CN113020853A

CN113020853A - Welding head of self-adaptive reinforcement cage and welding device thereof

Info

Publication number: CN113020853A
Application number: CN202110467240.2A
Authority: CN
Inventors: 向光明
Original assignee: Jizhi Huichuang Intelligent Technology Chengdu Co ltd
Current assignee: Jizhi Huichuang Intelligent Technology Chengdu Co ltd
Priority date: 2021-04-28
Filing date: 2021-04-28
Publication date: 2021-06-25

Abstract

The invention discloses a welding head of a self-adaptive reinforcement cage and a welding device thereof; wherein: the welding head comprises a mechanical arm and a tracking wheel set, the tracking wheel set is installed at the front end of the mechanical arm and comprises two tracking wheel bodies which are arranged oppositely, a notch is formed between the two tracking wheel bodies and used for pressing and abutting a winding rib on a to-be-welded reinforcement cage, and the width of the notch is adjustable. According to the invention, the notches with adjustable widths can be adapted to different single-winding rib or double-winding rib outer diameter sizes, and the tracking wheel set does not need to be replaced when the winding ribs with different sizes are tracked, so that the production efficiency is improved, and the notch has better practicability and adaptability.

Description

Welding head of self-adaptive reinforcement cage and welding device thereof

Technical Field

The invention relates to the field of welding of reinforcement cages, in particular to a welding head of a self-adaptive reinforcement cage and a welding device thereof.

Background

In the prior art, the invention patent with the application number of 201810246300.6 discloses a reinforcing cage welding head and a reinforcing cage welding device based on the reinforcing cage welding head; wherein: the welding head of the steel reinforcement cage comprises a shell, a welding gun chuck and a first mounting plate, wherein the first mounting plate extends out of the interior of the shell to the front of the shell; the first mounting plate can also move up and down in the shell; the wire coiling tracking device comprises a connecting shaft and a wire coiling roller capable of rotating around the connecting shaft, and a circle of clamping grooves are formed in the wire coiling roller along the circumferential direction; still including connecting the fine setting case in casing rear, the casing can openly remove about fine setting case, and the casing can also rotate around fine setting case. Therefore, in the patent, the tracking of the winding ribs in the reinforcement cage is realized through the clamping grooves on the wire coiling roller, but when single and double winding ribs with different outer diameter sizes are welded, the tracking is realized by replacing and adjusting the wire coiling roller and other related parts, the process is complex, and the actual production is not facilitated; especially when the production process involves that one section is two around the muscle after following to change into single around the muscle trouble especially, because part change adjusts the trouble, and the actual production process is single welding head can only weld the winding muscle of fixed size specification, and practicality and adaptability are relatively poor.

The invention provides automatic welding equipment for a steel reinforcement cage, which can be quickly adapted to single and double wound reinforcements of different sizes.

Disclosure of Invention

In view of the above situation, the invention provides a self-adaptive steel reinforcement cage welding head, which is adjustable in notch width, suitable for production of winding bars with different sizes and outer diameters and free of replacing a tracking wheel set.

In order to achieve the purpose, the invention adopts the technical scheme that:

an adaptive reinforcement cage welding head, comprising:

a mechanical arm;

the tracking wheel set is installed at the front end of the mechanical arm and comprises two tracking wheel bodies which are oppositely arranged, a notch is formed between the two tracking wheel bodies and used for pressing and abutting a winding rib on a to-be-welded reinforcement cage, and the width of the notch is adjustable.

The invention further provides a further improvement of the self-adaptive reinforcement cage welding head, which comprises two mechanical arms, wherein two tracking wheel bodies in the tracking wheel set are respectively and correspondingly arranged at the front ends of the two mechanical arms, a pressing part for pressing and supporting a winding rib is formed at the inner side end part of at least one tracking wheel body, a clamping groove with the size matched with that of the pressing part is formed at the inner side end part of the other tracking wheel body, and the width of the pressing part exposed out of the clamping groove is adjustable so as to adjust the width of the notch;

the adjusting mechanism comprises a connecting block, and the two mechanical arms can be arranged on the connecting block in a sliding manner in a relative or opposite-to-back manner.

Realize the regulation of interval between two arms through adjustment mechanism, because two in the tracking wheelset track the wheel body and can change along with the distance change of two arms again, make the notch width (size) of tracking wheelset change then, realize the regulation of notch width.

The invention further provides a further improvement of the self-adaptive reinforcement cage welding head, wherein the adjusting mechanism further comprises a first screw and first connecting seats, the two mechanical arms are respectively and correspondingly provided with one first connecting seat, the two first connecting seats are respectively in threaded connection with two ends of the first screw, and the spiral directions of threads at two ends of the first screw are opposite. Because the spiral direction at first screw rod both ends is opposite, utilize the rotation of first screw rod to realize two first connecting seats relative or back-to-back motion to this regulation of realizing the interval between the arm, through changing the size that the portion of pressing inserts and locates in the draw-in groove, reach the purpose that the notch width was adjusted.

The invention further provides a further improvement of the self-adaptive reinforcement cage welding head, wherein the adjusting mechanism further comprises a first driving motor, the first driving motor is installed on one mechanical arm, and an output shaft of the first driving motor is connected to the first screw rod and used for driving the first screw rod to rotate in the circumferential direction. The screw pitch that combines first screw rod, a driving motor's rotational speed, around the diameter of muscle and the initial width of notch, realize the accurate regulation of notch size, in the actual production, press to support in the bottom of notch or press to support in the opening part of notch around the muscle. Preferably, the notch may further be formed with an inclined surface inclined to the outside.

