Automatic steel reinforcement framework forming system and method

Abstract

The invention discloses an automatic steel reinforcement framework forming system and method, and relates to the technical field of steel reinforcement production, the automatic steel reinforcement framework forming system comprises a welding device, a bending device and a collecting and conveying device, the welding device comprises a rack, and an electromagnet frame is installed on the upper side of the rack through a moving mechanism and used for fixing a main steel reinforcement; the moving mechanism is used for pushing the electromagnet frame to move along the rack; a plurality of groups of guide blocks are distributed in the length direction of the rack and are used for steel bars to pass through; a welding robot is installed at the end, close to the collecting and conveying device, of the rack and provided with a visual detection device. The bending device comprises a turntable connected with a hydraulic driving mechanism, a bolt is mounted on the turntable, a guide sheet is arranged on one side of the bolt, and the bolt is used for bending steel bars when the turntable rotates; a grabbing robot is arranged on one side of the rotary disc. The device has the functions of bending, welding and collecting, and the rebar forming efficiency can be improved; and the function of detecting the welding process in real time is achieved, and accurate welding between the reinforcement stirrup and the main reinforcement is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of steel bar production, and in particular to an automated system and method for steel bar skeleton forming. Background Art

[0002] In the traditional steel skeleton forming processing, due to the complex structure of the steel skeleton and the many welding points, affected by the steel processing, clamping and workers' level, the steel skeleton production generally has problems such as low forming accuracy and backward combination forming methods. The general processing flow is to first process the parts in a steel processing shed through a single machine or ordinary production line, and then manually tie them into a skeleton at the construction site. At present, for the manufacturers of prefabricated components for assembled concrete structures, most of the steel bar processing process is concentrated in specialized steel bar processing workshops or factories. The steel skeleton is formed by a designed production line, and automatically welded according to the required skeleton structure size, and then transported to the construction site, and construction starts directly at the construction site. There is no need to install formwork and brackets, just install the steel skeleton directly in a fixed position and pour concrete.

[0003] The steel skeleton in prefabricated component production enterprises is strictly produced in accordance with the standards. The skeleton welding position is accurate, and the stirrups and main bars are evenly arranged, so that the wall panels and beams are more balanced. The floor slabs after construction are more solid and reliable than traditional construction methods, and the size of the skeleton and the number of stirrups can be adjusted at any time according to actual conditions. Because the steel skeleton is processed in advance in the factory, the construction process is safer and the high-altitude work tasks of construction workers are reduced. For the automated production of steel skeletons, the following solutions are disclosed in the prior art:

[0004] Chinese invention patent CN113635076B discloses a steel bar skeleton production line, including welding equipment and mesh flipping equipment, the mesh flipping equipment includes a flipping mechanism, the flipping mechanism includes a flipping frame and a flipping drive component, the flipping drive component is connected to the flipping frame to drive the flipping frame to flip; the clamping mechanism includes a clamping member and a clamping drive component, the clamping member is connected to the clamping drive component, and the clamping drive component drives at least one clamping member to rotate to clamp or release the mesh.

[0005] Chinese invention patent CN114130931A discloses a structural steel bar skeleton manufacturing machine and a beam-column steel bar skeleton manufacturing method, including a bending device, a horizontal action device, a first hydraulic telescopic device, a wheel device, a main reinforcement locking device and a second hydraulic action device. The bending device can rotate around its own intermediate axis under the action of the first hydraulic telescopic device; the wheel device drives the main reinforcement locking device to lock the reinforcement under the drive of the motor; the second hydraulic action device drives the bending device to move vertically.

[0006] Chinese invention patent CN115673176A discloses a circular stirrup production line and production method, including a material distribution device, a steel bar bending device, a welding platform, and a transfer device. The material distribution device is used to place and transport steel bars; the steel bar bending device is used to bend the steel bars; the welding platform is provided with a first fixing mechanism, and the first fixing mechanism is used to fix the bent steel bars; the transfer device is arranged between the steel bar bending device and the welding platform.

[0007] The inventors found that the existing steel bar skeleton forming related technologies still have the following problems:

[0008] (1) The bending parts of the steel bars have a simple structure, which makes it impossible to flexibly control the bending angle of the stirrups. The bending size of the stirrups is also difficult to accurately control, which limits the flexibility of the steel bar skeleton forming.

