Multi-dimensional welding robot based on multi-layer steel mesh and welding method thereof

Abstract

The present invention discloses a multi-dimensional welding robot based on a multi-layer steel mesh and a welding method thereof, comprising: a traction device, a welding device and a dragging device arranged in sequence, a first detection device for detecting longitudinal steel bars passing through the dragging device is arranged between the dragging device and the welding device, a second detection device for detecting transverse steel bars after welding is arranged above the traction device, and the welding points of the longitudinal steel bars and the transverse steel bars are positioned and adjusted by the first detection device and the second detection device. The present invention realizes real-time detection, positioning and adjustment during the welding process to ensure the accuracy of the welding points of the longitudinal steel bars and the transverse steel bars, so that the welding points of the multi-layer steel mesh are more consistent, which is convenient for the subsequent fixing of the multi-layer steel mesh.

Description

Technical Field

[0001] The present invention relates to the technical field of steel mesh welding, and more specifically, to a multi-dimensional welding robot based on a multi-layer steel mesh and a welding method thereof. Background Art

[0002] Since the steel mesh of the pipe gallery is a three-dimensional structure, the current welding is manual welding, which is time-consuming and laborious. At the same time, the traditional steel bars will bend during transportation, or the steel bars themselves will bend and deform due to gravity when they are long. The bent steel bars need to be corrected during manual welding. However, the actual correction work is large and the correction results are not ideal. Therefore, the purpose of replacing manual work with machines is achieved by welding the steel mesh in layers.

[0003] For example, the Chinese invention patent with application number 201711459640.9 solves the above problem and discloses a wire mesh welding machine, which aims to provide a wire mesh welding machine that realizes automatic continuous operation, improves production efficiency and processing accuracy. The key points of its technical solution are that it includes a plurality of first feed straightening devices arranged in parallel and spaced order for straightening and inputting the first steel wire, a pneumatic welding mechanism for welding the contact point between the first steel wire and the second steel wire, and a cutting mechanism for cutting the first steel wire of the welded steel mesh. A pulling mechanism for moving the welded fixed steel mesh toward the cutting mechanism and driving the steel mesh toward the cutting mechanism is provided between the pneumatic welding mechanism and the cutting mechanism, and the pulling mechanism is electrically connected to a controller;

[0004] However, the above-disclosed prior art still has the following problems: during the welding process, the distance that the pulling mechanism drives the wire mesh to move intermittently is prone to deviation, resulting in errors in the spacing between two adjacent transverse steel bars on the steel mesh, affecting the subsequent fixation of the multi-layer steel mesh. In addition, during the welding process, the longitudinal steel bars are driven by the pulling mechanism and then pass through the straightening mechanism. After that, the pneumatic welding mechanism is in the transverse steel bar for welding. If the longitudinal steel bars are not straightened in place, the longitudinal steel bars transported to the pneumatic welding mechanism will be in a bent state, and cannot be effectively welded with the transverse steel bars, and the accuracy of the welding points of the longitudinal steel bars and the transverse steel bars cannot be guaranteed each time. Therefore, it is necessary to propose a multi-dimensional welding robot based on a multi-layer steel mesh and a welding method thereof to at least partially solve the problems existing in the prior art. Summary of the invention

[0005] A series of simplified concepts are introduced in the Summary of the Invention, which will be further described in detail in the Detailed Description of the Invention. The Summary of the Invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0006] In order to at least partially solve the above-mentioned problems, the present invention provides a multi-dimensional welding robot based on a multi-layer steel mesh, comprising: a traction device, a welding device and a dragging device arranged in sequence, a first detection device for detecting the longitudinal steel bars passing through the dragging device is provided between the dragging device and the welding device, and a second detection device for detecting the transverse steel bars after welding is provided above the traction device, and the welding points of the longitudinal steel bars and the transverse steel bars are positioned and adjusted by the first detection device and the second detection device.

[0007] Preferably, the dragging device comprises: a first support frame, on which a dragging mechanism is provided for sliding along a direction perpendicular to the direction of conveying the longitudinal steel bars.

