CN116060550A - Automatic welding bending device for tower column drag hook rib - Google Patents

Abstract

The invention provides an automatic welding bending device for a tower column drag hook rib, which is characterized in that an inner cavity platform is in sliding connection with a welding sliding platform, a driving motor on the welding sliding platform is meshed with a third rack through a gear to drive the welding sliding platform to slide on the inner cavity platform, a welding manipulator is arranged on a second installation base, the driving motor on the second installation base enables the second installation base to transversely slide on the welding sliding platform through the gear and the rack, the welding manipulator is a multi-degree-of-freedom manipulator welding bending device arranged on the welding manipulator, the welding bending device comprises a bending device and a welding gun control device, the welding gun control device is arranged on the bending device, the welding gun is arranged on the welding gun control device, and the welding gun control device controls the multi-position mobile welding of the welding gun. The hook bar can be clamped near the bending point and inside the reinforced bar part, and bending of the hook bar is not affected. The bending mechanism is provided with a bending mechanism, so that the drag hook rib can be bent on site.

Description

Automatic welding bending device for tower column drag hook rib

Technical Field

The invention relates to the field of bridge construction, in particular to an automatic welding and bending device for a tower column drag hook rib.

Background

The construction of reinforced bar parts is one of the development directions of the bridge tower construction process in the future, the reinforced bar is manufactured into reinforced bar parts in advance, and then the reinforced bar parts are integrally hoisted to the butt joint position and then integrally installed. The construction process of the reinforced bar part can effectively save the construction time of the bridge tower reinforced bar binding, improve the reinforced bar binding quality, and the reinforced bar part can be mechanically or semi-mechanically operated in factories or special jig frames, thereby effectively reducing the labor intensity, improving the operation environment and reducing the risk of high-altitude operation.

In the manufacturing process of the bridge steel bar part, a large number of draw hook ribs exist, and manual installation is needed. The operation process is complicated, the industrial construction development of the bridge steel bars is not facilitated, and a mechanized hook steel bar installation is needed to replace manual operation.

Disclosure of Invention

The invention mainly aims to provide an automatic welding and bending device for a tower column drag hook rib, which solves the problem of pure manual operation of drag hook rib installation when a steel bar part is assembled in a jig frame.

In order to solve the technical problems, the invention adopts the following technical scheme: an inner cavity platform is in sliding connection with a welding sliding platform, and a driving motor on the welding sliding platform is meshed with a third rack through a gear to drive the welding sliding platform to slide on the inner cavity platform;

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

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

In the preferred scheme, bending device includes fixed frame, and fixed frame is connected with welding machine hand, and fixed frame one side is provided with the hook muscle and presss from both sides tight seat, and hook muscle presss from both sides tight seat and is used for pressing from both sides tight straight section of tight hook muscle.

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

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

In the preferred scheme, the hook rib clamping seat is arranged on one side of the fixed frame, a positioning clamping groove is formed in one side of the fixed frame at the position of the hook rib clamping seat, and the steel bars of the steel bar parts are clamped on the positioning clamping groove for positioning.

In the preferred scheme, the hook rib clamping seat comprises an upper clamping block and a lower clamping block of two butt clamps, and the two clamping blocks drive the butt clamps through two fifth air cylinders respectively.

In the preferred scheme, the end part of a pressing pushing rod of the fifth air cylinder is connected with a pushing sliding block, the pushing sliding block is in sliding connection with a fixed plate, the fixed plate is fixedly connected with a fixed frame, the lower end of the pushing sliding block is hinged with an upper clamping block through a pushing hinging rod, and the upper clamping block is in sliding connection with the fixed plate through a plurality of guide posts.

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

In the preferred scheme, be equipped with a plurality of positioning lug on the last clamp block, be equipped with the positioning groove of a plurality of cooperation bending constant head tank on the clamp block down.

In a preferred embodiment, the welding gun control device has the following structure: the welding gun mounting frame is arranged on one side of the bending device, the welding gun is arranged on the sliding block, the sliding block is in sliding connection with the sliding groove, the sliding groove is in transverse sliding connection with the sliding rod of the welding gun mounting frame, the end part of the telescopic rod of the third cylinder on the welding gun mounting frame is connected with the sliding block, and the end part of the telescopic rod of the fourth cylinder on the side surface of the welding gun mounting frame is connected with the sliding groove;

and the welding end part of the welding gun stretches into the bending device, and the third cylinder and the fourth cylinder move the welding gun to weld the hooking bars on the reinforced bar part.

