An automatic production equipment and method for stirrups

Abstract

The present application discloses an automatic stirrup production device and method. The automatic production device includes a steel bar bending machine, a clamping robot, a welding platform and a welding robot. Among them, a double-station fixture is arranged at the end of the clamping robot, and a first fixture and a second fixture are respectively arranged on both sides of the double-station fixture. The first fixture is used to clamp the rectangular steel bar bent by the steel bar bending machine and place the rectangular steel bar on the welding platform. The second fixture is used to clamp the stirrup that has been welded on the welding platform onto the stirrup conveying line before the first fixture places the rectangular steel bar on the welding platform. The welding robot is used to weld the overlapping joints of the rectangular steel bars. In the present application, the welded stirrups do not rely on their own gravity, but are clamped onto the stirrup conveying line by the second fixture, and will not hinder the subsequent production process because the stirrups are stuck and do not fall, effectively improving the production efficiency.

Description

Technical Field

[0001] This application relates to the technical field of sleeper processing, and particularly relates to an automatic stirrup production device and method. Background Art

[0002] A sleeper belongs to a railway fitting. The sleeper not only supports the rail, but also maintains the position of the rail, and also transmits the huge pressure transmitted by the rail to the roadbed. Therefore, in order to ensure strength, stirrups made of bent steel bars need to be arranged inside the sleeper.

[0003] In the production process of the stirrup, first use a steel bar bender to bend the steel bar into a rectangle, then use a fixture to clamp the rectangular steel bar to a tilted welding workbench and fix it, and then use a welding robot to weld the butt joint of the rectangular steel bar. After welding is completed, release the stirrup so that it falls from the tilted welding workbench to the stirrup conveyor line.

[0004] In the current automatic stirrup production equipment, after welding is completed, the stirrup needs to fall from the welding workbench to the stirrup conveyor line by its own gravity. In this case, if the stirrup is stuck and does not fall, it will hinder the subsequent production process and seriously affect the production efficiency. Summary of the Invention

[0005] In order to solve the problem that in the current automatic stirrup production equipment, after welding is completed, the stirrup needs to fall from the welding workbench to the stirrup conveyor line by its own gravity. In this case, if the stirrup is stuck and does not fall, it will hinder the subsequent production process and seriously affect the production efficiency, this application discloses an automatic stirrup production device and method through the following embodiments.

[0006] The first aspect of this application discloses an automatic stirrup production device, including: a steel bar bender, a picking robot, a welding platform and a welding robot;

[0007] Wherein, a double-station fixture is arranged at the end of the picking robot, and a first fixture and a second fixture are respectively arranged on both sides of the double-station fixture;

[0008] The first fixture is used to pick up the rectangular steel bar bent by the steel bar bender and place the rectangular steel bar on the welding platform;

[0009] The second fixture is used to pick up the stirrup that has been welded on the welding platform to the stirrup conveyor line before the first fixture places the rectangular steel bar on the welding platform;

[0010] The welding robot is used to weld the butt joint of the rectangular steel bar.

[0011] Optionally, the double-station fixture is rotatably installed at the end of the picking robot through a mounting seat.

[0012] Optionally, the first fixture includes a first transverse jaw and a first longitudinal jaw, and the second fixture includes a second transverse jaw and a second longitudinal jaw;

[0013] The first transverse jaw and the second transverse jaw are used to clamp the transverse sides of the rectangular steel bar or the stirrup;

[0014] The first longitudinal jaw and the second longitudinal jaw are used to clamp the longitudinal sides of the rectangular steel bar or the stirrup;

[0015] The first transverse jaw and the first longitudinal jaw are respectively arranged at both ends of one side of the mounting base;

[0016] The second transverse jaw and the second longitudinal jaw are respectively arranged at both ends of the other side of the mounting base.

