Automatic material distributing and welding device for prestress positioning meshes

Abstract

The invention relates to the technical field of prestressed positioning mesh production, in particular to an automatic distributing and welding device for prestressed positioning meshes. A longitudinal bar transfer device; comprising a transverse bar jacking unit and a steel bar tray unit; a gantry welding machine; comprising a steel bar size acquisition unit, an infrared image acquisition unit and a visual inspection unit; the data storage module is used for storing historical cloth data of the automatic cloth welding device; the control module is used for determining the material distribution size information of the device according to the steel bar size information, judging whether the welding of a single cross contact point meets a preset standard or not according to a welding seam evaluation value, and reducing the pressing force of a presser when the welding of a single grid does not meet the preset standard according to a grid characteristic value for the first time; and the control module is used for secondarily judging whether the welding of the single grid meets the preset standard or not according to the mesh flatness evaluation value. The mesh welding efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of prestressed positioning mesh production, in particular to an automatic material distribution and welding device for prestressed positioning mesh. Background Art

[0002] Prestressed positioning mesh is a mesh with longitudinal and transverse steel bars arranged at a certain distance and at right angles to each other, and all intersections are welded together. At present, when processing conventional prestressed positioning mesh, after cutting the steel bars according to the required length, the steel bars are placed on a special mold manually or by equipment, and then the intersections of the steel bars are welded.

[0003] Chinese Patent Publication No.: CN 118385420 A, discloses a railway box girder prestressed tendon positioning steel mesh production line and processing technology; the railway box girder prestressed tendon positioning steel mesh production line includes a straightening and cutting machine, a feeding buffer area, a mesh welding area and a welding discharging area; the feeding buffer area is provided with an intermediate transmission column, an outlet mechanism, a plate pusher, a longitudinal longitudinal tendon conveyor, a conveyor 1, a conveyor 2 and a bracket rail; the mesh welding area is provided with a conveyor 3, a conveyor 4 and a lifting device; the welding discharging area is provided with a welding table, a positioning device and an automatic welding tendon discharging bin; this production line can be applied to the flow production of various prestressed tendon positioning steel meshes; the railway box girder prestressed tendon positioning steel mesh processing technology realizes the full-automatic flow processing of a single piece of prestressed tendon positioning steel mesh by first assembling and welding a tic-tac-toe frame, then assembling and welding a bottom plate positioning mesh and a web positioning mesh, and finally welding. It can be seen that in the above technical solution, welding steel bars of different diameters requires manual adjustment of the distance between the steel bars, and the steel mesh welding efficiency is not high. Summary of the invention

[0004] To this end, the present invention provides an automatic distribution and welding device for prestressed positioning meshes, which is used to overcome the problem in the prior art that welding steel bars of different diameters requires manual adjustment of the distance between the steel bars and the low welding efficiency of the steel mesh.

[0005] To achieve the above-mentioned purpose, the present invention provides a prestressed positioning mesh automatic material distribution and welding device, comprising:

[0006] A reinforcement conveying unit, which includes a transverse reinforcement conveying assembly and a longitudinal reinforcement conveying assembly;

[0007] A longitudinal reinforcement transfer device is arranged on one side of the longitudinal reinforcement conveying assembly, and the transfer device includes a manipulator, and a plurality of clamping claws for clamping the longitudinal reinforcement are arranged at the end of the manipulator;

[0008] A material distribution unit, which is arranged at the output end of the longitudinal reinforcement transfer device and the transverse reinforcement conveying assembly, and includes a transverse reinforcement lifting unit and a reinforcement tray unit;

[0009] The transverse reinforcement lifting unit includes a slide bar, a plurality of transverse reinforcement lifting components, a first slide rail, and a sliding drive motor;

[0010] The first slide rail is vertically arranged in the output direction of the transverse reinforcement conveying assembly and the longitudinal reinforcement conveying assembly, the slide bar is vertically slidably connected above the first slide rail, each of the transverse reinforcement lifting assemblies is evenly spaced above the slide bar, and the slide drive motor is arranged on one side of the slide bar, and the slide drive motor is used to drive the slide bar to slide along the first slide rail;

[0011] The steel bar tray unit comprises a second slide rail and a plurality of steel bar tray assemblies arranged along the second slide rail;

[0012] A gantry welding machine, which is arranged above the cloth portion and is used to weld the cross-contact points of the transverse reinforcement and the longitudinal reinforcement;

