Reinforcing steel bar disc bar marking and aligning mechanical arm device

Abstract

The application discloses a reinforcing steel bar disc label-penetrating alignment mechanical arm device, and relates to the technical field of reinforcing steel bar disc label penetration, which comprises a marking mechanism, which is used for sending label paper to the middle position of the surface of a steel disc, and then penetrating a metal wire through the hole on the surface of the label paper, and the two ends of the metal wire penetrate the steel disc, and the two ends of the metal wire are bent by using opposite pressure, so that the label-penetrating process of the steel disc is completed; the device further comprises a clamping assembly, a turnover assembly and an adjusting mechanism, the turnover assembly adsorbs and drives the label paper to the surface of the steel disc, and the adjusting mechanism limits the surface of the metal wire by friction. The reinforcing steel bar disc label-penetrating alignment mechanical arm device turns over the label paper to the surface of the steel disc by the turnover assembly, the adjusting mechanism grabs the bent metal wire, then the adjusting mechanism horizontally approaches the steel disc, the two ends of the metal wire penetrate the label paper and then penetrate the steel disc, and the clamping assembly clamps the metal wire.

Description

Technical Field

[0001] This invention relates to the field of steel bar marking technology, specifically to a steel bar marking and alignment robot. Background Technology

[0002] Currently, steel production lines have achieved automatic weighing and continuous label printing. However, after leaving the production line, manual removal, welding, and label hanging are still required, resulting in a large workload and repetitive labor. Moreover, the on-site working environment is characterized by high temperatures, dust, noise, and the need to move steel bars around, posing many safety risks to personnel. The labels on the steel bar bundles contain important information such as production date, furnace number, and specifications. It is crucial to quickly and accurately mark the steel bars produced by the steel mill. Currently, there are many types of automatic labeling equipment on the market, and they are widely used. However, they are mainly used for small and medium-sized products with small size and light weight. When dealing with products that are large in size and weight, the current automatic labeling system is clearly not suitable. Chinese patent application No. 202020432983.7 discloses a rebar marking device based on a stereo data acquisition system. This device uses light to project onto the end face of the rebar, captures images through a stereo data acquisition system, scans and obtains three-dimensional information of the end face of the rebar to be measured, and uses a stereo vision system to locate the target to achieve the marking problem of the rebar end face. However, this technical solution still has shortcomings. It can only mark the end face of the rebar and cannot find the end face of bundled rebars. In addition, this technology is more dependent on the ambient light conditions.

[0003] Existing rebar wire rod labeling and alignment robotic arms have structural design flaws that prevent them from labeling rebar wire rods without end faces, and also raise questions about how to prevent the labels from falling off. Summary of the Invention

[0004] This invention provides a robotic arm device for inserting and aligning steel bar coils, which solves the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a rebar wire rod alignment and marking robot, comprising...

[0006] A base, a support platform is fixedly connected to the top of the base, a transmission device is fixedly connected to the top of the base, and a steel wire rod is conveyed above the transmission device;

[0007] A marking mechanism is used to feed a label paper to the middle position of the steel wire strip surface, then pass a metal wire through a hole in the label paper surface, with both ends of the metal wire passing through the steel wire strip. The two ends of the metal wire are bent by opposing pressure to complete the labeling process of the steel wire strip. It includes a clamping assembly, a flipping assembly, and an adjusting mechanism. The flipping assembly attracts the label paper and moves it to the surface of the steel wire strip. The adjusting mechanism limits the surface of the metal wire by friction and then moves towards the steel wire strip to pass both ends of the metal wire strip.

[0008] The adjustment mechanism is located opposite the clamping assembly, and the surface of the adjustment mechanism extends to the inner side of the steel wire. After the end face of the metal wire passes through the adjustment mechanism, the adjustment mechanism bends the two ends of the metal wire in opposite directions. The steel wire is conveyed above the transmission device. The groove opened on the surface of the transmission device determines the position of the steel wire. When the steel wire is conveyed to the middle position of the fixed body, the clamping assembly extends downward to the inner side of the steel wire.

[0009] Preferably, the marking mechanism further includes a platform, the bottom of which is fixedly connected to the top of a support platform, a fixing body is fixedly connected to the top of the platform, and an extension rod is fixedly connected to the top of the fixing body.

