Reinforcing steel bar bent hoop forming device

Abstract

The invention relates to the technical field of steel bar machining, in particular to a steel bar hoop bending forming device which comprises a controller, a grabbing device and a hoop bending device, and the grabbing device and the hoop bending device are electrically connected to the controller. The grabbing device comprises at least two cross-shaped transmission mechanisms which are used as main bodies of the reinforcing steel bar hoop bending operation mechanical arm; the linear transmission mechanism I is used for mounting the cross-shaped transmission mechanism, and the transmission direction of the linear transmission mechanism I is perpendicular to the movable surface of the cross-shaped transmission mechanism; the chuck group comprises a strong-structure chuck and a movable chuck; a sliding block of at least one cross-shaped transmission mechanism is provided with a strong-structure chuck and forms a mechanical arm A type, a sliding block of at least one cross-shaped transmission mechanism is provided with a movable chuck and forms a mechanical arm B type, and the mechanical arm A type and the mechanical arm B type are arranged on the two sides of the hoop bending device respectively. And the clamping range of the movable chuck is adjustable and is controlled by the controller. The large-diameter steel bar bending device has the effect of more efficiently meeting the bending requirement of large-diameter steel bars.

Description

Technical Field

[0001] The present application relates to the technical field of steel bar processing, and in particular to a steel bar bending and hoop forming device. Background Art

[0002] Cast-in-place and prefabricated concrete building structures generally do not only contain sandstone concrete components, but also need to be filled with steel bars to enhance their structural strength. Moreover, steel bars are often not simply placed in concrete, but need to be processed into steel cages, etc. This process involves the need for steel bar bending. The use of a large number of concrete facilities means a large number of steel bar bending processing needs. If this is done manually by staff, the labor intensity of the staff is high and the efficiency is low.

[0003] For this reason, there are many types of hoop bending machines on the market for semi-automatic and automatic hoop bending of steel bars. However:

[0004] The steel bar bending and hooping on the market, especially the thick steel bar with a diameter exceeding Φ12, is generally processed by manual cooperation with the hoop bending machine. The worker holds the steel bar and puts it on the hoop bending machine. The worker visually observes the bending point of the steel bar, and then starts the hoop bending machine to bend it. The bending angle is also visually observed based on the worker's experience. After the bending is in place, the hoop bending machine is turned off, and the worker takes the folded steel bar and places it.

[0005] The above-mentioned steel bar bending method is highly dependent on workers and is mainly processed visually, which makes it difficult to ensure the consistency of the finished steel bar products. Therefore, this application proposes a new technical solution. Summary of the invention

[0006] In order to more efficiently meet the bending requirements of steel bars with larger diameters and improve the consistency of finished steel bars, the present application provides a steel bar bending and hoop forming device.

[0007] The present application provides a steel bar bending and hoop forming device, which adopts the following technical solution:

[0008] A steel bar bending and hoop forming device, comprising a controller and a grabbing device and a bending hoop device electrically connected to the controller;

[0009] The grabbing device comprises:

[0010] There are at least two cross transmission mechanisms, which are used to form the main body of the steel bar bending hoop operation manipulator;

[0011] A linear transmission mechanism 1, which is used to install the cross transmission mechanism and the transmission direction is perpendicular to the active surface of the cross transmission mechanism; and

[0012] A chuck assembly, which includes a strong structural chuck and a movable chuck;

[0013] Among them, at least one slider of the cross transmission mechanism is equipped with a strong structure chuck to form a manipulator type A, and at least one slider of the cross transmission mechanism is equipped with a movable chuck to form a manipulator type B, and the manipulator type A and the manipulator type B are respectively arranged on both sides of the bending hoop device;

[0014] The connection part between the strong structure chuck and the cross transmission mechanism is a reinforced structure, and the clamping range of the movable chuck is adjustable and controlled by a controller, and the controller is configured as follows:

[0015] If the bending device performs the bending action, the robot A is controlled to temporarily fix the steel bar, and the robot B is caused to move along with the steel bar being bent;

[0016] If the bending device performs a bending action, the robot A is controlled to perform a feeding action, and then the robot B is controlled to reset to the clamping position before the previous steel bar bending;

[0017] The cycle continues until robot A stops feeding.