The invention further provides a further improvement of the self-adaptive reinforcement cage welding machine head, wherein the two tracking wheel bodies can be synchronously and telescopically arranged at the front end of the mechanical arm.

The invention further provides a further improvement of the self-adaptive reinforcement cage welding head, wherein the two tracking wheel bodies are respectively arranged on the mechanical arm in a front-back sliding manner through a sliding mechanism, the sliding mechanism comprises a first mounting plate, a second mounting plate and a synchronizing plate, the first mounting plate is fixedly arranged on the mechanical arm, the second mounting plate is arranged on the first mounting plate in a front-back sliding manner, the two second mounting plates are connected through the synchronizing plate, and the tracking wheel bodies are arranged at the front end of the second mounting plate.

The self-adaptive welding head for the reinforcement cage is further improved in that the self-adaptive welding head for the reinforcement cage further comprises a hook, the hook is used for pressing against a main rib of the reinforcement cage, the hook can move in the vertical direction and the front-back direction relative to the mechanical arm, a welding gun is arranged on one side of the hook, and the welding gun is aligned to the position, to be welded, of the main rib and a winding rib in the reinforcement cage.

The invention further provides a further improvement of the self-adaptive reinforcement cage welding machine head, wherein the hook is in a gooseneck shape.

The invention also discloses a welding device of the self-adaptive reinforcement cage, which comprises the welding head.

The welding device for the self-adaptive reinforcement cage is further improved in that the welding device further comprises a machine body, and the mechanical arm can be rotatably arranged on the machine body by 180 degrees. The mechanical arm can be finely adjusted and positioned on the machine body at a certain angle after rotating 180 degrees, so that the welding adaptability is improved, and the spiral rib winding tracking is better realized.

The welding device for the self-adaptive reinforcement cage is further improved in that the welding device further comprises a machine body, and the mechanical arm can be mounted on the machine body in a forward and backward translational movement and a pitching movement.

The invention has the beneficial effects that:

(1) the synchronous adjustment of the width of the notch is realized by adjusting the distance between the mechanical arms at two sides so as to adapt to different outer diameters of the single winding rib or the double winding rib, namely, the single winding rib and the double winding rib with different diameters correspond to different notch widths, a tracking wheel set is not required to be replaced, the production efficiency is improved, and the welding gun tracking device has better practicability and adaptability;

(2) the tracking wheel body can stretch back and forth through the telescopic mechanism to adapt to the diameters (in the cross section direction) of different reinforcement cages, so that the optimal welding position is kept between a welding gun and a point to be welded, and the length of the tracking wheel body can be adjusted by 30-80mm under the action of the telescopic mechanism;

(3) the mechanical arm is arranged on the machine body in a way of rotating 180 degrees so as to adapt to different rotating directions of the steel reinforcement cage in the welding process, and the hook is ensured to be always pressed against the main rib in the welding process, wherein the hook is pressed against the hook above the main rib when the steel reinforcement cage rotates anticlockwise, and the hook is pressed against the hook below the main rib when the steel reinforcement cage rotates clockwise, so that the reliability of the welding process is ensured;

(4) the mechanical arm can be arranged on the machine body in a front-back translational movement mode, the front-back position of the mechanical arm (tracking wheel set) can be adjusted, the mechanical arm can be arranged in a large overlooking direction through installing the mechanical arm on the machine body in a pitching movement mode, welding in the large overlooking direction can be achieved through the welding gun, the problem that the welding gun is blocked due to welding splashing can be favorably reduced through welding in the overlooking direction, and meanwhile, the welding in the overlooking direction is favorable for avoiding other surrounding equipment aiming at a steel reinforcement cage with a small size.

Drawings

FIG. 1 is a schematic structural view of a welding device for an adaptive reinforcement cage according to the present invention;

FIG. 2 is a schematic structural diagram of a front side of a welding device for an adaptive reinforcement cage according to the present invention;

FIG. 3 is a schematic diagram of a top view of a welding apparatus for an adaptive reinforcement cage according to the present invention;

FIG. 4 is a schematic cross-sectional view taken along the line A-A of FIG. 2;

FIG. 5 is a schematic cross-sectional view taken along line B-B of FIG. 2;

FIG. 6 is a first schematic view of an adjusting mechanism according to the present invention;

FIG. 7 is a second schematic structural view of an adjusting mechanism according to the present invention;

FIG. 8 is a third schematic view of the adjusting mechanism of the present invention;

FIG. 9 is a schematic view of the connection structure between the tracking wheel set, the sliding mechanism and the first telescoping mechanism in the present invention;

FIG. 10 is an enlarged view of the connection between the connecting block, the slider and the sliding track according to the present invention;

FIG. 11 is a first schematic view of a tracking wheel structure according to the present invention;

FIG. 12 is a schematic view of a tracking wheel structure according to the present invention;

FIG. 13 is a schematic view of another tracking wheel corresponding to FIG. 12;

FIG. 14 is a schematic view of a partial connection between the hook, the welding gun and the second telescoping mechanism of the present invention;

FIG. 15 is a schematic view of a hook according to the present invention in comparison to a prior art hook;

fig. 16 is a schematic structural view of a rotating mechanism in the present invention;

FIG. 17 is an enlarged cross-sectional view of FIG. 16;

FIG. 18 is a schematic view of the arrangement between the reach mechanism and the pitch mechanism of the present invention;

