Intelligent assembling platform for trusses, stirrups and hooks

Abstract

The invention provides an intelligent truss, stirrup and hook assembling platform. The intelligent truss, stirrup and hook assembling platform comprises a stirrup welding platform, a first stirrup conveying mechanism, a stirrup transferring platform, a second stirrup conveying mechanism, an assembling platform and a hook punching machine. The stirrup welding platform is used for limiting and welding stirrups; the first stirrup conveying mechanism conveys unwelded stirrups to the stirrup welding platform and conveys welded stirrups to the stirrup transfer platform; the stirrup transfer platform transfers the welded stirrups to the second stirrup conveying mechanism; the second stirrup conveying mechanism conveys the welded stirrups to the assembling position, the mounting platform is used for fixing the truss and adjusting the position of the hooking machine, and the hooking machine is used for manufacturing hooks on the truss and the stirrups. The stirrup can be welded and transferred, the bent hooks are directly formed on the truss and the stirrup, the truss and the stirrup are connected, a finished hook does not need to be produced in advance, then the finished hook is connected and assembled with the stirrup and the truss, the workload of steel reinforcement framework assembly is reduced, and efficiency is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of high-speed rail double-block sleeper production, and more specifically, relates to an intelligent assembly platform for trusses, stirrups, and hooks. Background Art

[0002] During the production of double-block sleepers, according to the technical process, trusses, stirrups, hooks and other steel products must be put in to assemble the steel skeleton of the sleeper, which is closely combined with concrete to enhance the strength of the sleeper. The entire assembly process of traditional manual production consumes a lot of human resources. First, the stirrups and trusses need to be put into the empty steel mold in turn, and then the pre-produced finished hooks are used to connect and assemble the two. The connection and assembly process requires the hooks to be placed in the narrow space of the steel mold cavity, and multi-angle and multi-stage displacements are performed to complete the assembly of the steel skeleton.

[0003] The traditional assembly process is time-consuming and labor-intensive, requiring the stirrups to be welded and transported separately, the hooks to be made separately, and the made stirrups and hooks to be assembled with the trusses to form a steel skeleton, which is inefficient. In view of this, the applicant has proposed a truss, stirrup, and hook intelligent assembly platform to solve the above problems. Summary of the invention

[0004] To achieve the above-mentioned purpose, the technical solution adopted in this application is: to provide an intelligent assembly platform for trusses, stirrups and hooks, including a stirrup welding platform, a first stirrup conveying mechanism, a stirrup transfer platform, a second stirrup conveying mechanism, an assembly platform and a hooking machine; the stirrup welding platform is used to carry the stirrups and limit and weld the stirrups; the first stirrup conveying mechanism is used to convey the unwelded stirrups to the stirrup welding platform and to convey the welded stirrups to the stirrup transfer platform; the stirrup transfer platform is used to transfer the welded stirrups to the second stirrup conveying mechanism; the second stirrup conveying mechanism is used to convey the welded stirrups to the assembly position, the installation platform is used to fix the truss and adjust the position of the hooking machine, and the hooking machine is located on the assembly platform, and is used to make hooks on the truss and stirrups to connect the truss and stirrups together.

[0005] Optionally, the stirrup welding platform includes a welding table, a through slot with a top opening is provided on the welding table, the first stirrup conveying mechanism passes through the through slot, and the welding table is connected to a lifting component for lifting it.

[0006] Optionally, the welding table is provided with a transverse limiting assembly, a longitudinal limiting assembly and a vertical limiting assembly for limiting the stirrups.

[0007] Optionally, the stirrup transfer platform includes a stirrup grabbing device, which is used to grab the stirrups from the first stirrup conveying mechanism and place them on the second stirrup conveying mechanism; the stirrup grabbing device includes a horizontal moving component, a vertical moving component is provided on the horizontal moving component, and a stirrup grabbing component is provided on the vertical moving component.

[0008] Optionally, the assembly platform includes a frame and a pallet, the second stirrup conveying mechanism is connected to the frame, a truss fixing frame and a pallet driving mechanism are provided on the frame, the pallet driving mechanism is connected to the pallet and is used to drive the pallet to move along the length direction of the frame, and the hooking machine is connected to the pallet and is used to make hooks to connect the truss and stirrups.

[0009] Optionally, a first slide rail is provided on the frame, a first slider is provided on the pallet, the first slider is slidably connected to the first slide rail, the pallet driving mechanism includes a motor and a synchronous belt, the motor is used to drive the synchronous belt to rotate, and the synchronous belt is fixedly connected to the pallet.

[0010] Optionally, a second slide rail is provided on the support plate, the second slide rail is perpendicular to the first slide rail, the hook machine is slidably connected to the second slide rail, the number of the hook machines is two, and a hook machine driving mechanism is provided on the support plate for driving the two hook machines to move closer to or away from each other.

[0011] Optionally, the hook machine driving mechanism includes a pushing cylinder, a first connecting rod, a rotating shaft, a rocker arm and a second connecting rod, the telescopic end of the pushing cylinder is hinged to the first connecting rod, the middle part of the rotating shaft is rotatably connected to the support plate, the two ends of the rotating shaft are respectively fixedly connected to the first connecting rod and the rocker arm, the two ends of the rocker arm are respectively hinged to one end of two second connecting rods, and the end of the second connecting rod away from the rocker arm is respectively hinged to two hook machines.

[0012] Optionally, the hook-making machine includes a shell and a wire straightening mechanism, a wire feeding mechanism, a wire guiding mechanism, a wire cutting mechanism, an upper hook forming mechanism and a lower hook forming mechanism arranged on the shell, the wire straightening mechanism is used to straighten the wire, the wire guiding mechanism is used to guide the wire, the wire cutting mechanism is used to cut the wire, the upper hook forming mechanism is used to form a hook at the upper end of the wire, and the lower hook forming mechanism is used to form a hook at the lower end of the wire.