[0018] Optionally, the movable chuck includes a movable seat, a movable clamping column and a rotating power unit, the movable seat is laterally rotatably connected to a slider of a cross transmission mechanism, and the rotating power unit is installed on the slider of the cross transmission mechanism and is used to drive the movable seat to rotate;

[0019] The movable clamping columns are multiple and divided into two groups, and the two groups of movable clamping columns are separated to obtain a clamping range. The movable clamping columns include side plates, ladder-shaped blocks, screws, springs, and a clamping adjustment power unit;

[0020] The screw rod vertically penetrates the movable seat and is rotationally connected to the movable seat. A section of the screw rod located below the movable seat has vertically distributed positive threads and negative threads. There are multiple side plates distributed around the screw rod, and the inner sides of the upper and lower ends of the side plates form inclined surfaces inclined outward. The ladder-shaped platform block is composed of two positive threads and negative threads respectively threadedly connected to the screw rod. The smaller end of the ladder-shaped platform block faces each other and is inserted between multiple side plates. The side inclined surfaces of the ladder-shaped platform block contact the inclined surfaces of the ends of the side plates. There are multiple springs and they are arranged horizontally. The two ends of the spring are respectively fixed to two different side plates. The clamping and adjusting power unit is installed on the movable seat and is used to drive the screw rod to rotate.

[0021] Optionally, at least the outer side wall of the side plate is a conductive metal structure, the side plates are arranged in pairs and the two side plates of the same pair are located on both sides of the clamped steel bar, the two side plates of the same pair are in a series relationship and are electrically connected to a controller, and the controller is configured as follows:

[0022] Receive the electrical signal fed back from the side plate and determine whether it is a high level. If so, it is determined that the movable clamp clamps the steel bar; if not, it is determined that the movable clamp releases the steel bar.

[0023] Optionally, the step of causing the manipulator type B to shift along with the bent steel bars comprises:

[0024] Call the preset bending hoop parameters and historical control records to determine the angle α for the next bending and the clamping position d of the manipulator type B;

[0025] Calculate the distance L between the clamping point and the bending point according to the clamping position L;

[0026] The moving trajectory of the clamping point is obtained according to the angle α and the distance L;

[0027] Control the robot B type to adjust the position according to the moving trajectory;

[0028] The position change rate is calculated based on the angle α and the bending speed of the bending device.

[0029] Optionally, the controller is further configured as:

[0030] The rotating power unit is driven clockwise or counterclockwise according to the bending direction of the steel bar;

[0031] The rotation amount of the rotary power unit is determined by the angle α at the next bending.

[0032] Optionally, the connection portion between the strong structure chuck and the cross transmission mechanism is an additional structural setting, which includes:

[0033] A reinforced tooth plate fixed to the slider of the manipulator type A for transverse movement;

[0034] A structural groove, which is opened on the transverse guide rail of the robot type A, is used to accommodate the reinforced tooth plate and has a length extending along the transverse driving direction of the robot type A;

[0035] A locking plate, which is slidably connected in the structural groove and the sliding direction is the length direction of the structural groove;

[0036] A second linear transmission mechanism, which is used to drive the locking plate to move;

[0037] Among them, the reinforced tooth plate is located on the inner side of the slider and is inserted into the structural groove and can slide along the length direction of the structural groove. One long plate edge of the locking plate faces the reinforced tooth plate and is formed with an adaptive tooth structure. The linear transmission mechanism 2 includes a hydraulic cylinder and a guide rod. The hydraulic cylinder is installed on a fixed structure with a structural groove opened on the manipulator type A and the rod end fixes the locking plate on the side away from the reinforced tooth plate. One end of the guide rod fixes the locking plate, and the other end penetrates the fixed structure with a structural groove opened on the manipulator type A.

[0038] Optionally, the locking plate includes a main plate and a sub-plate stacked on each other, the main plate is concave to form a groove, the sub-plate is formed with a protrusion extending into the groove, the two ends of the protrusion are respectively fixed with reset springs, the distribution direction of the two reset springs is parallel to the length direction of the locking plate, and the teeth on the locking plate are formed on the sub-plate and the teeth are round heads or triangular heads.

