Tower column hook reinforcement simple installation robot system and construction method

Abstract

The invention provides a robot system for simple installation of hook bars of a tower column and a construction method thereof. An inner cavity platform and an outer cavity platform are arranged on both sides of a steel bar component. A bending and welding device is provided on the inner cavity platform, a hook bar material rack is provided on the outer cavity platform, and a hook bar feeding platform is provided on one side of the hook bar material rack; the hook bar feeding platform takes out the hook bar and passes it through the steel bar component, and the bending and welding device bends the end of the hook bar and welds it to the steel bar component; both the inner cavity platform and the outer cavity platform are provided with an automatically lifting lifting frame, and a transverse driving frame is provided on the lifting frame, the bending and welding device on the inner cavity platform and the hook bar feeding platform on the outer cavity platform are respectively arranged on two transverse driving frames, and the transverse driving frame drives the bending and welding device and the hook bar feeding platform to slide transversely; video monitoring equipment is provided on the inner cavity platform and the outer cavity platform, and mechanical devices are used to complete automatic loading, point finding, feeding, installation, bending, welding and other tasks of the hook bar.

Description

Technical Field

[0001] The invention relates to the field of bridge construction, and in particular to a tower column hook reinforcement simple installation robot system and a construction method thereof. Background Art

[0002] The componentized construction of steel bars is one of the future development directions of bridge tower construction technology. The steel bars are made into steel bar components in advance, and then hoisted to the docking position as a whole for installation. The use of componentized steel bar construction technology can effectively save the construction time of bridge tower steel bar binding and improve the quality of steel bar binding. Steel bar components can be mechanized or semi-mechanized in factories or special tire frames, which can effectively reduce labor intensity, improve the working environment, and reduce the risk of high-altitude operations.

[0003] In the process of manufacturing bridge steel bar parts, there are a large number of hook bars that need to be installed manually. The operation process is cumbersome and is not conducive to the industrialized construction and development of bridge steel bars. There is an urgent need for a mechanized hook bar installation to replace manual work. Summary of the invention

[0004] The main purpose of the present invention is to provide a tower column hook reinforcement simple installation robot system and a construction method thereof, so as to solve the problem of purely manual operation of hook reinforcement installation when steel bar components are assembled in a frame.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a tower column hook reinforcement simple installation robot system, including an inner cavity platform and an outer cavity platform, the inner cavity platform and the outer cavity platform are arranged on both sides of the steel bar component, the inner cavity platform is provided with a bending and welding device, the outer cavity platform is provided with a hook reinforcement rack, and one side of the hook reinforcement rack is provided with a hook reinforcement feeding platform;

[0006] The hook bar feeding platform takes out the hook bar and passes it through the steel bar component, and the bending and welding device bends the end of the hook bar and welds it to the steel bar component;

[0007] Both the inner cavity platform and the outer cavity platform are provided with an automatically lifting lifting frame, and a transverse driving frame is provided on the lifting frame. The bending welding device on the inner cavity platform and the hook and rib feeding platform on the outer cavity platform are respectively arranged on two transverse driving frames, and the transverse driving frame drives the bending welding device and the hook and rib feeding platform to slide transversely;

[0008] Both the inner cavity platform and the outer cavity platform are provided with multi-layer sliding artificial platforms, which are fixed on the platforms by latches;

[0009] Video monitoring equipment is provided on the inner cavity platform and the outer cavity platform, and the video monitoring equipment is used to control the insertion position of the hook reinforcement.

[0010] In a preferred embodiment, the lifting frame includes a first lifting frame and a second lifting frame, the first lifting frame is arranged on the outer cavity platform, and the second lifting frame is arranged on the inner cavity platform;

[0011] The two ends of the first lifting frame are connected to the slide rails on the outer cavity platform column, and a first motor is provided on one side of the first lifting frame, and the gear of the first motor is meshed with the rack on the outer cavity platform;

[0012] The first transverse driving frame includes a plurality of sliding shafts, a first screw rod is provided in the middle of the first transverse driving frame, and the first screw rod is connected to the second motor;

[0013] The hook bar material rack is fixedly connected to the first lifting frame by nuts. The hook bar material rack is arranged at one end of the first lifting frame. The hook bar material rack is provided with a plurality of upwardly bent placement buckles, and the straight sections of the hook bars are placed on the placement buckles.

[0014] In the preferred embodiment, the sliding collar at the lower end of the hook-rebar feeding platform is arranged on the sliding shaft of the first transverse driving frame, and the driving nut seat at the lower end of the hook-rebar feeding platform is threadedly connected with the first screw rod;

[0015] The hook reinforcement feeding platform is provided with a feeding claw and a fixed claw, and the feeding claw and the fixed claw are arranged on the lifting seat;

[0016] A transverse support frame is provided on the support frame on the hook reinforcement feeding platform, the transverse material taking sliding frame is slidably connected to the transverse support frame, the fourth screw on the transverse support frame is threadedly connected to the transverse material taking sliding frame, and the fifth motor on the support frame is connected to the fourth screw;

[0017] The lifting seat is vertically slidably connected with the transverse material taking sliding frame, the third screw on the transverse material taking sliding frame is threadedly connected with the lifting seat, and the fourth motor on the transverse material taking sliding frame is connected with the third screw;

[0018] A sliding groove is provided at the lower end of the lifting seat, and the feeding claw is slidably connected with the sliding groove. A second screw is provided on the third motor at one end of the sliding groove, and the second screw is arranged parallel to the sliding groove, and the feeding claw is threadedly connected with the second screw.

[0019] The fixed claw is arranged at the other end of the sliding groove, and the two claw ends of the fixed claw are provided with rollers for clamping, the middle part of the roller is concave and the two ends are convex;

[0020] The fixed jaw and the feeding jaw clamp the hook bar, and the feeding jaw pushes the hook bar through the steel bar component.

[0021] In the preferred embodiment, the fixed jaw and the feeding jaw are driven by a clamping cylinder, the end of the telescopic rod of the clamping cylinder is hinged to the short side of the corner of the clamping jaw, and the corner position of the clamping jaw is hinged to the clamping cylinder.