[0013] Optionally, the wire cutting mechanism comprises a lower cutter and an upper cutter that cooperate with each other, a through hole for the wire to pass through is provided in the middle of the lower cutter, the upper cutter is connected to an upper cutter holder, and the upper cutter holder is connected to a first cylinder for driving it to move forward and backward;

[0014] Optionally, the upper hook forming mechanism comprises a lower hook guide clamp, an upper hook guide clamp, a circle rod seat, a circle rod and a circle rod adjusting head, the inner sides of the lower hook guide clamp and the upper hook guide clamp are provided with through holes matching the size of the steel wire, the lower hook guide clamp and the upper hook guide clamp are both connected with finger cylinders for opening and closing, the circle rod adjusting head is connected with the circle rod, the circle rod is fixed on the circle rod seat, and the circle rod adjusting head and the circle rod are provided with an arc groove on one side facing the upper hook guide clamp;

[0015] Optionally, the lower bend hook forming mechanism includes a fourth cylinder, a top bend hooking arm, a retaining ring rod and a top bend hooking piece, the two ends of the fourth cylinder are respectively hinged to the shell and one end of the top bend hooking arm, the middle part of the top bend hooking arm is rotatably connected to the shell, the other end of the top bend hooking arm is hinged to the top bend hooking piece, the retaining ring rod is fixedly connected to the shell, the top bend hooking arm is located between the retaining ring rod and the shell, and the top bend hooking arm is provided with an inclined surface on the side facing the retaining ring rod, and the top of the top bend hooking piece is provided with a groove matching the size of the steel wire;

[0016] Optionally, the wire feeding mechanism comprises a first pressure wheel seat, a second pressure wheel seat and a servo motor, the first pressure wheel seat and the second pressure wheel seat are both provided with wire feeding pressure wheels, the servo motor is transmission-connected to the wire feeding pressure wheels, and the first pressure wheel seat is connected to a pressure regulating assembly;

[0017] Optionally, a truss fixing mechanism is also included, which includes a truss fixing claw and a fifth cylinder, the middle part of the truss fixing claw is rotatably connected to the shell, one end of the fifth cylinder is hinged to the shell, and the other end is hinged to one end of the truss fixing claw.

[0018] The beneficial effect of the truss, stirrup, hook intelligent assembly platform provided by the present application is that: when in use, firstly, the unwelded stirrups are placed horizontally on the stirrup welding platform through the first stirrup conveying mechanism, and the stirrup welding platform fixes and welds them. After welding, the first stirrup conveying mechanism then conveys the welded stirrups to the stirrup transfer platform, and the stirrup transfer platform then longitudinally places the stirrups on the second stirrup conveying mechanism, and the second stirrup conveying mechanism transports the stirrups to the assembly position on the assembly platform, and assembles them with the trusses pre-placed on the assembly platform. The assembly platform can adjust the position of the hook machine, so that the hook machine moves to the corresponding position, directly forms a hook on the truss and stirrups, and connects the truss with the stirrups. There is no need to pre-produce the finished hook and then connect the finished hook with the stirrups and truss to assemble, which reduces the workload of steel skeleton assembly and improves efficiency. The present application breaks the limitations of traditional processes, integrates stirrup welding, hook production, and truss assembly, and fundamentally solves the problem of difficulty in grabbing and connecting the finished hooks and high precision requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0020] Figure 1 A schematic diagram of the overall structure of the truss, stirrups and hook intelligent assembly platform provided in the embodiment of the present application;

[0021] Figure 2 It is a structural schematic diagram of the stirrup welding platform and the first stirrup conveying mechanism;

[0022] Figure 3 It is a structural schematic diagram of the stirrup welding platform;

[0023] Figure 4 It is a structural schematic diagram of the longitudinal limit assembly in the stirrup welding platform;

[0024] Figure 5 It is a structural schematic diagram of the vertical limit assembly in the stirrup welding platform;

[0025] Figure 6 It is a structural schematic diagram of the stirrup transfer platform;

[0026] Figure 7 for Figure 6 A magnified view of part A;

[0027] Figure 8 It is a structural schematic diagram of a stirrup grabbing device in a stirrup transfer platform;

[0028] Fig. 9 It is a structural schematic diagram of the stirrup grabbing assembly in the stirrup transfer platform;

[0029] Fig.10 It is a schematic diagram of the internal structure of the stirrup grabbing assembly in the stirrup transfer platform;

[0030] Fig.11 It is a schematic diagram of the use status of the assembly platform and the hook machine;

[0031] Fig.12 It is a structural schematic diagram of the assembly platform;

[0032] Fig.13 It is a structural schematic diagram of the pallet in the assembly platform;

[0033] Fig.14 It is a structural diagram of a hook punching machine;

[0034] Fig.15 This is a schematic diagram of the internal structure of the hook punching machine;

[0035] Fig.16 It is a structural schematic diagram of the wire cutting mechanism;

[0036] Fig.17 It is a structural diagram of the circle rod;

[0037] Fig.18 It is a structural schematic diagram of the wire feeding mechanism;

[0038] Fig.19 It is a structural schematic diagram of the wire guide mechanism;

[0039] Fig. 20 This is a schematic diagram of the coordination between the hook punching machine, the truss and the stirrups;

[0040] Fig.21 Schematic diagram of the connection between the hook, truss and stirrups.

[0041] Among them, the reference numerals in the figure are:

[0042] 100. First stirrup conveying mechanism; 101. Spring holder;

[0043] 200, stirrup welding platform; 210, welding table; 211, through slot; 220, horizontal limit assembly; 221, first cylinder; 222, push plate; 223, first limit block; 230, longitudinal limit assembly; 231, second cylinder; 232, movable push plate; 233, pull plate connecting seat; 234, pull plate; 235, guide plate; 236, second limit block; 240, lifting assembly; 241, lifting cylinder; 242, lifting cylinder mounting seat; 243, lifting tray; 244, guide rod; 250, vertical limit assembly; 251, rotating downward pressure cylinder; 252, connecting bolt; 260, support frame;