[0017] Optionally, clamping limit plates are respectively arranged on the first transverse jaw, the first longitudinal jaw, the second transverse jaw and the second longitudinal jaw;

[0018] An angular opening for defining the clamping depth of the jaw is arranged at the end of the clamping limit plate.

[0019] Optionally, there are two welding platforms;

[0020] The upper surface of the welding platform is a horizontal surface.

[0021] Optionally, a positioning device and a butt joint clamping device are arranged on the welding platform;

[0022] The positioning device is used to define the position where the first fixture places the rectangular steel bar on the welding platform;

[0023] The butt joint clamping device is used to clamp the butt joint of the rectangular steel bar after the first fixture places the rectangular steel bar on the welding platform, so as to perform welding.

[0024] Optionally, the positioning device includes a fixed fixture and a pressing fixture;

[0025] The fixed fixture is installed on the welding platform by bolts, a positioning opening is arranged on the fixed fixture, and the diameter of the positioning opening is consistent with the diameter of the rectangular steel bar or the stirrup;

[0026] The pressing fixture includes an upper pressing block and a lower pressing block with corresponding positions;

[0027] The lower pressing block is fixedly installed on the welding platform. The end of the upper pressing block is movably connected to a lifting cylinder, and the lifting cylinder is installed in an opening of the welding platform. The lifting cylinder is used to control the lifting or lowering of the upper pressing block.

[0028] Optionally, the butt joint clamping device includes a side pushing component and a horizontal limiting component;

[0029] The side pushing component includes a longitudinal pushing cylinder and a longitudinal pushing limiting block. The longitudinal pushing cylinder is used to push the longitudinal side at the butt joint of the rectangular steel bars inward to a longitudinal preset position under the limitation of the longitudinal pushing limiting block;

[0030] The side pushing component further includes a transverse pushing cylinder and a transverse pushing limiting block. The transverse pushing cylinder is used to push the transverse side at the butt joint of the rectangular steel bars inward to a transverse preset position under the limitation of the transverse pushing limiting block;

[0031] The horizontal limiting component is used to limit the two sides at the butt joint of the rectangular steel bars to be on the same horizontal plane when the side pushing component pushes the two sides at the butt joint of the rectangular steel bars inward respectively.

[0032] A second aspect of the present application discloses a method for automatically producing stirrups. The method is applied to an automatic stirrup production device described in the first aspect of the present application. The method for automatically producing stirrups includes:

[0033] The clamping robot moves the double-station fixture at its end to the steel bar bending machine and controls the first fixture to clamp the rectangular steel bar bent by the steel bar bending machine;

[0034] The clamping robot moves the double-station fixture to the welding platform and controls the second fixture to clamp the stirrup already welded on the welding platform to the stirrup conveying line;

[0035] The clamping robot controls the first fixture to place the rectangular steel bar on the welding platform;

[0036] The welding robot welds the butt joint of the rectangular steel bar.

[0037] Optionally, while the welding robot welds the butt joint of the rectangular steel bar, the method further includes:

[0038] The clamping robot moves the double-station fixture to the steel bar bending machine and controls the first fixture to clamp the next rectangular steel bar bent by the steel bar bending machine;

[0039] The clamping robot moves the double-station fixture to another welding platform and controls the second fixture to clamp the stirrups that have been welded on the other welding platform onto the stirrup conveyor line;

[0040] The clamping robot controls the first fixture to place the next rectangular steel bar on the other welding platform for welding.