[0022] In the preferred embodiment, the welding bending device is arranged on the welding sliding seat, the welding sliding seat is slidably connected to the second transverse driving frame, and the second transverse driving frame is arranged on the second lifting frame;

[0023] The lower part of the welding sliding seat is threadedly connected with a screw rod on the second transverse driving frame, and the screw rod is driven by a motor;

[0024] The structure of the welding bending device is as follows: the welding gun control device is arranged on the bending device, the bending device is slidably connected with the welding sliding seat, the sixth motor output end on the welding sliding seat is provided with a fifth screw, and the fifth screw is threadedly connected with the bending device;

[0025] The sixth motor drives the fifth screw to rotate, driving the entire welding and bending device to approach the steel bar component.

[0026] In a preferred embodiment, the welding gun is arranged on a welding gun control device, and the welding gun control device controls the welding gun to move to multiple positions for welding;

[0027] The bending device comprises a fixed frame, the fixed frame is connected to the welding sliding seat, a hook bar clamping seat is arranged on one side of the fixed frame, and the hook bar clamping seat is used to clamp the straight section of the hook bar;

[0028] A bending electric push rod is arranged on one side of the fixed frame, a fixed support arm is arranged on the bending electric push rod, the end of the telescopic rod of the bending electric push rod is hinged with the end of the bending arm, the end of the fixed support arm is hinged with the middle part of the bending arm through the bending hinge arm, and a V-shaped bending positioning groove is arranged at the movable end of the bending arm;

[0029] After the hook bar clamping seat clamps the straight section of the hook bar, the bending electric push rod pushes the bending arm to bend the straight end of the hook bar.

[0030] In the preferred embodiment, after the hook bar clamping seat clamps the straight section of the hook bar, the bending electric push rod pushes the bending arm to bend the straight end of the hook bar;

[0031] The hook bar clamping seat is arranged on one side of the fixed frame, and the fixed frame is provided with a positioning slot on one side of the hook bar clamping seat, and the steel bar of the steel bar component is clamped on the positioning slot for positioning;

[0032] The hook bar clamping seat comprises two clamping upper clamping blocks and a lower clamping block, and the two clamping blocks are respectively driven to clamp by two third cylinders;

[0033] The end of the compression push rod of the third cylinder is connected to the push slider, the push slider is slidably connected to the fixed plate, the fixed plate is fixedly connected to the fixed frame, the lower end of the push slider is hinged to the upper clamping block by pushing the hinge rod, and the upper clamping block is slidably connected to the fixed plate through multiple guide columns.

[0034] In the preferred embodiment, the upper clamping block and the lower clamping block are provided with hook bar clamping grooves, and the hook bar clamping grooves are used to clamp the hook bar;

[0035] 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 which match the bending positioning grooves.

[0036] In the preferred embodiment, the structure of the welding gun control device is as follows: the welding gun mounting frame is arranged on one side of the bending device, the welding gun is arranged on the slide block, the slide block is slidably connected to the slide groove, the slide groove is transversely slidably connected to the sliding rod of the welding gun mounting frame, the end of the telescopic rod of the first cylinder on the welding gun mounting frame is connected to the slide block, and the end of the telescopic rod of the second cylinder on the side of the welding gun mounting frame is connected to the slide groove;

[0037] The welding end of the welding gun extends into the interior of the bending device, and the first cylinder and the second cylinder move the welding gun to weld the hook bar to the steel bar component.

[0038] S1. Preparation before work: lift all the artificial platforms to the top and fix them on the top of the platform with latches. Move the inner and outer cavity hook reinforcement installation equipment to the bottom of the inner cavity platform and the outer cavity platform;

[0039] S2, hook bar loading: the hook bar material rack loaded with the hook bar is moved to the end position of the first lifting frame of the outer cavity platform and fixed;

[0040] S3, grid recognition: the first lifting frame on the outer cavity platform rises to the bottom height of the area to be installed, and the machine vision equipment on the hook bar feeding platform starts to scan the area on the steel bar component where the hook bars are to be installed, and identifies the steel bar grid composed of the main bars and stirrups. The machine vision scans a certain area in turn. After each scan, the control system can automatically calculate the position of the insertion positioning point of the hook bars in the scanning area;

[0041] S4, hook reinforcement feeding: the feeding claw and the fixed claw on the hook reinforcement feeding platform move to the hook reinforcement material rack, and start to grab the hook reinforcement from top to bottom;

[0042] When grabbing the hook bar, the feeding claw moves to the farthest end from the steel bar part through the third motor, and the feeding claw controls the clamping of the clamping claw through the cylinder. The fixed claw passes through two concave rollers to form a rolling channel, which can clamp the hook bar and also slightly loosen it to make the hook bar slide along the slot between the two wheels;

[0043] After the hook bar is clamped, the two clamping claws are clamped, the hook bar is picked up, and the third motor moves to the steel bar grid where the hook bar is to be inserted;

[0044] Move to the insertion positioning point, and insert the straight end of the hook bar from the mesh of the outer cavity steel bar component into the mesh of the steel bar component;

[0045] When the hook bar is feeding, the two clamps need to cooperate because the hook bar is relatively long. When the feeding claw moves close to the fixed claw, the fixed claw cylinder clamps, and the feeding claw cylinder opens and moves in the opposite direction to the farthest end, then clamps the hook bar, and then loosens the fixed claw slightly.

[0046] The feeding claw clamps the hook bar and continues to feed until the hook bar is in contact with the stirrup of the steel bar component and the hook bar can no longer move;

[0047] S5. Hook bar positioning: After the hook bar is inserted into the component, the machine vision on the bending and welding device scans the inner cavity steel bar component grid and locates the hook bar to be installed according to the program calculation;

[0048] Waiting for the hook bar to be inserted, when the clamping end of the hook bar feeding platform approaches the part, the opening receiving mechanism on the bending and welding device extends into the grid to prepare for receiving the material; the bending and welding device is ready to receive the material; at this time, the straight end is close to the opening on the bending mechanism, and the hook bar is clamped by the hook bar clamping seat along the opening;

[0049] At this time, the hook part of the hook bar tail has been inserted into the mesh at the elbow, and the hook part of the hook bar is placed against the stirrup of the component. At this time, the welding gun spot welds the hook bar and the stirrup;

