CN113510410A

CN113510410A - Auxiliary positioning device, welding positioning system and steel reinforcement cage processing robot

Info

Publication number: CN113510410A
Application number: CN202010272871.4A
Authority: CN
Inventors: 邬全兵; 张琼; 毛家振
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-04-09
Filing date: 2020-04-09
Publication date: 2021-10-19
Anticipated expiration: 2040-04-09
Also published as: CN113510410B

Abstract

The invention relates to an auxiliary positioning device, a welding positioning system and a reinforcement cage processing robot, wherein the auxiliary positioning device comprises: the tube cavity of the sliding guide sleeve is used for inserting longitudinal ribs; and the positioning execution mechanism is connected with the sliding guide sleeve, and is used for supporting the sliding guide sleeve to be tightly attached to the inner wall of the stirrup, and the stirrup can slide smoothly relative to the sliding guide sleeve. The stirrup is sleeved outside the sliding guide sleeve, so that the stirrup can slide smoothly; meanwhile, the longitudinal bars are pulled to move according to a preset beat in the guide sliding sleeve, so that different stirrups can be in alignment fit with different positions at equal intervals on the longitudinal bars, and welding guns can conveniently finish welding and consolidation operation of all stirrups and the longitudinal bars without moving welding processing stations.

Description

Auxiliary positioning device, welding positioning system and steel reinforcement cage processing robot

Technical Field

The invention relates to the technical field of construction machinery, in particular to an auxiliary positioning device, a welding positioning system and a reinforcement cage processing robot.

Background

In most buildings constructed by the conventional method, there are many structures for bearing compressive and tensile forces, such as beams, columns, balconies, etc. The structures are made of concrete poured into a steel reinforcement cage, wherein the steel reinforcement cage is like a skeleton of a human body and plays roles of supporting and resisting tension. Generally, the reinforcement cage is formed by connecting and solidifying longitudinal bars and stirrups through a welding processing mode according to the design appearance requirement and the placing rule.

At present, the process methods for welding and processing the reinforcement cage mainly comprise two types: firstly, sequentially placing a plurality of stirrups according to a set spacing requirement, and then welding the stirrups and longitudinal bars together; in the process mode, because the connecting positions of each stirrup and each longitudinal bar are different, the welding gun is required to move along the axial direction and accurately find each connecting position, the requirement on the moving precision of the welding gun is high, and the operation difficulty is high. The other type is that the welding gun is kept fixed, the longitudinal bars and the stirrups are moved synchronously, the connecting positions of the longitudinal bars and the different stirrups sequentially enter the working stroke of the welding gun, the stirrups which are sleeved on the longitudinal bars in advance need to be stirred and conveyed to the welding gun, inclined ribs which are longitudinally distributed along the longitudinal bars are designed on the outline of the longitudinal bars, the stirrups are stirred and conveyed very difficultly slide on the longitudinal bars, the processing is difficult to carry out normally, and the production efficiency of a steel reinforcement cage is influenced.

Disclosure of Invention

Based on this, it is necessary to provide an auxiliary positioning device, welding position system and steel reinforcement cage processing machine people, aims at solving prior art welding operation required precision height, and the production and processing degree of difficulty is big problem.

In one aspect, the present application provides an auxiliary positioning device, including:

the tube cavity of the sliding guide sleeve is used for inserting longitudinal ribs; and

the positioning execution mechanism is connected with the sliding guide sleeve, the positioning execution mechanism is used for supporting the sliding guide sleeve to be tightly attached to the inner wall of the stirrup, and the stirrup can slide smoothly relative to the sliding guide sleeve.

The welding positioning system of the scheme is applied to equipment in a reinforcement cage machining robot and used for performing a preparation process of positioning fit on longitudinal bars and stirrups before welding machining is completed, so that the welding machining difficulty and the alignment accuracy requirement of the longitudinal bars and the stirrups are reduced, and the production efficiency of a reinforcement cage is improved. Specifically, before processing, a plurality of stirrups can be placed in the centralized temporary storage device at preset equal intervals, and a fixed welding processing station is set outside the centralized temporary storage device (as can be understood, the welding processing station is used for placing a fixed welding gun, and the stirrups in the centralized temporary storage device can reach the welding processing station); and then, starting the auxiliary positioning device, driving the sliding guide sleeve to move and be closely positioned to the inner side wall of each stirrup by the positioning actuating mechanism, and then inserting the longitudinal ribs into the tube cavity of the sliding guide sleeve so as to finish the work of the machining preparation stage. When in formal welding operation, the centralized temporary storage device dials the stirrups into the welding processing station one by one, and the stirrups can smoothly slide because the stirrups are sleeved outside the guide sliding sleeve; meanwhile, the longitudinal bars are pulled to move according to a preset beat in the guide sliding sleeve, so that different stirrups can be in alignment fit with different positions at equal intervals on the longitudinal bars, and welding guns can conveniently finish welding and consolidation operation of all stirrups and the longitudinal bars without moving welding processing stations. Compared with two traditional processing techniques, the moving precision requirement of the welding gun is low, the stirrup slides smoothly, the production and processing difficulty can be greatly reduced, the welding forming quality is ensured, and the production efficiency of the reinforcement cage is improved.

The technical solution of the present application is further described below:

in one embodiment, the sliding guide sleeve is provided with an inlet end, and the inlet end is provided with a guiding structure which is used for enabling the longitudinal rib to be easily inserted into the sliding guide sleeve.

In one embodiment, the positioning actuator comprises a fixed frame, a shifting assembly arranged on the fixed frame, and a pipe clamp connected with the shifting assembly, and the sliding guide sleeve is connected with the pipe clamp.