In the preferred scheme, a video monitoring device is arranged on the welding manipulator and used for controlling the inserting position of the hooking bars;

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

a supporting transverse frame is arranged on one side of the artificial platform, one side of the artificial platform is hinged with the supporting transverse frame, the supporting transverse frame is hinged with the end part of the bending long rod of the shrinkage arm, the end part of the sixth cylinder expansion rod on the supporting transverse frame is hinged with the bending position of the shrinkage arm, the end part of the bending short rod of the shrinkage arm is hinged with the shrinkage hinging rod, and the end part of the shrinkage hinging rod is hinged with one side of the artificial platform;

the support upright post of the inner cavity platform is provided with a limit stop, and the lower end of the artificial platform is propped against the limit stop after being unfolded;

the lower end of the inner cavity platform is provided with a plurality of ground rails, the ground rails are arranged on the ground through anchor rods, and the inner cavity platform is in sliding connection with the ground rails.

The invention provides an automatic welding and bending device for a tower column drag hook rib. A reinforcing steel bar part assembling jig frame is arranged and is divided into an inner cavity and an outer cavity. The inner cavity jig frame and the outer cavity jig frame are provided with manual operation platforms which can move up and down along the stand columns of the jig frame and can be fixed at a plurality of points.

The invention mainly discloses a steel bar part product jig frame, which is characterized in that a mechanical device is utilized to complete the works of automatic feeding, point searching, feeding, installation, bending, welding and the like of the drag hook ribs. Replaces manual operation and realizes the automatic installation of the drag hook rib. The platform is a mechanism bearing platform and is controlled by a servo motor to move up and down. The draw hook bar material rack and the draw hook bar feeding mechanism are arranged on the platform. The draw hook bar frame is a fixed position, and the feeding mechanism can slide along the platform. The draw hook rib is convenient for taking materials. At present, the material taking mechanism is set to be a three-coordinate mechanism, and a manipulator is adopted to replace three-coordinate movement. The material taking mechanism adopts a plurality of clamping jaws, and meanwhile, the material taking mechanism is provided with a welding gun, a machine vision and other structures.

The inner cavity platform of the part jig frame is provided with the draw-hook rib bending mechanism at the bottom, and the draw-hook rib clamping groove is arranged on the bending mechanism, so that the draw-hook rib can be close to a bending point and clamped inside the steel bar part, and bending of the draw-hook rib is not affected. The bending mechanism is provided with a bending mechanism, so that the drag hook rib can be bent on site. Meanwhile, the bending mechanism is integrated with mechanisms such as machine vision recognition, welding gun and the like.

Drawings

The invention is further illustrated by the following examples in conjunction with the accompanying drawings:

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

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

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

FIG. 4 is a block diagram of the installation of the inner and outer platforms of the present invention;

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

FIG. 6 is a general installation structure diagram of the drag hook bar material rack and the automatic feeding manipulator of the invention;

FIG. 7 is a front view of the retractor bar frame of the present invention;

FIG. 8 is a rear view of the retractor bar frame of the present invention;

FIG. 9 is a drawing of a drawing bar rack of the present invention in a disassembled configuration;

FIG. 10 is a cross-sectional view of the automatic material taking rack for the drag-hook rib material rack of the present invention;

FIG. 11 is a sectional view of the stop tab of the present invention;

FIG. 12 is a sectional view of the feed stop block of the present invention;

FIG. 13 is a block diagram of the automated feed robot of the present invention;

FIG. 14 is a block diagram of the mounting of the present invention feeding electric putter and the hook clamping arm;

FIG. 15 is a drawing of a hooking bar clamping arm of the present invention in an exploded view;

FIG. 16 is a view showing the construction of the inside of the clamping cylinder of the present invention;

FIG. 17 is a left side elevational view of the present invention;

FIG. 18 is a right side elevational view of the general structural view of the present invention;

FIG. 19 is an overall block diagram of a welding robot of the present invention;

FIG. 20 is a block diagram of the gun motion control and bending device of the present invention;

FIG. 21 is a left side view mounting block diagram of the gun control of the present invention;

