the movement position of the movable claw finger is arranged on the movable claw finger. Therefore, the moving distance of the movable claw finger is controlled, and the closing or opening degree of the claw finger is ensured.

A further technical scheme is, the stationary dog indicates and the movable claw indicates all to have a plurality of to collude and gets the piece and constitute, and a plurality of that constitute the movable claw indicates collude the piece and connect into whole through the connecting plate, the connecting plate with the third driving piece links to each other, collude the portion of getting including vertical setting, the portion of getting that colludes that the movable claw indicates colludes that the portion indicates and the stationary dog indicates colludes the portion and is located same straight line, third driving piece drive movable claw indicates the edge linear motion. So set up, can effectively improve steel mesh's the effect of snatching. The hooking part extends into meshes of the reinforcing mesh, and the distance between the hooking part of the movable claw finger and the hooking part of the fixed claw finger is adjusted to realize the closing or opening of the claw finger.

A further technical scheme is, it includes the walking support to hold the thing, walking support both sides are equipped with the support curb plate, the walking piece includes transfer line and walking wheel, walking wheel swing joint be in support on the curb plate, the transfer line with the output shaft of first driving piece links to each other, the walking wheel with the transfer line passes through drive gear and links to each other, the one end that the claw indicates is fixed on the dwang, the dwang with it is articulated to support the curb plate, the dwang with the second driving piece passes through the connecting piece and links to each other.

The further technical scheme is that the support comprises a fixing plate arranged on the supporting platform, the track is arranged on the fixing plate, and a drag chain is arranged on the fixing plate.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention.

Fig. 1 is a schematic structural view of a wire-threading device on a reinforcing mesh sheet of a preform production line according to an embodiment of the present invention;

fig. 2 is a top view of a wire-threading device on a rebar grid sheet of a preform production line according to an embodiment of the present invention;

FIG. 3 is a schematic view of the arrangement of the storage mechanism on the on-line transport support according to one embodiment of the present invention;

fig. 4 is a schematic structural view of a reinforcing mesh clamping mechanism according to an embodiment of the present invention;

fig. 5 is an enlarged schematic view of a partial structure of a reinforcing mesh clamping mechanism according to an embodiment of the present invention;

fig. 6 is a schematic structural view of a steel mesh grabbing clamp according to an embodiment of the present invention;

fig. 7 is a front view of a reinforcing mesh grabbing clamp according to an embodiment of the present invention;

fig. 8 is a schematic side view of a reinforcing mesh grasping jig according to an embodiment of the present invention;

FIG. 9 is a front view of a pawl body according to one embodiment of the present invention;

fig. 10 is a front view schematically illustrating a movable claw body according to an embodiment of the present invention.

FIG. 11 is a schematic diagram of a walking grip in accordance with one embodiment of the present invention;

fig. 12 is a schematic structural view of a net pulling mechanism according to an embodiment of the present invention;

fig. 13 is a control flow diagram illustrating a reinforcing mesh grabbing control method according to an embodiment of the present invention.

In the figure:

1 bracket 2 track 3 supporting platform 4 locating part

5 connecting plate 6 third driving piece 7 hinge point 8 rotating rod

9 transmission gear 10 transmission rod 11 first driving piece 12 second driving piece

13 walking support 14 supports side plate 15 walking of 16 wheels tongs

17 fixed claw finger 18 movable claw finger 60 hooking part 61 drag chain

19 claw body driving piece 20, pulling plate 21 and lug plate 22 connecting piece

23 fixed

jaw

24, 25 fixed jaw, 25 roller, 26 movable jaw

27 grab clamp 28 rack 29 synchronous gear 30 support bearing

31 guide bearing bush 32 telescopic part 33 connecting rod 34 gear connecting rod

35 clamp frame 36 longitudinal spacing adjusting groove 37 stable limiting rod 38 mounting plate

39 pallet drive 40 pallet guide 41 sprocket 42 mesh pallet

43 tray roller 44 driving chain 46 net pulling mechanism 47 on-line transportation bracket

48 storage mechanism 49 transfer track 50 lifting rope 51 winding drum

52 hoisting motor 53 traveling platform 54 and direction-changing pulley 55 traveling driving motor

56 reinforcing bar net piece presss from both sides and gets mechanism 57 mechanism of going up

Detailed Description

The present invention will now be described in detail with reference to the drawings, which are given by way of illustration and explanation only and should not be construed to limit the scope of the present invention in any way. Furthermore, features from embodiments in this document and from different embodiments may be combined accordingly by a person skilled in the art from the description in this document.