In one embodiment, the displacement assembly comprises a first moving unit and a second moving unit connected with the first moving unit, the first moving unit is used for outputting a driving force in one direction of a horizontal direction or a vertical direction, the second moving unit is used for outputting a driving force in the other direction of the horizontal direction or the vertical direction, and the pipe clamp is connected with the second moving unit; the first mobile unit and the second mobile unit can act sequentially or synchronously.

In one embodiment, the first moving unit includes a first guide rail disposed on the fixed frame, a first driving member disposed on the fixed frame, a first transmission pair connected to the first driving member, and a sliding seat slidably disposed on the first guide rail and connected to the first transmission pair, and the second moving unit is disposed on the sliding seat.

In one embodiment, the second moving unit includes a second driving element and a second guide rail respectively disposed on the sliding base, a driving wheel connected to the second driving element, and a telescopic arm drivingly connected to the driving wheel, the telescopic arm is slidably disposed on the second guide rail, and the telescopic arm is connected to the pipe clamp.

In one embodiment, the telescopic arm is provided with a mounting hole, the sliding guide sleeve is inserted into the mounting hole in a penetrating manner, the pipe clamp comprises a first hoop plate set and a second hoop plate set, the first hoop plate set and the second hoop plate set are connected to the sliding guide sleeve in a hooping manner and are respectively arranged on two opposite sides of the telescopic arm, and the first hoop plate set and the second hoop plate set are abutted to the telescopic arm.

In one embodiment, the displacement assemblies and the pipe clamps are at least two and are connected in a one-to-one correspondence manner, and the at least two displacement assemblies are circumferentially distributed on the fixed frame; at least one of the pipe clamps is provided with a distance measuring sensor.

In another aspect, the present application also provides a welding positioning system including the auxiliary positioning device as described above.

In addition, the application also provides a steel reinforcement cage processing robot, which comprises the welding positioning system or the auxiliary positioning device.

Drawings

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

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic diagram of a welding positioning system according to an embodiment of the present invention;

FIG. 2 is a schematic view of another embodiment of a welding positioning system;

FIG. 3 is a schematic view of a portion of the enlarged structure at A in FIG. 2;

FIG. 4 is a left side view of the structure of FIG. 2;

FIG. 5 is a schematic view of a welding positioning system according to another embodiment of the present invention;

fig. 6 is a schematic structural diagram of an auxiliary positioning device according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of another view of an auxiliary positioning device according to an embodiment of the present invention.

Description of reference numerals:

10. a centralized temporary storage device; 11. a first toggle mechanism; 111. a first dial-up; 112. a first clamping block; 12. a second toggle mechanism; 121. a second dial-up; 122. a second fixture block; 13. carrying a frame; 14. a suspension bracket; 15. a first bracket; 16. a second bracket; 17. a support plate; 20. an auxiliary positioning device; 21. a sliding guide sleeve; 211. an entrance end; 212. introducing a structure; 22. a fixed mount; 23. a displacement assembly; 231. a first mobile unit; 231a, a first guide rail; 231b, a first driving member; 231c, a first transmission pair; 231d, a slide; 232. a second mobile unit; 232a, a second driving member; 232b, a second guide rail; 232c, driving wheels; 232d, a telescopic arm; 24. a pipe clamp; 241. a first hoop plate set; 242. a second hoop plate set; 30. hooping; 40. welding processing stations; 50. longitudinal ribs; 60. a temporary storage channel.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

The embodiment of the application provides a steel reinforcement cage processing robot, and it is applied to the operation link of prepareeing material of construction, specifically is used for realizing the full automatization machine-shaping to the steel reinforcement cage, accomplishes promptly and gets the unmanned operation of the full flow who leaves of unloading after location, equipment, the welding shaping of indulging muscle 50 and stirrup 30.

As shown in fig. 1 and 4, generally speaking, the reinforcement cage is generally formed by combining a plurality of longitudinal bars 50 and a plurality of stirrups 30, the longitudinal bars 50 are divided into longitudinal bar main bars and longitudinal bar auxiliary bars, the stirrups 30 are square, and the reinforcement cage comprises four longitudinal bar main bars and four longitudinal bar auxiliary bars. The four longitudinal bar main bars are usually arranged on the inner walls of the four corners of the stirrup 30 in a one-to-one correspondence manner, and the four longitudinal bar auxiliary bars are arranged in the middle positions of the four sides of the stirrup 30 in a one-to-one correspondence manner.

The reinforcement cage robot comprises a welding positioning system, a longitudinal bar traction moving device, a welding clamping device, a discharging device and some auxiliary equipment; the welding positioning system is composed of a centralized temporary storage device 10 and an auxiliary positioning device 20. The centralized temporary storage device 10 is used for storing stirrups 30 at equal intervals and transferring the stirrups 30 to a fixed welding processing station 40 one by one; the auxiliary positioning means 20 is used to position the longitudinal ribs 50 to the respective top corners and the respective middle sides of the inner wall of the stirrup 30. Along with concentrated temporary storage device 10 dials and send stirrup 30 and indulge muscle tractive mobile device to indulging the synchronous tractive removal of muscle 50, each stirrup 30 can with indulge the different positions laminating of muscle 50, and equidistant during this different positions, welding clamping device realizes automatic weld consolidation after the centre gripping fastening to each stirrup 30 and the laminating position of indulging muscle 50 this moment, until whole steel reinforcement cage machine-shaping. And finally, automatically transferring the formed reinforcement cage to a pouring station by the discharging device. Borrow this steel reinforcement cage processing robot makes fashioned steel reinforcement cage of high quality and production machining efficiency height.