FIG. 19 is a schematic horizontal cross-sectional view of the advancing mechanism of the present invention;

FIG. 20 is a schematic view of the operation of the present invention with the welding head horizontal;

FIG. 21 is a schematic view of the welding head of the present invention in a top view;

FIG. 22 is a schematic view of the welding head of the present invention in a bottom view;

FIG. 23 is a schematic view of a single bead welding operation according to the present invention;

FIG. 24 is a schematic view of the double-bead welding operation of the present invention;

in the figure: 1. a mechanical arm; 11. a housing; 12. a slider; 2. tracking a wheel set; 21. a tracking wheel body; 211. a pressing part; 212. a card slot; 22. a notch; 23. a rotary encoder; 3. an adjustment mechanism; 31. connecting blocks; 311. sliding the linear rail; 312. a limiting groove; 32. a first screw; 321. a manual adjustment groove; 33. a first connecting seat; 34. a first drive motor; 35. a first compression spring; 36. a nut seat; 37. a through hole seat; 381. pressing a plate; 382. a screw member; 391. a third connecting seat; 392. a fourth connecting seat; 393. positioning the clamp shaft; 394. a distance block; 3941. positioning the clamping groove; 395. a plate spring; 4. a sliding mechanism; 41. a first mounting plate; 42. a second mounting plate; 43. a synchronization board; 5. a first telescoping mechanism; 51. a second drive motor; 52. a second screw; 53. a second connecting seat; 61. hooking; 62. a welding gun; 7. a second telescoping mechanism; 71. a first slide plate; 72. a second slide plate; 73. a horizontal cylinder; 74. a lifting cylinder; 75. a buffer member; 76. a guide rail; 8. an anti-seize mechanism; 81. a first baffle plate; 82. a roller; 9. a body; 91. a rotation mechanism; 911. a slewing support bearing; 912. a supporting seat; 9121. a connecting portion; 913. positioning a groove; 914. a limiting pin shaft; 92. a forward moving mechanism; 921. stretching the cylinder; 922. a first pulling plate; 923. a second guide bar; 924. a guide seat; 925. a second pulling plate; 926. a third guide bar; 927. a third compression spring; 928. a third baffle plate; 929. adjusting the screw rod; 93. a pitch mechanism; 931. a pitching cylinder; 932. a first guide bar; 933. a rotating shaft; 934. a second compression spring; 935. a second baffle.

Detailed Description

To facilitate an understanding of the present invention, the following description is made in conjunction with the accompanying drawings and examples.

With reference to fig. 1 to 24, the invention discloses a welding head of a self-adaptive reinforcement cage, which comprises a mechanical arm 1 and a tracking wheel set 2, wherein the tracking wheel set is used for pressing against the surface of a wound reinforcement on the reinforcement cage; wherein, trail wheelset 2 rotatable installs in the front end of arm 1, trail wheelset 2 including setting up two relatively and trail wheel body 21, is formed with notch 22 between two trail wheel body 21, and notch 22's width is adjustable in order to adapt to the single of different external diameter sizes, two around the muscle, compares with prior art, need not to change to trail wheelset 2 and can realize pressing to not unidimensional list, two around the muscle to support, accomplishes the tracking to around the muscle in the realization welding production.

As shown in fig. 1 to 3 and 6 to 13, the robot arm comprises two robot arms 1 arranged on the left and right, the distance between the two robot arms 1 is adjusted by an adjusting mechanism 3, the adjusting mechanism 3 comprises a connecting block 31, and the two robot arms 1 are slidably arranged on the connecting block 31 in a manner of moving oppositely or oppositely; two tracking wheel bodies 21 in the tracking wheel set 2 are respectively and correspondingly arranged at the front ends of the two mechanical arms 1, wherein a pressing portion 211 for pressing and abutting against the surface of the steel bar wound on the steel bar cage is formed at the end portion of the inner side of at least one tracking wheel body 21 (i.e. the end portion of one side of the two tracking wheel bodies 21 close to each other), a clamping groove 212 with the size matched with the pressing portion 211 is formed at the end portion of the inner side of the other tracking wheel body 21, and the width of the pressing portion 211 exposed out of the clamping groove 212 is adjustable, so that the width of the notch 22 is.

In the embodiment, (1) the synchronous adjustment of the width of the notch 22 is realized by adjusting the distance between the two mechanical arms 1; (2) the adjusting mechanism 3 is arranged at the back of the mechanical arm 1, i.e. at the side of the mechanical arm 1 far away from the tracking wheel 21. Specifically, as shown in fig. 12 and 13, (1) a circular pressing portion 211 is formed at an inner end portion of one of the tracking wheel bodies 21, a circular locking groove 212 is formed at an inner end portion of the other tracking wheel body 21, the pressing portion 211 is movably inserted into the locking groove 212, a width of the notch 22 is a width of the pressing portion 211 exposed out of the locking groove 212, and only the tracking wheel body on which the pressing portion 211 is formed rotates in the welding process; (2) as shown in fig. 11, the inner side end portions of the two tracking wheel bodies 21 are respectively formed with a pressing portion 211 and a clamping groove 212, during the operation, the two pressing portions 211 are pressed against each other to realize the synchronous rotation of the two tracking wheel bodies 21, and the width of the notch 22 is the distance between the end portions of the opposite sides of the two pressing portions 211 in the axial direction of the tracking wheel body 21 (the pressing portion and the clamping groove in the same tracking wheel body form an annular structure or can be understood as being formed with the above-mentioned clamping groove on the circular pressing portion for the pressing portion in the other tracking wheel body to be inserted, and the purpose of adjusting the width of the notch is achieved by adjusting the insertion width of the other pressing portion in the clamping groove, where the width of the notch is the difference between the sum of the widths of the two pressing portions and the insertion width of one pressing portion inserted in the.

