CN111168292B - Manipulator for steel reinforcement cage group cage and steel reinforcement cage welding equipment - Google Patents
Manipulator for steel reinforcement cage group cage and steel reinforcement cage welding equipment Download PDFInfo
- Publication number
- CN111168292B CN111168292B CN202010283921.9A CN202010283921A CN111168292B CN 111168292 B CN111168292 B CN 111168292B CN 202010283921 A CN202010283921 A CN 202010283921A CN 111168292 B CN111168292 B CN 111168292B
- Authority
- CN
- China
- Prior art keywords
- positioning
- cage
- welding gun
- guide
- seat
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
Abstract
The invention provides a manipulator for a steel bar cage group cage and steel bar cage welding equipment, and relates to the technical field of steel bar cage preparation, wherein the manipulator for the steel bar cage group cage comprises a mounting seat, a welding gun positioning mechanism and a longitudinal bar positioning mechanism; the welding gun positioning mechanism comprises a positioning plate arranged on the mounting seat and used for mounting a welding gun, and the front end of the positioning plate is provided with a notch used for clamping the longitudinal bar of the reinforcement cage to assist in positioning the welding gun; in the longitudinal rib positioning mechanism, a stroke guide plate is arranged on a mounting seat; the positioning piece driving assembly is arranged on the stroke guide plate and connected with the positioning piece, and is configured to drive the positioning piece to push the longitudinal rib from the notch to a position close to the welding point under the limiting guide of the stroke guide plate under a first working condition and release the longitudinal rib from the notch under a second working condition; the steel reinforcement cage welding equipment comprises the manipulator for the steel reinforcement cage group cage. The invention at least relieves the technical problems of high labor intensity and low production efficiency of cage assembling workers of stirrups and longitudinal reinforcements in the production process of the reinforcement cage of the beam and the column in the prior art.
Description
Technical Field
The invention relates to the technical field of reinforcement cage preparation, in particular to a manipulator for a reinforcement cage group cage and reinforcement cage welding equipment.
Background
The beam and column steel reinforcement cage is composed of a threaded straight bar longitudinal reinforcement and a cross-section stirrup of the same shape bent by the threaded steel reinforcement, the longitudinal reinforcement is distributed in the stirrup in a penetrating manner, and the stirrup is arranged intermittently along the longitudinal reinforcement in the length direction according to design requirements. At present, the production of beam and column reinforcement cages generally comprises the steps of firstly manufacturing a section stirrup by using a hoop bending machine, using a straight bar reinforcement or a straightening machine to straighten the reinforcement to manufacture a longitudinal reinforcement, and then binding or welding the straight bar reinforcement and the straightening machine reinforcement into the reinforcement cage through a simple tool frame. Because in present roof beam, cylinder steel reinforcement cage production process, the group cage process of stirrup, vertical muscle is all accomplished by the manual work to, the steel reinforcement cage structure has various and complexity, and the frock frame adjustment consumes a large amount of man-hours with the preparation, thereby, prior art has obvious workman intensity of labour big, and the technical problem that production efficiency is low is unfavorable for the industrial production of roof beam, cylinder steel reinforcement cage.
Disclosure of Invention
The invention aims to provide a manipulator for assembling a reinforcement cage and reinforcement cage welding equipment, which are used for solving the technical problems of high labor intensity and low production efficiency of cage assembling workers of stirrups and longitudinal reinforcements in the production process of a reinforcement cage of a beam and a column in the prior art.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
in a first aspect, the embodiment of the invention provides a manipulator for a steel bar cage group cage, which comprises a mounting seat, a welding gun positioning mechanism and a longitudinal bar positioning mechanism;
the welding gun positioning mechanism comprises a positioning plate, the positioning plate is used for mounting a welding gun and is mounted on the mounting seat, and a notch for clamping a longitudinal bar of the reinforcement cage to assist in positioning the welding gun is arranged at the front end of the positioning plate;
the longitudinal rib positioning mechanism comprises a positioning piece, a positioning piece driving assembly and a stroke guide plate;
the stroke guide plate is mounted on the mounting seat, a guide hole or a guide groove is formed in the stroke guide plate, a limiting piece is arranged on the positioning piece, and the limiting piece is limited in the guide hole or the guide groove;
the fixed end of the positioning piece driving assembly is fixed on the stroke guide plate, and the movable end of the positioning piece driving assembly is connected with the positioning piece; the positioning piece driving assembly is configured to drive the positioning piece to push the longitudinal rib from the notch to a position close to the welding point under a first working condition, and release the longitudinal rib from the notch under a second working condition; and the positioning part driving assembly is configured to drive the positioning part to move along the guide hole or the guide groove under the limiting action of the limiting part.
In an alternative embodiment, the positioning element driving assembly is a linear driving assembly, and the movable end of the positioning element driving assembly is hinged to the positioning element.
In an optional embodiment, the manipulator for the steel bar cage group cage further comprises a position changing mechanism;
the displacement mechanism comprises a guide seat and a guide seat driving assembly, the guide seat is connected to the mounting seat in a sliding mode, the guide seat driving assembly is mounted between the mounting seat and the guide seat, and the guide seat driving assembly is configured to drive the guide seat to slide on the mounting seat in a reciprocating mode;
the locating plate with the stroke deflector all install in the guide holder.
In an alternative embodiment, the torch positioning mechanism further comprises a flexible telescoping assembly; the locating plate is slidably mounted on the guide seat, and the flexible telescopic assembly is mounted between the locating plate and the guide seat.