[0013] A data acquisition module, comprising a steel bar size acquisition unit connected to the steel bar conveying unit, an infrared image acquisition unit for acquiring infrared image information of a cross contact point welding molten pool, and a visual detection unit for acquiring shape information of a grid in a prestressed positioning mesh before and after welding;

[0014] A data storage module, which is used to store historical material distribution data of the automatic material distribution and welding device, wherein the historical material distribution data includes steel bar size information and corresponding material distribution size information;

[0015] A control module, which is respectively connected to the data acquisition module, the data storage module, the material distribution unit and the gantry welding machine;

[0016] It is used to determine the cloth size information of the automatic cloth welding device according to the steel bar size information before the automatic cloth welding device is operated; it is used to determine whether the welding of a single cross contact point meets the preset standard according to the weld evaluation value; it is used to reduce the clamping force of the clamp when it is initially determined according to the grid characteristic value that the welding of a single grid does not meet the preset standard, or to secondarily determine whether the welding of a single grid meets the preset standard according to the mesh flatness evaluation value.

[0017] Furthermore, the transverse reinforcement lifting assembly includes a lifting platform, a first motor for driving the lifting platform to lift and lower, a first supporting group arranged on the lifting platform, and a second supporting group arranged on the lifting platform, the first supporting group and the second supporting group are respectively provided with a pair of supporting wheels, and the first supporting group and the second supporting group are provided with a preset height difference.

[0018] Further, the steel bar tray assembly includes a tray seat, a first tray, a second tray, a lead screw, a lead screw support frame, a lead screw nut, a plurality of steel bar support frames, a second motor for driving the lead screw and a third motor for driving the steel bar tray assembly to slide along the second slide rail; the tray seat is a folded line plane structure, the tray seat is vertically slidably connected above the second slide rail, the third motor is arranged at one end above the tray seat close to the second slide rail, the second motor is arranged on a side above the tray seat close to the third motor, the lead screw nut is arranged at one end above the tray seat away from the second motor, one end of the lead screw is connected to the second motor and the other end is connected to the lead screw nut, the first tray is arranged above the second motor, the lead screw nut is sleeved on the lead screw, the second tray is fixedly connected above the lead screw nut, and the plurality of steel bar support frames are respectively arranged around the upper end surfaces of the first tray and the second tray; a preset distance is set between each of the steel bar tray assemblies, which is recorded as the first preset distance; the preset distance between the first tray and the second tray is recorded as the second preset distance.

[0019] Furthermore, a clamp passes through the center of the first tray and the second tray respectively, which is used to clamp the transverse ribs on the longitudinal ribs; the clamp includes an electric push cylinder, a telescopic push rod, a first clamping rod and a second clamping rod, wherein the telescopic push rod is connected to the electric push cylinder, and the first clamping rod and the second clamping rod are symmetrically arranged on both sides of the telescopic push rod.

[0020] Furthermore, the control module determines whether the welding of a single cross contact point meets a preset standard according to the weld evaluation value, wherein:

[0021] If the weld evaluation value is less than a preset weld threshold, the control module determines that the welding of the single cross contact point meets the preset standard, and completes the welding of the single grid cross contact point of the transverse reinforcement and the longitudinal reinforcement on the first pallet according to the current welding rate;

[0022] If the weld evaluation value is greater than or equal to the preset weld threshold, the control module determines that the welding of the single cross contact point does not meet the preset standard, and reduces the heat input of the welding according to the difference between the weld evaluation value and the preset weld threshold;

[0023] The weld evaluation value is determined by combining the welding molten pool area in the infrared image with a preset welding molten pool area.

[0024] Furthermore, the control module is provided with several adjustment modes for reducing the heat input, and each adjustment mode reduces the heat input by a different extent.

[0025] Furthermore, the control module initially determines whether the welding of a single mesh meets a preset standard based on the mesh characteristic value, wherein:

[0026] If the grid characteristic value is less than the first preset grid characteristic value, the control module determines that the welding of the single grid does not meet the preset standard, and reduces the pressing force of the clamp according to the difference between the grid characteristic value and the second preset grid characteristic value;

[0027] If the grid characteristic value is greater than or equal to the first preset grid characteristic value and less than the second preset grid characteristic value, the control module initially determines that the welding of the single grid does not meet the preset standard, records the grid as the first grid, continues to weld all grids adjacent to the first grid, and secondarily determines whether the welding of the single grid meets the preset standard according to the mesh flatness evaluation value;

[0028] If the grid characteristic value is greater than or equal to the second preset grid characteristic value, the control module initially determines that the welding of the single grid meets the preset standard;

[0029] The grid characteristic value is the ratio between the contour area of ​​a single grid after welding and the contour area of ​​a single grid before welding.