Further, as shown in fig. 10, a horizontally arranged sliding track 311 is formed on the inner side of the connecting block 31, a slider 12 is mounted on the back of the mechanical arm 1, and the slider 12 is slidably mounted on the sliding track 311, so that the two mechanical arms can freely slide along the sliding track. Furthermore, limit switch signal triggering devices (not shown) are disposed at two ends of the sliding track 311.

The adjusting mechanism 3 in the present invention can adopt the following four embodiments:

the first embodiment is as follows:

the adjusting mechanism 3 further comprises an extension spring (not shown) arranged between the two mechanical arms 1, and the arrangement direction of the extension spring is parallel to the sliding direction of the mechanical arms 1 relative to the connecting block 31. In practical use, after the notch 22 in the tracking wheel body 21 is aligned and contacted with the winding rib, a forward thrust is applied to the mechanical arms 1, at this time, the tracking wheel body 21 receives a component force pointing to both sides along the axial direction thereof, the tension spring 35 is stretched and lengthened (generates a restoring force in the opposite direction), at this time, the two mechanical arms 1 slide back and forth relative to the connecting block 31, and then the width of the notch 22 is adjusted, that is, the width of the notch 22 is freely changed along with the diameter of the winding rib.

Furthermore, an inclined portion inclined to both sides is formed at the opening of the tracking wheel body 21 corresponding to the notch 22, so that the winding rib can be pressed against the notch 22 or the opening of the notch 22 quickly.

Example two:

as shown in fig. 6, the back of each of the two mechanical arms 1 is correspondingly provided with a nut seat 36 and a through hole seat 37, a screw rod 382 screwed to the nut seat 36 is inserted into the through hole seat 37, two sides of the through hole seat 37 respectively press against a first compression spring 35 sleeved on the screw rod 382, and one end of the screw rod 382, which is far away from the nut seat 36 and the through hole seat 37, is fixedly provided with a pressing plate 381 press against the right first compression spring 35; furthermore, a manual adjusting hole (not labeled) is formed at one end of the screw rod corresponding to the pressure plate 381, the manual adjusting hole is a hexagon socket hole, the rotation of the screw rod member 382 relative to the nut seat 36 can be realized through the hexagon screw, and the adjustment of the distance between the mechanical arms 1 can be realized by the interaction force of the two first compression springs 35.

Example three:

as shown in fig. 7, the adjusting mechanism 3 further includes a first screw 32 and a first connecting seat 33, the two mechanical arms 1 are respectively and correspondingly provided with one first connecting seat 33, the two first connecting seats 33 are respectively and threadedly connected to two ends of the first screw 32, and the spiral directions of the threads at two ends of the first screw 32 are opposite.

Further, the adjusting mechanism 3 further includes a first driving motor 34, the first driving motor 34 is mounted on one of the robot arms 1, and an output shaft of the first driving motor 34 is connected to the first screw 32 for driving the first screw 32 to rotate in the circumferential direction. In this embodiment, a manual adjustment groove 321 is formed at an end of the first screw 32 away from the first driving motor 34, and can be manually adjusted by a tool such as a wrench.

As shown in fig. 4 and 9, two tracking wheels 21 are mounted on the front end of the robot arm 1 in a synchronously retractable manner; wherein, two track wheel bodies 21 can be through gliding the installing on arm 1 around glide machanism 4 respectively, glide machanism 4 includes first mounting panel 41, second mounting panel 42 and synchronous board 43, first mounting panel 41 sets firmly on arm 1, gliding the installing in first mounting panel 41 around second mounting panel 42, connect through synchronous board 43 between two second mounting panels 42, track wheel body 21 is installed to the front end of second mounting panel 42, guarantee the synchronous back-and-forth movement of two well track wheel bodies 21 of the same group track wheelset 2. Specifically, (1) one of the second mounting plates 42 is further connected with a first telescopic mechanism 5, the first telescopic mechanism 5 comprises a second driving motor 51, a second screw 52 and a second connecting seat 53, the second driving motor 51 is mounted on the mechanical arm 1 on the corresponding side, an output shaft of the second driving motor 51 is coaxially connected to the second screw 52, the second screw 52 is in threaded connection with the second connecting seat 53, and the second connecting seat 53 is fixedly arranged on the second mounting plate 42; (2) one of the second mounting plates 42 is connected with a pushing cylinder, a first end of the pushing cylinder is fixedly connected to the mechanical arm 1 on the corresponding side, and a second end of the pushing cylinder is fixedly connected to the second mounting plate 42 and used for driving the second mounting plate 42 to slide back and forth. The second mounting plate 42 in this embodiment can be controlled to slide back and forth by the first telescoping mechanism 5 or a push cylinder (mounted on the machine wall).

Example four:

as shown in fig. 8, adjustment mechanism 3 includes third connecting seat 391 and fourth connecting seat 392, correspond respectively on the rigid coupling in a arm 1, be equipped with locator card axle 393 on the third connecting seat 391, rotate on the fourth connecting seat 392 and install distance block 394, the interval is provided with a plurality of locator card grooves 3941 on the length direction of distance block, be used for the card to establish on locator card axle 393, establish the interval of adjusting third connecting seat and fourth connecting seat on the locator card axle through the locator card 3941 card that will differ in this embodiment, then realize the manual regulation distance of interval between two arms 1.