[0010] Preferably, an electric cylinder is fixedly connected to the end of the extension rod away from the fixed body, the piston rod of the output end of the electric cylinder is fixedly connected to the top of the clamping assembly, the bottom of the flipping assembly and the adjustment mechanism are both fixedly connected to the top of the platform, the fixed body supports the extension rod and raises the extension rod to a position above the steel wire rod, and the transmission device conveys the steel wire rod.

[0011] Preferably, the clamping assembly includes a housing, the top of which is fixedly connected to the output end of the electric cylinder, a limiting plate is fixedly connected to the middle position of the surface of the housing, and a scissor fork structure is fixedly connected to the surface of the limiting plate.

[0012] Preferably, one end of the scissor fork structure extends into the interior of the housing, and a pull rod is fixedly connected to the side of the scissor fork structure away from the housing. The middle position of the pull rod surface is fixedly connected to the surface of the limiting plate.

[0013] Preferably, the tilting assembly includes a hydraulic cylinder, the bottom of which is fixedly connected to the top of the platform, a motor is fixedly connected to the piston rod at the output end of the hydraulic cylinder, and a tilting rod is fixedly connected to the rotating shaft at the output end of the motor.

[0014] Preferably, a plate feeding assembly is fixedly connected to the end of the flipping rod away from the motor. The plate feeding assembly includes a limiting shell, the surface of which is fixedly connected to the end of the flipping rod away from the motor. The hydraulic cylinder is located above the platform near the adjustment mechanism. When the steel bar is conveyed to the adjustment mechanism, the rib is first adsorbed by a negative pressure suction cup, and the surface of the rib is in close contact with the inner side of the limiting shell.

[0015] Preferably, a negative pressure suction cup is fixedly connected to the inner side of the limiting shell, a rib is attracted to the inner side of the limiting shell by negative pressure, and a cardboard is fixedly connected to the middle position of the surface of the rib.

[0016] Preferably, the adjustment mechanism includes a slide rail, the surface of which is fixedly connected to the surface of the platform. A lead screw device is fixedly connected to the surface of the slide rail, and a sliding seat is threadedly connected to the surface of the lead screw device. The lead screw device engages with the sliding seat through the thread. This engagement is existing technology. The lead screw device drives the sliding seat to slide on the inner side of the slide rail. The surface of the arc-shaped shell is semi-circular, and a rubber strip is fixedly connected to the inner side of the arc-shaped shell.

[0017] Preferably, the surface of the sliding seat is slidably connected to the inner side of the slide rail, a driving device is fixedly connected to the top of the sliding seat, and a wire threading assembly is fixedly connected to the output end of the driving device.

[0018] Preferably, the threading assembly includes an assembly wall, the surface of which is fixedly connected to the output end of the driving device, and an arc-shaped shell is fixedly connected to the side of the assembly wall away from the driving device.

[0019] Preferably, the threading assembly further includes a bending wire, and a rubber strip is fixedly connected to the inner side of the arc-shaped shell. The surface of the rubber strip is in close contact with the surface of the bending wire through friction. When threading the label, the axial direction of the assembly wall is parallel to the radial direction of the steel wire, and the flipping rod drives the cardboard to rotate. The opening on the surface of the cardboard is opposite to the surface of the steel wire.

[0020] This invention provides a robotic arm device for threading and aligning steel bar coils. It has the following beneficial effects:

[0021] 1. This rebar wire rod labeling and alignment robot uses a flipping component to flip the label paper onto the surface of the rebar wire rod. An adjusting mechanism grips the bent metal wire, and then the adjusting mechanism moves horizontally close to the rebar wire rod, passing both ends of the metal wire through the label paper and then through the rebar wire rod. A clamping component clamps and bends both ends of the metal wire, solving the problem of being unable to label the surface of rebar wire rods without end faces.

[0022] 2. In this steel bar wire rod label-aligning robot, after the steel wire rod is transported to the middle position of the fixed body, the electric cylinder drives the housing to move downward, bringing the housing close to the inner side of the steel wire rod. After the metal wire passes through the label paper and the steel wire rod through the adjustment mechanism, both ends of the metal wire extend into the interior of the housing. The pull rod retracts, causing the scissor fork structure to merge, so that the scissor fork structure squeezes the metal wire, preventing the metal wire from falling off after the label is inserted.