The embodiment of the invention is as follows, as shown in fig. 1 and fig. 2, a reinforced mesh sheet threading process of a prefabricated member production line comprises the following working procedures:

(1) a net pulling procedure: pulling the processed reinforcing mesh to a preset position of an online working section by using a mesh pulling mechanism 46;

(2) grabbing the steel bar net: the reinforcing mesh clamping mechanism 56 moves to the position above the reinforcing mesh conveyed in the mesh pulling process, the reinforcing mesh clamping mechanism 56 moves downwards and clamps the reinforcing mesh, and the reinforcing mesh is clamped and then returns upwards to the walking position;

(3) the storage or online process of the steel mesh comprises the following steps: the reinforcing mesh clamping mechanism 56 moves along the transfer track 49 on the upper line conveying support 47, and conveys the grabbed reinforcing mesh to a preset production die table according to production requirements, or conveys the grabbed reinforcing mesh to the storage mechanism 48 for temporary storage;

the feeding working section comprises a net pulling mechanism 46, a steel mesh clamping mechanism 56, a storage mechanism 48 and a feeding mechanism 57, the feeding mechanism 57 comprises a feeding transportation support 47, a walking platform 53 and a walking driving piece, the feeding transportation support 47 is provided with a transfer track 49, the walking platform 53 is arranged on the feeding transportation support 47, the net pulling mechanism 46 comprises a support 1 and a walking gripper 16, the support 1 is provided with a track 2 and a supporting platform 3 for supporting the steel mesh, the support 1 extends to the steel mesh manufacturing working section from the bottom of the feeding transportation support 47, the walking gripper 16 can move along the track 2 and pulls the steel mesh to the bottom of the feeding transportation support 47, and the working procedure (1) is further completed; the reinforcing mesh clamping mechanism 56 comprises a clamp frame 35, a plurality of groups of grabbing clamps 27 and lifting driving members are arranged on the clamp frame 35 side by side, the lifting driving members can drive the grabbing clamps 27 to move vertically, the grabbing clamps 27 realize the clamping of the reinforcing mesh, and then the working procedure (2) is completed; the reinforcing mesh clamping mechanism 56 is connected with the walking platform 53, the walking driving piece can drive the walking platform 53 to walk along the transfer track 49, and the walking platform 53 can drive the reinforcing mesh clamping mechanism 56 to move to complete the operation of the working procedure (3).

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 4 and 5, the top of the grabbing fixture 27 is provided with at least two connecting portions, the two connecting portions are respectively connected to the lifting driving members, the two lifting driving members connected to the two connecting portions are connected through a synchronizing member, the synchronizing member is movably connected to the fixture frame 35, the lifting driving member includes a telescopic part 32 and a rack 28, the synchronizing member includes a gear link 34 and at least two synchronizing gears 29, a fixed end of the telescopic part 32 is fixedly connected to the fixture frame 35, a telescopic end is connected to the rack 28, the two synchronizing gears 29 are respectively engaged with the rack 28, and two ends of the gear link 34 are respectively connected to the two synchronizing gears 29.

