A mesh automatic feeding device and feeding and transplanting method

Abstract

The present invention discloses an automatic mesh feeding device, comprising a mesh table for placing mesh, a ground rail assembly, and a mesh transplanting assembly arranged on the ground rail assembly, wherein the mesh transplanting assembly comprises a mesh in-place sensing mechanism, a material taking palm mechanism, a mesh indirect sensing mechanism, an electromagnet floating installation mechanism, and a mesh lifting mechanism; the mesh in-place sensing mechanism is used to sense a mesh in-place signal on the mesh table; the mesh lifting mechanism is used to provide lifting power to the material taking palm mechanism; the mesh indirect sensing mechanism is used to provide mesh position sensing for the electromagnet floating installation mechanism; the electromagnet floating installation mechanism is used to absorb the mesh on the mesh table and take the material for the material taking palm mechanism; the material taking palm mechanism is used to move the mesh on the mesh table to a specified position through the ground rail assembly. The present invention can realize fully automated mesh feeding, ensure consistent feeding quality each time, and ensure personnel safety.

Description

Technical Field

[0001] The invention relates to the technical field of construction engineering robots, and in particular to an automatic mesh feeding device. Background Art

[0002] Currently in the construction field, wire mesh needs to be placed on the upper and lower sides of the steel cage. Manual placement leads to the problem of uneven placement. When placing the lower mesh, because the steel cage is lifted by a truss robot, it is necessary to drill into the space below, which poses a huge safety risk and involves space operation issues. Summary of the invention

[0003] The purpose of the present invention is to provide a mesh automatic feeding device for lifting the mesh of a truss robot.

[0004] The technical solution to achieve the purpose of the present invention is: an automatic mesh feeding device, comprising a mesh table for placing meshes, a ground rail assembly, and a mesh transplanting assembly arranged on the ground rail assembly, wherein the mesh transplanting assembly comprises a mesh in-place sensing mechanism, a material taking palm mechanism, a mesh indirect sensing mechanism, an electromagnet floating installation mechanism, and a mesh lifting mechanism;

[0005] The mesh in-place sensing mechanism is used to sense a mesh in-place signal on the mesh table;

[0006] The mesh lifting mechanism is used to provide lifting power to the material taking palm mechanism;

[0007] The mesh indirect sensing mechanism is used to provide mesh position sensing for the electromagnet floating mounting mechanism;

[0008] The electromagnet floating installation mechanism is used to absorb the mesh on the mesh table so that the material taking palm mechanism can take the material;

[0009] The material taking palm mechanism is used to move the mesh on the mesh table to a specified position through the ground rail assembly.

[0010] Preferably, the mesh in-place sensing mechanism is a spring direct-acting in-place sensing mechanism or a self-weight swinging in-place sensing mechanism.

[0011] Preferably, the spring direct-acting in-position sensing mechanism includes a sensing plate and a contact block for contacting the mesh, the contact block and the sensing plate are connected via a guide shaft, a linear bearing fixing block for carrying a linear bearing is provided on the guide shaft, the guide shaft slides along the linear bearing, and also includes a spring arranged axially along the linear bearing, the linear bearing fixing block is connected to a fixing seat for placing a mesh table, a sensor for sensing the displacement of the sensing plate is provided on the linear bearing fixing block along the axial direction of the linear bearing, the contact block moves outward under the top force of the mesh, driving the guide shaft to move outward along the direction of the linear bearing, thereby making the sensing plate approach the sensor, and the sensor senses the signal and transmits it to the controller, indicating that the mesh is in place and the next action can be performed.