In an alternative embodiment, the flexible telescoping assembly includes a guide shaft, a coil spring, and a capture member;
a first connecting part is arranged on the positioning plate, a second connecting part is arranged on the guide seat, and the first connecting part, the second connecting part and the locking part are all arranged on the guide shaft;
the locking piece locks the first connecting part and the second connecting part at two ends of the spiral spring, and enables one end of the spiral spring to be in contact with the first connecting part and the other end of the spiral spring to be in contact with the second connecting part;
the first connecting portion is slidable relative to the guide shaft to compress or release the coil spring toward the second connecting portion.
In an optional embodiment, the manipulator for the steel bar cage group cage further comprises a welding gun seat and a welding gun;
the welding gun seat is connected to the top of the positioning plate;
a welding gun through hole penetrating through the positioning plate is formed in the positioning plate; the welding gun is arranged on the welding gun seat in a mode that the front end of the welding gun extends into the welding gun through hole, and the welding gun is configured to weld the longitudinal rib positioned at the welding point to the stirrup attached to the longitudinal rib.
In an optional embodiment, the welding gun through hole is a long hole with a long axis extending along the front-back direction of the positioning plate; the welding gun is clamped on the clamping assembly, the clamping assembly is installed on the welding gun seat, and the clamping assembly can rotate relative to the welding gun seat in a plane perpendicular to the positioning plate.
In an alternative embodiment, a universal ball support is provided at the bottom of the positioning plate.
In a second aspect, an embodiment of the present invention provides a reinforcement cage welding apparatus, including at least one manipulator for a reinforcement cage assembly cage described in any one of the foregoing embodiments.
The embodiment of the invention can realize the following beneficial effects:
in a first aspect, the embodiment of the invention provides a manipulator for a steel bar cage group cage, which comprises a mounting seat, a welding gun positioning mechanism and a longitudinal bar positioning mechanism; the welding gun positioning mechanism comprises a positioning plate, the positioning plate is used for mounting a welding gun and is mounted on the mounting seat, and a notch for clamping a longitudinal rib of the reinforcement cage to assist in positioning the welding gun is arranged at the front end of the positioning plate; the longitudinal rib positioning mechanism comprises a positioning piece, a positioning piece driving assembly and a stroke guide plate; the stroke guide plate is arranged on the mounting seat, a guide hole or a guide groove is formed in the stroke guide plate, a limiting part is arranged on the positioning part, and the limiting part is limited in the guide hole or the guide groove; the fixed end of the positioning piece driving assembly is fixed on the stroke guide plate, and the movable end of the positioning piece driving assembly is connected with the positioning piece; the positioning piece driving assembly is configured to drive the positioning piece to push the longitudinal rib from the notch to a position close to the welding point under a first working condition, and release the longitudinal rib from the notch under a second working condition; and the positioning part driving assembly is configured to drive the positioning part to move along the guide hole or the guide groove under the limiting action of the limiting part.
The embodiment of the invention is applied to a cage assembling process of stirrups and longitudinal reinforcements in a manufacturing process of a reinforcement cage, when the cage assembling process is used, a welding gun is connected to a positioning plate, longitudinal reinforcements to be welded are positioned by utilizing a mounting seat, a welding gun positioning mechanism and a longitudinal reinforcement positioning mechanism, specifically, the positioning plate and a positioning piece driving assembly are driven to move relative to the mounting seat by directly driving the mounting seat or by an auxiliary driving assembly arranged between the mounting seat and the positioning plate and between the mounting seat and the positioning piece driving assembly, so that the longitudinal reinforcements to be welded enter a notch at the front end of the positioning plate of the welding gun positioning mechanism, the stirrups are conveyed to the position close to the positioning piece by using other auxiliary equipment or other operating mechanisms of welding equipment applying a manipulator for the reinforcement cage, so that the stirrups are positioned in positions, then, a function of guiding an action path of the positioning piece is realized by a stroke guide plate, the positioning piece driving assembly can push the longitudinal reinforcements to hook the longitudinal reinforcements, the longitudinal reinforcements are pushed to the positions close to welding points in the notches of the positioning piece, and the positioning piece driving assembly to reset the positioning piece to the positioning piece, so that the longitudinal reinforcements can be suitable for manufacturing process of a plurality of reinforcement cage assembling cage, a plurality of reinforcement cage, a plurality of mechanical arm, a plurality of reinforcing cage assembling and a plurality of reinforcing cage, a plurality of reinforcing bar assembling and a plurality of reinforcing bar assembling mechanical arm, can be suitable positioning pieces, and a plurality of reinforcing bar assembling mechanical arm, and a positioning pieces, and a plurality of.