The lifting driving component drives the grabbing fixture 27 to extend downwards into meshes of the steel bar net sheets for grabbing and then to be lifted for transferring, in order to improve grabbing effect of grabbing the steel bar net sheets, the grabbing fixture 27 is used for line grabbing, in order to guarantee balance, two connecting parts of the grabbing fixture 27 are respectively connected with the lifting driving component, and in order to guarantee lifting synchronism of two sides of the grabbing fixture 27 in the lifting process, a synchronizing component is used for connecting the two lifting driving components of the two connecting parts. Preferably, the gear linkage 34 is connected to the gripper frame 35 via the support bearing 30, so that a good engagement of the synchronization gear 29 with the cylindrical rack 28 is ensured.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 4 and 5, the telescopic end of the telescopic member 32 is connected to the top end of the rack 28 through a connecting rod 33, the fixed end of the telescopic member 32 is hinged to the clamp frame 35, and two ends of the connecting rod 33 are hinged to the telescopic member 32 and the rack 28, respectively. The fixture frame 35 is fixedly connected with a vertically arranged guide bearing sleeve 31, the rack 28 is cylindrical, and the rack 28 is connected with the guide bearing sleeve 31 in a penetrating manner. The rack 28 moves up and down under the limit of the guide bearing sleeve 31, and the deviation is prevented. And the upper end and the lower end of the telescopic piece 32 are connected by a movable hinge point 7, so that the flexibility of the telescopic piece is ensured. Meanwhile, the telescopic air rod under non-working condition is protected from being pulled, and the function of protecting the telescopic piece 32 cylinder is achieved.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 1, the traveling platform 53 is provided with a lifting mechanism, the lifting mechanism is connected to the jig frame 35, the lifting mechanism in the step (2) and the step (3) can drive the whole reinforcing mesh clamping mechanism 56 to vertically move, a positioning hole is formed in a predetermined position of the traveling platform 53, the jig frame 35 is provided with a stable limiting rod 37, and the stable limiting rod 37 penetrates through the positioning hole in the lifting process of the reinforcing mesh in the step (3). . The hoisting mechanism is mainly used for the whole vertical movement of the reinforcing mesh clamping mechanism 56, and the stable limiting rod 37 is matched with the positioning hole after the reinforcing mesh clamping mechanism ascends to a preset position, so that the stability of the steel bar mesh clamping mechanism during walking and transportation is guaranteed, and the phenomenon that the whole support 1 shakes after the reinforcing mesh is grabbed and then walks, so that the reinforcing mesh falls off and even accidents are caused is avoided.

The traveling platform 53 is driven by a traveling drive motor 55 to move along the transfer rail 49.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 1, the lifting mechanism includes a hoisting drum 51 and a hoisting motor 52, the hoisting drum 51 and the hoisting motor 52 are disposed on the top of the traveling platform 53, the hoisting drum 51 is connected with a lifting rope 50, and the lifting rope 50 passes through a direction-changing pulley 54 and is connected with the clamp frame 35.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 1 to 3, the storage mechanism 48 is disposed at the lower portion of the traveling platform 53, the storage mechanism 48 includes a plurality of layers of mesh trays 42 and a plurality of layers of tray guide rails 40 correspondingly disposed, the tray guide rails 40 are fixed on the upper line transportation support 47, the mesh trays 42 are disposed in the tray guide rails 40, and the plurality of layers of mesh trays 42 are driven by separate tray driving members 39 to move along the tray guide rails 40. So, according to the difference of production capacity in the production process, the quantity of reinforcing bar net piece is in the saturated condition in the prefab production line, the temporary storage effect that can effectively reach the reinforcing bar net piece that is equipped with of storage mechanism 48, during the initial position, net piece tray 42 is in the distal end, when needing to store, multilayer net piece tray 42 can move respectively and receive reinforcing bar net piece clamp mechanism 56 reinforcing bar net piece that inclines to preset position, can return to the initial position after receiving, also can stop at the receiving position, when stopping at the receiving position, receive the reinforcing bar net piece to preset position in proper order by bottommost net piece tray 42, when drawing the reinforcing bar net piece from storage mechanism 48, carry out above-mentioned reverse operation process can. The setting of storage mechanism 48 can effectively play the cushioning effect at the reinforcing bar net piece in-process that reaches the standard grade, the reinforcing bar net piece comes the storable buffer memory when measuring greatly, come measure hour in time from storage mechanism 48 carry the reinforcing bar net piece to the production line and carry out the production of prefab, guarantee the problem of prefab production line, play better supplementary effect, this storage mechanism 48 novel structure of while, the storage capacity is big, but the part in batches of model part is separately stored simultaneously, the perfect agrees with in this prefab production line reinforcing bar net piece upper thread device.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 13, two ends of the tray track 2 are respectively provided with a sprocket 41, one of the sprockets 41 is connected to the output shaft of the tray driving member 39, the mesh tray 42 is provided with a tray roller 43, and the tray roller 43 is fixed to a driving chain 44 on the sprocket 41.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 4 and 5, the side surface of the jig frame 35 is provided with a longitudinal distance adjusting groove 36, the telescopic member 32 and the guide bearing housing 31 are connected to the jig frame 35 by a mounting plate 38, the mounting plate 38 is disposed in the longitudinal distance adjusting groove 36, and the mounting plate 38 is movable along the longitudinal distance adjusting groove 36 and can be fixed at a predetermined position of the longitudinal distance adjusting groove 36 by a fastening member. Therefore, the adaptability of the steel bar net piece clamp to various specifications can be guaranteed, when the size of the steel bar net piece changes, only the fastener needs to be loosened, the position of the grabbing clamp 27 on the clamp frame 35 is adjusted, and then the grabbing clamp is fastened, so that the applicability of the steel bar net piece clamp is improved.

