CN218798821U - Automatic welding and bending device for hook ribs - Google Patents

Abstract

The utility model provides an automatic welding bending device, inner chamber platform and welding sliding platform sliding connection, the last driving motor of welding sliding platform passes through the gear and slides on the inner chamber platform with third rack toothing drive welding sliding platform, welding manipulator establishes on second installation base, driving motor on the second installation base makes second installation base lateral sliding on welding sliding platform through rack and pinion, welding manipulator is multi freedom manipulator welding bending device and sets up on welding manipulator, welding bending device includes bending device and welder controlling means, welder controlling means sets up on bending device, welder sets up on welder controlling means, and welder controlling means control welder multiposition removes the welding. Can be close to the buckling point on the hook drawing muscle and inside the article of reinforcing bar portion, clip the stirrup, do not influence the hook drawing muscle and buckle. The bending mechanism is provided with a bending mechanism, so that the draw hook rib can be bent on site.

Description

Automatic welding and bending device for hook ribs

Technical Field

The utility model belongs to the technical field of the bridge construction and specifically relates to a gib muscle automatic weld bending device is related to.

Background

The steel bar part commercialization construction is one of the directions of the future bridge tower construction process development, the steel bars are manufactured into steel bar parts in advance, and then the steel bar parts are integrally installed after being integrally hoisted to the butting position. The steel bar part product can be mechanically or semi-mechanically operated in a factory or a special jig frame, so that the labor intensity can be effectively reduced, the operating environment can be improved, and the high-altitude operation risk can be reduced.

In the manufacturing process of the bridge reinforcing steel bar part, a large number of pull hook bars exist and need to be installed manually. The operation process is loaded down with trivial details, is unfavorable for bridge reinforcing bar industrialization to be built and develops, needs a mechanized drag hook muscle installation urgently to replace manual work.

SUMMERY OF THE UTILITY MODEL

A primary object of the utility model is to provide a hook muscle automatic weld bending device solves the reinforcing bar article when the assembly in the bed-jig, the pure manually operation's of hook muscle installation problem.

In order to solve the technical problem, the utility model discloses the technical scheme who adopts is: an inner cavity platform is connected with a welding sliding platform in a sliding mode, and a driving motor on the welding sliding platform is meshed with a third rack through a gear to drive the welding sliding platform to slide on the inner cavity platform;

the welding manipulator is arranged on the second mounting base, and a driving motor on the second mounting base enables the second mounting base to transversely slide on the welding sliding platform through a gear rack;

the welding manipulator is a multi-degree-of-freedom manipulator welding bending device and is arranged on the welding manipulator, the welding bending device comprises a bending device and a welding gun control device, the welding gun control device is arranged on the bending device, a welding gun is arranged on the welding gun control device, and the welding gun control device controls the welding gun to move in multiple positions for welding.

In the preferred scheme, the bending device comprises a fixed frame, the fixed frame is connected with a welding manipulator, a hook rib clamping seat is arranged on one side of the fixed frame, and the hook rib clamping seat is used for clamping a straight section of a hook rib.

In the preferred scheme, one side of the fixed frame is provided with a bending electric push rod, the bending electric push rod is provided with a fixed support arm, the end part of a telescopic rod of the bending electric push rod is hinged with the end part of a bending crank arm, the end part of the fixed support arm is hinged with the middle part of the bending crank arm through a bending hinged arm, and the end part of the bending crank arm is provided with a V-shaped bending positioning groove;

after the hook rib clamping seat clamps the hook rib straight section, the bending electric push rod pushes the bending crank arm to bend the hook rib straight end.

In the preferred scheme, the hook bar clamping seat is arranged on one side of the fixed frame, the fixed frame is provided with a positioning clamping groove on one side of the position of the hook bar clamping seat, and the steel bar of the steel bar part is clamped on the positioning clamping groove for positioning.

In the preferred scheme, the hook rib clamping seat comprises an upper clamping block and a lower clamping block which are oppositely clamped, and the two clamping blocks are driven to oppositely clamp through two fifth cylinders respectively.

In the preferred scheme, the end part of a compression push rod of the fifth cylinder is connected with a pushing sliding block, the pushing sliding block is connected with a fixed plate in a sliding mode, the fixed plate is fixedly connected with a fixed frame, the lower end of the pushing sliding block is hinged to an upper clamping block through a pushing hinge rod, and the upper clamping block is connected with the fixed plate in a sliding mode through a plurality of guide columns.

In the preferred scheme, the upper clamping block and the lower clamping block are provided with hook rib clamping grooves which are used for clamping hook ribs.

In the preferred scheme, a plurality of positioning lugs are arranged on the upper clamping block, and a plurality of positioning grooves matched with the bending positioning grooves are arranged on the lower clamping block.