In a second aspect, an embodiment of the present invention provides a reinforcement cage welding apparatus, including at least one manipulator for a reinforcement cage group cage provided in the first aspect; the reinforcement cage welding equipment provided by the embodiment of the invention comprises the manipulator for the reinforcement cage group cage provided by the first aspect, so that the reinforcement cage welding equipment provided by the embodiment of the invention can achieve all the beneficial effects which can be achieved by the manipulator for the reinforcement cage group cage provided by the first aspect.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a side view of a manipulator for a reinforcement cage assembly cage according to an embodiment of the present invention;
fig. 2 is a schematic overall structure diagram of a manipulator for a reinforcement cage group cage according to an embodiment of the present invention from one view angle;
fig. 3 is a schematic overall structure diagram of the manipulator for the reinforcement cage group cage according to another view angle provided by the embodiment of the invention;
FIG. 4 is a schematic view of a connection structure of the mounting seat, the shifting mechanism and the longitudinal rib positioning mechanism in the embodiment of the present invention;
FIG. 5 is a schematic view of the overall structure of a stroke guide plate in the displacement mechanism according to the embodiment of the present invention;
FIG. 6 is a schematic view of the connection structure of the positioning mechanism of the welding gun installed on the guide seat of the position changing mechanism according to the embodiment of the present invention;
FIG. 7 is a schematic view of a connection structure of a welding gun mounted on a positioning plate of a welding gun positioning mechanism according to an embodiment of the present invention;
fig. 8 is a positioning welding working state diagram in which a positioning piece of a manipulator for a reinforcement cage group cage according to an embodiment of the present invention pushes a longitudinal bar located in a notch of a positioning plate to a position close to a welding point;
FIG. 9 is a front view of FIG. 8;
fig. 10 is a diagram of a half-reset working state of a positioning element of a manipulator for a reinforcement cage group cage according to an embodiment of the present invention for releasing longitudinal bars;
FIG. 11 is a front view of FIG. 10;
fig. 12 is a diagram of a complete reset working state of the manipulator for the steel bar cage group cage according to the embodiment of the present invention;
fig. 13 is a front view of fig. 12.
Icon: 1-stirrup; 2-longitudinal ribs; 100-a mounting seat; 200-a torch positioning mechanism; 210-a positioning plate; 2101-positioning plate slide block; 2102-positioning plate guide; 201-a first connection; 211-notch; 212-via of the torch; 213-a gimbaled ball support; 220-a flexible telescopic assembly; 221-a guide shaft; 222-a coil spring; 223-a capture member; 300-longitudinal rib positioning mechanism; 310-a positioning element; 311-a limit stop; 320-a positioner drive assembly; 330-stroke guide plate; 331-guide holes; 400-a displacement mechanism; 401-a second connection; 410-a guide seat; 411-guide seat plate; 412-shoe slide; 413-a shoe guide; 420-a guide mount drive assembly; 510-a welding gun seat; 520-a welding gun; 530 — a clamping assembly.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like refer to orientations or positional relationships based on those shown in the drawings or orientations or positional relationships that are conventionally used to place the products of the present invention, and are used for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Example one
Referring to fig. 1 to 3, the manipulator for a steel bar cage group cage includes a mounting base 100, a welding gun positioning mechanism 200, and a longitudinal bar positioning mechanism 300.
Specifically, with reference to fig. 8 and 9, the welding gun positioning mechanism 200 includes a positioning plate 210, the positioning plate 210 is used for installing the welding gun 520, the positioning plate 210 is installed on the installation base 100, a notch 211 for clamping the longitudinal bar 2 of the reinforcement cage to assist in positioning the welding gun 520 is disposed at the front end of the positioning plate 210, the notch 211 may be a V-shaped notch, a U-shaped notch, or a notch with another shape, and preferably, the longitudinal bar 2 is a V-shaped notch that is easy to enter and exit and is easy to position the longitudinal bar 2 after the longitudinal bar 2 enters. The longitudinal rib positioning mechanism 300 includes a positioning element 310 and a positioning element driving element 320, a fixed end of the positioning element driving element 320 is installed on the installation base 100, a movable end of the positioning element driving element 320 is connected with the positioning element 310, and the positioning element driving element 320 is configured to drive the positioning element 310 to push the longitudinal rib 2 from the notch 211 to a position close to the welding point under a first working condition, and release the longitudinal rib 2 from the notch 211 under a second working condition.
Referring to fig. 8 and 9 in detail, this embodiment is applied to a cage assembling process of a stirrup 1 and a longitudinal bar 2 in a reinforcement cage manufacturing process, when in use, a welding gun 520 is connected to a positioning plate 210, and the longitudinal bar 2 to be welded is positioned by using a positioning piece of an installation seat 100, a welding gun positioning mechanism 200 and a longitudinal bar positioning mechanism 300, specifically, the positioning plate 210 and the positioning piece driving assembly 320 are driven to move relative to the installation seat 100 by directly driving the installation seat 100 to move or by an auxiliary driving assembly arranged between the installation seat 100 and the positioning plate 210 and between the installation seat 100 and the positioning piece driving assembly 320, so that the longitudinal bar 2 to be welded enters a notch at the front end of the positioning plate 210 of the welding gun positioning mechanism 200; using other auxiliary equipment or other operation mechanisms of welding equipment of the manipulator for the reinforcement cage to convey the stirrup 1 to a position close to the positioning piece 310 so as to position the stirrup 1; afterwards, setting element drive assembly 320 drives setting element 310 and will indulge muscle 2 and promote to the position department that is close to the welding point in the breach 211 of locating plate 210, at this moment, indulge muscle 2 and paste tight stirrup 1 and welder 520 and be located contact point between them, at this moment, start welder 520 and weld between stirrup 1 and the longitudinal bar 2, the welding is accomplished the back between the longitudinal bar 2 and the stirrup 1 of a position, refer to fig. 10 to 13, setting element drive assembly 320 drives setting element 310 and releases the longitudinal bar 2 from the breach 211 of locating plate 210, the manipulator resets and waits for the repeated above-mentioned fixed position welding work of next station.