Further, the connecting device further comprises a plate spring 395 arranged on the fourth connecting seat 392, and the plate spring 395 is used for effectively avoiding the separation of the positioning clamp shaft 393 and the positioning clamp groove 3941 caused by vibration in the working process on the outer side surface of the pressing and abutting distance block 394, and ensuring the use safety and reliability.

Further, distance piece 394 adopts the material that has certain elasticity to make, and positioning channel's notch size is less than the diameter size of positioning card axle 393, exerts pressure to distance piece 394 and supports positioning card axle 393 in the positioning channel, and the positioning channel cell wall tightly holds tightly on the surface of positioning card axle 393, effectively avoids responding to the vibration in the course of the work and leads to positioning card axle 393 to break away from positioning channel, guarantees safety and the reliability of using.

As shown in fig. 1, 4, 14 and 18, the welding robot further includes a hook 61 for pressing against the surface of the main rib on the reinforcement cage to be welded, the hook 61 is movable in the vertical direction and the front-back direction relative to the robot arm 1, a welding gun 62 is disposed on one side of the hook 61, and the welding gun 62 is aligned to the to-be-welded position of the main rib and the wrapped rib in the reinforcement cage for welding the main rib and the wrapped rib.

Further, the hook 61 is installed on the mechanical arm 1 through the second telescopic mechanism 7, the second telescopic mechanism 7 comprises a first sliding plate 71, a second sliding plate 72 and a horizontal cylinder 73, the first sliding plate 71 can slide vertically along the mechanical arm 1, the horizontal cylinder 73 is installed on the first sliding plate 71, the second sliding plate 72 slides forwards and backwards relative to the first sliding plate under the action of the horizontal cylinder 73, and the hook 61 is fixedly arranged at one end, exposed out of the front end of the mechanical arm 1, of the second sliding plate 72. In the embodiment, taking the counterclockwise rotation of the reinforcement cage as an example, the reinforcement cage rotates counterclockwise, the hook 61 is pressed against the upper side of the main rib, along with the rotation of the reinforcement cage, the first sliding plate 71 moves upward relative to the mechanical arm 1, and the horizontal cylinder 73 drives the second sliding plate 72 to slide and extend forward, so that the hook 61 is always pressed against the surface of the main rib, meanwhile, the welding gun 62 moves synchronously, and the welding gun 62 always corresponds to and welds the intersection position of the main rib and the winding rib, so that the welding time and the accuracy of the welding position of the welding gun 62 are effectively ensured, and the final welding forming quality of the reinforcement cage is effectively ensured; when the welding is completed, the horizontal cylinder 73 is controlled to contract, the corresponding second sliding plate 72 retracts, the hook 61 is separated from the main rib, the first sliding plate 71 slides downwards to the initial position under the action of the gravity of the first sliding plate 71 and the gravity of the second sliding plate 72 and other members, the automatic resetting of the first sliding plate 71 is realized, and the welding of the winding rib on the reinforcement cage can be realized by circulating the working process.

Furthermore, the robot further comprises a lifting cylinder 74 mounted on the robot arm 1, and a protruding end of the lifting cylinder 74 is connected to the first sliding plate 71. In the actual welding process, the lifting cylinder 74 applies a vertical downward acting force to the first sliding plate 71, and is matched with the horizontal cylinder 73, so that the hook 61 is ensured to be always pressed against the main rib, and the first sliding plate 71 is reset by the lifting cylinder 74 after the hook 61 is separated from the main rib. When the reinforcement cage rotates anticlockwise, the hook 61 is pressed against the upper side of the main rib, the first sliding plate 71 moves upwards relative to the mechanical arm 1 along with the rotation of the reinforcement cage, meanwhile, the horizontal cylinder 73 drives the second sliding plate 72 to slide and extend forwards, the hook 61 is guaranteed to be pressed against the surface of the main rib all the time, meanwhile, the welding gun 62 moves synchronously, the welding gun 62 is welded at the intersection position of the main rib and the winding rib all the time, the welding time and the accuracy of the welding position of the welding gun 62 are effectively guaranteed, and the final welding forming quality of the reinforcement cage is effectively guaranteed; when welding is completed, the horizontal air cylinder 73 is controlled to contract, the corresponding second sliding plate 72 contracts, the hook 61 is separated from the main reinforcement, the first sliding plate 71 slides downwards to the initial position under the action of the lifting air cylinder 74, automatic resetting of the first sliding plate 71 is realized, and welding of a winding reinforcement on a reinforcement cage can be realized by circulating the working process; similarly, when steel reinforcement cage clockwise turning, couple 61 presses the below of supporting at main muscle, along with steel reinforcement cage's rotation, first slide 71 can move down for arm 1, horizontal cylinder 73 drives second slide 72 simultaneously and slides and stretch out forward, ensure that couple 61 presses all the time and supports on main muscle surface, the welding is accomplished the back, second slide 72 contracts, make couple 61 break away from main muscle, and first slide 71 upwards slides to initial position under lift cylinder 74 effect, realize the automatic re-setting of first slide 71, the welding of winding the muscle on the steel reinforcement cage can be realized to the foretell working process of circulation. In this embodiment, the force applied by the lifting cylinder 74 to the first sliding plate 71 is smaller than the force applied by the reinforcement cage to the first sliding plate 71.