[0023] 3. The steel bar wire rod marking and alignment robot consists of ribs and cardboard forming the label paper of the device, which is used to mark the steel wire rod. The surface of the cardboard has openings. After the cardboard is limited by the ribs, the motor drives the flipping rod to flip it, aligning the openings of the cardboard with the two ends of the metal wire. The hydraulic cylinder adjusts the height of the cardboard, thereby quickly adsorbing and conveying the cardboard to a position close to the metal wire.

[0024] 4. The steel bar wire rod marking and alignment robot uses rubber strips to limit the bending wire through friction. After the surface of the bending wire is clamped by friction, the robot adjusts the device so that the axis of the bending wire is parallel to the radial direction of the steel wire rod. The sliding seat moves the robot closer to the steel wire rod. The two ends of the bending wire pass through the opening of the cardboard and the steel wire rod respectively, thereby firmly marking the surface of the steel wire rod.

[0025] 5. In this steel bar wire rod label alignment robot, the sliding seat slides on the inner side of the slide rail and moves close to the cardboard. The two ends of the bending wire pass through the cardboard and then through the gap of the steel wire rod. The limiting plate limits the middle position of the pull rod. The pulling of the pull rod is a prior art technology. The scissor fork structure applies opposing extrusion force to the two ends of the bending wire. The steel wire rod between the bending wires restricts the bending position of the bending wire, thus solving the problem of how to prevent the label paper from falling off. Attached Figure Description

[0026] Figure 1 This is a top view of the overall structure of the rebar wire rod insertion and alignment robot of the present invention;

[0027] Figure 2 This is a schematic diagram of the overall structure of the rebar wire rod insertion and alignment robot of the present invention, viewed from below.

[0028] Figure 3 This is a schematic diagram of the marking mechanism of the present invention;

[0029] Figure 4 This is a schematic diagram of the clamping assembly of the present invention;

[0030] Figure 5 This is a schematic diagram of the structure of the flipping component of the present invention;

[0031] Figure 6 This is a schematic diagram of the plate feeding assembly of the present invention;

[0032] Figure 7 This is a schematic diagram of the adjustment mechanism of the present invention;

[0033] Figure 8 This is a schematic diagram of the wire threading assembly of the present invention.

[0034] In the diagram: 1. Base; 2. Support platform; 3. Transmission equipment; 4. Steel wire rod; 5. Marking mechanism; 51. Platform body; 52. Fixing body; 53. Extension rod; 54. Electric cylinder; 55. Clamping assembly; 551. Housing; 552. Limiting plate; 553. Scissor fork structure; 554. Pull rod; 6. Tilting assembly; 61. Hydraulic cylinder; 62. Motor; 63. Tilting rod; 64. Plate feeding assembly; 641. Limiting shell; 642. Negative pressure suction cup; 643. Rib plate; 644. Cardboard; 7. Adjustment mechanism; 71. Slide rail; 72. Lead screw device; 73. Sliding seat; 74. Driving device; 75. Threading assembly; 751. Assembly wall; 752. Arc-shaped shell; 753. Rubber strip; 754. Bending wire. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] like Figures 1-3 As shown, the present invention provides a technical solution: a rebar wire rod threading and alignment robot, comprising...

[0037] A base 1, a support platform 2 is fixedly connected to the top of the base 1, a transmission device 3 is fixedly connected to the top of the base 1, and a steel wire rod 4 is conveyed above the transmission device 3.

[0038] The marking mechanism 5 is used to feed the label paper to the middle position of the surface of the steel wire rod 4, and then pass the metal wire through the hole on the surface of the label paper. The two ends of the metal wire pass through the steel wire rod 4. The two ends of the metal wire are bent by the opposing pressure to complete the labeling process of the steel wire rod 4. It includes a clamping component 55, a flipping component 6 and an adjusting mechanism 7. The flipping component 6 adsorbs the label paper and drives it to the surface of the steel wire rod 4. The adjusting mechanism 7 limits the surface of the metal wire by friction and then moves towards the steel wire rod 4 to pass the two ends of the metal wire through the steel wire rod 4.