With reference to fig. 1, fig. 3 and fig. 4, further, the auxiliary positioning device 20 includes a sliding guide sleeve 21 and a positioning actuator, the positioning actuator is connected to the sliding guide sleeve 21, the positioning actuator is configured to support the sliding guide sleeve 21 to be closely attached to the inner wall of each stirrup 30, the stirrup 30 can smoothly slide relative to the sliding guide sleeve, and a lumen of the sliding guide sleeve 21 is configured to insert a longitudinal rib 50.

Referring to fig. 1, a welding positioning system is shown in which an auxiliary positioning device 20 is disposed adjacent to a centralized buffering device 10 according to an embodiment of the present application.

In summary, the implementation of the technical solution of the present embodiment has the following beneficial effects: the welding positioning system of the scheme is applied to equipment in a reinforcement cage machining robot and used for reducing the welding machining difficulty and the alignment accuracy requirement of the longitudinal bars 50 and the stirrups 30 and improving the production efficiency of the reinforcement cage in the preparation process of positioning and matching the longitudinal bars 50 and the stirrups 30 before the welding machining is completed. Specifically, before processing, a plurality of stirrups 30 may be placed in the centralized temporary storage device 10 at preset equal intervals, and a fixed welding processing station 40 is set outside the centralized temporary storage device 10 (it can be understood that a fixed welding gun is placed at the welding processing station 40, and the stirrups 30 in the centralized temporary storage device 10 may reach the welding processing station 40); then, the auxiliary positioning device 20 is started to closely position the slide guiding sleeve 21 to the inner side wall of each stirrup 30, and then the longitudinal ribs 50 are inserted into the tube cavity of the slide guiding sleeve 21, so that the processing preparation stage is completed. During formal welding operation, the centralized temporary storage device 10 dials the stirrups 30 into the welding processing station 40 one by one, and the stirrups 30 can slide smoothly as the stirrups 30 are sleeved outside the slide guide sleeve 21; meanwhile, the longitudinal ribs 50 are pulled to move according to a preset beat in the sliding guide sleeve 21, so that different stirrups 30 can be aligned and matched with different positions on the longitudinal ribs 50 at equal intervals, and welding guns can complete welding consolidation operation of all the stirrups 30 and the longitudinal ribs 50 without moving at the welding processing station 40 conveniently. Compared with two traditional processing techniques, the moving precision requirement of the welding gun is low, the stirrups 30 slide smoothly, the production and processing difficulty can be greatly reduced, the welding forming quality is guaranteed, and the production efficiency of the reinforcement cage is improved.

With continued reference to fig. 2 and 3, in some embodiments, the centralized buffering device 10 includes: a first toggle mechanism 11 and a second toggle mechanism 12. The first toggle mechanism 11 comprises a first toggle piece 111 capable of moving back and forth, and at least two first clamping blocks 112 arranged on the first toggle piece 111 at preset intervals; the second toggle mechanism 12 and the first toggle mechanism 11 are arranged at an interval and form a temporary storage channel 60 for temporarily storing the stirrup 30, and the second toggle mechanism 12 includes a second toggle member 121 capable of moving back and forth and at least two second clamping blocks 122 arranged on the second toggle member 121 at preset intervals.

The first pulling-sending part 111 and the second pulling-sending part 121 move synchronously and in the same direction, the first clamping blocks 112 and the second clamping blocks 122 are arranged in a one-to-one correspondence manner and are used for clamping one stirrup 30, and a fixed welding processing station 40 is arranged outside one of the ports of the temporary storage channel 60.

It can be understood that, by means of the synchronous equidirectional movement of the first pulling piece 111 and the second pulling piece 121, the stirrups 30 can be placed into the temporary storage channel 60 one by one, or each stirrup 30 is sent away from the temporary storage channel 60 one by one, so that the stirrups 30 can be welded and fixed with the longitudinal bars 50.

It should be noted that, the first fixture block 112 and the second fixture block 122 are arranged according to the preset distance, which means that the distance between any adjacent first fixture block 112 and any adjacent second fixture block 122 is equal or unequal, and preferably, the distance is equal, and the distance is equal to the distance between two adjacent stirrups 30 on the reinforcement cage. The distance between the stirrup 30 and the welding position where the longitudinal bar 50 is attached after being sent out is also equal, so that the processing requirement of the reinforcement cage can be met, and the forming quality is ensured.

Referring to fig. 1 to 4, in the initial stage of operation, the stirrup needs to be placed into the temporary storage channel 60. The specific operation manner may be that a worker or a manipulator may be fixed to the welding processing station 40, the stirrups 30 are placed one by one and clamped into a group of the first clamping block 112 and the second clamping block 122 which are arranged correspondingly, and along with the movement of the first transfer piece 111 and the second transfer piece 121 in the direction away from the swing station of the stirrups 30, the different first clamping blocks 112 and the second clamping blocks 122 which are arranged oppositely move one by one, thereby completing that one stirrup 30 is clamped by each group of the first clamping block 112 and the second clamping block 122 until the whole temporary storage channel 60 is filled; then, when each stirrup 30 and the longitudinal bar 50 need to be welded and assembled, only the first poking and conveying piece 111 and the second poking and conveying piece 121 need to be driven to move in the opposite direction, the stirrups 30 can be sent out of the temporary storage channel 60 one by one and enter the preset and fixed welding processing station 40, and at the moment, the welding gun can be fixed on the welding processing station 40 to complete the welding operation of all stirrups 30 and the longitudinal bar 50. So far, compare in traditional stirrup 30 and indulge muscle 50 welding jobs mode, the concentrated temporary storage device 10 of this application is putting and is making stirrup 30 and all need not workman or manipulator and welder to remove when indulging muscle 50 welding, and stirrup 30 can be accomplished automatically and put in order and keep in, then according to predetermineeing the interval and indulge muscle 50 and realize welded fastening one by one, the simple operation, laborsaving, the operating efficiency is high, can guarantee steel reinforcement cage welded forming quality and efficiency.