FIG. 22 is a right side view mounting block diagram of the gun control of the present invention;

FIG. 23 is a block diagram of the mounting of the hooking bar clamping seat of the present invention;

FIG. 24 is a cross-sectional view of the hooking bar clamping seat of the present invention;

FIG. 25 is a general construction diagram of a bending device according to the present invention;

FIG. 26 is a schematic top view of a bending apparatus of the present invention;

FIG. 27 is a side elevational view of the bending device of the present invention;

FIG. 28 is a schematic diagram of the bending mechanism of the present invention in a single bending mode;

FIG. 29 is a folding and unfolding structure of the artificial platform of the invention;

fig. 30 is a front view of the folding and unfolding structure of the artificial platform of the present invention.

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

Detailed Description

Example 1

As shown in fig. 1-30, an automatic welding and bending device for a tower column drag hook rib comprises an inner cavity platform 1 and an outer cavity platform 3, wherein the inner cavity platform 1 and the outer cavity platform 3 are arranged on two sides of a steel bar part 2, an automatic feeding manipulator 8 is arranged on the outer cavity platform 3, a drag hook rib material frame 7 is arranged on one side of the automatic feeding manipulator 8, a welding manipulator 18 is arranged on the inner cavity platform 1, and a bending and welding device is arranged on the welding manipulator 18; the automatic feeding mechanical arm 8 penetrates the straight end of the hooking bar through the reinforced bar part 2, and the welding mechanical arm 18 bends the straight end of the hooking bar and is welded on the reinforced bar part 2 through the welding device. As shown in the structure of fig. 1-2, the inner cavity platform 1 and the outer cavity platform 3 are arranged on two sides of the reinforced bar part 2, the automatic feeding manipulator 8 on the outer cavity platform 3 takes materials from the draw hook bar material rack 7 and then penetrates through the reinforced bar part 2, and the welding manipulator 18 on the inner cavity platform 1 bends and welds the straight section of the hook bar on the reinforced bar part 2, so that the whole structure is simple.

In the preferred scheme, be provided with pay-off slide platform 9 on the outer chamber platform 3, pay-off slide platform 9 one side and outer chamber platform 3 sliding connection, and drive pay-off slide platform 9 through the rack and pinion and slide about outer chamber platform 3, the opposite side supports through a plurality of slip gyro wheels 901 and leans on the support column of outer chamber platform 3, and autoloading manipulator 8 and drag hook muscle work or material rest 7 set up on pay-off slide platform 9. The whole automatic feeding manipulator 8 and the drag hook rib material rack 7 are arranged on the feeding sliding platform 9 and can slide up and down on the outer cavity platform 3, and the motor is adopted to drive the gear and the rack to mesh so as to drive the whole feeding sliding platform 9 to slide up and down.

In the preferred scheme, the automatic feeding manipulator 8 and the drag hook bar material rack 7 are arranged on a first installation base 13, the first installation base 13 is in sliding connection with the feeding sliding platform 9, and a driving motor on the first installation base 13 is meshed with a second rack 10 through a gear to drive the first installation base 13 to slide on the feeding sliding platform 9. The automatic feeding mechanical arm 8 and the drag hook rib material frame 7 are arranged on the first installation base 13, the first installation base 13 can transversely slide on the feeding sliding platform 9, two degrees of freedom of the automatic feeding mechanical arm 8 and the drag hook rib material frame 7 on the outer cavity platform 3 are moved, and any position of the steel bar part 2 is conveniently reached.

In the preferred scheme, the drag hook muscle work or material rest 7 structure is: a U-shaped drag hook rib discharging groove 707 is formed by a rectangular frame, the opening position of the lower end of the drag hook rib discharging groove 707 is clamped with a fixed table board 701, an automatic material taking frame 11 is arranged below the fixed table board 701, the automatic material taking frame 11 is in sliding connection with the fixed table board 701, a plurality of material taking rods 1102 are arranged on the automatic material taking frame 11, a groove body for placing hook ribs is arranged at the end part of the material taking rods 1102, and a telescopic rod of a first cylinder 1101 inside the fixed table board 701 is connected with the automatic material taking frame 11; as shown in fig. 7-12, the first cylinder 1101 drives the automatic material taking frame 11 to reach the lower part of the drawing bar discharging groove 707 of the drawing bar material frame 7, and the hook bar in the drawing bar discharging groove 707 falls onto the automatic material taking frame 11 to complete material taking.