[0030] Furthermore, the control module determines whether the welding of a single mesh meets a preset standard based on the mesh flatness evaluation value, wherein:

[0031] If the mesh flatness evaluation value is less than the preset mesh flatness threshold, the control module determines for the second time that the welding of the single mesh meets the preset standard, and continues welding according to the current operating parameters;

[0032] If the mesh flatness evaluation value is greater than or equal to the preset mesh flatness threshold, the control module will secondly determine that the welding of the single mesh does not meet the preset standard, and synchronously reduce the first preset distance and the second preset distance according to the difference between the mesh flatness evaluation value and the preset mesh flatness threshold.

[0033] Furthermore, the synchronous reduction amplitude of the first preset distance and the second preset distance is positively correlated with the flatness evaluation difference, and the flatness evaluation difference is the difference between the mesh flatness evaluation value and the preset mesh flatness threshold.

[0034] Furthermore, the mesh flatness evaluation value is determined by jointly determining the highest center point and the lowest center point of all grid center points adjacent to the first grid.

[0035] Compared with the prior art, the beneficial effect of the present invention lies in that the present invention obtains steel bar size information through a steel bar size acquisition unit and sets the cloth size information for an automatic material distribution welding device through a data storage module, without manual adjustment, thereby improving work efficiency; during the operation of the device, the welding effect of a single cross contact point is determined by a weld evaluation value and corresponding adjustment measures are taken according to the determination result, the welding effect of a single grid is determined by a grid characteristic value and a mesh flatness evaluation value, and the preset distance between synchronous steel bar tray assemblies and the preset distance between trays are reduced according to the determination result, corresponding detection and adjustment measures are provided for each welding stage, historical operation data is optimized, weld quality and grid morphology are monitored in real time, welding defects are discovered and corrected in a timely manner, and the quality and production efficiency of prestressed positioning meshes are improved.

[0036] Furthermore, the present invention realizes efficient and flexible transportation of the transverse reinforcements by providing a transverse reinforcement conveying assembly including a lifting platform, a first motor for driving the lifting platform to lift, a first supporting group arranged on the lifting platform, and a second supporting group arranged on the lifting platform.

[0037] Furthermore, in the present invention, the centers of the first tray and the second tray are respectively passed through with a clamp, so that the steel bars are kept stable during the movement and welding process, and are prevented from being deviated due to vibration, thereby improving the accuracy of welding.

[0038] Furthermore, the present invention determines whether the welding of a single cross contact point meets a preset standard according to the weld evaluation value through a control module, thereby achieving real-time monitoring and evaluation of the welding quality of a single cross contact point.

[0039] Furthermore, the present invention is provided with several adjustment methods for reducing the heat input of welding through the control module, and each adjustment method reduces the heat input of welding by a different degree, thereby achieving precise adjustment of the heat input of welding.

[0040] Furthermore, the present invention improves the welding quality by initially determining whether the welding of a single grid meets a preset standard based on the grid characteristic value and adjusting the clamping force of the clamp in time.

[0041] Furthermore, the present invention achieves precise control of welding quality by secondarily determining whether the welding of a single mesh meets a preset standard based on the mesh flatness evaluation value.

[0042] Furthermore, the present invention achieves precise control of distance adjustment and optimizes the layout and arrangement of prestressed positioning meshes, thereby improving automatic material placement accuracy by setting the synchronous reduction amplitude of the first preset distance and the second preset distance to be positively correlated with the flatness evaluation difference. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a schematic diagram of the structural connection of the automatic material distribution and welding device for prestressed positioning mesh according to an embodiment of the present invention;

[0044] Figure 2 It is a structural schematic diagram of a steel bar tray assembly in the automatic material distribution and welding device for prestressed positioning mesh according to an embodiment of the present invention;

[0045] Figure 3 It is a structural schematic diagram of a transverse reinforcement lifting assembly in the automatic material distribution and welding device for prestressed positioning mesh according to an embodiment of the present invention;

[0046] Figure 4 This is a schematic diagram of the position of a presser in the automatic material distribution and welding device for prestressed positioning mesh according to an embodiment of the present invention;

[0047] Figure 5 It is a structural schematic diagram of a gantry welding machine in the automatic material distribution and welding device for prestressed positioning mesh according to an embodiment of the present invention;

