Automatic prestressed positioning mesh cloth laying and welding device

Abstract

The present application relates to prestressed positioning net production technical field, especially to a kind of automatic cloth welding device of prestressed positioning net, comprising: reinforcing steel conveying part;Longitudinal rib transfer device;Including cloth department of cross rib jacking unit and reinforcing steel tray unit;Gantry welding machine;Including reinforcing steel size acquisition unit, infrared image acquisition unit and visual detection unit data acquisition module;Data storage module for storing the historical cloth data of automatic cloth welding device;With the cloth size information of device is determined according to reinforcing steel size information, with the welding of individual cross contact point is determined whether it conforms to preset standard according to weld evaluation value, or reduce the pressure of pressure closer when the welding of individual grid does not conform to preset standard according to grid characteristic value preliminary determination, or, according to the welding of individual grid whether it conforms to preset standard according to net flat evaluation value secondary determination control module, improve the efficiency of net welding.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of prestressed positioning mesh production, and particularly relates to an automatic material distribution and welding device for prestressed positioning mesh. BACKGROUND

[0002] The prestressed positioning mesh is a mesh in which longitudinal steel bars and transverse steel bars are arranged at a certain interval and are perpendicular to each other, and all intersection points are welded together. In the current conventional prestressed positioning mesh processing, after the steel bars are cut according to the required length, the steel bars are manually or by equipment placed on a specially designed mold, and then the intersection points of the steel bars are welded.

[0003] A railway box girder prestressed steel bar positioning mesh production line and processing technology are disclosed in Chinese Patent Publication No. CN 118385420 A. The railway box girder prestressed steel bar positioning mesh production line includes a straightening and cutting machine, a feeding buffer area, a mesh welding area, and a patch welding discharge area. The feeding buffer area is provided with an intermediate transmission column, an outlet mechanism, a push plate machine, a longitudinal longitudinal steel bar conveyor, a conveyor one, a conveyor two, and a bracket rail. The mesh welding area is provided with a conveyor three, a conveyor four, and a top lifting device. The patch welding discharge area is provided with a patch welding table, a positioning device, and a patch welding steel bar automatic discharge bin. The production line can be suitable for the flow production of various prestressed steel bar positioning meshes. The railway box girder prestressed steel bar positioning mesh processing technology realizes the full-automatic flow processing of single-piece prestressed steel bar positioning meshes by first assembling and patch welding a well frame, then assembling and patch welding a bottom plate positioning mesh and a web positioning mesh, and finally patch welding. It can be seen that in the above technical solution, manual adjustment of the distance between steel bars of different diameters is required, and the steel bar mesh welding efficiency is not high. SUMMARY

[0004] Therefore, the present application provides an automatic material distribution and welding device for prestressed positioning mesh, which overcomes the problem of manual adjustment of the distance between steel bars of different diameters in the prior art and low steel bar mesh welding efficiency.

[0005] To achieve the above-mentioned purpose, the present application provides an automatic material distribution and welding device for prestressed positioning mesh, which comprises:

[0006] A steel bar conveying part, which comprises a transverse steel bar conveying assembly and a longitudinal steel bar conveying assembly;

[0007] A longitudinal steel bar transfer device, which is arranged on one side of the longitudinal steel bar conveying assembly, and comprises a mechanical hand, and a plurality of clamping jaws are arranged at the end of the mechanical hand to clamp the longitudinal steel bar;

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

[0009] The horizontal rib lifting unit includes a slide bar, several horizontal rib 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 rib conveying assembly and the longitudinal rib conveying assembly. The slide rod is vertically slidably connected above the first slide rail. Each of the transverse rib lifting assemblies is equally spaced above the slide rod. The sliding drive motor is arranged on one side of the slide rod. The sliding drive motor is used to drive the slide rod to slide along the first slide rail.

[0011] The rebar tray unit includes a second slide rail and a plurality of rebar tray assemblies arranged along the second slide rail;

[0012] A gantry welding machine is installed above the fabric section to weld the intersection points of the transverse and longitudinal ribs.