[0050] S6, hook reinforcement material connection: After the hook reinforcement is inserted into the opening of the bending mechanism, it follows the hook reinforcement clamping grooves of the lower clamping block and the upper clamping block and enters the bending device;

[0051] S7, automatic bending: After the hook of the hook bar is welded to the outer cavity stirrup, the tail of the hook bar to be bent enters the bending device, and the bending mechanism is activated to bend the end of the hook bar 90° and stick it to the main bar, and then the hook bar, the bent part and the stirrup are spot welded immediately;

[0052] S8, shifting: after the hook part of the hook bar feeding mechanism is spot welded with the hook bar, the hook bar feeding platform moves to the next grid to feed the hook bar of the next grid. When feeding, when the hook bar enters the slot of the bending mechanism and is clamped by the bending mechanism, the bending welding device starts spot welding;

[0053] After spot welding is completed, it moves to the next grid, and the hook bar feeding platform and bending device move asynchronously;

[0054] S9, hook bar loading: when the hook bars on the hook bar rack are installed, the bending device moves to the area where the next hook bar is to be installed;

[0055] The hook reinforcement feeding platform descends to the bottom along with the platform, and the next set of hook reinforcement feeding begins;

[0056] Repeat S2 to S9 until all the hook bars in the area are installed.

[0057] The present invention provides a tower column hook reinforcement simple installation robot system and a construction method thereof. When the steel bar parts are assembled on the frame, the hook reinforcement is the last process of the parts assembly. A steel bar parts assembly frame is provided, and the assembly frame is divided into an inner cavity and an outer cavity. A manual operation platform is provided on the inner and outer cavity frames, and the manual operation platform can move up and down along the frame columns and can be fixed at several points.

[0058] On the outer cavity bracket of the component frame, an automatic hook bar grabbing mechanism is arranged at the bottom. The present invention mainly uses a mechanical device to complete the automatic loading, point finding, feeding, installation, bending, welding and other tasks of the hook bar in the steel component frame. It replaces manual work and realizes the automatic installation of the hook bar. This platform is a mechanism bearing platform, which is controlled by a servo motor to move up and down. The hook bar material rack and the hook bar feeding mechanism are installed on this platform. The hook bar material rack is a fixed position, and the feeding mechanism can slide along the platform. It is convenient for the hook bar to take the material. At present, the material taking mechanism is set as a three-coordinate mechanism to replace the three-coordinate movement. Multiple clamps are used for taking the material, and at the same time, a machine vision structure is set on the material taking mechanism.

[0059] On the inner cavity platform of the component frame, a hook bar bending mechanism is set at the bottom. The bending mechanism is provided with a hook bar clamping slot, which can clamp the stirrups near the bending point on the hook bar and inside the steel bar component without affecting the bending of the hook bar. The bending mechanism is provided with a bending mechanism, which can bend the hook bar on site. At the same time, the bending mechanism is integrated with machine vision recognition, welding gun and other mechanisms. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0061] Figure 1 This is the overall installation main view structure diagram of the present invention;

[0062] Figure 2 This is a front view of the overall installation structure of the present invention;

[0063] Figure 3 This is a rear view structural diagram of the overall installation of the present invention;

[0064] Figure 4 This is a structural diagram of the first lifting frame installed on the outer cavity platform of the present invention;

[0065] Figure 5 It is the overall structural diagram of the first lifting frame of the present invention;

[0066] Figure 6 This is a structural diagram of the hook reinforcement rack installation of the present invention;

[0067] Figure 7 This is a front structural diagram of the hook reinforcement feeding platform of the present invention;

[0068] Figure 8This is a rear structural diagram of the hook reinforcement feeding platform of the present invention;

[0069] Fig. 9 It is a cross-sectional structural diagram of the clamping cylinder of the present invention;

[0070] Fig.10 This is a structural diagram of the second lifting frame installation of the present invention;

[0071] Fig.11 This is a front view structural diagram of the bending device and the welding sliding seat of the present invention;

[0072] Fig.12 This is a rear view structural diagram of the bending device and the welding sliding seat of the present invention;

[0073] Fig.13 This is a diagram of the overall bending structure of the bending device of the present invention;

[0074] Fig.14 It is a top view of the structure of the bending device of the present invention;

[0075] Fig.15 This is a structural diagram of the bending arm installation of the bending device of the present invention;

[0076] Fig.16 This is a top view of the structure of the bending arm of the bending device of the present invention;

[0077] Fig.17 This is a structural diagram of the hook clamping seat and the welding gun control device of the present invention;

[0078] Fig.18 This is the overall structural diagram of the hook bar clamping seat of the present invention;

[0079] Fig.19 This is a cross-sectional structural diagram of the hook bar clamping seat of the present invention;

[0080] Fig. 20 This is a right side view of the installation structure of the welding gun control device of the present invention;

[0081] Fig.21 It is a left side view installation structure diagram of the welding gun control device of the present invention.

[0082] In the figure: inner cavity platform 1; outer cavity platform 2; hook reinforcement 3; artificial platform 4; reinforcement component 5; rack 6; slide rail 7; hook reinforcement rack 8; placement buckle 801; first motor 9; gear 901; first lifting frame 10; second lifting frame 1001; first horizontal driving frame 11; sliding shaft 1101; first screw 1102; second motor 1103; second horizontal driving frame 1104; hook reinforcement feeding platform 12; sliding collar 1201; driving nut seat 1202; support frame 1203; horizontal support frame 1204; horizontal material taking sliding frame 1205; sliding groove 13; feeding claw 14; clamping cylinder 1401; clamping claw 1402; fixed claw 15; second screw 16; third motor 17; lifting seat 18; third screw 19; fourth motor 20; fourth screw 21; fifth motor 22; welding sliding seat 23 ; sixth motor 2301; fifth screw 2302; bending device 24; positioning slot 2401; guide sliding column 2402; sliding sleeve 2403; bending arm 2404; bending positioning slot 2405; bending articulated arm 2406; fixed arm 2407; bending electric push rod 25; welding gun control device 26; welding gun mounting seat 2601; first cylinder 2602; slide block 2603; welding gun mounting frame 2 604; slide groove 2605; sliding rod 2606; second cylinder 2607; hook clamping seat 27; upper clamping block 2701; fixing plate 2702; third cylinder 2703; positioning protrusion 2705; hook clamping groove 2706; positioning groove 2707; lower clamping block 2708; pressing push rod 2709; pushing slider 2710; pushing hinge rod 2711; guide column 2712; welding gun 28. DETAILED DESCRIPTION