[0008] Preferably, the welding device comprises: a second support frame, a welding support portion is provided on the second support frame, a welding body is provided above the welding support portion, the movement of the welding body is controlled by a multi-axis adjustment mechanism, and a conveying mechanism for conveying transverse steel bars is provided on one side of the welding body.

[0009] Preferably, the traction device comprises: a third support frame, on which a traction body is provided, and the traction body can move along a direction of conveying the longitudinal steel bars and a direction perpendicular to the direction of conveying the longitudinal steel bars.

[0010] Preferably, the first detection device is used to detect the straightness of the longitudinal steel bars passing through the dragging mechanism, and adjust the force with which the dragging mechanism clamps the longitudinal steel bars according to the straightness detection result.

[0011] Preferably, the second detection device is used to detect the distance between two adjacent transverse steel bars that have been welded, and the distance of intermittent movement of the traction body along the direction of conveying the longitudinal steel bars is adjusted according to the detection result of the distance.

[0012] Preferably, the first detection device comprises:

[0013] An acquisition module is used to acquire the image to be detected in real time, and to acquire the target image of the longitudinal steel bar from the image to be detected;

[0014] A segmentation module, which segments the target image and the reference image of the longitudinal steel bar using the same segmentation method to obtain a plurality of target image units and a plurality of reference image units;

[0015] A comparison module matches each target image unit with a corresponding reference image unit, obtains a unit offset of the position of the longitudinal steel bar in each target image unit relative to the corresponding reference image unit, and obtains the straightness through the unit offset;

[0016] The judgment module compares the straightness obtained by the comparison module with a preset straightness threshold. If the straightness exceeds the preset straightness threshold, the dragging mechanism is controlled to adjust the clamping force of the longitudinal steel bar.

[0017] Preferably, the dragging mechanism includes: a fixed block, a straightening hole for the longitudinal steel bars to pass through is provided in the fixed block, installation cavities are symmetrically provided on both sides of the straightening hole, a clamping assembly is slidably provided in the installation cavity, and a driving rod electrically connected to the first detection device is provided on one side of the clamping assembly.

[0018] Preferably, the clamping assembly comprises: a movable block slidably arranged in the installation cavity, the movable block is provided with a cavity, a fixing plate is slidably arranged in the cavity, a fixing rod is provided on the fixing plate away from the straightening hole, and passes through the movable block and is connected to the inner wall of the installation cavity, and a connecting tube is provided on the other side of the fixing plate, and a through hole is provided on the side of the movable block close to the straightening hole, and is sealed and slidably connected to the connecting tube, and an L-shaped hole is connected on both sides of the through hole, and a plate body is provided in the L-shaped hole for sealing and sliding, and a plate body is provided in the L-shaped hole on the side of the plate body away from the through hole, and an abutment block is provided at the end of the L-shaped rod extending out of the L-shaped hole, and a straightening block corresponding to the longitudinal steel bar is provided on the side of the movable block close to the straightening hole, and the straightening block is slidably arranged in the installation cavity along a direction perpendicular to the axis of the straightening hole, and the side surface of the straightening block and the abutment block limit sliding connection is an inclined surface; an air bag is connected at one end of the through hole close to the straightening hole.

[0019] A welding method based on a multi-dimensional welding robot for a multi-layer steel mesh, comprising:

[0020] Before welding, the working positions of the traction device, welding device and dragging device set in sequence by the calibration device are calibrated to calibrate the initial welding points of the longitudinal steel bars and the transverse steel bars;

[0021] Control the traction device, welding device and dragging device to work together to weld the longitudinal steel bars and the transverse steel bars to form a steel mesh;

[0022] During the welding process, the first detection device and the second detection device are used to perform real-time positioning and adjustment of the welding points of the longitudinal steel bars and the transverse steel bars.