[0012] Preferably, the self-weight swing-in-position sensing mechanism includes a sensing piece and a contact block for contacting the mesh, the contact block is arranged on a contact block mounting seat, the contact block mounting seat is hinged to the rocker mounting seat through two main rocker arms and an auxiliary rocker arms arranged parallel to each other, the contact block mounting seat, the main rocker arm, the auxiliary rocker arm and the rocker mounting seat form a linked parallelogram linkage mechanism, the rocker mounting seat is fixed to the mounting member through a mounting base plate, and also includes a sensing piece arranged on the contact block mounting seat and a self-weight swing sensor arranged on the rocker mounting seat, the contact block moves outward under the top force of the mesh, driving the parallelogram linkage mechanism to move, thereby making the sensing piece approach or move away from the self-weight swing sensor, and the self-weight swing sensor senses the transformed signal and transmits it to the controller, indicating that the mesh is in place and the next action can be performed.

[0013] Preferably, the mesh indirect sensing mechanism is arranged below the material picking palm mechanism, and the material picking palm mechanism realizes automatic sensing of the mesh through the mesh indirect sensing mechanism. The mesh indirect sensing mechanism includes a contact end, two guide columns are provided on the contact end, and also includes a sensing mechanism fixing seat and a linear bearing seat fixed on the sensing mechanism fixing seat for carrying a linear bearing. The guide column is arranged through the axial hole of the linear bearing, an indirect sensing piece is provided on the contact end, and an indirect sensor is provided on the linear bearing seat. The material picking palm mechanism moves downward, driving the mesh indirect sensing mechanism to move downward and contact the mesh. The indirect sensing piece on the contact end moves upward through the linear bearing under the guidance of the guide column, so that the indirect sensing piece approaches the indirect sensor. After the indirect sensor senses the signal, it is transmitted to the controller, indicating that the mesh is in place and the next action can be performed.

[0014] Preferably, the electromagnet floating mounting mechanism is arranged below the material picking palm mechanism, and the material picking palm mechanism realizes automatic material picking of the mesh through the electromagnet floating mounting mechanism. The electromagnet floating mounting mechanism includes an electromagnet and a connecting block arranged on the electromagnet. The pin shaft arranged on the connecting block is movably connected with the lifting and swinging fixed block. The top of the lifting and swinging fixed block is connected to the material picking palm mechanism. The lifting and swinging fixed block is provided with a waist-shaped hole, and the pin shaft drives the electromagnet to float flexibly through the waist-shaped hole.

[0015] Preferably, the material picking palm mechanism includes at least two main frames and sub-frames extending to both sides of the main frames, and profile frames are provided under the main frames and sub-frames. An electromagnet floating mounting mechanism for sucking the mesh is provided at the lower end of the profile frame. One end of the main frame is connected to the sub-frame, and the other end is inserted into a mesh lifting mechanism. The mesh lifting mechanism drives the material picking palm mechanism to rise or fall, thereby enabling the electromagnet floating mounting mechanism to absorb and discharge the mesh.

[0016] Preferably, the mesh lifting mechanism includes a base frame, an upper base plate, a four-shaped frame, a worm gear lift and a motor. The four-shaped frame is connected to a material picking palm mechanism. The four-shaped frame includes two main supports parallel to each other, a lifting beam vertically arranged with the main supports, a bottom bracket and an auxiliary bracket. The bottom bracket is arranged at the lower end of the main bracket and is parallel to the lifting beam. The auxiliary bracket is arranged between the lifting beam and the bottom bracket and is vertically arranged with the bottom bracket. An upper base plate is provided at the top of the base frame, and guide rods pass through the upper base plate and the main bracket are connected to the base frame in sequence. The worm gear lift is arranged through the upper base plate and is connected to the lifting beam. The motor drives the worm gear lift to work under the action of the guide rod, thereby enabling the four-shaped frame to be lifted and lowered, and further driving the material picking palm mechanism to be lifted and lowered.

