Beam column reinforcement cage machining production line and control method thereof

Abstract

The invention provides a beam column reinforcement cage machining production line. The beam column reinforcement cage machining production line comprises a longitudinal bar temporary storage module, a longitudinal bar penetrating positioning module, a welding forming module and a finished product discharging and stacking module. The longitudinal bar penetrating positioning module comprises a longitudinal bar positioning mechanism, and a half-wrapped longitudinal bar guide pipe is arranged on one side of the longitudinal bar positioning mechanism and used for supporting and guiding longitudinal bars. The welding forming module comprises a movable welding module, and the movable welding module comprises a welding secondary positioning mechanism used for fixing the longitudinal bars and the stirrups. By integrating the longitudinal bar temporary storage module, the longitudinal bar penetrating positioning module, the welding forming module, the finished product discharging and stacking module and the like, efficient and automatic production of reinforcement cage machining is achieved, and accurate penetrating and stable supporting of longitudinal bars are guaranteed through the longitudinal bar positioning mechanism and the half-wrapped longitudinal bar guide pipe; the movable welding module and the welding secondary positioning mechanism of the movable welding module ensure firm welding of the longitudinal bars and the stirrups, and the production efficiency and the finished product quality of the reinforcement cage are improved.

Description

Technical Field

[0001] This application relates to the technical field of processing of steel bar cages, and specifically, to a processing production line for steel bar cages of beams and columns and a control method thereof. Background Art

[0002] At present, in the construction industry, steel bars of beams and columns are basically manually tied on site. Workers need to select steel bars of different lengths and diameters according to the material list on site for tying. The steel bar varieties and grades are mixed, and steel bars of different diameters are stacked together, making it difficult to distinguish. The use of steel bars generally has the situation of preferring longer ones rather than shorter ones and being discarded at will. The phenomenon of only using whole materials on site and treating short materials as waste occurs frequently, resulting in excessive steel bar loss; the work of workers is relatively cumbersome and the tying difficulty is great, and various quality problems will also occur during the tying process, such as missed tying, the steel bar joints not being staggered on the same plane, the column bars being displaced, the stirrup spacing not being arranged according to the design, and so on. Summary of the Invention

[0003] Aiming at the defects in the prior art, the purpose of this application is to provide a processing production line for steel bar cages of beams and columns and a control method thereof, which improve problems such as large workload and great difficulty in manual welding through automated equipment prefabrication and integrated forming, and ensure the overall quality of beams and columns.

[0004] In one aspect of this application, a processing production line for steel bar cages of beams and columns is provided, including:

[0005] A longitudinal bar buffer module for storing and discharging longitudinal bars;

[0006] A longitudinal bar threading and positioning module located on one side of the longitudinal bar buffer module for threading longitudinal bars into stirrups;

[0007] A welding and forming module located at one end of the longitudinal bar threading and positioning module for welding the stirrups into which longitudinal bars are threaded to form a steel bar cage;

[0008] A finished product discharging and stacking module located at one end of the welding and forming module for discharging and stacking the finished steel bar cages;

[0009] The longitudinal bar threading and positioning module includes a longitudinal bar positioning mechanism, and a semi - enclosed longitudinal bar guiding tube is provided on one side of the longitudinal bar positioning mechanism for supporting and guiding longitudinal bars;

[0010] The welding and forming module includes a mobile welding module group, and the mobile welding module group includes a welding secondary positioning mechanism for fixing the longitudinal bars and the stirrups.

[0011] Furthermore, the welding and forming module further includes: a stirrup conveying line, a stirrup loading truss manipulator, a stirrup feeding device, and a finished product discharging platform;

[0012] The stirrup conveying line is used to convey the stirrups;

[0013] The stirrup loading truss manipulator is used to cut the binding straps of the bundled stirrups and convey the stirrups to the stirrup feeding device;

[0014] The stirrup feeding device is automatically adjusted in the horizontal and vertical directions, located at the other end of the mobile welding module, and is used to adjust the position of the stirrups. And through the mobile welding module, the fed stirrups are fixed and positioned and welded in cooperation with the longitudinal bars;

[0015] The finished product discharging platform is arranged at one end of the mobile welding module and is connected to the finished product discharging and palletizing module, and is used to convey the welded steel reinforcement cage to the finished product discharging and palletizing module.