The manipulator for the steel bar cage group cage of this embodiment is applicable in the cage process of group of stirrup 1 and vertical reinforcement 2 in the preparation of multiple type steel bar cage, needn' T make multiple frock frame by the manual work be used for organizing the cage to, at least, can reach and save a large amount of labours and frock cost, improved the beneficial effect of organizing the cage efficiency, the manipulator for the steel bar cage group cage that this embodiment provided is applicable in the combined operation of the steel bar cage of multiple structures such as square, T shape, L shape, unsmooth shape.
In this embodiment, indulge muscle positioning mechanism 300 in setting element 310 can adopt multiple structure, for example, adopt the push rod as setting element 310, setting element drive assembly 320 includes lifting unit and telescopic component, telescopic component installs in mount pad 100, lifting unit installs in telescopic component, lifting unit can drive the relative mount pad 100 of push rod as setting element 310 after indulging muscle 2 entering breach 211 and rise or fall so that setting element 310 gets into breach 211, then telescopic component can drive setting element 310 relative mount pad 100 and stretch or contract in order to promote the depths of the muscle 2 that indulges in breach 211 to breach 211, and then make and indulge muscle 2 and laminate in stirrup 1, when muscle 2 is indulged in needs release, lifting unit and telescopic component orientation opposite direction drive setting element 310 can.
Referring to fig. 2 and fig. 3, in a plurality of optional embodiments of the longitudinal rib positioning mechanism 300 of the present embodiment, it is preferable that the positioning element 310 of the longitudinal rib positioning mechanism 300 adopts a flexible-action hitching arm structure, and the positioning element driving component 320 can push the hitching arm structure as the positioning element 310 to hook the longitudinal rib 2, and hook the longitudinal rib 2 in the notch 211 of the positioning plate 210 near the welding point until the longitudinal rib 2 is attached to the stirrup 1.
Further, referring to fig. 2, 4 and 5 in combination with fig. 1 and 3, in the present embodiment, the longitudinal rib positioning mechanism 300 further includes a stroke guide plate 330; the stroke guide plate 330 is mounted on the mounting base 100, a guide hole 331 or a guide groove is formed in the stroke guide plate 330, a limiting member 311 is arranged on the positioning member 310, and the limiting member 311 is limited in the guide hole 331 or the guide groove; the fixed end of the positioning element driving assembly 320 is fixed to the installation base 100 by being fixed to the stroke guide plate 330, and the positioning element driving assembly 320 is configured to drive the positioning element 310 to move along the guide hole 331 or the guide groove under the limiting action of the limiting element 311. Locating part 311 can adopt bolt bearing, the function of leading is carried out to the action route of setting element 310 through stroke deflector 330 realization, make setting element drive assembly 320 can promote setting element 310 and hook and indulge muscle 2, and will indulge muscle 2 and promote to the position department that is close the welding point in the breach 211 of locating plate 210, muscle 2 and stirrup 1 laminating are indulged until making, after the completion indulges the weldment work between muscle 2 and the stirrup 1, setting element drive assembly 320 redrives setting element 310 and resets along guiding hole 331 or guide way, setting element 310 loosens and indulges muscle 2 and throw off completely and indulge muscle 2.
In an alternative embodiment of the present invention, the positioning element driving assembly 320 may be a linear driving assembly, and the movable end of the positioning element driving assembly 320 is hinged to the positioning element 310; the extending direction of the guide hole 331 and the guide groove may include a straight line section and a bent section as shown in fig. 5; the linear driving assembly can comprise a driving cylinder and a telescopic rod, the driving cylinder drives the telescopic rod to stretch, the driving cylinder can be an air cylinder or an oil cylinder or an electric cylinder, and one end of the telescopic rod, which is far away from the driving cylinder, is used as a movable end of the positioning piece driving assembly 320. In other optional embodiments of this embodiment, the positioning element driving assembly 320 may further include a rotating electrical machine and a link mechanism connected to the rotating electrical machine, where one end of the link mechanism away from the rotating electrical machine is used as a movable end of the positioning element driving assembly 320, and the positioning element driving assembly 320 can drive the positioning element 310 to move along the guide hole 331 or the guide slot under the limiting action of the limiting element 311, so as to drive the positioning element 310 to push the longitudinal rib 2 from the notch 211 to a position close to the welding point or release the longitudinal rib 2 from the notch 211.
In addition, with continued reference to fig. 1, in an alternative embodiment in which the longitudinal bar positioning mechanism 300 further includes a stroke guide plate 330, the manipulator for a rebar cage group cage preferably further includes a displacement mechanism 400. Referring to fig. 2, indexing mechanism 400 includes a guide holder 410 and a guide holder drive assembly 420, guide holder 410 being slidably coupled to mount 100, and, in particular, as shown in fig. 2 and 4, the guide holder 410 includes a guide holder plate 411 and a guide holder slider 412, the guide holder plate 411 is fixed to the guide holder slider 412, the mount 100 is provided with a guide holder guide 413, and the guide holder slider 412 is slidably coupled to the guide holder guide 413, and specifically, a guide groove may be provided on a surface of the guide holder slider 412 facing the mount 100, a projection guide rail is provided on a surface of the mounting seat 100 facing the guide seat slider 412 such that the guide rail groove and the projection guide rail are engaged with each other, or, a guide seat slider 412 is slidably connected to a guide seat rail 413 by providing a protruding guide rail on a surface of the guide seat slider 412 facing the mount seat 100, and providing a rail groove on a surface of the mount seat 100 facing the guide seat slider 412, such that the rail groove and the protruding guide rail are engaged with each other; guide holder driving assembly 420 is installed between installation holder 100 and guide holder 410, and guide holder driving assembly 420 is configured to drive guide holder 410 to slide back and forth on installation holder 100; the positioning plate 210 and the stroke guide plate 330 are both mounted to the guide base 410. By providing the shifting mechanism 400, the guide seat driving assembly 420 drives the guide seat 410 to slide back and forth on the mounting seat 100, so that the positioning plate 210 and the stroke guide plate 330 can be driven to slide back and forth by the guide seat driving assembly 420, and the positioning plate 210 and the positioning member 310 can complete the welding operation at the same time and be in place or reset.