In a preferred scheme, the structure of the welding gun control device is as follows: the welding gun mounting frame is arranged on one side of the bending device, the welding gun is arranged on the sliding block, the sliding block is connected with the sliding groove in a sliding mode, the sliding groove is connected with a sliding rod of the welding gun mounting frame in a transverse sliding mode, the end portion of a third air cylinder telescopic rod on the welding gun mounting frame is connected with the sliding block, and the end portion of a fourth air cylinder telescopic rod on the side face of the welding gun mounting frame is connected with the sliding groove;

the welding end of the welding gun stretches into the bending device, and the hook ribs are welded on the steel bar part by the third cylinder and the fourth cylinder in a movable welding gun position.

In the preferred scheme, the welding manipulator is provided with a video monitoring device, and the video monitoring device is used for controlling the inserting position of the hook rib;

an artificial platform is also arranged on the inner cavity platform and can be folded, so that the feeding sliding platform and the welding sliding platform can slide up and down on the inner cavity platform and the outer cavity platform;

a support cross frame is arranged on one side of the manual platform, one side of the manual platform is hinged with the support cross frame, the support cross frame is hinged with the end part of the telescopic arm bending long rod, the end part of a sixth cylinder telescopic rod on the support cross frame is hinged with the telescopic arm bending position, the end part of the telescopic arm bending short rod is hinged with the telescopic hinge rod, and the end part of the telescopic hinge rod is hinged with one side of the manual platform;

a limit stop is arranged on the support upright post of the inner cavity platform, and the lower end of the manual platform is abutted against the limit stop after being unfolded;

the inner chamber platform lower extreme is equipped with many ground rails, and the ground rail passes through the stock setting subaerial, inner chamber platform and ground rail sliding connection.

The utility model provides a hook muscle automatic weld bending device, when reinforcing bar portion article when the bed-jig spelling, the drag hook muscle is the last process of portion's article spelling. The steel bar component assembling jig frame is divided into an inner cavity and an outer cavity. The inner cavity and the outer cavity tire racks are provided with manual operation platforms, and the manual operation platforms can move up and down along the tire rack stand columns and can be fixed at a plurality of points.

On the exocoel support of portion article bed-jig, set up the automatic material mechanism of grabbing of drag hook muscle in the bottom, the utility model discloses mainly in reinforcing bar portion article bed-jig, utilize mechanical device to accomplish work such as automatic feeding, seek a little, pay-off, installation, buckling, welding of drag hook muscle. The automatic installation of the hook pulling rib is realized by replacing manual operation. The platform is a mechanism bearing platform and is controlled by a servo motor to move up and down. The draw hook rib material rack and the draw hook rib feeding mechanism are arranged on the platform. The hook rib material rack is a fixed position, and the feeding mechanism can slide along the platform. The pulling hook rib can take materials conveniently. At present, the material taking mechanism is set to be a three-coordinate mechanism, and a mechanical arm is adopted to replace three-coordinate movement. Get the material and adopt a plurality of clamping jaws, simultaneously, the last welder, machine vision isotructure that is provided with of feeding agencies.

On the inner chamber platform of part article bed-jig, set up the drag hook muscle bending mechanism in the bottom, be provided with the drag hook muscle draw-in groove on the bending mechanism, can be close to the buckling point on the drag hook muscle and inside reinforcing bar part article, clip the stirrup, do not influence the drag hook muscle and buckle. The bending mechanism is provided with a bending mechanism, so that the draw hook rib can be bent on site. Meanwhile, mechanisms such as machine vision recognition, a welding gun and the like are integrated on the bending mechanism.

Drawings

The invention will be further described with reference to the following drawings and examples:

FIG. 1 is a front view of the overall installation of the present invention;

FIG. 2 is a rear view of the overall installation of the present invention;

FIG. 3 is a top view of the overall installation of the present invention;

FIG. 4 is a view showing the structure of the installation structure of the inner chamber platform and the outer chamber platform;

FIG. 5 is a general structure diagram of the external cavity platform of the present invention;

fig. 6 is a general installation structure diagram of the hook rib material rack and the automatic feeding manipulator of the present invention;

FIG. 7 is a front view structural diagram of the hook rib material rack of the present invention;

fig. 8 is a rear view structure diagram of the hook rib material rack of the utility model;

FIG. 9 is a disassembly structure diagram of the hook rib material rack of the present invention;

fig. 10 is a sectional view of the automatic material taking rack of the hook rib material rack of the present invention;

FIG. 11 is a sectional view of the structure of the limit pull pin of the present invention;

fig. 12 is a sectional view of the installation of the blanking limiting block of the present invention;

fig. 13 is a structural view of the automatic feeding manipulator of the present invention;

FIG. 14 is a view of the installation structure of the feeding electric push rod and the hook rib clamping arm of the present invention;

FIG. 15 is a disassembled structure view of the hook rib clamping arm of the present invention;