[0039] Optionally, the strong structure chuck includes a strong structure seat, a column shaft, a chuck sleeve, a cylinder group, a limiting block and a movable block;

[0040] The strong structural seat is installed on the slider of the cross transmission mechanism and is provided with a mounting groove, the limiting block and the movable block are slidably located in the mounting groove, a structural block is formed in the mounting groove, and one side wall of the structural block is inclined when viewed from above;

[0041] There are two column shafts, one of which is fixed to the structural block after vertically passing through the mounting groove, and the other column shaft is fixed to the movable block after passing through the mounting groove, and one side wall of the movable block is adapted to the inclined surface of the structural block and slides along the inclined surface;

[0042] The cylinder group includes an oblique cylinder and a vertical cylinder. The oblique cylinder is used to drive the movable block to move. The rod end of the vertical cylinder fixes a limiting block. The limiting block is inserted into the side of the movable block away from the structural block and abuts against the side wall of the installation groove and can be moved above the movable block.

[0043] In summary, this application includes the following beneficial technical effects:

[0044] 1. The present invention solves the problem of lack of automated forming equipment for forming thick steel bar bending hoops in the production process of steel bar bending hoops;

[0045] 2. The present invention can realize automatic steel bar feeding and bending and hoop forming;

[0046] 3. The present invention has dual manipulators, which cooperate with the bending hoop device to accurately locate the bending position and bending angle of the steel bar. The processing accuracy is relatively higher and the consistency of the produced products is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic diagram of the overall structure of this application;

[0048] Figure 2 It is a structural diagram of the enhanced structural setting of the present application;

[0049] Figure 3 It is a schematic diagram of the top view of the strong structure chuck of the present application;

[0050] Figure 4 It is a structural schematic diagram of the movable chuck of the present application.

[0051] Explanation of the reference numerals: 11. Manipulator type A; 12. Linear transmission mechanism one; 13. Manipulator type B; 14. Bending hoop device; 15. Rebar; 2. Movable chuck; 21. Movable seat; 22. Movable clamping column; 221. Side plate; 222. Ladder-shaped platform block; 223. Screw rod; 224. Clamping and adjusting power unit; 31. Reinforced tooth plate; 32. Structural groove; 33. Locking plate; 331. Main plate; 332. Sub-plate; 34. Linear transmission mechanism two; 341. Hydraulic cylinder; 342. Guide rod; 41. Strong structural seat; 411. Structural block; 42. Column shaft; 43. Limiting block; 44. Movable block; 45. Oblique cylinder; 46. Vertical cylinder. DETAILED DESCRIPTION

[0052] The following is combined with Figure 1-4 This application is described in further detail.

[0053] The embodiment of the present application discloses a steel bar bending and hoop forming device.

[0054] Reference Figure 1 The steel bar bending and hoop forming device includes a controller, a grabbing device and a bending hoop device 14, wherein the controller can be a PLC control cabinet, which is electrically connected to the grabbing device and the bending hoop device and is used for automatic control of the whole machine.

[0055] The bending hoop device 14 includes a base used as a foundation and a counterweight, an elbow rotatably connected to the upper part of the base, and a reduction motor used to drive the elbow. The base is placed on the ground, and the reduction motor is built into the base. The elbow is composed of a base plate, multiple vertical column heads on the base plate, and a rotating shaft at the bottom of the base plate. The rotating shaft is rotatably connected to the base and fixed to the output shaft of the reduction motor. When the steel bar 15 passes through the multiple column heads, and then the steel bar 15 on one side of the elbow is fixed, the elbow rotates to achieve the purpose of bending the steel bar 15.

[0056] The gripping device includes a cross transmission mechanism, a linear transmission mechanism 12 and a chuck group, wherein the linear transmission mechanism 12 is established by two legs, and the linear transmission mechanism 12 can be a linear motor and a truss of a double slider, and the two sliders should be able to be driven by corresponding power modules respectively.

[0057] The cross transmission mechanism can be a cross slide or a screw slide in the horizontal direction. The slider of the screw slide is fixed with a vertically telescopic cylinder to form a cross transmission design. There can be multiple cross transmission mechanisms, and they are distributed along the transmission direction of the linear transmission mechanism 12. This embodiment takes two cross transmission mechanisms as an example:

[0058] The chuck group includes a strong structure slider and a movable chuck 2. A slider of a cross transmission mechanism is installed with the strong structure chuck to form a type A manipulator 11. Another slider of the cross transmission mechanism is installed with the movable chuck 2 to form a type B manipulator 13. The type A manipulator 11 and the type B manipulator 13 are respectively arranged on both sides of the bending hoop device 14.

