Automatic welding and bending device for tower column draw hook rib

Abstract

The present application provides a kind of tower column pull hook rib automatic welding bending device, inner cavity platform is slidably connected with welding sliding platform, and the driving motor on welding sliding platform is engaged with third rack through gear to drive welding sliding platform to slide on inner cavity platform, welding manipulator is arranged on second mounting base, and the driving motor on second mounting base makes second mounting base slide transversely on welding sliding platform through gear rack, and welding manipulator is set on welding manipulator, and welding bending device is set on welding manipulator, and welding bending device includes bending device and welding torch control device, welding torch control device is set on bending device, welding torch is set on welding torch control device, and welding torch control device controls welding torch to move and weld in multiple positions.It can clamp stirrup inside the steel part close to the bending point on the pull hook rib, without affecting the bending of pull hook rib.Bending mechanism is provided on the bending mechanism, and the pull hook rib can be bent on site.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of bridge construction, in particular to a tower column hooking bar automatic welding and bending device. BACKGROUND

[0002] Reinforcement component construction is one of the future development directions of bridge tower construction technology. The reinforcement is made into a reinforcement component in advance, and then the whole is hoisted to the butt joint position for overall installation. The reinforcement component construction technology can effectively save the bridge tower reinforcement binding construction time and improve the reinforcement binding quality. The reinforcement component can be used in a factory or a special jig frame by using mechanized or semi-mechanized operation, which can effectively reduce the labor intensity, improve the working environment and reduce the risk of high-altitude operation.

[0003] During the production of bridge reinforcement components, a large number of hooking bars need to be installed manually. The operation process is complicated, which is not conducive to the development of bridge reinforcement industrialization construction, and a mechanized hooking bar installation is needed to replace manual operation. SUMMARY

[0004] The main purpose of the present application is to provide a tower column hooking bar automatic welding and bending device to solve the problem of pure manual operation of hooking bar installation when the reinforcement component is assembled in the jig frame.

[0005] To solve the above technical problems, the technical scheme adopted by the present application is as follows: a tower column hooking bar automatic welding and bending device, the inner cavity platform is slidably connected with the welding sliding platform, the driving motor on the welding sliding platform drives the welding sliding platform to slide on the inner cavity platform through the meshing of the gear and the third rack;

[0006] The welding manipulator is arranged on the second mounting base, and the driving motor on the second mounting base drives the second mounting base to slide transversely on the welding sliding platform through the gear and rack;

[0007] The welding manipulator is arranged on the welding manipulator, and the welding and bending device includes a bending device and a welding gun control device. The welding gun control device is arranged on the bending device, the welding gun is arranged on the welding gun control device, and the welding gun control device controls the welding gun to move and weld in multiple positions.

[0008] In the preferred scheme, the bending device includes a fixed frame, the fixed frame is connected with the welding manipulator, one side of the fixed frame is provided with a hooking bar clamping seat, and the hooking bar clamping seat is used for clamping the straight section of the hooking bar.

[0009] In the preferred scheme, one side of the fixed frame is provided with a bending electric push rod, the bending electric push rod is provided with a fixed branch arm, the end of the bending electric push rod is hinged with the end of the bending crank arm, the end of the fixed branch arm is hinged with the middle part of the bending crank arm through a bending hinge arm, and the end of the bending crank arm is provided with a V-shaped bending positioning groove.

[0010] After the hook rib clamping seat clamps the straight section of the hook rib, the electric push rod is bent to push the bending arm to bend the straight end of the hook rib.

[0011] In the preferred embodiment, the hook rib clamping seat is arranged on one side of the fixed frame, and the fixed frame is provided with a positioning slot on the side of the position of the hook rib clamping seat, and the steel bar of the steel bar part is clamped and positioned on the positioning slot.

[0012] In the preferred embodiment, the hook rib clamping seat includes two oppositely clamped upper clamping blocks and lower clamping blocks, and the two clamping blocks are oppositely clamped by two fifth cylinders.

[0013] In the preferred embodiment, the pressing and pushing rod end of the fifth cylinder is connected with a pushing sliding block, the pushing sliding block is slidingly connected with a fixed plate, the fixed plate is fixedly connected with the fixed frame, the lower end of the pushing sliding block is hingedly connected with the upper clamping block through a pushing hinge rod, and the upper clamping block is slidingly connected with the fixed plate through a plurality of guide columns.

[0014] In the preferred embodiment, the upper clamping block and the lower clamping block are provided with hook rib clamping grooves for clamping the hook rib.

[0015] In the preferred embodiment, the upper clamping block is provided with a plurality of positioning protrusions, and the lower clamping block is provided with a plurality of positioning grooves matched with the bending positioning grooves.

