An automatic system and method for forming a steel bar skeleton

Abstract

The present invention discloses an automatic system and method for forming a steel bar skeleton, which relates to the technical field of steel bar production and includes a welding device, a bending device and a collection and conveying device. The welding device includes 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 bars of the steel bars, 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 collection and conveying device, and the welding robot is equipped with a vision detection device. The bending device includes a turntable, the turntable is connected to a hydraulic driving mechanism, a pin is installed on the turntable, and a guide piece is arranged on one side of the pin. The pin is used to bend the steel bars when the turntable rotates. A grasping robot is arranged on one side of the turntable. The present invention has the functions of bending, welding and collecting, and can improve the forming efficiency of the steel bars; it has the function of detecting the welding process in real time to ensure the accurate welding between the stirrups and the main steel bars of the steel bars.

Description

Technical Field

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

[0002] In the traditional processing of steel bar skeletons, due to the complex structure of the steel bar skeletons, numerous welding points, and the influence of steel bar processing, clamping, and worker skills, etc., there are generally problems such as low forming accuracy and backward combined forming methods in the production of steel bar skeletons. The general processing process is to first perform loose part processing through single machines or ordinary production lines in the steel bar processing shed, and then manually bind them into skeletons at the construction site. At the present stage, for precast concrete structure precast component production enterprises, most of the steel bar processing process is concentrated in specialized steel bar processing workshops or factories. The steel bar skeletons are formed by a designed production line, automatically welded according to the required skeleton structure dimensions, and then transported to the construction site to directly start construction at the construction site. There is no need to install formwork and supports, and the steel bar skeleton can be directly installed in a fixed position and concrete can be poured.

[0003] The forming of steel bar skeletons in precast component production enterprises is strictly in accordance with standards. The welding positions of the skeletons are accurate, and the stirrups and main steel bars are arranged evenly, making the force on the wall panels and beam columns more balanced. The floor slabs after construction are more firm and reliable than the traditional building method, and the dimensions of the skeletons and the number of stirrups can be adjusted at any time according to the actual situation. Because the steel bar skeletons are processed in advance in the factory, the construction process is safer and the high-altitude operation tasks of construction workers are reduced. For the automated production of steel bar skeletons, the following solutions are disclosed in the prior art:

[0004] Chinese Patent CN113635076B discloses a steel bar skeleton production line, including a welding device and a mesh sheet turning device. The mesh sheet turning device includes a turning mechanism, and the turning mechanism includes a turning frame and a turning driving component. The turning driving component is connected to the turning frame to drive the turning frame to turn; the clamping mechanism includes a clamping member and a clamping driving component. The clamping member is connected to the clamping driving component, and the clamping driving component drives at least one clamping member to rotate to clamp or loosen the mesh sheet.

[0005] Chinese 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 movement device, a first hydraulic telescopic device, a wheel driving device, a main steel bar locking device, and a second hydraulic movement device. The bending device can rotate around its own middle axis under the action of the first hydraulic telescopic device; the wheel driving device drives the main steel bar locking device to lock the steel bar under the drive of a motor; the second hydraulic movement 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 convey steel bars; the steel bar bending device is used to bend steel bars; the welding platform is provided with a first fixing mechanism for fixing 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 technologies related to the formation of steel bar skeletons still have the following problems:

[0008] (1) The bending component structure of the steel bar is simple, and it is impossible to flexibly control the bending angle of the stirrup, and it is also difficult to accurately control the bending size of the stirrup, resulting in limited flexibility in the formation of the steel bar skeleton;

[0009] (2) During the welding process of the steel bar skeleton, real-time detection is not carried out, which affects the welding positioning accuracy of the steel bar skeleton. Summary of the Invention

[0010] Aiming at the deficiencies of the existing technology, the purpose of the present invention is to provide an automatic system and method for forming a steel bar skeleton, which has the functions of bending, welding, and collecting, and can improve the efficiency of steel bar forming; and has the function of real-time detecting the welding process to ensure the accurate welding between the steel bar stirrup and the main steel bar.

