A flexible stirrup continuous feeding and positioning machine and feeding and positioning method

Abstract

The present invention discloses a flexible stirrup continuous feeding and positioning machine, comprising a control cabinet, a base frame, a left chain plate support mechanism and a right chain plate support mechanism arranged on the base frame, the left chain plate support mechanism being provided with a left alignment mechanism, a left pushing mechanism and a left positioning mechanism electrically connected to the control cabinet, the right chain plate support mechanism being provided with a right alignment mechanism, a right pushing mechanism and a right positioning mechanism electrically connected to the control cabinet, the left alignment mechanism and the right alignment mechanism being used to align the stirrups left and right, the left pushing mechanism and the right pushing mechanism being used to push the stirrups, and the left positioning mechanism and the right positioning mechanism being used to perform dual-position front and back positioning of the stirrups. The present invention also provides a feeding and positioning method for a flexible stirrup continuous feeding and positioning machine. The present invention solves the technical problems of automatic clamping, automatic feeding and automatic positioning of stirrups during automatic welding of stirrup cages, thereby facilitating the automated production of stirrup cages. The present invention meets the flexibility requirements for changes in stirrup length, height and diameter.

Description

Technical Field

[0001] The invention relates to the technical field of steel cage welding equipment, and in particular to a flexible stirrup continuous feeding and positioning machine and a feeding and positioning method. Background Art

[0002] In the field of construction engineering, steel bars are widely used. When building a house, it is necessary to first build the steel bars into a steel cage and then grout the walls and other structures. At present, there is a great demand for steel cage products in the market, but the forming process is basically done manually, which has low work efficiency and high labor intensity. Therefore, an automated equipment for steel cage is needed to solve these problems. In order to meet the automation requirements (stirrup standardization, digitization, and simplified automation difficulty), welded grid stirrups (see attached) have been produced. Figure 1 ), utilizing the four corner information of the grid stirrups to meet automation requirements. First, on an automated production line, grid stirrups must meet two continuous positioning requirements before welding: one is the pre-positioning of the transferred stirrup group; the other is the welding positioning during welding. Currently, there is no mechanism on the market that can continuously meet these two positioning requirements for grid stirrups. Second, existing building codes require a single stirrup bending process for grid stirrups, which is not convenient for the automated production of stirrup cages. Third, there is currently no automated continuous positioning equipment on the market for this type of grid stirrups. Summary of the Invention

[0003] The purpose of the present invention is to provide a flexible stirrup continuous feeding and positioning machine.

[0004] The technical solution to achieve the purpose of the present invention is: a flexible stirrup continuous feeding and positioning machine, including a control cabinet, a base frame, a left chain plate support mechanism and a right chain plate support mechanism arranged on the base frame, the left chain plate support mechanism is provided with a left alignment mechanism, a left pushing mechanism and a left positioning mechanism electrically connected to the control cabinet, the right chain plate support mechanism is provided with a right alignment mechanism, a right pushing mechanism and a right positioning mechanism electrically connected to the control cabinet, the left alignment mechanism and the right alignment mechanism are used for left-right alignment of the stirrups, the left pushing mechanism and the right pushing mechanism are used for pushing the stirrups, and the left positioning mechanism and the right positioning mechanism are used for dual-position front and back positioning of the stirrups.

[0005] Preferably, the left positioning mechanism and the right positioning mechanism have the same structure, both including a mounting plate, a first cylinder arranged on the mounting plate, a first transmission assembly, a second cylinder, a second transmission assembly, a guide plate and a positioning edge, and also including an x-guide rail arranged on the mounting plate and a y-guide rail arranged on the second transmission assembly, the second transmission assembly runs along the y-guide rail through the y-slider, the guide plate is provided with a guide bending groove for the track movement of the guide wheel on the second transmission assembly, the y-slider of the y-guide rail is provided with the positioning edge, the first cylinder drives the second cylinder on the first transmission assembly to move forward and backward, and the second cylinder drives the positioning edge to move along the guide bending groove in a track.

[0006] Preferably, it further includes a limit assembly running in the z direction and arranged on the mounting plate.