[0048] Figure 6 It is a schematic diagram of the structure of a manipulator in the automatic material distribution and welding device for prestressed positioning mesh according to an embodiment of the present invention;

[0049] Figure 7 This is a flow chart of the automatic material distribution and welding device for prestressed positioning mesh according to an embodiment of the present invention for determining whether the welding of a single mesh meets a preset standard;

[0050] In the figure, 11, transverse reinforcement conveying assembly; 12, longitudinal reinforcement conveying assembly; 2, longitudinal reinforcement transfer device; 21, manipulator; 211, clamping claw; 311, slide bar; 312, transverse reinforcement lifting assembly; 313, first slide rail; 314, sliding drive motor; 321, second slide rail; 322, reinforcement tray assembly; 4, gantry welding machine; 3121, lifting platform; 3122, first motor; 3123, first support group; 312 4. Second supporting group; 3125. Receiving wheel; 3221. Pallet seat; 3222. First pallet; 3223. Second pallet; 3224. Lead screw; 3225. Lead screw support frame; 3226. Lead screw nut; 3227. Steel bar support frame; 3228. Second motor; 3229. Third motor; 5. Clamp; 51. Electric push cylinder; 52. Telescopic push rod; 53. First clamping rod; 54. Second clamping rod. DETAILED DESCRIPTION

[0051] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0052] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0053] It should be pointed out that the data in this embodiment are obtained by comprehensive analysis and evaluation of the historical test data of the present invention three months before this test and the corresponding historical test results. It can be understood by those skilled in the art that the method of the present invention can determine the above parameters for a single item by selecting the value with the highest proportion as the preset standard parameter according to the data distribution, using weighted summation to use the obtained value as the preset standard parameter, substituting each historical data into a specific formula and using the value obtained by the formula as the preset standard parameter or other selection methods, as long as the method of the present invention can clearly define the different specific situations in the single determination process through the obtained values.

[0054] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 as well as Figure 7 As shown, they are respectively a schematic diagram of the structural connection of the automatic distribution and welding device for prestressed positioning mesh according to an embodiment of the present invention; a schematic diagram of the structure of the steel bar tray assembly in the automatic distribution and welding device for prestressed positioning mesh according to an embodiment of the present invention; a schematic diagram of the structure of the transverse reinforcement lifting assembly in the automatic distribution and welding device for prestressed positioning mesh according to an embodiment of the present invention; a schematic diagram of the position of the clamp in the automatic distribution and welding device for prestressed positioning mesh according to an embodiment of the present invention; a schematic diagram of the structure of the gantry welding machine in the automatic distribution and welding device for prestressed positioning mesh according to an embodiment of the present invention; a schematic diagram of the structure of the manipulator in the automatic distribution and welding device for prestressed positioning mesh according to an embodiment of the present invention; a flow chart of the automatic distribution and welding device for prestressed positioning mesh according to an embodiment of the present invention for determining whether the welding of a single mesh meets a preset standard.

[0055] The embodiment of the present invention provides a prestressed positioning mesh automatic material distribution and welding device, comprising:

[0056] A reinforcement conveying unit, comprising a transverse reinforcement conveying assembly 11 and a longitudinal reinforcement conveying assembly 12;

[0057] A longitudinal reinforcement transfer device 2 is arranged on one side of the longitudinal reinforcement conveying assembly 12, and the transfer device includes a manipulator 21, and a plurality of clamping claws 211 are arranged at the end of the manipulator 21 for clamping the longitudinal reinforcement;

[0058] A material distribution unit, which is arranged at the output end of the longitudinal reinforcement transfer device 2 and the transverse reinforcement conveying assembly 11, and includes a transverse reinforcement lifting unit and a reinforcement tray unit;

[0059] The transverse reinforcement lifting unit includes a slide bar 311, a plurality of transverse reinforcement lifting assemblies 312, a first slide rail 313, and a sliding drive motor 314; the first slide rail 313 is vertically arranged in the output direction of the transverse reinforcement conveying assembly 11 and the longitudinal reinforcement conveying assembly 12, the slide bar 311 is vertically slidably connected above the first slide rail 313, each of the transverse reinforcement lifting assemblies 312 is evenly spaced above the slide bar 311, and the sliding drive motor 314 is arranged on one side of the slide bar 311, and the sliding drive motor 314 is used to drive the slide bar 311 to slide along the first slide rail 313;