[0083] Example 1

[0084] like Figures 1 to 21 As shown, a tower column hook bar simple installation robot system includes an inner cavity platform 1 and an outer cavity platform 2, the inner cavity platform 1 and the outer cavity platform 2 are arranged on both sides of the steel bar component 5, the inner cavity platform 1 is provided with a bending and welding device, the outer cavity platform 2 is provided with a hook bar material rack 8, and a hook bar feeding platform 12 is provided on one side of the hook bar material rack 8. The inner cavity platform 1 and the outer cavity platform 2 are arranged on both sides of the steel bar component 5, the hook bar material rack 8 of the outer cavity platform 2 is used to pass the hook bar 3 through the steel bar component 5, and the bending and welding device on the inner cavity platform 1 bends the end of the hook bar 3 and welds it to the steel bar component 5. The hook bar feeding platform 12 takes out the hook bar 3 and passes it through the steel bar component 5, and the bending and welding device bends the end of the hook bar 3 and welds it to the steel bar component 5.

[0085] Both the inner cavity platform 1 and the outer cavity platform 2 are provided with an automatically lifting lifting frame, and a transverse driving frame is provided on the lifting frame. The bending and welding device on the inner cavity platform 1 and the hook reinforcement feeding platform 12 on the outer cavity platform 2 are respectively arranged on two transverse driving frames, and the transverse driving frames drive the bending and welding device and the hook reinforcement feeding platform 12 to slide transversely; the automatically lifting lifting frame adopts a gear rack drive to lift and lower, and the transverse driving frames on the inner cavity platform 1 and the outer cavity platform 2 drive the hook reinforcement material frame 8 and the bending and welding device to slide transversely, and the sliding method adopts a gear rack drive method to drive the transverse sliding.

[0086] A multi-layer sliding artificial platform 4 is provided on both the inner cavity platform 1 and the outer cavity platform 2. The artificial platform 4 is fixed on the platform by means of latches; the artificial platform 4 can be fixed at different positions by means of latches.

[0087] Video monitoring equipment is provided on the inner cavity platform 1 and the outer cavity platform 2, and the video monitoring equipment is used to control the insertion position of the hook reinforcement. The video monitoring equipment is used to detect the position of the hook reinforcement and also facilitate the automatic insertion of the hook reinforcement.

[0088] In a preferred embodiment, the lifting frame includes a first lifting frame 10 and a second lifting frame 1001. The first lifting frame 10 is arranged on the outer cavity platform 2, and the second lifting frame 1001 is arranged on the inner cavity platform 1. The first lifting frame 10 and the second lifting frame 1001 have completely the same structure.

[0089] Both ends of the first lifting frame 10 are connected to the slide rails 7 on the columns of the outer cavity platform 2. A first motor 9 is provided on one side of the first lifting frame 10. The gear 901 of the first motor 9 is engaged with the rack 6 on the outer cavity platform 2; the gear 901 of the first motor 9 drives the entire first lifting frame 10 to slide up and down.

[0090] The first transverse driving frame 11 includes a plurality of sliding shafts 1101 . A first screw rod 1102 is disposed in the middle of the first transverse driving frame 11 . The first screw rod 1102 is connected to a second motor 1103 . The first transverse driving frame 11 and the second transverse driving frame 1104 have the same structure.

[0091] The hook bar rack 8 is fixedly connected to the first lifting frame 10 by nuts, and the hook bar rack 8 is arranged at one end of the first lifting frame 10. The hook bar rack 8 is provided with a plurality of upwardly bent placement buckles 801, and the straight section of the hook bar 3 is placed on the placement buckles 801. It is convenient to disassemble the hook bar rack 8, and the plurality of upwardly bent placement buckles 801 on the hook bar rack 8 are also convenient for placing the hook bar 3.

[0092] In the preferred embodiment, the sliding ring 1201 at the lower end of the hook bar feeding platform 12 is arranged on the sliding shaft 1101 of the first transverse driving frame 11, and the driving nut seat 1202 at the lower end of the hook bar feeding platform 12 is threadedly connected with the first screw 1102; the sliding ring 1201 of the hook bar feeding platform 12 slides on the sliding shaft 1101 of the first transverse driving frame 11, and the entire hook bar feeding platform 12 is driven to slide transversely on the first transverse driving frame 11 through the first screw 1102.

[0093] The hook reinforcement feeding platform 12 is provided with a feeding claw 14 and a fixed claw 15, which are arranged on a lifting seat 18; the feeding claw 14 is used for horizontal feeding, and the fixed claw 15 plays a role of fixing the position of the hook reinforcement 3, which is equivalent to the role of a guide wheel.

[0094] A transverse support frame 1204 is provided on the support frame 1203 on the hook reinforcement feeding platform 12, a transverse material picking sliding frame 1205 is slidably connected to the transverse support frame 1204, a fourth screw 21 on the transverse support frame 1204 is threadedly connected to the transverse material picking sliding frame 1205, and a fifth motor 22 on the support frame 1203 is connected to the fourth screw 21; the fifth motor 22 drives the fourth screw 21 to rotate, and the fourth screw 21 drives the entire transverse material picking sliding frame 1205 to slide transversely, thereby adjusting the transverse position of the feeding claw 14 and the fixed claw 15.

[0095] The lifting seat 18 is vertically slidably connected to the horizontal material picking sliding frame 1205, the third screw 19 on the horizontal material picking sliding frame 1205 is threadedly connected to the lifting seat 18, and the fourth motor 20 on the horizontal material picking sliding frame 1205 is connected to the third screw 19; the fourth motor 20 drives the third screw 19 to rotate, and the third screw 19 drives the lifting seat 18 to slide up and down, making it convenient for the feeding claw 14 and the fixed claw 15 to pick up and down materials.