[0007] Preferably, the limit assembly includes a roller mounting seat and a roller arranged on the roller mounting seat. The roller mounting seat is arranged on a roller mounting plate and also includes a cylinder, a guide rod and a linear bearing. The cylinder drives the guide rod to drive the roller mounting plate to reciprocate in the z direction under the guided sliding of the linear bearing.

[0008] Preferably, there are two y-direction guide rails, which are arranged in parallel.

[0009] Preferably, the left pushing mechanism and the right pushing mechanism have the same structure, both including a pushing mechanism for contacting stirrups, a prestressed leaf spring, a sliding base running along a pushing slide rail, a leaf spring in position detection sensor and a motor; a pushing slide rail is provided on the sliding base, and a first pushing slider on the pushing slide rail is connected to the pushing mechanism; the leaf spring in position detection sensor controls the start and stop of the motor by sensing the position of the pushing mechanism; the pushing mechanism runs linearly along the pushing slide rail on the sliding base through the first pushing slider, so that the pushing mechanism presses the prestressed leaf spring, thereby causing the pushing mechanism and the motor to move relative to each other; the sliding base runs linearly through the second pushing slider and the pushing slide rail under the drive of the motor, so that the pushing mechanism on the sliding base and the motor achieve synchronous movement.

[0010] Preferably, the pushing mechanism includes a support seat, a connecting block, a push plate and a pre-pressure adjustment group connected to the first pushing slider, one side of the support seat is connected to the push plate through the connecting block, the other side of the support seat is connected to the motor, and the support seat is in contact with the pre-pressure leaf spring through the pre-pressure adjustment group.

[0011] Preferably, the preload adjustment group includes a first screw, a second screw, a leaf spring contact plate and a leaf spring adjustment block, the first screw is inserted into the leaf spring contact plate and the support seat, the leaf spring contact plate is set at an inclined angle, and several adjustment holes are provided on both side walls of the leaf spring contact plate, the leaf spring adjustment block is connected to the adjustment hole to adjust the preload of the preload leaf spring, and the second screw is inserted into the leaf spring adjustment block to tighten the preload leaf spring.

[0012] Preferably, the pre-stress leaf spring is connected to the sliding base via a hard stop positioning seat.

[0013] The present invention also provides a feeding and positioning method for a flexible stirrup continuous feeding and positioning machine, comprising the following steps:

[0014] Step 1: The stirrup transfer mechanism lowers the stirrups to be welded into place;

[0015] Step 2: The stirrup continuous feeding and positioning machine receives a signal indicating that the stirrup to be welded has been loaded, and the left and right alignment mechanisms push out toward the middle to align the stirrups left and right;

[0016] Step 3: Then the left and right positioning mechanisms and the left and right pushing mechanisms position the stirrups front and back and clamp the stirrups;

[0017] Step 4: After positioning, the stirrup transplanting mechanism is removed, and the left and right positioning mechanisms slowly move backward while positioning. At the same time, the left and right pushing mechanisms press the stirrups and move backward until the positioning mechanisms retreat to the position to be welded.

[0018] Step 5: After welding is completed, the welded stirrups need to be removed. The left and right positioning mechanism limit assemblies extend to support the stirrups. The left and right positioning mechanism positioning edges slowly move back to the original position to avoid the stirrups. After the positioning edges move back a certain distance, the left and right positioning mechanism limit assemblies are fully extended to block the unwelded stirrups.

[0019] Step 6: The stirrups to be welded are moved to the designated position, the positioning edges of the left and right positioning mechanisms extend forward to the welding positioning position, the limit assemblies of the left and right positioning mechanisms retract, and at the same time, the left and right pushing mechanisms press the stirrups and move backward, and the stirrups are pushed to the welding position;

[0020] Step 7: Repeat steps 5 and 6 until all stirrups are welded and all mechanisms return to their origins, then repeat step 1.

[0021] By adopting the above technical solution, the present invention has the following beneficial effects: (1) The present invention solves the technical problems of automatic clamping, automatic feeding and automatic positioning of stirrups during automatic welding of stirrup cages, thereby facilitating the automated production of stirrup cages.

[0022] (2) The present invention can realize the requirement of two consecutive positioning of stirrups; it has a simple structure, reliable operation and is easy to control.

[0023] (3) Improve efficiency and reduce costs.

[0024] (4) Meet the flexibility requirements of changes in stirrup length, height and diameter.