[0023] Compared with the prior art, the present invention has at least the following beneficial effects:

[0024] The multi-dimensional welding robot based on the multi-layer steel mesh and the welding method thereof described in the present invention are configured to be movable along multiple axes through the traction device, the welding device and the dragging device, so that when the welding point deviates, the corresponding device can be adjusted in time; the traction device is used to pull the welded steel mesh to drive the longitudinal steel bars to move forward, so that the longitudinal steel bars can pass through the dragging device and the welding device in sequence, the welding device is used to weld the longitudinal steel bars and the transverse steel bars, the dragging device forms a resistance to the movement of the longitudinal steel bars, and has the function of straightening the bent longitudinal steel bars, the dragging device forms a clamping force on the surface of the longitudinal steel bars, so that the longitudinal steel bars can be stretched under the pulling power of the traction device, thereby assisting in its straightening, and the first detection device is provided for the longitudinal steel bars passing through the dragging device The steel bars are inspected to detect whether they meet the straightening standards. If they do not meet the straightening standards, the dragging device can be controlled to increase the clamping force on the longitudinal steel bars to increase the friction force passing through the dragging device, thereby increasing the tensile force on the longitudinal steel bars; the traction device pulls the steel mesh forward intermittently, and the distance of each movement is the distance between two adjacent transverse steel bars. The second detection device can monitor in real time whether the welding position of the transverse steel bars meets the standards. If the difference between the detected distance and the preset distance exceeds the preset difference range, the distance of the intermittent movement of the traction device should be adjusted to achieve real-time detection and positioning adjustment during the welding process to ensure the accuracy of the welding points of the longitudinal and transverse steel bars, so that the welding points of the multi-layer steel mesh are more consistent, which is convenient for the subsequent fixation of the multi-layer steel mesh.

[0025] The multi-dimensional welding robot and welding method based on the multi-layer steel mesh described in the present invention, and other advantages, objectives and features of the present invention will be partially reflected through the following description, and will also be partially understood by technical personnel in the field through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0027] Figure 1 This is a schematic structural diagram of a multi-dimensional welding robot based on a multi-layer steel mesh according to the present invention;

[0028] Figure 2 This is a control block diagram of the multi-dimensional welding robot based on multi-layer steel mesh according to the present invention;

[0029] Figure 3 It is a schematic diagram of the internal structure of the dragging mechanism in the multi-dimensional welding robot based on the multi-layer steel mesh according to the present invention;

[0030] Figure 4 It is a partial structural schematic diagram of the dragging mechanism in the multi-dimensional welding robot based on the multi-layer steel mesh according to the present invention;

[0031] Figure 5 The multi-dimensional welding robot based on the multi-layer steel mesh of the present invention Figure 4 Schematic diagram of the partially enlarged structure. DETAILED DESCRIPTION

[0032] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments so that those skilled in the art can implement the invention with reference to the description.

[0033] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[0034] like Figure 1-Figure 5 As shown, the present invention provides a multi-dimensional welding robot based on a multi-layer steel mesh and a welding method thereof, comprising: a traction device 1, a welding device 2 and a dragging device 3 which are arranged in sequence, a first detection device for detecting a longitudinal steel bar 4 passing through the dragging device 3 is arranged between the dragging device 3 and the welding device 2, a second detection device for detecting a transverse steel bar 5 which has been welded is arranged above the traction device 1, and the welding points of the longitudinal steel bar 4 and the transverse steel bar 5 are positioned and adjusted by the first detection device and the second detection device;

[0035] The first detection device is used to detect the straightness of the longitudinal steel bar 4 passing through the dragging mechanism 6, and adjust the force of the dragging mechanism 6 to clamp the longitudinal steel bar 4 according to the straightness detection result;

[0036] The second detection device is used to detect the distance between two adjacent transverse steel bars 5 that have been welded, and the distance of intermittent movement of the traction body 120 along the direction of conveying the longitudinal steel bars 4 is adjusted according to the detection result of the distance.