Wherein, guide holder drive assembly 420 preferably adopts sharp drive assembly, and this sharp drive assembly can include actuating cylinder and telescopic link, and actuating cylinder drive telescopic link is flexible, and the actuating cylinder can be cylinder or hydro-cylinder or electric cylinder, and the one end of keeping away from the actuating cylinder of telescopic link is connected with direction bedplate 411, and the actuating cylinder is fixed in mount pad 100, and this sharp drive assembly can also be electric putter, and the one end of keeping away from the motor of push rod is connected with direction bedplate 411, and the motor is fixed in mount pad 100 etc..
Further preferably, referring to fig. 2 and 6, the above torch positioning mechanism 200 further comprises a flexible telescopic assembly 220; positioning plate 210 is slidably mounted on guide holder 410, specifically, positioning plate guide 2102 is disposed on guide holder plate 411, positioning plate slider 2101 is slidably connected to positioning plate guide 2102, and positioning plate 210 is fixed to positioning plate slider 2101; flexible telescoping assembly 220 is mounted between positioning plate 210 and guide 410. Through setting up flexible telescopic assembly 220, can will indulge muscle 2 and promote to make locating plate 210 flexible removal when being close the position department of welding point from the breach 211 of locating plate 210 at setting element 310 to muscle 2 and the contact of stirrup 1 and laminating each other are indulged in the promotion, thereby the work of muscle 2 location in stirrup 1 is indulged in the completion, and the welder 520 of assisting simultaneously follows and indulges muscle 2 location.
In the above preferred embodiment, the specific structural composition of the flexible telescopic assembly 220 has various types, and with continued reference to fig. 2 and 6, preferably, the flexible telescopic assembly 220 includes a guide shaft 221, a coil spring 222 and a locking member 223; a first connecting part 201 is arranged on the positioning plate 210, and a second connecting part 401 is arranged on the guide holder 410; the first connecting part 201, the second connecting part 401 and the locking piece 223 are all arranged on the guide shaft 221; the locking piece 223 locks the first connecting part 201 and the second connecting part 401 at two ends of the coil spring 222, and makes one end of the coil spring 222 contact with the first connecting part 201 and the other end of the coil spring 222 contact with the second connecting part 401; the first connection portion 201 is slidable relative to the guide shaft 221 to compress or release the coil spring 222 toward the second connection portion 401.
In order to increase the telescopic stability of the flexible telescopic assembly 220, the first connecting portion 201, the second connecting portion 401 and the coil spring 222 can be sleeved on the guide shaft 221; in addition, the guide shaft 221 may be a bolt, and the locking member 223 may be a nut and may be screwed to the tail of the bolt, or alternatively, the guide shaft 221 may be a screw, and the locking member 223 may be a nut and may be screwed to both ends of the screw, so that the initial relative position of the positioning plate 210 with respect to the guide seat plate 411 may be adjusted by changing the installation position of the nut with respect to the bolt or the screw, so as to adaptively adjust the initial positioning position of the notch 211 on the positioning plate 210 with respect to the longitudinal rib 2.
In addition, in the production process of the beam and column steel reinforcement cage, if the stability of the produced steel reinforcement cage structure depends on the personal technology binding or welding of workers, most of finished products are bound and unstable, and in contrast, in an optional implementation manner of the embodiment, preferably referring to fig. 1, 2 and 7, the manipulator for the steel reinforcement cage assembly cage further comprises a welding gun seat 510 and a welding gun 520, and the welding gun seat 510 is connected to the top of the positioning plate 210; the positioning plate 210 is provided with a torch through hole 212 penetrating the positioning plate 210, the torch 520 is mounted on the torch holder 510 such that the tip end thereof extends into the torch through hole 212, and the torch 520 is arranged to weld the longitudinal bar 2 located at the welding point to the stirrup 1 attached to the longitudinal bar 2. From this, welder 520 can be welded between being hooked nearly or the hook to the stirrup 2 that indulges 2 laminating of welding point department and with this stirrup 1 of indulging 2 to being positioned piece 310 in the breach 211 of locating plate 210 to guarantee steel reinforcement cage's quick, firm assembly welding, rely on workman's personal technology ligature or the most finished product that the welding exists and unstable technical problem with the stability of the steel reinforcement cage structure of solving the output.
Further preferably, the welding gun through hole 212 is a long hole having a long axis extending in the front-rear direction of the positioning plate 210; the welding gun 520 is clamped by the clamping assembly 530, the clamping assembly 530 is mounted on the welding gun holder 510, and the clamping assembly 530 can rotate relative to the welding gun holder 510 in a plane perpendicular to the positioning plate 210, and by providing the clamping assembly 530, the welding angle of the welding gun 520 and the distance between the welding gun 520 and the welding point can be adjusted according to the welding requirement, specifically, the clamping assembly 530 may include a clamping block as shown in fig. 2, the welding gun 520 is clamped in a clamping groove of the clamping block, and the clamping block is pivoted to the welding gun holder 510 through a rotating shaft.