[0025] (5) The use of a pre-stressed leaf spring structure allows the push mechanism to be pre-tightened without occupying space in the direction of movement, and is easy to adjust, creating conditions for the push mechanism to be suitable for occasions where the direction of movement is limited. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments and in conjunction with the accompanying drawings, wherein

[0027] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0028] Figure 2 for Figure 1 A top view of

[0029] Figure 3 Schematic diagram of the structure of the right positioning mechanism of the present invention (guide plate is not shown);

[0030] Figure 4 for Figure 3 The main view;

[0031] Figure 5 Schematic diagram of the structure of the limiting component of the right positioning mechanism of the present invention;

[0032] Figure 6 for Figure 5 A top view of

[0033] Figure 7 It is a structural schematic diagram of the right pushing mechanism of the present invention;

[0034] Figure 8 This is a schematic diagram of the right pushing mechanism of the present invention from another perspective. DETAILED DESCRIPTION

[0035] Example 1

[0036] See Figures 1 to 8The flexible stirrup continuous feeding and positioning machine of this embodiment includes a control cabinet, a base frame, and left and right chain plate support mechanisms mounted on the base frame. The left chain plate support mechanism is provided with a left alignment mechanism, a left pushing mechanism, and a left positioning mechanism electrically connected to the control cabinet. The right chain plate support mechanism is provided with a right alignment mechanism, a right pushing mechanism, and a right positioning mechanism electrically connected to the control cabinet. The left and right alignment mechanisms are used to align the stirrups left and right, the left and right pushing mechanisms are used to push the stirrups, and the left and right positioning mechanisms are used to perform dual-position forward and backward positioning of the stirrups. The base frame is provided with chain plate slide rails for the right chain plate support mechanism to slide left and right.

[0037] The left positioning mechanism and the right positioning mechanism have the same structure, both include a mounting plate 2-1, a first cylinder 2-2 arranged on the mounting plate, a first transmission assembly 2-3, a second cylinder 2-4, a second transmission assembly 2-5, a guide plate 2-6 and a positioning edge 2-7, and also include an x-guide rail 2-8 arranged on the mounting plate and a y-guide rail 2-9 arranged on the second transmission assembly. The second transmission assembly runs along the y-guide rail through the y-slider 2-10. The guide plate is provided with a guide bending groove 2-11 for the track movement of the guide wheel on the second transmission assembly. The y-slider of the y-guide rail is provided with the positioning edge. The first cylinder drives the second cylinder on the first transmission assembly to move forward and backward, and the second cylinder drives the positioning edge to move along the guide bending groove in a track.

[0038] The y-direction guide rails are provided with two and are arranged in parallel. The first transmission assembly is provided with a guide rail for the second cylinder to operate.

[0039] The first transmission assembly is provided with a guide rail for the second cylinder to operate.

[0040] It also includes a limit assembly 2-12 that runs in the z direction and is arranged on the mounting plate.

[0041] The limiting assembly includes a roller mounting seat 2-12-1 and a roller 2-12-2 arranged on the roller mounting seat. The roller mounting seat is arranged on a roller mounting plate 2-12-3. It also includes a cylinder 2-12-4, a guide rod 2-12-5 and a linear bearing 2-12-6. The cylinder drives the guide rod to drive the roller mounting plate to reciprocate in the z direction under the guided sliding of the linear bearing.

[0042] The left pushing mechanism and the right pushing mechanism have the same structure, and both include a pushing mechanism 1-1 for contacting stirrups, a prestressed leaf spring 1-2, a sliding base 1-3 running along a pushing slide rail 1-9, a leaf spring in-position detection sensor 1-4 and a motor 1-5. A pushing slide rail 1-6 is provided on the sliding base, and a first pushing slider 1-7 on the pushing slide rail is connected to the pushing mechanism. The leaf spring in-position detection sensor controls the start and stop of the motor by sensing the position of the pushing mechanism. The pushing mechanism runs straight along the pushing slide rail on the sliding base through the first pushing slider, so that the pushing mechanism presses the prestressed leaf spring, thereby causing the pushing mechanism and the motor to move relative to each other. The sliding base runs straight along the pushing slide rail 1-9 driven by the motor through the second pushing slider 1-8, so that the pushing mechanism on the sliding base and the motor achieve synchronous movement.