[0013] The data acquisition module includes a steel bar size acquisition unit connected to the steel bar conveying unit, an infrared image acquisition unit for acquiring infrared image information of the weld pool at the cross contact point, and a visual detection unit for acquiring the shape information of the mesh in the prestressed positioning mesh before and after welding.

[0014] The data storage module is used to store the historical material placement data of the automatic material placement and welding device, wherein the historical material placement data includes rebar size information and corresponding material placement size information;

[0015] The control module is connected to the data acquisition module, the data storage module, the fabric feeding section, and the gantry welding machine, respectively.

[0016] Used to determine the material placement size information of the automatic material placement and welding device based on the steel bar size information before the automatic material placement and welding device is operated; used to determine whether the welding of a single cross contact point meets the preset standard based on the weld evaluation value; used to reduce the clamping force of the clamping device when the welding of a single mesh does not meet the preset standard for the first time based on the mesh feature value, or to determine whether the welding of a single mesh meets the preset standard for the second time based on the mesh flatness evaluation value.

[0017] Furthermore, the horizontal rib lifting assembly includes a lifting platform, a first motor for driving the lifting platform to rise and fall, a first support group disposed on the lifting platform, and a second support group disposed on the lifting platform. The first support group and the second support group are each provided with a pair of receiving wheels, and the first support group and the second support group are provided with a preset height difference.

[0018] Further, the reinforcing steel bar tray assembly comprises a tray base, a first tray, a second tray, a lead screw, a lead screw support frame, a lead screw nut, a plurality of reinforcing steel bar support frames, a second motor for driving the lead screw, and a third motor for driving the reinforcing steel bar tray assembly to slide along the second sliding rail; the tray base is a fold line type planar structure, the tray base is vertically and slidingly connected above the second sliding rail, the third motor is arranged on the tray base above one end of the second sliding rail, the second motor is arranged on the tray base above one side of the third motor, the lead screw nut is arranged on the tray base at an end away from the second motor, one end of the lead screw is connected with the second motor and the other end is connected with 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 reinforcing steel bar support frames are respectively arranged on the upper end faces of the first tray and the second tray; a preset distance between each reinforcing steel bar tray assembly is recorded as a first preset distance; and a preset distance between the first tray and the second tray is recorded as a second preset distance.

[0019] Further, the centers of the first tray and the second tray are respectively provided with a presser for pressing the transverse steel bars on the longitudinal steel bars; the presser comprises an electric push cylinder, an extension push rod, a first pressing rod and a second pressing rod, wherein the extension push rod is connected with the electric push cylinder, and the first pressing rod and the second pressing rod are symmetrically arranged on both sides of the extension push rod.

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

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

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

[0023] The weld evaluation value is determined by the welding pool area in the infrared image and the preset welding pool area.

[0024] Further, the control module is provided with a plurality of adjustment modes for the reduction of the heat input, and each adjustment mode has a different reduction amplitude of the heat input.

[0025] Further, the control module initially determines whether the welding of the single grid conforms to the preset standard according to the grid 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 conform to the preset standard, and reduces the pressing force of the presser 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 conform to the preset standard, records the grid as a first grid, continues to weld all grids adjacent to the first grid, and secondarily determines whether the welding of the single grid conforms to the preset standard according to the grid 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 conforms to the preset standard.

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

[0030] Further, the control module secondarily determines whether the welding of the single grid conforms to the preset standard according to the grid flatness evaluation value, wherein,

[0031] If the grid flatness evaluation value is less than a preset grid flatness threshold value, the control module secondarily determines that the welding of the single grid conforms to the preset standard, and continues to weld according to the current operating parameters.

[0032] If the grid flatness evaluation value is greater than or equal to the preset grid flatness threshold value, the control module secondarily determines that the welding of the single grid does not conform to the preset standard, and synchronously reduces the first preset distance and the second preset distance according to the difference between the grid flatness evaluation value and the preset grid flatness threshold value.