Preferably, the first latch 112 and the second latch 122 are multiple and have a suitable number. Each set of the first latch 112 and the second latch 122 is used for clamping and placing one stirrup 30; such that the equidistant placement of the stirrups 30 located in the escrow channel 60 is achieved by the equidistant placement of the first catches 112 and the equidistant placement of the second catches 122. It should be noted that the design length of the temporary storage channel 60 and the arrangement density (or number) of the stirrups 30 can satisfy the requirement of a complete reinforcement cage for the stirrups 30; or the reinforcement cage can be a complete reinforcement cage with a length of a fraction of the length of the reinforcement cage for the stirrups 30, the stirrups 30 need to be concentrated and temporarily stored in the temporary storage device 10 for several times, and the stirrups 30 temporarily stored in multiple wheels are welded and fixed on the longitudinal bars 50.

With reference to fig. 2 and fig. 5, in some embodiments, on the basis of the above embodiments, the centralized buffering device 10 further includes a frame 13, a suspension bracket 14 disposed on the frame 13, and a first bracket 15 disposed on the frame 13. Specifically, the carrier frame 13 is a rectangular cubic frame structure formed by welding or assembling steel structural members, has a simple structure but high overall strength, is easy to manufacture and form, and has high use reliability. The carriage 13 can reliably bear the weight of the first toggle mechanism 11, the second toggle mechanism 12, all the stirrups 30 and the longitudinal ribs 50. The auxiliary positioning device 20 is disposed outside one end of the carriage 13 in the width direction. At this time, it can be understood that the width of the carriage 13 is equal to the length of the buffer passage 60.

The suspension bracket 14 is hung on the top of the carrying frame 13, and the first toggle mechanism 11 is arranged on the suspension bracket 14, so that the first toggle mechanism 11 forms a suspension arrangement. The first bracket 15 is installed on the bottom surface of the carrying frame 13, and the second toggle mechanism 12 is arranged on the first bracket 15, so that the second toggle mechanism 12 is positioned below the first toggle mechanism 11. When putting the stirrup 30 into the temporary storage channel 60, the second toggle mechanism 12 can firstly lift the bottom of the stirrup 30, so that the stirrup 30 is ensured to be placed stably in advance, and then the first toggle mechanism 11 laterally contacts the side surface of the stirrup 30, so that the stirrup 30 can be ensured to be stably placed. In particular, the first toggle mechanism 11 and the second toggle mechanism 12 are arranged diagonally. So stirrup 30 can be directly with the mode of parallel promotion just can be fast, firm card put first toggle mechanism 11 and second toggle mechanism 12 on, reduce stirrup 30 and put the degree of difficulty to when first toggle mechanism 11 and second toggle mechanism 12 synchronous motion, the stirring atress that stirrup 30 received is even. Of course, in other embodiments, the first toggle mechanism 11 and the second toggle mechanism 12 may also be arranged horizontally side by side, and other structural arrangements are also within the protection scheme of the present application.

When the first toggle mechanism 11 and the second toggle mechanism 12 are arranged diagonally, the stirrup 30 may be placed unstably and toppled, which affects the normal welding of the subsequent stirrup 30 and the longitudinal bar 50. Further, in some embodiments, the centralized temporary storage device 10 further includes a second bracket 16 arranged side by side with a space from the first bracket 15, and a support plate 17 disposed on the second bracket 16, wherein the support plate 17 is used for contacting with the bottom of the stirrup 30. Specifically, the second bracket 16 is disposed below the first toggle mechanism 11, and at this time, the second bracket 16, the first bracket 15 and the first toggle mechanism 11 form a triangular structure arrangement in a vertical plane, so that the support plate 17 can form a longitudinal support for another corner portion of the stirrup 30, that is, the support plate 17 can form a triangular limit structure with the most stable structure with the first fixture block 112 and the second fixture block 122, and the stable swing of the stirrup 30 can be ensured to the greatest extent.

Because the first and

second blocks

112 and 122 are driven by the first and

second dialing members

111 and 121 to drive the corresponding stirrups 30 to move and slide, in order to reduce the moving resistance, frictional wear and noise, the contact part of the support plate 17 and the stirrups 30 is designed to be an arc surface or a roller (made of rubber or other materials).

In actual production and processing, for structures such as beams, columns and stairs with different sizes, the sizes of the reinforcement cages required to be used are different, and the direct representation is that the length, width, height and shape of the stirrups 30 are different. To improve the versatility of the centralized temporary storage device 10 for different sizes and shapes of stirrups 30, in some embodiments, the centralized temporary storage device 10 further comprises a first displacement mechanism disposed at the bottom of the carriage 13, the first bracket 15 is connected with the first displacement mechanism, and the first displacement mechanism is used for driving the first bracket 15 to approach or depart from the second bracket 16; and/or the centralized temporary storage device 10 further comprises a second moving mechanism arranged at the bottom of the carrying frame 13, the second bracket 16 is connected with the second shifting mechanism, and the second shifting mechanism is used for driving the second bracket 16 to approach or depart from the first bracket 15. Preferably, the first shifting mechanism and the second shifting mechanism are arranged simultaneously, and can drive the first bracket 15 and the second bracket 16 to move towards each other or away from each other independently or simultaneously according to actual needs, so that the first toggle mechanism 11 and the second toggle mechanism 12 flexibly form different intervals, that is, different sizes of temporary storage channels 60 are obtained, and therefore the device can be suitable for temporarily storing and placing stirrups 30 with different sizes and structures.