[0041] An embodiment of the present application discloses a stirrup automatic production device and method. The automatic production device includes a steel bar bender, a clamping robot, a welding platform, and a welding robot. Among them, a double-station fixture is provided at the end of the clamping robot, and a first fixture and a second fixture are respectively provided on both sides of the double-station fixture. The first fixture is used to clamp the rectangular steel bar bent by the steel bar bender and place the rectangular steel bar on the welding platform. The second fixture is used to clamp the stirrups that have been welded on the welding platform onto the stirrup conveyor line before the first fixture places the rectangular steel bar on the welding platform. The welding robot is used to weld the butting joints of the rectangular steel bars. In the present application, the welded stirrups do not rely on their own gravity, but are clamped onto the stirrup conveyor line by the second fixture, and will not hinder the subsequent production process because the stirrups are stuck and do not fall off, effectively improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0043] Figure 1 It is a schematic structural diagram of a stirrup automatic production device provided by an embodiment of the present application;

[0044] Figure 2 It is a schematic structural diagram of a double-station fixture in a stirrup automatic production device provided by an embodiment of the present application;

[0045] Figure 3 It is a schematic structural diagram of a welding platform in a stirrup automatic production device provided by an embodiment of the present application;

[0046] Figure 4 It is another schematic structural diagram of a welding platform in a stirrup automatic production device provided by an embodiment of the present application.

[0047] Figures 1-4 Among them:

[0048] 1 - Steel bar bender, 2 - Gripping robot, 20 - Double - station fixture, 201 - First fixture, 2011 - First transverse gripper, 2012 - First longitudinal gripper, 202 - Second fixture, 2021 - Second transverse gripper, 2022 - Second longitudinal gripper, 203 - Gripping limit plate, 21 - Mounting seat, 3 - Welding platform, 31 - Positioning device, 311 - Fixed fixture, 312 - Pressing fixture, 3121 - Upper pressing block, 3122 - Lower pressing block, 3123 - Lifting cylinder, 32 - Interface clamping device, 321 - Side pushing assembly, 3211 - Longitudinal pushing cylinder, 3212 - Longitudinal pushing limit block, 3213 - Transverse pushing cylinder, 3214 - Transverse pushing limit block, 322 - Horizontal limiting assembly, 3221 - Pushing block, 3222 - Inclined plate, 3223 - Height - limiting plate, 4 - Welding robot, 5 - Rectangular steel bar, 50 - Rectangular steel bar interface, 6 - Stirrup conveying line. Specific implementation mode

[0049] In order to solve the problem that after the current automatic stirrup production equipment completes welding, the stirrups need to fall from the welding workbench to the stirrup conveying line by their own gravity. In this case, if the stirrups are stuck and do not fall, it will hinder the subsequent production process and seriously affect the production efficiency. This application discloses an automatic stirrup production equipment and method through the following embodiments.

[0050] In the embodiments of this application, the rectangular steel bar refers to a steel bar that has been bent but not yet welded, and the stirrup refers to a rectangular steel bar that has been welded.

[0051] The first embodiment of this application discloses an automatic stirrup production equipment. Refer to Figure 1 , including: a steel bar bender 1, a gripping robot 2, a welding platform 3 and a welding robot 4.

[0052] Refer to Figure 2 , a double - station fixture 20 is arranged at the end of the gripping robot 2, and a first fixture 201 and a second fixture 202 are respectively arranged on both sides of the double - station fixture 20.

[0053] The first fixture 201 is used to grip the rectangular steel bar 5 bent by the steel bar bender 1 and place the rectangular steel bar 5 on the welding platform 3.

[0054] The second fixture 202 is used to grip the stirrups that have been welded on the welding platform 3 to the stirrup conveying line 6 before the first fixture 201 places the rectangular steel bar 5 on the welding platform 3.

[0055] The welding robot 4 is used to weld the interface of the rectangular steel bar 5.

[0056] In the embodiments of the present application, the butting joint refers to the overlapping part at both ends of the steel bar when it is bent into a rectangle, such as Figure 2 shown, and the label 50 in the figure refers to the butting joint of the rectangular steel bar 5.