[0044] 300, stirrup transfer platform; 310, horizontal moving assembly; 311, first slide; 312, slide rail; 320, vertical moving assembly; 321, lifting seat; 322, second slide; 323, lifting arm; 330, stirrup grabbing assembly; 331, grabbing cylinder; 332, clamping claw; 333, chuck; 334, piston rod; 335, arc-shaped limit groove; 340, mounting frame;

[0045] 400, second stirrup conveying mechanism;

[0046] 500, assembly platform; 510, frame; 511, truss fixing frame; 512, motor; 513, first slide rail; 520, support plate; 521, first slider; 522, second slide rail; 523, push cylinder; 524, first connecting rod; 525, rotating shaft; 526, rocker arm; 527, second connecting rod;

[0047] 600, hooking machine; 610, housing; 620, wire straightening mechanism; 621, straightening pressure wheel; 630, wire feeding mechanism; 631, servo motor; 632, driven gear; 633, wire feeding pressure wheel; 634, screw; 635, spring; 636, screw; 637, wire feeding inspection encoder; 640, wire guide mechanism; 641, wire guide clamping plate; 642, pad; 643, wire guide clamp; 650, lower hook forming mechanism; 651, fourth cylinder; 652, top bending hooking crank arm; 653, top bending hooking member; 654, retaining ring rod; 65 5. Ring rod mounting seat; 660. Upper hook forming mechanism; 661. Ring rod seat; 662. Ring rod; 663. Ring rod adjusting head; 664. Arc groove; 665. Strip hole; 666. Lower hook guide clamp; 667. Upper hook guide clamp; 668. Finger cylinder; 670. Wire cutting mechanism; 671. Lower cutter; 672. Upper cutter; 673. Third cylinder; 674. Upper knife holder; 675. Adjusting rod; 676. Upper knife seat; 680. Truss fixing mechanism; 681. Truss fixing claw; 682. Fifth cylinder; 690. Stirrup limit block;

[0048] 700, truss;

[0049] 800, stirrups;

[0050] 900. Hook. DETAILED DESCRIPTION

[0051] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0052] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0053] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0054] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0055] Please also read Figure 1-Figure 21 , the steel bar skeleton assembly device provided in the embodiment of the present application is now described.

[0056] A truss, stirrup, hook intelligent assembly platform 500, see Figure 1, including a stirrup welding platform 200, a first stirrup conveying mechanism 100, a stirrup transfer platform 300, a second stirrup conveying mechanism 400, an assembly platform 500 and a hooking machine 600; the stirrup welding platform 200 is used to carry the stirrups 800 and limit and weld the stirrups 800; the first stirrup conveying mechanism 100 is used to convey the unwelded stirrups 800 to the stirrup welding platform 200 and to convey the welded stirrups 800 to the stirrup transfer platform 300; the stirrup transfer platform 300 is used to transfer the welded stirrups 800 to the second stirrup conveying mechanism 400; the second stirrup conveying mechanism 400 is used to convey the welded stirrups 800 to the assembly position, the installation platform is used to fix the truss 700 and adjust the position of the hook 900 machine, the hooking machine 600 is located on the assembly platform 500, and is used to make hooks 900 on the truss 700 and the stirrups 800, and connect the truss 700 with the stirrups 800.

[0057] In some embodiments of the present application, see Figure 2-5 The stirrup welding platform 200 includes a welding platform 210. The welding platform 210 is provided with a through slot 211 with a top opening. The first stirrup conveying mechanism 100 passes through the through slot 211. The welding platform 210 is connected to a lifting component 240 for lifting it.

[0058] Before welding, the lifting assembly 240 drives the welding platform 210 to rise, so that the top of the welding platform 210 is higher than the first stirrup conveying mechanism 100, and then the stirrup 800 is placed on the welding platform 210, and the stirrup 800 is limited by the welding platform 210 to facilitate welding. After welding is completed, the welding platform 210 is driven down by the lifting assembly 240, and the stirrup 800 is placed on the first stirrup conveying mechanism 100, and the welded stirrup 800 is transported to the next station by the first stirrup conveying mechanism 100. The welded stirrup 800 is directly transported on the first stirrup conveying mechanism 100, and the position is always fixed, so that the stirrup 800 can be accurately conveyed.

[0059] In some embodiments of the present application, see Figure 3 The welding table 210 is provided with a transverse limiting assembly 220, a longitudinal limiting assembly 230 and a vertical limiting assembly 250 for limiting the stirrup 800.

[0060] The position of the stirrup 800 can be limited by the transverse limiting assembly 220 , the longitudinal limiting assembly 230 and the vertical limiting assembly 250 , so that the outer dimensions are consistent and the stirrup 800 can be easily welded.

[0061] In some embodiments of the present application, see Figure 3The lateral limiting assembly 220 includes a first cylinder 221 , the first cylinder 221 is connected to a push plate 222 , a first limiting block 223 is provided on the welding table 210 , and the push plate 222 and the first limiting block 223 are arranged opposite to each other.

[0062] The first cylinder 221 can drive the push plate 222 to move, so as to adjust the distance between the push plate 222 and the first limiting block 223 , thereby limiting the lateral position of the stirrup 800 .

[0063] In some embodiments of the present application, see Figure 4 The longitudinal limiting assembly 230 includes a second cylinder 231 and a second limiting block 236. A pull plate connecting seat 233 is provided at the telescopic end of the second cylinder 231. The pull plate connecting seat 233 is hinged to two or more pull plates 234. A movable push plate 232 is hinged at the other end of the pull plate 234. The movable push plate 232 is arranged opposite to the second limiting block 236. A roller is provided at the bottom of the movable push plate 232. A guide plate 235 for guiding the roller is provided below the second cylinder 231, and the end of the guide plate 235 that contacts the roller is an inclined surface.

[0064] The second cylinder 231 can drive the pull plate connecting seat 233 to move, and the pull plate connecting seat 233 can drive the movable push plate 232 to move toward the second limit block 236 through a plurality of pull plates 234 hinged thereto. At the same time, the rollers arranged at the bottom of the movable push plate 232 can roll on the inclined surface of the guide plate 235 to move the movable push plate 232 upward. The movable push plate 232 extends out of the plane where the top of the welding table 210 is located, and abuts against one side of the stirrup 800. The movable push plate 232 moves toward the side of the second limit block 236, so that the stirrup 800 abuts against the second limit block 236, thereby realizing the longitudinal limitation of the stirrup 800.