[0016] In the preferred embodiment, the structure of the welding gun control device is that a welding gun mounting frame is arranged on one side of the bending device, a welding gun is arranged on a sliding block, the sliding block is slidingly connected with a sliding groove, the sliding groove is transversely slidingly connected with a sliding rod of the welding gun mounting frame, an end of a third cylinder telescopic rod of the welding gun mounting frame is connected with the sliding block, and an end of a fourth cylinder telescopic rod on the side of the welding gun mounting frame is connected with the sliding groove.

[0017] The welding end of the welding gun extends into the bending device, and the third cylinder and the fourth cylinder move the position of the welding gun to weld the hook rib on the steel bar part.

[0018] In the preferred embodiment, the welding manipulator is provided with a video monitoring device for controlling the position of the hook rib insertion.

[0019] The inner cavity platform is also provided with an artificial platform, and the artificial platform is foldable, so that the feeding sliding platform and the welding sliding platform slide up and down on the inner cavity platform and the outer cavity platform.

[0020] One side of the artificial platform is hingedly connected with a supporting cross frame, the supporting cross frame is hingedly connected with an end of a retractable arm bending long rod, an end of a sixth cylinder telescopic rod of the supporting cross frame is hingedly connected with a retractable arm bending position, an end of a retractable arm bending short rod is hingedly connected with a retractable hinge rod, and an end of the retractable hinge rod is hingedly connected with one side of the artificial platform.

[0021] A limiting stopper is arranged on the supporting stand column of the inner cavity platform, and the lower end of the artificial platform abuts against the limiting stopper after being unfolded.

[0022] The inner cavity platform lower end is provided with a plurality of ground rails, the ground rails are arranged on the ground through anchor rods, and the inner cavity platform is in sliding connection with the ground rails.

[0023] The present application provides a tower column pull hook bar automatic welding and bending device. When the steel bar parts are assembled on the jig assembly, the pull hook bar is the last process of the part assembly. A steel bar part assembly jig is arranged, and the assembly jig is divided into an inner cavity and an outer cavity. A manual operation platform is arranged on the inner and outer cavity jigs, the manual operation platform can move up and down along the jig stand, and can be fixed at several points.

[0024] An automatic pull hook bar grabbing mechanism is arranged on the bottom of the outer cavity support of the part jig. The present application mainly uses mechanical devices to complete the automatic feeding, point searching, feeding, installation, bending and welding of the pull hook bar in the steel bar part jig. The manual operation is replaced to realize the automatic installation of the pull hook bar. The platform is a mechanism bearing platform, which is controlled to move up and down by a servo motor. The pull hook bar rack and the pull hook bar feeding mechanism are installed on the platform. The pull hook bar rack is in a fixed position, and the feeding mechanism can slide along the platform. It is convenient to take the pull hook bar. The current taking mechanism is a three-coordinate mechanism, which uses a mechanical hand to replace the three-coordinate movement. The taking mechanism is provided with a welding gun, machine vision and other structures.

[0025] A pull hook bar bending mechanism is arranged on the bottom of the inner cavity platform of the part jig. The bending mechanism is provided with a pull hook bar clamping groove, which can clamp the pull hook bar close to the bending point and inside the steel bar part, so as to not affect the bending of the pull hook bar. The bending mechanism is provided with a bending mechanism, which can bend the pull hook bar on site. At the same time, the bending mechanism is integrated with a machine vision recognition, a welding gun and other mechanisms. BRIEF DESCRIPTION OF DRAWINGS

[0026] The present application will be further described below in combination with the drawings and examples:

[0027] Figure 1 is the overall installation front view structure diagram of the present application;

[0028] Figure 2 is the overall installation rear view structure diagram of the present application;

[0029] Figure 3 is the overall installation top view structure diagram of the present application;

[0030] Figure 4 is the installation structure diagram of the inner cavity platform and the outer cavity platform of the present application;

[0031] Figure 5 is the overall structure diagram of the outer cavity platform of the present application;

[0032] Figure 6Is the overall installation structure diagram of the invention's pull hook muscle material frame and automatic feeding mechanical hand;

[0033] Figure 7 Is the front view structure diagram of the invention's pull hook muscle material frame;

[0034] Figure 8 Is the rear view structure diagram of the invention's pull hook muscle material frame;

[0035] Figure 9 Is the disassembly structure diagram of the invention's pull hook muscle material frame;

[0036] Figure 10 Is the installation sectional view structure diagram of the invention's pull hook muscle material frame automatic taking material frame;

[0037] Figure 11 Is the installation sectional view structure diagram of the invention's limiting pull pin;

[0038] Figure 12 Is the installation sectional view structure diagram of the invention's blanking limiting block;

[0039] Figure 13 Is the structure diagram of the invention's automatic feeding mechanical hand;

[0040] Figure 14 Is the installation structure diagram of the invention's feeding electric push rod and hook muscle clamping arm;

[0041] Figure 15 Is the disassembly structure diagram of the invention's hook muscle clamping arm;

[0042] Figure 16 Is the internal structure diagram of the invention's clamping cylinder;

[0043] Figure 17 Is the left side view overall structure diagram of the invention's inner cavity platform;