FIG. 16 is a view showing the internal structure of the clamp cylinder according to the present invention;

fig. 17 is a left side general structure diagram of the inner cavity platform of the present invention;

fig. 18 is a right side view of the general structure of the inner cavity platform of the present invention;

fig. 19 is a general structural view of the welding manipulator of the present invention;

fig. 20 is a view showing an installation structure of the welding gun control device and the bending device according to the present invention;

FIG. 21 is a left side view mounting structure of the welding gun control device of the present invention;

FIG. 22 is a side view of the welding gun control device of the present invention;

FIG. 23 is a view showing the installation structure of the hook bar clamping base of the present invention;

FIG. 24 is a sectional view of the hook bar clamping base of the present invention;

fig. 25 is a general structure diagram of the bending apparatus of the present invention;

fig. 26 is a schematic structural view of the bending device of the present invention for bending in a downward view;

fig. 27 is a side view structural diagram of the bending apparatus of the present invention;

fig. 28 is a schematic diagram of the single bending principle of the bending apparatus of the present invention;

FIG. 29 is a view of the structure of the folding and unfolding of the manual platform of the present invention;

fig. 30 is a front view structure of the manual platform of the present invention.

In the figure: an inner cavity platform 1; a steel bar component 2; an outer chamber stage 3; a manual platform 4; a ground rail 5; an anchor rod 501; a first rack 6; a hook rib material rack 7; a fixed table 701; a locking buckle 702; a limit pull pin 703; a first wedge shoe 704; a second wedge mount 705; an avoidance slot 706; a hook bar discharge groove 707; an automatic feeding manipulator 8; a lifting arm 801; a feeding sliding platform 9; a slide roller 901; a second rack 10; an automatic material taking frame 11; a first cylinder 1101; a take out lever 1102; a blanking limiting block 1103; a feeding electric push rod 12; a first mounting base 13; a hook rib clamping arm 14; a second cylinder 1401; the clamping jaws 1402; the hook rib clamping pawl 1403; a rotating electric machine 15; a third rack 16; welding the sliding platform 17; a welding robot 18; a second mounting base 19; bending the electric push rod 20; a welding gun 21; a torch control device 22; a welding gun mount 2201; a third cylinder 2202; a slider 2203; a torch mounting frame 2204; a chute 2205; a slide bar 2206; a fourth cylinder 2207; a bending device 23; a positioning clamp groove 2301; a guide slide column 2302; a sliding sleeve 2303; bending a crank arm 2304; bending a positioning groove 2305; bending the articulated arm 2306; a fixed arm 2307; a stirrup clamping seat 24; an upper clamping block 2401; a fixing plate 2402; a fifth cylinder 2403; positioning bumps 2405; a hook rib clamping groove 2406; positioning grooves 2407; a lower clamping block 2408; a compression ejector rod 2409; pushing the sliding block 2410; pushing the hinge rod 2411; a guide post 2412; a support cross frame 25; a sixth cylinder 26; a retracting arm 27; retracting the hinge rod 28; limit stops 29.

Detailed Description

Example 1

As shown in fig. 1 to 30, an automatic welding and bending device for a rebar comprises an inner cavity platform 1 and an outer cavity platform 3, wherein the inner cavity platform 1 and the outer cavity platform 3 are arranged on two sides of a rebar component 2, an automatic feeding manipulator 8 is arranged on the outer cavity platform 3, a rebar pulling rack 7 is arranged on one side of the automatic feeding manipulator 8, a welding manipulator 18 is arranged on the inner cavity platform 1, and a bending welding device is arranged on the welding manipulator 18; the straight end of the hook rib passes through the steel bar part 2 by the automatic feeding manipulator 8, and the straight end of the hook rib is bent by the welding manipulator 18 and welded on the steel bar part 2 by the welding device. As shown in fig. 1-2, the inner cavity platform 1 and the outer cavity platform 3 are arranged on two sides of the reinforcement part 2, the automatic feeding manipulator 8 on the outer cavity platform 3 takes materials from the hook reinforcement material frame 7 and then penetrates through the reinforcement part 2, the welding manipulator 18 on the inner cavity platform 1 bends the straight section of the hook reinforcement and welds the straight section on the reinforcement part 2, and the whole structure is simple.

In the preferred scheme, a feeding sliding platform 9 is arranged on the outer cavity platform 3, one side of the feeding sliding platform 9 is connected with the outer cavity platform 3 in a sliding mode, the feeding sliding platform 9 is driven by a gear rack to slide up and down on the outer cavity platform 3, the other side of the feeding sliding platform abuts against a supporting upright post of the outer cavity platform 3 through a plurality of sliding rollers 901, and the automatic feeding mechanical arm 8 and the drag reinforcement material frame 7 are arranged on the feeding sliding platform 9. The whole automatic feeding manipulator 8 and the drag reinforcing material frame 7 are arranged on the feeding sliding platform 9 and can slide up and down on the outer cavity platform 3, and the whole feeding sliding platform 9 is driven to slide up and down by adopting the meshing of a motor driving gear and a rack.