[0011] To achieve the above purpose, the present invention is realized through the following technical solutions:

[0012] In the first aspect, an embodiment of the present invention provides an automatic system for forming a steel bar skeleton, including a welding device and a collecting and conveying device arranged in sequence, and a bending device is arranged on one side of the connection end of the welding device and the collecting and conveying device;

[0013] The welding device includes 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 of the 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 bar 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 equipped with a vision detection device;

[0014] The bending device includes a turntable. The turntable is connected to a hydraulic driving mechanism. A plug pin is installed on the turntable, and a guide piece is arranged on one side of the plug pin. The plug pin is used to bend the steel bar when the turntable rotates; A gripping robot is arranged on one side of the turntable, and the gripping robot is used to grip the formed steel bar stirrup and transfer it to the welding device.

[0015] As a further implementation method, the moving mechanism includes a driving motor fixed to a motor bearing plate. The motor bearing plate and the electromagnet frame are respectively equipped with gears, and the gears mesh with a rack installed along the length direction of the machine frame.

[0016] As a further implementation method, the guide blocks are fixed to the mounting frames, and a plurality of mounting frames are arranged at intervals along the length direction of the machine frame.

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

[0018] As a further implementation method, the turntable is installed on a gear shaft. One side of the gear shaft meshes with a tooth rod, and the tooth rod is connected to a hydraulic driving mechanism.

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

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

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

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

[0023] The steel bar is loaded onto the turntable of the bending device and closely adheres to the pin along the guide piece. The turntable rotates to make the pin act on the steel bar for bending; by pulling the angle conversion rod, a steel bar stirrup with a bending angle of 90° is made; the grasping robot grasps 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 towards the bending device with the electromagnet frame;

[0025] After the main steel bar is matched with the steel bar stirrup, 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 formed steel bar skeleton is transferred to the collection 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, having the functions of bending, welding, and collecting, which can improve the forming efficiency of steel bars; the welding device is equipped with a visual inspection device, enabling the system to have the function of real-time detecting the welding process and ensuring the accurate welding between the steel bar stirrups and the main bars.

[0029] (2) The bending device of the present invention uses inserted bars, guide plates, and angle conversion rods to cooperate in making steel bar stirrups, which can meet the requirements of different stirrup bending angles, can intelligently control the bending condition of the steel bars, has high flexibility, and can meet the forming requirements of different types of steel bar skeletons; the welding device uses an electromagnet frame to fix one end of the main bar of the steel bar, and the main bar of the steel bar is also guided through multiple guide blocks, enabling the main bar of the steel bar to be accurately aligned with the steel bar stirrups and improving the accuracy of welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The attached drawings forming a part of this specification are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0031] Figure 1 is an isometric view of the automated system according to one or more embodiments of the present invention;

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

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

[0034] Figure 4 is a schematic structural view of the welding torch according to one or more embodiments of the present invention;

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

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

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

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

[0039] Figure 9 is an isometric view of the bending device according to one or more embodiments of the present invention;

[0040] Figure 10Schematic diagram of the internal structure of the bending device box according to one or more embodiments of the present invention;

[0041] Figure 11 Front view of the bending device according to one or more embodiments of the present invention;

[0042] Figure 12 Is Figure 11 A - A sectional view of;

[0043] Figure 13 Schematic diagram of the installation of the angle transformation rod and the tooth rod according to one or more embodiments of the present invention;

[0044] Figure 14 Axonometric view of the gear shaft according to one or more embodiments of the present invention;

[0045] Figure 15 Axonometric view of the grasping robot according to one or more embodiments of the present invention;

[0046] Figure 16 Axonometric view of the laser welding robot according to one or more embodiments of the present invention;

[0047] Figure 17 Axonometric view of the collection and conveying device according to one or more embodiments of the present invention.