[0065] In some embodiments of the present application, see Figure 5 The vertical limiting assembly 250 includes a rotary downward pressing cylinder 251, and the rotary downward pressing cylinder 251 is connected to a downward pressing member.

[0066] The rotating downward pressing cylinder 251 can drive the upper execution end thereof to rise and fall and rotate. The execution end is provided with a connecting bolt 252 for installing a downward pressing member (not shown). By rotating the downward pressing cylinder 251, the execution member can be driven to rotate and move up and down, thereby pressing the stirrup 800, realizing the vertical limit of the stirrup 800, and facilitating welding. Optionally, the downward pressing member can be a pressing plate.

[0067] In some embodiments of the present application, see Figure 2 The first stirrup conveying mechanism 100 is a plate chain conveyor, and a plurality of spring holders 101 for fixing the stirrups 800 are provided on the plate chain conveyor.

[0068] After welding is completed, the lifting assembly 240 drives the welding table 210 to descend, so that the stirrups 800 fall on the plate chain conveyor. The welded stirrups 800 can be limited by multiple spring seats 101, so that the stirrups 800 can be stably conveyed on the plate chain conveyor.

[0069] In some embodiments of the present application, see Figure 3 The lifting assembly 240 includes a lifting cylinder mounting seat 242 and a lifting cylinder 241 . The telescopic end of the lifting cylinder 241 is connected to a lifting tray 243 , and the lifting tray 243 is fixedly connected to the welding table 210 .

[0070] The lifting cylinder 241 is installed through the lifting cylinder mounting seat 242. The telescopic end of the lifting cylinder 241 can drive the lifting tray 243 to move up and down, thereby driving the welding table 210 to move up and down, thereby realizing the lifting and lowering of the stirrup 800.

[0071] In some embodiments of the present application, see Figure 2 Four guide rods 244 are arranged on the lifting tray 243 , and the lower ends of the four guide rods 244 pass through the lifting cylinder mounting seat 242 and are slidably connected to the lifting cylinder mounting seat 242 , so as to improve the stability of the lifting assembly 240 .

[0072] In some embodiments of the present application, see Figure 1 , further comprising a support frame 260, the lifting assembly 240 is arranged on the support frame 260, and specifically, the mounting seat is fixedly connected to the support frame 260. The plate chain conveyor is arranged on the top of the support frame 260.

[0073] In some embodiments of the present application, a sensor and a controller are also included. The sensor is connected to the controller, and the controller is respectively connected to the first stirrup conveying mechanism 100, the lifting assembly 240, the transverse limiting assembly 220, the longitudinal limiting assembly 230 and the vertical limiting assembly 250.

[0074] In some embodiments of the present application, see Figure 6 The stirrup transfer platform 300 includes a stirrup grabbing device, which is used to grab the stirrup 800 from the first stirrup conveying mechanism 100 and place it on the second stirrup conveying mechanism 400; the stirrup grabbing device includes a horizontal moving component 310, and the horizontal moving component 310 is provided with a vertical moving component 320, and the vertical moving component 320 is provided with a stirrup grabbing component 330.

[0075] The first stirrup conveying mechanism 100 and the second stirrup conveying mechanism 400 are perpendicular to each other. The first stirrup grabbing device grabs the stirrup 800 from the first stirrup conveying mechanism 100 and places it on the second stirrup conveying mechanism 400, so that the stirrup 800 is converted from horizontal transportation to vertical transportation, which is convenient for subsequent assembly. The second stirrup conveying mechanism 400 transports the stirrup 800 directly to the steel skeleton assembly position for assembly with the truss 700. There is no need to transport the stirrup 800 again, which improves the efficiency of transporting the stirrup 800 and at the same time improves the efficiency of assembling the steel skeleton.

[0076] In other embodiments of the present application, see Figure 6 , and also includes a mounting frame 340, which is used to provide an installation position for the first stirrup conveying mechanism 100, the second stirrup conveying mechanism 400 and the stirrup grabbing device.

[0077] In some embodiments of the present application, see Figure 6 and Figure 7 The horizontal moving assembly 310 includes a first slide 311 , and the vertical moving assembly 320 is connected to the first slide 311 .

[0078] The first slide 311 is horizontally arranged, and can drive the vertical moving assembly 320 to move horizontally. The vertical moving assembly 320 clamps the stirrup 800 through the stirrup grabbing assembly 330, thereby realizing the horizontal movement of the stirrup 800.

[0079] In some embodiments of the present application, see Figure 6 The horizontal moving assembly 310 further includes a slide rail 312 , which is parallel to the first slide platform 311 , and the vertical moving assembly 320 is slidably connected to the slide rail 312 .

[0080] Specifically, the slide rail 312 is slidably connected to the lifting seat 321 in the vertical moving assembly 320, and the lifting seat 321 is simultaneously connected to the first slide 311. By providing the slide rail 312, the stability of the lifting seat 321 can be improved.

[0081] In some embodiments of the present application, see Figure 8 The vertical moving assembly 320 includes a lifting seat 321 and a second slide 322 arranged on the lifting seat 321, the lifting seat 321 is connected to the first slide 311, the second slide 322 is connected to a lifting arm 323, and four stirrup grabbing assemblies 330 are arranged at the lower end of the lifting arm 323.

[0082] The second slide 322 is vertically arranged, and can drive the lifting arm 323 to move up and down, thereby driving the four stirrup grabbing assemblies 330 to move up and down. The four stirrup grabbing assemblies 330 grab four points of the stirrup 800, and through the cooperation of the first slide 311 and the second slide 322, the function of grabbing the stirrup 800 and placing it on the second stirrup conveying mechanism 400 is realized.