[0059] From the aforementioned bending process of the steel bar 15, it can be known that when the steel bar 15 is bent, one of the two manipulators mentioned above needs to grasp the steel bar 15 and prevent the steel bar 15 from moving during bending. Therefore, the thicker the steel bar 15, the greater the force on this manipulator. This embodiment chooses to use manipulator A type 11 to grasp the steel bar 15. Therefore, the connection part between the strong structure chuck and the cross transmission mechanism is a reinforced structure setting. On the one hand, the structural strength is increased, and on the other hand, the corresponding slider is prevented from moving back due to the reaction force of the steel bar, so as to meet the bending requirements of steel bars 15 with a diameter exceeding Φ12.

[0060] Reference Figure 2 In one embodiment, an enhancement structure is provided, comprising:

[0061] The reinforced tooth plate 31 is fixed to the slider of the manipulator A type 11 which moves laterally, and is preferably formed in one piece;

[0062] A structural groove 32, which is opened on the transverse guide rail of the robot A type 11, is used to accommodate the reinforced tooth plate 31 and has a length extending along the transverse driving direction of the robot A type 11;

[0063] A locking plate 33 is slidably connected to the structure slot 32 and its sliding direction is the length direction of the structure slot 32; and

[0064] A second linear transmission mechanism 34, which is used to drive the locking plate 33 to move;

[0065] Among them, the reinforced tooth plate 31 is located on the inner side of the slider and is inserted into the structural groove 32 and can slide along the length direction of the structural groove 32. One long plate edge of the locking plate 33 faces the reinforced tooth plate 31 and is formed with an adaptive tooth structure; the linear transmission mechanism 2 34 includes a (small) hydraulic cylinder 341 and a guide rod 342. The hydraulic cylinder 341 is installed on the fixed structure body of the manipulator type A 11 with the structural groove 32 opened and the rod end fixes the locking plate 33 on the side away from the reinforced tooth plate 31. One end of the guide rod 342 fixes the locking plate 33, and the other end penetrates the fixed structure body of the manipulator type A 11 with the structural groove opened.

[0066] After the cross transmission mechanism in the manipulator type A 11 sends the strong structure chuck to the specified position, the hydraulic cylinder 341 pushes the locking plate 33 to move toward the enhanced tooth plate 31 so that the teeth of the two engage with each other, completing the enhanced fixation of the position of the strong structure chuck to meet the bending requirements of thicker steel bars 15.

[0067] It should be noted that, because the tooth structure is meshed and locked, and the strong structure chuck can be moved laterally and is infinitely adjustable, the locking plate 33 is further configured as follows:

[0068] The locking plate 33 includes a main plate 331 and a sub-plate 332 stacked on each other. The main plate 331 is concave to form a groove, and the sub-plate 332 is formed with a protrusion extending into the groove. The two ends of the protrusion are respectively fixed with reset springs, and the distribution direction of the two reset springs is parallel to the length direction of the locking plate; the teeth on the locking plate 33 are formed on the sub-plate 332 and the teeth are round heads or triangular heads.

[0069] According to the above, if the tooth structure on the locking plate 33 cannot engage with the tooth structure of the reinforced tooth plate 31, as the locking plate 33 continues to move toward the reinforced tooth plate 31, the sub-plate 332 can slide laterally under the guidance of the teeth until it engages and because of the limitations of the grooves and protrusions, the effectiveness of the locking plate 33 is guaranteed.

[0070] Reference Figure 3 In one embodiment, the strong structure chuck includes a strong structure seat 41, a column shaft 42, a chuck sleeve, a cylinder group, a limiting block 43 and a movable block 44.

[0071] Among them, the strong structure seat 41 is fixed to the slider of the corresponding cross transmission mechanism, and an installation groove is arranged in the strong structure seat 41; there are two column shafts 42, and the two column shafts 42 are arranged vertically and symmetrically arranged after inserting into the installation groove, one column shaft 42 is fixed relative to the strong structure seat 41, and the other column shaft 42 is movable; a structural block 411 is formed in the strong structure seat 41, and the fixed column shaft 42 is inserted into the structural block 411, and one side wall of the structural block 411 is inclined when viewed from above.