[0048] Wherein, Ⅰ, welding device; Ⅱ, bending device; Ⅲ, collection and conveying device;

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

[0050] Ⅱ - 1, angle transformation rod; Ⅱ - 2, change switch; Ⅱ - 3, guide piece; Ⅱ - 4, plug pin; Ⅱ - 5, turntable; Ⅱ - 6, grasping robot; Ⅱ - 7, box body; 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, fuel tank; Ⅱ - 15, angle adjuster;

[0051] Ⅲ - 1, stepping motor; Ⅲ - 2, belt; Ⅲ - 3, frame; Ⅲ - 4, idler roller. Detailed implementation manners

[0052] It should be noted that the following detailed description is illustrative and aims to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention pertains.

[0053] Embodiment 1:

[0054] This embodiment provides an automatic steel bar skeleton forming system, as Figure 1 shown, which includes a welding device I and a collection and conveying device III arranged in sequence, and a bending device II is arranged on one side of the connection end between the welding device I and the collection and conveying device III.

[0055] As Figure 2 shown, the 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 bars of the steel bar are adsorbed and fixed on the electromagnet frame I-10, and under the action of the moving mechanism, the steel bar skeleton and the electromagnet frame I-10 move together. As Figure 8 shown, the electromagnet frame I-10 has a portal structure, and is provided with a plurality of holes for the steel bars to pass through; both sides of the electromagnet frame I-10 are symmetrically connected with rotating shafts, and gears are installed on the rotating shafts. The moving mechanism includes a rack I-2, gears 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. Gears are installed on the outer sides of the electromagnet frame I-10 and the motor support plate I-11, and the gears are engaged with the rack I-2. Under the driving action of the driving motor I-3, the gears rotate, and the main steel bars of the steel bar are pushed by the electromagnet frame I-10 and conveyed forward along the guide block I-9.

[0056] Guide blocks I-9 are arranged side by side at one end of the frame I-1 close to the bending device II, and guide blocks I-9 are also arranged at a certain length position of the frame I-1 away from its end. The guide blocks I-9 are provided with through holes; as Figure 7 shown, the guide blocks I-9 are arranged on their mounting frames and are distributed in a portal manner. The steel bars pass through the through holes of the guide blocks I-9 to realize the positioning and guiding functions of the steel bar skeleton. The setting positions and numbers 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 oppositely arranged at one end of the frame I-1 close to the bending device II, and the welding robots are equipped with visual detection devices I-6, as Figures 3 - 5As shown in the figure, 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 a welding torch I-5 is installed on the wrist I-7. The wrist I-7 has independent degrees of freedom, including rotational movement, up-and-down swing, and left-and-right swing. The orientation of the welding torch I-5 is adjusted through the wrist I-7 to expand the working range of the welding torch I-5, making the movement of the welding torch I-5 more flexible and more adaptable.

[0058] The vision detection device I-6 is fixed beside the welding torch I-5, as Figure 6 shown. The vision detection device I-6 includes a camera with adjustable angle. The welding device I introduces machine vision technology to perform welding compensation and deviation correction on the weld position, effectively solving the problems of welding breakage and missed welding in automatic welding. The camera in the vision detection device I-6 is adjusted to the initial photographing position through the wrist I-7, and the camera is triggered to take a photo. Considering the particularity of the steel bar skeleton structure, before performing welding target deviation correction, the lap joint state of the steel bars is judged first. That is, after determining that the steel bar lap joint meets the welding requirements, the system then performs welding position deviation correction and compensation calculation. When welding quality inspection is required, after welding, the just-completed welding point is detected and photographed and uploaded to the system. After comparison with the qualified welding pictures in the database, the judgment of the welding quality is completed.

[0059] It can be understood that in other embodiments, a laser welding robot I-01-1 as Figure 16 shown may also be used.