[0009] (2) Real-time detection is not performed during the welding process of the steel frame, which affects the welding positioning accuracy of the steel frame. Summary of the invention

[0010] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an automated system and method for steel bar skeleton forming, which has bending, welding and collecting functions, and can improve the efficiency of steel bar forming; and has the function of real-time detection of the welding process to ensure accurate welding between steel bar stirrups and main bars.

[0011] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0012] In a first aspect, an embodiment of the present invention provides an automated steel frame forming system, comprising a welding device and a collecting and conveying device arranged in sequence, wherein a bending device is arranged at one side of a connecting end of the welding device and the collecting and conveying device;

[0013] The welding device comprises a frame, an electromagnet frame is installed on the upper side of the frame through a moving mechanism, the electromagnet frame is used to fix the main steel bar, and the moving mechanism is used to push the electromagnet frame to move along the frame; a plurality of guide blocks are distributed along the length direction of the frame, and the guide blocks are used for the steel bars to pass through; a welding robot is installed at one end of the frame close to the collecting and conveying device, and the welding robot is provided with a visual detection device;

[0014] The bending device includes a turntable, which is connected to a hydraulic drive mechanism. A latch is installed on the turntable, and a guide plate is provided on one side of the latch. The latch is used to bend the steel bars when the turntable rotates. A grabbing robot is provided on one side of the turntable, and the grabbing robot is used to grab the steel stirrups formed by bending and transfer them to the welding device.

[0015] As a further implementation, the moving mechanism includes a driving motor, which is fixed to a motor support plate. The motor support plate and the electromagnet frame are respectively equipped with gears, and the gears are meshed with racks installed along the length direction of the frame.

[0016] As a further implementation, the guide block is fixed on a mounting frame, and a plurality of mounting frames are arranged at intervals along the length direction of the rack.

[0017] As a further implementation, welding robots are provided on both sides of the frame.

[0018] As a further implementation, the turntable is mounted on a gear shaft, one side of the gear shaft is meshed with a tooth rod, and the tooth rod is connected to a hydraulic drive mechanism.

[0019] As a further implementation, an angle adjuster is installed on one side of the tooth rod, and the angle adjuster is connected to the angle conversion rod.

[0020] As a further implementation, the hydraulic drive mechanism includes a hydraulic cylinder connected to the tooth rod, the hydraulic cylinder is connected to an oil tank, the oil tank is connected to a vane pump through a pipeline, and the vane pump is installed on a three-phase motor.

[0021] As a further implementation, the latch is installed eccentrically relative to the gear shaft.

[0022] In a second aspect, an embodiment of the present invention further provides a working method of a steel bar skeleton forming automation system, comprising:

[0023] The steel bar is loaded onto the turntable of the bending device and pressed against the pin along the guide plate. The turntable rotates so that the pin acts on the steel bar to bend it. The steel bar stirrup with a bending angle of 90° is made by pulling the angle change rod. The grabbing robot grabs the steel bar stirrup and transfers it to the welding device.

[0024] One end of the main steel bar is adsorbed on the electromagnet frame, and the other end passes through the guide block. Under the action of the driving motor, the main steel bar moves toward the bending device along with the electromagnet frame;

[0025] After the main reinforcement and stirrups are matched, the welding robot determines the welding position based on the visual detection device and then performs the welding operation.

[0026] As a further implementation method, the steel bar skeleton formed by welding is transferred to a collecting and conveying device.

[0027] The beneficial effects of the present invention are as follows:

[0028] (1) The present invention includes a welding device, a bending device and a collecting and conveying device, which has the functions of bending, welding and collecting, and can improve the efficiency of steel bar forming; the welding device is provided with a visual detection device, so that the system has the function of real-time detection of the welding process, thereby ensuring the accurate welding between the steel bar stirrups and the main bars.