[0072] The limiting block 43 and the movable block 44 are both located in the installation groove of the strong structural seat 41. One side wall of the movable block 44 is adapted to the inclined surface of the structural block 411 and slides along the inclined surface. The cylinder group includes an oblique cylinder 45 and a vertical cylinder 46. The oblique cylinder 45 is built into the installation groove and the rod end fixes the movable block 44 to drive the movable block 44 to move; the vertical cylinder 46 is fixed to the strong structural seat 41 and the rod end fixes the limiting block 43. The limiting block 43 is inserted into the side of the movable block 44 away from the structural block 411 and contacts the side wall of the installation groove. The chuck sleeve is installed in a section of the column shaft 42 extending downward from the strong structural seat 41 in a threaded connection / screw fixing manner, and is used to clamp the steel bar 15.

[0073] Before the steel bar 15 is clamped, the limiting block 43 is located above the movable block 44, and the movable block 44 is pulled relatively away from the other column shaft 42 by the oblique cylinder 45; when the steel bar 15 needs to be clamped, the oblique cylinder 45 pushes the movable block 44 to move to the preset position, and the vertical cylinder 46 pushes the limiting block 43 to be inserted between the movable block 44 and the side wall of the installation groove. At this time, the chuck sleeve is clamped on the surface of the steel bar 15; if the steel bar 15 needs to be loosened, the reverse operation can be performed.

[0074] Based on the above settings:

[0075] First, the steel bars can be clamped and loosened;

[0076] Secondly, the chuck sleeve is the structure that actually clamps the steel bar 15, so replacing it can meet the clamping requirements of steel bars 15 of different diameters. The reason why it is not set the same as the subsequent another manipulator B type 13 is that the force is greater when bending the steel bar 15, and a higher strength structure is required;

[0077] Again, when clamping the steel bar 15, or when the steel bar is bent, the back of the movable block 44 is supported by the limiting block 43, so even if the movable block 44 can move, the reaction force of the bending of the steel bar 15 is unlikely to damage the oblique cylinder 45, and there is sufficient structural strength to meet the high-strength bending requirements.

[0078] Reference Figure 4 In another embodiment, the movable clamp 2 on the manipulator type B 13 is matched by the following settings:

[0079] The movable chuck 2 includes a movable seat 21, a movable clamping column 22 and a rotating power unit. The movable seat 21 is laterally rotatably connected to a slider of a cross transmission mechanism. The rotating power unit includes a servo motor and a reduction box of an output shaft. The output shaft of the reduction box fixes the rotating shaft of the movable seat 21 to drive the movable chuck 2 to rotate to meet usage requirements.

[0080] There are multiple movable clamping columns 22 and they are divided into two groups. This embodiment takes two movable clamping columns 22 as an example, that is, one in one group; the clamping range is obtained by separating the two movable clamping columns 22; the movable clamping column 22 includes a side plate 221, a ladder-shaped block 222, a screw 223, a spring and a clamping adjustment power unit 224.

[0081] The screw rod 223 vertically penetrates the movable seat 21 and is rotatably connected to the movable seat 21. A section of the screw rod 223 located below the movable seat 21 has vertically distributed positive and negative threads. The side plates 221 are multiple and distributed around the screw rod 223, and the inner sides of the upper and lower ends of the side plates 221 form inclined surfaces that are inclined outward. The ladder-shaped platform 222 is two positive and negative threads that are respectively threadedly connected to the screw rod 223. The smaller end of the ladder-shaped platform 222 faces each other and is inserted between the multiple side plates 221. The side inclined surface of the ladder-shaped platform 222 contacts the inclined surface of the end of the side plate 221. The spring is multiple and arranged horizontally. The two ends of the spring are respectively fixed to two different side plates 221. The side plates 221 can be four and divided into two pairs. The two side plates 221 of the same pair are symmetrical and match a pair of springs. The spring is used here to pull the two symmetrical side plates. The clamping and adjusting power unit 224 can be a servo motor, which is installed on the movable seat 21 and used to drive the screw rod 223 to rotate.

[0082] When in use, the clamping and adjusting power unit 224 drives the screw rod 223 to rotate. There are two situations when the screw rod 223 rotates:

[0083] 1. The two ladder-shaped blocks 222 threadedly connected to the screw rod 223 are close to each other. The principle is: when the screw rod 223 rotates, the two ladder-shaped blocks 222 will have a tendency to rotate in opposite directions, but the side plates 221 are connected in the middle to hinder each other's rotation. After offsetting, the ladder-shaped blocks 222 will not rotate by themselves, just like the slide of the screw slide, to achieve the effect of approaching each other; the two ladder-shaped blocks 222 are close to each other, and the side plates 221 will be separated from each other under the action of the side inclined surface, so that the diameter of the movable clamping column 22 becomes larger, which meets the purpose of adjusting the clamping range, clamping the steel bar 15, and clamping thinner steel bars 15.