[0033] Further, the synchronous reduction range of the first preset distance and the second preset distance is positively correlated with the flatness evaluation difference value, which is the difference between the grid flatness evaluation value and the preset grid flatness threshold value.

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

[0035] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention obtains the rebar size information through the rebar size acquisition unit and sets the material placement size information of the automatic material placement and welding device through the data storage module, eliminating the need for manual adjustment and improving work efficiency; during the operation of the device, the welding effect of a single cross contact point is judged by the weld evaluation value and corresponding adjustment measures are taken according to the judgment result; the welding effect of a single grid is judged by the grid feature value and the grid flatness evaluation value, and the preset distance between the synchronous rebar tray components and the preset distance between the trays are reduced according to the judgment result; each welding stage is equipped with corresponding detection and adjustment measures, optimizing historical operation data, monitoring the weld quality and grid morphology in real time, and promptly detecting and correcting welding defects, thereby improving the quality and production efficiency of the prestressed positioning mesh.

[0036] Furthermore, the present invention achieves efficient and flexible conveying of transverse ribs by providing a transverse rib conveying assembly comprising a lifting platform, a first motor for driving the lifting platform to lift, a first support group disposed on the lifting platform, and a second support group disposed on the lifting platform.

[0037] Furthermore, the present invention has clamps passing through the centers of the first and second trays respectively, which keep the reinforcing bars stable during movement and welding, preventing them from shifting due to vibration, thereby improving the accuracy of welding.

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

[0039] Furthermore, the present invention provides 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 amount, thereby achieving precise adjustment of the heat input of welding.

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

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

[0042] Furthermore, by setting the synchronous reduction of the first preset distance and the second preset distance to be positively correlated with the flatness evaluation difference, the present invention achieves precise control of distance adjustment, optimizes the layout and arrangement of the prestressed positioning mesh, and thus improves the accuracy of automatic material laying. Attached Figure Description

[0043] Figure 1 The structural connection schematic diagram of the prestressed positioning mesh automatic laying and welding device is shown in the figure;

[0044] Figure 2 The structural schematic diagram of the reinforcing steel bar tray assembly in the prestressed positioning mesh automatic laying and welding device is shown in the figure;

[0045] Figure 3 The structural schematic diagram of the cross rib lifting assembly in the prestressed positioning mesh automatic laying and welding device is shown in the figure;

[0046] Figure 4 The position schematic diagram of the presser in the prestressed positioning mesh automatic laying and welding device is shown in the figure;

[0047] Figure 5 The structural schematic diagram of the gantry welding machine in the prestressed positioning mesh automatic laying and welding device is shown in the figure;

[0048] Figure 6 The structural schematic diagram of the manipulator in the prestressed positioning mesh automatic laying and welding device is shown in the figure;

[0049] Figure 7 The flow chart for determining whether the welding of a single mesh meets the preset standard in the prestressed positioning mesh automatic laying and welding device is shown in the figure;

[0050] In the figure, 11 is a cross rib conveying assembly, 12 is a longitudinal rib conveying assembly, 2 is a longitudinal rib transfer device, 21 is a manipulator, 211 is a clamping jaw, 311 is a sliding rod, 312 is a cross rib lifting assembly, 313 is a first sliding rail, 314 is a sliding driving motor, 321 is a second sliding rail, 322 is a reinforcing steel bar tray assembly, 4 is a gantry welding machine, 3121 is a lifting platform, 3122 is a first motor, 3123 is a first supporting group, 3124 is a second supporting group, 3125 is a supporting wheel, 3221 is a tray seat, 3222 is a first tray, 3223 is a second tray, 3224 is a lead screw, 3225 is a lead screw support frame, 3226 is a lead screw nut, 3227 is a reinforcing steel bar support frame, 3228 is a second motor, 3229 is a third motor, 5 is a presser, 51 is an electric push cylinder, 52 is a telescopic push rod, 53 is a first pressing rod, and 54 is a second pressing rod. DETAILED DESCRIPTION

[0051] In order to make the purpose and advantages of the present application more clear and obvious, the present application is further described below in combination with examples; it should be understood that the specific examples described herein are only used to explain the present application, and do not limit the present application.