[0057] The embodiments of the present application disclose an automatic production device and method for stirrups. The automatic production device includes a steel bar bender, a gripping robot, a welding platform and a welding robot. Among them, a double-station fixture is arranged at the end of the gripping robot. A first fixture and a second fixture are respectively arranged on both sides of the double-station fixture. The first fixture is used to grip the rectangular steel bar bent by the steel bar bender and place the rectangular steel bar on the welding platform. The second fixture is used to grip the stirrup that has been welded on the welding platform onto the stirrup conveying line before the first fixture places the rectangular steel bar on the welding platform. The welding robot is used to weld the butting joint of the rectangular steel bar. In the present application, the welded stirrup does not rely on its own gravity, but is gripped onto the stirrup conveying line by the second fixture, and will not hinder the subsequent production process because the stirrup is stuck and does not fall, effectively improving the production efficiency.

[0058] Further, the double-station fixture 20 is rotatably mounted at the end of the gripping robot 2 through a mounting seat 21.

[0059] In one implementation, after the gripping robot 2 controls the first fixture 201 to grip the rectangular steel bar 5 bent by the steel bar bender 1, it moves to the welding platform 3, controls the second fixture 202 to grip the stirrup that has been welded on the welding platform 3 onto the stirrup conveying line, then rotates the double-station fixture 20, and controls the first fixture 201 to place the rectangular steel bar 5 on the welding platform 3.

[0060] Further, the first fixture 201 includes a first transverse clamping jaw 2011 and a first longitudinal clamping jaw 2012, and the second fixture 202 includes a second transverse clamping jaw 2021 and a second longitudinal clamping jaw 2022.

[0061] The first transverse clamping jaw 2011 and the second transverse clamping jaw 2021 are used to grip the transverse side edges of the rectangular steel bar 5 or the stirrup.

[0062] The first longitudinal clamping jaw 2012 and the second longitudinal clamping jaw 2022 are used to grip the longitudinal side edges of the rectangular steel bar 5 or the stirrup.

[0063] The first transverse clamping jaw 2011 and the first longitudinal clamping jaw 2012 are respectively arranged at both ends of one side of the mounting seat 21.

[0064] The second transverse clamping jaw 2021 and the second longitudinal clamping jaw 2022 are respectively arranged at both ends of the other side of the mounting seat 21.

[0065] In the embodiments of the present application, the jaws of the first fixture and the second fixture are both controlled by cylinders.

[0066] Existing fixtures only grip one side of a rectangular steel bar. The dual-station fixture in the present application can simultaneously grip the transverse side and the longitudinal side of a rectangular steel bar or a stirrup, making the gripping more stable and not easily causing dropping failures.

[0067] Furthermore, clamping limit plates 203 are respectively arranged on the first transverse jaw 2011, the first longitudinal jaw 2012, the second transverse jaw 2021, and the second longitudinal jaw 2022.

[0068] An angular opening for defining the clamping depth of the jaws is provided at the end of the clamping limit plate 203.

[0069] When gripping the transverse side and the longitudinal side of a rectangular steel bar, the angular opening can make the clamping depths of the first transverse jaw and the first longitudinal jaw, and the second transverse jaw and the second longitudinal jaw consistent, ensuring that the rectangular steel bar remains horizontal when placed on the welding platform and making the gripping of the stirrup more stable.

[0070] Furthermore, two welding platforms 3 are provided.

[0071] The upper surface of the welding platform 3 is a horizontal surface.

[0072] Furthermore, referring to Figure 3 and Figure 4 , a positioning device 31 and a butt joint clamping device 32 are arranged on the welding platform 3.

[0073] The positioning device 31 is used to define the position where the first fixture 201 places the rectangular steel bar 5 on the welding platform 3.

[0074] The butt joint clamping device 32 is used to clamp the butt joint of the rectangular steel bar 5 after the first fixture 201 places the rectangular steel bar 5 on the welding platform 3 for welding.

[0075] Furthermore, the positioning device 31 includes a fixed fixture 311 and a pressing fixture 312.

[0076] The fixed fixture 311 is installed on the welding platform 3 by bolts. A positioning opening is provided on the fixed fixture 311, and the diameter of the positioning opening is consistent with the diameter of the rectangular steel bar 5 or the stirrup.