[0083] In some embodiments of the present application, see Fig. 9 and Fig.10 The stirrup grabbing assembly 330 includes a grabbing cylinder 331 and two clamping jaws 332. The cylinder is connected to a piston rod 334. The clamping jaw 332 is L-shaped. The middle part of the clamping jaw 332 is hinged to the cylinder body of the cylinder. One end of the piston rod 334 is hinged to one end of the clamping jaw 332. The other end of the clamping jaw 332 is connected to a chuck 333.

[0084] The grabbing cylinder 331 drives the piston rod 334 to move, and the piston rod 334 drives the clamping claw 332 to rotate around its center, thereby driving the two clamping heads 333 to rotate, thereby realizing the clamping function.

[0085] In some embodiments of the present application, see Fig.10 An arc-shaped limiting groove 335 is provided on the inner side of the clamp 333 .

[0086] By providing the arc-shaped limiting groove 335 , the stirrup 800 can be clamped more stably, preventing the stirrup 800 from falling off the clamp 333 .

[0087] In other embodiments of the present application, the horizontal moving assembly 310 and the vertical moving assembly 320 may also adopt structures such as linear modules, which is not limited in the present application.

[0088] In some embodiments of the present application, see Figure 6 The first stirrup conveying mechanism 100 and the second stirrup conveying mechanism 400 both include a plate chain conveyor, and the plate chain conveyor is provided with a spring clamp 101 for limiting the stirrup 800. There are multiple spring clamps 101, and the stirrup 800 can be limited by placing the stirrup 800 between the multiple spring clamps 101, so as to prevent the stirrup 800 from shifting between the first stirrup conveying mechanism 100 and the second stirrup conveying mechanism 400, thereby affecting the grabbing and subsequent assembly.

[0089] In other embodiments of the present application, other components with limiting functions may also be used to limit the stirrups 800, and the present application does not make any limitation thereto.

[0090] In some other embodiments of the present application, the first stirrup conveying mechanism 100 and the second stirrup conveying mechanism 400 may also adopt conveyor belts or other conveying mechanisms, which is not limited in the present application.

[0091] In some embodiments of the present application, see Fig.11 The assembly platform 500 includes a frame 510 and a pallet 520. The frame 510 is provided with a truss fixing frame 511, a second stirrup conveying mechanism 400 and a pallet 520 driving mechanism. The pallet 520 driving mechanism is connected to the pallet 520 and is used to drive the pallet 520 to move longitudinally. The hooking machine 600 is connected to the pallet 520 and is used to make a hook 900 to connect the truss 700 and the stirrup 800.

[0092] When in use, the truss 700 is placed on the truss fixing frame 511. After the stirrups 800 are transported to the predetermined position through the stirrup conveying mechanism, the present application can adjust the position of the hook machine 600 through the hook machine 600 driving mechanism and the support plate 520 driving mechanism, so that the hook machine 600 is moved to the corresponding position, and a hook is directly formed on the truss 700 and the stirrups 800 to connect the truss 700 with the stirrups 800. There is no need to pre-produce the finished hook 900 and then connect and assemble the finished hook 900 with the stirrups 800 and the truss 700, which reduces the workload of assembling the steel skeleton and improves efficiency.

[0093] In some embodiments of the present application, see Fig.12 A first slide rail 513 is provided on the frame 510, and a first slider 521 is provided on the support plate 520. The first slider 521 is slidably connected to the first slide rail 513. The drive mechanism of the support plate 520 includes a motor 512 and a synchronous belt. The motor 512 is used to drive the synchronous belt to rotate, and the synchronous belt is fixedly connected to the support plate 520.

[0094] The motor 512 drives the synchronous belt to rotate, thereby driving the support plate 520 to move on the first slide rail 513 to achieve the longitudinal movement of the hook 900. Optionally, the support plate 520 driving mechanism can also adopt other structures as long as the longitudinal movement of the support plate 520 can be achieved, which is not limited in this application.

[0095] In some embodiments of the present application, refer to 13, a second slide rail 522 is provided on the support plate 520, the second slide rail 522 is perpendicular to the first slide rail 513, the hook machine 600 is slidably connected to the second slide rail 522, the number of the hook machines 600 is two, and a hook machine 600 driving mechanism for driving the two hook machines 600 to move closer to or away from each other is provided on the support plate 520.

[0096] In some embodiments of the present application, see Fig.13The driving mechanism of the hook punching machine 600 includes a pushing cylinder 523, a first connecting rod 524, a rotating shaft 525, a rocker arm 526 and a second connecting rod 527. The telescopic end of the pushing cylinder 523 is hinged to the first connecting rod 524, the middle part of the rotating shaft 525 is rotatably connected to the support plate 520, and the two ends of the rotating shaft 525 are respectively fixedly connected to the first connecting rod 524 and the rocker arm 526. The two ends of the rocker arm 526 are respectively hinged to one end of two second connecting rods 527, and the end of the second connecting rod 527 away from the rocker arm 526 is respectively hinged to the two hook punching machines 600.

[0097] The push cylinder 523 can drive the first connecting rod 524 to rotate, the first connecting rod 524 drives the rotating shaft 525 to rotate, the rotating shaft 525 drives the rocking arm 526 to rotate, and the rocking arm 526 drives the two second connecting rods 527 to move, thereby driving the two hooking machines 600 connected to the second connecting rods 527 to move closer to each other or move away from each other. When the hooking operation is required, the two hooking machines 600 are controlled to move closer to each other, the hooking machines 600 contact the truss 700 and the stirrups 800, and perform the hooking operation, forming a hook 900 on the stirrups 800 and the truss 700, and connecting the two together to form a steel bar skeleton. After the hooking is completed, the two hooking machines 600 are controlled to move away from each other, disengage from the truss 700 and the stirrups 800, and move to the next connection point driven by the longitudinal moving mechanism to perform the molding work of the next hook 900.

[0098] In some of the benefits of this application, see Fig.14 The hook punching machine 600 includes a shell 610 and a wire straightening mechanism 620, a wire feeding mechanism 630, a wire guiding mechanism 640, a wire cutting mechanism 670, an upper hook forming mechanism 660 and a lower hook forming mechanism 650 arranged on the shell 610. The wire straightening mechanism 620 is used to straighten the wire, the wire guiding mechanism 640 is used to guide the wire, the wire cutting mechanism 670 is used to cut the wire, the upper hook forming mechanism 660 is used to form a hook at the upper end of the wire, and the lower hook forming mechanism 650 is used to form a hook at the lower end of the wire.