In the preferred scheme, automatic feeding manipulator 8 and drag reinforcement material frame 7 set up on first installation base 13, first installation base 13 and pay-off sliding platform 9 sliding connection, and driving motor on the first installation base 13 passes through the first installation base 13 of gear and the meshing drive of second rack 10 and slides on pay-off sliding platform 9. Automatic feeding manipulator 8 and drag hook muscle magazine attachment 7 set up on first installation base 13, and first installation base 13 can be on pay-off slide bracket 9 lateral sliding, has realized the removal of two degrees of freedom of automatic feeding manipulator 8 and drag hook muscle magazine attachment 7 on outer chamber platform 3, conveniently reachs any position of reinforcing bar portion article 2.

In the preferred scheme, the structure of the drag reinforcement material frame 7 is as follows: a U-shaped drag hook bar discharging groove 707 is formed by a rectangular frame, the opening position of the lower end of the drag hook bar discharging groove 707 is clamped with a fixed table top 701, an automatic material taking frame 11 is arranged below the fixed table top 701, the automatic material taking frame 11 is connected with the fixed table top 701 in a sliding mode, a plurality of material taking rods 1102 are arranged on the automatic material taking frame 11, groove bodies for placing hook bars are arranged at the end portions of the material taking rods 1102, and a first air cylinder 1101 telescopic rod inside the fixed table top 701 is connected with the automatic material taking frame 11; with the structure shown in fig. 7-12, the first cylinder 1101 drives the automatic material taking frame 11 to reach the lower part of the hook rib discharging groove 707 of the hook rib material taking frame 7, so that the hook ribs inside the hook rib discharging groove 707 can fall on the automatic material taking frame 11, and material taking is completed.

A plurality of second wedge seats 705 are arranged on the draw hook bar discharging groove 707, a plurality of first wedge seats 704 matched with the second wedge seats 705 are arranged on the fixed table top 701, and the lower end of the draw hook bar discharging groove 707 is suspended on the fixed table top 701 through the first wedge seats 704 and the second wedge seats 705; the draw hook muscle blowing groove 707 is the outside back of finishing placing the hook muscle, then installs whole draw hook muscle blowing groove 707 on fixed mesa 701, and with leave the distance on the fixed mesa 701 between, make things convenient for the unloading.

First wedge socket 704 and second wedge socket 705 are connected by a plurality of locking clasps 702; the locking buckle 702 facilitates quick assembly and disassembly of the hook bar discharging groove 707 and the fixed table top 701.

A plurality of limiting pull pins 703 are arranged at the opening position of the lower end of the hook bar discharging groove 707, the bent position of one end of each limiting pull pin 703 is clamped at one side of the hook bar discharging groove 707, and the straight section of the other end of each limiting pull pin 703 transversely crosses the opening position of the lower end of the hook bar discharging groove 707; after the draw hook muscle storing trough 707 finishes feeding, spacing brace 703 card prevents that the hook muscle from dropping in installation draw hook muscle storing trough 707 lower extreme open position at draw hook muscle storing trough 707, gets the material in-process after the installation is accomplished, pulls out spacing brace 703.

After the automatic material taking frame 11 retracts, the hook rib inside the hook rib discharging groove 707 falls on the groove body at the end part of the material taking rod 1102, and then the hook rib is pushed out by the first air cylinder 1101, so that material taking is completed.

In the preferred embodiment, a plurality of avoiding grooves 706 are formed in the fixing table 701, a plurality of blanking limiting blocks 1103 are arranged on the automatic material taking frame 11, the blanking limiting blocks 1103 are connected with the automatic material taking frame 11 in a sliding mode, the blanking limiting blocks 1103 are arranged inside the avoiding grooves 706, and the upper ends of the blanking limiting blocks 1103 are arranged below the hook rib material placing grooves 707. The unloading stopper 1103 retracts through the automatic material taking frame 11 to enable the hook rib to fall on the material taking rod 1102, and the unloading stopper 1103 is clamped below the hook rib discharging groove 707 to limit the hook rib to fall during pushing.

As shown in fig. 9-12, the blanking limiting block 1103 is slidably connected to the automatic material taking frame 11, and during the sliding process of the automatic material taking frame 11, the blanking limiting block 1103 is kept inside the avoiding groove 706.

In the process that the whole automatic material taking frame 11 moves backwards, the blanking limiting block 1103 is abutted against the root of the avoiding groove 706, the hook rib falls on the groove body at the end part of the material taking rod 1102, when the automatic material taking frame 11 is ejected out, the upper end of the blanking limiting block 1103 is abutted against the draw hook rib discharging groove 707, the hook rib is abutted against the top of the blanking limiting block 1103, the limitation is completed, the hook rib is prevented from falling, and the single step of taking the material is realized.