[0029] (2) The bending device of the present invention adopts inserted bars, guide plates, and angle conversion rods to make steel stirrups, which can meet the different bending angle requirements of stirrups, can intelligently control the bending conditions of the steel bars, has high flexibility, and can meet the forming requirements of different types of steel skeletons; the welding device adopts an electromagnet frame to fix one end of the main steel bar, and the main steel bar is also guided by guide blocks at multiple locations, so that the main steel bar can be accurately aligned with the steel stirrups, thereby improving the accuracy of welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0031] Figure 1 is an axonometric diagram of an automation system according to one or more embodiments of the present invention;

[0032] Figure 2 is an isometric view of a welding device according to one or more embodiments of the present invention;

[0033] Figure 3 is an axonometric view of a welding robot according to one or more embodiments of the present invention;

[0034] Figure 4 is a schematic diagram of a welding gun structure according to one or more embodiments of the present invention;

[0035] Figure 5 is a schematic diagram of the structure of a rotary cylinder according to one or more embodiments of the present invention;

[0036] Figure 6 is a schematic structural diagram of a visual inspection device according to one or more embodiments of the present invention;

[0037] Figure 7 is a schematic diagram of guide block installation according to one or more embodiments of the present invention;

[0038] Figure 8 is a schematic diagram of an electromagnet frame structure according to one or more embodiments of the present invention;

[0039] Fig. 9 is an axonometric view of a bending device according to one or more embodiments of the present invention;

[0040] Fig.10is a schematic diagram of the internal structure of a bending device box according to one or more embodiments of the present invention;

[0041] Fig.11 is a front view of a bending device according to one or more embodiments of the present invention;

[0042] Fig.12 yes Fig.11 AA section view;

[0043] Fig.13 is a schematic diagram of the installation of an angle conversion rod and a tooth rod according to one or more embodiments of the present invention;

[0044] Fig.14 is an isometric view of a gear shaft according to one or more embodiments of the present invention;

[0045] Fig.15 is an axonometric view of a grasping robot according to one or more embodiments of the present invention;

[0046] Fig.16 is an axonometric view of a laser welding robot according to one or more embodiments of the present invention;

[0047] Fig.17 is an axonometric view of a collecting and conveying device according to one or more embodiments of the present invention.

[0048] Among them, Ⅰ, welding device, Ⅱ, bending device, Ⅲ, collecting and conveying device;

[0049] Ⅰ-1, frame, Ⅰ-2, rack, Ⅰ-3, drive motor, Ⅰ-4, arm, Ⅰ-5, welding gun, Ⅰ-6, visual inspection device, Ⅰ-7, wrist, Ⅰ-8, rotary cylinder, Ⅰ-9, guide block, Ⅰ-10, electromagnet frame, Ⅰ-11, motor support plate, Ⅰ-01-1, laser welding robot;

[0050] Ⅱ-1, angle conversion rod, Ⅱ-2, conversion switch, Ⅱ-3, guide plate, Ⅱ-4, latch, Ⅱ-5, turntable, Ⅱ-6, grab robot, Ⅱ-7, box, Ⅱ-8, first pipeline, Ⅱ-9, vane pump, Ⅱ-10, three-phase motor, Ⅱ-11, gear shaft, Ⅱ-12, tooth rod, Ⅱ-13, hydraulic cylinder, Ⅱ-14, oil tank, Ⅱ-15, angle adjuster;

[0051] Ⅲ-1, stepping motor, Ⅲ-2, belt, Ⅲ-3, frame, Ⅲ-4, roller. DETAILED DESCRIPTION

[0052] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0053] Embodiment 1:

[0054] This embodiment provides a steel bar skeleton forming automation system. Figure 1 As shown, it includes a welding device I and a collecting and conveying device III which are arranged in sequence, and a bending device II is arranged on one side of the connecting end of the welding device I and the collecting and conveying device III.

[0055] like Figure 2 As shown, welding device I includes a frame I-1, an electromagnet frame I-10, a moving mechanism, a welding robot, etc. The electromagnet frame I-10 is installed on the upper side of the frame I-1 through the moving mechanism, so that the steel bar fixing device can drive the steel bar skeleton to move to the welding position; the main steel bar is adsorbed and fixed on the electromagnet frame I-10, and the steel bar skeleton and the electromagnet frame I-10 move together under the action of the moving mechanism. Figure 8 As shown, the electromagnet frame I-10 is a door-shaped structure, on which a plurality of holes for steel bars to pass through are opened; the two sides of the electromagnet frame I-10 are symmetrically connected to the rotating shaft, and gears are installed on the rotating shaft. The moving mechanism includes a rack I-2, a gear and a driving motor I-3, the driving motor I-3 is installed on the motor support plate I-11, the rack I-2 is installed along the length direction of the frame I-1, and gears are installed on the outer sides of the electromagnet frame I-10 and the motor support plate I-11, and the gears are meshed with the rack I-2. Under the driving action of the driving motor I-3, the gears rotate, and the main steel bars are pushed by the electromagnet frame I-10 and transported forward along the guide block I-9.