Alternatively, the first displacement mechanism and the second displacement mechanism are mechanisms capable of outputting reciprocating linear power, and may be, for example and without limitation, a motor + lead screw slider mechanism, a cylinder + scissor fork mechanism, and the like.

It is understood that the stirrups 30 can be L-shaped, T-shaped, circular, triangular, etc. The concrete can be selected according to the actual needs of the person skilled in the art.

Fig. 5 shows a schematic structural view of the centralized temporary storage device 10 for placing the L-shaped stirrup 30.

In some embodiments, the first toggle mechanism 11 further includes a first bracket, a first driving source disposed on the first bracket, and a first driving wheel set rotatably disposed on the first bracket and in driving connection with the first driving source. The first bracket is fixedly connected to the suspension bracket 14 so as to suspend the first driving source, the first driving wheel set, and the first dial 111. Similarly, the second toggle mechanism 12 further includes a second support, a second driving source disposed on the second support, and a second driving wheel set rotatably disposed on the second support and in driving connection with the second driving source. The second bracket is fixedly connected to the first bracket 15, so that the first bracket 15 can support and fix the second driving source, the second driving wheel set and the second transfer member 121.

In addition, the first driving wheel set is used for driving the first pulling piece 111 to reciprocate, and the second driving wheel set is used for driving the second pulling piece 121 to reciprocate. When the first driving wheel set is driven to rotate forwards or reversely by the first driving source output power and the second driving wheel set is driven to rotate forwards or reversely by the second driving source output power (the first driving wheel set and the second driving wheel set rotate in the same direction), the first driving wheel set can drive the first poking and sending piece 111 and the second driving wheel set can drive the second poking and sending piece 121 to rotate along the reciprocating straight line between the two ports of the temporary storage channel 60, the purpose of temporarily storing and placing the stirrups 30 firstly is realized, and then the stirrups 30 are sent out one by one for welding.

Preferably, in some embodiments, the first driving source is a first motor, the first driving wheel set is a first chain wheel set, and the first conveying member 111 is a first chain that is engaged and sleeved on the first chain wheel set. The second driving source is a second motor, the second driving wheel set is a second chain wheel set, the second poking and conveying piece 121 is a second chain, and the second chain is meshed and sleeved on the second chain wheel set. The chain wheel set is meshed with the chain for transmission, so that power transmission is more stable, the weight bearing capacity of the stirrup 30 is stronger, and the service life can be ensured; and more importantly, because the chain adopts a plurality of chain links to rotate through the round pin axle and constitutes, and the length of each chain link is the same, therefore through install first fixture block 112 and second fixture block 122 on each chain link, then guarantee more easily that the interval between two adjacent first fixture blocks 112 and two adjacent second fixture blocks 122 equals, and then guarantee that the interval of putting of stirrup 30 equals, guarantee follow-up each stirrup 30 and the welding forming quality of indulging muscle 50.

It should be noted that, as an alternative to the above embodiments, in other embodiments, the sprocket set may also adopt a gear set, and the chain is replaced by a rack, so that when the motor drives the gear set to rotate in the forward direction or the reverse direction, the rack can be driven to move back and forth, thereby achieving the purpose of temporarily storing and placing the stirrups 30, and then sending out the stirrups 30 one by one for welding.

In order to ensure that the stirrup 30 is firmly placed, in some embodiments, the first block 112 has a first slot, the second block 122 has a second slot opposite to the first slot, and the widths of the first slot and the second slot both increase from the bottom of the slot to the top of the slot. The design of the first clamping groove and the second clamping groove with the gradually changed groove width sizes can not only ensure that the stirrup 30 can be placed reliably through the freedom degree of the better limiting stirrup 30 in a clamping mode, but also can be better adapted to the stirrup 30 with different sizes, and is more favorable for improving the universality of the first shifting mechanism 11 and the second shifting mechanism 12. It can be understood that the first and second locking grooves may be V-shaped grooves, U-shaped grooves, trapezoidal grooves, or the like, and may be specifically selected according to actual needs.

Along with the conveying effect that piece 111 and the second piece 121 were dialled to first dialling send, the stirrup 30 in each group's first draw-in groove and second draw-in groove all can be removed the terminal surface department that carries frame 13 one by one along leading smooth sleeve pipe 21 horizontal slip, and then breaks away from first draw-in groove and second draw-in groove and falls to indulging on the muscle 50, weld clamping device will indulge muscle 50 and stirrup 30 centre gripping and paste tightly immediately, welder welds the laminating position, can accomplish to indulge muscle 50 and stirrup 30 and be connected concretely as an organic whole.

Further, in some embodiments, the rotation axis of the first dial 111 is disposed perpendicular to a horizontal plane, the rotation axis of the second dial 121 is disposed parallel to the horizontal plane, and the rotation axis of the first dial 111 and the rotation axis of the second dial 121 are perpendicular to each other. At this moment, the notch of second draw-in groove can set up towards the top, and the notch of first draw-in groove sets up towards the right-hand side, and the top one corner of stirrup 30 can be blocked to the second draw-in groove, and first draw-in groove then can block the side one corner of stirrup 30, realizes clamping fixed more firm stirrup 30, can effectively avoid stirrup 30 to take place to heel towards adjacent both sides stirrup 30, influences follow-up normal welding process.