In another embodiment of the present invention, as shown in fig. 6 to 10, the gripping clamp 27 includes a fixed jaw body 23, a movable jaw body 26, and a jaw body driving member 19 for driving the movable jaw body 26 to move, wherein the bottom ends of the fixed jaw body 23 and the movable jaw body 26 are respectively provided with a plurality of sets of jaw teeth, the jaw teeth of the fixed jaw body 23 and the jaw teeth of the movable jaw body 26 are arranged in a staggered manner to form a gripping groove, the jaw body driving member 19 can drive the movable jaw body 26 to move and change the size of the gripping groove to grip the mesh-reinforced sheet, the end of each jaw tooth is provided with a jaw hook, and the jaw hook of the fixed jaw body 23 is arranged opposite to the jaw hook of the movable jaw body 26; in the step (2), the jaw driving member 19 drives the movable jaw 26 to move, the clamping groove is closed, the reinforcing steel bars are clamped and grabbed by the fixed jaw 23 and the movable jaw 26, after the hoisting grabbing clamp 27 is lifted to the walking position, the reinforcing steel bar mesh clamping mechanism 56 moves along the online conveying support 47 in the step (3) to convey the reinforcing steel bar mesh to a preset position, and then the clamping groove is opened to loosen the reinforcing steel bar mesh, so that the reinforcing steel bar mesh is released and returns to the position above the reinforcing steel bar mesh conveyed in the mesh pulling step to grab the next reinforcing steel bar mesh.

Therefore, the movable claw body 26 is driven to move by the claw body driving part 19, the clamping groove is closed, the reinforcing steel bars are clamped and grabbed by the fixed claw body 23 and the movable claw body 26, the grabbing clamp 27 is lifted to convey the reinforcing steel bar mesh to a preset position, the clamping groove is opened, the reinforcing steel bar mesh is loosened, the reinforcing steel bar mesh is released, and the actions are continuously repeated to grab the next reinforcing steel bar mesh; this snatch anchor clamps 27 novel structure, what the reinforcing bar net piece snatched effectually, is difficult for droing. The clamping groove formed between the fixed claw body 23 and the movable claw body 26 in the grabbing process is in a closed state, so that the clamping effect can be effectively improved, and the steel mesh is prevented from falling off in the transferring process.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 13, the online working section includes a visual recognition mechanism and a control system, the visual recognition mechanism and the mesh-sheet clamping mechanism 56 are in signal connection with the control system, and the control system includes a recognition module, a matching module and a positioning module; the visual identification mechanism obtains an image of a steel bar mesh to be grabbed, the obtained image is sent to the control system, the identification module carries out image acquisition, image processing and feature extraction on the received image, the matching module compares and judges the material features extracted by the identification module with reference material feature data prestored in the control system, the positioning module converts coordinates of the extracted material features in a physical coordinate system of the visual identification mechanism into coordinates in a world coordinate system, effective grabbing coordinate parameters are generated according to grabbing characteristics of the grabbing clamp 27, and the control system sends the grabbing coordinate parameters as control commands to the steel bar mesh clamping mechanism 56 and controls the grabbing clamp 27 to move to a grabbing coordinate position to grab the steel bar mesh.