[0056] A guide block I-9 is installed side by side at one end of the frame I-1 close to the bending device II, and a guide block I-9 is also arranged at a certain length from the end of the frame I-1, and a through hole is opened in the guide block I-9; Figure 7 As shown, the guide blocks I-9 are arranged on the mounting frame and are distributed in a gate-like manner. The steel bars pass through the through holes of the guide blocks I-9 to achieve the positioning and guiding effect on the steel bar skeleton. The setting position and number of the guide blocks I-9 are determined according to the form of the steel bar skeleton.

[0057] In this embodiment, two welding robots are arranged opposite to each other at one end of the frame I-1 close to the bending device II, and the welding robots are equipped with a visual inspection device I-6, such as Figure 3-Figure 5As shown, the welding robot includes a rotary cylinder I-8, an arm I-4 and a wrist I-7. The arm I-4 is connected to the upper end cover of the rotary cylinder I-8, and the cylinder body drives the arm I-4 to rotate; the wrist I-7 is connected to the upper side of the arm I-4, and the wrist I-7 is installed with a welding gun I-5. The wrist I-7 has independent degrees of freedom, and can rotate, swing up and down, and swing left and right. The orientation of the welding gun I-5 is adjusted by the wrist I-7 to expand the working range of the welding gun I-5, so that the welding gun I-5 can move more flexibly and has stronger adaptability.

[0058] The visual inspection device I-6 is fixed beside the welding gun I-5. Figure 6 As shown, the visual inspection device I-6 includes a camera with adjustable angle; the welding device I performs welding compensation and correction on the weld position by introducing machine vision technology, which effectively solves the problems of desoldering and leaking welding in automatic welding. The camera in the visual inspection device I-6 is adjusted to the initial photographing position through the wrist I-7, and the camera is triggered to take pictures. In view of the particularity of the steel skeleton structure, the steel bar overlap state is first judged before performing the welding target correction. That is, after determining that the steel bar overlap meets the welding requirements, the system then performs welding position correction and compensation calculation. When there is a need for welding quality inspection, the just completed welding point is inspected and photographed after welding and uploaded to the system. After comparing with the qualified welding pictures in the database, the welding quality is judged.

[0059] It can be understood that in other embodiments, the following Fig.16 The laser welding robot Ⅰ-01-1 is shown.

[0060] like Figure 9-12 As shown, the bending device II includes a box II-7, a hydraulic drive mechanism is installed inside the box II-7, a guide plate II-3, a latch II-4, a turntable II-5 and a grasping robot II-6 are installed on the top of the box II-7, and the hydraulic drive mechanism includes a vane pump II-9, a three-phase motor II-10, a hydraulic cylinder II-13, an oil tank II-14, etc. The three-phase motor II-10 is connected to the conversion switch II-2 through an electric wire to control the start, stop and reversal of the three-phase motor II-10; Fig.10 As shown, the three-phase motor II-10 is connected to the vane pump II-9 through bolts, the vane pump II-9 is connected to the oil tank II-14 through the first pipeline II-8, and the oil tank II-14 is connected to the hydraulic cylinder II-13 through the second pipeline.

[0061] The cylinder rod of hydraulic cylinder II-13 is connected to tooth rod II-12, tooth rod II-12 is a toothed rod, gear shaft II-11 is meshed with tooth rod II-12, turntable II-5 is installed on gear shaft II-11, latch II-4 is connected to turntable II-5, and latch II-4 is eccentrically installed relative to gear shaft II-11, and a guide piece II-3 is provided on one side of latch II-4. Figure 8 As shown, the angle adjuster II-15 is installed on one side of the tooth rod II-12 through a bracket, and the angle change rod II-1 is connected to the angle adjuster II-15 through a travel fixing nut. The steel bar is loaded on the turntable II-5 along the guide piece II-3 and close to the pin II-4. The gear shaft II-11 rotates to drive the pin II-4 to act on the steel bar to bend it, and the steel stirrup with a bending angle of 90° is made by pulling the angle change rod II-1.