[0043] The pushing mechanism includes a support seat 1-1-1, a connecting block 1-1-2, a push plate 1-1-3 and a pre-pressure adjustment group connected to the first pushing slider. One side of the support seat is connected to the push plate through the connecting block, and the other side of the support seat is connected to the motor, and the support seat is in contact with the pre-pressure leaf spring through the pre-pressure adjustment group.

[0044] The preload adjustment group includes a first screw 1-1-4, a second screw 1-1-5, a leaf spring contact plate 1-1-6 and a leaf spring adjustment block 1-1-7. The first screw is inserted into the leaf spring contact plate and the support seat. The leaf spring contact plate is set at an inclined angle. Several adjustment holes 1-1-8 are provided on both side walls of the leaf spring contact plate. The leaf spring adjustment block is connected to the adjustment hole to adjust the preload of the preload leaf spring. The second screw is inserted into the leaf spring adjustment block to tighten the preload leaf spring.

[0045] The pre-stressed leaf spring is connected to the sliding base via a hard stop positioning seat 1-10.

[0046] In specific implementation, the action flow of the feeding and positioning method of the flexible stirrup continuous feeding and positioning machine is as follows: Step 1: The stirrup transfer mechanism lowers the stirrup to be welded into place;

[0047] Step 2: The stirrup continuous feeding and positioning machine receives a signal indicating that the stirrup to be welded has been loaded, and the left and right alignment mechanisms push out toward the middle to align the stirrups left and right;

[0048] Step 3: Then the left and right positioning mechanisms and the left and right pushing mechanisms position the stirrups front and back and clamp the stirrups;

[0049] Step 4: After positioning, the stirrup transplanting mechanism is removed, and the left and right positioning mechanisms slowly move backward while positioning. At the same time, the left and right pushing mechanisms press the stirrups and move backward until the positioning mechanisms retreat to the position to be welded.

[0050] Step 5: After welding is completed, the welded stirrups need to be removed. The left and right positioning mechanism limit assemblies extend to support the stirrups. The left and right positioning mechanism positioning edges slowly move back to the original position to avoid the stirrups. After the positioning edges move back a certain distance, the left and right positioning mechanism limit assemblies are fully extended to block the unwelded stirrups.

[0051] Step 6: The stirrups to be welded are moved to the designated position, the positioning edges of the left and right positioning mechanisms extend forward to the welding positioning position, the limit assemblies of the left and right positioning mechanisms retract, and at the same time, the left and right pushing mechanisms press the stirrups and move backward, and the stirrups are pushed to the welding position;

[0052] Step 7: Repeat steps 5 and 6 until all stirrups are welded and all mechanisms return to their origins, then repeat step 1.

[0053] The specific working process of the left positioning mechanism and the right positioning mechanism is as follows: 1. The stirrup continuous feeding positioning machine receives the feeding signal, and the first cylinder and the second cylinder extend, pushing the positioning edge along the guide plate track forward to the material receiving position, achieving positive displacement in the horizontal and vertical directions:

[0054] 2. After receiving the discharge completion signal, the positioning edge moves along the guide plate track to the welding positioning position, achieving negative displacement in the horizontal and vertical directions, and welding the stirrups into position;

[0055] 3. After welding is completed, the welded stirrups need to be removed. The third cylinder of the limit assembly extends, so that the roller of the limit assembly presses against the end face of the stirrup. The first cylinder retracts, and the positioning edge moves to the origin along the track of the guide plate, achieving negative displacement in the horizontal and vertical directions, and avoiding the stirrups from moving backward.

[0056] 4. The side to be positioned moves back a certain distance, the third cylinder is fully extended, and the roller blocks the rear stirrups to prevent them from falling;

[0057] 5. The stirrups to be welded are moved to the designated position. The first cylinder extends, pushing the positioning edge forward along the guide plate track to the welding positioning position, achieving positive displacement in the horizontal and vertical directions. The third cylinder retracts, driving the limit assembly to retract, and the stirrups are pushed to the welding position.

[0058] 6. Repeat steps 3 to 5 until all stirrups are welded and all mechanisms return to their origins, then repeat step 1.