[0039] The marking mechanism 5 also includes a platform 51, the bottom of which is fixedly connected to the top of the support platform 2. A fixing body 52 is fixedly connected to the top of the platform 51, and an extension rod 53 is fixedly connected to the top of the fixing body 52. ​​An electric cylinder 54 is fixedly connected to the end of the extension rod 53 away from the fixing body 52. ​​The piston rod at the output end of the electric cylinder 54 is fixedly connected to the top of the clamping assembly 55. The bottoms of the flipping assembly 6 and the adjusting mechanism 7 are both fixedly connected to the top of the platform 51.

[0040] The adjusting mechanism 7 is located opposite the clamping assembly 55, and the surface of the adjusting mechanism 7 extends to the inner side of the steel wire rod 4. After the end face of the metal wire passes through the adjusting mechanism 7, the adjusting mechanism 7 bends the two ends of the metal wire in opposite directions.

[0041] In use, a steel wire rod 4 is conveyed above the transmission device 3. The groove on the surface of the transmission device 3 determines the position of the steel wire rod 4. When the steel wire rod 4 is conveyed to the middle position of the fixed body 52, the clamping component 55 extends downward to the inner side of the steel wire rod 4. The flipping component 6 flips the label paper onto the surface of the steel wire rod 4. The adjusting mechanism 7 grabs the bent metal wire. Then the adjusting mechanism 7 moves horizontally close to the steel wire rod 4, and the two ends of the metal wire pass through the label paper and then through the steel wire rod 4. The clamping component 55 clamps and bends the two ends of the metal wire, which solves the problem of not being able to pass the label through the surface of the steel wire rod without end face.

[0042] like Figure 3 , Figure 4 As shown, the bottom of the platform 51 is fixedly connected to the top of the support platform 2. A fixing body 52 is fixedly connected to the top of the platform 51. An extension rod 53 is fixedly connected to the top of the fixing body 52. ​​An electric cylinder 54 is fixedly connected to the end of the extension rod 53 away from the fixing body 52. ​​The piston rod at the output end of the electric cylinder 54 is fixedly connected to the top of the clamping assembly 55. The clamping assembly 55 includes a housing 551. The top of the housing 551 is fixedly connected to the output end of the electric cylinder 54. A limit plate 552 is fixedly connected to the middle position of the surface of the housing 551. A scissor fork structure 553 is fixedly connected to the surface of the limit plate 552. One end of the scissor fork structure 553 extends into the interior of the housing 551. A pull rod 554 is fixedly connected to the side of the scissor fork structure 553 away from the housing 551. The middle position of the surface of the pull rod 554 is fixedly connected to the surface of the limit plate 552.

[0043] In use, the fixed body 52 supports the extension rod 53 and raises the extension rod 53 to a position above the steel wire rod 4. When the transmission device 3 conveys the steel wire rod 4, after the steel wire rod 4 is conveyed to the middle position of the fixed body 52, the electric cylinder 54 drives the housing 551 to move downward, bringing the housing 551 to a position close to the inner side of the steel wire rod 4. After the metal wire passes through the label paper and the steel wire rod 4 through the adjustment mechanism 7, both ends of the metal wire extend into the interior of the housing 551. The pull rod 554 retracts, causing the scissor fork structure 553 to merge, so that the scissor fork structure 553 squeezes the metal wire, preventing the metal wire from falling off after passing through the label.

[0044] like Figure 5 , Figure 6 As shown, the flipping assembly 6 includes a hydraulic cylinder 61. The bottom of the hydraulic cylinder 61 is fixedly connected to the top of the platform 51. A motor 62 is fixedly connected to the piston rod at the output end of the hydraulic cylinder 61. A flipping rod 63 is fixedly connected to the shaft at the output end of the motor 62. A plate feeding assembly 64 is fixedly connected to the end of the flipping rod 63 away from the motor 62. The plate feeding assembly 64 includes a limiting shell 641. The surface of the limiting shell 641 is fixedly connected to the end of the flipping rod 63 away from the motor 62. A negative pressure suction cup 642 is fixedly connected to the inner side of the limiting shell 641. A rib plate 643 is adsorbed on the inner side of the limiting shell 641 by negative pressure. A cardboard 644 is fixedly connected to the middle position of the surface of the rib plate 643.