[0062] The calculation process of the bending moment required for steel bar bending is as follows:

[0063] Assume the required bending moment of the steel bar:

[0064] M t =F r sinαL0sinα (1)

[0065] Where F is the force exerted by the pin II-4 on the steel bar; F r is the radial component of F; α is the angle between F and the axis of the steel bar; L0 is the distance from the center of the pin II-4 to the center of the main shaft.

[0066] When M t The larger α is, the smaller the radial load of the pin Ⅱ-4 and the gear shaft Ⅱ-11 is; the initial bending moment of the steel bar is:

[0067] M0=K1Wσ S (2)

[0068] Where M0 is the initial bending moment; W is the bending section modulus; K1 is the section coefficient, σ s is the yield limit.

[0069] The steel bar undergoes deformation hardening (strengthening) during the plastic deformation stage, producing the final bending moment after deformation hardening:

[0070] M=(K1+K0 / 2R x )Wσ s (3)

[0071] Where K0 is the strengthening coefficient; K0 = 2.1 / δ p ; δ p is the elongation;

[0072]

[0073] Rx is the equivalent radius of the steel bar section, I is the moment of inertia of the steel bar section about the principal axis (centroidal axis), and A is the cross-sectional area of ​​the steel bar.

[0074] The required bending distance for steel bar bending:

[0075] M t =[(M0+M) / 2] / K (4)

[0076] Where K is the rolling friction coefficient during bending.

[0077] like Fig.17 As shown, the collecting and conveying device III adopts a belt conveying method, including a belt III-2, which carries the welded steel bar skeleton; a plurality of rollers III-4 are installed on the inner side of the belt III-2, and the rollers III-4 are used to support the belt III-2, and the belt III-2 is powered by a stepper motor III-1.

[0078] The welding device I of this embodiment is provided with a visual detection device I-6, which has the function of real-time detection of the welding process, ensures accurate welding between the stirrups and the main bars, can effectively prevent welding defects during the welding process, can achieve good welding effects, and improve the structural stability of the steel skeleton; the bending device II can meet the different bending angle requirements of the stirrups, can intelligently control the bending conditions of the steel bars, has high flexibility, and can meet the forming requirements of different types of steel skeletons. The welding device I, the bending device II, and the collection and conveying device III are connected through an automation system, with a high degree of automation, which improves the efficiency of steel bar forming.

[0079] Embodiment 2:

[0080] This embodiment provides a working method of a steel bar skeleton forming automation system, using the automation system described in Example 1, including the following steps:

[0081] The steel bar is loaded on the turntable Ⅱ-5 of the bending device Ⅱ along the guide piece Ⅱ-3 close to the pin Ⅱ-4, and the gear shaft Ⅱ-11 rotates to drive the pin Ⅱ-4 to act on the steel bar to bend it, and the steel stirrup with a bending angle of 90° is made by pulling the angle changing rod Ⅱ-1.

[0082] After the steel stirrups are completed, they are grabbed by the grabbing robot Ⅱ-6 and transferred to the welding device Ⅰ. One end of the main steel bar is adsorbed on the electromagnet frame Ⅰ-10, and the other end is fixed in direction by the guide block Ⅰ-9 to be loaded from the front side of the welding device Ⅰ. The welding position is changed under the push of the motor bearing plate Ⅰ-11, and it follows the electromagnet frame Ⅰ-10 along the guide block Ⅰ-9 parallel to the ground and passes through the welding robot with welding gun Ⅰ-5 or laser welding robot Ⅰ-01-1, stirrups, and collection and conveying device Ⅲ.

[0083] According to the design requirements of the steel skeleton, set the welding program and welding parameters of the welding robot or laser welding robot Ⅰ-01-1, including key parameters such as laser power, welding speed, and focal length. After the main steel bars and stirrups are correctly matched, the welding robot or laser welding robot Ⅰ-01-1 starts working, using its built-in coordinate system and visual recognition system to accurately locate the position of the steel bars to be welded, and according to the preset welding program, move the laser welding head to the position to be welded. At this time, the laser beam is focused on the weld, and its high energy density quickly heats the surface of the steel bar to make it reach the melting point. In this process, the precise control of the laser beam enables the size and shape of the molten pool to be precisely controlled, thereby achieving high-precision welding.