[0099] When in use, after placing the truss 700 and the stirrup 800 at a predetermined position, the present application can straighten the steel wire through the steel wire straightening mechanism 620, and then guide the steel wire through the wire guide mechanism 640, and then the steel wire directly forms a hook on the truss 700 under the action of the upper hook forming mechanism 660, and then the steel wire is cut by the steel wire cutting mechanism 670, and then the lower hook is directly formed on the stirrup 800 under the action of the lower hook forming mechanism 650. The present application can directly form a hook on the truss 700 and the stirrup 800, and connect the truss 700 with the stirrup 800, without the need to pre-produce the finished hook 900 and then connect the finished hook 900 with the stirrup 800 and the truss 700 for assembly, thereby reducing the workload of assembling the steel skeleton and improving efficiency.

[0100] In some embodiments of the present application, see Fig.15 The wire cutting mechanism 670 includes a lower cutter 671 and an upper cutter 672 that cooperate with each other. A through hole for the wire to pass through is provided in the middle of the lower cutter 671. The upper cutter 672 is connected to an upper knife holder 674, and the upper knife holder 674 is connected to a third cylinder 673 that drives it forward and backward.

[0101] A through hole for the steel wire to pass through is provided in the middle of the lower cutter 671. The size of the through hole is slightly larger than the steel wire. The steel wire passes through the upper end of the through hole. The third cylinder 673 can drive the cutter to move forward, thereby cooperating with the lower cutter 671 to cut the steel wire.

[0102] See also Fig.14 In some embodiments of the present application, the wire cutting mechanism 670 further includes an upper knife holder 674, an adjustment rod 675 and an upper knife seat 676. The upper knife holder 674 is connected to the upper cutter 672, and the upper knife holder 674 is slidably connected to the upper knife seat 676. The upper knife seat 676 is fixedly connected to the housing 610. The upper knife holder 674 can be driven to slide by the third cylinder 673, thereby driving the upper cutter 672 to move, thereby realizing the function of cutting the wire. The two ends of the adjustment rod 675 are respectively connected to the third cylinder 673 and the upper knife holder 674, and its length can be adjusted, thereby adjusting the position of the upper cutter 672.

[0103] In some embodiments of the present application, see Fig.14 , 15 and Fig.16 The upper hook forming mechanism 660 includes a lower hook guide clamp 666, an upper hook guide clamp 667, a circle rod seat 661, a circle rod 662 and a circle rod adjusting head 663. The inner sides of the lower hook guide clamp 666 and the upper hook guide clamp 667 are provided with through holes matching the size of the steel wire. The lower hook guide clamp 666 and the upper hook guide clamp 667 are both connected with a finger cylinder 668 for opening and closing. The circle rod adjusting head 663 is connected with the circle rod 662, and the circle rod 662 is fixed on the circle rod seat 661. The circle rod adjusting head 663 and the circle rod 662 are provided with an arc groove 664 on the side facing the upper hook guide clamp 667.

[0104] The through holes provided inside the lower hook guide clamp 666 and the upper hook guide clamp 667 are slightly larger than the size of the steel wire, allowing the steel wire to pass through and preventing the steel wire from bending when stressed. The wire feeding mechanism 630 provides the power for the steel wire to move forward, and the steel wire moves upward, and is deformed to form an upper hook under the action of the arc groove 664 provided on the circle rod adjustment head 663 and the circle rod 662. Fig. 20 and Fig.21Since the truss 700 is close to the inner side of the arc groove 664, the upper hook formed is directly hung on the truss 700. After the upper hook is formed, the finger cylinder 668 located below controls the lower hook guide clamp 666 to open, leaving a position for the upper cutter 672 to be ejected. The upper cutter 672 is ejected by the third cylinder 673 and cooperates with the lower cutter 671 to cut the steel wire. After cutting, the upper cutter 672 retracts. At this time, the lower end of the steel wire can be hooked by the lower hook forming mechanism 650.

[0105] In some embodiments of the present application, see Fig.16 The circle rod 662 is provided with a strip hole 665, and the circle rod 662 is fixedly connected to the circle seat through the strip hole 665. The circle rod adjustment head 663 is movably connected to the circle rod 662 (for example, bolted), and the installation position of the circle rod adjustment head 663 on the circle rod 662 can be adjusted. The installation position of the circle rod 662 can be adjusted through the strip hole 665, and the size of the upper hook can be adjusted by adjusting the installation position of the circle rod adjustment head 663 on the circle rod 662.

[0106] In some embodiments of the present application, see Fig.15 The lower hook forming mechanism 650 includes a fourth cylinder 651, a top bending hook arm 652, a retaining ring rod 654 and a top bending hook piece 653. The two ends of the fourth cylinder 651 are respectively hinged to the shell 610 and one end of the top bending hook arm 652. The middle part of the top bending hook arm 652 is rotatably connected to the shell 610. The other end of the top bending hook arm 652 is hinged to the top bending hook piece 653. The retaining ring rod 654 is fixedly connected to the shell 610. The top bending hook arm 652 is located between the retaining ring rod 654 and the shell 610, and the top bending hook arm 652 is provided with an inclined surface on the side facing the retaining ring rod 654, and the top of the top bending hook piece 653 is provided with a groove matching the size of the steel wire.