[0060] The steel bar tray unit includes a second slide rail 321 and a plurality of steel bar tray assemblies 322 arranged along the second slide rail 321;

[0061] A gantry welding machine 4, which is arranged above the cloth portion and is used to weld the cross-contact points of the transverse reinforcement and the longitudinal reinforcement;

[0062] A data acquisition module, comprising a steel bar size acquisition unit connected to the steel bar conveying unit, an infrared image acquisition unit for acquiring infrared image information of a cross contact point welding molten pool, and a visual detection unit for acquiring shape information of a grid in a prestressed positioning mesh before and after welding;

[0063] A data storage module, which is used to store historical material distribution data of the automatic material distribution and welding device, wherein the historical material distribution data includes steel bar size information and corresponding material distribution size information;

[0064] A control module, which is respectively connected to the data acquisition module, the data storage module, the cloth part and the gantry welding machine 4;

[0065] It is used to determine the cloth size information of the automatic cloth welding device according to the steel bar size information before the automatic cloth welding device is operated; it is used to determine whether the welding of a single cross contact point meets the preset standard according to the weld evaluation value; it is used to reduce the clamping force of the clamp 5 when it is initially determined according to the grid characteristic value that the welding of a single grid does not meet the preset standard, or to secondarily determine whether the welding of a single grid meets the preset standard according to the mesh flatness evaluation value.

[0066] The shape information in this embodiment is the contour area of ​​the mesh before welding and the contour area of ​​the mesh after welding.

[0067] Specifically, the infrared image acquisition unit is a medium-wave infrared CCD; the visual detection unit can be a CCD camera, a camera, or a sensor that can obtain the contour graphic information of each grid in the steel mesh before and after welding.

[0068] The steel bar size collection unit can be an optical measuring instrument such as a laser rangefinder to measure the length and diameter of the transverse and longitudinal bars. There is no specific limitation, as long as it can meet the precise measurement of the length and diameter of the transverse and longitudinal bars.

[0069] In this embodiment, the specific structure of the control module is not limited, and the control module itself and each unit therein can be composed of logic components, and the logic components include field programmable components, computers or microprocessors in computers.

[0070] Specifically, the transverse reinforcement lifting assembly 312 includes a lifting platform 3121, a first motor 3122 for driving the lifting platform 3121 to rise and fall, a first supporting group 3123 arranged on the lifting platform 3121, and a second supporting group 3124 arranged on the lifting platform 3121, the first supporting group 3123 and the second supporting group 3124 are respectively provided with a pair of supporting wheels 3125, and the first supporting group 3123 and the second supporting group 3124 are provided with a preset height difference of 5 cm.

[0071] Specifically, the steel bar tray assembly 322 includes a tray seat 3221, a first tray 3222, a second tray 3223, a lead screw 3224, a lead screw 3224 support frame, a lead screw 3224 nut, and a plurality of steel bar support frames 3227 for driving a second motor 3228 of the lead screw 3224 and a third motor 3229 for driving the steel bar tray assembly 322 to slide along the second slide rail 321; the tray seat 3221 is a folded line plane structure, the tray seat 3221 is vertically slidably connected above the second slide rail 321, the third motor 3229 is arranged above the tray seat 3221 near one end of the second slide rail 321, the second motor 3228 is arranged above the tray seat 3221 near one side of the third motor 3229, and the lead screw 3224 is provided at a plurality of steel bar support frames 3227. The rod 3224 nut is arranged above the tray seat 3221 and away from one end of the second motor 3228. One end of the lead screw 3224 is connected to the second motor 3228 and the other end is connected to the lead screw 3224 nut. The first tray 3222 is arranged above the second motor 3228. The lead screw 3224 nut is sleeved on the lead screw 3224. The second tray 3223 is fixedly connected above the lead screw 3224 nut. The plurality of steel bar support frames 3227 are respectively arranged around the upper end surfaces of the first tray 3222 and the second tray 3223. A preset distance is set between each of the steel bar tray assemblies 322, which is recorded as the first preset distance. The preset distance between the first tray 3222 and the second tray 3223 is recorded as the second preset distance.

[0072] Specifically, a clamp 5 is passed through the center of the first tray 3222 and the second tray 3223 respectively, which is used to clamp the transverse ribs on the longitudinal ribs; the clamp 5 includes an electric push cylinder 51, a telescopic push rod 52, a first clamping rod 53 and a second clamping rod 54, wherein the telescopic push rod 52 is connected to the electric push cylinder 51, and the first clamping rod 53 and the second clamping rod 54 are symmetrically arranged on both sides of the telescopic push rod 52.