[0077] The pressing fixture 312 includes an upper pressing block 3121 and a lower pressing block 3122 that correspond to each other in position.

[0078] The lower pressing block 3122 is fixedly installed on the welding platform 3. The end of the upper pressing block 3121 is movably connected to a lifting cylinder 3123. The lifting cylinder 3123 is installed in an opening of the welding platform 3, and the lifting cylinder 3123 is used to control the lifting or lowering of the upper pressing block 3121.

[0079] The number of the fixed clamps 311 and the pressing clamps 312 can be set according to requirements. In the embodiment of the present application, at a transverse side of the rectangular steel bar, one fixed clamp and two pressing clamps are provided. At a longitudinal side of the rectangular steel bar, one fixed clamp and one pressing clamp are provided.

[0080] Further, the butt joint clamping device 32 includes a side pushing assembly 321 and a horizontal limiting assembly 322.

[0081] The side pushing assembly 321 includes a longitudinal pushing cylinder 3211 and a longitudinal pushing limiting block 3212. The longitudinal pushing cylinder 3211 is used to push the longitudinal side at the butt joint of the rectangular steel bar 5 inward to a longitudinal preset position under the limitation of the longitudinal pushing limiting block 3212.

[0082] The side pushing assembly 321 further includes a transverse pushing cylinder 3213 and a transverse pushing limiting block 3214. The transverse pushing cylinder 3213 is used to push the transverse side at the butt joint of the rectangular steel bar 5 inward to a transverse preset position under the limitation of the transverse pushing limiting block 3214.

[0083] The horizontal limiting assembly 322 is used to limit the two sides at the butt joint of the rectangular steel bar 5 to be on the same horizontal plane when the side pushing assembly 321 pushes the two sides at the butt joint of the rectangular steel bar 5 inward respectively.

[0084] See Figure 4 As shown, the horizontal limiting assembly 322 includes a pushing block 3221, an inclined plate 3222 and a height limiting plate 3223. Among them, the pushing block 3221 is fixed at the top of the longitudinal pushing cylinder 3211. The upper surface of the pushing block 3221 contacts the butt joint of the rectangular steel bar 5, and the lower surface contacts the inclined surface of the inclined plate 3222. When the longitudinal pushing cylinder 3211 pushes inward, it drives the pushing block 3221 to rise along the inclined surface of the inclined plate 3222, jacking up the butt joint of the rectangular steel bar 5 until it is blocked by the height limiting plate 3223, so that the two sides at the butt joint of the rectangular steel bar 5 are fixed on the same horizontal plane, ensuring that the shape and position of the butt joint are accurate during subsequent welding, preventing the situations of incomplete welding and irregular welding, and improving the manufacturing process precision of the stirrups.

[0085] The second embodiment of this application discloses an automatic production method for stirrups. The method is applied to an automatic production device for stirrups described in the first embodiment of this application. The automatic production method for stirrups includes:

[0086] The clamping robot 2 moves the double-station fixture 20 at its end to the steel bar bending machine 1, and controls the first fixture 201 to clamp the rectangular steel bar 5 bent by the steel bar bending machine 1.

[0087] The clamping robot 2 moves the double-station fixture 20 to the welding platform 3, and controls the second fixture 202 to clamp the stirrups already welded on the welding platform 3 onto the stirrup conveying line 6.

[0088] Among them, before the second fixture clamps the already welded stirrups onto the stirrup conveying line 6, the pressing fixture 312 and the side pushing assembly 321 on the welding platform 3 need to loosen the already welded stirrups first. Specifically, the lifting cylinder 3123 descends to lift the upper pressing block 3121, and the longitudinal pushing cylinder 3211 and the transverse pushing cylinder 3213 move outwards respectively to loosen the already welded stirrups.

[0089] The clamping robot 2 controls the first fixture 201 to place the rectangular steel bar 5 on the welding platform 3.

[0090] Among them, the first fixture 201 places the rectangular steel bar 5 into the positioning opening of the fixed fixture 311, and then the pressing fixture 312 and the side pushing assembly 321 fix the overlapping joint of the rectangular steel bar 5. Specifically, the lifting cylinder 3123 rises to lower the upper pressing block 3121, and the longitudinal pushing cylinder 3211 and the transverse pushing cylinder 3213 push inwards respectively to fix the two sides of the overlapping joint of the rectangular steel bar 5 on the same horizontal plane.

[0091] The welding robot 4 welds the overlapping joint of the rectangular steel bar 5.

[0092] Furthermore, while the welding robot 4 welds the overlapping joint of the rectangular steel bar 5, the method further includes:

[0093] The clamping robot 2 moves the double-station fixture 20 to the steel bar bending machine 1, and controls the first fixture 201 to clamp the next rectangular steel bar 5 bent by the steel bar bending machine 1.

[0094] The clamping robot 2 moves the double-station fixture 20 to another welding platform 3, and controls the second fixture 202 to clamp the stirrups already welded on the another welding platform 3 onto the stirrup conveying line 6.

[0095] The clamping robot 2 controls the first clamp 201 to place the next rectangular steel bar 5 on the other welding platform 3 for waiting to be welded.

[0096] In the embodiment of the present application, two sets of welding platforms are provided. When the welding robot welds the rectangular steel bars on one of the welding workbenches, the clamping robot can clamp the next rectangular steel bar and place it on the other welding platform for waiting to be welded, effectively improving the production efficiency.

[0097] The present application has been described in detail above in combination with specific embodiments and exemplary examples, but these descriptions should not be construed as limiting the present application. Those skilled in the art understand that without departing from the spirit and scope of the present application, various equivalent substitutions, modifications or improvements can be made to the technical solutions and their implementation manners of the present application, and these all fall within the scope of the present application. The protection scope of the present application is subject to the appended claims.

Claims

1. An automatic stirrup production device, characterized in that, Including: A steel bar bender (1), a gripping robot (2), a welding platform (3) and a welding robot (4); Among them, there are two welding platforms (3); a double-station fixture (20) is provided at the end of the gripping robot (2), and a first fixture (201) and a second fixture (202) are respectively provided on both sides of the double-station fixture (20); The first fixture (201) is used to grip the rectangular steel bar (5) bent by the steel bar bender (1) and place the rectangular steel bar (5) on the welding platform (3); The second fixture (202) is used to grip the stirrup that has been welded on the welding platform (3) onto the stirrup conveying line (6) before the first fixture (201) places the rectangular steel bar (5) on the welding platform (3); The double-station fixture (20) is rotatably installed at the end of the gripping robot (2) through a mounting seat (21); The first fixture (201) includes a first transverse jaw (2011) and a first longitudinal jaw (2012), and the second fixture (202) includes a second transverse jaw (2021) and a second longitudinal jaw (2022); The first transverse jaw (2011) and the second transverse jaw (2021) are used to grip the transverse side edges of the rectangular steel bar (5) or the stirrup; The first longitudinal jaw (2012) and the second longitudinal jaw (2022) are used to grip the longitudinal side edges of the rectangular steel bar (5) or the stirrup; The first transverse jaw (2011) and the first longitudinal jaw (2012) are respectively arranged at both ends of one side of the mounting seat (21); The second transverse jaw (2021) and the second longitudinal jaw (2022) are respectively arranged at both ends of the other side of the mounting seat (21); The welding robot (4) is used to weld the butting joint of the rectangular steel bar (5).

2. The automatic stirrup production equipment according to claim 1, characterized in that Clamping limit plates (203) are respectively arranged on the first transverse jaw (2011), the first longitudinal jaw (2012), the second transverse jaw (2021) and the second longitudinal jaw (2022); An angular opening for defining the clamping depth of the jaw is provided at the end of the clamping limit plate (203).

3. The stirrup automatic production equipment according to claim 1, characterized in that, The upper surface of the welding platform (3) is a horizontal surface.

4. The stirrup automatic production equipment according to claim 1 or 3, characterized in that, A positioning device (31) and a butting joint clamping device (32) are arranged on the welding platform (3); The positioning device (31) is used to define the position where the first fixture (201) places the rectangular steel bar (5) on the welding platform (3); The butting joint clamping device (32) is used to clamp the butting joint of the rectangular steel bar (5) after the first fixture (201) places the rectangular steel bar (5) on the welding platform (3) for welding.

5. The automatic stirrup production equipment according to claim 4, characterized in that The positioning device (31) includes a fixed fixture (311) and a pressing fixture (312); The fixed fixture (311) is mounted on the welding platform (3) by bolts. A positioning opening is provided on the fixed fixture (311), and the diameter of the positioning opening is consistent with the diameter of the rectangular steel bar (5) or the stirrup. The pressing fixture (312) includes an upper pressing block (3121) and a lower pressing block (3122) that correspond to each other in position. The lower pressing block (3122) is fixedly mounted on the welding platform (3). The end of the upper pressing block (3121) is movably connected to a lifting cylinder (3123). The lifting cylinder (3123) is installed in an opening of the welding platform (3), and the lifting cylinder (3123) is used to control the upper pressing block (3121) to lift or lower.

6. The automatic stirrup production equipment according to claim 4, characterized in that, The lapping joint clamping device (32) includes a side pushing component (321) and a horizontal limiting component (322). The side pushing component (321) includes a longitudinal pushing cylinder (3211) and a longitudinal pushing limiting block (3212). The longitudinal pushing cylinder (3211) is used to push the longitudinal side of the lapping joint of the rectangular steel bar (5) inward to a longitudinal preset position under the limitation of the longitudinal pushing limiting block (3212). The side pushing component (321) further includes a transverse pushing cylinder (3213) and a transverse pushing limiting block (3214). The transverse pushing cylinder (3213) is used to push the transverse side of the lapping joint of the rectangular steel bar (5) inward to a transverse preset position under the limitation of the transverse pushing limiting block (3214). The horizontal limiting component (322) is used to limit the two sides of the lapping joint of the rectangular steel bar (5) to be on the same horizontal plane when the side pushing component (321) pushes the two sides of the lapping joint of the rectangular steel bar (5) inward respectively.

7. An automatic production method for stirrups, characterized in that, The method is applied to a stirrup automatic production device as described in any one of claims 1-6. The stirrup automatic production method includes: The clamping robot (2) moves the double-station fixture (20) at the end to the steel bar bending machine (1), and controls the first fixture (201) to clamp the rectangular steel bar (5) bent by the steel bar bending machine (1). The clamping robot (2) moves the double-station fixture (20) to the welding platform (3), and controls the second fixture (202) to clamp the stirrup already welded on the welding platform (3) onto the stirrup conveying line (6). The clamping robot (2) controls the first fixture (201) to place the rectangular steel bar (5) on the welding platform (3). The welding robot (4) welds the lapping joint of the rectangular steel bar (5).

8. The automatic production method of stirrups according to claim 7, characterized in that, While the welding robot (4) welds the lapping joint of the rectangular steel bar (5), the method further includes: The clamping robot (2) moves the double-station fixture (20) to the steel bar bending machine (1), and controls the first fixture (201) to clamp the next rectangular steel bar (5) bent by the steel bar bending machine (1). The clamping robot (2) moves the double-station fixture (20) to another welding platform (3), and controls the second fixture (202) to clamp the stirrups that have been welded on the other welding platform (3) onto the stirrup conveying line (6); The clamping robot (2) controls the first fixture (201) to place the next rectangular steel bar (5) on the other welding platform (3) for welding.

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