[0107] After the wire is cut, the upper cutter 672 retracts, see Fig. 20 The stirrup 800 is located on the inner side of the top bending hook piece 653, and the lower part of the cut steel wire abuts against the stirrup 800. At this time, the fourth cylinder 651 extends, driving the top bending hook arm 652 to rotate clockwise, thereby driving the top bending hook piece 653 to move upward. At the same time, the arc of the back of the top bending hook piece 653 squeezes the retaining ring rod 654 on the retaining ring rod mounting seat 655, so that the top bending hook piece 653 rotates inward around the left end of the top bending hook arm 652, so that the hooking is completed, and the top bending hook piece 653 cooperates with the retaining ring rod 654 to bend the lower end of the steel wire forward and upward from the bottom of the stirrup 800, and directly form a lower hook on the stirrup 800. Fig.14 The figure shows the state of the lower hook forming mechanism 650 at the moment of lower hook formation. Fig.21The hook 900 connects the truss 700 and the stirrup 800 together through the upper hook and the hook. After the hooking is completed, the fourth cylinder 651 shrinks back to the original position, and a torsion spring is arranged between the top bending hooking arm 652 and the top bending hooking member 653, and the top bending hooking member 653 also returns to the original position.

[0108] In some embodiments of the present application, see Fig.15 A length adjustment component is provided between the top bending hook arm 652 and the fourth cylinder 651.

[0109] The initial position of the hook forming part can be fine-tuned by the length adjustment component. Optionally, the length adjustment component is a spiral connecting rod, one end of which is threadedly connected to the output shaft of the fourth cylinder 651, and the other end is movably connected to the top bending hook arm 652. The distance between the fourth cylinder 651 and the top bending hook arm 652 can be adjusted by rotation, thereby fine-tuning the initial position of the hook forming part.

[0110] In some embodiments of the present application, participation Fig.18 The wire feeding mechanism 630 includes a first pressure wheel seat, a second pressure wheel seat and a servo motor 631. The first pressure wheel seat and the second pressure wheel seat are both provided with a wire feeding pressure wheel 633. The servo motor 631 is transmission-connected to the wire feeding pressure wheel 633. The first pressure wheel seat is connected to a pressure regulating assembly.

[0111] Specifically, the output end of the servo motor 631 is connected to a driving gear, and each wire feeding pressure wheel 633 is coaxially connected to a driven gear 632, and the driving gear is meshed with the driven gear 632. The servo motor 631 drives the wire feeding pressure wheel 633 to rotate through the transmission of the driving gear and the driven gear 632. The steel wire is located between the wire feeding pressure wheels 633 on the first pressure wheel seat and the second pressure wheel seat, and the wire feeding pressure wheels 633 on both sides squeeze the steel wire through the pressure regulating assembly, and the wire feeding pressure wheels 633 convey the steel wire through friction.

[0112] In some embodiments of the present application, participation Fig.18 The pressure regulating assembly includes a spring 635, a screw 634 and a screw rod 636. One end of the screw 634 is rotatably connected to the spring 635, and the other end of the spring 635 abuts against the first pressure wheel seat. The shell 610 of the first pressure wheel seat is slidably connected, and the screw rod is threadedly connected to the shell 610, and one end of the screw rod abuts against the first pressure wheel seat.

[0113] By rotating the screw 634, one end of the screw 634 close to the spring 635 can be displaced, so that the elastic force of the spring 635 changes, thereby changing the pressure between the two wire feeding pressure wheels 633, thereby changing the friction force on the steel wire.

[0114] In some embodiments of the present application, see Fig.14The steel wire straightening mechanism 620 includes two sets of straightening pressing wheels 621, and the axes of the two sets of straightening pressing wheels 621 are perpendicular to each other. The steel wire can be modulated by squeezing the steel wire by the two sets of straightening pressing wheels 621.

[0115] In some embodiments of the present application, see Fig.19 The wire guide mechanism 640 includes a wire guide clamp 643 and a wire guide clamping plate 641. The wire guide clamping plate 641 is fixedly connected to the shell 610. The wire guide clamping plate 641 is used to press and fix the wire guide clamp 643. A through hole matching the size of the steel wire is provided in the middle of the wire guide clamp 643.

[0116] Specifically, the wire guide clamp 643 is a split structure, with a groove slightly larger than the diameter of the wire on one side. The wire guide clamp 643 is arranged on the pad 642 and fixed to the housing 610 through the wire guide clamping plate 641. The wire guide mechanism 640 can ensure that the wire will not be deformed when the hook is subjected to force.

[0117] In some embodiments of the present application, see Fig.14 , 20 , and also includes a truss fixing mechanism 680, which includes a truss fixing claw 681 and a fifth cylinder 682, the middle part of the truss fixing claw 681 is rotatably connected to the shell 610, one end of the fifth cylinder 682 is hinged to the shell 610, and the other end is hinged to one end of the truss fixing claw 681.

[0118] The fifth cylinder 682 can drive the truss fixing claw 681 to rotate. The front end of the truss fixing claw 681 protrudes upward to limit the truss 700. The truss fixing claw 681 fixes the truss 700 to prevent the truss 700 from moving, which facilitates the forming of the upper bend hook.

[0119] In some embodiments of the present application, see Fig.14 and Fig.18 , and also includes a wire feeding inspection encoder 637, which is arranged on one side of the wire feeding mechanism 630 and is used to detect whether the steel wire is slipping.

[0120] In some embodiments of the present application, a stirrup limiting block 690 is further provided on the housing 610. There are two stirrup limiting blocks 690, which are respectively provided on both sides of the lower hook forming mechanism 650. A slot is provided at the front end of the stirrup limiting block 690 to limit the stirrup 800 and prevent the stirrup 800 from being displaced when the lower hook is formed.

[0121] The truss, stirrups and hook intelligent assembly platform provided in the present application adopts motors and cylinders as actuators to make the whole equipment run. It also includes an electric control cabinet, a wire reel, etc. (not shown in the figure). It is controlled by PLC, and the PLC parameters can be manually modified through the touch screen control. The signal is transmitted through network communication. Each step of the action is fed back by the sensor and then the next step is carried out. Automated operation can be realized, which greatly improves the work efficiency of the steel skeleton assembly and improves the accuracy of the steel skeleton assembly.

