Steel bar bending and hoop forming device

Abstract

The present invention discloses a method related to the field of steel bar processing technology, in particular, a steel bar bending hoop forming device, which includes a controller and a gripping device and a bending hoop device electrically connected to the controller; the gripping device includes: a cross transmission mechanism, which is at least two and serves as the main body of a steel bar bending hoop operation manipulator; a linear transmission mechanism, which is used to install the cross transmission mechanism and the transmission direction is perpendicular to the movable surface of the cross transmission mechanism; a chuck group, which includes a strong structure chuck and a movable chuck; at least one slider of the cross transmission mechanism is installed with a strong structure chuck to form a manipulator type A, and at least one slider of the cross transmission mechanism is installed with a movable chuck to form a manipulator type B, the manipulator type A and the manipulator type B are respectively arranged on both sides of the bending hoop device; the clamping range of the movable chuck is set to be adjustable and controlled by the controller. The present application has the effect of more efficiently meeting the bending requirements of steel bars with larger diameters.

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 structures typically consist of more than just sandstone and concrete; they also require reinforcing steel bars to enhance their structural strength. Furthermore, the steel bars often require more than simply being placed into the concrete; they must first be processed into steel cages, a process that requires bending the steel bars. The extensive use of concrete facilities requires a significant amount of steel bending, which, if performed solely manually, is labor-intensive and inefficient.

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

[0004] The steel bar bending and hoop forming on the market, especially the thick steel bar with a diameter of more than Φ12, is generally processed manually with the help of a hoop bending machine. The worker takes the steel bar and places 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 comprises a controller, a grabbing device and a bending hoop device electrically connected to the controller;

[0009] The gripping device comprises:

[0010] There are at least two cross transmission mechanisms, which serve as the main body of the steel bar bending robot;

[0011] A first linear transmission mechanism, which is used to mount the cross transmission mechanism and has a transmission direction perpendicular to the active surface of the cross transmission mechanism; and

[0012] A chuck assembly comprising a strong structural chuck and a movable chuck;

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

[0014] The connection between the strong structure chuck and the cross transmission mechanism is a reinforced structure. The clamping range of the movable chuck is adjustable and controlled by a controller. 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 bent steel bar;

[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 action;

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

[0018] Optionally, the movable chuck includes a movable seat, a movable clamping column, and a rotary power unit, wherein the movable seat is laterally rotatably connected to a slider of a cross transmission mechanism, and the rotary 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. The screw rod is located below the movable seat and has a section with vertically distributed positive 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 facing outward. The ladder-shaped platform block is composed of two positive 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 touch the inclined surfaces of the end portions 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 provided 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 connected in series 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 is clamping the steel bar; if not, it is determined that the movable clamp is releasing 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 parameters and historical control records to determine the angle α for the next bending and the clamping position d of the manipulator B;

[0025] Calculate the distance L between the clamping point and the bending point based on 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 position of the manipulator B 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 to:

[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 provided on the transverse guide rail of the manipulator A, is used to accommodate the reinforced tooth plate and extends along the transverse driving direction of the manipulator A;

[0035] A locking plate is slidably connected to the structural groove and its 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 second linear transmission mechanism includes a hydraulic cylinder and a guide rod. The hydraulic cylinder is installed on the fixed structure with a structural groove opened by 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 by 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 base, a column shaft, a chuck sleeve, a cylinder group, a limiting block and a movable block;

[0040] The strong structural seat is mounted 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. 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 is fixed with 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 mounting groove and can be moved above the movable block.

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

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

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

[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 this application;

[0049] Figure 3 This 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 accompanying symbols: 11. Manipulator type A; 12. Linear transmission mechanism 1; 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; 223. Screw; 224. Clamping and adjusting power unit; 31. Reinforced tooth plate; 32. Structural groove; 33. Locking plate; 331. Main plate; 332. Auxiliary plate; 34. Linear transmission mechanism 2; 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 entire machine.