In addition, since the welding torch holder 510 is fixed to the top of the positioning plate 210, the flexible telescopic assembly 220 installed between the positioning plate 210 and the guide holder 410 also has a function of preventing the welding torch 520 from being dislocated due to impact force of the positioning member 310.
In addition, referring to fig. 3, in an alternative embodiment of the present embodiment, it is preferable that a universal ball support 213 is disposed at a bottom of the positioning plate 210 to prevent the positioning element 310 from being dislocated along a length direction of the longitudinal bar 2 due to a mechanical force applied to the stirrup 1 by a reinforcement cage welding device during a reinforcement cage machining process.
Example two
The embodiment provides a reinforcement cage welding device, which comprises at least one manipulator for a reinforcement cage group cage, wherein the manipulator is provided by any one of the optional embodiments in the first embodiment.
Since the reinforcement cage welding equipment provided in this embodiment includes the manipulator for the reinforcement cage group cage described in the first embodiment, the reinforcement cage welding equipment provided in this embodiment can achieve all the beneficial effects that the manipulator for the reinforcement cage group cage in the first embodiment can achieve, specifically, referring to fig. 1 to 3, the manipulator for the reinforcement cage group cage includes the mounting base 100, the welding gun positioning mechanism 200, and the longitudinal bar positioning mechanism 300. With reference to fig. 8 and 9, the welding gun positioning mechanism 200 includes a positioning plate 210, the positioning plate 210 is used for mounting a welding gun 520, the positioning plate 210 is mounted on the mounting base 100, a notch 211 for clamping the longitudinal bar 2 of the reinforcement cage to assist in positioning the welding gun 520 is disposed at the front end of the positioning plate 210, the notch 211 may be a V-shaped notch or a U-shaped notch or a notch with other shapes, and preferably, the longitudinal bar 2 is a V-shaped notch that is easy to enter and exit and is easy to position the longitudinal bar 2 after the longitudinal bar 2 enters. The longitudinal rib positioning mechanism 300 includes a positioning element 310 and a positioning element driving element 320, a fixed end of the positioning element driving element 320 is installed on the installation base 100, a movable end of the positioning element driving element 320 is connected with the positioning element 310, and the positioning element driving element 320 is configured to drive the positioning element 310 to push the longitudinal rib 2 from the notch 211 to a position close to the welding point under a first working condition, and release the longitudinal rib 2 from the notch 211 under a second working condition.
Referring to fig. 8 and 9 in detail, in the cage assembling process of the stirrup 1 and the longitudinal bar 2 in the steel reinforcement cage manufacturing process, the welding gun 520 is connected to the positioning plate 210, and the longitudinal bar 2 to be welded is positioned by using the mounting seat 100, the welding gun positioning mechanism 200 and the longitudinal bar positioning mechanism 300, specifically, the positioning plate 210 and the positioning piece driving assembly 320 are driven to move relative to the mounting seat 100 by directly driving the mounting seat 100 to move or by using auxiliary driving assemblies arranged between the mounting seat 100 and the positioning plate 210 and between the mounting seat 100 and the positioning piece driving assembly 320, so that the longitudinal bar 2 to be welded enters a notch at the front end of the positioning plate 210 of the welding gun positioning mechanism 200; using other auxiliary equipment or other operation mechanisms of welding equipment of the manipulator for the reinforcement cage to convey the stirrup 1 to a position close to the positioning piece 310 so as to position the stirrup 1; afterwards, setting element drive assembly 320 drives setting element 310 and will indulge muscle 2 and promote to the position department that is close to the welding point in the breach 211 of locating plate 210, at this moment, indulge muscle 2 and paste tight stirrup 1 and welder 520 and be located contact point between them, at this moment, start welder 520 and weld between stirrup 1 and the longitudinal bar 2, the welding is accomplished the back between the longitudinal bar 2 and the stirrup 1 of a position, refer to fig. 10 to 13, setting element drive assembly 320 drives setting element 310 and releases the longitudinal bar 2 from the breach 211 of locating plate 210, the manipulator resets and waits for the repeated above-mentioned fixed position welding work of next station.
The embodiment is applicable to cage assembling processes of stirrups 1 and longitudinal bars 2 in various types of reinforcement cage manufacturing, and does not need to manually manufacture various tool frames for assembling the cages, so that the beneficial effects of saving a large amount of labor force and tool cost and improving cage assembling efficiency can be achieved at least.
More specifically, the manipulator for the steel bar cage group cage is applied to a beam and cylinder steel bar cage welding device, the steel bar cage group welding device can comprise one or more manipulators for the steel bar cage group cage, preferably, a plurality of manipulators for the steel bar cage group cage are combined and welded synchronously to complete a steel bar cage group cage process, and the steel bar cage welding device is suitable for combined welding work of steel bar cages with various structures such as square, T-shaped, L-shaped, concave-convex and the like.