[0037] The working principle and beneficial effects of the above technical solution: the traction device 1, the welding device 2 and the dragging device 3 are all configured to be movable along multiple axes. Before the welding work, the working positions of the above three devices can be calibrated by the calibration device to ensure the accuracy of the welding points, and when the welding points deviate, the corresponding devices can be adjusted in time; the traction device 1 is used to pull the welded steel mesh, driving the longitudinal steel bars 4 to move forward, so that the longitudinal steel bars 4 can pass through the dragging device 3 and the welding device 2 in turn, and the welding device 2 is used to weld the longitudinal steel bars 4 and the transverse steel bars 5 (this is the prior art and will not be repeated here), the dragging device 3 forms a resistance to the movement of the longitudinal steel bars 4, and has the function of straightening the bent longitudinal steel bars 4, the dragging device 3 forms a clamping force on the surface of the longitudinal steel bars 4, so that under the pulling power of the traction device 1, the longitudinal steel bars 4 can be stretched, thereby assisting them Straightening: the first detection device is used to detect the longitudinal steel bars 4 passing through the dragging device 3 to detect whether they meet the straightening standards. If they do not meet the straightening standards, the dragging device 3 can be controlled to increase the clamping force on the longitudinal steel bars 4 to increase the friction force passing through the dragging device 3, thereby increasing the tensile force on the longitudinal steel bars 4; the traction device 1 pulls the steel mesh forward intermittently, and the distance of each movement is the distance between two adjacent transverse steel bars 5. The second detection device can monitor in real time whether the welding position of the transverse steel bars 5 meets the standards (image detection can be used). If the difference between the detected distance and the preset distance exceeds the preset difference range, the distance of the intermittent movement of the traction device 1 should be adjusted to achieve real-time detection and positioning adjustment during the welding process to ensure the accuracy of the welding points of the longitudinal steel bars 4 and the transverse steel bars 5, so that the welding points of the multi-layer steel mesh are more consistent, which is convenient for the subsequent fixation of the multi-layer steel mesh.

[0038] In one embodiment, the dragging device 3 includes: a first support frame 310 , on which a dragging mechanism 6 is slidably provided along a direction perpendicular to the conveying direction of the longitudinal steel bars 4 .

[0039] The working principle and beneficial effects of the above technical solution are as follows: a plurality of dragging mechanisms 6 are arranged at intervals along a conveying direction perpendicular to the longitudinal steel bars 4, and a plurality of dragging mechanisms 6 are slidably arranged on the first support frame 310 through a fixed support portion, and a spacing between the plurality of dragging mechanisms 6 is fixed. Before welding, the center position of the dragging mechanism 6 can be pre-calibrated and adjusted to correspond to the welding position of the welding device 2 to prevent the longitudinal steel bars 4 from being conveyed away from the welding point.

[0040] In one embodiment, the welding device 2 includes: a second support frame 210, a welding support portion 220 is provided on the second support frame 210, a welding body 230 is provided above the welding support portion 220, the movement of the welding body 230 is controlled by a multi-axis adjustment mechanism, and a conveying mechanism 7 for conveying transverse steel bars 5 is provided on one side of the welding body 230.

[0041] The working principle and beneficial effects of the above technical solution: the welding support part 220 is used to support the welding of the steel mesh, the welding body 230 is used to weld the longitudinal steel bars 4 and the transverse steel bars 5, and the multiple welding support parts 220 and the welding body 230 correspond one-to-one to the dragging mechanism 6. The welding body 230 can be adjusted in multiple directions through the multi-axis adjustment mechanism to facilitate calibration and adjustment of the welding working position of the welding body 230 before welding to ensure accuracy during welding and prevent welding leaks; the conveying mechanism 7 is used to intermittently convey the transverse steel bars 5 to the welding position (which is a prior art and will not be repeated here).

[0042] In one embodiment, the traction device 1 includes: a third support frame 110 , on which a traction body 120 is disposed, and the traction body 120 can move along a direction of conveying the longitudinal steel bars 4 and a direction perpendicular to the direction of conveying the longitudinal steel bars 4 .