In a preferred scheme, the automatic feeding manipulator 8 is a multi-degree-of-freedom manipulator, a feeding electric push rod 12 is arranged at the end part of a lifting arm 801 of the automatic feeding manipulator 8, a hook rib clamping arm 14 is arranged on a sliding plate of the feeding electric push rod 12, the end part of the hook rib clamping arm 14 is connected with a rotating motor 15, and the rotating motor 15 is connected with the sliding plate of the feeding electric push rod 12; the feeding electric push rod 12 pushes the whole hook rib clamping arm 14 into the reinforcing steel bar part 2, and the step of installing the hook rib is achieved. The rotating motor 15 can timely adjust the angle of the whole hook rib clamping arm 14, and the angle of the hook rib is conveniently adjusted.

A plurality of second cylinders 1401 are arranged on the rebar clamping arms 14, clamping claws 1402 are arranged at the end parts of the second cylinders 1401, and the clamping claws 1402 are used for clamping the straight sections of the rebar; the second cylinder 1401 is used for driving the clamping claw 1402 to clamp the straight section of the hook bar.

A hook rib clamping supporting claw 1403 is arranged on a second cylinder 1401 at the end part of the hook rib clamping arm 14, the hook rib clamping supporting claw 1403 is of a right-angle structure, a clamping groove is formed at the bending position of the two hook rib clamping supporting claws 1403, and the hook rib clamping supporting claws 1403 are used for clamping the bending section of the hook rib; in the structure shown in fig. 15, the bent positions of the two rib clamping claws 1403 form clamping grooves to facilitate clamping the bent section of the entire rib.

The right-angle positions of the upper ends of the clamping claw 1402 and the hook rib clamping supporting claw 1403 are rotatably connected with the second cylinder 1401, and the right-angle end parts of the upper ends of the clamping claw 1402 and the hook rib clamping supporting claw 1403 are hinged with a telescopic rod of the second cylinder 1401. The clamping mode of the second cylinder 1401 is as shown in figure 16, which can clamp the whole hook rib in time.

Example 2

Further described with reference to embodiment 1, as shown in fig. 1-30, the inner cavity platform 1 is slidably connected to the welding sliding platform 17, and the driving motor on the welding sliding platform 17 is engaged with the third rack 16 through a gear to drive the welding sliding platform 17 to slide on the inner cavity platform 1; the welding sliding platform 17 is used for installing a welding manipulator 18, the welding sliding platform 17 moves up and down on the inner cavity platform 1, and the driving motor is meshed with the third rack 16 through a gear to drive the welding sliding platform 17 to slide on the inner cavity platform 1.

The welding manipulator 18 is arranged on the second mounting base 19, and a driving motor on the second mounting base 19 enables the second mounting base 19 to transversely slide on the welding sliding platform 17 through a gear rack; the second mounting base 19 slides laterally on the welding slide 17, enabling the entire welding robot 18 to move on the bore platform 1 with multiple degrees of freedom.

The welding manipulator 18 is a multi-degree-of-freedom manipulator welding bending device and is arranged on the welding manipulator 18, the welding bending device comprises a bending device 23 and a welding gun control device 22, the welding gun control device 22 is arranged on the bending device 23, the welding gun 21 is arranged on the welding gun control device 22, and the welding gun control device 22 controls the welding gun 21 to move and weld in multiple positions.

In the preferred scheme, the bending device 23 comprises a fixed frame, the fixed frame is connected with a welding manipulator 18, one side of the fixed frame is provided with a hook rib clamping seat 24, the hook rib clamping seat 24 is used for clamping a straight section of a hook rib, one side of the fixed frame is provided with a bending electric push rod 20, the bending electric push rod 20 is provided with a fixed support arm 2307, the end part of a telescopic rod of the bending electric push rod 20 is hinged with the end part of a bending crank arm 2304, the end part of the fixed support arm 2307 is hinged with the middle part of the bending crank arm 2304 through a bending hinged arm 2306, and the end part of the bending crank arm 2304 is provided with a V-shaped bending positioning groove 2305; as shown in fig. 25-28, the bending electric push rod 20 pushes the bending crank arm 2304, the bending crank arm 2304 is limited by the bending hinge arm 2306, the bending crank arm 2304 forms a bending ring structure, and the end of the hook bar is bent and hung on the reinforcement part 2. After the knuckle clamping seat 24 clamps the knuckle straight section, the bending electric push rod 20 pushes the bending crank arm 2304 to bend the knuckle straight end.

The rebar clamping seat 24 is arranged on one side of the fixed frame, a positioning clamping groove 2301 is formed in one side of the fixed frame at the position of the rebar clamping seat 24, and a rebar of the rebar part 2 is clamped in the positioning clamping groove 2301 for positioning; as shown in fig. 20, the reinforcing bar of the reinforcing bar part 2 is clamped on the positioning clamp groove 2301, the hook bar is clamped on the hook bar clamping seat 24, and then the bending structure bends the straight end of the whole hook bar.