Further, referring to fig. 2, 4 and 5, in conjunction with fig. 1 and 3, the longitudinal rib positioning mechanism 300 further includes a stroke guide plate 330; the stroke guide plate 330 is mounted on the mounting base 100, a guide hole 331 or a guide groove is formed in the stroke guide plate 330, a limiting member 311 is arranged on the positioning member 310, and the limiting member 311 is limited in the guide hole 331 or the guide groove; the fixed end of the positioning element driving assembly 320 is fixed to the installation base 100 by being fixed to the stroke guide plate 330, and the positioning element driving assembly 320 is configured to drive the positioning element 310 to move along the guide hole 331 or the guide groove under the limiting action of the limiting element 311. Locating part 311 can adopt bolt bearing, the function of leading is carried out to the action route of setting element 310 through stroke deflector 330 realization, make setting element drive assembly 320 can promote setting element 310 and hook and indulge muscle 2, and will indulge muscle 2 and promote to the position department that is close the welding point in the breach 211 of locating plate 210, muscle 2 and stirrup 1 laminating are indulged until making, after the completion indulges the weldment work between muscle 2 and the stirrup 1, setting element drive assembly 320 redrives setting element 310 and resets along guiding hole 331 or guide way, setting element 310 loosens and indulges muscle 2 and throw off completely and indulge muscle 2.
The effects that can be achieved by other structures in this embodiment that are the same as those in the first embodiment can be obtained by referring to each of the optional or preferred embodiments in the first embodiment.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A manipulator for a steel bar cage group cage is characterized by comprising a mounting seat (100), a welding gun positioning mechanism (200) and a longitudinal bar positioning mechanism (300);
the welding gun positioning mechanism (200) comprises a positioning plate (210), the positioning plate (210) is used for mounting a welding gun (520), the positioning plate (210) is mounted on the mounting base (100), and a notch (211) used for clamping a reinforcement cage longitudinal rib (2) to assist in positioning the welding gun (520) is arranged at the front end of the positioning plate (210);
the longitudinal rib positioning mechanism (300) comprises a positioning piece (310), a positioning piece driving assembly (320) and a stroke guide plate (330);
the stroke guide plate (330) is mounted on the mounting base (100), a guide hole (331) or a guide groove is formed in the stroke guide plate (330), a limiting piece (311) is arranged on the positioning piece (310), and the limiting piece (311) is limited in the guide hole (331) or the guide groove;
the fixed end of the positioning piece driving assembly (320) is fixed on the stroke guide plate (330), and the movable end of the positioning piece driving assembly (320) is connected with the positioning piece (310); the positioning element driving assembly (320) is configured to drive the positioning element (310) to push a longitudinal rib (2) from the notch (211) to a position close to the welding point under a first working condition, and release the longitudinal rib (2) from the notch (211) under a second working condition; the positioning part driving assembly (320) is configured to drive the positioning part (310) to move along the guide hole (331) or the guide groove under the limiting action of the limiting part (311);
the manipulator for the steel bar cage group cage further comprises a position changing mechanism (400); the shifting mechanism (400) comprises a guide seat (410) and a guide seat driving assembly (420), the guide seat (410) is connected to the installation seat (100) in a sliding mode, the guide seat driving assembly (420) is installed between the installation seat (100) and the guide seat (410), and the guide seat driving assembly (420) is configured to drive the guide seat (410) to slide on the installation seat (100) in a reciprocating mode; the stroke guide plate (330) is mounted on the guide seat (410);
the welding gun positioning mechanism (200) further comprises a flexible telescopic assembly (220); the positioning plate (210) is slidably mounted on the guide seat (410), and the flexible telescopic assembly (220) is mounted between the positioning plate (210) and the guide seat (410).
2. The manipulator for a reinforcement cage assembly cage of claim 1,
the positioning part driving assembly (320) is a linear driving assembly, and the movable end of the positioning part driving assembly (320) is hinged with the positioning part (310).
3. The manipulator for a rebar cage assembly cage of claim 1, wherein the flexible telescoping assembly (220) comprises a guide shaft (221), a coil spring (222) and a capture member (223);
a first connecting part (201) is arranged on the positioning plate (210), a second connecting part (401) is arranged on the guide seat (410), and the first connecting part (201), the second connecting part (401) and the locking part (223) are all arranged on the guide shaft (221);
the locking piece (223) locks the first connecting part (201) and the second connecting part (401) at two ends of the spiral spring (222), and enables one end of the spiral spring (222) to be in contact with the first connecting part (201) and the other end of the spiral spring (222) to be in contact with the second connecting part (401);
the first connecting portion (201) is slidable relative to the guide shaft (221) to compress or release the coil spring (222) toward the second connecting portion (401).
4. The manipulator for a steel reinforcement cage group cage according to claim 1, further comprising a welding gun seat (510) and a welding gun (520);
the welding gun seat (510) is connected to the top of the positioning plate (210);
the welding gun is characterized in that a welding gun through hole (212) penetrating through the positioning plate (210) is formed in the positioning plate (210), the welding gun (520) is installed on the welding gun seat (510) in a mode that the front end of the welding gun (520) extends into the welding gun through hole (212), and the welding gun (520) is configured to be capable of welding the longitudinal rib (2) located at the welding point to the stirrup (1) attached to the longitudinal rib (2).
5. The manipulator for a reinforcement cage assembly cage of claim 4,
the welding gun through hole (212) is a long hole with a long axis extending along the front-back direction of the positioning plate (210); the welding gun (520) is clamped to a clamping assembly (530), the clamping assembly (530) is mounted to the welding gun base (510), and the clamping assembly (530) can rotate relative to the welding gun base (510) in a plane perpendicular to the positioning plate (210).