[0043] The working principle and beneficial effects of the above technical solution: before welding, the position of the traction body 120 can be adjusted to ensure that the traction position and traction force of the steel mesh will not cause the transverse steel bars 5 to deform. The pulling position is preferably to pull the transverse steel bars 5 close to the welding point, or to pull the longitudinal steel bars 4 to ensure that the steel mesh will not be deformed.

[0044] In one embodiment, the first detection device comprises:

[0045] An acquisition module, used for acquiring the image to be detected in real time, and acquiring a target image of the longitudinal steel bar 4 from the image to be detected;

[0046] A segmentation module, segmenting the target image and the reference image of the longitudinal steel bar 4 using the same segmentation method to obtain a plurality of target image units and a plurality of reference image units;

[0047] A comparison module matches each target image unit with a corresponding reference image unit, obtains a unit offset of the position of each target image unit relative to the longitudinal steel bar 4 in the corresponding reference image unit, and obtains the straightness through the unit offset;

[0048] Among them, the straightness τ is determined by the following formula:

[0049]

[0050] Where n is the number of target image units, E i is the unit offset of the position of the longitudinal reinforcement 4 in the i-th target image unit relative to the corresponding reference image unit, E min is the minimum unit offset allowed;

[0051] The judgment module compares the straightness obtained by the comparison module with the preset straightness threshold, and if the straightness exceeds the preset straightness threshold, controls the dragging mechanism 6 to adjust the clamping force of the longitudinal steel bar 4;

[0052] Among them, the following formula is used to judge the straightness:

[0053]

[0054] Among them, ε is the judgment result, τ min is the lower limit of the flatness threshold, τ max is the upper limit of the straightness threshold.

[0055] The working principle and beneficial effects of the above technical solution: in the straightness determination formula, the smaller the value of the straightness τ is, the better the straightening effect of the longitudinal steel bar 4 is considered to be. In the judgment module, a threshold is set for the straightness, wherein the lower limit value can be taken as 0, and the upper limit value is determined according to the actual situation. When the judgment result is 0, it is considered that the straightness meets the standard. When the judgment result is 1, the straightness does not meet the standard, and the dragging mechanism 6 needs to be adjusted. When the judgment result is error, an error occurs in the detection of the straightness, and the judgment result is invalid, and the detection needs to be repeated.

[0056] The image to be detected is acquired in real time by the acquisition module, and the target image of the longitudinal steel bar 4 is acquired from the image to be detected. The reference image of the longitudinal steel bar 4 is an image when its straightness meets the standard. The target image and the reference image are segmented in the same way, that is, they are evenly segmented into image units of equal size and quantity along the length direction of the longitudinal steel bar 4, and the corresponding image units are matched one by one for similarity to obtain a similarity matrix. The similarity matrix is ​​binarized according to a preset threshold value of the similarity to obtain a position matrix of the longitudinal steel bar 4. The ordinate of the image unit where the deviation first occurs in each column parameter of the position matrix corresponds to a certain section in the image unit. The position vector of the longitudinal steel bar 4 is obtained according to the position vector of a certain section of the longitudinal steel bar 4, and the unit offset of each target image unit relative to the position of the longitudinal steel bar 4 in the corresponding reference image unit is obtained. The straightness is obtained by the unit offset, and then the obtained straightness is compared with the preset straightness threshold to determine whether the straightness meets the straightness threshold, so as to control the dragging mechanism 6 to adjust the clamping force of the longitudinal steel bar 4, so as to realize real-time detection of the longitudinal steel bar 4. If the straightness after adjustment still does not meet the standard, an alarm is issued, the welding work is stopped, and the staff is allowed to come for maintenance to ensure the controllability of the welding quality of the steel mesh.