As shown in fig. 15, the hook 61 of the present invention is in the shape of a gooseneck, and the front end thereof is in the shape of a sharp corner, compared with the snake-head type hook in the prior art: under the normal working state, the tracking and pressing of the hooks with the two structures on the main rib are not different; under abnormal working conditions, because the distance between the main ribs has relative errors, the hook can collide with the main ribs when horizontally extending out, (1) the front end of the gooseneck-shaped hook is sharper and has a certain inclination (the inclination angle of the upper surface and the lower surface is in the range of 0-15 degrees), and the hook slides upwards or downwards with a higher probability to hang the main ribs; when the contact point of the hook 61 and the main rib is above the central line of the main rib, the hook 61 slides upwards under the thrust of the horizontal cylinder 73 to clamp the main rib along with the rotation of the reinforcement cage (the rotation direction is shown in fig. 15), and when the contact point of the hook 61 and the main rib is below the central line of the main rib, the hook 61 slides downwards under the thrust of the horizontal cylinder 73 to clamp the next main rib along with the rotation of the reinforcement cage (the rotation direction is shown in fig. 15); (2) the end part of the front end of the snake-head-shaped hook in the prior art is blunt, the contact surface between the snake-head-shaped hook and the main rib is large when the snake-head-shaped hook collides with the main rib, the upward or downward sliding is not easy to generate, even if the snake-head-shaped hook can still have the problem of longer relative sliding time, and the tracking efficiency is reduced. In the invention, the gooseneck-shaped hook 61 is adopted to clamp the main rib at one time more probably, thereby improving the reliability of tracking and pressing of the hook, improving the fault tolerance of the whole device and improving the tracking efficiency.

As shown in fig. 4, the steel bar cage anti-blocking mechanism 8 further comprises a first baffle 81 arranged on the mechanical arm 1 and a roller 82 arranged on the side surface of the second sliding plate 72, the roller 82 is positioned under the first baffle 81, an inclined surface is formed at the bottom of the first baffle 81, and the inclined surface is gradually inclined from bottom to top towards one side far away from the steel bar cage. In this embodiment, use the reinforcing bar cage anticlockwise as an example, in the normal working process, first baffle 81 is located the top position of the vertical stroke of second slide, slide when second slide (couple 61) is to highest position (when the welding is accomplished promptly), lead to the couple 61 can't return when breaking away from the main muscle because of the fault, because the further rotation of reinforcing bar cage, drive couple 61 (second slide 72) and continue to shift up, gyro wheel 82 upwards slides along the slope on first baffle 81 this moment, the in-process second slide that upwards slides receives the effort that deviates from the reinforcing bar cage direction, utilize above-mentioned structure to make couple 61 break away from the main muscle, avoid appearing the card condition of dying and lead to welding head to take place to damage. Specifically, the first baffle 81 may be hinged or fixedly mounted on the robot arm 1.

In the invention, the mechanical arm further comprises a buffer member 75, wherein the buffer member 75 is fixedly arranged on the mechanical arm 1 and is arranged right below the first sliding plate, and when the first sliding plate slides downwards under the action of self gravity to be close to an initial position, the lower end of the first sliding plate is contacted with the buffer member 75 until the first sliding plate slides in place; through setting up bolster 75, play the effect of buffering damping, protection, absorb the impact force that descends the in-process and produce, avoid the hard contact of spout on first slide and the arm 1, influence the life of equipment.

In the invention, the mechanical arm 1 comprises a shell 11, an adjusting mechanism 3 is arranged at the back of the shell 11, a first telescopic mechanism 5 and a second telescopic mechanism 7 are arranged inside the shell 11, and the front end of the shell 11 is provided with a first sliding space for the second mounting plate 42 to slide back and forth and a second sliding space for the first sliding plate 71 to slide vertically; a guide rail 76 for the first sliding plate 71 to slide is vertically arranged in the shell 11; the first baffle 81 is mounted on the inner wall of the housing 11.

According to the invention, the two tracking wheel sets 2 are arranged up and down, the up-down sliding stroke of the hook 61 is positioned between the two tracking wheel sets 2, and the two tracking wheel sets 2 are utilized to track and limit the winding rib, so that the stability of the welding gun 62 in the welding work can be improved, and the welding quality can be effectively ensured.

The welding gun 62 is arranged on the second sliding plate 72 through the mounting frame in a vertically adjustable manner, and is better aligned to the position of the intersection point of the main rib and the winding rib.

In the invention, the adjusting mechanism 3 indirectly adjusts the distance between the two first connecting seats 33 by rotating the first screw 32 (because the two first connecting seats 33 are respectively and fixedly connected with the two mechanical arms 1) (although the distance between the mechanical arms 1 is fixed by the adjusting mechanism 3, the two mechanical arms 1 can still integrally slide along the sliding track 311 to adjust the position of the welding gun 62 along the direction parallel to the axial direction of the reinforcement cage), and because the two tracking wheel bodies 21 in the tracking wheel set 2 can change along with the change of the distance between the two mechanical arms, the notch 22 of the tracking wheel set 2 can be changed; meanwhile, since the welding gun 62 is mounted on the robot arm 1 (the second slide plate 72), the position thereof is changed accordingly.

The invention also discloses a welding device of the self-adaptive reinforcement cage, which comprises a machine body 9 and a welding machine head, wherein the welding machine head is arranged on the machine body 9.