[0055] The bending device 14 includes a base that serves as a foundation and counterweight, an elbow rotatably connected to the upper portion of the base, and a reduction motor that drives the elbow. The base is placed on the ground, and the reduction motor is built into the base. The elbow consists of a base plate, multiple vertical columns 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 columns and is fixed to one side of the elbow, 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. The linear transmission mechanism 12 can be a linear motor and a truss with double sliders. 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 horizontal screw slide, and the vertically retractable cylinder is fixed on the slider of the screw slide 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. The slider of one cross transmission mechanism is installed with the strong structure chuck and forms a manipulator type A 11. The slider of the other cross transmission mechanism is installed with the movable chuck 2 and forms a manipulator type B 13. The manipulator type A 11 and the manipulator type B 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 type A 11 to grasp the steel bar 15. Therefore, the connection part of the strong structure clamp and the cross transmission mechanism is a reinforced structure setting. On the one hand, this increases the structural strength, and on the other hand, it prevents the corresponding slider 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 is provided on the transverse guide rail of the manipulator A-type 11, and is used to accommodate the reinforced tooth plate 31 and extends along the transverse driving direction of the manipulator A-type 11;

[0063] A locking plate 33 is slidably connected to the structural groove 32 and slides in the longitudinal direction of the structural groove 32; and

[0064] A second linear transmission mechanism 34 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 of the manipulator type A 11 in which the structural groove 32 is 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 of the manipulator type A 11 in which the structural groove is opened.

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

[0067] It should be noted that, because the tooth structure is engaged 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 restrictions 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 provided in the strong structure seat 41; there are two column shafts 42, and the two column shafts 42 are vertically arranged and symmetrically arranged after passing through 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] Both the limiting block 43 and the movable block 44 are located within the mounting groove of the strong structural base 41. One sidewall of the movable block 44 fits within the inclined surface of the structural block 411 and slides along it. The cylinder assembly includes an oblique cylinder 45 and a vertical cylinder 46. The oblique cylinder 45 is built into the mounting groove, with its rod end securing the movable block 44, thereby driving its movement. The vertical cylinder 46 is fixed to the strong structural base 41, with its rod end securing the limiting block 43. The limiting block 43 is inserted into the side of the movable block 44 facing away from the structural block 411 and abuts against the sidewall of the mounting groove. A chuck sleeve is threadedly attached to the section of the column shaft 42 that extends downward from the strong structural base 41, serving to clamp the rebar 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 collet 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 up the same as the subsequent other manipulator B type 13 is because the force applied here when bending the steel bar 15 is greater, which requires a higher strength structure.

[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 B type 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 rotated and connected to the slider of the cross transmission mechanism. The rotating power unit includes a servo motor and a reduction box with an output shaft. The output shaft of the reduction box fixes the rotating shaft of the movable seat 21, which is used 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 each 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 223 vertically penetrates the movable seat 21 and is rotationally connected to the movable seat 21. A section of the screw 223 located below the movable seat 21 has vertically distributed positive and negative threads. Multiple side panels 221 are arranged around the screw 223, with the upper and lower ends of the side panels 221 forming outwardly inclined slopes. The ladder-shaped platform 222 comprises two straight and negative threads, each threadedly connected to the screw 223. The narrower end of the ladder-shaped platform 222 faces each other and is inserted between the multiple side panels 221. The side slopes of the ladder-shaped platform 222 contact the slopes of the ends of the side panels 221. Multiple springs are arranged horizontally, with each end of the spring fixed to two different side panels 221. The side panels 221 can be four and arranged in two pairs. The two side panels 221 of a pair are symmetrical and matched with a pair of springs. The springs act to pull the two symmetrical side panels against each other. The clamping and adjustment power unit 224 can be a servo motor, mounted on the movable seat 21, and used to drive the screw 223 to rotate.

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

[0083] 1. The two ladder-shaped blocks 222 threadedly connected to the screw rod 223 approach each other. The principle is: when the screw rod 223 rotates, the two ladder-shaped blocks 222 tend 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 on their own, and move in a straight line like the slide of a screw slide, achieving the effect of approaching each other; the two ladder-shaped blocks 222 approach each other, and under the action of the side inclined surfaces, the side plates 221 will be separated from each other, so that the diameter of the movable clamping column 22 becomes larger, which meets the purpose of adjusting the clamping range and clamps the steel bar 15, especially the thinner steel bar 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 B type 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 configuration is:

[0087] If the hoop bending device 14 performs the hoop 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 hoop bending device 14 performs a hoop bending action, the control manipulator A type 11 performs a feeding action, and the control manipulator B type 13 is 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 bending hoop device 14 to perform the bending action; the staff needs to set the bending hoop 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 at a certain angle, how much to feed next,... until when to complete a complete bending hoop.