[0060] As Figures 9 - 12 shown, the bending device II includes a box body II-7. A hydraulic drive mechanism is installed inside the box body II-7. A guide plate II-3, a pin II-4, a turntable II-5, and a grasping robot II-6 are installed on the top of the box body II-7. 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 a change-over switch II-2 through an electric wire to control the start-stop and reverse rotation of the three-phase motor II-10. As Figure 10 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 a first pipeline II-8. The oil tank II-14 is connected to the hydraulic cylinder II-13 through a second pipeline.

[0061] The piston rod of hydraulic cylinder II-13 is connected to tooth bar II-12. Tooth bar II-12 is a rod with teeth. Gear shaft II-11 meshes with tooth bar II-12. Turntable II-5 is installed on gear shaft II-11. Pin II-4 is connected to turntable II-5 and is eccentrically installed relative to gear shaft II-11. A guide plate II-3 is provided on one side of pin II-4. As Figure 8 shown, an angle adjuster II-15 is installed on one side of tooth bar II-12 through a bracket. Angle changing rod II-1 is connected to angle adjuster II-15 through a stroke fixing nut. Reinforcing bars are fed onto turntable II-5 and are pressed against pin II-4 along guide plate II-3. The rotation of gear shaft II-11 drives pin II-4 to act on the reinforcing bars for bending. By pulling angle changing rod II-1, reinforcing bar stirrups with a bending angle of 90° are made.

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

[0063] Let the bending moment required for the reinforcing bars:

[0064] M t = F r sinαL0sinα (1)

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

[0066] When M t is constant, the larger α is, the smaller the radial loads on pin II-4 and gear shaft II-11 are; The initial bending moment of the reinforcing bars:

[0067] M0 = K1Wσ S (2)

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

[0069] During the plastic deformation stage of the reinforcing bars, strain hardening (strengthening) occurs, and the final bending moment after strain 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 cross-section, I is the moment of inertia of the steel bar cross-section about the main axis (centroid axis), and A is the cross-sectional area of the steel bar.

[0074] Bending moment required for steel bar bending:

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

[0076] Among them, K is the rolling friction coefficient during bending.

[0077] As Figure 17 shown, the collection and conveying device III adopts a belt conveying method, including a belt III-2, which carries the welded steel bar skeleton through the belt III-2; several idlers III-4 are installed on the inner side of the belt III-2, and the idlers III-4 are used to support the belt III-2, and the belt III-2 is powered by a stepping 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 detecting the welding process, ensures the accurate welding between the steel bar stirrups and the main bars, can effectively prevent welding defects during the welding process, can achieve good welding effects, and improves the structural stability of the steel bar skeleton; the bending device II can meet the requirements of different stirrup bending angles, can intelligently control the bending condition of the steel bars, has high flexibility, and can meet the forming requirements of different types of steel bar 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 and improved steel bar forming efficiency.

[0079] Embodiment 2:

[0080] This embodiment provides a working method of an automatic system for forming a steel bar skeleton. Using the automatic system described in Embodiment 1, it includes the following steps:

[0081] During steel bar feeding, the steel bar is closely attached to the pin II-4 along the guiding piece II-3 on the turntable II-5 of the bending device II. The gear shaft II-11 rotates to drive the pin II-4 to act on the steel bar for bending, and a steel bar stirrup with a bending angle of 90° is made by pulling the angle conversion rod II-1.

[0082] After the steel bar stirrup is completely made, it is grabbed and transferred to the welding device I by the grabbing robot II-6. One end of the main steel bar is adsorbed on the electromagnet frame I-10, and the other end is fixed in direction through the guiding block I-9 and fed from the front side of the welding device I. Under the push of the motor support plate I-11, the welding position is changed, and it follows the electromagnet frame I-10 and passes parallel to the ground along the guiding block I-9 through the welding robot with a welding torch I-5 or the laser welding robot I-01-1, the stirrup, and the collection and conveying device III in sequence.