[0017] The present application also provides a method for feeding and transplanting using the mesh automatic feeding device, comprising the following steps:

[0018] (1) Place the mesh on the mesh table;

[0019] (2) The mesh in-place sensing mechanism senses whether the mesh on the mesh table is in place; if it is in place, proceed to the next step; if not, continue with the current sensing step;

[0020] (3) The mesh lifting mechanism drives the material taking palm mechanism to descend;

[0021] (4) During the descent of the material picking palm mechanism, the mesh indirect sensing mechanism remains in working condition to detect whether it touches the mesh. If it has touched, the electromagnet floating installation mechanism is started to suck the mesh. If it has not touched, the detection state is maintained;

[0022] (5) The mesh lifting mechanism drives the material taking palm mechanism that has sucked the mesh to rise a certain distance;

[0023] (6) The mesh transplanting assembly moves as a whole under the action of the ground rail assembly, and the sucked mesh is extended under the prepared truss manipulator, first inserting the lower mesh and then withdrawing;

[0024] (7) The truss manipulator lowers the steel cage;

[0025] (8) Repeat the above steps (1) to (7) and place the mesh on top of the steel cage.

[0026] By adopting the above technical solution, the present invention has the following beneficial effects: (1) The present invention has an ingenious structure. Compared with the completely manual production operation method of workers, the mechanism can ensure the consistent quality of each loading and the safety of personnel is guaranteed.

[0027] (2) The mesh indirect sensing mechanism can effectively detect whether the wire mesh is on the palm of the material picker. At the same time, the force acting on the mesh is the gravity of the active part of the mechanism. By using low-density materials such as plastic, the influence of the mechanism on the magnet-absorbed product is reduced, preventing the mesh from deforming.

[0028] (3) The electromagnet floating installation mechanism is configured by using an electromagnet, a connecting block, and a pin shaft that is movably connected to a lifting and swinging fixed block, which can realize floating in the vertical direction and angular swing in the horizontal direction to adapt to the deformation problem of the mesh. The flexibility and adaptability of the electromagnet are significantly improved, and the economic cost is low, which is suitable for large-scale promotion.

[0029] (4) The mesh lifting mechanism mainly solves the problems of structural stability of the lifting guide mechanism and how to ensure verticality during installation; the four-shaped frame is connected to the bottom plate at multiple points, and the pressure is evenly distributed at multiple points to minimize the deformation of the mechanism. The strength of the overall mechanism is ensured, and the installation and adjustment of the guide rods on both sides are on the same plane, which makes it easier to ensure verticality, thereby stabilizing the guide structure.

[0030] (5) The mesh in-position sensing mechanism is mainly used for the situation where the sensing product has no fixed position but changes within a certain range. Since the specifications of the wire mesh and the position of the wire are uncertain, direct sensing without a fixed installation position is adopted to achieve automatic sensing, which greatly improves efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments and in conjunction with the accompanying drawings, wherein

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention (showing the housing);

[0033] Figure 2 It is a schematic diagram of the overall structure of the present invention (the housing is not shown);

[0034] Figure 3 It is a schematic diagram of the overall structure of the present invention from another perspective (showing the housing);

[0035] Figure 4 for Figure 3 The enlarged schematic diagram at A in the middle;

[0036] Figure 5 An exploded view of the spring direct-acting in-position sensing mechanism of the present invention;

[0037] Figure 6 It is a structural schematic diagram of the spring direct-acting in-position sensing mechanism in the present invention;

[0038] Figure 7 This is a schematic diagram of an application scenario of the spring direct-acting in-position sensing mechanism of the present invention;

[0039] Figure 8 It is a structural schematic diagram of the self-weight swing-in-place sensing mechanism in the present invention;

[0040] Fig. 9 It is a schematic diagram of an application scenario of the deadweight swing-in-place sensing mechanism of the present invention;

[0041] Fig.10 It is a structural schematic diagram of the mesh indirect sensing mechanism in the present invention;

[0042] Fig.11 It is a structural schematic diagram of the electromagnet floating installation mechanism in the present invention;

[0043] Fig.12 It is a structural schematic diagram of the material taking palm mechanism in the present invention;

[0044] Fig.13 It is a structural schematic diagram of the material taking palm mechanism in the present invention from another perspective;

[0045] Fig.14 It is a structural schematic diagram of the mesh lifting mechanism in the present invention;

[0046] Fig.15 for Fig.14 Schematic diagram of the structure of the middle four-shaped frame. DETAILED DESCRIPTION Embodiment 1