[0084] During the welding process, the weld is tracked in real time by the visual inspection device I-6 to ensure the accuracy of the welding path and the quality of the weld. The interaction of the laser beam on the metal surface causes the metal surface to melt rapidly and form a weld. At the same time, the metal vapor generated by evaporation helps to protect the weld from oxidation. Since the heat-affected zone of laser welding is small, the deformation of the steel frame is also minimized.

[0085] After the welding is completed, the laser welding robot I-01-1 immediately stops the laser irradiation and starts the cooling process. Through rapid cooling, the welding area can be quickly solidified to form a stable welding connection. The laser welding robot I-01-1 removes the welding head for subsequent cleaning and inspection.

[0086] The welded steel frame part is placed on the collecting and conveying device III, waiting for the next step of work.

[0087] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A steel bar skeleton forming automation system, characterized in that: It includes a welding device and a collecting and conveying device which are arranged in sequence, and the bending device is arranged on one side of the connecting end of the welding device and the collecting and conveying device; The welding device comprises a frame, an electromagnet frame is installed on the upper side of the frame through a moving mechanism, the electromagnet frame is used to fix the main steel bar, and the moving mechanism is used to push the electromagnet frame to move along the frame; a plurality of guide blocks are distributed along the length direction of the frame, and the guide blocks are used for the steel bars to pass through; a welding robot is installed at one end of the frame close to the collecting and conveying device, and the welding robot is provided with a visual detection device; The bending device includes a turntable, which is connected to a hydraulic drive mechanism. A latch is installed on the turntable, and a guide plate is provided on one side of the latch. The latch is used to bend the steel bars when the turntable rotates. A grabbing robot is provided on one side of the turntable, and the grabbing robot is used to grab the steel stirrups formed by bending and transfer them to the welding device.

2. The steel bar skeleton forming automation system according to claim 1, characterized in that: The moving mechanism comprises a driving motor, which is fixed to a motor support plate. The motor support plate and the electromagnet frame are respectively provided with gears, and the gears are meshed with racks installed along the length direction of the frame.

3. The steel bar skeleton forming automation system according to claim 1, characterized in that: The guide block is fixed on a mounting frame, and a plurality of mounting frames are arranged at intervals along the length direction of the frame.

4. The steel bar skeleton forming automation system according to claim 1, characterized in that: Welding robots are arranged on both sides of the frame.

5. The steel bar skeleton forming automation system according to claim 1, characterized in that: The rotating disc is mounted on a gear shaft, one side of the gear shaft is meshed with a tooth rod, and the tooth rod is connected to a hydraulic driving mechanism.

6. The steel bar skeleton forming automation system according to claim 5, characterized in that: An angle adjuster is installed on one side of the tooth rod, and the angle adjuster is connected to the angle conversion rod.

7. A steel bar skeleton forming automation system according to claim 1 or 5, characterized in that: The hydraulic drive mechanism comprises a hydraulic cylinder connected to the tooth rod, the hydraulic cylinder is connected to the oil tank, the oil tank is connected to the vane pump through a pipeline, and the vane pump is installed on the three-phase motor.

8. The steel bar skeleton forming automation system according to claim 5, characterized in that: The latch is mounted eccentrically relative to the gear shaft.

9. A working method of a steel bar skeleton forming automation system according to any one of claims 1 to 8, characterized in that: include: The steel bar is loaded onto the turntable of the bending device and pressed against the pin along the guide plate. The turntable rotates so that the pin acts on the steel bar to bend it. The steel bar stirrup with a bending angle of 90° is made by pulling the angle change rod. The grabbing robot grabs the steel bar stirrup and transfers it to the welding device. One end of the main steel bar is adsorbed on the electromagnet frame, and the other end passes through the guide block. Under the action of the driving motor, the main steel bar moves toward the bending device along with the electromagnet frame; After the main reinforcement and stirrups are matched, the welding robot determines the welding position based on the visual detection device and then performs the welding operation.

10. The working method of the steel bar skeleton forming automation system according to claim 9, characterized in that: The welded steel bar skeleton is transferred to the collecting and conveying device.

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