6. The manipulator for the reinforcement cage assembly cage of claim 1, wherein a universal ball support (213) is provided at the bottom of the positioning plate (210).
7. A reinforcement cage welding apparatus, comprising at least one manipulator for a reinforcement cage assembly cage according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010283921.9A CN111168292B (en) | 2020-04-13 | 2020-04-13 | Manipulator for steel reinforcement cage group cage and steel reinforcement cage welding equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010283921.9A CN111168292B (en) | 2020-04-13 | 2020-04-13 | Manipulator for steel reinforcement cage group cage and steel reinforcement cage welding equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111168292A CN111168292A (en) | 2020-05-19 |
| CN111168292B true CN111168292B (en) | 2020-07-10 |
Family
ID=70647852
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010283921.9A Active CN111168292B (en) | 2020-04-13 | 2020-04-13 | Manipulator for steel reinforcement cage group cage and steel reinforcement cage welding equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111168292B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113751633B (en) * | 2020-06-04 | 2022-07-22 | 广东博智林机器人有限公司 | Work piece placer and steel reinforcement cage processing equipment |
| CN113770288B (en) * | 2020-06-10 | 2022-07-22 | 广东博智林机器人有限公司 | Steel bar beam column forming and preparing device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5797880A (en) * | 1980-12-10 | 1982-06-17 | High Frequency Heattreat Co Ltd | Energizing controlling method for reinforcement interweaving device for reinforcement basket using pc steel bar |
| SU1473928A1 (en) * | 1987-07-06 | 1989-04-23 | Предприятие П/Я А-1229 | Tongs for resistance spot welding |
| CN109926768A (en) * | 2019-03-01 | 2019-06-25 | 中民筑友有限公司 | A kind of vertical muscle feed device for steel reinforcement cage welding |
| CN110142526A (en) * | 2019-06-10 | 2019-08-20 | 湖南三一快而居住宅工业有限公司 | Steel reinforcement cage welding mechanism and digital-control processing system |
| CN110497110A (en) * | 2019-09-04 | 2019-11-26 | 湖南三一快而居住宅工业有限公司 | A kind of cylindricality steel reinforcement cage production method and production system |
| CN210281124U (en) * | 2019-06-28 | 2020-04-10 | 湖南三一快而居住宅工业有限公司 | Dual-drive welding device and welding equipment |
-
2020
- 2020-04-13 CN CN202010283921.9A patent/CN111168292B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5797880A (en) * | 1980-12-10 | 1982-06-17 | High Frequency Heattreat Co Ltd | Energizing controlling method for reinforcement interweaving device for reinforcement basket using pc steel bar |
| SU1473928A1 (en) * | 1987-07-06 | 1989-04-23 | Предприятие П/Я А-1229 | Tongs for resistance spot welding |
| CN109926768A (en) * | 2019-03-01 | 2019-06-25 | 中民筑友有限公司 | A kind of vertical muscle feed device for steel reinforcement cage welding |
| CN110142526A (en) * | 2019-06-10 | 2019-08-20 | 湖南三一快而居住宅工业有限公司 | Steel reinforcement cage welding mechanism and digital-control processing system |
| CN210281124U (en) * | 2019-06-28 | 2020-04-10 | 湖南三一快而居住宅工业有限公司 | Dual-drive welding device and welding equipment |
| CN110497110A (en) * | 2019-09-04 | 2019-11-26 | 湖南三一快而居住宅工业有限公司 | A kind of cylindricality steel reinforcement cage production method and production system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111168292A (en) | 2020-05-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111168292B (en) | Manipulator for steel reinforcement cage group cage and steel reinforcement cage welding equipment | |
| CN111037176B (en) | Welding manipulator and welding processing equipment for reinforcement cage | |
| CN113059093B (en) | Reinforcing cage apparatus for producing | |
| CN107253007B (en) | C font positioning fixture for welding | |
| CN113547049B (en) | Clamping and positioning device and clamping and positioning method and reinforcement cage processing robot | |
| CN214558331U (en) | Laser cutting device for metal plate | |
| CN210281124U (en) | Dual-drive welding device and welding equipment | |
| WO2019076948A1 (en) | Method for notching and punching system | |
| CN114570864A (en) | Integrated and meshed production device and production process for steel bars of large bridge prefabricated part | |
| CN210060912U (en) | Beam assembly assembling clamp | |
| CN211889378U (en) | I-shaped frame welding mechanism and welding equipment for seat iron frame | |
| CN213162764U (en) | Clamping mechanism and pipe bending machine | |
| CN217799927U (en) | Pole welding tool | |
| CN220259394U (en) | Right-angle bending jig for electronic components | |
| CN216175978U (en) | Base riveting machine | |
| CN111421066A (en) | Clamping mechanism and pipe bending machine | |
| CN217018351U (en) | High-efficient making devices of steel member safety couple | |
| CN212892527U (en) | A interval change device for moving material | |
| CN210307486U (en) | Positioning device for machining automobile sheet metal part | |
| CN211360980U (en) | Brush silk automatic welder | |
| CN111408976A (en) | Clamping head of manipulator for clamping plates | |
| CN217254104U (en) | Sheet metal component fast reloads frock and is used for revolving platform of reloading frock | |
| CN210676754U (en) | Cut scale support | |
| CN216883620U (en) | Wire clamp | |
| CN220128193U (en) | Square tube and processing equipment thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |