A welding head and welding device for adaptive steel cage

Abstract

The present invention discloses a welding head of an adaptive steel cage and a welding device thereof; wherein: the welding head comprises a mechanical arm and a tracking wheel group, the tracking wheel group is installed at the front end of the mechanical arm, the tracking wheel group comprises two tracking wheel bodies arranged opposite to each other, a notch is formed between the two tracking wheel bodies, and is used to press against the winding bar on the steel cage to be welded, and the width of the notch is adjustable. In the present invention, by setting the notch with adjustable width, it can adapt to different outer diameter sizes of single winding bar or double winding bar, and there is no need to replace the tracking wheel group when tracking the winding bars of different sizes, thereby improving production efficiency and having better practicality and adaptability.

Description

Technical Field

[0001] The invention relates to the field of steel cage welding, and in particular to a self-adaptive steel cage welding machine head and a welding device thereof. Background Art

[0002] In the prior art, the invention patent with application number 201810246300.6 discloses "a steel cage welding head and a steel cage welding device based on the head"; wherein: the steel cage welding head includes a shell, a welding gun chuck, and also includes a first mounting plate extending from the inside of the shell to the front of the shell, the welding gun chuck is fixed to the front end of the first mounting plate, and a first driving device is arranged inside the shell, and the first driving device is used to drive the first mounting plate to move along the front and rear direction of the shell; the first mounting plate can also move up and down in the shell; it also includes a wire tracking device fixedly mounted on the front side of the shell, the wire tracking device includes a connecting shaft, a wire roller that can rotate around the connecting shaft, and a circle of card grooves is arranged on the circumferential edge of the wire roller; it also includes a fine-tuning box connected to the rear of the shell, the shell can move left and right on the front side of the fine-tuning box, and the shell can also rotate around the fine-tuning box. It can be seen that in the above patent, the tracking of the rebars in the steel cage is achieved through the grooves on the wire roller, but when welding single and double rebars of different outer diameters, it is necessary to replace and adjust the wire roller and other related parts. The process is complicated and not conducive to actual production; especially when the production process involves a section of double rebar followed by a change to single rebar, it is particularly troublesome. Due to the troublesome replacement and adjustment of parts, a single welding head in the actual production process can only weld rebars of fixed size specifications, and its practicality and adaptability are poor.

[0003] The invention provides an automatic welding device for steel cages which can quickly adapt to single and double winding bars of different sizes. Summary of the invention

[0004] In view of the above situation, the present invention provides an adaptive steel cage welding machine head with adjustable slot width, which is suitable for the production of rebars with different outer diameters and does not require replacement of tracking wheel sets.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] An adaptive steel cage welding machine head, comprising:

[0007] Robotic arm;

[0008] The tracking wheel group is installed at the front end of the mechanical arm. The tracking wheel group includes two tracking wheel bodies arranged opposite to each other. A notch is formed between the two tracking wheel bodies for pressing against the winding reinforcement on the steel cage to be welded, and the width of the notch is adjustable.

[0009] A further improvement of the adaptive steel cage welding machine head of the present invention is that it comprises two mechanical arms, two tracking wheel bodies in the tracking wheel group are respectively arranged at the front ends of the two mechanical arms, at least one tracking wheel body has a pressing part for pressing against the reinforcing bar formed on the inner end, and the other tracking wheel body has a slot with a size adapted to the pressing part formed on the inner end, and the width of the pressing part exposed in the slot is adjustable to adjust the width of the slot;

[0010] The adjusting mechanism comprises a connecting block, and the two mechanical arms are slidably arranged on the connecting block so as to move relative to or away from each other.

[0011] The distance between the two mechanical arms is adjusted by the adjustment mechanism, and because the two tracking wheels in the tracking wheel set can change with the distance between the two mechanical arms, the slot width (size) of the tracking wheel set changes, thereby adjusting the slot width.

[0012] A further improvement of the adaptive steel cage welding machine head of the present invention is that the adjustment mechanism also includes a first screw and a first connection seat, and the two mechanical arms are respectively installed with a first connection seat, and the two first connection seats are respectively threadedly connected to the two ends of the first screw, and the spiral directions of the threads at the two ends of the first screw are opposite. Since the spiral directions of the two ends of the first screw are opposite, the rotation of the first screw is used to realize the relative or opposite movement of the two first connection seats, so as to realize the adjustment of the spacing between the mechanical arms, and the purpose of adjusting the slot width is achieved by changing the size of the pressing part inserted in the slot.

[0013] A further improvement of the adaptive steel cage welding head of the present invention is that the adjustment mechanism also includes a first drive motor, which is installed on one of the mechanical arms, and the output shaft of the first drive motor is connected to the first screw rod, which is used to drive the circumferential rotation of the first screw rod. Combined with the pitch of the first screw rod, the rotation speed of the first drive motor, the diameter of the winding bar and the initial width of the notch, the precise adjustment of the notch size is achieved. In actual production, the winding bar is pressed against the bottom of the notch or against the opening of the notch. Preferably, an inclined surface inclined to the outside can also be formed at the notch.

[0014] A further improvement of the adaptive steel cage welding machine head of the present invention is that the two tracking wheels are synchronously telescopically installed at the front end of the mechanical arm.

[0015] A further improvement of the adaptive steel cage welding machine head of the present invention is that the two tracking wheel bodies are respectively mounted on the mechanical arm so as to be slidable forward and backward through a sliding mechanism, and the sliding mechanism includes a first mounting plate, a second mounting plate and a synchronization plate, the first mounting plate is fixed on the mechanical arm, and the second mounting plate is mounted on the first mounting plate so as to be slidable forward and backward, the two second mounting plates are connected through the synchronization plate, and the tracking wheel body is mounted on the front end of the second mounting plate.

[0016] A further improvement of the adaptive steel cage welding head of the present invention is that it also includes a hook for pressing against the main reinforcement of the steel cage, and the hook can move in the vertical direction and the front-to-back direction relative to the mechanical arm. A welding gun is arranged on one side of the hook, and the welding gun is aimed at the connection position of the main reinforcement and the surrounding reinforcement in the steel cage to be welded.

[0017] A further improvement of the adaptive steel cage welding machine head of the present invention is that the hook is in a gooseneck shape.

[0018] The invention also discloses a self-adaptive steel cage welding device, comprising the welding head mentioned above.

[0019] The welding device of the self-adaptive steel cage of the present invention is further improved in that it also includes a fuselage, and the mechanical arm can be installed on the fuselage with a 180° rotation. After the mechanical arm rotates 180°, it can also be positioned on the fuselage with a certain angle of fine adjustment, thereby improving the welding adaptability and better realizing the tracking of the spirally arranged steel bars.

[0020] The welding device of the adaptive steel cage of the present invention is further improved in that it also includes a fuselage, and the mechanical arm is installed on the fuselage so as to be able to move forward and backward in translation and in pitch.

[0021] The beneficial effects of the present invention are:

[0022] (1) By adjusting the distance between the two side mechanical arms, the slot width can be adjusted synchronously to adapt to the outer diameters of different single-wound ribs or double-wound ribs, that is, single-wound ribs and double-wound ribs with different diameters correspond to different slot widths. There is no need to replace the tracking wheel set, which improves production efficiency and has better practicality and adaptability. Since the welding gun is installed on the hook and the hook is installed on the mechanical arm, the adjustment of the mechanical arm distance can realize the synchronous adjustment of the welding gun position, so that the welding gun can reliably track the welding point;

[0023] (2) The tracking wheel can be extended and retracted forward and backward through the telescopic mechanism to adapt to the diameter (cross-sectional direction) of different steel cages, so that the welding gun and the welding point to be welded are kept in the best welding position. The tracking wheel can be adjusted by 30-80 mm in length under the action of the telescopic mechanism;

[0024] (3) The mechanical arm is installed on the machine body so that it can rotate 180 degrees to adapt to the different rotation directions of the steel cage during welding, ensuring that the hook is always pressed against the main reinforcement during welding. When the steel cage rotates counterclockwise, the hook is set above the main reinforcement, and when the steel cage rotates clockwise, the hook is set below the main reinforcement, thereby ensuring the reliability of the welding process;

[0025] (4) By installing the robot arm on the fuselage so that it can move forward and backward, the front and rear position of the robot arm (tracking wheel group) can be adjusted. By installing the robot arm on the fuselage so that it can move up and down, the robot arm can be arranged in a larger top-down direction, and a welding gun can be used to achieve welding in a larger top-down direction. Welding in the top-down direction is beneficial to reducing the problem of welding gun clogging caused by welding spatter. At the same time, for smaller steel cages, welding in the top-down direction is beneficial to avoid other surrounding equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of a welding device of an adaptive steel cage of the present invention;

[0027] Figure 2 It is a front structural schematic diagram of a welding device of an adaptive steel cage of the present invention;

[0028] Figure 3 It is a schematic diagram of the top view of the structure of a welding device of an adaptive steel cage of the present invention;

[0029] Figure 4 yes Figure 2 Schematic diagram of the cross section along the AA direction;

[0030] Figure 5 yes Figure 2 Schematic diagram of the cross section along the BB direction;

[0031] Figure 6 This is a schematic diagram of the structure of the adjustment mechanism in the present invention. Figure 1 ;

[0032] Figure 7 This is a schematic diagram of the structure of the adjustment mechanism in the present invention. Figure 2 ;

[0033] Figure 8 This is a schematic diagram of the structure of the adjustment mechanism in the present invention. Figure 3 ;

[0034] Fig. 9 It is a schematic diagram of the connection structure between the tracking wheel set, the sliding mechanism and the first telescopic mechanism in the present invention;

[0035] Fig.10 It is an enlarged schematic diagram of the connection between the connecting block, the sliding block and the sliding linear rail in the present invention;

[0036] Fig.11 The tracking wheel structure of the present invention is schematically shown in FIG. Figure 1 ;

[0037] Fig.12 The tracking wheel structure of the present invention is schematically shown in FIG. Figure 2 ;

[0038] Fig.13 is corresponding to Fig.12 A schematic diagram of the structure of another tracking wheel body;

[0039] Fig.14 It is a schematic diagram of the partial connection structure between the hook, the welding gun and the second telescopic mechanism in the present invention;

[0040] Fig.15 It is a schematic diagram comparing the hook in the present invention with the hook in the prior art;

[0041] Fig.16 It is a structural schematic diagram of the rotating mechanism in the present invention;

[0042] Fig.17 yes Fig.16 Enlarged cross-sectional diagram;

[0043] Fig.18 It is a schematic diagram of the arrangement between the forward movement mechanism and the pitch mechanism in the present invention;

[0044] Fig.19 It is a schematic cross-sectional view of the horizontal direction of the forward moving mechanism in the present invention;

[0045] Fig. 20 It is a schematic diagram of the working state when the welding head of the present invention is horizontal;

[0046] Fig.21 It is a schematic diagram of the working state of the welding head in the present invention when viewed from above;

[0047] Fig. 22 It is a schematic diagram of the working state of the welding machine head in the present invention when viewed from above;

[0048] Fig.23 This is a schematic diagram of the single-reinforcement welding working state in the present invention;

[0049] Fig.24 It is a schematic diagram of the working state of double-wrapped reinforcement welding in the present invention;

[0050] In the figure: 1, mechanical arm; 11, housing; 12, slider; 2, tracking wheel group; 21, tracking wheel body; 211, pressing part; 212, slot; 22, notch; 23, rotary encoder; 3, adjustment mechanism; 31, connecting block; 311, sliding rail; 312, limit slot; 32, first screw; 321, manual adjustment slot; 33, first connecting seat; 34, first drive motor; 35, first compression spring; 36 , nut seat; 37, through hole seat; 381, pressure plate; 382, ​​screw member; 391, third connecting seat; 392, fourth connecting seat; 393, positioning card shaft; 394, fixed distance block; 3941, positioning card slot; 395, leaf spring; 4, sliding mechanism; 41, first mounting plate; 42, second mounting plate; 43, synchronous plate; 5, first telescopic mechanism; 51, second drive motor; 52, second screw; 53, second connecting seat; 61, hook; 62, welding gun; 7, second telescopic mechanism; 71, first sliding plate; 72, second sliding plate; 73, horizontal cylinder; 74, lifting cylinder; 75, buffer; 76, guide rail; 8, anti-stuck mechanism; 81, first baffle; 82, roller; 9, fuselage; 91, rotating mechanism; 911, slewing support bearing; 912, support seat; 9121, connecting part; 913, positioning groove; 914, limit Position pin; 92, forward movement mechanism; 921, stretching cylinder; 922, first pull plate; 923, second guide rod; 924, guide seat; 925, second pull plate; 926, third guide rod; 927, third compression spring; 928, third baffle; 929, adjusting screw; 93, pitch mechanism; 931, pitch cylinder; 932, first guide rod; 933, rotating shaft; 934, second compression spring; 935, second baffle. DETAILED DESCRIPTION

[0051] To facilitate understanding of the present invention, the following description is provided in conjunction with the accompanying drawings and embodiments.

[0052] See also Figures 1 to 24 It can be seen that the present invention discloses an adaptive steel cage welding head, including a mechanical arm 1 and a tracking wheel group 2 for pressing against the surface of the steel cage winding bar; wherein the tracking wheel group 2 is rotatably installed on the front end of the mechanical arm 1, and the tracking wheel group 2 includes two tracking wheel bodies 21 arranged opposite to each other, and a notch 22 is formed between the two tracking wheel bodies 21, and the width of the notch 22 can be adjusted to adapt to single and double winding bars of different outer diameters. Compared with the prior art, the single and double winding bars of different sizes can be pressed against without replacing the tracking wheel group 2, so that the tracking of the winding bars in welding production can be completed.

[0053] like Figures 1 to 3 , Figures 6 to 13As shown, it includes two mechanical arms 1 arranged on the left and right, and the distance between the two mechanical arms 1 is adjusted by an adjustment mechanism 3. The adjustment mechanism 3 includes a connecting block 31, and the two mechanical arms 1 can be slidably arranged on the connecting block 31 so as to move relative to or away from each other; the two tracking wheel bodies 21 in the tracking wheel group 2 are respectively arranged at the front ends of the two mechanical arms 1, wherein at least one inner end of the tracking wheel body 21 (that is, the end of one side of the two tracking wheel bodies 21 close to each other) is formed with a pressing portion 211 for pressing against the surface of the reinforcing bar on the steel cage, and the inner end of the other tracking wheel body 21 is formed with a slot 212 whose size is adapted to the pressing portion 211, and the width of the pressing portion 211 exposed from the slot 212 is adjustable, thereby realizing the adjustment of the width of the notch 22.

[0054] In this embodiment, (1) the width of the slot 22 is synchronously adjusted by adjusting the distance between the two mechanical arms 1; (2) the adjustment mechanism 3 is arranged on the back of the mechanical arm 1, that is, the side of the mechanical arm 1 away from the tracking wheel body 21. Specifically, Fig.12 and Fig.13 As shown, (1) a circular pressing portion 211 is formed at the inner end of one tracking wheel body 21, and a circular clamping groove 212 is formed at the inner end of the other tracking wheel body 21. The pressing portion 211 is movably inserted into the clamping groove 212. The width of the notch 22 is the width of the pressing portion 211 exposed outside the clamping groove 212. During the welding process, only the tracking wheel body with the pressing portion 211 rotates; (2) Fig.11 As shown, a pressing portion 211 and a clamping groove 212 are respectively formed at the inner ends of the two tracking wheel bodies 21. During operation, the two pressing portions 211 abut against each other to realize the synchronous rotation of the two tracking wheel bodies 21. The width of the groove 22 is the distance between the ends of the two pressing portions 211 on the opposite sides along the axial direction of the tracking wheel body 21 (the pressing portion and the clamping groove in the same tracking wheel body form an annular structure, or it can be understood that the above-mentioned clamping groove is opened on the circular pressing portion for the pressing portion in the other tracking wheel body to be inserted. The purpose of adjusting the slot width is achieved by adjusting the insertion width of the other pressing portion in the clamping groove. The width of the slot is the difference between the sum of the widths of the two pressing portions and the insertion width of one of the pressing portions in the other clamping groove).

[0055] Further, such as Fig.10 As shown, a horizontally arranged sliding rail 311 is formed on the inner side of the connecting block 31, and a slider 12 is installed on the back of the robot arm 1. The slider 12 is slidably installed on the sliding rail 311, so that the two robot arms can slide freely along the sliding rail. Furthermore, limit switch signal trigger devices (not shown in the figure) are provided at both ends of the sliding rail 311.

[0056] The adjustment mechanism 3 in the present invention can adopt the following four implementation modes:

[0057] Embodiment 1:

[0058] The adjustment mechanism 3 also includes a tension spring (not shown) arranged between the two mechanical arms 1, and the arrangement direction of the tension spring is parallel to the sliding direction of the mechanical arm 1 relative to the connecting block 31. In actual use, when the notch 22 in the tracking wheel body 21 is aligned with and in contact with the winding rib, a forward thrust is applied to the mechanical arm 1. At this time, the tracking wheel body 21 will be subjected to a component force pointing to both sides along its own axial direction, and the tension spring 35 will be stretched and lengthened (generating a restoring force in the opposite direction). At this time, the two mechanical arms 1 will slide back to back relative to the connecting block 31, thereby realizing the adjustment of the width of the notch 22, that is, the width of the notch 22 changes freely with the diameter of the winding rib.

[0059] Furthermore, the tracking wheel body 21 is formed with inclined portions inclined toward both sides corresponding to the opening of the slot 22 , so as to facilitate the quick pressing of the ribs against the slot 22 or the opening of the slot 22 .

[0060] Embodiment 2:

[0061] like Figure 6 As shown, a nut seat 36 and a through hole seat 37 are respectively provided on the back of the two robotic arms 1, and a screw member 382 threadedly connected to the nut seat 36 is passed through the through hole seat 37, and the two sides of the through hole seat 37 are respectively pressed against the first compression springs 35 sleeved on the screw member 382, ​​and one end of the screw member 382 away from the nut seat 36 and the through hole seat 37 is fixed with a pressure plate 381 pressed against the first compression spring 35 on the right side; further, a manual adjustment hole (not marked in the figure) is formed at one end of the screw corresponding to the pressure plate 381, and the manual adjustment hole is a hexagonal hole, and the screw member 382 can be rotated relative to the nut seat 36 by a hexagonal screw, and the interaction force of the two first compression springs 35 is used to achieve the adjustment of the distance between the robotic arms 1.

[0062] Embodiment three:

[0063] like Figure 7 As shown, the adjustment mechanism 3 also includes a first screw 32 and a first connecting seat 33. A first connecting seat 33 is installed on each of the two robotic arms 1. The two first connecting seats 33 are respectively threadedly connected to the two ends of the first screw 32, and the spiral directions of the threads at the two ends of the first screw 32 are opposite.

[0064] Furthermore, the adjustment mechanism 3 further includes a first drive motor 34, which is mounted on one of the mechanical arms 1, and an output shaft of the first drive motor 34 is connected to the first screw rod 32, for driving the circumferential rotation of the first screw rod 32. In this embodiment, a manual adjustment slot 321 is formed at one end of the first screw rod 32 away from the first drive motor 34, and can be manually adjusted with a tool such as a wrench.

[0065] like Figure 4and Fig. 9 As shown, two tracking wheel bodies 21 can be synchronously telescopically installed at the front end of the robot arm 1; wherein, the two tracking wheel bodies 21 are respectively installed on the robot arm 1 through a sliding mechanism 4 so as to be slidable forward and backward, and the sliding mechanism 4 includes a first mounting plate 41, a second mounting plate 42 and a synchronization plate 43, the first mounting plate 41 is fixed on the robot arm 1, and the second mounting plate 42 can be slidably installed on the first mounting plate 41, and the two second mounting plates 42 are connected by a synchronization plate 43, and the front end of the second mounting plate 42 is installed with a tracking wheel body 21, so as to ensure that the two tracking wheel bodies 21 in the same group of tracking wheel groups 2 move synchronously forward and backward. Specifically, (1) one of the second mounting plates 42 is also connected to the first telescopic mechanism 5, the first telescopic mechanism 5 includes a second drive motor 51, a second screw 52 and a second connection seat 53, the second drive motor 51 is installed on the corresponding side of the mechanical arm 1, the output shaft of the second drive motor 51 is coaxially connected to the second screw 52, ​​the second screw 52 is threadedly connected to the second connection seat 53, and the second connection seat 53 is fixed on the second mounting plate 42; (2) one of the second mounting plates 42 is connected to a push cylinder, the first end of the push cylinder is fixedly connected to the corresponding side of the mechanical arm 1, and the second end of the push cylinder is fixedly connected to the second mounting plate 42, which is used to drive the second mounting plate 42 to slide forward and backward. In this embodiment, the second mounting plate 42 can be controlled to slide forward and backward by the first telescopic mechanism 5 or the push cylinder (installed on the mechanical wall).

[0066] Embodiment 4:

[0067] like Figure 8 As shown, the adjustment mechanism 3 includes a third connecting seat 391 and a fourth connecting seat 392, which are respectively fixed to a corresponding robot arm 1. The third connecting seat 391 is provided with a positioning card shaft 393, and the fourth connecting seat 392 is rotatably mounted with a distance block 394. A plurality of positioning card slots 3941 are arranged at intervals in the length direction of the distance block, which are used to be clamped on the positioning card shaft 393. In this embodiment, the distance between the third connecting seat and the fourth connecting seat is adjusted by clamping different positioning card slots 3941 on the positioning card shaft, thereby realizing manual adjustment of the distance between the two robot arms 1.

[0068] Furthermore, it also includes a leaf spring 395 arranged on the fourth connecting seat 392, which is used to press against the outer surface of the distance block 394 to effectively prevent the positioning card shaft 393 from being separated from the positioning card slot 3941 due to vibration during operation, thereby ensuring safety and reliability of use.

[0069] Furthermore, the distance block 394 is made of a material with a certain elasticity, and the slot size of the positioning slot is smaller than the diameter size of the positioning card shaft 393. When the distance block 394 is pressed, the positioning card shaft 393 is pressed into the positioning slot, and the slot wall of the positioning card slot tightly hugs the surface of the positioning card shaft 393, effectively preventing the positioning card shaft 393 from being separated from the positioning slot due to vibration during the working process, thereby ensuring the safety and reliability of use.

[0070] like Figure 1 , Figure 4 , Fig.14 and Fig.18 As shown, it also includes a hook 61 for pressing against the surface of the main reinforcement on the steel cage to be welded, and the hook 61 can move in the vertical direction and the front-to-back direction relative to the robot arm 1. A welding gun 62 is arranged on one side of the hook 61, and the welding gun 62 is aimed at the position to be welded of the main reinforcement and the surrounding reinforcement in the steel cage, so as to realize the welding of the main reinforcement and the surrounding reinforcement.

[0071] Furthermore, the hook 61 is installed on the robot arm 1 through the second telescopic mechanism 7. The second telescopic mechanism 7 includes a first sliding plate 71, a second sliding plate 72 and a horizontal cylinder 73. The first sliding plate 71 can slide vertically along the robot arm 1. The horizontal cylinder 73 is installed on the first sliding plate 71. The second sliding plate 72 slides forward and backward relative to the first sliding plate in the direction of action of the horizontal cylinder 73. The hook 61 is fixed to one end of the second sliding plate 72 exposed at the front end of the robot arm 1. In this embodiment, taking the counterclockwise rotation of the steel cage as an example, the steel cage rotates counterclockwise, and the hook 61 is pressed against the top of the main reinforcement. As the steel cage rotates, the first sliding plate 71 will move upward relative to the robot arm 1, and at the same time, the horizontal cylinder 73 drives the second sliding plate 72 to slide forward and extend, ensuring that the hook 61 is always pressed against the surface of the main reinforcement. At the same time, the welding gun 62 moves synchronously, and the welding gun 62 always corresponds to the intersection position of the main reinforcement and the winding reinforcement and welds them, effectively ensuring the accuracy of the welding time and welding position of the welding gun 62, and effectively ensuring the final welding forming quality of the steel cage; when the welding is completed, the horizontal cylinder 73 is controlled to contract, and the corresponding second sliding plate 72 retracts, so that the hook 61 is separated from the main reinforcement, and the first sliding plate 71 slides downward to the initial position under the action of its own gravity and the gravity of components such as the second sliding plate 72, realizing the automatic resetting of the first sliding plate 71, and the above working process can be repeated to achieve the welding of the winding reinforcement on the steel cage.

[0072] Furthermore, it also includes a lifting cylinder 74 installed on the robot arm 1, and the extended end of the lifting cylinder 74 is connected to the first sliding plate 71. In the actual welding process, the lifting cylinder 74 applies a vertical downward force to the first sliding plate 71, and cooperates with the horizontal cylinder 73 to ensure that the hook 61 is always pressed against the main rib, and after the hook 61 is separated from the main rib, the lifting cylinder 74 is used to realize the reset of the first sliding plate 71. When the steel cage rotates counterclockwise, the hook 61 presses against the top of the main reinforcement. As the steel cage rotates, the first sliding plate 71 moves upward relative to the robot arm 1, and at the same time, the horizontal cylinder 73 drives the second sliding plate 72 to slide forward and extend, ensuring that the hook 61 is always pressed against the surface of the main reinforcement. At the same time, the welding gun 62 moves synchronously, and the welding gun 62 always corresponds to the intersection position of the main reinforcement and the surrounding reinforcement and welds them, effectively ensuring the accuracy of the welding time and welding position of the welding gun 62, and effectively ensuring the final welding quality of the steel cage; when the welding is completed, the horizontal cylinder 73 is controlled to contract, and the corresponding second sliding plate 72 retracts, so that the hook 61 is separated from the main reinforcement, and the first sliding plate 71 slides downward under the action of the lifting cylinder 74 To the initial position, the first sliding plate 71 is automatically reset, and the above working process is repeated to achieve welding of the reinforcement on the steel cage; similarly, when the steel cage rotates clockwise, the hook 61 is pressed against the bottom of the main reinforcement. As the steel cage rotates, the first sliding plate 71 will move downward relative to the robot arm 1, and at the same time, the horizontal cylinder 73 drives the second sliding plate 72 to slide forward and extend, ensuring that the hook 61 is always pressed against the surface of the main reinforcement. After welding is completed, the second sliding plate 72 retracts, so that the hook 61 is separated from the main reinforcement, and the first sliding plate 71 slides upward to the initial position under the action of the lifting cylinder 74, realizing the automatic reset of the first sliding plate 71, and the above working process is repeated to achieve welding of the reinforcement on the steel cage. In this embodiment, the force applied by the lifting cylinder 74 to the first sliding plate 71 is less than the force applied to the first sliding plate 71 by the steel cage.

[0073] like Fig.15 As shown, the hook 61 in the present invention is gooseneck-shaped, and its front end is sharp. Compared with the snake-head-shaped hook in the prior art: under normal working conditions, the two structures of hooks have no difference in tracking and pressing the main reinforcement; under abnormal working conditions, due to the relative error in the spacing of the main reinforcement, the hook may collide with the main reinforcement when it is extended horizontally. (1) The front end of the gooseneck-shaped hook in the present invention is sharper and has a certain slope (the inclination angle of the upper and lower surfaces is in the range of 0-15°), which has a greater probability of upward or downward slippage, so that the hook hooks the main reinforcement; wherein, when the contact point between the hook 61 and the main reinforcement is above the center line of the main reinforcement, as the steel cage rotates (the rotation direction is as shown in FIG. Fig.15 As shown in FIG. 1 , the hook 61 slides upward under the thrust of the horizontal cylinder 73 to clamp the main reinforcement. When the contact point between the hook 61 and the main reinforcement is below the center line of the main reinforcement, as the steel cage rotates (the direction of rotation is as shown in FIG. 1 ), the hook 61 slides upward under the thrust of the horizontal cylinder 73 to clamp the main reinforcement. Fig.15As shown in the figure, the hook 61 slides downward under the thrust of the horizontal cylinder 73 and catches the next main bar; (2) In the prior art, the front end of the snake-head type hook is relatively blunt, and when it collides with the main bar, the contact surface between it and the main bar is relatively large, which makes it difficult to produce the above-mentioned upward or downward sliding. Even if it can, there is still a problem of relatively longer sliding time, which reduces the tracking efficiency. In the present invention, the gooseneck type hook 61 has a greater probability of catching the main bar at one time, thereby improving the reliability of the hook tracking pressure, improving the fault tolerance of the overall device, and improving the tracking efficiency.

[0074] like Figure 4 As shown, it also includes an anti-stuck mechanism 8, which includes a first baffle 81 arranged on the mechanical arm 1 and a roller 82 installed on the side of the second sliding plate 72, the roller 82 is located directly below the first baffle 81, and the bottom of the first baffle 81 is formed with an inclined surface, which gradually inclines from bottom to top toward the side away from the steel cage. In this embodiment, taking the steel cage counterclockwise as an example, during normal operation, the first baffle 81 is located at the upper position of the vertical stroke of the second slide plate, when the second slide plate (hook 61) slides to the highest position (that is, when welding is completed), the hook 61 cannot be withdrawn and separated from the main reinforcement due to a fault, and the hook 61 (second sliding plate 72) is driven to continue to move upward due to the further rotation of the steel cage. At this time, the roller 82 slides upward along the inclined surface on the first baffle 81. During the upward sliding process, the second slide plate is subjected to a force that deviates from the direction of the steel cage. The above structure is used to make the hook 61 separate from the main reinforcement to avoid jamming and damage to the welding machine head. Specifically, the first baffle 81 can be hingedly installed or fixedly installed on the robot arm 1.

[0075] The present invention further includes a buffer member 75, which is fixed on the robot arm 1 and arranged directly below the first slide. When the first slide slides downward and approaches the initial position under the action of its own gravity, the lower end of the first slide contacts the buffer member 75 until the first slide slides into place. By providing the buffer member 75, a buffering and vibration reduction and protection function is played, the impact force generated during the descent process is absorbed, and the first slide is prevented from making hard contact with the slide groove on the robot arm 1, which affects the service life of the equipment.

[0076] In the present invention, the robot arm 1 includes a shell 11, an adjustment mechanism 3 is installed on the back of the shell 11, a first telescopic mechanism 5 and a second telescopic mechanism 7 are arranged inside the shell 11, a first sliding space for the second mounting plate 42 to slide forward and backward and a second sliding space for the first sliding plate 71 to slide vertically are opened at the front end of the shell 11; a guide rail 76 for the first sliding plate 71 to slide is vertically arranged inside the shell 11; and a first baffle 81 is installed on the inner wall of the shell 11.

[0077] The present invention comprises two sets of tracking wheel groups 2 arranged up and down, and the up and down sliding stroke of the hook 61 is located between the two sets of tracking wheel groups 2. The two sets of tracking wheel groups 2 are used to track and limit the ribs, which can improve the stability of the welding gun 62 during welding and effectively ensure the welding quality.

[0078] The present invention includes two symmetrically arranged hooks 61 and two welding guns 62. The welding guns 62 are mounted on the second sliding plate 72 through a mounting frame with adjustable up and down heights, so as to be better aligned with the intersection of the main reinforcement and the winding reinforcement. The existing technology is specifically adopted, which is not an improvement of the present invention and will not be described in detail here.

[0079] In the present invention, the adjustment mechanism 3 adjusts the distance between the two first connecting seats 33 by rotating the first screw 32 (because the two first connecting seats 33 are respectively fixed to the two robotic arms 1), thereby indirectly adjusting the distance between the two robotic arms 1 (although the distance between the robotic arms 1 is fixed by the adjustment mechanism 3, the two robotic arms 1 can still slide as a whole along the sliding rail 311 to adjust the position of the welding gun 62 parallel to the axial direction of the steel cage). Because the two tracking wheel bodies 21 in the tracking wheel group 2 can change with the change of the distance between the two robotic arms, the notch 22 of the tracking wheel group 2 is changed; at the same time, since the welding gun 62 is installed on the robotic arm 1 (the second sliding plate 72), its position will also change accordingly.

[0080] The present invention also discloses a self-adaptive steel cage welding device, comprising a body 9 and a welding head, wherein the welding head is mounted on the body 9.

[0081] Furthermore, the mechanical arm 1 in the welding head can be installed on the fuselage 9 by 180° rotation, and is positioned on the fuselage 9 after being rotated to the right position, so as to adapt to the different rotation directions of the steel cage during welding, and ensure that the hook 61 is always pressed against the main reinforcement during welding. Specifically, when the steel cage rotates counterclockwise, the hook 61 is pressed against the hook above the main reinforcement, and when the steel cage rotates clockwise, the mechanical arm 1 is rotated 180° relative to the fuselage, so that the hook 61 can be pressed against the hook below the main reinforcement.

[0082] Furthermore, if Figures 2 to 5 and Figures 16 to 18As shown, the robot arm 1 is rotatably mounted on the fuselage 9 through a rotating mechanism 91; wherein the rotating mechanism 91 includes a slewing support bearing 911 and a support seat 912, the slewing support bearing 911 includes an inner ring and an outer ring that can rotate relatively, wherein the inner ring is connected to the connecting block 31, and the outer ring is connected to the support seat 912, and the end of the support seat 912 away from the slewing support bearing 911 is connected to the fuselage 9, and two symmetrically arranged arc-shaped limiting grooves 312 are formed on the connecting block 31, and a positioning groove 913 corresponding to the limiting groove 312 is formed on the support seat 912, and a limiting pin shaft 914 is inserted in the positioning groove 913 and the limiting groove 312. In this embodiment, (1) the rotation of the robot arm 1 relative to the fuselage 9 is achieved by rotating the support bearing; (2) in actual production, the winding steel bars in the steel cage are distributed in a spiral shape. Taking the counterclockwise rotation of the steel cage as an example, the winding steel bars are arranged at a certain angle from bottom to top, and the corresponding tracking wheel group 2 needs to be arranged at an angle. Since the limiting groove 312 is arranged in an arc shape, the robot arm 1 can automatically fine-tune within a certain angle range relative to the fuselage 9 to adapt to different inclination angles of the winding steel bars (that is, different pitches of the winding steel bars), and has good adaptability.

[0083] like Figure 4 , Figure 5 and Fig.19 As shown, the robot arm 1 is mounted on the fuselage 9 so as to be movable in translation and / or pitch. In this embodiment, (1) by mounting the robot arm 1 on the fuselage 9 so as to be movable in translation, the initial position of the robot arm 1 (tracking wheel set 2) can be adjusted to achieve the translation of the robot arm 1 in translation; (2) by mounting the robot arm 1 on the fuselage 9 so as to be movable in pitch, the robot arm 1 can be arranged in a relatively large top-down direction, and the welding gun 62 can be used to achieve the welding in a relatively large top-down direction. The welding in the top-down direction is conducive to reducing the technical problem of the welding gun 62 being blocked by welding spatter. At the same time, for the steel cage with a smaller size, the welding in the top-down direction is conducive to avoiding other surrounding equipment and improving the utilization rate of the longitudinal space.

[0084] Furthermore, the robot arm 1 is installed on the fuselage 9 through a forward movement mechanism 92, and the forward movement mechanism 92 includes a stretching cylinder 921, which is fixed on the fuselage 9, and the protruding end of the stretching cylinder 921 is hinged to one end of the support seat 912; the robot arm 1 is installed on the fuselage 9 through pitching movement, and the pitching mechanism 93 includes a pitching cylinder 931, and the protruding end of the pitching cylinder 931 is hinged to the other end of the support seat 912, and the bottom end of the pitching cylinder 931 is hinged to the protruding end of the stretching cylinder 921.

[0085] Furthermore, if Figure 4 , Fig.18 and Fig.19As shown, (1) the first end of the pitch cylinder 931 is connected to the first guide rod 932, and the end of the first guide rod 932 away from the pitch cylinder 931 is hingedly connected to the support seat 912; (2) the protruding end of the stretching cylinder 921 is connected to the first pull plate 922, and the first pull plate 922 is hingedly connected to the support seat 912 through the second guide rod 923, and the bottom end of the pitch cylinder 931 is hingedly mounted on the first pull plate 922.

[0086] Among them, (1) the first guide rod 932 is hingedly connected to the support seat 912 through the rotating shaft 933, and a shoulder is formed on the first guide rod 932. A second compression spring 934 is sleeved on the first guide rod 932 and pressed between the shoulder and the rotating shaft 933. A guide hole is opened on the rotating shaft 933, and the first end of the first guide rod 932 passes through and is exposed in the guide hole, and the first end of the first guide rod 932 is fixedly provided with a second stopper 935 whose size is larger than the guide hole size; (2) it also includes a guide seat 924 fixedly arranged on the fuselage 9, and the second guide rod 923 passes through the guide seat 924 and is hingedly connected to the support seat 912; specifically, a second guide rod 923 is respectively arranged on both sides of the first pull plate 922 corresponding to the stretching cylinder 921, and the ends of the two second guide rods 923 away from the first pull plate 922 are fixedly connected There is a second pull plate 925, and the second pull plate 925 is hingedly connected to the support seat 912; preferably, (1) it also includes a third guide rod 926 fixedly connected to the protruding end of the stretching cylinder 921, and a third compression spring 927 sleeved on the third guide rod 926, the first pull plate 922 is formed with a through hole for the third guide rod 926 to pass through, the first end of the third guide rod 926 is formed with a pressing portion 211 pressed against the left side of the first pull plate 922, the second end of the third guide rod 926 is provided with a third baffle 928, and the third compression spring 927 is pressed between the third baffle 928 and the right side of the first pull plate 922; (2) the second end of the third guide rod 926 is formed with a threaded hole, and an adjusting screw 929 is screwed in the threaded hole, and the end of the adjusting screw 929 exposed from the threaded hole is fixed with or formed with a third baffle 928. During the actual welding process, the steel cage vibrates to a certain extent. Due to the use of the above-mentioned pitch mechanism 93 and translation mechanism 92, when subjected to a force directed in the direction of the fuselage 9, the second compression spring 934 and the third compression spring 927 are compressed, and the corresponding first guide rod 932 slides relative to the guide hole, and the third guide rod 926 slides relative to the through hole. The second compression spring and the third compression spring can be used to make the welding head move synchronously with the vibration of the steel cage, thereby ensuring the reliability of tracking, realizing energy absorption, and providing a reset elastic force in the opposite direction.