[0044] Figure 18 Is the right side view overall structure diagram of the invention's inner cavity platform;

[0045] Figure 19 Is the overall structure diagram of the invention's welding mechanical hand;

[0046] Figure 20 Is the installation structure diagram of the invention's welding gun control device and bending device;

[0047] Figure 21 Is the left side view installation structure diagram of the invention's welding gun control device;

[0048] Figure 22 Is the right side view installation structure diagram of the invention's welding gun control device;

[0049] Figure 23 Is the installation structure diagram of the invention's hook muscle clamping seat;

[0050] Figure 24 is the sectional view of the hook rib clamping seat of the present application;

[0051] Figure 25 is the overall structure view of the bending device of the present application;

[0052] Figure 26 is the top view of the bending device of the present application;

[0053] Figure 27 is the side view of the bending device of the present application;

[0054] Figure 28 is the single bending principle structure view of the bending device of the present application;

[0055] Figure 29 is the folding and unfolding structure view of the artificial platform of the present application;

[0056] Figure 30 is the front view of the folding and unfolding structure view of the artificial platform of the present application.

[0057] In the figure: inner cavity platform 1; steel bar part 2; outer cavity platform 3; artificial platform 4; ground rail 5; anchor rod 501; first rack 6; pull hook rib material rack 7; fixed table top 701; locking buckle 702; limiting pull pin 703; first wedge-shaped seat 704; second wedge-shaped seat 705; avoiding groove 706; pull hook rib feeding groove 707; automatic feeding manipulator 8; lifting arm 801; feeding sliding platform 9; sliding roller 901; second rack 10; automatic taking material rack 11; first cylinder 1101; taking material rod 1102; blanking limiting block 1103; feeding electric push rod 12; first mounting base 13; hook rib clamping arm 14; second cylinder 1401; clamping claw 1402; hook rib clamping claw 1403; rotary motor 15; third rack 16; welding sliding platform 17; welding manipulator 18; second mounting base 19; bending electric push rod 20; welding gun 21; welding gun control device 22; welding gun mounting seat 2201; third cylinder 2202; sliding block 2203; welding gun mounting rack 2204; sliding groove 2205; sliding rod 2206; fourth cylinder 2207; bending device 23; positioning clamping groove 2301; guide sliding column 2302; sliding sleeve 2303; bending crank 2304; bending positioning groove 2305; bending hinged arm 2306; fixed supporting arm 2307; hook rib clamping seat 24; upper clamping block 2401; fixed plate 2402; fifth cylinder 2403; positioning protrusion 2405; hook rib clamping groove 2406; positioning groove 2407; lower clamping block 2408; pressing push rod 2409; push sliding block 2410; push hinged rod 2411; guide column 2412; supporting cross 25; sixth cylinder 26; contraction arm 27; contraction hinged rod 28; limiting block 29. DETAILED DESCRIPTION

[0058] Example 1

[0059] like Figures 1-30 As shown, an automatic welding and bending device for tower column hook reinforcement includes an inner platform 1 and an outer platform 3, which are located on both sides of the reinforcing steel component 2. An automatic feeding robot 8 is mounted on the outer platform 3, and a hook reinforcement material holder 7 is mounted on one side of the automatic feeding robot 8. A welding robot 18 is mounted on the inner platform 1, and the welding robot 18 is equipped with a bending and welding device. The automatic feeding robot 8 passes the straight end of the hook reinforcement through the reinforcing steel component 2, and the welding robot 18 bends the straight end of the hook reinforcement and welds it to the reinforcing steel component 2 using the welding device. Figures 1-2 The structure shown has an inner cavity platform 1 and an outer cavity platform 3 on both sides of the steel reinforcement component 2. The automatic feeding robot 8 on the outer cavity platform 3 takes material from the hook reinforcement rack 7 and passes it through the steel reinforcement component 2. The welding robot 18 on the inner cavity platform 1 bends the straight section of the hook reinforcement and welds it to the steel reinforcement component 2. The overall structure is simple.

[0060] In the preferred embodiment, a feeding sliding platform 9 is provided on the outer cavity platform 3. One side of the feeding sliding platform 9 is slidably connected to the outer cavity platform 3 and is driven to slide up and down on the outer cavity platform 3 by a gear and rack. The other side is supported against the support column of the outer cavity platform 3 by multiple sliding rollers 901. The automatic feeding robot 8 and the hook material holder 7 are set on the feeding sliding platform 9. The entire automatic feeding robot 8 and the hook material holder 7 are set and installed on the feeding sliding platform 9 and can slide up and down on the outer cavity platform 3. The entire feeding sliding platform 9 is driven by a motor through the meshing of gears and racks.