A plurality of second wedge-shaped seats 705 are arranged on the drag-hook-rib discharge groove 707, a plurality of first wedge-shaped seats 704 matched with the second wedge-shaped seats 705 are arranged on the fixed table 701, and the drag-hook-rib discharge groove 707 enables the lower end of the drag-hook-rib discharge groove 707 to be suspended on the fixed table 701 through the first wedge-shaped seats 704 and the second wedge-shaped seats 705; after the hook bar is placed outside, the hook bar discharging groove 707 is arranged on the fixed table 701, and a distance is reserved between the hook bar discharging groove 707 and the fixed table 701, so that discharging is facilitated.

The first wedge mount 704 and the second wedge mount 705 are connected by a plurality of locking buckles 702; the locking buckle 702 facilitates the quick assembly and disassembly of the drag hook rib discharge chute 707 and the fixed table 701.

A plurality of limiting pull pins 703 are arranged at the opening position of the lower end of the drag hook rib discharging groove 707, the bending position of one end of each limiting pull pin 703 is clamped at one side of the drag hook rib discharging groove 707, and the straight section of the other end is transversely arranged at the opening position of the lower end of the drag hook rib discharging groove 707; after the drag hook rib discharging groove 707 is charged, the limiting pull pin 703 is clamped at the opening position of the lower end of the drag hook rib discharging groove 707, the hook rib is prevented from falling when the drag hook rib discharging groove 707 is installed, and the limiting pull pin 703 is pulled out in the material taking process after the installation is completed.

After the automatic material taking frame 11 is retracted, the hook ribs in the hook rib material discharging groove 707 fall on the groove body at the end part of the material taking rod 1102, and then the hook ribs are pushed out by the first cylinder 1101, so that material taking is completed.

In the preferred scheme, be equipped with a plurality of grooves 706 of dodging on the fixed mesa 701, be equipped with a plurality of unloading stopper 1103 on the automatic frame of getting material 11, unloading stopper 1103 and automatic frame of getting material 11 sliding connection, unloading stopper 1103 sets up in dodging inside the groove 706, and unloading stopper 1103 upper end sets up in drag hook muscle blowing groove 707 below position. The blanking limiting block 1103 retracts through the automatic material taking frame 11 to enable the hook bar to fall on the material taking rod 1102, and the blanking limiting block 1103 is clamped below the draw hook bar material discharging groove 707 to limit the hook bar to fall.

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

In the whole process of moving the automatic material taking frame 11 backwards, the blanking limiting block 1103 abuts against the root of the avoidance groove 706, the hook rib falls onto the groove body at the end part of the material taking rod 1102, when the automatic material taking frame 11 is ejected, the upper end of the blanking limiting block 1103 abuts against the drag hook rib material placing groove 707, the hook rib abuts against the top of the blanking limiting block 1103, limiting is completed, the hook rib is prevented from falling, and the single material taking step is realized.

In the preferred scheme, the automatic feeding manipulator 8 is a multi-degree-of-freedom manipulator, the end part of a lifting arm 801 of the automatic feeding manipulator 8 is provided with a feeding electric push rod 12, a sliding plate of the feeding electric push rod 12 is provided with a hooking rib clamping arm 14, the end part of the hooking rib clamping arm 14 is connected with a rotating motor 15, and the rotating motor 15 is connected with a sliding plate of the feeding electric push rod 12; the feeding electric push rod 12 pushes the whole hooking bar clamping arm 14 into the reinforced bar part 2, so that the hooking bar mounting step is realized. The rotating motor 15 can timely adjust the angle of the whole hook rib clamping arm 14, so that the angle of the hook rib is conveniently adjusted.

The hooking bar clamping arm 14 is provided with a plurality of second air cylinders 1401, the end parts of the second air cylinders 1401 are provided with clamping claws 1402, and the clamping claws 1402 are used for clamping the hooking bar straight sections; the second cylinder 1401 is used to drive the clamping jaw 1402 to clamp the flat section of the hooking bar.