As described in the above solution, the stirrups 30 located in the temporary storage channel 60 are uniformly spaced, and need to be sent out one by one according to a predetermined beat when being welded and fixed with the longitudinal reinforcement 50, at this time, in order to control the sending-out rate of each stirrup 30 and make the sending-out rate of the subsequent stirrup 30 match the welding time of the previous stirrup 30, in some embodiments, the centralized temporary storage device 10 further includes a start-stop switch and a controller, the start-stop switch is electrically connected to the controller, and the controller is electrically connected to the first drive source and the second drive source, respectively. When pressing and opening the stop switch in proper order, the controller alright receive one and send out the signal, and the controller and then output command is first driving source and the certain angle of second driving source synchronous rotation this moment, and this certain angle of rotation corresponds first group and send piece 111 and second group and send a 121 removal distance, and the removal distance equals two adjacent stirrup 30's interval. So far, alright open the switch through not operating in proper order, just can send out the purpose of a stirrup 30, make every stirrup 30 all possess sufficient time and indulge muscle 50 welded fastening, each stirrup 30 can not take place mutual interference, can guarantee normal processing of steel reinforcement cage and shaping quality to the at utmost.

It should be noted that triggering the start-stop switch may be manually performed by a worker, or may be automatically performed by a machine. When manual operation of workers is adopted, the workers can press by hands or tread by feet, and a better treading mode is adopted, so that the labor is saved, and the operation is more convenient.

Referring to fig. 1, fig. 6 and fig. 7, in some embodiments, the positioning actuator includes a fixing frame 22, a displacement assembly 23 disposed on the fixing frame 22, and a pipe clamp 24 connected to the displacement assembly 23, and the sliding guide sleeve 21 is connected to the pipe clamp 24. The fixed frame 22 can bear the fixed displacement assembly 23 and bear the weight of the longitudinal ribs 50 during work, so that the structure is stable; the shifting assembly 23 can clamp the stable sliding guide sleeve 21 through the pipe clamp 24, and the sliding guide sleeve 21 can be quickly and accurately positioned and attached to the inner wall of the corner of the stirrup 30 through accurate movement in a space, so that reliable guarantee is provided for positioning and matching of the follow-up longitudinal rib 50 and the stirrup 30.

It should be noted that, for the sake of understanding, in the embodiments described below, the longitudinal ribs 50 are all referred to as longitudinal rib main ribs, and the longitudinal rib main ribs are arranged inside the corners of the stirrups 30. For the longitudinal rib auxiliary rib, the stirrup 30 can be positioned to the inner side of the middle of each side by adopting the same positioning actuator, and the working principle and method are the same as the working mode of the longitudinal rib main rib, which is not described herein again.

In operation, after the slide guiding sleeve 21 is positioned to the inner side of the corner of the stirrup 30, the longitudinal rib 50 can be inserted into the lumen of the slide guiding sleeve 21 by the rib threading mechanism. In order to improve the versatility of the sliding guide sleeve 21, so as to accommodate the longitudinal ribs 50 with different diameters or the longitudinal ribs 50 with machining dimension errors, in some embodiments, the inner diameter of the sliding guide sleeve 21 is larger than the maximum diameter of the longitudinal ribs 50. It should be understood that the maximum diameter of the longitudinal rib 50 may be the diameter of the thickest part of a single longitudinal rib 50 having a machining dimension error, or may be the longitudinal rib 50 having the largest diameter among a series of longitudinal ribs 50 having different dimensions.

With reference to fig. 7, the slide guiding sleeve 21 is provided with an inlet end 211, and in order to facilitate the operation of threading the longitudinal rib 50, the inlet end 211 is provided with an introducing structure 212, and the introducing structure 212 is used for facilitating the insertion of the longitudinal rib 50 into the slide guiding sleeve 21. Specifically, the guiding structure 212 is a conical cylinder, a small-diameter end of the conical cylinder is aligned and connected to the inlet end 211 of the sliding guide sleeve 21, and a large-diameter end faces the direction of the rib penetrating mechanism. The heavy-calibre end is greater than the diameter of indulging muscle 50, allows to indulge the counterpoint before muscle 50 poling and can have certain precision error, reduces the poling degree of difficulty, and the skew wall of awl barrel possesses the smooth effect of leading to indulging muscle 50 simultaneously, makes to indulge muscle 50 and inserts more easily in leading smooth sleeve pipe 21. Of course, in other embodiments, the import structure 212 may also be other structures and devices in the prior art, which are not described herein.

As described above, since the inner diameter of the slide guiding sleeve 21 is larger than the diameter of the longitudinal rib 50, the longitudinal rib 50 forms an annular fitting gap after penetrating into the slide guiding sleeve 21. The stirrup 30 is sleeved outside the slide-guiding sleeve 21, so that the distance between the stirrup 30 and the longitudinal rib 50 is equal to the sum of the thickness of a single edge of the annular fitting gap and the wall thickness of the slide-guiding sleeve 21. However, the larger the distance value is, the more difficult the subsequent longitudinal rib 50 and the stirrup 30 are to be clamped tightly, that is, the more difficult the welding process between the longitudinal rib 50 and the stirrup 30 is. Therefore, after the longitudinal rib 50 is inserted into the sliding guide sleeve 21, the rib threading mechanism needs to expand and move outward along the radial direction, that is, the longitudinal rib 50 is driven to expand and move toward the outer sides of the four corners of the stirrup 30, so that the longitudinal rib 50 can be tightly attached to the inner wall portion of the sliding guide sleeve 21 close to the corners of the stirrup 30. In this way, the longitudinal ribs 50 can be as close as possible to the stirrups 30, which is beneficial for subsequent clamping, welding or binding operations.