[0061] In the preferred embodiment, the automatic feeding robot 8 and the hook-and-reinforcement rack 7 are mounted on the first mounting base 13, which is slidably connected to the feeding sliding platform 9. The drive motor on the first mounting base 13 drives the first mounting base 13 to slide on the feeding sliding platform 9 via a gear meshing with the second rack 10. The automatic feeding robot 8 and the hook-and-reinforcement rack 7 are mounted on the first mounting base 13, which can slide laterally on the feeding sliding platform 9, realizing two degrees of freedom of movement for the automatic feeding robot 8 and the hook-and-reinforcement rack 7 on the outer cavity platform 3, facilitating access to any position of the reinforcing bar component 2.

[0062] In the preferred embodiment, the pull hook rib rack 7 is structured as follows: a rectangular frame forms a U-shaped pull hook rib feeding groove 707, the lower end opening position of the pull hook rib feeding groove 707 is clamped with the fixed table top 701, the automatic material taking rack 11 is arranged below the fixed table top 701, the automatic material taking rack 11 is slidingly connected with the fixed table top 701, a plurality of material taking rods 1102 are arranged on the automatic material taking rack 11, the end of the material taking rod 1102 is provided with a groove for placing the hook rib, the first air cylinder 1101 telescopic rod in the fixed table top 701 is connected with the automatic material taking rack 11; as shown in the structure, the first air cylinder 1101 drives the automatic material taking rack 11 to reach the lower part of the pull hook rib feeding groove 707 of the pull hook rib rack 7, the hook rib in the pull hook rib feeding groove 707 falls on the automatic material taking rack 11, and the material taking is completed. Figures 7-12

[0063] A plurality of second wedge-shaped seats 705 are arranged on the pull hook rib feeding groove 707, a plurality of first wedge-shaped seats 704 matched with the second wedge-shaped seats 705 are arranged on the fixed table top 701, the pull hook rib feeding groove 707 is suspended at the lower end of the fixed table top 701 through the first wedge-shaped seat 704 and the second wedge-shaped seat 705; after the hook rib is placed outside, the entire pull hook rib feeding groove 707 is installed on the fixed table top 701, and a distance is left between the pull hook rib feeding groove 707 and the fixed table top 701, so as to facilitate the discharging.

[0064] The first wedge-shaped seat 704 and the second wedge-shaped seat 705 are connected through a plurality of locking buckles 702; the locking buckle 702 facilitates the quick disassembly and assembly of the pull hook rib feeding groove 707 and the fixed table top 701.

[0065] A plurality of limiting pull pins 703 are arranged at the lower end opening position of the pull hook rib feeding groove 707, one end of the limiting pull pin 703 is clamped at one side of the hook rib feeding groove 707, and the other end is horizontally arranged at the lower end opening position of the pull hook rib feeding groove 707; after the pull hook rib feeding groove 707 is filled with material, the limiting pull pin 703 is clamped at the lower end opening position of the pull hook rib feeding groove 707, so as to prevent the hook rib from falling during the installation of the pull hook rib feeding groove 707, and the limiting pull pin 703 is pulled out during the material taking process after the installation is completed.

[0066] After the automatic material taking rack 11 is retracted, the hook rib in the pull hook rib feeding groove 707 falls on the groove at the end of the material taking rod 1102, and then the first air cylinder 1101 is used to push out, and the material taking is completed.

[0067] ​In the preferred embodiment, the fixed platform 701 is provided with multiple clearance slots 706, and the automatic material handling rack 11 is provided with multiple material discharge limit blocks 1103. The material discharge limit blocks 1103 are slidably connected to the automatic material handling rack 11, and are located inside the clearance slots 706, with their upper ends positioned below the hook rib discharge slots 707. When the automatic material handling rack 11 retracts, the material discharge limit blocks 1103 cause the hook rib to fall onto the material handling rod 1102. During pushing, the material discharge limit blocks 1103 are engaged below the hook rib discharge slots 707 to prevent the hook rib from falling.

[0068] like Figures 9-12 As shown in the structure, the unloading limit block 1103 is slidably connected to the automatic material handling frame 11. During the sliding process of the automatic material handling frame 11, the unloading limit block 1103 is kept inside the clearance groove 706.

[0069] During the entire process of the automatic material handling rack 11 moving backward, the material discharge limit block 1103 abuts against the root of the clearance groove 706, and the hook bar falls onto the groove at the end of the material handling rod 1102. When the automatic material handling rack 11 pushes out, the upper end of the material discharge limit block 1103 abuts against the hook bar release groove 707, and the hook bar will abut against the top of the material discharge limit block 1103 to complete the limit and prevent the hook bar from falling, thus realizing the single-bar material handling step.

[0070] In the preferred embodiment, the automatic feeding robot 8 is a multi-degree-of-freedom robot. The lifting arm 801 of the automatic feeding robot 8 is equipped with a feeding electric push rod 12 at its end. A hook-and-reinforcement clamping arm 14 is mounted on the sliding plate of the feeding electric push rod 12. The end of the hook-and-reinforcement clamping arm 14 is connected to a rotary motor 15, which in turn is connected to the sliding plate of the feeding electric push rod 12. The feeding electric push rod 12 pushes the entire hook-and-reinforcement clamping arm 14 into the steel reinforcement component 2, thus completing the hook-and-reinforcement installation step. The rotary motor 15 can adjust the angle of the entire hook-and-reinforcement clamping arm 14 in a timely manner, facilitating the adjustment of the hook-and-reinforcement angle.