[0047] See Figures 1 to 15The mesh automatic feeding device of this embodiment is characterized in that it includes a mesh table for placing the mesh, a ground rail assembly, and a mesh transplanting assembly arranged on the ground rail assembly, wherein the mesh transplanting assembly includes a mesh in-place sensing mechanism, a material taking palm mechanism, a mesh indirect sensing mechanism, an electromagnet floating installation mechanism, and a mesh lifting mechanism;

[0048] The mesh in-place sensing mechanism is used to sense a mesh in-place signal on the mesh table;

[0049] The mesh lifting mechanism is used to provide lifting power to the material taking palm mechanism;

[0050] The mesh indirect sensing mechanism is used to provide mesh position sensing for the electromagnet floating mounting mechanism;

[0051] The electromagnet floating installation mechanism is used to absorb the mesh on the mesh table so that the material taking palm mechanism can take the material;

[0052] The material taking palm mechanism is used to move the mesh on the mesh table to a specified position through the ground rail assembly. The mesh automatic feeding device is also provided with a controller, and the ground rail assembly, mesh transplanting assembly, etc. all communicate with the controller to achieve automation.

[0053] The mesh in-place sensing mechanism is a spring direct-acting in-place sensing mechanism or a self-weight swing in-place sensing mechanism. Any mechanism can be selected to sense the mesh in-place.

[0054] The spring direct-acting in-position sensing mechanism includes a sensing sheet 16 and a contact block 11 for contacting a mesh sheet 17. The mesh sheet is placed on a mesh table 4. The contact block and the sensing sheet are connected by a guide shaft 12. The guide shaft is provided with a linear bearing fixing block 18 for carrying a linear bearing 14. The guide shaft slides along the linear bearing and also includes a spring 13 arranged along the axial direction of the linear bearing. The linear bearing fixing block is connected to a fixing seat 19 for placing the mesh table. A sensor 15 for sensing the displacement of the sensing sheet is provided on the linear bearing fixing block along the axial direction of the linear bearing. The contact block moves outward under the top force of the mesh sheet, driving the guide shaft to move outward along the direction of the linear bearing, so that the sensing sheet approaches the sensor. After the sensor senses the signal, it transmits it to the controller, indicating that the mesh sheet is in place and the next action can be performed. The contact block is provided with an adjusting screw 120 for adjusting the telescopic force of the spring; and anti-hooking blocks 121 are provided around the contact block.

[0055] The self-weight swing-in-position sensing mechanism includes a sensing sheet 16 and a contact block 11 for contacting a mesh 17, wherein the contact block is disposed on a contact block mounting seat 1-3, wherein the contact block mounting seat is hinged to a rocker mounting seat 1-5 via two main rockers 1-1 and an auxiliary rocker 1-4 arranged in parallel with each other, wherein the contact block mounting seat, the main rocker, the auxiliary rocker and the rocker mounting seat form a linked parallelogram linkage mechanism, wherein the rocker mounting seat is fixed to a mounting member via a mounting base 1-2, wherein the mounting member may be a mesh table, or the mounting member may be mounted on the mesh table, and further includes a sensing sheet 16 disposed on the contact block mounting seat and a self-weight swing sensor 1-8 disposed on the rocker mounting seat, wherein the contact block moves outward under the top force of the mesh, driving the parallelogram linkage mechanism to move, thereby causing the sensing sheet to approach or move away from the self-weight swing sensor, wherein the self-weight swing sensor senses the transformed signal and transmits it to the controller, indicating that the mesh is in place and the next action can be performed. The main rocker arm and / or the auxiliary rocker arm are provided with a limiting mechanism 1-6, and the mounting base plate is provided with two adjusting waist holes 1-7.