[0059] During the working process, when the material is connected and positioned and the positioning edge is extended, the first cylinder and the second cylinder are extended at the same time. When the material is connected and the positioning edge is retreated to the welding position, the second cylinder is moved first, and then the first cylinder is moved after welding is completed. After that, until all stirrups are welded, only the first cylinder extends and retracts to perform reciprocating movements.

[0060] When the left pushing mechanism and the right pushing mechanism are implemented, the action flow is as follows:

[0061] a. The preload adjustment group adjusts the preload bending degree of the leaf spring by adjusting the forward and backward movement of the second screw to achieve the purpose of adjusting the preload;

[0062] b. The pushing mechanism receives the feeding signal, the motor starts to move, and the transmission component drives the pushing plate forward until the pushing plate pushes the stirrup to the feeding position, and clamps the stirrup together with the front end receiving component of the stirrup. The leaf spring is in place and the detection sensor senses it, and the motor stops.

[0063] c. After receiving the welding positioning signal, the motor starts to move, and the push plate is driven by the transmission component to push the stirrup forward until the stirrup at the welding positioning position is in place and the position signal is detected, and the leaf spring is in place and the detection induction is sensed, and the motor stops moving;

[0064] d. Repeat step c until all stirrups are welded and all mechanisms return to their origins, then repeat step a.

[0065] During the specific working process of the left and right pushing mechanisms, at the beginning, after the pushing plate contacts the stirrups, the pre-stressed leaf spring is in a compressed state. After the stirrups welded at the front end are pulled out, the remaining stirrups will automatically move to the front end under the compression force of the pre-stressed leaf spring. During this process, the compression force of the pre-stressed leaf spring is in a continuously loosened state. Since the motor can drive the entire pushing mechanism to move, the leaf spring can be restored to its working state, that is, restored to a state that is always compressed and has tension, achieving the technical effect of automatic pushing. The action of the motor comes from the leaf spring in-place detection sensor. Once the leaf spring in-place detection sensor has no signal, the motor starts to move. After the leaf spring releases the compression force, the leaf spring in-place detection sensor will move away from its original position. The leaf spring is initially set with a pre-stress. After the first stirrup is welded, it will automatically move. After the motor senses this displacement, it will drive the entire movement to ensure that the pre-stress of the leaf spring is at the previously set size.

[0066] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A flexible stirrup continuous feeding and positioning machine, characterized by: It comprises a control cabinet, a base frame (3), a left chain plate support mechanism (4) and a right chain plate support mechanism (5) arranged on the base frame, wherein the left chain plate support mechanism is provided with a left alignment mechanism (6) electrically connected to the control cabinet, a left pushing mechanism (1) and a left positioning mechanism (2), and the right chain plate support mechanism is provided with a right alignment mechanism (7) electrically connected to the control cabinet, a right pushing mechanism (9) and a right positioning mechanism (8), wherein the left alignment mechanism and the right alignment mechanism are used to perform left-right alignment of stirrups, the left pushing mechanism and the right pushing mechanism are used to push stirrups, and the left positioning mechanism and the right positioning mechanism are used to perform dual-position front-back positioning of stirrups; The left positioning mechanism and the right positioning mechanism are identical, both comprising a mounting plate (2-1), a first cylinder (2-2) provided on the mounting plate, a first transmission assembly (2-3), a second cylinder (2-4), a second transmission assembly (2-5), a guide plate (2-6) and a positioning edge (2-7), and further comprising an x-guide rail (2-8) provided on the mounting plate and a y-guide rail (2-9) provided on the second transmission assembly, wherein the second transmission assembly runs along the y-guide rail via a y-slider (2-10), a guide bending groove (2-11) for the track movement of the guide wheel on the second transmission assembly is provided on the guide plate, the positioning edge is provided on the y-slider of the y-guide rail, the first cylinder drives the second cylinder on the first transmission assembly to move forward and backward, and the second cylinder drives the positioning edge to move along the guide bending groove into a track; The left pushing mechanism and the right pushing mechanism have the same structure, and both include a pushing mechanism (1-1) for contacting stirrups, a prestressed leaf spring (1-2), a sliding base (1-3) running along a pushing slide rail (1-9), a leaf spring in-position detection sensor (1-4) and a motor (1-5). The sliding base is provided with a pushing slide rail (1-6). A first pushing slider (1-7) on the pushing slide rail is connected to the pushing mechanism. The leaf spring in-position detection sensor controls the start and stop of the motor by sensing the position of the pushing mechanism. The pushing mechanism runs linearly along the pushing slide rail on the sliding base through the first pushing slider, so that the pushing mechanism presses the prestressed leaf spring, thereby causing the pushing mechanism and the motor to move relative to each other. The sliding base runs linearly with the pushing slide rail (1-9) under the drive of the motor through the second pushing slider (1-8), so that the pushing mechanism on the sliding base and the motor can achieve synchronous movement.