[0071] The hook bar clamping arm 14 is equipped with multiple second cylinders 1401. The end of the second cylinder 1401 is equipped with a clamping claw 1402. The clamping claw 1402 is used to clamp the straight section of the hook bar. The second cylinder 1401 is used to drive the clamping claw 1402 to clamp the straight section of the hook bar.

[0072] The second cylinder 1401 at the end of the hook-and-rib clamping arm 14 is equipped with hook-and-rib clamping claws 1403. The hook-and-rib clamping claws 1403 have a right-angle structure, and the bent positions of the two hook-and-rib clamping claws 1403 form clamping grooves. The hook-and-rib clamping claws 1403 are used to clamp the bent section of the hook-and-rib; for example... Figure 15 As shown in the structure, the two hook rib clamping claws 1403 form a clamping groove at the bending position to facilitate clamping the entire bent section of the hook rib.

[0073] The upper right-angled positions of the clamping claw 1402 and the hook-rib clamping claw 1403 are rotatably connected to the second cylinder 1401, and the upper right-angled ends of the clamping claw 1402 and the hook-rib clamping claw 1403 are hinged to the telescopic rod of the second cylinder 1401. The clamping method of the second cylinder 1401 is as follows: Figure 16 The structure shown can clamp the entire hook bar in a timely manner.

[0074] Example 2

[0075] Further explanation in conjunction with Example 1, such as Figures 1-30 The structure shown has an inner cavity platform 1 slidably connected to a welding sliding platform 17. The drive motor on the welding sliding platform 17 drives the welding sliding platform 17 to slide on the inner cavity platform 1 through gear meshing with the third rack 16. The welding sliding platform 17 is used to mount the welding robot 18. The welding sliding platform 17 moves up and down on the inner cavity platform 1. The drive motor drives the welding sliding platform 17 to slide on the inner cavity platform 1 through gear meshing with the third rack 16.

[0076] The welding robot 18 is mounted on the second mounting base 19. The drive motor on the second mounting base 19 causes the second mounting base 19 to slide laterally on the welding sliding platform 17 via a gear and rack. The lateral sliding of the second mounting base 19 on the welding sliding platform 17 enables the entire welding robot 18 to move with multiple degrees of freedom on the inner cavity platform 1.

[0077] The welding robot 18 is a multi-degree-of-freedom robot with a welding bending device. The welding bending device includes a bending device 23 and a welding torch control device 22. The welding torch control device 22 is mounted on the bending device 23, and the welding torch 21 is mounted on the welding torch control device 22. The welding torch control device 22 controls the welding torch 21 to move and weld in multiple positions.

[0078] In the preferred embodiment, the bending device 23 includes a fixed frame connected to the welding robot 18. A hook clamping seat 24 is provided on one side of the fixed frame to clamp the straight section of the hook rib. A bending electric push rod 20 is provided on one side of the fixed frame. A fixed support arm 2307 is provided on the bending electric push rod 20. The end of the telescopic rod of the bending electric push rod 20 is hinged to the end of the bending crank arm 2304. The end of the fixed support arm 2307 is hinged to the middle of the bending crank arm 2304 via a bending hinge arm 2306. The end of the bending crank arm 2304 is provided with a V-shaped bending positioning groove 2305. Figures 25-28 As shown in the structure, the bending electric actuator 20 pushes the bending crank arm 2304, which is limited by the bending hinge arm 2306, forming a bending ring structure to bend the end of the hook bar and hang it on the steel bar component 2. After the hook bar clamping seat 24 clamps the straight section of the hook bar, the bending electric actuator 20 pushes the bending crank arm 2304 to bend the straight end of the hook bar.

[0079] Hook rib clamping seat 24 is arranged on one side of the fixed frame, and the fixed frame is provided with a positioning clamping groove 2301 on the side of the hook rib clamping seat 24, and the steel bar of the steel bar part 2 is clamped and positioned on the positioning clamping groove 2301. Figure 20 As shown in the structure, the steel bar of the steel bar part 2 is clamped on the positioning clamping groove 2301, the hook rib is clamped on the hook rib clamping seat 24, and then the bending structure bends the entire hook rib flat end.

[0080] The hook rib clamping seat 24 comprises two clamping upper clamping blocks 2401 and lower clamping blocks 2408, and the two clamping blocks are clamped by two fifth cylinders 2403 respectively; the end of the pressing push rod 2409 of the fifth cylinder 2403 is connected with a push sliding block 2410, the push sliding block 2410 is slidingly connected with a fixed plate 2402, the fixed plate 2402 is fixedly connected with the fixed frame, the lower end of the push sliding block 2410 is hinged with the upper clamping block 2401 through a pushing hinge rod 2411, and the upper clamping block 2401 is slidingly connected with the fixed plate 2402 through a plurality of guide columns 2412; the two clamping upper clamping blocks 2401 and lower clamping blocks 2408 are clamped by the fifth cylinder 2403 to realize clamping.