The grabbing mechanism is characterized in that the movable claw bodies 26 and the fixed claw bodies 23 extend into grids which are adjacently arranged on the reinforcing mesh sheets in the grabbing process. So, can grab the reinforcing bar when guaranteeing first claw tooth and second claw tooth to fold, prevent grabbing of clamping jaw empty, guarantee the efficiency of grabbing to the reinforcing bar net piece of clamping jaw to regard this as the basic point, calculate it through control system and snatch the target coordinate.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 13, the visual recognition mechanism includes a first image collector and a second image collector, which are installed at two ends of the fixture frame 35, and form a relative position relationship between the two image collectors by calibrating coordinate parameters of the first image collector and the second image collector, and input the coordinate relationship into the control system to form physical calibration of the two image collectors, so as to construct a physical coordinate system of the visual recognition mechanism; and a predetermined position of the reinforcing mesh clamping mechanism 56 is designated to establish a world coordinate system as a coordinate origin.

Therefore, the coordinate parameters of the two image collectors are calibrated to form the relative position relation of the two image collectors, the coordinate relation is input into the control system to form the physical calibration of the two image collectors, and the physical position of the material can be determined more accurately. The shadowless flash light source is arranged at the bottom of the clamp frame 35, and the flash function is automatically started according to the change of light. The image collector and the shadowless flash light source are both connected with the controller, and corresponding flash judgment is carried out according to the image collection requirement to carry out flash shooting.

On the basis of the above embodiment, in another embodiment of the present invention, the material characteristics include the overall size of the steel mesh, the size of the mesh, whether to open the holes, if so, the size of the holes, and the thickness of the steel bars; before grabbing, inputting the reference material characteristics into the control system, wherein the input reference material characteristics comprise a sheet object which is formed by at least two continuous small grids in two coordinate directions in a physical coordinate system and has the characteristics of equal flush edges, a linear object which is continuous in two orthogonal directions and spans at least two connected grids and has the same diameter, a reinforcing steel bar diameter size family table for a reinforcing steel bar mesh, a mesh pitch multiple modulus, and whether at least a certain number of grids are continuously missing under the characteristics of the continuous grids so as to determine whether the mesh has an open pore state, and if so, the open pore state of the mesh is proved to exist.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 13, a method for controlling grabbing of a mesh reinforcement sheet includes the following steps:

(4) space positioning: converting the coordinates of the extracted material characteristics in the physical coordinate system of the image collector into coordinates in a world coordinate system, generating effective grabbing coordinate parameters according to the grabbing characteristics of the grabbing clamp 27, and sending the grabbing coordinate parameters to a grabbing mechanism as control commands;

(5) the movement of the reinforcing mesh clamping mechanism 56 and the grabbing of the reinforcing mesh: and (4) receiving the control command in the step (4), moving to a grabbing coordinate position to grab the reinforcing mesh.

In another embodiment of the present invention based on the above embodiment, as shown in fig. 6 and fig. 7, the gripping fixture 27 further includes a fixing member 24, the fixing member 24 is fixedly connected to the fixed jaw 23, the fixing member 24 is provided with a guide rail, and the jaw driving member 19 can drive the movable jaw 26 to move along the guide rail; the guide rail is internally provided with a roller 25, and the roller 25 is connected with the movable claw body 26 through a connecting piece 22. Thus, the movable connection between the movable claw body 26 and the fixing piece 24 is realized, and the structure is simple and easy to process.