[0073] In this embodiment, the steel bar size information includes the transverse bar length, transverse bar diameter, longitudinal bar length and longitudinal bar diameter;

[0074] The fabric size information includes the preset distance between each steel bar tray assembly 322 corresponding to the steel bar size information, the preset distance between the first tray 3222 and the second tray 3223 corresponding to the steel bar size information, the heat input of the welding corresponding to the steel bar size information, and the pressing force of the press 5 corresponding to the steel bar size information.

[0075] Specifically, the control module determines whether the welding of a single cross contact point meets the preset standard according to the weld evaluation value, wherein:

[0076] If the weld evaluation value is less than the preset weld threshold value of 0.91, the control module determines that the welding of the single cross contact point meets the preset standard, and completes the welding of the single grid cross contact point of the transverse reinforcement and the longitudinal reinforcement on the first tray 3222 according to the current welding rate;

[0077] If the weld evaluation value is greater than or equal to the preset weld threshold, the control module determines that the welding of the single cross contact point does not meet the preset standard, and reduces the heat input of the welding according to the difference between the weld evaluation value and the preset weld threshold;

[0078] In this embodiment, when the weld evaluation value is greater than or equal to the preset weld threshold, it indicates that an "overheating" trend occurs during the cross-contact point welding process, and the welding point is prone to burn-through defects.

[0079] The weld evaluation value is calculated by the following formula:

[0080]

[0081] In the formula, A represents the weld evaluation value, S0 represents the welding pool area in the infrared image, and S0 represents the preset welding pool area

[0082] Specifically, the preset welding pool area can be [6mm 2 , 17mm 2 ], in this embodiment, the preset welding pool area is selected as 8mm2 .

[0083] Specifically, the control module is provided with several adjustment modes for reducing the heat input, wherein:

[0084] If the weld difference is less than the first preset weld difference of 0.63, the heat input is reduced by using a first adjustment coefficient of 0.98;

[0085] If the weld difference is greater than or equal to the first preset weld difference and less than the second preset weld difference of 0.92, then the heat input is reduced by using a second adjustment coefficient of 0.96;

[0086] If the weld difference is greater than or equal to the second preset weld difference, the heat input is reduced by using a third adjustment coefficient of 0.94;

[0087] The weld difference is the difference between the weld evaluation value and the preset weld threshold.

[0088] Specifically, the control module initially determines whether the welding of a single mesh meets a preset standard based on the mesh characteristic value, wherein:

[0089] If the grid characteristic value is less than the first preset grid characteristic value of 0.43, the control module determines that the welding of the single grid does not meet the preset standard, and reduces the pressing force of the clamp according to the difference between the grid characteristic value and the second preset grid characteristic value;

[0090] If the grid characteristic value is greater than or equal to the first preset grid characteristic value and less than the second preset grid characteristic value 0.75, the control module initially determines that the welding of the single grid does not meet the preset standard, records the grid as the first grid, continues to weld all grids adjacent to the first grid, and secondarily determines whether the welding of the single grid meets the preset standard according to the mesh flatness evaluation value;

[0091] If the grid characteristic value is greater than or equal to the second preset grid characteristic value, the control module initially determines that the welding of the single grid meets the preset standard;

[0092] The grid characteristic value is the ratio between the contour area of ​​a single grid after welding and the contour area of ​​a single grid before welding.

[0093] The contour area is acquired by a visual detection unit.

[0094] Specifically, the control module determines whether the welding of a single mesh meets the preset standard based on the mesh flatness evaluation value.

[0095] If the mesh flatness evaluation value is less than the preset mesh flatness threshold value of 0.35, the control module determines for the second time that the welding of the single mesh meets the preset standard, and continues welding according to the current operating parameters;

[0096] If the mesh flatness evaluation value is greater than or equal to the preset mesh flatness threshold, the control module will secondly determine that the welding of the single mesh does not meet the preset standard, and synchronously reduce the first preset distance and the second preset distance according to the difference between the mesh flatness evaluation value and the preset mesh flatness threshold.

[0097] Specifically, the synchronous reduction amplitude of the first preset distance and the second preset distance is positively correlated with the flattening difference, wherein the positive correlation is, for example, a linear positive correlation or a nonlinear positive correlation, and the linear slope of the linear positive correlation is not specifically limited. It can be understood that the larger the flattening difference is, the larger the synchronous reduction amplitude of the first preset distance and the second preset distance is; the flattening difference is the difference between the mesh flattening evaluation value and the preset mesh flattening threshold.