[0084] 2. The two ladder-shaped blocks 222 threadedly connected to the screw rod 223 move away from each other, and the principle is the same as above; the two ladder-shaped blocks 222 move away from each other, and the side plates 221 move closer to each other under the action of the spring, and the diameter of the movable clamping column 22 becomes smaller, which can loosen the steel bar 15 and clamp thicker steel bars 15.

[0085] Because the manipulator type B 13 will not be subjected to excessive reaction force when bending the steel bar 15, and only plays a role similar to supporting the bent section, the structure using the above-mentioned movable clamping column 22 is relatively not easy to be damaged.

[0086] In this application, the controller is configured as:

[0087] If the bending device 14 performs the bending action, the manipulator type A 11 is controlled to temporarily fix the steel bar 15, and the manipulator type B 13 is controlled to shift along with the bent steel bar 15;

[0088] If the bending device 14 performs a bending action, the robot A type 11 is controlled to perform a feeding action, and the robot B type 13 is controlled to reset to the clamping position before the previous bending of the steel bar 15;

[0089] The cycle continues until the robot A type 11 stops feeding.

[0090] It is understandable that after the device is turned on and the staff sends the head of the steel bar 15 to the robot type A 11, the robot type A 11 needs to do the first feeding and then use the hoop bending device 14 to perform the hoop bending action; the staff needs to set the hoop bending parameters in advance with the controller according to needs, that is, tell the controller: how much to feed for the first time, how much to bend if the angle is too small, how much to feed next,... until when to complete a complete hoop bending.

[0091] Regarding the feeding of the steel bar 15, for example: the manipulator type B 13 releases the steel bar 15 and moves upward and retreats, then the manipulator type A 11 first releases the steel bar 15 and retreats upward, and then the linear transmission mechanism 12 drives the manipulator type A 11 to move backward the distance required for feeding, and then the manipulator type A 11 moves downward to the original height and re-clamps the steel bar 15, and then the linear transmission mechanism 12 drives the manipulator type A 11 to reset.

[0092] If the column shaft 42 of the manipulator A-type 11 is driven to rotate by a motor, the manipulator A-type 11 does not need to move back and forth repeatedly during the above process, and the steel bars 15 can be pushed and fed by just rotating the column shaft 42 .

[0093] Regarding the temporary fixing of the steel bar 15 by the manipulator type A 11, that is, when bending the steel bar 15, the manipulator type A 11 keeps clamping the steel bar, and uses the aforementioned locking plate 33 to lock the strong structure clamp to prevent it from sliding under the action of the reaction force.

[0094] Regarding making the manipulator B type 13 shift along with the bent steel bar 15, it includes:

[0095] Calling the preset bending hoop parameters and historical control records to determine the angle α and the clamping position d of the manipulator B type 13 at the next bending;

[0096] Calculate the distance L between the clamping point and the bending point according to the clamping position L;

[0097] The moving trajectory of the clamping point is obtained according to the angle α and the distance L; that is, the trajectory obtained by drawing a circle with the bending point as the center, L as the radius, and α as the rotation amount;

[0098] Controlling the manipulator B type 13 to adjust the position according to the moving trajectory;

[0099] The position change rate is calculated based on the angle α and the bending speed of the bending device 14; that is, the time t is calculated based on the bending speed and the angle α, and then the trajectory / t is used.

[0100] As can be seen from the above, the controller can analyze the corresponding position change information of the manipulator type B 13 during the clamping process according to the bending hoop parameters, so that the manipulator type B 13 always maintains the auxiliary positioning of the steel bar 15 without causing interference.

[0101] It should be noted that in the above process, when the manipulator B-type 13 moves along with the bent steel bar, it is also necessary to adjust the angle of the movable clamp 2, that is, control the rotary power unit to rotate the movable clamp 2, specifically:

[0102] The rotating power unit is driven clockwise or counterclockwise according to the bending direction of the steel bar 15; for example, when viewed from above, the movable clamp 2 is located due north of the bending hoop device 14, and the steel bar 15 is bent toward the right, then it is driven clockwise;

[0103] The rotation amount of the rotary power unit is determined by the angle α at the next bending; for example: the same.