[0056] The mesh indirect sensing mechanism 3 is arranged below the material picking palm mechanism 5. The material picking palm mechanism realizes automatic sensing of the mesh 17 through the mesh indirect sensing mechanism. The mesh indirect sensing mechanism includes a contact end 31, on which two guide columns 35 are arranged, and also includes a sensing mechanism fixing seat 37 and a linear bearing seat 36 fixed on the sensing mechanism fixing seat for carrying a linear bearing 34. The guide column is arranged through the axial hole of the linear bearing. An indirect sensing sheet 32 ​​is arranged on the contact end, and an indirect sensor 33 is arranged on the linear bearing seat. The material picking palm mechanism moves downward, driving the mesh indirect sensing mechanism to move downward to contact the mesh. The indirect sensing sheet on the contact end moves upward through the linear bearing under the guidance of the guide column, so that the indirect sensing sheet approaches the indirect sensor. After the indirect sensor senses the signal, it is transmitted to the controller, indicating that the mesh is in place and the next action can be performed. The bottom surface height of the mesh indirect sensing mechanism in the natural state is lower than the bottom surface height of the electromagnet floating mounting mechanism.

[0057] The material-retrieving palm mechanism includes at least two main frames 51 and auxiliary frames 52 extending to both sides of the main frames. A profile frame 54 is provided under the main frame and the auxiliary frames. The lower end of the profile frame is provided with an electromagnet floating installation mechanism 2 for sucking the mesh 17. One end of the main frame is connected to the auxiliary frame, and the other end is inserted into the mesh lifting mechanism 6. The mesh lifting mechanism drives the material-retrieving palm mechanism to rise or fall, so that the electromagnet floating installation mechanism can suck and discharge the mesh. A counterweight block 56 is provided at the other end of the main frame, and a counterweight limiting mechanism 53 is provided near one end of the profile frame. A nut groove 57 for loading accessories is provided in the profile frame.

[0058] The mesh lifting mechanism includes a base frame 66, an upper base plate 67, a four-shaped frame, a worm gear lifter 68 and a motor 69. The four-shaped frame is connected to the material taking palm mechanism 5. The four-shaped frame includes two mutually parallel main brackets 62, a lifting beam 61 vertically arranged with the main bracket, a bottom bracket 65 and an auxiliary bracket 63. The bottom bracket is arranged at the lower end of the main bracket and is parallel to the lifting beam. The auxiliary bracket is arranged between the lifting beam and the bottom bracket and is vertically arranged with the bottom bracket. The top of the base frame is provided with an upper base plate, and the guide rod 610 passes through the upper base plate and the main bracket is connected to the base frame in sequence. The worm gear lifter passes through the upper base plate and is connected to the lifting beam. The motor drives the worm gear lifter to work under the action of the guide rod, so that the four-shaped frame is lifted and lowered, and further drives the material taking palm mechanism to lift and lower. The bottom bracket is provided with a lower base plate 64, and the lower base plate is used to connect the material taking palm mechanism.

[0059] The bottom bracket is provided with a lower bottom plate 64, and the lower bottom plate is used to connect the material taking palm mechanism.

[0060] The lower end of the material taking palm mechanism is provided with an electromagnet floating installation mechanism 2 for sucking the mesh, and the automatic mesh feeding device drives the material taking palm mechanism to rise or fall, so that the electromagnet floating installation mechanism can suck and discharge the mesh.

[0061] A counterweight 56 ​​is provided at one end of the material taking palm mechanism close to the base frame.

[0062] The electromagnet floating installation mechanism includes an electromagnet 24 and a connecting block 23 arranged on the electromagnet. The pin shaft 22 arranged on the connecting block is movably connected with the lifting and swinging fixed block 21. The top of the lifting and swinging fixed block is connected to the automatic mesh feeding device. The lifting and swinging fixed block is provided with a waist-shaped hole 25. The pin shaft drives the electromagnet to float flexibly through the waist-shaped hole.

[0063] The present invention also provides a method for feeding and transplanting using the mesh automatic feeding device, which comprises the following steps during implementation:

[0064] (1) Place the mesh on the mesh table;

[0065] (2) The mesh in-place sensing mechanism senses whether the mesh on the mesh table is in place; if it is in place, the next step is executed; if it is not in place, the current sensing step is continued; different alarm signals can be set when the mesh is not in place or in place.