2. The flexible stirrup continuous feeding and positioning machine according to claim 1, characterized in that: It also includes a limit assembly (2-12) that runs in the z direction and is arranged on the mounting plate.

3. The flexible stirrup continuous feeding and positioning machine according to claim 2, characterized in that: The limit assembly includes a roller mounting seat (2-12-1) and a roller (2-12-2) arranged on the roller mounting seat. The roller mounting seat is arranged on a roller mounting plate (2-12-3). The limit assembly also includes a cylinder (2-12-4), a guide rod (2-12-5) and a linear bearing (2-12-6). The cylinder drives the guide rod to drive the roller mounting plate to reciprocate in the z direction under the guidance of the linear bearing.

4. The flexible stirrup continuous feeding and positioning machine according to claim 1, characterized in that: There are two y-guide rails, which are arranged in parallel.

5. The flexible stirrup continuous feeding and positioning machine according to claim 1, characterized in that: The pushing mechanism comprises a support seat (1-1-1), a connecting block (1-1-2), a push plate (1-1-3) and a preload adjustment group connected to the first pushing slider; one side of the support seat is connected to the push plate via the connecting block, the other side of the support seat is connected to the motor, and the support seat contacts the preload leaf spring via the preload adjustment group.

6. The flexible stirrup continuous feeding and positioning machine according to claim 5, characterized in that: The preload adjustment group comprises a first screw (1-1-4), a second screw (1-1-5), a leaf spring contact plate (1-1-6) and a leaf spring adjustment block (1-1-7), wherein the first screw is inserted into the leaf spring contact plate and the support seat, the leaf spring contact plate is arranged at an inclined angle, and a plurality of adjustment holes (1-1-8) are provided on both side walls of the leaf spring contact plate, the leaf spring adjustment block is connected to the adjustment holes and is used to adjust the preload of the preload leaf spring, and the second screw is inserted into the leaf spring adjustment block and is used to press against the preload leaf spring.

7. The flexible stirrup continuous feeding and positioning machine according to claim 6, characterized in that: The pre-stressed leaf spring is connected to the sliding base via a hard stop positioning seat (1-10).

8. A feeding and positioning method using the flexible stirrup continuous feeding and positioning machine according to any one of claims 1 to 7, characterized in that: The steps include: Step 1: The stirrup transfer mechanism lowers the stirrups to be welded into place; Step 2: The stirrup continuous feeding and positioning machine receives a signal indicating that the stirrup to be welded has been loaded, and the left and right alignment mechanisms push out toward the middle to align the stirrups left and right; Step 3: Then the left and right positioning mechanisms and the left and right pushing mechanisms position the stirrups front and back and clamp the stirrups; Step 4: After positioning, the stirrup transfer mechanism moves away, and the left and right positioning mechanisms slowly move backwards while pressing the stirrups and moving backwards, until the left and right positioning mechanisms move back to the position to be welded; Step 5: After welding is completed, the welded stirrups need to be removed. The left and right positioning mechanism limit assemblies extend to support the stirrups. The left and right positioning mechanism positioning edges slowly move back to the original position to avoid the stirrups. After the positioning edges move back a certain distance, the left and right positioning mechanism limit assemblies are fully extended to block the unwelded stirrups. Step 6: The stirrups to be welded are moved to the designated position, the positioning edges of the left and right positioning mechanisms extend forward to the welding positioning position, the limit assemblies of the left and right positioning mechanisms retract, and at the same time, the left and right pushing mechanisms press the stirrups and move backward, and the stirrups are pushed to the welding position; Step 7: Repeat steps 5 and 6 until all stirrups are welded and all mechanisms return to their origins, then repeat step 1.

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