[0098] Specifically, the mesh flatness evaluation value is determined by jointly determining the highest center point and the lowest center point of all grid center points adjacent to the first grid.

[0099] The weld evaluation value is calculated by the following formula:

[0100]

[0101] Wherein, P represents the flatness evaluation value of the mesh; H1 represents the distance between the lowest center point of all grid center points adjacent to the first grid; H2 represents the distance between the highest center point of all grid center points adjacent to the first grid; △h represents the preset height difference, △h=0.97cm.

[0102] In this embodiment, the process of obtaining the highest center point and the lowest center point of all grid center points adjacent to the first grid includes:

[0103] The distances from the center points of all grids adjacent to the first grid to the horizontal plane are obtained by a laser rangefinder and compared;

[0104] Get the maximum distance from all grid center points to the horizontal plane, recorded as the distance of the highest center point of all grid center points adjacent to the first grid;

[0105] Get the minimum distance from all grid center points to the horizontal plane, recorded as the distance of the lowest center point of all grid center points adjacent to the first grid.

[0106] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0107] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A prestressed positioning mesh automatic cloth welding device, characterized in that: include: A reinforcement conveying unit, which includes a transverse reinforcement conveying assembly and a longitudinal reinforcement conveying assembly; A longitudinal reinforcement transfer device is arranged on one side of the longitudinal reinforcement conveying assembly, and the transfer device includes a manipulator, and a plurality of clamping claws for clamping the longitudinal reinforcement are arranged at the end of the manipulator; A material distribution unit, which is arranged at the output end of the longitudinal reinforcement transfer device and the transverse reinforcement conveying assembly, and includes a transverse reinforcement lifting unit and a reinforcement tray unit; The transverse reinforcement lifting unit comprises a slide bar, a plurality of transverse reinforcement lifting assemblies, a first slide rail, and a sliding drive motor; the first slide rail is vertically arranged in the output direction of the transverse reinforcement conveying assembly and the longitudinal reinforcement conveying assembly, the slide bar is vertically slidably connected above the first slide rail, each of the transverse reinforcement lifting assemblies is evenly spaced above the slide bar, and the sliding drive motor is arranged on one side of the slide bar, and the sliding drive motor is used to drive the slide bar to slide along the first slide rail; The steel bar tray unit comprises a second slide rail and a plurality of steel bar tray assemblies arranged along the second slide rail; A gantry welding machine, which is arranged above the cloth portion and is used to weld the cross-contact points of the transverse reinforcement and the longitudinal reinforcement; A data acquisition module, comprising a steel bar size acquisition unit connected to the steel bar conveying unit, an infrared image acquisition unit for acquiring infrared image information of a cross contact point welding molten pool, and a visual detection unit for acquiring shape information of a grid in a prestressed positioning mesh before and after welding; A data storage module, which is used to store historical material distribution data of the automatic material distribution and welding device, wherein the historical material distribution data includes steel bar size information and corresponding material distribution size information; A control module, which is respectively connected to the data acquisition module, the data storage module, the material distribution unit and the gantry welding machine; It is used to determine the cloth size information of the automatic cloth welding device according to the steel bar size information before the automatic cloth welding device is operated; it is used to determine whether the welding of a single cross contact point meets the preset standard according to the weld evaluation value; it is used to reduce the clamping force of the clamp when it is initially determined according to the grid characteristic value that the welding of a single grid does not meet the preset standard, or to secondarily determine whether the welding of a single grid meets the preset standard according to the mesh flatness evaluation value.

2. The automatic material distribution and welding device for prestressed positioning mesh according to claim 1 is characterized in that: The transverse reinforcement lifting assembly includes a lifting platform, a first motor for driving the lifting platform to lift and lower, a first supporting group arranged on the lifting platform, and a second supporting group arranged on the lifting platform, the first supporting group and the second supporting group are respectively provided with a pair of supporting wheels, and the first supporting group and the second supporting group are provided with a preset height difference.