On the basis of the above embodiments, in another embodiment of the present invention, as shown in fig. 6 to 8, the claw driving member 19 is a telescopic cylinder, one end of the telescopic cylinder is connected to the roller 25 through a pulling plate 20, and the telescopic cylinder can drive the movable claw 26 to swing relative to the fixed body.

In another embodiment of the present invention, as shown in fig. 6 to 8, each of the fixed claw body 23 and the movable claw body 26 includes a top plate and a side plate, the claw teeth are disposed at the bottom end of the side plate, the side plate of the movable claw body 26 is disposed on one side of the side plate of the fixed claw body 23, and the side plate of the movable claw body 26 is attached to the side plate of the fixed claw body 23.

In another embodiment of the present invention, as shown in fig. 6 to 8, the claw driving member 19 is disposed on the top plate of the fixed claw 23, the fixing member 24 is disposed under the top plate of the fixed claw 23, and the bottom end of the connecting member 22 is fixedly connected to the top plate of the movable claw 26.

In another embodiment of the present invention based on the above embodiment, as shown in fig. 6 and 7, the connecting portion is a connecting ear plate 21 disposed on the top plate of the fixed jaw body 23.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 11 and 12, the walking gripper 16 includes a bearing member, a first driving member 11, a walking member, and a gripping member, the first driving member 11, the walking member, and the gripping member are disposed on the bearing member, the first driving member 11 is used for driving the walking member to move and driving the walking gripper 16 to walk, the gripping member includes a claw finger and a second driving member 12, the claw finger is hinged to the bearing member, and the second driving member 12 can drive the claw finger to rotate along the vertical plane of the hinge point 7 of the claw finger and the bearing member; the grabbing piece further comprises a third driving piece 6, the claw fingers comprise fixed claw fingers 17 and movable claw fingers 18, and the third driving piece 6 can drive the movable claw fingers 18 to move towards the fixed claw fingers 17 so as to adjust the distance between the movable claw fingers 18 and the fixed claw fingers 17 in the horizontal direction.

In the specific application process, the produced steel bar mesh is placed on the supporting platform 3, the second driving piece 12 drives the claw fingers to lift up, the first driving piece 11 drives the walking gripper 16 to walk to a preset position, the claw fingers are put down and extend into meshes of the steel bar mesh to grab the steel bar mesh, the walking gripper 16 returns to convey the steel bar mesh to the preset position, and the claw fingers lift up and loosen the steel bar mesh to continuously repeat the actions to grab the next steel bar mesh. A preset distance exists between the movable claw fingers 18 and the fixed claw fingers 17, after the claw fingers are put down, the movable claw fingers 18 and the fixed claw fingers 17 can respectively extend into different meshes of the steel bar net piece, at the moment, the third driving piece 6 drives the movable claw fingers 18 to move, the steel bars are clamped by the claw fingers along with the closing of the claw fingers, then the walking gripper 16 integrally drives the net piece to move backwards, and when the net piece moves to a specified position and stops, the third driving piece 6 drives the movable claw fingers 18 to move, and the claw fingers are loosened. So set up, can improve greatly and grab the piece and to the effect of snatching of reinforcing bar net piece, avoid snatching not last or midway transportation reinforcing bar net piece condition of leaking and take place and influence the process of whole process.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 11, a limiting member 4 for limiting the moving position of the movable finger 18 is provided on the movable finger. In this manner, the distance of movement of movable fingers 18 is controlled to ensure the degree of closing or opening of the fingers.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 11, the fixed claw finger 17 and the movable claw finger 18 are both composed of a plurality of hooking parts, the plurality of hooking parts forming the movable claw finger 18 are connected into a whole through a connecting plate 5, the connecting plate 5 is connected to the third driving part 6, the hooking parts include vertically arranged hooking parts 60, the hooking parts 60 of the movable claw finger 18 and the hooking parts 60 of the fixed claw finger 17 are located on the same straight line, and the third driving part 6 drives the movable claw finger 18 to move along the straight line. So set up, can effectively improve steel mesh's the effect of snatching. The hooking parts 60 extend into meshes of the steel mesh, and the distance between the hooking parts 60 of the movable claw fingers 18 and the hooking parts 60 of the fixed claw fingers 17 is adjusted to realize the closing or opening of the claw fingers.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 12, the bearing component includes a walking bracket 13, support side plates 14 are disposed on two sides of the walking bracket 13, the walking component includes a transmission rod 10 and a walking wheel 15, the walking wheel 15 is movably connected to the support side plates 14, the transmission rod 10 is connected to an output shaft of the first driving component 11, the walking wheel 15 is connected to the transmission rod 10 through a transmission gear 9, one end of the claw finger is fixed to a rotation rod 8, the rotation rod 8 is hinged to the support side plates 14, and the rotation rod 8 is connected to the second driving component 12 through a connecting component 22.