[0045] In use, the hydraulic cylinder 61 is positioned above the platform 51 near the adjustment mechanism 7. When the steel wire rod 4 is conveyed to the adjustment mechanism 7, the rib plate 643 is first adsorbed by the negative pressure suction cup 642. The surface of the rib plate 643 is in close contact with the inner side of the limiting shell 641. The rib plate 643 and the cardboard 644 form the label paper of the device, which is used to mark the steel wire rod 4. The surface of the cardboard 644 is provided with openings. After the cardboard 644 is limited by the rib plate 643, the motor 62 drives the flipping rod 63 to flip, aligning the openings of the cardboard 644 with the two ends of the metal wire. The hydraulic cylinder 61 adjusts the height of the cardboard 644, thereby quickly adsorbing and conveying the cardboard 644 to a position close to the metal wire.

[0046] like Figure 7 , Figure 8As shown, the adjustment mechanism 7 includes a slide rail 71, the surface of which is fixedly connected to the surface of the platform 51. A lead screw device 72 is fixedly connected to the surface of the slide rail 71. A sliding seat 73 is threadedly connected to the surface of the lead screw device 72. The surface of the sliding seat 73 is slidably connected to the inner side of the slide rail 71. A driving device 74 is fixedly connected to the top of the sliding seat 73. A wire threading assembly 75 is fixedly connected to the output end of the driving device 74. The wire threading assembly 75 includes an assembly wall 751, the surface of which is fixedly connected to the output end of the driving device 74. An arc-shaped shell 752 is fixedly connected to the side of the assembly wall 751 away from the driving device 74. The wire threading assembly 75 also includes a bending wire 754. A rubber strip 753 is fixedly connected to the inner side of the arc-shaped shell 752. The surface of the rubber strip 753 is in close contact with the surface of the bending wire 754 through friction.

[0047] In use, the lead screw device 72 engages with the sliding seat 73 via a thread. This engagement is existing technology. The lead screw device 72 drives the sliding seat 73 to slide on the inner side of the slide rail 71. The surface of the arc-shaped shell 752 is semi-circular, and a rubber strip 753 is fixedly connected to the inner side of the arc-shaped shell 752. The rubber strip 753 limits the bending wire 754 through friction. After the surface of the bending wire 754 is clamped by friction, the drive device 74 is adjusted so that the axis of the bending wire 754 is parallel to the radial direction of the steel wire rod 4. The sliding seat 73 causes the drive device 74 to approach the steel wire rod 4. The two ends of the bending wire 754 pass through the opening of the cardboard 644 and the steel wire rod 4 respectively, thereby securing the label on the surface of the steel wire rod 4.

[0048] like Figures 1-8 As shown, the top of the housing 551 is fixedly connected to the output end of the electric cylinder 54. A limit plate 552 is fixedly connected to the middle position of the surface of the housing 551. A scissor fork structure 553 is fixedly connected to the surface of the limit plate 552. One end of the scissor fork structure 553 extends into the interior of the housing 551. A pull rod 554 is fixedly connected to the side of the scissor fork structure 553 away from the housing 551. The middle position of the surface of the pull rod 554 is fixedly connected to the surface of the limit plate 552. The surface of the component wall 751 is fixedly connected to the output end of the driving device 74. An arc-shaped shell 752 is fixedly connected to the side of the component wall 751 away from the driving device 74. The wire threading component 75 also includes a bending wire 754. A rubber strip 753 is fixedly connected to the inner side of the arc-shaped shell 752. The surface of the rubber strip 753 is in close contact with the surface of the bending wire 754 through friction.

[0049] In use, when inserting the label, the axial direction of the component wall 751 is parallel to the radial direction of the steel wire rod 4. The flipping rod 63 drives the cardboard 644 to rotate 180 degrees. The opening on the surface of the cardboard 644 is opposite to the surface of the steel wire rod 4. The sliding seat 73 slides on the inner side of the slide rail 71 and moves close to the cardboard 644. The two ends of the bending wire 754 pass through the cardboard 644 and then through the gap of the steel wire rod 4. The limiting plate 552 limits the middle position of the pull rod 554. The pulling of the pull rod 554 is the prior art. The scissor fork structure 553 applies opposing extrusion force to the two ends of the bending wire 754. The steel wire rod 4 between the bending wires 754 restricts the bending position of the bending wire 754, thus solving the problem of how to prevent the label paper from falling off.