[0096] A sliding groove 13 is provided at the lower end of the lifting seat 18, and a feeding claw 14 is slidably connected to the sliding groove 13. A second screw 16 is provided on the third motor 17 at one end of the sliding groove 13. The second screw 16 is arranged parallel to the sliding groove 13, and the feeding claw 14 is threadedly connected to the second screw 16; the third motor 17 drives the second screw 16 to drive the feeding claw 14 to slide horizontally, thereby achieving the technical effect of feeding the hook reinforcement 3 forward.

[0097] The fixed claw 15 is arranged at the other end of the sliding groove 13. The two claw ends of the fixed claw 15 are provided with rollers for clamping. The middle part of the roller is concave and the two ends are convex; the fixed claw 15 has the function of lifting and guiding.

[0098] The fixed jaw 15 and the feeding jaw 14 clamp the hook bar 3 , and the feeding jaw 14 pushes the hook bar 3 to pass through the steel bar component 5 .

[0099] In the preferred embodiment, the fixed jaw 15 and the feeding jaw 14 are driven by the clamping cylinder 1401, the end of the telescopic rod of the clamping cylinder 1401 is hinged to the short side of the corner of the clamping jaw 1402, and the corner position of the clamping jaw 1402 is hinged to the clamping cylinder 1401. The clamping cylinder 1401 drives the fixed jaw 15 and the feeding jaw 14 to clamp the hook bar 3.

[0100] Example 2

[0101] Further illustrate with reference to Example 1, Figure 1-21 In the structure shown, in the preferred embodiment, the welding and bending device is arranged on the welding sliding seat 23, the welding sliding seat 23 is slidably connected to the second transverse driving frame 1104, and the second transverse driving frame 1104 is arranged on the second lifting frame 1001; the welding sliding seat 23 is threadedly connected to the screw on the second transverse driving frame 1104 below, and the screw is driven by a motor; the welding sliding seat 23 slides laterally on the second transverse driving frame 1104, and the second transverse driving frame 1104 slides up and down on the inner cavity platform 1 to realize multi-position welding and bending.

[0102] The structure of the welding bending device is as follows: the welding gun control device 26 is arranged on the bending device 24, the bending device 24 is slidably connected with the welding sliding seat 23, the output end of the sixth motor 2301 on the welding sliding seat 23 is provided with a fifth screw 2302, the fifth screw 2302 is threadedly connected with the bending device 24, the sixth motor 2301 drives the fifth screw 2302 to rotate, and drives the entire welding bending device to approach the steel bar component 5. It is convenient to approach the position of the steel bar component 5, and bend and weld the extended hook bar 3.

[0103] In the preferred embodiment, the welding gun 28 is arranged on the welding gun control device 26, and the welding gun control device 26 controls the welding gun 28 to move to multiple positions for welding; the bending device 24 includes a fixed frame, the fixed frame is connected to the welding sliding seat 23, a hook bar clamping seat 27 is arranged on one side of the fixed frame, and the hook bar clamping seat 27 is used to clamp the straight section of the hook bar; a bending electric push rod 25 is arranged on one side of the fixed frame, and a fixed support arm 2407 is arranged on the bending electric push rod 25 The end of the telescopic rod is hinged to the end of the bending arm 2404, the end of the fixed arm 2407 is hinged to the middle of the bending arm 2404 through the bending hinge arm 2406, and the movable end of the bending arm 2404 is provided with a V-shaped bending positioning groove 2405; the bending electric push rod 25 pushes the bending arm 2404, and the bending arm 2404 is limited by the bending hinge arm 2406, so that the bending arm 2404 forms a bending ring structure, and the end of the hook bar is bent and hung on the steel bar component 5. After the hook bar clamping seat 27 clamps the straight section of the hook bar, the bending electric push rod 25 pushes the bending arm 2404 to bend the straight end of the hook bar. After the hook bar clamping seat 27 clamps the straight section of the hook bar, the bending electric push rod 25 pushes the bending arm 2404 to bend the straight end of the hook bar.

[0104] In the preferred embodiment, after the hook bar clamping seat 27 clamps the straight section of the hook bar, the bending electric push rod 25 pushes the bending arm 2404 to bend the straight end of the hook bar. The hook bar clamping seat 27 is arranged on one side of the fixed frame, and the fixed frame is provided with a positioning slot 2401 on one side of the position of the hook bar clamping seat 27. The steel bar of the steel bar component 5 is clamped on the positioning slot 2401, the hook bar is clamped on the hook bar clamping seat 27, and then the bending structure bends the entire straight end of the hook bar.

[0105] The steel bar of the steel bar component 5 is positioned on the positioning slot 2401, and the hook bar clamping seat 27 includes two clamping upper clamping blocks 2701 and lower clamping blocks 2708, and the two clamping blocks are respectively driven to clamp by two third cylinders 2703; the end of the pressing and pushing rod 2709 of the third cylinder 2703 is connected to the pushing slider 2710, and the pushing slider 2710 is slidably connected to the fixed plate 2702, and the fixed plate 2702 is fixedly connected to the fixed frame, and the lower end of the pushing slider 2710 is hinged to the upper clamping block 2701 by pushing the hinge rod 2711, and the upper clamping block 2701 is slidably connected to the fixed plate 2702 through a plurality of guide columns 2712. The two clamping upper clamping blocks 2701 and lower clamping blocks 2708 are driven by the third cylinder 2703 to achieve clamping.

[0106] In the preferred embodiment, the upper clamping block 2701 and the lower clamping block 2708 are provided with a hook bar clamping groove 2706, and the hook bar clamping groove 2706 is used to clamp the hook bar; the clamping groove 2706 facilitates clamping the entire hook bar.

[0107] The upper clamping block 2701 is provided with a plurality of positioning protrusions 2705, and the lower clamping block 2708 is provided with a plurality of positioning grooves 2707 that match the bent positioning protrusions 2705. The positioning protrusions 2705 are stuck in the positioning grooves 2707, so that the upper clamping block 2701 and the lower clamping block 2708 are more stably docked.

[0108] In the preferred embodiment, the structure of the welding gun control device 26 is as follows: the welding gun mounting frame 2604 is arranged on one side of the bending device 24, the welding gun 28 is arranged on the slider 2603, the slider 2603 is slidably connected to the slide 2605, the slide 2605 is laterally slidably connected to the sliding rod 2606 of the welding gun mounting frame 2604, the end of the telescopic rod of the first cylinder 2602 on the welding gun mounting frame 2604 is connected to the slider 2603, the end of the telescopic rod of the second cylinder 2607 on the side of the welding gun mounting frame 2604 is connected to the slide 2605, the welding end of the welding gun 28 extends into the interior of the bending device 24, the first cylinder 2602 and the second cylinder 2607 move the position of the welding gun 28 to weld the hook bar to the steel bar component 5.