The hook rib clamping seat 24 comprises an upper clamping block 2401 and a lower clamping block 2408 of two opposite clamps, and the two clamping blocks drive the opposite clamps through two fifth cylinders 2403 respectively; the end part of a pressing push rod 2409 of a fifth cylinder 2403 is connected with a pushing slider 2410, the pushing slider 2410 is in sliding connection with a fixing plate 2402, the fixing plate 2402 is fixedly connected with a fixing frame, the lower end of the pushing slider 2410 is hinged with an upper clamping block 2401 through a pushing hinge rod 2411, and the upper clamping block 2401 is in sliding connection with the fixing plate 2402 through a plurality of guide columns 2412; the upper clamping block 2401 and the lower clamping block 2408 of the two pairs of clamps are driven by a fifth air cylinder 2403 to realize clamping.

Hook rib clamping grooves 2406 are formed in the upper clamping block 2401 and the lower clamping block 2408, and the hook rib clamping grooves 2406 are used for clamping hook ribs; the clamping grooves 2406 facilitate clamping the entire hook bar.

A plurality of positioning lugs 2405 are arranged on the upper clamping block 2401, and a plurality of positioning grooves 2407 matched with the bending positioning grooves 2305 are arranged on the lower clamping block 2408; the positioning lug 2405 is clamped inside the positioning groove 2407, so that the butt joint of the upper clamping block 2401 and the lower clamping block 2408 is more stable.

The torch control device 22 has a structure in which: the welding gun mounting frame 2204 is arranged on one side of the bending device 23, the welding gun 21 is arranged on the sliding block 2203, the sliding block 2203 is in sliding connection with the sliding groove 2205, the sliding groove 2205 is in transverse sliding connection with the sliding rod 2206 of the welding gun mounting frame 2204, the end part of the telescopic rod of the third air cylinder 2202 on the welding gun mounting frame 2204 is connected with the sliding block 2203, and the end part of the telescopic rod of the fourth air cylinder 2207 on the side surface of the welding gun mounting frame 2204 is connected with the sliding groove 2205; the welding gun 21 is arranged on the welding gun control device 22, and the third air cylinder 2202 and the fourth air cylinder 2207 adjust whether the welding gun 21 is close to the welding position or not and slide transversely to achieve the welding length. The welding end of the welding gun 21 extends into the bending device 23, and the third air cylinder 2202 and the fourth air cylinder 2207 move the welding gun 21 to weld the hook rib on the steel bar part 2.

In the preferred scheme, video monitoring equipment is arranged on the inner cavity platform 1 and the outer cavity platform 3 and is used for controlling the inserting position of the hook rib; the video monitoring equipment is used for detecting the position of the hook rib, and the hook rib can be conveniently and automatically inserted.

The inner cavity platform 1 and the outer cavity platform 3 are also provided with artificial platforms 4, and the artificial platforms 4 can be folded, so that the feeding sliding platform 9 and the welding sliding platform 17 can slide up and down on the inner cavity platform 1 and the outer cavity platform 3; a supporting cross frame 25 is arranged on one side of the artificial platform 4, one side of the artificial platform 4 is hinged with the supporting cross frame 25, the supporting cross frame 25 is hinged with the end part of a long bending rod of a contraction arm 27, the end part of a telescopic rod of a sixth air cylinder 26 on the supporting cross frame 25 is hinged with the bending position of the contraction arm 27, the end part of a short bending rod of the contraction arm 27 is hinged with a contraction hinge rod 28, and the end part of the contraction hinge rod 28 is hinged with one side of the artificial platform 4; the supporting upright posts of the inner cavity platform 1 and the outer cavity platform 3 are provided with limit stops 29, and the lower ends of the artificial platforms 4 abut against the limit stops 29 after being unfolded; after the manual platform 4 is contracted, the feeding sliding platform 9 and the welding sliding platform 17 can conveniently slide up and down on the inner cavity platform 1 and the outer cavity platform 3.

The lower end of the inner cavity platform 1 is provided with a plurality of ground rails 5, the ground rails 5 are arranged on the ground through anchor rods 501, and the inner cavity platform 1 is connected with the ground rails 5 in a sliding mode. Inner chamber platform 1 can the shift position, conveniently adjusts the distance between inner chamber platform 1 and the reinforcing bar article 2.

Example 3

Further explanation is provided by combining with the embodiment 1-2, and the structure shown in fig. 1-30 comprises the following specific construction steps:

preparation before work: the manual platform 4 is completely contracted and folded at one side, and the inner cavity and outer cavity hook rib installation equipment is moved to the bottom of the platform.