[0050] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, the phrase "comprising an element defined as..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A robotic arm for threading and aligning steel bar coils, characterized in that: include A base (1) is fixedly connected to a support platform (2) on the top of the base (1), and a transmission device (3) is fixedly connected to the top of the base (1). A steel wire rod (4) is conveyed above the transmission device (3). The marking mechanism (5) is used to feed the label paper to the middle position of the surface of the steel wire rod (4), and then pass the metal wire through the hole on the surface of the label paper. The two ends of the metal wire pass through the steel wire rod (4), and the two ends of the metal wire are bent by the opposing pressure to complete the labeling process of the steel wire rod (4); it includes a clamping component (55), a flipping component (6) and an adjusting mechanism (7). The flipping component (6) adsorbs the label paper and drives it to the surface of the steel wire rod (4). The adjusting mechanism (7) limits the surface of the metal wire by friction, and then moves towards the steel wire rod (4) to pass the two ends of the metal wire through the steel wire rod (4); The adjustment mechanism (7) is located opposite the clamping assembly (55), and the surface of the adjustment mechanism (7) extends to the inner side of the steel wire rod (4). After the end face of the metal wire passes through the adjustment mechanism (7), the adjustment mechanism (7) bends the two ends of the metal wire in opposite directions. The clamping assembly (55) includes a housing (551), the top of which is fixedly connected to the output end of an electric cylinder (54). A limiting plate (552) is fixedly connected to the middle position of the surface of the housing (551), and a scissor fork structure (553) is fixedly connected to the surface of the limiting plate (552). One end of the scissor fork structure (553) extends into the interior of the housing (551), and a pull rod (554) is fixedly connected to the side of the scissor fork structure (553) away from the housing (551). The middle position of the surface of the pull rod (554) is fixedly connected to the surface of the limiting plate (552). The adjustment mechanism (7) includes a slide rail (71), the surface of which is fixedly connected to the surface of the platform (51), and a lead screw device (72) is fixedly connected to the surface of the slide rail (71). A sliding seat (73) is threadedly connected to the surface of the lead screw device (72).

2. The rebar wire rod threading and alignment robot according to claim 1, characterized in that: The marking mechanism (5) also includes a platform (51), the bottom of which is fixedly connected to the top of the support platform (2), and a fixing body (52) is fixedly connected to the top of the platform (51), and an extension rod (53) is fixedly connected to the top of the fixing body (52).

3. The rebar wire rod threading and alignment robot according to claim 2, characterized in that: An electric cylinder (54) is fixedly connected to one end of the extension rod (53) away from the fixed body (52). The piston rod at the output end of the electric cylinder (54) is fixedly connected to the top of the clamping assembly (55). The bottom of the flipping assembly (6) and the adjusting mechanism (7) are both fixedly connected to the top of the platform (51).

4. The rebar wire rod threading and alignment robot according to claim 1, characterized in that: The flipping assembly (6) includes a hydraulic cylinder (61), the bottom of which is fixedly connected to the top of the platform (51), a motor (62) is fixedly connected to the piston rod at the output end of the hydraulic cylinder (61), and a flipping rod (63) is fixedly connected to the shaft at the output end of the motor (62).

5. The rebar wire rod threading and alignment robot according to claim 4, characterized in that: The end of the flipping rod (63) away from the motor (62) is fixedly connected to a plate feeding assembly (64). The plate feeding assembly (64) includes a limiting shell (641), and the surface of the limiting shell (641) is fixedly connected to the end of the flipping rod (63) away from the motor (62).

6. The rebar wire rod threading and alignment robot according to claim 5, characterized in that: The inner side of the limiting shell (641) is fixedly connected to a negative pressure suction cup (642), and the inner side of the limiting shell (641) is adsorbed by negative pressure to a rib plate (643). A cardboard (644) is fixedly connected to the middle position of the surface of the rib plate (643).

7. The rebar wire rod threading and alignment robot according to claim 1, characterized in that: The surface of the sliding seat (73) is slidably connected to the inner side of the slide rail (71), and a driving device (74) is fixedly connected to the top of the sliding seat (73). A threading assembly (75) is fixedly connected to the output end of the driving device (74).

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