[0016] Further, the mobile welding module further includes a frame and a welding torch;

[0017] The frame has two degrees of freedom of left-right movement and front-back movement in the horizontal direction, and is used to switch between multiple workstations and drag the semi-finished steel reinforcement cage to move at the stirrup spacing step;

[0018] The welding torch and the welding secondary positioning mechanism are provided with multiple groups and are movably arranged on the frame, and are used to fix the stirrups and the longitudinal bars and then perform welding through the welding torch.

[0019] Further, the welding secondary positioning mechanism includes a longitudinal bar hook claw and a stirrup clamping block;

[0020] The stirrup clamping block fixes the stirrups fed out by the stirrup feeding device;

[0021] The longitudinal bar hook claw is telescopically arranged and is used to pull the longitudinal bar close to fit the stirrup, so that the longitudinal bar and the stirrup are completely fitted to form "secondary positioning before welding".

[0022] Further, the longitudinal bar buffer module includes:

[0023] A three-dimensional longitudinal bar storage bin for storing longitudinal bars;

[0024] An in-out warehouse truss manipulator for storing the longitudinal bars into the three-dimensional longitudinal bar storage bin or taking out the longitudinal bars from the three-dimensional longitudinal bar storage bin;

[0025] An out-of-warehouse transfer table for temporarily storing the longitudinal bars taken out from the three-dimensional longitudinal bar storage bin by the in-out warehouse truss manipulator.

[0026] Further, a position adjustment servo motor and a longitudinal bar guide sleeve are provided on the other side of the longitudinal bar positioning mechanism;

[0027] The longitudinal bar guiding sleeve is of a hollow structure, and the longitudinal bar can extend into the longitudinal bar guiding sleeve;

[0028] The longitudinal bar guiding sleeve and the semi - enclosed longitudinal bar guiding pipe are connected to the position - adjusting servo motor. Under the action of the position - adjusting servo motor, stepless adjustment is realized in two degrees of freedom in the horizontal and vertical directions to meet the longitudinal bar positioning of steel cage with different cross - sections.

[0029] Further, the longitudinal bar threading and positioning module further includes:

[0030] A longitudinal bar threading truss manipulator for grasping the longitudinal bar from the outbound transfer table and axially transporting it into the longitudinal bar guiding sleeve;

[0031] An automatic lifting mechanism, located on the other side of the longitudinal bar positioning mechanism, for supporting the tail of the longitudinal bar after the longitudinal bar threading truss manipulator transports the longitudinal bar into the longitudinal bar guiding sleeve.

[0032] Further, the automatic lifting mechanism includes a bracket and lifting rollers;

[0033] The lifting rollers are rotatable relative to the bracket;

[0034] There are multiple lifting rollers, which are arranged at intervals along the vertical direction of the bracket within the adjustment range of the longitudinal bar guiding sleeve.

[0035] Further, the longitudinal bar threading truss manipulator includes power clamping rollers for axially transporting the longitudinal bar into the longitudinal bar guiding sleeve.

[0036] In the second aspect of the present application, a control method for a beam - column steel cage processing production line is provided, including:

[0037] The stirrup conveying line first conveys the bundled stirrups to the loading position, and the stirrup loading truss manipulator cuts the straps of the bundled stirrups and loads them onto the stirrup feeding device to wait for the longitudinal bars to be inserted;

[0038] The inbound - outbound truss manipulator takes out the longitudinal bars from the three - dimensional longitudinal bar storage bin and places them on the outbound transfer table, and the longitudinal bar threading truss manipulator takes out the longitudinal bars from the transfer table and axially inserts them into the stirrup feeding device;

[0039] After all the longitudinal bars are inserted, the stirrup feeding block and the stirrup separating mechanism work simultaneously to push out one stirrup. After the welding secondary positioning mechanism clamps and fixes the stirrup and the longitudinal bars, the welding torch performs welding;

[0040] After welding is completed, the welding module is moved to drive the welded stirrups and longitudinal bars to axially move as a whole by a stirrup spacing. Then, the stirrup feeding device feeds out another stirrup, and the welding module returns to its original position for welding. Subsequently, the above welding - dragging - returning welding actions are repeated until the entire steel cage is welded.