[0109] The welding gun 28 is mounted on the welding gun control device 26. The first cylinder 2602 and the second cylinder 2607 adjust whether the welding gun 28 is close to the welding position and slide horizontally to achieve the welding length. The welding end of the welding gun 28 extends into the bending device 24. The first cylinder 2602 and the second cylinder 2607 move the welding gun 28 to weld the hook bar to the steel bar component 5.

[0110] Example 3

[0111] Further illustrate with reference to Examples 1-2, Figure 1-21 The specific construction steps for the structure shown are as follows:

[0112] S1. Preparation before work: lift all the artificial platforms 4 to the top and fix them on the top of the platform with latches, and move the inner and outer cavity hook reinforcement installation equipment to the bottom of the inner cavity platform 1 and the outer cavity platform 2;

[0113] S2, hook bar loading: the hook bar material rack 8 loaded with the hook bars is transported to the end position of the first lifting frame 10 of the outer cavity platform 2 and fixed;

[0114] S3, grid recognition: the first lifting frame 10 on the outer cavity platform 2 rises to the bottom height of the area to be installed, and the machine vision device on the hook bar feeding platform 12 starts to scan the area on the steel bar component 5 where the hook bars are to be installed, and identifies the steel bar grid composed of the main bars and stirrups. The machine vision scans a certain area in turn. After each scan is completed, the control system can automatically calculate the position of the insertion positioning point of the hook bars in the scanning area;

[0115] S4, hook bar feeding: the feeding claw 14 and the fixed claw 15 on the hook bar feeding platform 12 move to the hook bar material rack 8, and start to grab the hook bar 3 from top to bottom;

[0116] When grabbing the hook bar 3, the feeding claw 14 is moved to the farthest end from the steel bar component 5 by the third motor 17, and the feeding claw 14 controls the clamping of the clamping claw by the cylinder, and the fixed claw 15 forms a rolling channel through two concave rollers, which can clamp the hook bar 3 and also slightly loosen it to make the hook bar 3 slide along the slot between the two wheels;

[0117] After clamping the hook bar 3, the two clamping claws are clamped, the hook bar 3 is picked up, and the third motor 17 moves to the steel bar grid to be passed through the hook bar;

[0118] Move to the insertion positioning point, and insert the straight end of the hook bar 3 from the mesh of the outer cavity steel bar component 5 into the mesh of the steel bar component;

[0119] When the hook bar 3 is feeding, since the hook bar is relatively long, the two clamping jaws need to cooperate. When the feeding claw 14 moves close to the fixed claw 15, the fixed claw 15 cylinder clamps, and the feeding claw 14 cylinder opens and moves in the opposite direction to the farthest end, and then clamps the hook bar 3, and then the fixed claw 15 is slightly loosened;

[0120] The feeding claw 14 continues to feed the hook bar while clamping it, until the hook of the hook bar 3 contacts the stirrup of the steel bar component 5 and the hook bar 3 can no longer move;

[0121] S5, hook bar positioning: After the hook bar 3 is inserted into the component, the machine vision on the bending and welding device scans the grid of the inner cavity steel bar component 5, and locates the hook bar 3 to be installed according to the program calculation;

[0122] Waiting for the hook bar 3 to penetrate, when the clamping end of the hook bar feeding platform 12 approaches the part, the opening receiving mechanism on the bending and welding device extends into the grid to prepare for receiving the material; the bending and welding device is ready to receive the material; at this time, the straight end is close to the opening on the bending mechanism, and the hook bar 3 is clamped by the hook bar clamping seat 27 along the opening;

[0123] At this time, the hook part of the tail of the hook bar 3 has been inserted into the mesh at the elbow, and the hook part of the hook bar is placed against the stirrup of the component. At this time, the welding gun spot welds the hook bar and the stirrup;

[0124] S6, hook bar material connection: After the hook bar 3 is inserted into the opening of the bending mechanism, it follows the hook bar clamping groove 2706 of the lower clamping block 2708 and the upper clamping block 2701 and enters the bending device 24;

[0125] S7, automatic bending: After the hook of the hook bar 3 is welded to the outer cavity stirrup, the tail of the hook bar 3 to be bent enters the bending device 24, and the bending mechanism is activated to bend the end of the hook bar 90° and attach it to the main bar, and then the hook bar, the bent part and the stirrup are spot welded immediately;

[0126] S8, shifting: after the hook part of the feeding mechanism of the hook bar 3 is spot welded with the hook bar, the hook bar feeding platform 12 moves to the next grid to feed the hook bar of the next grid. When feeding, when the hook bar enters the slot of the bending mechanism and is clamped by the bending mechanism, the bending welding device starts spot welding;

[0127] After the spot welding is completed, it moves to the next grid, and the hook bar feeding platform 12 and the bending device 24 move asynchronously;

[0128] S9, hook bar loading: when the hook bars on the hook bar rack 3 are installed, the bending device 24 moves to the next hook bar installation area;

[0129] The hook reinforcement feeding platform 12 descends to the bottom along with the platform, and the next set of hook reinforcement feeding begins;

[0130] Repeat S2 to S9 until all the hook bars in the area are installed.