[0066] (3) The mesh lifting mechanism drives the material taking palm mechanism to descend;

[0067] (4) During the descent of the material picking palm mechanism, the mesh indirect sensing mechanism remains in working condition to detect whether it touches the mesh. If it has touched, the electromagnet floating installation mechanism is started to suck the mesh. If it has not touched, the detection state is maintained;

[0068] (5) The mesh lifting mechanism drives the material taking palm mechanism that has sucked the mesh to rise a certain distance;

[0069] (6) The mesh transplanting assembly moves as a whole under the action of the ground rail assembly, and the sucked mesh is extended under the prepared truss manipulator, first inserting the lower mesh and then withdrawing;

[0070] (7) The truss manipulator lowers the steel cage;

[0071] (8) Repeat the above steps (1) to (7) and place the mesh on top of the steel cage.

[0072] The automatic mesh feeding device drives the material taking palm mechanism to rise or fall, so that the electromagnet floating installation mechanism can absorb the mesh. After absorbing the material, the automatic mesh feeding device drives the material taking palm mechanism to lift it to the place where the material is needed, and then discharges the material. After discharging the material, it returns to the original place and waits.

[0073] When the spring direct-acting in-position sensing mechanism is implemented, the spring direct-acting in-position sensing mechanism is arranged at the end position of the mesh table, and its adjacent ends can be arranged to be suitable for sensing meshes of different sizes. A mesh wire is used that contacts a certain range, and this range contains at least one wire, and the width is determined according to the grid width of the mesh wire. When the mesh hits the contact block, the guide shaft moves directly to the outside of the workbench, thereby driving the sensing sheet to move outward. The sensor senses the signal of the sensing sheet and determines that the product has reached the required position. After sensing the signal, the sensor transmits it to the controller, indicating that the mesh is in place and the next action can be performed. When the mesh product is removed, the guide shaft is reset to the inside of the mesh table under the action of the spring force.

[0074] When the self-weight swing-in-place sensing mechanism is implemented, the self-weight swing-in-place sensing mechanism is set at the end position of the mesh table, and its adjacent ends can be set to adapt to mesh sensing of different sizes. A mesh wire is used that contacts a certain range, and this range contains at least one wire. The width is determined according to the grid width of the mesh wire. When the mesh hits the contact block, the main swing arm and the auxiliary swing arm swing backwards, and the main swing arm has a limiting mechanism to prevent it from being unable to reset after over-swinging. This drives the induction sheet to move backwards, and the rear self-weight swing sensor senses the signal of the induction sheet and determines that the product has reached the specified required position. When the product is removed, the swing arm tilts forward and resets under the action of its own weight, and the limiting mechanism on the main swing arm limits the swing arm from over-swinging.

[0075] The mesh indirect sensing mechanism and the electromagnet floating installation mechanism are both fixedly installed under the material taking palm mechanism. This solution uses mesh wires in a larger contact range, which contains at least two wires, and the width is determined according to the mesh width of the mesh wires. When the mesh tops the contact end, the guide column moves straight upward, thereby driving the indirect sensing piece to move upward. The indirect sensor senses the signal of the indirect sensing piece and determines whether the contact end has contacted the mesh. The signal will be transmitted to the controller; when it is determined that the contact block end has contacted the mesh, the controller generates a driving signal to energize the coil of the electromagnet of the electromagnet floating installation mechanism, thereby realizing the automatic material absorption of the mesh 17. When the mesh is released or suddenly falls, the guide column resets downward under the action of gravity.

[0076] When the electromagnet floating installation mechanism is implemented, when the mesh indirect sensing mechanism senses the mesh, the controller generates a driving signal to energize the coil of the electromagnet of the electromagnet floating installation mechanism, thereby realizing automatic material picking of the mesh 17. The floating installation mechanism adopts an electromagnet connecting block, and the pin shaft is movably connected with the lifting and swinging fixed block, which can realize floating in the vertical direction and angular swing in the horizontal direction to adapt to the deformed mesh.