A second cylinder 1401 at the end part of the hook bar clamping arm 14 is provided with a hook bar clamping supporting claw 1403, the hook bar clamping supporting claw 1403 is of a right-angle structure, the bending positions of the two hook bar clamping supporting claws 1403 form a clamping groove, and the hook bar clamping supporting claw 1403 is used for clamping the bending section of the hook bar; as shown in fig. 15, the bending position of the two hook rib clamping holding claws 1403 forms a clamping groove to facilitate clamping the bending section of the whole hook rib.

The right-angle positions of the upper ends of the clamping claw 1402 and the hook rib clamping supporting claw 1403 are rotatably connected with the second air cylinder 1401, and the right-angle ends of the upper ends of the clamping claw 1402 and the hook rib clamping supporting claw 1403 are hinged with the telescopic rod of the second air cylinder 1401. The second air cylinder 1401 is clamped in a structure as shown in fig. 16, and can clamp the whole hooking bar in time.

Example 2

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

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

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

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

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

The hooking bar clamping seat 24 comprises an upper clamping block 2401 and a lower clamping block 2408 of two opposite clamps, and the opposite clamps are driven by the two clamping blocks through two fifth air cylinders 2403 respectively; the end part of a pressing pushing rod 2409 of the fifth air cylinder 2403 is connected with a pushing sliding block 2410, the pushing sliding block 2410 is in sliding connection with a fixed plate 2402, the fixed plate 2402 is fixedly connected with a fixed frame, the lower end of the pushing sliding block 2410 is hinged with an upper clamping block 2401 through a pushing hinging rod 2411, and the upper clamping block 2401 is in sliding connection with the fixed plate 2402 through a plurality of guide posts 2412; the upper clamping block 2401 and the lower clamping block 2408 of the two opposite clamps are driven by a fifth air cylinder 2403 to achieve clamping.

The upper clamping block 2401 and the lower clamping block 2408 are provided with a hooking rib clamping groove 2406, and the hooking rib clamping groove 2406 is used for clamping hooking ribs; the clamping grooves 2406 facilitate clamping the entire hooking bar.

The upper clamping block 2401 is provided with a plurality of positioning convex blocks 2405, and the lower clamping block 2408 is provided with a plurality of positioning grooves 2407 matched with the bending positioning grooves 2305; the positioning protruding blocks 2405 are clamped inside the positioning grooves 2407, so that the butt joint of the upper clamping block 2401 and the lower clamping block 2408 is more stable.

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

In the preferred scheme, video monitoring equipment is arranged on the inner cavity platform 1 and the outer cavity platform 3 and used for controlling the inserting position of the hooking bars; the position of the hook rib is detected for the video monitoring equipment, and the automatic insertion of the hook rib is also facilitated.

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

The lower end of the inner cavity platform 1 is provided with a plurality of ground rails 5, the ground rails 5 are arranged on the ground through anchor rods 501, and the inner cavity platform 1 is in sliding connection with the ground rails 5. The inner cavity platform 1 can move the position, and the distance between the inner cavity platform 1 and the steel bar part 2 is convenient to adjust.

Example 3

Further described in connection with examples 1-2, the structure shown in FIGS. 1-30, comprises the following construction steps:

preparation before work: the artificial platform 4 is fully contracted and folded at one side, and the inner cavity and outer cavity drag hook rib installing equipment is moved to the bottom of the platform.

And (3) loading the drag hook rib: and carrying the drag hook bar material frame 7 loaded with drag hook bars to the fixed drag hook bar material frame position of the outer cavity platform 3 for fixation.

And (3) grid identification: the feeding sliding platform 9 of the outer cavity platform 3 is lifted to the bottom height of the area to be installed, the machine vision equipment of the automatic feeding manipulator 8 starts to scan the area to be installed with the drag hook ribs on the steel bar part 2, the steel bar mesh formed by the main ribs and the stirrups is identified, the machine vision scans a certain area in sequence, and after each scanning is completed, the control system can automatically calculate the position of the inserting locating point of the drag hook ribs in the scanning area.

Feeding a draw hook rib: the automatic feeding manipulator 8 on the drag hook rib feeding mechanism moves to the material rack, and the drag hook rib material rack 7 starts discharging and taking materials. When the automatic feeding manipulator 8 grabs the drag hook bar, the drag hook bar is grabbed, and the drag hook bar clamping arm 14 of the automatic feeding manipulator 8 moves to a steel bar grid through which the drag hook bar is to be worn.