Furthermore, the mechanical arm 1 in the welding head can be rotatably arranged on the machine body 9 by 180 degrees and is positioned on the machine body 9 after rotating in place, so that different rotating directions of the reinforcement cage in the welding process are adapted, and the hook 61 is ensured to be pressed against the main reinforcement all the time in the welding process. Concretely, couple 61 presses to support the hook when steel reinforcement cage anticlockwise rotates and locates the top of main muscle, through rotating arm 1 for fuselage 180 when steel reinforcement cage clockwise rotates, can press to support the hook with couple 61 and locate the below of main muscle.

Further, as shown in fig. 2 to 5 and 16 to 18, the robot arm 1 is rotatably mounted on the body 9 by a rotating mechanism 91; wherein, rotary mechanism 91 includes slewing bearing 911 and supporting seat 912, slewing bearing 911 includes inner circle and the outer lane that can rotate relatively, and wherein the inner circle is connected in connecting block 31, and the outer lane is connected in supporting seat 912, and the one end that slewing bearing 911 was kept away from to supporting seat 912 is connected in fuselage 9, is formed with two curved spacing grooves 312 that the symmetry set up on the connecting block 31, is formed with the constant head tank 913 corresponding to spacing groove 312 on the supporting seat 912, and spacing round pin axle 914 has been inserted in constant head tank 913 and the spacing groove 312. In the embodiment, (1) the rotation of the robot arm 1 relative to the body 9 is realized by rotating the support bearing; (2) in the actual production, being the heliciform around the muscle in the steel reinforcement cage and distributing to steel reinforcement cage anticlockwise rotates as an example, is certain angle slope around the muscle from bottom to top and lays, and corresponding tracking wheelset 2 needs the slope to be laid, because spacing groove 312 adopts the arc setting, arm 1 can be for fuselage 9 automatic fine setting in certain angle range, in order to be adapted to around the different inclination of muscle (the pitch of winding the muscle is different promptly), has better adaptability.

As shown in fig. 4, 5 and 19, the robot arm 1 is mounted to the body 9 so as to be movable in a forward and backward translational and/or pitching motion. In the embodiment, (1) the mechanical arm 1 is mounted on the machine body 9 in a manner of being capable of moving back and forth in a translation manner, so that the initial position of the mechanical arm 1 (the tracking wheel set 2) can be adjusted, and the back and forth translation of the mechanical arm 1 is realized; (2) but through installing arm 1 luffing motion on fuselage 9, can realize that arm 1 lays with great overlooking direction, utilizes welder 62 to realize the welding of great overlooking direction, overlooking direction welding is favorable to reducing the welder 62 that the welding splashes and causes and blocks up the technical problem, and to the steel reinforcement cage that the size is less simultaneously, overlooking direction welding is favorable to dodging other equipment on every side, improves the utilization ratio in longitudinal space.

Further, the mechanical arm 1 is mounted on the machine body 9 through a forward moving mechanism 92, the forward moving mechanism 92 comprises a stretching cylinder 921, the stretching cylinder 921 is fixedly mounted on the machine body 9, and an extending end of the stretching cylinder 921 is hinged to one end of the supporting seat 912; the mechanical arm 1 is mounted on the body 9 through pitching motion, the pitching mechanism 93 comprises a pitching cylinder 931, the extending end of the pitching cylinder 931 is hinged to the other end of the supporting seat 912, and the bottom end of the pitching cylinder 931 is hinged to the extending end of the stretching cylinder 921.

Further, as shown in fig. 4, 18 and 19, (1) a first end of the pitch cylinder 931 is connected to a first guide rod 932, and an end of the first guide rod 932 away from the pitch cylinder 931 is hinged to the support base 912; (2) the end that stretches out of tensile cylinder 921 is connected with first arm-tie 922, and first arm-tie 922 articulates through second guide arm 923 and connects in supporting seat 912, and the bottom of every single move cylinder 931 articulates and installs on first arm-tie 922.

The first guide rod 932 is hinged to the supporting seat 912 through a rotating shaft 933, a shaft shoulder is formed on the first guide rod 932, a second compression spring 934 pressed between the shaft shoulder and the rotating shaft 933 is sleeved on the first guide rod 932, a guide hole is formed in the rotating shaft 933, the first end of the first guide rod 932 penetrates through and is exposed out of the guide hole, and a second stop 935 with the size larger than that of the guide hole is fixedly arranged at the first end of the first guide rod 932; (2) the second guide rod 923 penetrates through the guide seat 924 and is hinged to the support base 912; specifically, two sides of the first pulling plate 922 corresponding to the stretching cylinder 921 are respectively provided with a second guide rod 923, one ends of the two second guide rods 923 far away from the first pulling plate 922 are fixedly connected with a second pulling plate 925, and the second pulling plate 925 is hinged to the support base 912; preferably, (1) further includes a third guide rod 926 fixedly connected to the extending end of the stretching cylinder 921, and a third compression spring 927 sleeved on the third guide rod 926, a through hole for the third guide rod 926 to penetrate through is formed on the first pulling plate 922, a pressing portion 211 pressed against the left side of the first pulling plate 922 is formed at a first end of the third guide rod 926, a third baffle 928 is arranged at a second end of the third guide rod 926, and the third compression spring 927 is pressed between the third baffle 928 and the right side of the first pulling plate 922; (2) a threaded hole is formed at the second end of the third guide rod 926, an adjusting screw 929 is screwed in the threaded hole, and one end of the adjusting screw 929 exposed out of the threaded hole is fixedly provided with or is formed with a third baffle 928. In the actual welding process, the steel reinforcement cage has certain vibration, due to the adoption of the pitching mechanism 93 and the translation mechanism 92, when acting force pointing to the direction of the machine body 9 is applied, the second compression spring 934 and the third compression spring 927 are compressed, the corresponding first guide rod 932 slides relative to the guide hole, the corresponding third guide rod 926 slides relative to the through hole, the second compression spring and the third compression spring can enable the welding machine head to synchronously move along with the vibration of the steel reinforcement cage, the tracking reliability is ensured, the energy absorption effect is realized, and the return elastic force in the opposite direction is provided.