[0081] The upper clamping block 2401 and the lower clamping block 2408 are provided with hook rib clamping grooves 2406 for clamping the hook rib.

[0082] The upper clamping block 2401 is provided with a plurality of positioning protrusions 2405, and the lower clamping block 2408 is provided with a plurality of positioning grooves 2407 matched with the bending positioning grooves 2305; the positioning protrusions 2405 are clamped in the positioning grooves 2407, so that the upper clamping block 2401 and the lower clamping block 2408 are more stable in abutment.

[0083] The structure of the welding gun control device 22 is that a welding gun mounting frame 2204 is arranged on one side of the bending device 23, a welding gun 21 is arranged on a sliding block 2203, the sliding block 2203 is slidingly connected with a sliding groove 2205, the sliding groove 2205 is transversely slidingly connected with a sliding rod 2206 of the welding gun mounting frame 2204, the end of the telescopic rod of a third cylinder 2202 on the welding gun mounting frame 2204 is connected with the sliding block 2203, and the end of the telescopic rod of a fourth cylinder 2207 on the side of the welding gun mounting frame 2204 is connected with the sliding groove 2205; the welding gun 21 is mounted on the welding gun control device 22, the third cylinder 2202 and the fourth cylinder 2207 adjust whether the welding gun 21 approaches the welding position, and transverse sliding realizes the welding length. The welding end of the welding gun 21 extends into the bending device 23, and the third cylinder 2202 and the fourth cylinder 2207 move the position of the welding gun 21 to weld the hook rib on the steel bar part 2.

[0084] In the preferred embodiment, the inner cavity platform 1 and the outer cavity platform 3 are provided with video monitoring equipment, which is used to control the position of the hook bar insertion; the video monitoring equipment is used to detect the position of the hook bar, and also facilitates automatic insertion of the hook bar.

[0085] The inner cavity platform 1 and the outer cavity platform 3 are also provided with a manual platform 4, which can be folded to enable the feeding sliding platform 9 and the welding sliding platform 17 to slide up and down on the inner cavity platform 1 and the outer cavity platform 3; one side of the manual platform 4 is provided with a support cross 25, which is hinged to one side of the manual platform 4; the support cross 25 is hinged to the bent long rod end of the retractable arm 27; the sixth cylinder 26 on the support cross 25 is hinged to the bent position of the retractable arm 27; the bent short rod end of the retractable arm 27 is hinged to the retractable hinge rod 28; the end of the retractable hinge rod 28 is hinged to one side of the manual platform 4; the support columns of the inner cavity platform 1 and the outer cavity platform 3 are provided with limit blocks 29, and the lower end of the manual platform 4 abuts against the limit blocks 29 after being unfolded; after being folded, the manual platform 4 facilitates the feeding sliding platform 9 and the welding sliding platform 17 to slide up and down on the inner cavity platform 1 and the outer cavity platform 3.

[0086] The inner cavity platform 1 is provided with a plurality of ground rails 5, which are arranged on the ground through anchor rods 501, and the inner cavity platform 1 is slidably connected with the ground rails 5. The inner cavity platform 1 can move to facilitate adjustment of the distance between the inner cavity platform 1 and the steel bar part 2.

[0087] Embodiment 3

[0088] Further illustrated in combination with Embodiments 1-2, as shown in the structure, the specific construction steps are as follows: Figures 1-30

[0089] Preparation before work: fold all the manual platforms 4 on one side, and move the inner and outer cavity hook bar installation equipment to the bottom of the platform.

[0090] Hook bar loading: move the hook bar loading rack 7 loaded with hook bars to the fixed hook bar loading rack of the outer cavity platform 3.

[0091] Grid identification: the feeding sliding platform 9 of the outer cavity platform 3 is raised to the bottom height of the installation area, the machine vision equipment of the automatic feeding manipulator 8 starts to scan the area of the steel bar part 2 to be installed with hook bars, identifies the steel bar grid composed of the main bar and the stirrup, and the machine vision scans a certain area in turn. After each scanning is completed, the control system can automatically calculate the insertion positioning point position of the hook bar in the scanning area.

[0092] Hook bar feeding: the automatic feeding manipulator 8 on the hook bar feeding mechanism moves to the loading rack, and the hook bar loading rack 7 starts to discharge and take materials. When the automatic feeding manipulator 8 grabs the hook bar, the hook bar is grabbed and moved into the steel bar grid to be inserted with the hook bar by the hook bar clamping arm 14 of the automatic feeding manipulator 8.​

[0093] Moving to the to-be-inserted positioning point, the straight end of the hooking bar is inserted into the grid of the steel bar from the grid of the outer cavity steel bar part. During feeding, the hooking bar is relatively long, multiple clamping jaws need to be matched, and the hooking bar clamping arm 14 is inserted into the grid of the steel bar part under the pushing of the feeding electric push rod 12.