With continued reference to fig. 6 and 7, in any of the above embodiments, the fixing frame 22 is formed as a circular frame plate structure, preferably a regular octagon. In some embodiments, the displacement assemblies 23 and the pipe clamps 24 are at least two and are connected in a one-to-one correspondence, and at least two displacement assemblies 23 are circumferentially distributed on the fixing frame 22. In particular, the displacement assemblies 23 and the pipe clamps 24 are four in number and are arranged along a cross-shaped configuration on the same side of the fixing frame 22 facing the concentration buffer 10. Each pipe clamp 24 is used for clamping one sliding guide sleeve 21, a longitudinal rib 50 is respectively inserted into each sliding guide sleeve 21, and each longitudinal rib 50 is correspondingly positioned and clings to one corner inner wall of the stirrup 30. Four aversion subassemblies 23 can be synchronous collaborative operation this moment, accomplish the location operation of four vertical bars 50 (indulge muscle main muscle) in the steel reinforcement cage simultaneously, improve steel reinforcement cage production efficiency greatly. Of course, when the stirrups 30 have other shapes and the longitudinal ribs 50 have other numbers, the positioning actuators may have other numbers correspondingly, and the invention is also within the scope of the present application.

In order to prevent each displacement assembly 23 from driving the respective pipe clamp 24 and slide guide sleeve 21 to move so as to adjust the position of the slide guide sleeve 21 to enable the slide guide sleeve 21 to be positioned on the inner wall of the corner of the stirrup 30, in some embodiments, at least one of the pipe clamps 24 is provided with a distance measuring sensor, so that the adjacent or opposite slide guide sleeves 21 are interfered with each other. The distance measuring sensor can detect the distance between every two adjacent or opposite sliding guide sleeves 21 in real time, and stops in time when the distance value is too small, so that the problem is avoided. Preferably, each pipe clamp 24 is provided with a distance measuring sensor to improve the detection capability and the reliability and safety of the auxiliary positioning device.

In some embodiments, the displacement assembly 23 includes a first moving unit 231 and a second moving unit 232 connected to the first moving unit 231, the first moving unit 231 is used for outputting a driving force in one of a horizontal direction or a vertical direction, the second moving unit 232 is used for outputting a driving force in the other of the horizontal direction or the vertical direction, and the pipe clamp 24 is connected to the second moving unit 232; the first mobile unit 231 and the second mobile unit 232 can act sequentially or synchronously. So carry out successively or synchronous motion with the help of first mobile unit 231 and second mobile unit 232, can drive and lead smooth sleeve pipe 21 and accurately fix a position rapidly and paste and tightly to stirrup 30 corner inboard, and can walk according to multiple removal trails such as straight line, pitch arc at the removal in-process, do benefit to and lead smooth sleeve pipe 21 and save to remove consuming time, do benefit to simultaneously and keep away the barrier, improve and lead smooth sleeve pipe 21 positioning reliability.

It should be noted that, since the four shifting units 23 are arranged in a cross shape in the preferred embodiment, when the first moving unit 231 or the second moving unit 232 with the same property are located at different orientations, there is a difference in the output power direction. For example, in the shift assembly 23 in the vertical direction, the first moving unit 231 may output a driving force in the horizontal direction, and at this time, the second moving unit 232 may output a driving force in the vertical direction. However, in the horizontal direction of the displacement assembly 23, which is also the first moving unit 231, the driving force in the vertical direction is outputted, and the moving force in the horizontal direction is outputted by the second moving unit 232.

It should be noted that, since the projection of the stirrup 30 in the centralized temporary storage device 10 along the axial direction is located in the middle of the hollow cavity formed by the fixed frame 22, no matter whether the second moving unit 232 is located in the vertical direction or the horizontal direction, only the sliding guide sleeve 21 can be driven to move close to or away from the stirrup 30.

In some embodiments, the first moving unit 231 includes a first guide rail 231a disposed on the fixing frame 22, a first driving member 231b disposed on the fixing frame 22, a first transmission pair 231c connected to the first driving member 231b, and a sliding seat 231d slidably disposed on the first guide rail 231a and connected to the first transmission pair 231c, and the second moving unit 232 is disposed on the sliding seat 231 d. Thus, the second moving unit 232 can quickly find the corner of the stirrup 30 with the slide guiding sleeve 21 under the driving of the first moving unit 231, and the positioning efficiency is ensured. And the second moving unit 232 can slide back and forth in the vertical direction and the horizontal direction, so that the slide guide sleeve 21 has the capability of being suitable for stirrups 30 with different shapes.

Specifically, the first driving member 231b is a motor, and the first transmission pair 231c is a lead screw nut pair. The screw rod is connected with a power shaft of the motor, and when the motor drives the screw rod to rotate, the nut can slide along the screw rod in a reciprocating mode, so that the purpose of driving the second moving unit 232 to slide in a reciprocating mode is achieved. The power transmission is stable, and the structure is simple. Of course, in other embodiments, the specific structure of the first moving unit 231 may also adopt other driving structures in the prior art, and may be selected according to actual needs.