Loading the hook ribs: and (4) carrying the draw rib material rack 7 loaded with draw ribs to the outer cavity platform 3 to fix the draw rib material rack.

Grid identification: the pay-off sliding platform 9 of exocoel platform 3 rises to treating the regional bottom height of installation, and the machine vision equipment of autoloading manipulator 8 begins to scan the region of waiting to install the hook muscle on reinforcing bar article 2, discerns the reinforcing bar net that main muscle and stirrup constitute, and machine vision scans certain region in proper order, and after scanning finishes at every turn, control system can the automatic calculation scan in the regional interior interlude locating point position of hook muscle of scanning.

Feeding the hook ribs: and an automatic feeding manipulator 8 on the hook rib feeding mechanism moves to the material rack, and the hook rib material rack 7 starts to discharge materials. When the automatic feeding manipulator 8 snatchs the draw hook muscle, snatch the draw hook muscle, press from both sides tight arm 14 with the hook muscle of automatic feeding manipulator 8 and remove to waiting to wear in the reinforcing bar net of draw hook muscle.

And moving to a positioning point to be inserted, and penetrating the straight end of the drag hook rib into the mesh of the steel bar part from the mesh of the external cavity steel bar part. When the draw hook rib is used for feeding, as the draw hook rib is longer and a plurality of clamping jaws need to be matched, the hook rib clamping arm 14 penetrates into a reinforcing steel bar part grid under the pushing of the feeding electric push rod 12.

Positioning the pull hook rib: before the draw hook bar penetrates into the part, machine vision on the bending mechanism scans the inner cavity steel bar part grids, and the grids are positioned to the position of the draw hook bar to be installed according to program calculation. Waiting for the pull hook rib to penetrate. When the clamping end of the feeding mechanism is close to a part, the opening material receiving mechanism on the bending mechanism extends into the grid to prepare for material receiving. At this time, the straight end is already close to the opening on the bending device 23, and the hook rib is clamped by the hook rib clamping seat 24 along the opening. At the moment, the tail part of the draw hook rib is provided with a hook part, the elbow part is inserted into the grid, and the hook part of the draw hook rib is attached to the component stirrup.

The hook muscle connects material: after the draw hook bar is inserted into the opening of the bending mechanism, the tail part of the draw hook bar enters the clamping groove of the bending device 23 along the stirrup guide groove, and the bending device 23 bends the draw hook bar.

Automatic bending: the tail part of the drag hook rib is to be bent, after the clamping groove of the bending device 23 is formed, the bending device 23 acts to bend the end part of the drag hook rib by 90 degrees and attach the end part of the drag hook rib to the main rib. The tab is then spot welded to the bent portion and the stirrup immediately.

And (3) displacement: after the end of the drag hook rib is spot-welded, the feeding mechanism moves to the next grid to feed the drag hook rib of the next grid, and when the drag hook rib enters the clamping groove of the bending mechanism during feeding, the feeding mechanism starts spot welding after being clamped by the bending mechanism. And moving to the next grid after spot welding is finished. The feeding mechanism and the bending mechanism are asynchronous in action.

Feeding the hook drawing ribs: after the installation of the draw hook rib on the draw hook rib material frame is finished, at the moment, the bending mechanism moves to the next draw hook rib area to be installed. The feeding mechanism descends to the bottom along with the platform, and a next group of hook drawing ribs starts to feed.

And repeating the steps until all the drag hook ribs in the area are completely installed.

The above-mentioned embodiments are merely preferred embodiments of the present invention, and should not be considered as limitations of the present invention, and the protection scope of the present invention should be defined by the technical solutions described in the claims, and includes equivalent alternatives of technical features in the technical solutions described in the claims. I.e., equivalent alterations and modifications within the scope of the invention, are also intended to be covered by the scope of this invention.

Claims (10)

1. The utility model provides a gib muscle automatic weld bending device, characterized by: the inner cavity platform (1) is connected with the welding sliding platform (17) in a sliding mode, and a driving motor on the welding sliding platform (17) is meshed with a third rack (16) through a gear to drive the welding sliding platform (17) to slide on the inner cavity platform (1);

the welding manipulator (18) is arranged on the second mounting base (19), and a driving motor on the second mounting base (19) enables the second mounting base (19) to transversely slide on the welding sliding platform (17) through a gear rack;

the welding manipulator (18) is a multi-degree-of-freedom manipulator welding bending device and is arranged on the welding manipulator (18), the welding bending device comprises a bending device (23) and a welding gun control device (22), the welding gun control device (22) is arranged on the bending device (23), the welding gun (21) is arranged on the welding gun control device (22), and the welding gun control device (22) controls the welding gun (21) to move and weld at multiple positions.

2. The automatic welding and bending device for the hook ribs according to claim 1 is characterized in that: the bending device (23) comprises a fixed frame, the fixed frame is connected with the welding manipulator (18), a hook rib clamping seat (24) is arranged on one side of the fixed frame, and the hook rib clamping seat (24) is used for clamping a straight section of a hook rib.