In the present invention, as shown in fig. 16 to 18, the supporting base 912 includes an L-shaped connecting portion 9121, the first guide rod 932 is connected to a first end of the connecting portion 9121, and the third baffle 928 is hinged to a second end of the connecting portion 9121.

As shown in fig. 20 to 21, which are schematic diagrams of the welding head and the reinforcement cage in horizontal, top and bottom states, respectively, wherein the reinforcement cage in fig. 20 and 20 rotates counterclockwise, the hook 61 presses against the upper side of the main rib, the reinforcement cage in fig. 22 rotates clockwise, and the hook 61 presses against the lower side of the main rib.

The self-adaptive reinforcement cage welding device further comprises a rotary encoder 23 and a controller, wherein the rotary encoder 23 is coaxially connected to the tracking wheel body 21 and used for detecting the rotating speed of the tracking wheel body 21; the rotary encoder 23 is electrically connected to the controller, and feeds back the rotation speed of the tracking wheel body 21 to the controller, and the controller calculates and controls the extension length of the horizontal cylinder 73 in the rotation process of the reinforcement cage according to the rotation speed of the tracking wheel body 21 and the outer diameter size of the single and double winding ribs.

The reinforcement cage welding device can be used in cooperation with a reinforcement cage wire coiling machine to perform welding operation on a reinforcement cage wound by the wire coiling machine, so that automatic welding between a main reinforcement and a winding reinforcement in the reinforcement cage is completed, and efficient and stable automatic assembly line production of the reinforcement cage is realized.

Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

It should be noted that the structures, ratios, sizes, and the like shown in the drawings attached to the present specification are only used for matching the disclosure of the present specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions of the present invention, so that the present invention has no technical essence, and any structural modification, ratio relationship change, or size adjustment should still fall within the range covered by the technical contents disclosed by the present invention without affecting the efficacy and the achievable purpose of the present invention.

Claims

1. The utility model provides a welding head of self-adaptation steel reinforcement cage which characterized in that includes:

a mechanical arm;

the tracking wheel set is installed at the front end of the mechanical arm and comprises two tracking wheel bodies which are arranged oppositely, a notch is formed between the two tracking wheel bodies and used for pressing and abutting a winding rib on a to-be-welded reinforcement cage, and the width of the notch is adjustable.

2. The welding head for the adaptive reinforcement cage according to claim 1, comprising:

the two tracking wheel bodies in the tracking wheel set are respectively and correspondingly arranged at the front ends of the two mechanical arms, a pressing part for pressing and supporting the winding rib is formed at the inner side end part of at least one tracking wheel body, a clamping groove with the size matched with that of the pressing part is formed at the inner side end part of the other tracking wheel body, and the width of the pressing part exposed out of the clamping groove is adjustable so as to adjust the width of the notch;

3. The welding head of an adaptive reinforcement cage of claim 2, wherein: the adjusting mechanism further comprises a first screw and a first connecting seat, wherein the first connecting seat is correspondingly arranged on the mechanical arm respectively, the first connecting seat is in threaded connection with the two ends of the first screw respectively, and the spiral directions of threads at the two ends of the first screw are opposite.

4. The welding head of an adaptive reinforcement cage of claim 3, wherein: the adjusting mechanism further comprises a first driving motor, the first driving motor is mounted on one mechanical arm, and an output shaft of the first driving motor is connected to the first screw rod and used for driving the first screw rod to rotate in the circumferential direction.

5. The welding head of an adaptive reinforcement cage according to claim 1, wherein: the two tracking wheel bodies can be synchronously and telescopically arranged at the front end of the mechanical arm.

6. The welding head of an adaptive reinforcement cage of claim 5, wherein: two but trail the wheel body through glide machanism slidable around respectively install in on the arm, glide machanism includes first mounting panel, second mounting panel and synchronous board, first mounting panel set firmly in on the arm, but gliding install in around the second mounting panel on the first mounting panel, two pass through between the second mounting panel synchronous board is connected, and the front end of second mounting panel is installed trail the wheel body.

7. The welding head of an adaptive reinforcement cage according to claim 1, wherein: still include the couple for press and support on the main muscle of steel reinforcement cage, the couple can for the arm moves along vertical direction and fore-and-aft direction, welder has been laid to one side of couple, welder aims at in the steel reinforcement cage main muscle and around waiting to weld the position of muscle.

8. The welding head of an adaptive reinforcement cage according to claim 7, wherein: the hook is in a gooseneck shape.

9. The utility model provides a welding set of self-adaptation steel reinforcement cage which characterized in that: an adaptive reinforcement cage welding head comprising a reinforcement cage welding head as recited in any one of claims 1 to 7.

10. The welding device for the self-adaptive reinforcement cage according to claim 9, wherein: the robot further comprises a machine body, and the mechanical arm can be rotatably arranged on the machine body by 180 degrees.

11. The welding device for the self-adaptive reinforcement cage according to claim 9, wherein: the robot further comprises a machine body, and the mechanical arm can be mounted on the machine body in a forward and backward translational movement and/or a pitching movement mode.