[0122] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A truss, stirrup, hook intelligent assembly platform, characterized by: It includes a stirrup welding platform, a first stirrup conveying mechanism, a stirrup transfer platform, a second stirrup conveying mechanism, an assembly platform and a hooking machine; the stirrup welding platform is used to carry stirrups and limit and weld the stirrups; the first stirrup conveying mechanism is used to convey unwelded stirrups to the stirrup welding platform and to convey welded stirrups to the stirrup transfer platform; the stirrup transfer platform is used to transfer the welded stirrups to the second stirrup conveying mechanism; the second stirrup conveying mechanism is used to convey the welded stirrups to the assembly position, the installation platform is used to fix the truss and adjust the position of the hooking machine, and the hooking machine is located on the assembly platform, and is used to make hooks on the truss and stirrups to connect the truss and stirrups together.

2. The truss, stirrup and hook intelligent assembly platform according to claim 1, characterized in that: The stirrup welding platform comprises a welding platform, a through slot with a top opening is arranged on the welding platform, the first stirrup conveying mechanism passes through the through slot, and a lifting component for lifting the welding platform is connected to the welding platform.

3. The truss, stirrup and hook intelligent assembly platform according to claim 2, characterized in that: The welding table is provided with a transverse limiting assembly, a longitudinal limiting assembly and a vertical limiting assembly for limiting the stirrups.

4. The truss, stirrup and hook intelligent assembly platform according to claim 1, characterized in that: The stirrup transfer platform includes a stirrup grabbing device, which is used to grab the stirrups from the first stirrup conveying mechanism and place them on the second stirrup conveying mechanism; the stirrup grabbing device includes a horizontal moving component, a vertical moving component is arranged on the horizontal moving component, and a stirrup grabbing component is arranged on the vertical moving component.

5. The truss, stirrup and hook intelligent assembly platform according to claim 1, characterized in that: The assembly platform includes a frame and a pallet, the second stirrup conveying mechanism is connected to the frame, a truss fixing frame and a pallet driving mechanism are provided on the frame, the pallet driving mechanism is connected to the pallet and is used to drive the pallet to move along the length direction of the frame, and the hooking machine is connected to the pallet and is used to make hooks to connect the truss and stirrups.

6. The truss, stirrup and hook intelligent assembly platform according to claim 5, characterized in that: The frame is provided with a first slide rail, the support plate is provided with a first slider, the first slider is slidably connected to the first slide rail, the support plate driving mechanism includes a motor and a synchronous belt, the motor is used to drive the synchronous belt to rotate, and the synchronous belt is fixedly connected to the support plate.

7. The truss, stirrup and hook intelligent assembly platform according to claim 6, characterized in that: A second slide rail is arranged on the support plate, the second slide rail is perpendicular to the first slide rail, the hook machine is slidably connected to the second slide rail, there are two hook machines, and a hook machine driving mechanism is arranged on the support plate for driving the two hook machines to move closer to or away from each other.

8. The truss, stirrup and hook intelligent assembly platform according to claim 7, characterized in that: The hook-pulling machine driving mechanism includes a pushing cylinder, a first connecting rod, a rotating shaft, a rocker arm and a second connecting rod. The telescopic end of the pushing cylinder is hinged to the first connecting rod, the middle part of the rotating shaft is rotatably connected to the support plate, the two ends of the rotating shaft are respectively fixedly connected to the first connecting rod and the rocker arm, the two ends of the rocker arm are respectively hinged to one end of two second connecting rods, and the end of the second connecting rod away from the rocker arm is respectively hinged to two hook-pulling machines.

9. The truss, stirrup and hook intelligent assembly platform according to claim 1, characterized in that: The hook-making machine includes a shell and a wire straightening mechanism, a wire feeding mechanism, a wire guiding mechanism, a wire cutting mechanism, an upper hook forming mechanism and a lower hook forming mechanism arranged on the shell. The wire straightening mechanism is used to straighten the wire, the wire guiding mechanism is used to guide the wire, the wire cutting mechanism is used to cut the wire, the upper hook forming mechanism is used to form a hook at the upper end of the wire, and the lower hook forming mechanism is used to form a hook at the lower end of the wire.

10. The truss, stirrup and hook intelligent assembly platform according to claim 9, characterized in that: The wire cutting mechanism comprises a lower cutter and an upper cutter which cooperate with each other, a through hole for the wire to pass through is arranged in the middle of the lower cutter, the upper cutter is connected to an upper cutter holder, and the upper cutter holder is connected to a third cylinder for driving the upper cutter holder to move forward and backward; And / or, the upper hook forming mechanism comprises a lower hook guide clamp, an upper hook guide clamp, a circle rod seat, a circle rod and a circle rod adjusting head, the inner sides of the lower hook guide clamp and the upper hook guide clamp are provided with through holes matching the size of the steel wire, the lower hook guide clamp and the upper hook guide clamp are both connected with finger cylinders for opening and closing, the circle rod adjusting head is connected with the circle rod, the circle rod is fixed on the circle rod seat, and the circle rod adjusting head and the circle rod are provided with an arc groove on one side facing the upper hook guide clamp; And / or, the lower bend hook forming mechanism includes a fourth cylinder, a top bend hooking arm, a retaining ring rod and a top bend hooking piece, the two ends of the fourth cylinder are respectively hinged to the shell and one end of the top bend hooking arm, the middle part of the top bend hooking arm is rotatably connected to the shell, the other end of the top bend hooking arm is hinged to the top bend hooking piece, the retaining ring rod is fixedly connected to the shell, the top bend hooking arm is located between the retaining ring rod and the shell, and the top bend hooking arm is provided with an inclined surface on the side facing the retaining ring rod, and the top of the top bend hooking piece is provided with a groove matching the size of the steel wire; And / or, the wire feeding mechanism comprises a first pressure wheel seat, a second pressure wheel seat and a servo motor, the first pressure wheel seat and the second pressure wheel seat are both provided with a wire feeding pressure wheel, the servo motor is transmission-connected with the wire feeding pressure wheel, and the first pressure wheel seat is connected with a pressure regulating assembly; And / or, it also includes a truss fixing mechanism, which includes a truss fixing claw and a fifth cylinder, the middle part of the truss fixing claw is rotatably connected to the shell, one end of the fifth cylinder is hinged to the shell, and the other end is hinged to one end of the truss fixing claw.

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