Still referring to fig. 7, in some embodiments, the second moving unit 232 includes a second driving member 232a and a second guiding rail 232b respectively disposed on the sliding base 231d, a driving wheel 232c connected to the second driving member 232a, and a telescopic arm 232d drivingly connected to the driving wheel 232c, the telescopic arm 232d is slidably disposed on the second guiding rail 232b, and the telescopic arm 232d is connected to the pipe clamp 24. So, it is rotatory through second driving piece 232a drive wheel 232c, and drive wheel 232c can stretch out or withdraw with the help of frictional force drive flexible arm 232d to on the corner inner wall that leads smooth sleeve pipe 21 final positioning and hug closely stirrup 30 is driven by flexible arm 232d, for follow-up muscle 50 poling and stirrup 30 and the muscle 50 location of indulging provide reliable basis.

Specifically, the wheel face of the driving wheel 232c is provided with a first tooth structure, the telescopic arm 232d is provided with a second tooth structure, and the first tooth structure is in meshing transmission fit with the second tooth structure. It can be understood that, this moment, drive wheel 232c constitutes the rack and pinion transmission with flexible arm 232d and is vice, with the help of the tooth meshing transmission, can guarantee that power transmission is steady, and is strong to leading smooth sleeve 21 and indulging the load bearing capacity of muscle 50, ensures that the displacement is reliable and accurate. Of course, in other embodiments, the specific structure of the second moving unit 232 may also adopt other driving structures in the prior art, such as a scissors mechanism, a lead screw slider mechanism, and the like, which can be selected according to actual needs.

In some embodiments, the telescopic arm 232d is provided with a mounting hole, the slide guide sleeve 21 is inserted through the mounting hole, the pipe clamp 24 includes a first hoop plate set 241 and a second hoop plate set 242, the first hoop plate set 241 and the second hoop plate set 242 are hooped on the slide guide sleeve 21 and are respectively arranged on two opposite sides of the telescopic arm 232d, and the first hoop plate set 241 and the second hoop plate set 242 are abutted to the telescopic arm 232 d. In actual operation, the sliding guide sleeve 21 and the longitudinal rib 50 are both long and made of metal materials, so that the total weight of the sliding guide sleeve and the longitudinal rib is large after the sliding guide sleeve and the longitudinal rib are sleeved with each other. Whether the sliding guide sleeve 21 can be clamped stably or not will greatly influence the positioning accuracy and welding quality of the subsequent longitudinal bars 50 and the stirrups 30. Therefore, in the application, reliable clamping of the sliding guide sleeve 21 is realized by means of the cooperation of the telescopic arm 232d, the first hoop plate set 241 and the second hoop plate set 242, specifically, the contact support area of the sliding guide sleeve 21 can be increased by the first hoop plate set 241 and the second hoop plate set 242, and the first hoop plate set 241 and the second hoop plate set 242 are laterally abutted against the telescopic arm 232d, and the generated abutting force can be uniformly distributed on the circumferential contact area of the sliding guide sleeve 21, so that the radial support capability of the sliding guide sleeve 21 and the longitudinal rib 50 can be improved, and the occurrence of fracture caused by overlarge bending moment or excessive stress concentration at the telescopic arm 232d can be effectively avoided.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An auxiliary positioning device, comprising:

2. The auxiliary positioning device as claimed in claim 1, wherein the sliding guide sleeve is provided with an inlet end, and the inlet end is provided with a guiding structure for facilitating insertion of the longitudinal bar into the sliding guide sleeve.

3. The auxiliary positioning device as claimed in claim 2, wherein the positioning actuator comprises a fixing frame, a displacement assembly disposed on the fixing frame, and a pipe clamp connected to the displacement assembly, and the sliding guide sleeve is connected to the pipe clamp.

4. The auxiliary positioning device as claimed in claim 3, wherein the displacement assembly comprises a first moving unit and a second moving unit connected to the first moving unit, the first moving unit is used for outputting a driving force in one of a horizontal direction or a vertical direction, the second moving unit is used for outputting a driving force in the other of the horizontal direction or the vertical direction, and the pipe clamp is connected to the second moving unit; the first mobile unit and the second mobile unit can act sequentially or synchronously.

5. The auxiliary positioning device as claimed in claim 4, wherein the first moving unit includes a first guide rail disposed on the fixed frame, a first driving member disposed on the fixed frame, a first transmission pair connected to the first driving member, and a sliding base slidably disposed on the first guide rail and connected to the first transmission pair, and the second moving unit is disposed on the sliding base.

6. The auxiliary positioning device as claimed in claim 5, wherein the second moving unit comprises a second driving member and a second guiding rail respectively disposed on the sliding base, a driving wheel connected to the second driving member, and a telescopic arm drivingly connected to the driving wheel, the telescopic arm is slidably disposed on the second guiding rail, and the telescopic arm is connected to the pipe clamp.

7. The auxiliary positioning device as claimed in claim 6, wherein the telescopic arm is provided with a mounting hole, the slide guide sleeve is inserted through the mounting hole, the pipe clamp comprises a first hoop plate set and a second hoop plate set, the first hoop plate set and the second hoop plate set are both hooped on the slide guide sleeve and are respectively arranged on two opposite sides of the telescopic arm, and the first hoop plate set and the second hoop plate set are both abutted against the telescopic arm.

8. The auxiliary positioning device as claimed in claim 3, wherein the displacement assemblies and the pipe clamps are at least two and are connected in a one-to-one correspondence manner, and at least two displacement assemblies are circumferentially distributed on the fixing frame; at least one of the pipe clamps is provided with a distance measuring sensor.

9. A welding positioning system comprising an auxiliary positioning device as claimed in any one of claims 1 to 8.

10. A reinforcement cage processing robot, comprising a welding positioning system as claimed in claim 9 or an auxiliary positioning device as claimed in any one of claims 1 to 8.