[0057] In one embodiment, the dragging mechanism 6 includes: a fixing block 610, wherein a straightening hole 611 is provided in the fixing block 610 for the longitudinal steel bar 4 to pass through, and installation cavities 612 are symmetrically provided on both sides of the straightening hole 611, and a clamping assembly is slidably provided in the installation cavity 612, and a driving rod 620 electrically connected to the first detection device is provided on one side of the clamping assembly;

[0058] The clamping assembly includes: a movable block 630 slidably arranged in the installation cavity 612, a driving rod 620 is arranged on one side of the movable block 630, a cavity 631 is arranged in the movable block 630, a fixing plate 640 is slidably arranged in the cavity 631, a fixing rod 650 that passes through the movable block 630 and is connected to the inner wall of the installation cavity 612 is arranged on the side of the fixing plate 640 away from the straightening hole 611, a connecting pipe 660 is arranged on the other side of the fixing plate 640, a through hole 632 that is sealed and slidably connected to the connecting pipe 660 is arranged on the side of the movable block 630 close to the straightening hole 611, and L-shaped holes 633 are connected on both sides of the through hole 632. 3 is provided with a plate body 670 for sealing and sliding inside, and an L-shaped rod 680 is provided on the side of the plate body 670 away from the through hole 632, and an abutment block 681 is provided on the end of the L-shaped rod 680 extending out of the L-shaped hole 633, and a straightening block 690 corresponding to the longitudinal steel bar 4 is provided on the side of the movable block 630 close to the straightening hole 611, and the straightening block 690 is slidably arranged in the installation cavity 612 along a direction perpendicular to the axis of the straightening hole 611, and the side surface of the straightening block 690 and the abutment block 681 for limited sliding connection is an inclined surface; an end of the through hole 632 close to the straightening hole 611 is connected with an air bag 6100; air holes 634 connected with the cavity 631 are provided on both sides of the through hole 632.

[0059] The working principle and beneficial effects of the above technical solution are as follows: the straightening blocks 690 are symmetrically arranged on both sides of the straightening hole 611, and the side of the straightening block 690 close to the straightening hole 611 is an arc corresponding to the longitudinal steel bar 4; initially, the position of the straightening block 690 can be set not to contact the longitudinal steel bar 4, that is, the longitudinal steel bar 4 is only straightened through the straightening hole 611; when the first detection device detects that the straightness of the longitudinal steel bar 4 does not meet the welding requirements, the driving rod 620 is controlled to move, and the driving rod 620 is electrically controlled to move to the side close to the straightening hole 611, driving the movable block 630 and the straightening block 630 to move to the side close to the straightening hole 611, thereby ... 90 moves in the installation cavity 612 toward the side of the straightening hole 611, so that the straightening block 690 abuts against the longitudinal steel bar 4, increasing the friction of the longitudinal steel bar 4 passing through the dragging mechanism 6, thereby increasing the tensile force on the longitudinal steel bar 4 and improving the straightening effect on the longitudinal steel bar 4; at the same time, after the movable block 630 moves, the volume of the cavity 631 on the side of the fixed plate 640 close to the driving rod 620 is reduced, so that the gas at this position is pressed into the L-shaped hole 633 and the airbag 6100 through the connecting pipe 660 and the through hole 632 (the airbag 6100 is elastically abutted against the straightening block 690), and under the push of the gas, the L The plate body 670 in the shaped hole 633 is pushed, so that the abutment block 681 slides along the inclined surface (the sliding connection between the abutment block 681 and the straightening block 690 will not be disengaged), and then the straightening block 690 moves to the side close to the longitudinal steel bar 4 to increase its contact force with the longitudinal steel bar 4; the purpose of this design is to make the contact between the longitudinal steel bar 4 and the straightening block 690 a slightly elastic contact, to ensure that the contact between the longitudinal steel bar 4 and the straightening block 690 will not be disengaged or the force is too large to hinder the movement of the longitudinal steel bar 4, and when the longitudinal steel bar 4 vibrates during the transportation process, an extrusion force is generated on the straightening block 690, then The straightening block 690 will exert a force on the abutment block 681, driving it to compress the gas in the through hole 632, while the driving rod 620 will not move due to the pressure of the gas, and the gas will be filled into the airbag 6100, so that the vibration of the longitudinal steel bar 4 will be offset by the elastic action of the airbag 6100 on the straightening block 690, and the straightening block 690 on the other side with reduced abutment force with the longitudinal steel bar 4 will remain in abutment with the longitudinal steel bar 4 under the elastic push of the airbag 6100. Therefore, if the longitudinal steel bar 4 deviates along the radial direction, it will be clamped by the clamping assembly to ensure its straightening effect.