[0087] In the present invention, Figures 16 to 18 As shown, the support base 912 includes an L-shaped connecting portion 9121 , a first guide rod 932 is connected to a first end of the connecting portion 9121 , and a third baffle 928 is hingedly connected to a second end of the connecting portion 9121 .

[0088] like Figures 20 to 21 The following are schematic diagrams of the horizontal, top and top views of the welding head and the steel cage, respectively. Fig. 20 and 20 The steel cage in the middle rotates counterclockwise, and the hook 61 presses against the top of the main reinforcement. Fig. 22 The steel cage in the middle rotates clockwise, and the hook 61 is pressed against the bottom of the main reinforcement.

[0089] The adaptive steel cage welding device of the present invention also includes a rotary encoder 23 and a controller. The rotary encoder 23 is coaxially connected to the tracking wheel body 21 and is used to detect the rotation speed of the tracking wheel body 21. The rotary encoder 23 is electrically connected to the controller and feeds back the rotation speed of the tracking wheel body 21 to the controller. The controller calculates and controls the extension length of the horizontal cylinder 73 during the rotation of the steel cage according to the rotation speed of the tracking wheel body 21 and the outer diameter size of the single and double windings.

[0090] The steel cage welding device of the present invention can be used in conjunction with a steel cage wire coiling machine to perform welding operations on the steel cage with rebars wound by the wire coiling machine, thereby completing automatic welding between the main rebar and the rebars in the steel cage, and realizing efficient and stable automated assembly line production of the steel cage.

[0091] The above are only preferred embodiments of the present invention, and are not intended to limit the present invention in any form. Although the present invention has been disclosed as above in the form of preferred embodiments, it is not intended to limit the present invention. Any technician familiar with the profession can make some changes or modifications to equivalent embodiments of equivalent changes using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

[0092] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings in this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them. They are not used to limit the conditions under which the present invention can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

Claims

1. An adaptive steel cage welding head, characterized in that: include: Robotic arm; A tracking wheel assembly is installed at the front end of the mechanical arm, and the tracking wheel assembly includes two tracking wheel bodies arranged opposite to each other, a notch is formed between the two tracking wheel bodies, and is used to press against the winding reinforcement on the steel cage to be welded, and the width of the notch is adjustable; Two mechanical arms, two tracking wheel bodies in the tracking wheel group are respectively arranged at the front ends of the two mechanical arms, at least one tracking wheel body has a pressing portion formed at the inner end thereof for pressing against the rib, and the other tracking wheel body has a slot formed at the inner end thereof with a size adapted to the pressing portion, and the width of the pressing portion exposed in the slot is adjustable for adjusting the width of the notch; The adjusting mechanism comprises a connecting block, and the two mechanical arms are slidably arranged on the connecting block so as to move relative to or away from each other.

2. The adaptive steel cage welding head according to claim 1, characterized in that: The adjustment mechanism also includes a first screw and a first connecting seat. A first connecting seat is installed on each of the two mechanical arms. The two first connecting seats are respectively threadedly connected to the two ends of the first screw, and the spiral directions of the threads at the two ends of the first screw are opposite.

3. The adaptive steel cage welding head according to claim 2, characterized in that: The adjustment mechanism also includes a first drive motor, which is installed on one of the mechanical arms. The output shaft of the first drive motor is connected to the first screw rod to drive the circumferential rotation of the first screw rod.

4. The adaptive steel cage welding head according to claim 1, characterized in that: The two tracking wheel bodies can be synchronously telescopically installed at the front end of the mechanical arm; the two tracking wheel bodies can be slidably installed on the mechanical arm through a sliding mechanism, and the sliding mechanism includes a first mounting plate, a second mounting plate and a synchronization plate. The first mounting plate is fixed on the mechanical arm, and the second mounting plate can be slidably installed on the first mounting plate. The two second mounting plates are connected by the synchronization plate, and the tracking wheel body is installed at the front end of the second mounting plate.

5. The adaptive steel cage welding head according to claim 1, characterized in that: It also includes a hook for pressing against the main reinforcement of the steel cage. The hook can move in the vertical direction and the front-to-back direction relative to the mechanical arm. A welding gun is arranged on one side of the hook, and the welding gun is aimed at the position to be welded of the main reinforcement and the surrounding reinforcement in the steel cage.

6. The adaptive steel cage welding head according to claim 5, characterized in that: The hook is in a gooseneck shape.

7. An adaptive steel cage welding device, characterized in that: A welding machine head comprising an adaptive steel cage as described in any one of claims 1 to 6.

8. The adaptive steel cage welding device according to claim 7, characterized in that: It also includes a fuselage, and the mechanical arm is installed on the fuselage so as to be rotatable by 180 degrees.

9. The welding device of an adaptive steel cage according to claim 7, characterized in that: It also includes a fuselage, and the mechanical arm is installed on the fuselage so as to be able to move forward and backward in translation and / or in pitch.

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