On the basis of the above embodiment, in another embodiment of the present invention, as shown in fig. 12, the support 1 includes a fixing plate disposed on the supporting platform 3, the rail 2 is disposed on the fixing plate, and the fixing plate is provided with a drag chain 61.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A technology for threading a reinforcing mesh sheet on a prefabricated member production line is characterized by comprising the following working procedures:

2. The pre-form production line reinforcing mesh sheet threading process according to claim 1, wherein at least two connecting parts are arranged on the top of the gripping fixture, the two connecting parts are respectively connected with the lifting driving member, the two lifting driving members connected with the two connecting parts are connected with each other through a synchronizing member, the synchronizing member is movably connected with the fixture frame, the lifting driving member comprises a telescopic part and a rack, the synchronizing member comprises a gear connecting rod and at least two synchronizing gears, the fixed end of the telescopic part is fixedly connected with the fixture frame, the telescopic end of the telescopic part is connected with the rack, the two synchronizing gears are respectively meshed with the rack, and the two ends of the gear connecting rod are respectively connected with the two synchronizing gears.

3. The pre-fabricated part production line reinforcing mesh sheet on-line process as claimed in claim 2, wherein the telescopic end of the telescopic member is connected with the top end of the rack through a connecting rod, the fixed end of the telescopic member is hinged with the clamp frame, and the two ends of the connecting rod are respectively hinged with the telescopic member and the rack.

4. The pre-fabricated part production line reinforcing mesh piece on-line process according to claim 2, wherein the walking platform is provided with a lifting mechanism, the lifting mechanism is connected with the clamp frame, the lifting mechanism can drive the reinforcing mesh piece clamping mechanism to move vertically integrally in the process (2) and the process (3), a positioning hole is formed in a preset position of the walking platform, the clamp frame is provided with a stable limiting rod, and the stable limiting rod penetrates through the positioning hole in the lifting process of the reinforcing mesh piece in the process (3).

5. The pre-form production line reinforcing mesh sheet threading process according to any one of claims 1 to 4, wherein the storage mechanism is arranged at the lower part of the traveling platform, the storage mechanism comprises a plurality of layers of mesh sheet trays and a plurality of layers of tray guide rails correspondingly arranged, the tray guide rails are fixed on the on-line transportation bracket, the mesh sheet trays are arranged in the tray guide rails, and the plurality of layers of mesh sheet trays are driven by separate tray driving parts to move along the tray guide rails respectively.