[0131] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A tower column hook reinforcement simple installation robot system, characterized by: The invention comprises an inner cavity platform (1) and an outer cavity platform (2), wherein the inner cavity platform (1) and the outer cavity platform (2) are arranged on both sides of a steel bar component (5), the inner cavity platform (1) is provided with a bending and welding device, the outer cavity platform (2) is provided with a hook bar material rack (8), and one side of the hook bar material rack (8) is provided with a hook bar feeding platform (12); The hook bar feeding platform (12) takes out the hook bar (3) and passes it through the steel bar component (5), and the bending and welding device bends the end of the hook bar (3) and welds it to the steel bar component (5); The inner cavity platform (1) and the outer cavity platform (2) are both provided with an automatically lifting lifting frame, and the lifting frame is provided with a transverse driving frame. The bending welding device on the inner cavity platform (1) and the rib hook feeding platform (12) on the outer cavity platform (2) are respectively arranged on the two transverse driving frames, and the transverse driving frame drives the bending welding device and the rib hook feeding platform (12) to slide transversely. A multi-layer sliding artificial platform (4) is provided on both the inner cavity platform (1) and the outer cavity platform (2), and the artificial platform (4) is fixed on the platform by means of latches; The inner cavity platform (1) and the outer cavity platform (2) are provided with video monitoring equipment, and the video monitoring equipment is used to control the insertion position of the hook reinforcement; The lifting frame comprises a first lifting frame (10) and a second lifting frame (1001), wherein the first lifting frame (10) is arranged on the outer cavity platform (2), and the second lifting frame (1001) is arranged on the inner cavity platform (1); Both ends of the first lifting frame (10) are connected to the slide rails (7) on the columns of the outer cavity platform (2); a first motor (9) is provided on one side of the first lifting frame (10); a gear (901) of the first motor (9) meshes with a rack (6) on the outer cavity platform (2); The first transverse driving frame (11) comprises a plurality of sliding shafts (1101), a first screw rod (1102) is provided in the middle of the first transverse driving frame (11), and the first screw rod (1102) is connected to the second motor (1103); The hook bar material rack (8) is fixedly connected to the first lifting frame (10) via nuts. The hook bar material rack (8) is arranged at one end of the first lifting frame (10). The hook bar material rack (8) is provided with a plurality of upwardly bent placement buckles (801). The straight section of the hook bar (3) is placed on the placement buckles (801). The sliding collar (1201) at the lower end of the hook-bar feeding platform (12) is arranged on the sliding shaft (1101) of the first transverse driving frame (11), and the driving nut seat (1202) at the lower end of the hook-bar feeding platform (12) is threadedly connected to the first screw rod (1102); A feeding claw (14) and a fixed claw (15) are provided on the hook-bar feeding platform (12), and the feeding claw (14) and the fixed claw (15) are arranged on a lifting seat (18); A transverse support frame (1204) is provided on the support frame (1203) on the hook reinforcement feeding platform (12); a transverse material taking sliding frame (1205) is slidably connected to the transverse support frame (1204); a fourth screw rod (21) on the transverse support frame (1204) is threadedly connected to the transverse material taking sliding frame (1205); and a fifth motor (22) on the support frame (1203) is connected to the fourth screw rod (21); The lifting seat (18) is vertically slidably connected to the transverse material taking sliding frame (1205), the third screw rod (19) on the transverse material taking sliding frame (1205) is threadedly connected to the lifting seat (18), and the fourth motor (20) on the transverse material taking sliding frame (1205) is connected to the third screw rod (19); A sliding groove (13) is provided at the lower end of the lifting seat (18), a feeding claw (14) is slidably connected to the sliding groove (13), a second screw (16) is provided on a third motor (17) at one end of the sliding groove (13), the second screw (16) is arranged parallel to the sliding groove (13), and the feeding claw (14) is threadedly connected to the second screw (16); The fixed clamping claw (15) is arranged at the other end of the sliding groove (13), and the two clamping claw ends of the fixed clamping claw (15) are provided with clamping rollers, the middle part of the rollers is concave and the two ends are convex; The fixed clamping claw (15) and the feeding clamping claw (14) clamp the hook bar (3), and the feeding clamping claw (14) pushes the hook bar (3) to pass through the steel bar component (5); The fixed clamping claw (15) and the feeding clamping claw (14) are driven by a clamping cylinder (1401). The end of the telescopic rod of the clamping cylinder (1401) is hinged to the short side of the corner of the clamping claw (1402), and the corner position of the clamping claw (1402) is hinged to the clamping cylinder (1401).

2. According to claim 1, a tower column hook reinforcement simple installation robot system is characterized by: The welding bending device is arranged on the welding sliding seat (23); the welding sliding seat (23) is slidably connected to the second transverse driving frame (1104); and the second transverse driving frame (1104) is arranged on the second lifting frame (1001); The lower part of the welding sliding seat (23) is threadedly connected to a screw on the second transverse driving frame (1104), and the screw is driven by a motor; The structure of the welding bending device is as follows: a welding gun control device (26) is arranged on the bending device (24), the bending device (24) is slidably connected to the welding sliding seat (23), a fifth screw (2302) is arranged at the output end of the sixth motor (2301) on the welding sliding seat (23), and the fifth screw (2302) is threadedly connected to the bending device (24); The sixth motor (2301) drives the fifth screw rod (2302) to rotate, thereby driving the entire welding and bending device to approach the steel bar component (5).

3. According to claim 2, a tower column hook reinforcement simple installation robot system is characterized by: The welding gun (28) is arranged on the welding gun control device (26), and the welding gun control device (26) controls the welding gun (28) to move to multiple positions for welding; The bending device (24) comprises a fixed frame, the fixed frame is connected to the welding sliding seat (23), a hook bar clamping seat (27) is provided on one side of the fixed frame, and the hook bar clamping seat (27) is used to clamp the straight section of the hook bar; A bending electric push rod (25) is provided on one side of the fixed frame, a fixed support arm (2407) is provided on the bending electric push rod (25), the end of the telescopic rod of the bending electric push rod (25) is hinged to the end of the bending arm (2404), the end of the fixed support arm (2407) is hinged to the middle of the bending arm (2404) through a bending hinge arm (2406), and a V-shaped bending positioning groove (2405) is provided at the movable end of the bending arm (2404); After the hook bar clamping seat (27) clamps the hook bar straight section, the bending electric push rod (25) pushes the bending arm (2404) to bend the hook bar straight end.

4. According to claim 3, a tower column hook reinforcement simple installation robot system is characterized by: The fixed frame is provided with a positioning slot (2401) on one side of the hook bar clamping seat (27), and the steel bars of the steel bar component (5) are clamped in the positioning slot (2401) for positioning; The hook bar clamping seat (27) comprises an upper clamping block (2701) and a lower clamping block (2708) for clamping each other, and the two clamping blocks are driven to clamp each other by two third cylinders (2703) respectively; The end of the pressing and pushing rod (2709) of the third cylinder (2703) is connected to the pushing slider (2710), the pushing slider (2710) is slidably connected to the fixed plate (2702), the fixed plate (2702) is fixedly connected to the fixed frame, the lower end of the pushing slider (2710) is hinged to the upper clamping block (2701) by pushing the hinge rod (2711), and the upper clamping block (2701) is slidably connected to the fixed plate (2702) via a plurality of guide columns (2712).