[0060] The present invention also provides a welding method of a multi-dimensional welding robot based on a multi-layer steel mesh, comprising:

[0061] Before welding, the working positions of the traction device 1, the welding device 2 and the dragging device 3 are sequentially set by the calibration device to calibrate the initial welding points of the longitudinal steel bars 4 and the transverse steel bars 5;

[0062] Control the traction device 1, the welding device 2 and the dragging device 3 to work together to weld the longitudinal steel bars 4 and the transverse steel bars 5 to form a steel mesh;

[0063] During the welding process, the first detection device and the second detection device are used to perform real-time positioning and adjustment of the welding points of the longitudinal steel bars 4 and the transverse steel bars 5 .

[0064] The working principle and beneficial effects of the above technical solution: the traction device 1, the welding device 2 and the dragging device 3 are all configured to be movable along multiple axes. Before the welding work, the working positions of the above three devices can be calibrated by the calibration device to ensure the accuracy of the welding points, and when the welding points deviate, the corresponding devices can be adjusted in time; the traction device 1 is used to pull the welded steel mesh, drive the longitudinal steel bars 4 to move forward, so that the longitudinal steel bars 4 can pass through the dragging device 3 and the welding device 2 in turn, and the welding device 2 is used to weld the longitudinal steel bars 4 and the transverse steel bars 5 (this is the prior art and will not be repeated here), the dragging device 3 forms a resistance to the movement of the longitudinal steel bars 4, and has the function of straightening the bent longitudinal steel bars 4, the dragging device 3 forms a clamping force on the surface of the longitudinal steel bars 4, so that under the pulling power of the traction device 1, it can make The longitudinal steel bars 4 are stretched to assist in their straightening. The first detection device is used to detect the longitudinal steel bars 4 passing through the dragging device 3 to detect whether they meet the straightening standards. If they do not meet the straightening standards, the dragging device 3 can be controlled to increase the clamping force on the longitudinal steel bars 4 to increase the friction force passing through the dragging device 3, thereby increasing the tensile force on the longitudinal steel bars 4; the traction device 1 pulls the steel mesh forward intermittently, and the distance of each movement is the spacing between two adjacent transverse steel bars 5. The second detection device can monitor in real time whether the welding position of the transverse steel bars 5 meets the standards. If the difference between the detected spacing and the preset spacing exceeds the preset difference range, the intermittent movement distance of the traction device 1 should be adjusted to ensure the accuracy of the welding points of the longitudinal steel bars 4 and the transverse steel bars 5, so that the welding points of the multi-layer steel mesh are more consistent, which is convenient for the subsequent fixation of the multi-layer steel mesh.

[0065] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0066] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0067] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A multi-dimensional welding robot based on multi-layer steel mesh, characterized in that: include: A traction device (1), a welding device (2) and a dragging device (3) are arranged in sequence, a first detection device for detecting longitudinal steel bars (4) passing through the dragging device (3) is arranged between the dragging device (3) and the welding device (2), a second detection device for detecting transverse steel bars (5) after welding is arranged above the traction device (1), and the welding points of the longitudinal steel bars (4) and the transverse steel bars (5) are positioned and adjusted by the first detection device and the second detection device; The dragging device (3) comprises: a first support frame (310), on which a dragging mechanism (6) is slidably provided in a direction perpendicular to the direction of conveying the longitudinal steel bars (4); The dragging mechanism (6) comprises: a fixing block (610), wherein a straightening hole (611) is provided in the fixing block (610) for the longitudinal steel bar (4) to pass through, installation cavities (612) are symmetrically provided on both sides of the straightening hole (611), a clamping assembly is slidably provided in the installation cavity (612), and a driving rod (620) electrically connected to the first detection device is provided on one side of the clamping assembly; The clamping assembly comprises: a movable block (630) slidably arranged in the installation cavity (612); a fixed plate (640) slidably arranged in the cavity (631) of the movable block (630); a fixed rod (650) passing through the movable block (630) and connected to the installation cavity (612) is arranged on one side of the fixed plate (640); a connecting pipe (660) is arranged on the other side of the fixed plate (640); a through hole (632) sealingly sliding with the connecting pipe (660) is arranged on one side of the movable block (630) close to the straightening hole (611); L-shaped holes (633) are arranged on both sides of the through hole (632). ), a plate body (670) is provided in a sealed sliding manner in the L-shaped hole (633), an L-shaped rod (680) is provided on the side of the plate body (670) away from the through hole (632), an abutment block (681) is provided at the end of the L-shaped rod (680) extending out of the L-shaped hole (633), a straightening block (690) is provided on the side of the movable block (630) close to the straightening hole (611), the straightening block (690) is slidably arranged in the installation cavity (612), the side surface of the straightening block (690) and the abutment block (681) being limitedly slidably connected is an inclined surface, and an air bag (6100) is provided at the other end of the through hole (632).