3. The automatic material distribution and welding device for prestressed positioning mesh according to claim 2 is characterized in that: The steel bar tray assembly includes a tray seat, a first tray, a second tray, a lead screw, a lead screw support frame, a lead screw nut, a plurality of steel bar support frames, a second motor for driving the lead screw and a third motor for driving the steel bar tray assembly to slide along the second slide rail; the tray seat is a folded line plane structure, the tray seat is vertically slidably connected above the second slide rail, the third motor is arranged at one end above the tray seat close to the second slide rail, the second motor is arranged at a side above the tray seat close to the third motor, the lead screw nut is arranged at one end above the tray seat away from the second motor, one end of the lead screw is connected to the second motor and the other end is connected to the lead screw nut, the first tray is arranged above the second motor, the lead screw nut is sleeved on the lead screw, the second tray is fixedly connected above the lead screw nut, and the plurality of steel bar support frames are respectively arranged around the upper end surfaces of the first tray and the second tray; a preset distance is set between each of the steel bar tray assemblies, which is recorded as the first preset distance; the preset distance between the first tray and the second tray is recorded as the second preset distance.

4. The automatic material distribution and welding device for prestressed positioning mesh according to claim 3 is characterized in that: A clamp passes through the center of the first tray and the second tray respectively, which is used to clamp the transverse ribs on the longitudinal ribs; the clamp includes an electric push cylinder, a telescopic push rod, a first clamping rod and a second clamping rod, wherein the telescopic push rod is connected to the electric push cylinder, and the first clamping rod and the second clamping rod are symmetrically arranged on both sides of the telescopic push rod.

5. The automatic material distribution and welding device for prestressed positioning mesh according to claim 4 is characterized in that: The control module determines whether the welding of a single cross contact point meets the preset standard according to the weld evaluation value, wherein: If the weld evaluation value is less than a preset weld threshold, the control module determines that the welding of the single cross contact point meets the preset standard, and completes the welding of the single grid cross contact point of the transverse reinforcement and the longitudinal reinforcement on the first pallet according to the current welding rate; If the weld evaluation value is greater than or equal to the preset weld threshold, the control module determines that the welding of the single cross contact point does not meet the preset standard, and reduces the heat input of the welding according to the difference between the weld evaluation value and the preset weld threshold; The weld evaluation value is determined by combining the welding molten pool area in the infrared image with a preset welding molten pool area.

6. The automatic material distribution and welding device for prestressed positioning mesh according to claim 5 is characterized in that: The control module is provided with several adjustment modes for reducing the heat input, and each adjustment mode has a different reduction range for the heat input.

7. The automatic material distribution and welding device for prestressed positioning mesh according to claim 6 is characterized in that: The control module initially determines whether the welding of a single mesh meets a preset standard according to the mesh characteristic value, wherein: If the grid characteristic value is less than the first preset grid characteristic value, the control module determines that the welding of the single grid does not meet the preset standard, and reduces the pressing force of the clamp according to the difference between the grid characteristic value and the second preset grid characteristic value; If the grid characteristic value is greater than or equal to the first preset grid characteristic value and less than the second preset grid characteristic value, the control module initially determines that the welding of the single grid does not meet the preset standard, records the grid as the first grid, continues to weld all grids adjacent to the first grid, and secondarily determines whether the welding of the single grid meets the preset standard according to the mesh flatness evaluation value; If the grid characteristic value is greater than or equal to the second preset grid characteristic value, the control module initially determines that the welding of the single grid meets the preset standard; The grid characteristic value is the ratio between the contour area of ​​a single grid after welding and the contour area of ​​a single grid before welding.

8. The automatic material distribution and welding device for prestressed positioning mesh according to claim 7 is characterized in that: The control module determines whether the welding of a single mesh meets the preset standard based on the mesh flatness evaluation value. If the mesh flatness evaluation value is less than the preset mesh flatness threshold, the control module determines for the second time that the welding of the single mesh meets the preset standard, and continues welding according to the current operating parameters; If the mesh flatness evaluation value is greater than or equal to the preset mesh flatness threshold, the control module will secondly determine that the welding of the single mesh does not meet the preset standard, and synchronously reduce the first preset distance and the second preset distance according to the difference between the mesh flatness evaluation value and the preset mesh flatness threshold.

9. The automatic material distribution and welding device for prestressed positioning mesh according to claim 8 is characterized in that: The synchronous reduction amplitude of the first preset distance and the second preset distance is positively correlated with the flatness evaluation difference, and the flatness evaluation difference is the difference between the mesh flatness evaluation value and the preset mesh flatness threshold.

10. The automatic material distribution and welding device for prestressed positioning mesh according to claim 9, characterized in that: The mesh flatness evaluation value is determined by jointly determining the highest center point and the lowest center point of all grid center points adjacent to the first grid.

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