6. The on-line process of the steel mesh sheet on the prefabricated product line of claim 5, wherein the gripping clamp comprises a fixed jaw body, a movable jaw body and a jaw body driving member for driving the movable jaw body to move, the bottom ends of the fixed jaw body and the movable jaw body are respectively provided with a plurality of sets of jaw teeth, the jaw teeth of the fixed jaw body and the jaw teeth of the movable jaw body are arranged in a staggered manner and form a gripping groove, the jaw body driving member can drive the movable jaw body to move and change the size of the gripping groove to grip the steel mesh sheet, the end of each jaw tooth is provided with a jaw hook, and the jaw hook of the fixed jaw body is arranged opposite to the jaw hook of the movable jaw body; in the process (2), the movable claw body is driven by the claw body driving part to move, the clamping groove is closed, the reinforcing steel bars are clamped and grabbed by the fixed claw body and the movable claw body, the hoisting grabbing clamp ascends to the walking position, the reinforcing steel bar mesh clamping mechanism moves along the upper line conveying support in the process (3) to convey the reinforcing steel bar mesh to a preset position, the clamping groove is opened, the reinforcing steel bar mesh is loosened, the releasing of the reinforcing steel bar mesh is realized, and then the reinforcing steel bar mesh returns to the position above the reinforcing steel bar mesh conveyed in the mesh pulling process to grab the next reinforcing steel bar mesh.

7. The pre-fabricated part production line reinforcing mesh sheet threading process according to claim 6, wherein the threading section comprises a visual recognition mechanism and a control system, the visual recognition mechanism and the reinforcing mesh sheet clamping mechanism are in signal connection with the control system, and the control system comprises a recognition module, a matching module and a positioning module; the visual identification mechanism acquires an image of a steel bar mesh to be grabbed, the acquired image is sent to the control system, the identification module performs image acquisition, image processing and feature extraction on the received image, the matching module compares and judges the material features extracted by the identification module with reference material feature data prestored in the control system, the positioning module converts coordinates of the extracted material features in a physical coordinate system of the visual identification mechanism into coordinates in a world coordinate system, effective grabbing coordinate parameters are generated according to grabbing characteristics of the grabbing fixture, and the grabbing coordinate parameters are sent to the steel bar mesh clamping mechanism as control commands and control the grabbing fixture to move to a grabbing coordinate position point to grab the steel bar mesh.

8. The on-line process of the reinforcement mesh sheet on the prefabricated part production line according to claim 7, wherein the visual recognition mechanism comprises a first image collector and a second image collector, the first image collector and the second image collector are installed at two ends of the clamp frame, a relative position relationship of the two image collectors is formed by calibrating coordinate parameters of the first image collector and the second image collector, the coordinate relationship is input into a control system to form physical calibration of the two image collectors, and a physical coordinate system of the visual recognition mechanism is constructed; and a world coordinate system is established by using a predetermined position of the reinforcing mesh clamping mechanism as a coordinate origin.

9. The pre-form production line reinforcement mesh sheet threading process of claim 8, wherein the material characteristics comprise the overall size of the reinforcement mesh sheet, the size of the mesh, whether to open the holes, if so, the size of the holes, and the thickness of the reinforcement; before grabbing, inputting the reference material characteristics into the control system, wherein the input reference material characteristics comprise a sheet object which is formed by at least two continuous small grids in two coordinate directions in a physical coordinate system and has the characteristics of equal flush edges, a linear object which is continuous in two orthogonal directions and spans at least two connected grids and has the same diameter, a reinforcing steel bar diameter size family table for a reinforcing steel bar mesh, a mesh pitch multiple modulus, and whether at least a certain number of grids are continuously missing under the characteristics of the continuous grids so as to determine whether the mesh has an open pore state, and if so, the open pore state of the mesh is proved to exist.

10. The pre-form production line reinforcing mesh sheet on-line process as claimed in claim 1, wherein the walking gripper comprises a bearing piece, a first driving piece, a walking piece and a grabbing piece, the first driving piece, the walking piece and the grabbing piece are arranged on the bearing piece, the first driving piece is used for driving the walking piece to move and driving the walking gripper to walk, the grabbing piece comprises a claw finger and a second driving piece, the claw finger is hinged with the bearing piece, and the second driving piece can drive the claw finger to rotate along the hinging point of the claw finger and the bearing piece in the vertical plane; the grabbing piece further comprises a third driving piece, the claw fingers comprise fixed claw fingers and movable claw fingers, and the third driving piece can drive the movable claws to move towards the fixed claw fingers so as to adjust the distance between the movable claw fingers and the fixed claw fingers in the horizontal direction.