[0094] Hooking bar positioning: Before the hooking bar is inserted into the part, the machine vision scans the inner cavity steel bar part grid on the bending mechanism, and is positioned to the position to be installed according to the program calculation. Wait for the hooking bar to be inserted. When the feeding mechanism clamping end approaches the part, the opening material receiving mechanism on the bending mechanism extends into the grid, ready to receive material. At this time, the straight end has approached the opening on the bending device 23, and the hooking bar is clamped by the hooking bar clamping seat 24 along the opening. At this time, the hooking bar tail with the bent hook part has been inserted into the grid, and the hooking bar bent hook part is attached to the hoop bar.

[0095] Hooking bar material receiving: After the hooking bar is inserted into the opening of the bending mechanism, the tail enters the clamping groove of the bending device 23 along the hoop bar guide groove, and the bending device 23 bends the hooking bar.

[0096] Automatic bending: After the hooking bar tail to be bent part is clamped in the clamping groove of the bending device 23, the bending device 23 acts to bend the hooking bar end by 90° and attach it to the main bar. Then immediately point weld the hooking bar and the bent part to the hoop bar.

[0097] Displacement: After the hooking bar end is point welded, the feeding mechanism moves to the next grid to feed the hooking bar of the next grid. When the hooking bar enters the clamping groove of the bending mechanism and is clamped by the bending mechanism during feeding, the feeding mechanism starts to point weld. After the point welding is completed, it moves to the next grid. The feeding mechanism and the bending mechanism are not synchronized.

[0098] Hooking bar feeding: After the hooking bar on the hooking bar material rack is installed, the bending mechanism moves to the next hooking bar to be installed area. The feeding mechanism starts to feed the next group of hooking bars when the platform is lowered to the bottom.

[0099] Repeat the above steps until all the hooking bars in the area are installed.

[0100] The above embodiments are only preferred technical solutions of the present application, and should not be regarded as limitations of the present application. The protection scope of the present application should be based on the technical solutions claimed in the claims, including equivalent replacement solutions of the technical features claimed in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present application.

Claims

1. An automatic welding and bending device for tower column tie bars, characterized in that: The inner cavity platform (1) is slidably connected to the welding sliding platform (17). The drive motor on the welding sliding platform (17) drives the welding sliding platform (17) to slide on the inner cavity platform (1) through gear meshing with the third rack (16). The welding robot (18) is mounted on the second mounting base (19), and the drive motor on the second mounting base (19) causes the second mounting base (19) to slide laterally on the welding sliding platform (17) through a gear and rack. The welding robot (18) is a multi-degree-of-freedom robot. The welding bending device is set on the welding robot (18). The welding bending device includes a bending device (23) and a welding torch control device (22). The welding torch control device (22) is set on the bending device (23), and the welding torch (21) is set on the welding torch control device (22). The welding torch control device (22) controls the welding torch (21) to move and weld in multiple positions. The welding robot (18) is equipped with a video monitoring device, which is used to control the insertion position of the hook reinforcement; An outer cavity platform (3) is provided on one side of the inner cavity platform (1). A feeding sliding platform (9) is provided on the outer cavity platform (3). The feeding sliding platform (9) is slidably connected to the outer cavity platform (3) on one side, and the feeding sliding platform (9) is driven to slide up and down on the outer cavity platform (3) by a gear and rack. An automatic feeding robot (8) is set on the feeding sliding platform (9). The automatic feeding robot (8) is a multi-degree-of-freedom robot. The end of the lifting arm (801) of the automatic feeding robot (8) is provided with a feeding electric push rod (12). The sliding plate of the feeding electric push rod (12) is provided with a hook bar clamping arm (14). The end of the hook bar clamping arm (14) is connected to a rotary motor (15). The rotary motor (15) is connected to the sliding plate of the feeding electric push rod (12). The feeding electric push rod (12) pushes the entire hook bar clamping arm (14) into the steel bar component (2) to realize the step of installing the hook bar. The rotary motor (15) can adjust the angle of the entire hook bar clamping arm (14) in time. The hook clamping arm (14) is equipped with multiple second cylinders (1401), and the end of the second cylinder (1401) is equipped with a clamping claw (1402). The clamping claw (1402) is used to clamp the straight section of the hook; the second cylinder (1401) is used to drive the clamping claw (1402) to clamp the straight section of the hook. The second cylinder (1401) at the end of the hook clamping arm (14) is provided with hook clamping claws (1403). The hook clamping claws (1403) are right-angled structures. The two hook clamping claws (1403) form clamping grooves at the bending positions. The hook clamping claws (1403) are used to clamp the bent section of the hook. The upper right-angle position of the clamping claw (1402) and the hook clamping claw (1403) is rotatably connected to the second cylinder (1401), and the upper right-angle end of the clamping claw (1402) and the hook clamping claw (1403) is hinged to the telescopic rod of the second cylinder (1401). After the automatic feeding robot (8) picks up the material, it passes through the steel reinforcement component (2). The welding robot (18) on the inner platform (1) bends the straight section of the hook reinforcement and welds it onto the steel reinforcement component (2). The inner cavity platform (1) is also equipped with a manual platform (4), which is foldable, so that the feeding sliding platform (9) and the welding sliding platform (17) can slide up and down on the inner cavity platform (1) and the outer cavity platform (3); A support crossbeam (25) is provided on one side of the manual platform (4). The manual platform (4) is hinged to the support crossbeam (25). The support crossbeam (25) is hinged to the end of the long bent rod of the retractable arm (27). The end of the telescopic rod of the sixth cylinder (26) on the support crossbeam (25) is hinged to the bending position of the retractable arm (27). The end of the short bent rod of the retractable arm (27) is hinged to the retractable hinge rod (28). The end of the retractable hinge rod (28) is hinged to one side of the manual platform (4). The inner cavity platform (1) is provided with a limiting block (29) on the supporting column. After the manual platform (4) is unfolded, the lower end abuts against the limiting block (29). The inner cavity platform (1) is provided with multiple ground rails (5) at its lower end. The ground rails (5) are set on the ground through anchor rods (501). The inner cavity platform (1) is slidably connected to the ground rails (5).