[0077] The mesh lifting mechanism drives the material taking palm mechanism to rise or fall, so that the electromagnet floating installation mechanism can absorb the mesh. After absorbing the material, the mesh lifting mechanism drives the material taking palm mechanism to lift it to the material required location, and then discharges the material. After discharging the material, it returns to the original position and waits.

[0078] 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 description is only a specific embodiment of the present invention and is 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 protection scope of the present invention.

Claims

1. A mesh automatic feeding device, characterized in that: It comprises a mesh platform (4) for placing a mesh (17), a ground rail assembly (7), and a mesh transplanting assembly arranged on the ground rail assembly, wherein the mesh transplanting assembly comprises a mesh in-place sensing mechanism (1), a material taking palm mechanism (5), a mesh indirect sensing mechanism (3), an electromagnet floating installation mechanism (2), and a mesh lifting mechanism (6); The mesh in-place sensing mechanism is used to sense a mesh in-place signal on the mesh table; The mesh lifting mechanism is used to provide lifting power to the material taking palm mechanism; The mesh indirect sensing mechanism is used to provide mesh position sensing for the electromagnet floating mounting mechanism; The electromagnet floating installation mechanism is used to absorb the mesh on the mesh table so that the material taking palm mechanism can take the material; The material taking palm mechanism is used to move the mesh on the mesh table to a specified position through the ground rail assembly; The mesh in-position sensing mechanism (1) is a spring direct-acting in-position sensing mechanism or a self-weight swing in-position sensing mechanism; The spring direct-acting in-position sensing mechanism comprises a sensing sheet (16) and a contact block (11) for contacting a mesh sheet (17); the contact block and the sensing sheet are connected via a guide shaft (12); a linear bearing fixing block (18) for carrying a linear bearing (14) is provided on the guide shaft; the guide shaft slides along the linear bearing and further comprises a spring (13) arranged axially along the linear bearing; the linear bearing fixing block is connected to a fixing seat (19) for placing a mesh sheet table; a sensor (15) for sensing displacement of the sensing sheet is provided on the linear bearing fixing block along the axial direction of the linear bearing; the contact block moves outward under the top force of the mesh sheet, driving the guide shaft to move outward along the direction of the linear bearing, thereby making the sensing sheet approach the sensor; the sensor senses a signal and transmits it to the controller, indicating that the mesh sheet is in position and the next action can be performed; The self-weight swing-in-place sensing mechanism comprises a sensing sheet (16) and a contact block (11) for contacting a mesh sheet (17); the contact block is arranged on a contact block mounting seat (1-3); the contact block mounting seat is hinged to a swing bar mounting seat (1-5) via two main swing bars (1-1) and auxiliary swing bars (1-4) arranged in parallel with each other; the contact block mounting seat, the main swing bar, the auxiliary swing bar and the swing bar mounting seat form a linked parallelogram linkage mechanism; the swing bar mounting seat is fixed to a mounting member via a mounting base plate (1-2); and further comprises a sensing sheet (16) arranged on the contact block mounting seat and a self-weight swing sensor (1-8) arranged on the swing bar mounting seat; the contact block moves outwards under the top force of the mesh sheet, driving the parallelogram linkage mechanism to move, thereby causing the sensing sheet to approach or move away from the self-weight swing sensor; the self-weight swing sensor senses the converted signal and transmits it to a controller, indicating that the mesh sheet has been in place and the next action can be performed; The mesh indirect sensing mechanism (3) is arranged below the material picking palm mechanism (5), and the material picking palm mechanism realizes automatic sensing of the mesh (17) through the mesh indirect sensing mechanism. The mesh indirect sensing mechanism includes a contact end (31), and two guide columns (35) are arranged on the contact end. It also includes a sensing mechanism fixing seat (37) and a linear bearing seat (36) fixed on the sensing mechanism fixing seat for carrying a linear bearing (34). The guide column is arranged through the axial hole of the linear bearing. An indirect sensing sheet (32) is arranged on the contact end, and an indirect sensor (33) is arranged on the linear bearing seat. The material picking palm mechanism moves downward, driving the mesh indirect sensing mechanism to move downward to contact the mesh. The indirect sensing sheet on the contact end moves upward through the linear bearing under the guidance of the guide column, so that the indirect sensing sheet approaches the indirect sensor. After the indirect sensor senses the signal, it transmits it to the controller, indicating that the mesh is in place and the next action can be performed. The material taking palm mechanism is provided with a counterweight block (56).