[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 down 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 simply rotating the column shaft 42.

[0093] Regarding the temporary fixation 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 the displacement of the manipulator type B 13 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 for the next bending and the clamping position d of the manipulator B type 13;

[0096] Calculate the distance L between the clamping point and the bending point based on the clamping position L;

[0097] The moving trajectory of the clamping point is obtained based on the angle α and the distance L; that is, the trajectory is 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 based on the bending hoop parameters, so that the manipulator type B 13 always maintains auxiliary positioning of the steel bar 15 without causing interference.

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

[0102] The rotation 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 device 14 and the steel bar 15 is bent to the right, then the drive is clockwise.

[0103] The amount of rotation 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, we can know 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 connected and return a high level signal; when not connected, 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 are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A steel bar bending and hoop forming device, characterized in that: It includes a controller and a gripping device and a bending hoop device (14) electrically connected to the controller; The gripping device comprises: Cross transmission mechanisms, which are at least two and serve as the main body of the manipulator for forming a steel bar (15) bending hoop operation; A linear transmission mechanism (12) is used to install the cross transmission mechanism and the transmission direction is 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 chuck to form a manipulator type A (11), and at least one slider of the cross transmission mechanism is installed with a movable chuck (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 portion between the strong structure chuck and the cross transmission mechanism is a reinforced structure, and the clamping range of the movable chuck (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 caused to move along with the bent steel bar (15); If the bending device (14) performs a bending action, the manipulator type A (11) is controlled to perform a feeding action, and then the manipulator type B (13) is controlled to return to the clamping position before the previous bending of the steel bar (15); The cycle continues until the robot type A (11) stops feeding; 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 slider of the manipulator type A (11) that moves laterally; A structural groove (32) is provided on the transverse guide rail of the manipulator type A (11) and is used to accommodate the reinforced tooth plate (31) and has a length extending along the transverse driving direction of the manipulator type A (11); A locking plate (33) is slidably connected to the structural groove (32) and its sliding direction is the length direction of the structural groove (32); A second linear transmission mechanism (34) for driving 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 the 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). 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, the sub-plate (332) is formed with a convex block extending into the groove, and the two ends of the convex block 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 (33), and the teeth on the locking plate (33) are formed on the sub-plate (332) and have round heads or triangular heads; 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); wherein the strong structure seat (41) is mounted on a slider of a cross transmission mechanism and is provided with a mounting groove, the limiting block (43) and the movable block (44) are slidably positioned in the mounting groove, a structural block (411) is formed in the mounting groove, and a side wall of the structural block (411) is inclined when viewed from above; There are two column shafts (42), one column shaft (42) is fixed to the structural block (411) after vertically penetrating the installation slot, and the other column shaft (42) is fixed to the movable block (44) after penetrating the installation slot, 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 includes 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), and the limiting block (43) is inserted into the side of the movable block (44) away from the structural block (411) and abuts against the side wall of the mounting groove and can be moved above the movable block (44).

2. The steel bar bending and hoop forming device according to claim 1, characterized in that: The movable chuck (2) comprises a movable seat (21), a movable clamping column (22) and a rotary power unit, wherein the movable seat (21) is laterally rotatably connected to a slider of a cross transmission mechanism, and the rotary 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 side plates (221), ladder-shaped blocks (222), screws (223), springs, and a clamping adjustment power unit (224). The screw rod (223) vertically penetrates the movable seat (21) and is rotatably connected to the movable seat (21). The screw rod (223) is located below the movable seat (21) and has a vertically distributed positive thread and negative thread. 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 block (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 block (222) faces each other and is inserted between the multiple side plates (221). The side inclined surfaces of the ladder-shaped platform block (222) contact 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, 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 judged whether it is a high level. If so, it is judged that the movable clamp (2) clamps the steel bar (15); if not, it is judged that the movable clamp (2) releases the steel bar (15).

4. The steel bar bending and hoop forming device according to claim 3, characterized in that: The method of causing the manipulator type B (13) to shift 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 based on 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 its 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, characterized in that: The controller is further configured to: Determine the clockwise / counterclockwise driving of the rotating power unit 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.

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