[0083] According to the design requirements of the steel bar framework, set the welding procedures and welding parameters of the welding robot or laser welding robot Ⅰ-01-1, including key parameters such as laser power, welding speed, focal length, etc. After the main steel bars and stirrups of the steel bars are correctly matched, the welding robot or laser welding robot Ⅰ-01-1 starts to work. Using its built-in coordinate system and vision recognition system, it accurately locates the position of the steel bars to be welded. According to the preset welding procedure, it moves the laser welding head to the position to be welded. At this time, the laser beam is focused on the weld seam, and its high energy density quickly heats the surface of the steel bar to reach the melting point. During this process, the precise control of the laser beam enables the size and shape of the molten pool to be precisely controlled, thus achieving high-precision welding.

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

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

[0086] The welded part of the steel bar framework is placed on the collection and conveying device Ⅲ and waits for the next step of work.

[0087] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. 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. An automatic steel bar skeleton forming system, characterized in that, It includes a welding device and a collecting and conveying device arranged in sequence, and the bending device is arranged on one side of the connection end of the welding device and the collecting and conveying device; The welding device includes a frame. The 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 bars of the reinforcement, 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 reinforcement 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 equipped with a vision detection device. The welding robot includes a slewing cylinder, an arm and a wrist. The camera in the vision detection device is adjusted to the initial photographing position through the wrist, and the camera is triggered to take a picture. In view of the particularity of the reinforcement skeleton structure, before performing the welding target deviation correction, the lap joint state of the reinforcement is judged first. After determining that the lap joint of the reinforcement meets the welding requirements, the system then performs welding position deviation correction and compensation calculation. When welding quality detection is required, after welding, the just-completed welding point is detected and photographed and uploaded to the system. After comparison with the qualified welding pictures in the database, the judgment of the welding quality is completed; The bending device includes a turntable. The turntable is connected to a hydraulic driving mechanism. A plug pin is installed on the turntable, and a guide piece is arranged on one side of the plug pin. The plug pin is used to bend the reinforcement when the turntable rotates; A grasping robot is arranged on one side of the turntable, and the grasping robot is used to grasp the bent reinforcement stirrup and transfer it to the welding device; The turntable is installed on a gear shaft. One side of the gear shaft meshes with a tooth rod, and the tooth rod is connected to a hydraulic driving mechanism; An angle adjuster is installed on one side of the tooth rod, and the angle adjuster is connected to an angle conversion rod.

2. The automatic steel bar skeleton forming system according to claim 1, characterized in that, The moving mechanism includes a driving motor. The driving motor is fixed to a motor support plate. The motor support plate and the electromagnet frame are respectively installed with gears, and the gears mesh with a rack installed along the length direction of the frame.

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

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

5. An automatic steel bar skeleton forming system according to claim 1, characterized in that, The hydraulic driving mechanism includes a hydraulic cylinder connected to the tooth rod. The hydraulic cylinder is connected to an oil tank, and the oil tank is connected to a vane pump through a pipeline. The vane pump is installed on a three-phase motor.

6. The automatic steel bar skeleton forming system according to claim 1, characterized in that, The plug pin is eccentrically installed relative to the gear shaft.

7. The working method of an automatic steel bar skeleton forming system according to any one of claims 1-6, characterized in that It includes: The reinforcement is fed onto the turntable of the bending device and is pressed against the plug pin along the guide piece. The turntable rotates to make the plug pin act on the reinforcement for bending; By pulling the angle conversion rod, a reinforcement stirrup with a bending angle of 90° is made; The grasping robot grasps the reinforcement stirrup and transfers it to the welding device; One end of the main steel bar of the reinforcement 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 of the reinforcement moves towards the bending device along with the electromagnet frame; After the main steel bar of the reinforcement and the reinforcement stirrup are matched, the welding robot determines the welding position based on the vision detection device, and then performs the welding operation.

8. The working method of an automatic steel bar skeleton forming system according to claim 7, characterized in that, The formed reinforcement skeleton is transferred to the collecting and conveying device.

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