2. The automatic mesh feeding device according to claim 1 is characterized in that: The electromagnet floating installation mechanism (2) is arranged below the material picking palm mechanism (5), and the material picking palm mechanism realizes automatic material picking of the mesh (17) through the electromagnet floating installation mechanism. The electromagnet floating installation mechanism comprises an electromagnet (24) and a connecting block (23) arranged on the electromagnet. The pin shaft (22) arranged on the connecting block is movably connected to the lifting and swinging fixed block (21). The top of the lifting and swinging fixed block is connected to the material picking palm mechanism. The lifting and swinging fixed block is provided with a waist-shaped hole (25), and the pin shaft drives the electromagnet to float flexibly through the waist-shaped hole.

3. The automatic mesh feeding device according to claim 2 is characterized in that: The material taking palm mechanism (5) comprises at least two main frames (51) and auxiliary frames (52) extending to both sides of the main frames. A profile frame (54) is provided under the main frames and the auxiliary frames. An electromagnet floating installation mechanism (2) for sucking up the mesh (17) is provided at the lower end of the profile frame. One end of the main frame is connected to the auxiliary frame, and the other end is inserted into a mesh lifting mechanism (6). The mesh lifting mechanism drives the material taking palm mechanism to rise or fall, thereby enabling the electromagnet floating installation mechanism to suck up and discharge the mesh.

4. The automatic mesh feeding device according to claim 3 is characterized in that: The mesh lifting mechanism (6) comprises a base frame (66), an upper base plate (67), a four-shaped frame, a worm gear lift (68) and a motor (69); the four-shaped frame is connected to a material taking palm mechanism (5); the four-shaped frame comprises two mutually parallel main supports (62), a lifting beam (61) arranged perpendicularly to the main supports, a bottom bracket (65) and an auxiliary bracket (63); the bottom bracket is arranged at the lower end of the main support and parallel to the lifting beam; the auxiliary bracket is arranged between the lifting beam and the bottom bracket and perpendicularly to the bottom bracket; an upper base plate is arranged at the top of the base frame; a guide rod (610) passes through the upper base plate and the main support is connected to the base frame in sequence; the worm gear lift passes through the upper base plate and is connected to the lifting beam; the motor drives the worm gear lift to work under the action of the guide rod, thereby enabling the four-shaped frame to be lifted and lowered, and further driving the material taking palm mechanism to be lifted and lowered.

5. A method for feeding and transplanting using the automatic mesh feeding device according to any one of claims 1 to 4, characterized in that: The steps include: (1) Place the mesh on the mesh table; (2) The mesh in-place sensing mechanism senses whether the mesh on the mesh table is in place; if it is in place, proceed to the next step; if not, continue with the current sensing step; (3) The mesh lifting mechanism drives the material taking palm mechanism to descend; (4) During the descent of the material picking palm mechanism, the mesh indirect sensing mechanism remains in working condition to detect whether it touches the mesh. If it has touched, the electromagnet floating installation mechanism is started to suck the mesh. If it has not touched, the detection state is maintained; (5) The mesh lifting mechanism drives the material taking palm mechanism that has sucked the mesh to rise a certain distance; (6) The mesh transplanting assembly moves as a whole under the action of the ground rail assembly, and the sucked mesh is extended under the prepared truss manipulator, first inserting the lower mesh and then withdrawing; (7) The truss manipulator lowers the steel cage; (8) Repeat the above steps (1) to (7) and place the mesh on top of the steel cage.

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