[0052] The preferred embodiments of the present application will be described below with reference to the accompanying drawings. Those skilled in the art will appreciate that the embodiments are only used to explain the technical principles of the present application, and are not intended to limit the protection scope of the present application.

[0053] It should be noted that the data in the present embodiment are obtained by comprehensive analysis and evaluation of historical detection data and corresponding historical detection results of the present application in the past three months before the present detection. Those skilled in the art can understand that the determination method of the present application for a single parameter can be to select the value with the highest proportion as the preset standard parameter according to the data distribution, to use weighted summation to obtain the value as the preset standard parameter, to substitute each historical data into a specific formula and to obtain the value by using the formula as the preset standard parameter, or other selection methods, as long as the present application can clearly define different specific situations in the single determination process by using the obtained value.

[0054] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , and Figure 7 , which are respectively a structural connection diagram of the prestressed positioning mesh automatic laying and welding device, a structural diagram of the reinforcing steel bar tray assembly in the prestressed positioning mesh automatic laying and welding device, a structural diagram of the cross rib jacking assembly in the prestressed positioning mesh automatic laying and welding device, a position diagram of the presser in the prestressed positioning mesh automatic laying and welding device, a structural diagram of the gantry welding machine in the prestressed positioning mesh automatic laying and welding device, a structural diagram of the manipulator in the prestressed positioning mesh automatic laying and welding device, and a flowchart of determining whether the welding of a single mesh meets the preset standard in the prestressed positioning mesh automatic laying and welding device.

[0055] The present application provides a prestressed positioning mesh automatic laying and welding device, which comprises:

[0056] The reinforcing steel bar conveying part comprises a cross rib conveying assembly 11 and a longitudinal rib conveying assembly 12;

[0057] The longitudinal rib transfer device 2 is arranged on one side of the longitudinal rib conveying assembly 12, and the transfer device comprises a manipulator 21, and the manipulator 21 is provided with a plurality of clamping jaws 211 at the tail end for clamping the longitudinal rib;

[0058] The laying part is arranged at the output end of the longitudinal rib transfer device 2 and the cross rib conveying assembly 11, and comprises a cross rib jacking unit and a reinforcing steel bar tray unit;

[0059] The transverse rib lifting unit includes a slide rod 311, a plurality of transverse rib lifting components 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 rib conveying component 11 and the longitudinal rib conveying component 12. The slide rod 311 is vertically slidably connected above the first slide rail 313. Each of the transverse rib lifting components 312 is equally spaced above the slide rod 311. The sliding drive motor 314 is arranged on one side of the slide rod 311 and is used to drive the slide rod 311 to slide along the first slide rail 313.

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

[0061] A gantry welding machine 4 is positioned above the fabric section for welding the intersection points of the transverse and longitudinal ribs.

[0062] The data acquisition module includes a steel bar size acquisition unit connected to the steel bar conveying unit, an infrared image acquisition unit for acquiring infrared image information of the weld pool at the cross contact point, and a visual detection unit for acquiring the shape information of the mesh in the prestressed positioning mesh before and after welding.

[0063] The data storage module is used to store the historical material placement data of the automatic material placement and welding device, wherein the historical material placement data includes rebar size information and corresponding material placement size information;

[0064] The control module is connected to the data acquisition module, the data storage module, the fabric feeding section, and the gantry welding machine 4, respectively.

[0065] Used to determine the material placement size information of the automatic material placement and welding device based on the steel bar size information before the automatic material placement and welding device is operated; used to determine whether the welding of a single cross contact point meets the preset standard based on the weld evaluation value; used to reduce the clamping force of the clamping device 5 when the welding of a single mesh does not meet the preset standard for the first time based on the mesh feature value, or to determine whether the welding of a single mesh meets the preset standard for the second time based on the mesh flatness evaluation value.