2. The automatic welding and bending device for tower column tie bars according to claim 1, characterized in that: The bending device (23) includes a fixed frame, which is connected to the welding robot (18). A hook bar clamping seat (24) is provided on one side of the fixed frame. The hook bar clamping seat (24) is used to clamp the straight section of the hook bar.

3. The automatic welding and bending device for tower column tie bars according to claim 2, characterized in that: A bending electric push rod (20) is provided on one side of the fixed frame. A fixed support arm (2307) is provided on the bending electric push rod (20). The end of the telescopic rod of the bending electric push rod (20) is hinged to the end of the bending crank arm (2304). The end of the fixed support arm (2307) is hinged to the middle of the bending crank arm (2304) through the bending hinge arm (2306). The end of the bending crank arm (2304) is provided with a V-shaped bending positioning groove (2305). After the hook bar clamping seat (24) clamps the straight section of the hook bar, the bending electric push rod (20) pushes the bending crank arm (2304) to bend the straight end of the hook bar.

4. The automatic welding and bending device for tower column tie bars according to claim 2, characterized in that: The hook clamping seat (24) is set on one side of the fixed frame. The fixed frame is provided with a positioning slot (2301) on one side of the hook clamping seat (24). The steel bar of the steel bar component (2) is positioned by being clamped in the positioning slot (2301).

5. The automatic welding and bending device for tower column tie bars according to claim 2, characterized in that: The hook clamping seat (24) includes an upper clamping block (2401) and a lower clamping block (2408) for two clamping blocks, which are driven by two fifth cylinders (2403).

6. The automatic welding and bending device for tower column tie bars according to claim 5, characterized in that: The end of the pressing push rod (2409) of the fifth cylinder (2403) is connected to the push slider (2410). The push slider (2410) is slidably connected to the fixed plate (2402). The fixed plate (2402) is fixedly connected to the fixed frame. The lower end of the push slider (2410) is hinged to the upper clamping block (2401) through the push hinge rod (2411). The upper clamping block (2401) is slidably connected to the fixed plate (2402) through multiple guide posts (2412).

7. The automatic welding and bending device for tower column tie bars according to claim 5, characterized in that: The upper clamping block (2401) and the lower clamping block (2408) are provided with hook bar clamping grooves (2406), which are used to clamp the hook bar.

8. The automatic welding and bending device for tower column hook reinforcement according to claim 5, characterized in that: The upper clamping block (2401) is provided with multiple positioning protrusions (2405), and the lower clamping block (2408) is provided with multiple positioning grooves (2407) that cooperate with the positioning protrusions (2405).

9. The automatic welding and bending device for tower column tie bars according to claim 1, characterized in that: The structure of the welding torch control device (22) is as follows: the welding torch mounting bracket (2204) is set on one side of the bending device (23), the welding torch (21) is set on the slider (2203), the slider (2203) is slidably connected to the slide groove (2205), the slide groove (2205) is laterally slidably connected to the sliding rod (2206) of the welding torch mounting bracket (2204), the end of the telescopic rod of the third cylinder (2202) on the welding torch mounting bracket (2204) is connected to the slider (2203), and the end of the telescopic rod of the fourth cylinder (2207) on the side of the welding torch mounting bracket (2204) is connected to the slide groove (2205); The welding end of the welding torch (21) extends into the bending device (23), and the third cylinder (2202) and the fourth cylinder (2207) move the position of the welding torch (21) to weld the hook bar onto the steel reinforcement component (2).

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