2. The multi-dimensional welding robot based on multi-layer steel mesh according to claim 1 is characterized in that: The welding device (2) comprises: a second support frame (210), a welding support portion (220) is provided on the second support frame (210), a welding body (230) is provided above the welding support portion (220), the movement of the welding body (230) is controlled by a multi-axis adjustment mechanism, and a conveying mechanism (7) for conveying transverse steel bars (5) is provided on one side of the welding body (230).

3. The multi-dimensional welding robot based on multi-layer steel mesh according to claim 1 is characterized in that: The traction device (1) comprises: a third support frame (110), on which a traction body (120) is arranged, and the traction body (120) is capable of moving along a direction of conveying the longitudinal steel bars (4) and a direction perpendicular to the direction of conveying the longitudinal steel bars (4).

4. The multi-dimensional welding robot based on multi-layer steel mesh according to claim 1 is characterized in that: The first detection device is used to detect the straightness of the longitudinal steel bars (4) passing through the dragging mechanism (6), and to adjust the force with which the dragging mechanism (6) clamps the longitudinal steel bars (4) based on the straightness detection result.

5. The multi-dimensional welding robot based on multi-layer steel mesh according to claim 3 is characterized in that: The second detection device is used to detect the distance between two adjacent transverse steel bars (5) that have been welded, and to adjust the distance of intermittent movement of the traction body (120) along the direction of conveying the longitudinal steel bars (4) based on the detection result of the distance.

6. The multi-dimensional welding robot based on multi-layer steel mesh according to claim 4 is characterized in that: The first detection device comprises: An acquisition module, used for acquiring the image to be detected in real time, and acquiring a target image of the longitudinal steel bar (4) from the image to be detected; A segmentation module, which segments the target image and the reference image of the longitudinal steel bar (4) using the same segmentation method to obtain a plurality of target image units and a plurality of reference image units; A comparison module matches each target image unit with a corresponding reference image unit, obtains a unit offset of the position of each target image unit relative to the longitudinal steel bar (4) in the corresponding reference image unit, and obtains the straightness through the unit offset; The judgment module compares the straightness obtained by the comparison module with a preset straightness threshold, and if the straightness exceeds the preset straightness threshold, controls the dragging mechanism (6) to adjust the clamping force of the longitudinal steel bar (4).

7. A welding method based on a multi-dimensional welding robot of a multi-layer steel mesh according to any one of claims 1 to 6, characterized in that: include: Before welding, the working positions of the traction device (1), the welding device (2) and the dragging device (3) are sequentially set by the calibration device to calibrate the initial welding points of the longitudinal steel bars (4) and the transverse steel bars (5); Controlling the traction device (1), the welding device (2) and the dragging device (3) to work together to weld the longitudinal steel bars (4) and the transverse steel bars (5) to form a steel mesh; During the welding process, the first detection device and the second detection device are used to perform real-time positioning and adjustment on the welding points of the longitudinal steel bars (4) and the transverse steel bars (5).

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