[0066] In this embodiment, the shape information is the outline area of ​​the mesh before welding and the outline area of ​​the mesh after welding.

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

[0068] The steel bar size acquisition unit can be used for measuring the length and diameter of the transverse and longitudinal steel bars by optical measuring instruments such as a meta-laser range finder, and the specific implementation is not limited, as long as the accurate measurement of the length and diameter of the transverse and longitudinal steel bars is met.

[0069] In the embodiment, the specific structure of the control module is not limited, and the control module and the units therein can be composed of a logic component, which includes a field programmable component, a computer or a microprocessor in the computer.

[0070] Specifically, the transverse steel bar lifting assembly 312 includes a lifting platform 3121, a first motor 3122 for driving the lifting platform 3121 to lift, a first supporting group 3123 arranged on the lifting platform 3121, and a second supporting group 3124 arranged on the lifting platform 3121, and 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, a plurality of steel bar support frames 3227, a second motor 3228 for driving the lead screw 3224, and a third motor 3229 for driving the steel bar tray assembly 322 to slide along the second sliding rail 321; the tray seat 3221 is a fold line type plane structure, the tray seat 3221 is vertically slidingly connected above the second sliding rail 321, the third motor 3229 is arranged above the tray seat 3221 near one end of the second sliding rail 321, the second motor 3228 is arranged above the tray seat 3221 near the third motor 3229, the lead screw 3224 nut is arranged above the tray seat 3221 away from the second motor 3228, one end of the lead screw 3224 is connected with the second motor 3228 and the other end is connected with 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, and the plurality of steel bar support frames 3227 are respectively arranged on the upper end surfaces of the first tray 3222 and the second tray 3223; a preset distance is arranged between each steel bar tray assembly 322, which is recorded as a first preset distance; and the preset distance between the first tray 3222 and the second tray 3223 is recorded as a second preset distance.

[0072] Specifically, the center of the first tray 3222 and the second tray 3223 passes through a presser 5, which is used to press the cross bars on the longitudinal bars; the presser 5 includes an electric push cylinder 51, an extension push rod 52, a first pressing rod 53 and a second pressing rod 54, wherein the extension push rod 52 is connected with the electric push cylinder 51, and the first pressing rod 53 and the second pressing rod 54 are symmetrically arranged on both sides of the extension push rod 52.

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

[0074] The cloth size information includes a preset distance between each steel bar tray assembly 322 corresponding to the steel bar size information, a preset distance between the first tray 3222 and the second tray 3223 corresponding to the steel bar size information, a heat input of welding corresponding to the steel bar size information, and a pressing force of the presser 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 a preset weld threshold value 0.91, the control module determines that the welding of a single cross contact point meets the preset standard, and completes the welding of a single grid cross contact point of the cross bar and the longitudinal bar 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 value, the control module determines that the welding of a single cross contact point does not meet the preset standard, and reduces the heat input of welding according to the difference between the weld evaluation value and the preset weld threshold value;

[0078] In the embodiment, when the weld evaluation value is greater than or equal to the preset weld threshold value, it indicates that there is a "overheating" trend in 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 selected from [6mm 2 , 17mm 2 ], and in the embodiment, the preset welding pool area is selected as 8mm2 .

[0083] Specifically, the control module is provided with several adjustment modes for the reduction of the heat input amount, wherein,

[0084] if the weld difference value is less than a first preset weld difference value 0.63, a first adjustment coefficient 0.98 is used to reduce the heat input amount;

[0085] if the weld difference value is greater than or equal to the first preset weld difference value and less than a second preset weld difference value 0.92, a second adjustment coefficient 0.96 is used to reduce the heat input amount;

[0086] if the weld difference value is greater than or equal to the second preset weld difference value, a third adjustment coefficient 0.94 is used to reduce the heat input amount;

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

[0088] Specifically, the control module initially determines whether the welding of a single grid conforms to the preset standard according to the grid characteristic value, wherein,

[0089] if the grid characteristic value is less than a first preset grid characteristic value 0.43, the control module determines that the welding of a single grid does not conform to the preset standard, and reduces the pressing force of the presser 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 a second preset grid characteristic value 0.75, the control module initially determines that the welding of a single grid does not conform to the preset standard, records this grid as a first grid, continues to weld all grids adjacent to the first grid, and secondarily determines whether the welding of a single grid conforms to 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 a single grid conforms to 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 obtained by a visual detection unit.