Moving to a positioning point to be inserted, and penetrating the straight end of the drag hook bar into the grid of the reinforced bar from the grid of the reinforced bar of the outer cavity. When the draw hook bar is used for feeding, as the draw hook bar is longer, the clamping jaws are matched, and the hook bar clamping arm 14 penetrates into the grid of the reinforced bar part under the pushing of the feeding electric push rod 12.

Drag hook muscle location: before the drag hook muscle penetrates the portion article, the machine vision on the bending mechanism scans inner chamber reinforcing bar portion article net, calculates according to the procedure, fixes a position to the drag hook muscle position of waiting to install. Waiting for the draw hook bar to penetrate. When the clamping end of the feeding mechanism is close to the part, an opening receiving mechanism on the bending mechanism stretches into the grid to prepare for receiving materials. At this time, the straight end is already close to the opening of the bending device 23, and the hook rib is clamped by the hook rib clamping seat 24 along the opening. At this time, the tail part of the draw hook rib is provided with a hook part, the elbow part is inserted into the grid, and the hook part of the draw hook rib is abutted against the part stirrup.

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

Automatic bending: after the bending device 23 clamps the groove, the bending device 23 acts to bend the end of the drag hook rib by 90 degrees and attach the drag hook rib to the main rib. And then the drag hook rib, the bending part and the stirrup are immediately spot-welded.

Shifting: when the end part of the drag hook rib is subjected to spot welding, the feeding mechanism moves to the next grid to feed the drag hook rib of the next grid, and when the drag hook rib enters a clamping groove of the bending mechanism during feeding, the feeding mechanism starts spot welding after being clamped by the bending mechanism. After the spot welding is finished, the next grid is moved. The actions of the feeding mechanism and the bending mechanism are asynchronous.

And (3) feeding the drag hook ribs: after the drag hook bar on the drag hook bar material frame is installed, at the moment, the bending mechanism moves to the area where the next drag hook bar is to be installed. The feeding mechanism descends to the bottom along with the platform, and the next group of drag hook ribs starts to feed.

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

The above embodiments are only preferred embodiments of the present invention, and should not be construed as limiting the present invention, and the scope of the present invention should be defined by the claims, including the equivalents of the technical features in the claims. I.e., equivalent replacement modifications within the scope of this invention are also within the scope of the invention.

Claims (10)

1. Automatic welding and bending device for tower column drag hook ribs is characterized in that: the inner cavity platform (1) is in sliding connection with the welding sliding platform (17), and a driving motor on the welding sliding platform (17) is meshed with the third rack (16) through a gear to drive the welding sliding platform (17) to slide on the inner cavity platform (1);

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

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

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

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

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

4. The automatic welding and bending device for the column drag hook rib according to claim 2, wherein the automatic welding and bending device is characterized in that: the hook rib clamping seat (24) is arranged on one side of the fixed frame, a positioning clamping groove (2301) is formed in one side of the fixed frame at the position of the hook rib clamping seat (24), and the steel bars of the steel bar part (2) are clamped on the positioning clamping groove (2301) to be positioned.

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

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

7. The automatic welding and bending device for the column drag hook rib according to claim 5, wherein the automatic welding and bending device is characterized in that: the upper clamping block (2401) and the lower clamping block (2408) are provided with a hook rib clamping groove (2406), and the hook rib clamping groove (2406) is used for clamping the hook rib.

8. The automatic welding and bending device for the column drag hook rib according to claim 5, wherein the automatic welding and bending device is characterized in that: the upper clamping block (2401) is provided with a plurality of positioning convex blocks (2405), and the lower clamping block (2408) is provided with a plurality of positioning grooves (2407) matched with the bending positioning grooves (2305).

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

the welding end of the welding gun (21) stretches into the bending device (23), and the third cylinder (2202) and the fourth cylinder (2207) move the welding gun (21) to weld the hook bar on the reinforced bar part (2).

10. The automatic welding and bending device for the column drag hook rib according to claim 1, wherein the automatic welding and bending device is characterized in that: the welding manipulator (18) is provided with video monitoring equipment, and the video monitoring equipment is used for controlling the inserting position of the hooking bars;

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

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

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

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

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