3. The automatic welding and bending device for the hook ribs according to claim 2 is characterized in that: one side of the fixed frame is provided with a bending electric push rod (20), the bending electric push rod (20) is provided with a fixed support arm (2307), the end part of a telescopic rod of the bending electric push rod (20) is hinged with the end part of a bending crank arm (2304), the end part of the fixed support arm (2307) is hinged with the middle part of the bending crank arm (2304) through a bending hinge arm (2306), and the end part of the bending crank arm (2304) is provided with a V-shaped bending positioning groove (2305);

after the hook rib clamping seat (24) clamps the hook rib straight section, the bending electric push rod (20) pushes the bending crank arm (2304) to bend the hook rib straight end.

4. The automatic welding and bending device for the hook ribs according to claim 2 is characterized in that: the rebar clamping seat (24) is arranged on one side of the fixed frame, the fixed frame is provided with a positioning clamping groove (2301) on one side of the rebar clamping seat (24), and a rebar clamp of the rebar part (2) is positioned on the positioning clamping groove (2301).

5. The automatic welding and bending device for the hook ribs according to claim 2 is characterized in that: the hook rib clamping seat (24) comprises an upper clamping block (2401) and a lower clamping block (2408) of two opposite clamps, and the two clamping blocks are driven to be opposite clamps through two fifth cylinders (2403) respectively.

6. The automatic welding and bending device for the hook ribs according to claim 5 is characterized in that: the end part of a pressing ejector rod (2409) of a fifth air cylinder (2403) is connected with a pushing sliding block (2410), the pushing sliding block (2410) is in sliding connection with a fixing plate (2402), the fixing plate (2402) is fixedly connected with a fixing frame, the lower end of the pushing sliding block (2410) is hinged to an upper clamping block (2401) through a pushing hinge rod (2411), and the upper clamping block (2401) is in sliding connection with the fixing plate (2402) through a plurality of guide columns (2412).

7. The automatic welding and bending device for the hook ribs according to claim 5 is characterized in that: hook rib clamping grooves (2406) are formed in the upper clamping block (2401) and the lower clamping block (2408), and the hook rib clamping grooves (2406) are used for clamping hook ribs.

8. The automatic welding and bending device for the hook ribs according to claim 5 is characterized in that: a plurality of positioning lugs (2405) are arranged on the upper clamping block (2401), and a plurality of positioning grooves (2407) matched with the bending positioning grooves (2305) are arranged on the lower clamping block (2408).

9. The automatic welding and bending device for the hook ribs according to claim 1 is characterized in that: the torch control device (22) is configured to: the welding gun mounting frame (2204) is arranged on one side of the bending device (23), the welding gun (21) is arranged on a sliding block (2203), the sliding block (2203) is in sliding connection with a sliding groove (2205), the sliding groove (2205) is in transverse sliding connection with a sliding rod (2206) of the welding gun mounting frame (2204), the end part of a telescopic rod of a third air cylinder (2202) on the welding gun mounting frame (2204) is connected with the sliding block (2203), and the end part of a telescopic rod of a fourth air cylinder (2207) on the side surface of the welding gun mounting frame (2204) is connected with the sliding groove (2205);

the welding end of the welding gun (21) extends into the bending device (23), and the welding gun (21) is moved by the third air cylinder (2202) and the fourth air cylinder (2207) to weld the hook rib on the steel bar part (2).

10. The automatic welding and bending device for the hook ribs according to claim 1 is characterized in that: video monitoring equipment is arranged on the welding manipulator (18) and used for controlling the hook bar inserting position;

an artificial platform (4) is further arranged on the inner cavity platform (1), and the artificial platform (4) can be folded, so that the feeding sliding platform (9) and the welding sliding platform (17) can slide up and down on the inner cavity platform (1) and the outer cavity platform (3);

a supporting transverse frame (25) is arranged on one side of the artificial platform (4), one side of the artificial platform (4) is hinged with the supporting transverse frame (25), the supporting transverse frame (25) is hinged with the end part of a bending long rod of the contraction arm (27), the end part of a telescopic rod of a sixth air cylinder (26) on the supporting transverse frame (25) is hinged with the bending position of the contraction arm (27), the end part of a bending short rod of the contraction arm (27) is hinged with a contraction hinge rod (28), and the end part of the contraction hinge rod (28) is hinged with one side of the artificial platform (4);

a limit stop block (29) is arranged on a support upright post of the inner cavity platform (1), and the lower end of the artificial platform (4) abuts against the limit stop block (29) after being unfolded;

the lower end of the inner cavity platform (1) is provided with a plurality of ground rails (5), the ground rails (5) are arranged on the ground through anchor rods (501), and the inner cavity platform (1) is connected with the ground rails (5) in a sliding mode.

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