[0104] According to the above arrangement, the movable clamp 2 will not cause any obstruction when rotating along with the steel bar 15 .

[0105] From the above process, it can be known that the amount of action of each tightening and loosening of the strong structure clamp is preset, while the amount of action of the movable clamp 2 is not preset. Therefore, it is necessary to let the controller know when the movable clamp 2 clamps / releases the steel bar 15. This application makes the following settings:

[0106] At least the outer side wall of the side plate 221 is a conductive metal structure. The two side plates 221 of the same pair are located on both sides of the clamped steel bar 15. The two side plates 221 of the same pair are in a series relationship and are electrically connected to the controller. The controller is configured as follows:

[0107] Receive the electrical signal fed back from the side plate 221 and determine whether it is a high level. If so, it is determined that the movable clamp 2 clamps the steel bar 15; if not, it is determined that the movable clamp 2 releases the steel bar 15; Principle: The steel bar 15 is conductive. When the steel bar 15 is clamped, the two side plates 221 are turned on and return a high level signal; when not turned on, the returned signal is a low level signal.

[0108] It should be noted that the voltage used above is a small voltage, such as a voltage less than 5V, to ensure safety.

[0109] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A steel bar bending and hoop forming device, characterized in that: It comprises a controller and a grasping device and a bending hoop device (14) electrically connected to the controller; The grabbing device comprises: There are at least two cross transmission mechanisms, which are used as the main body of the manipulator for forming the steel bar (15) bending hoop operation; A linear transmission mechanism (12) used to install the cross transmission mechanism and having a transmission direction perpendicular to the active surface of the cross transmission mechanism; and A chuck assembly, comprising a strong structural chuck and a movable chuck (2); At least one slider of the cross transmission mechanism is installed with a strong structural clamp to form a manipulator type A (11), and at least one slider of the cross transmission mechanism is installed with a movable clamp (2) to form a manipulator type B (13), and the manipulator type A (11) and the manipulator type B (13) are respectively arranged on both sides of the bending hoop device (14); The connection part between the strong structure clamp and the cross transmission mechanism is a reinforced structure, and the clamping range of the movable clamp (2) is adjustable and controlled by a controller, and the controller is configured as follows: If the bending device (14) performs the bending action, the manipulator type A (11) is controlled to temporarily fix the steel bar (15), and the manipulator type B (13) is moved along with the bent steel bar (15); If the bending device (14) performs a bending action, the robot A (11) is controlled to perform a feeding action, and then the robot B (13) is controlled to reset to the clamping position before the previous bending of the steel bar (15); The cycle continues until the robot type A (11) stops feeding.

2. The steel bar bending and hoop forming device according to claim 1 is characterized in that: The movable chuck (2) comprises a movable seat (21), a movable clamping column (22) and a rotating power unit, wherein the movable seat (21) is laterally rotatably connected to a slider of a cross transmission mechanism, and the rotating power unit is installed on the slider of the cross transmission mechanism and is used to drive the movable seat (21) to rotate; The movable clamping columns (22) are multiple and divided into two groups. The two groups of movable clamping columns (22) are separated to obtain a clamping range. The movable clamping columns (22) include a side plate (221), a ladder-shaped platform (222), a screw (223), a spring, and a clamping adjustment power unit (224); The screw rod (223) vertically penetrates the movable seat (21) and is rotationally connected to the movable seat (21). A section of the screw rod (223) located below the movable seat (21) has vertically distributed positive threads and negative threads. The side plates (221) are multiple and distributed around the screw rod (223). The inner sides of the upper and lower ends of the side plates (221) form inclined surfaces inclined outward. The ladder-shaped platform (222) is composed of two positive threads and negative threads respectively threadedly connected to the screw rod (223). The smaller end of the ladder-shaped platform (222) faces each other and is inserted between the multiple side plates (221). The side inclined surfaces of the ladder-shaped platform (222) abut against the inclined surfaces of the ends of the side plates (221). The springs are multiple and arranged horizontally. The two ends of the springs are respectively fixed to two different side plates (221). The clamping and adjusting power unit (224) is installed on the movable seat (21) and is used to drive the screw rod (223) to rotate.