5. According to claim 4, a tower column hook reinforcement simple installation robot system is characterized by: The upper clamping block (2701) and the lower clamping block (2708) are provided with hook reinforcement clamping grooves (2706), and the hook reinforcement clamping grooves (2706) are used to clamp the hook reinforcement; The upper clamping block (2701) is provided with a plurality of positioning protrusions (2705), and the lower clamping block (2708) is provided with a plurality of positioning grooves (2707) that cooperate with the bent positioning protrusions (2705).

6. According to claim 3, a tower column hook reinforcement simple installation robot system is characterized by: The structure of the welding gun control device (26) is as follows: the welding gun mounting frame (2604) is arranged on one side of the bending device (24), the welding gun (28) is arranged on the slider (2603), the slider (2603) is slidably connected to the slide groove (2605), the slide groove (2605) is laterally slidably connected to the sliding rod (2606) of the welding gun mounting frame (2604), the end of the telescopic rod of the first cylinder (2602) on the welding gun mounting frame (2604) is connected to the slider (2603), and the end of the telescopic rod of the second cylinder (2607) on the side of the welding gun mounting frame (2604) is connected to the slide groove (2605); The welding end of the welding gun (28) extends into the interior of the bending device (24), and the first cylinder (2602) and the second cylinder (2607) move the welding gun (28) to weld the hook bar onto the steel bar component (5).

7. The construction method of a tower column hook reinforcement simple installation robot system according to claim 5, characterized in that: S1. Preparation before work: lift all the artificial platforms (4) to the top and fix them to the top of the platforms with latches. Move the inner and outer cavity hook reinforcement installation equipment to the bottom of the inner cavity platform (1) and the outer cavity platform (2); S2, hook bar loading: the hook bar material rack (8) loaded with the hook bars is moved to the end position of the first lifting frame (10) of the outer cavity platform (2) and fixed; S3, grid recognition: the first lifting frame (10) on the outer cavity platform (2) rises to the bottom height of the area to be installed, and the machine vision device on the hook bar feeding platform (12) starts to scan the area on the steel bar component (5) where the hook bars are to be installed, and identifies the steel bar grid composed of the main bars and stirrups. The machine vision scans a certain area in turn. After each scan is completed, the control system can automatically calculate the position of the insertion positioning point of the hook bars in the scanning area; S4, hook bar feeding: the feeding claw (14) and the fixed claw (15) on the hook bar feeding platform (12) move to the hook bar material rack (8) and start to grab the hook bar (3) from top to bottom; When grabbing the hook bar (3), the feeding claw (14) is moved to the farthest end from the steel bar component (5) by the third motor (17), and the feeding claw (14) controls the clamping of the clamping claw by the cylinder, and the fixed claw (15) passes through two concave rollers to form a rolling channel, which can clamp the hook bar (3) and also slightly loosen it so that the hook bar (3) slides along the clamping groove between the two wheels; After the hook bar (3) is clamped, the two clamping claws are clamped, the hook bar (3) is grabbed, and the hook bar (3) is moved to the steel bar grid to be passed through the hook bar along with the third motor (17); Move to the insertion positioning point, and insert the straight end of the hook bar (3) from the mesh of the outer cavity steel bar component (5) into the mesh of the steel bar component; When the hook bar (3) is feeding, since the hook bar is relatively long, the two clamping jaws need to cooperate. When the feeding claw (14) moves close to the fixed claw (15), the fixed claw (15) is clamped by the cylinder, and the feeding claw (14) is opened and moved in the opposite direction to the farthest end, and then the hook bar (3) is clamped, and then the fixed claw (15) is slightly loosened; The feeding claw (14) clamps the hook bar and continues feeding until the hook of the hook bar (3) contacts the stirrup of the steel bar component (5) and the hook bar (3) can no longer move; S5, hook bar positioning: After the hook bar (3) is inserted into the component, the machine vision on the bending and welding device scans the grid of the inner cavity steel bar component (5) and locates the hook bar (3) to be installed according to the program calculation; While waiting for the hook bar (3) to be inserted, when the clamping end of the hook bar feeding platform (12) approaches the component, the opening receiving mechanism on the bending and welding device extends into the grid to prepare for receiving the material; at this time, the straight end is close to the opening on the bending and welding device, and the hook bar (3) is clamped by the hook bar clamping seat (27) along the opening; At this time, the hook part of the hook bar (3) has been inserted into the mesh at the elbow, and the hook part of the hook bar is placed against the stirrup of the component. At this time, the welding gun spot welds the hook bar and the stirrup; S6, hook bar material connection: after the hook bar (3) is inserted into the opening of the bending and welding device, it follows the hook bar clamping groove (2706) of the lower clamping block (2708) and the upper clamping block (2701) and enters the bending device (24); S7, automatic bending: after the hook of the hook bar (3) is welded to the outer cavity stirrup, the tail of the hook bar (3) to be bent enters the bending device (24), the bending and welding device is activated to bend the end of the hook bar by 90 degrees and attach it to the main bar, and then the bent part of the hook bar is spot welded to the stirrup immediately; S8, shifting: after the hook portion of the hook bar (3) is spot welded, the hook bar feeding platform (12) is moved to the next grid to feed the hook bar of the next grid. During feeding, when the main bar enters the clamping groove of the bending welding device and is clamped by the bending welding device, the bending welding device starts spot welding; After the spot welding is completed, the next grid is moved, and the hook bar feeding platform (12) and the bending device (24) move asynchronously; S9, hook bar loading: when the hook bars on the hook bar rack (3) are installed, the bending device (24) moves to the area where the next hook bar is to be installed; The hook reinforcement feeding platform (12) descends to the bottom along with the platform, and the next set of hook reinforcement feeding begins; Repeat S2 to S9 until all the hook bars in the area are installed.

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