[0094] Specifically, the control module secondarily determines whether the welding of a single grid conforms to the preset standard according to the mesh flatness evaluation value, wherein,

[0095] If the mesh flatness evaluation value is less than a preset mesh flatness threshold value 0.35, the control module secondarily determines that the welding of a 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 value, the control module secondarily determines that the welding of a single mesh does not meet the preset standard, and synchronously reduces 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 value.

[0097] Specifically, the synchronous reduction range of the first preset distance and the second preset distance is positively correlated with the flatness difference, where the positive correlation is, for example, linear positive correlation or nonlinear positive correlation. The linear slope of the linear positive correlation is not particularly limited. It can be understood that the greater the flatness difference, the greater the synchronous reduction range of the first preset distance and the second preset distance. The flatness difference is the difference between the mesh flatness evaluation value and the preset mesh flatness threshold value.

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

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

[0100]

[0101] In the formula, P represents the mesh flatness evaluation value; H1 represents the distance of the lowest center point of all mesh center points adjacent to the first mesh; H2 represents the distance of the highest center point of all mesh center points adjacent to the first mesh; and Δh represents a preset height difference, Δh = 0.97 cm.

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

[0103] The distances of all mesh center points adjacent to the first mesh to the horizontal plane are obtained by a laser range finder and are compared;

[0104] The maximum distance of all mesh center points to the horizontal plane is obtained, which is recorded as the distance of the highest center point of all mesh center points adjacent to the first mesh;

[0105] The minimum distance of all mesh center points to the horizontal plane is obtained, which is recorded as the distance of the lowest center point of all mesh center points adjacent to the first mesh.

[0106] So far, the technical solutions of the present application have been described in combination with the preferred embodiments shown in the drawings, but it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without departing from the principles of the present application, and the technical solutions after the changes or replacements will all fall within the protection scope of the present application.

[0107] The above only describes the preferred embodiments of the present application and is not intended to limit the present application; the present application can have various changes and variations for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A device for automatic laying and welding of a prestressed positioning mesh, characterized in that, The application relates to an automatic material distribution and welding device. The device comprises a steel bar conveying part, a longitudinal steel bar conveying assembly and a transverse steel bar conveying assembly; A longitudinal steel bar transfer device is arranged on one side of the longitudinal steel bar conveying assembly, and the transfer device comprises a mechanical arm, and the mechanical arm is provided with a plurality of clamping claws at the end of the mechanical arm for clamping the longitudinal steel bar; A material distribution part is arranged at the output end of the longitudinal steel bar transfer device and the transverse steel bar conveying assembly, and the material distribution part comprises a transverse steel bar lifting unit and a steel bar tray unit; The transverse steel bar lifting unit comprises a sliding rod, a plurality of transverse steel bar lifting assemblies, a first sliding rail and a sliding driving motor; the first sliding rail is vertically arranged in the output direction of the transverse steel bar conveying assembly and the longitudinal steel bar conveying assembly; the sliding rod is vertically and slidably connected above the first sliding rail; each transverse steel bar lifting assembly is equidistantly arranged above the sliding rod; and the sliding driving motor is arranged on one side of the sliding rod and used to drive the sliding rod to slide along the first sliding rail; The steel bar tray unit comprises a second sliding rail and a plurality of steel bar tray assemblies arranged along the second sliding rail; A gantry welding machine is arranged above the material distribution part and used to weld the cross contact points of the transverse steel bar and the longitudinal steel bar; A data acquisition module comprises a steel bar size acquisition unit connected with the steel bar conveying part, an infrared image acquisition unit used to acquire infrared image information of the cross contact point welding molten pool and a visual detection unit used to acquire shape information of a grid in a prestressed positioning mesh before and after welding; A data storage module is used to store historical material distribution data of the automatic material distribution and welding device, wherein the historical material distribution data comprises steel bar size information and corresponding material distribution size information; A control module is connected with the data acquisition module, the data storage module, the material distribution part and the gantry welding machine respectively; The control module is used to determine the material distribution size information of the automatic material distribution and welding device according to the steel bar size information before the automatic material distribution and welding device is operated; the control module is used to determine whether the welding of a single cross contact point meets a preset standard according to a welding seam evaluation value; and the control module is used to reduce 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, or the control module is used to determine whether the welding of a single grid meets the preset standard according to a mesh flatness evaluation value; The control module determines whether the welding of a single grid meets the preset standard according to a grid characteristic value, wherein if the grid characteristic value is less than a first preset grid characteristic value, the control module determines that the welding of a single grid does not meet the preset standard, and reduces the pressing force of the presser according to the difference between the grid characteristic value and a 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 determines that the welding of a single grid does not meet the preset standard, records the grid as a first grid, continues to weld all grids adjacent to the first grid and determines whether the welding of a single grid meets the preset standard according to a 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 a single grid meets the preset standard; The grid characteristic value is a ratio between a profile area of a single grid after welding and a profile area of a single grid before welding.