3. The steel bar bending and hoop forming device according to claim 2 is characterized in that: At least the outer side wall of the side plate (221) is a conductive metal structure. The side plates (221) are arranged in pairs and the two side plates (221) of the same pair are located on both sides of the clamped steel bar (15). The two side plates (221) of the same pair are connected in series and are electrically connected to a controller. The controller is configured as follows: An electrical signal fed back from the side plate (221) is received, and it is determined whether it is at a high level. If so, it is determined that the movable clamp (2) clamps the steel bar (15); if not, it is determined that the movable clamp (2) releases the steel bar (15).

4. The steel bar bending and hoop forming device according to claim 3 is characterized in that: The method of causing the manipulator B type (13) to move along with the bent steel bar (15) comprises: Calling the preset bending hoop parameters and historical control records to determine the angle α and the clamping position d of the manipulator type B (13) for the next bending; Calculate the distance L between the clamping point and the bending point according to the clamping position L; The moving trajectory of the clamping point is obtained according to the angle α and the distance L; Controlling the manipulator B (13) to adjust the position according to the moving trajectory; The position change rate is calculated based on the angle α and the bending rate of the bending device (14).

5. The steel bar bending and hoop forming device according to claim 4 is characterized in that: The controller is also configured to: Determining whether the rotating power unit is driven clockwise or counterclockwise according to the bending direction of the steel bar (15); The rotation amount of the rotary power unit is determined by the angle α at the next bending.

6. The steel bar bending and hoop forming device according to claim 1 is characterized in that: The connection part between the strong structure chuck and the cross transmission mechanism is an additional structural setting, which includes: A reinforced tooth plate (31) fixed to a sliding block of the manipulator type A (11) for transverse movement; A structural groove (32) is provided on the transverse guide rail of the robot type A (11), is used to accommodate the reinforced tooth plate (31), and has a length extending along the transverse driving direction of the robot type A (11); A locking plate (33) which is slidably connected in the structural groove (32) and whose sliding direction is the length direction of the structural groove (32); A second linear transmission mechanism (34), which is used to drive the locking plate (33) to move; The reinforced tooth plate (31) is located on the inner side of the slider and is inserted into the structural groove (32) and can slide along the length direction of the structural groove (32). One long plate edge of the locking plate (33) faces the reinforced tooth plate (31) and is formed with an adaptive tooth structure. The second linear transmission mechanism (34) includes a hydraulic cylinder (341) and a guide rod (342). The hydraulic cylinder (341) is installed on a fixed structure of the manipulator type A (11) with the structural groove (32) and the rod end fixes the locking plate (33) on the side away from the reinforced tooth plate (31). One end of the guide rod (342) fixes the locking plate (33) and the other end penetrates the fixed structure of the manipulator type A (11) with the structural groove (32).

7. The steel bar bending and hoop forming device according to claim 6 is characterized in that: The locking plate (33) comprises a main plate (331) and a secondary plate (332) stacked on each other, the main plate (331) is concave to form a groove, the secondary plate (332) is formed with a protrusion extending into the groove, the two ends of the protrusion are respectively fixed with reset springs, the distribution direction of the two reset springs is parallel to the length direction of the locking plate (33), and the teeth on the locking plate (33) are formed on the secondary plate (332) and the teeth are round heads or triangular heads.

8. The steel bar bending and hoop forming device according to claim 6, characterized in that: The strong structure chuck comprises a strong structure seat (41), a column shaft (42), a chuck sleeve, a cylinder group, a limiting block (43) and a movable block (44); The strong structure seat (41) is installed on the slider of the cross transmission mechanism and is provided with a mounting groove, the limiting block (43) and the movable block (44) are slidably located in the mounting groove, a structure block (411) is formed in the mounting groove, and a side wall of the structure block (411) is inclined in a top view; There are two column shafts (42), one column shaft (42) is fixed to the structural block (411) after vertically penetrating the installation groove, and the other column shaft (42) is fixed to the movable block (44) after penetrating the installation groove, and a side wall of the movable block (44) is adapted to the inclined surface of the structural block (411) and slides along the inclined surface; The cylinder group comprises an oblique cylinder (45) and a vertical cylinder (46), wherein the oblique cylinder (45) is used to drive the movable block (44) to move, and the rod end of the vertical cylinder (46) is fixed with a limiting block (43), wherein the limiting block (43) is inserted into a side of the movable block (44) away from the structural block (411) and abuts against a side wall of the mounting groove and can be moved to the top of the movable block (44).

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