2. The automatic prestressed positioning mesh laying and welding device according to claim 1, characterized in that, The cross rib lifting assembly comprises 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, and 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 prestressed positioning mesh laying and welding device according to claim 2, characterized in that, The reinforcing steel bar tray assembly comprises a tray seat, a first tray, a second tray, a lead screw, a lead screw support frame, a lead screw nut, a plurality of reinforcing steel bar support frames, a second motor for driving the lead screw, and a third motor for driving the reinforcing steel bar tray assembly to slide along the second sliding rail; the tray seat is a broken line type plane structure, the tray seat is vertically and slidingly connected above the second sliding rail, the third motor is arranged above the tray seat near one end of the second sliding rail, the second motor is arranged above the tray seat near one side of the third motor, the lead screw nut is arranged above the tray seat away from the second motor, one end of the lead screw is connected with the second motor and the other end is connected with 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 reinforcing steel bar support frames are respectively arranged on the upper end faces of the first tray and the second tray; a preset distance between each reinforcing steel bar tray assembly is recorded as a first preset distance; and a preset distance between the first tray and the second tray is recorded as a second preset distance.

4. The automatic prestressed positioning mesh laying and welding device according to claim 3, characterized in that, Centers of the first tray and the second tray respectively pass through a presser for pressing the cross rib on the longitudinal rib; the presser comprises an electric push cylinder, an extension push rod, a first pressing rod and a second pressing rod, wherein the extension push rod is connected with the electric push cylinder, and the first pressing rod and the second pressing rod are symmetrically arranged on both sides of the extension push rod.

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

6. The automatic prestressed positioning mesh laying and welding device according to claim 5, characterized in that, The control module is provided with a plurality of adjustment modes for the reduction of the heat input, and each adjustment mode has a different reduction amplitude of the heat input.

7. The automatic pre-stressed positioning mesh laying and welding device according to claim 6, characterized in that, The control module determines whether the welding of the single mesh meets the preset standard according to the mesh flatness evaluation value, wherein If the mesh flatness evaluation value is less than a preset mesh flatness threshold, the control module determines that the welding of the single mesh meets the preset standard, and continues the welding according to the current operation parameters; If the mesh flatness evaluation value is greater than or equal to the preset mesh flatness threshold, the control module determines that the welding of the single mesh does not meet the preset standard, and synchronously reduces 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.

8. The automatic pre-stressed positioning mesh laying and welding device according to claim 7, characterized in that, The synchronous reduction range 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.

9. The automatic pre-stressed positioning mesh laying and welding device according to claim 8, characterized in that, The mesh flatness evaluation value is determined by the highest center point and the lowest center point of all center points of the meshes adjacent to the first mesh.

Images