[0041] The welded steel cage is discharged and stacked through the discharging truss of the finished product discharging and stacking module.

[0042] Compared with the prior art, the present application has at least one of the following beneficial effects:

[0043] 1. By optimizing the existing process, the beam-column is prefabricated and integrally formed by an automated device, which improves problems such as large workload and high difficulty in manual binding, ensures the overall quality of the beam-column, and realizes the unmanned production of the beam-column during the processing by controlling the logical actions of each process through PLC, greatly improving the production efficiency, shortening the construction period, and ensuring the project quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] By reading the following detailed description of the non - restrictive embodiments with reference to the accompanying drawings, other features, objects, and advantages of the present application will become more apparent:

[0045] Figure 1 It is a schematic structural diagram of a beam - column steel cage processing production line in an embodiment of the present application.

[0046] Figure 2 It is a schematic structural diagram of the longitudinal bar buffer module in an embodiment of the present application.

[0047] Figure 3 It is a side view of the longitudinal bar buffer module in an embodiment of the present application.

[0048] Figure 4 It is a schematic structural diagram of the longitudinal bar threading and positioning module in an embodiment of the present application.

[0049] Figure 5 It is an enlarged view of the longitudinal bar threading and positioning module at position C in an embodiment of the present application.

[0050] Figure 6 It is an enlarged view of the longitudinal bar threading and positioning module at position D in an embodiment of the present application.

[0051] Figure 7 It is a schematic structural diagram of the welding and forming module in an embodiment of the present application.

[0052] Figure 8 It is an enlarged view of the welding and forming module at position A in an embodiment of the present application.

[0053] Figure 9 It is an enlarged view of the welding and forming module at position B in an embodiment of the present application.

[0054] Figure 10 This is a schematic structural diagram of a welding secondary positioning mechanism in an embodiment of the present application.

[0055] Figure 11 This is a flowchart of a control method for a processing production line of a beam-column steel reinforcement cage in an embodiment of the present application.

[0056] In the figure: 1. Longitudinal reinforcement buffer module; 101. In-and-out warehouse truss manipulator; 102. Three-dimensional storage bin for longitudinal reinforcement; 103. Outbound transfer table;

[0057] 2. Longitudinal reinforcement threading positioning module; 201. Reinforcement threading truss manipulator; 202. Automatic lifting mechanism; 203. Longitudinal reinforcement positioning mechanism; 20101. Power clamping roller; 20201. Lifting roller; 20202. Bracket; 20301. Position adjustment servo motor; 20302. Longitudinal reinforcement guide sleeve; 20303. Semi-wrapped longitudinal reinforcement guide pipe;

[0058] 3. Welding and forming module; 301. Stirrup conveying line; 302. Stirrup loading truss manipulator; 303. Stirrup feeding device; 304. Mobile welding module; 305. Finished product discharging platform; 30301. Stirrup feeding and pushing block; 30302. Stirrup separating mechanism; 30401. Welding secondary positioning mechanism; 30402. Welding torch; 30403. Binding gun; 30404. Frame; 304011. Longitudinal reinforcement hook; 304012. Stirrup clamping block;

[0059] 4. Finished product discharging and palletizing module. Specific embodiments

[0060] The present application will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made. These all belong to the protection scope of the present application.

[0061] It should be understood that the terms "first", "second", etc. in the following embodiments are used to distinguish different objects, rather than to describe a specific order. The terms "comprising" and "including" indicate the presence of the described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their combinations. In the description of this specification, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of description and simplification of the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0062] Referring to Figure 1 As shown, a processing production line for a beam-column steel bar cage of an embodiment of the present application includes: a longitudinal bar caching module 1 for storing and issuing longitudinal bars; a longitudinal bar threading and positioning module 2 located on one side of the longitudinal bar caching module 1 for threading longitudinal bars into stirrups; a welding and forming module 3 located at one end of the longitudinal bar threading and positioning module 2 for welding the stirrups with longitudinal bars threaded therein to form a steel bar cage; a finished product blanking and palletizing module 4 located at one end of the welding and forming module 3 for blanking and palletizing the finished steel bar cages; the longitudinal bar threading and positioning module 2 includes a longitudinal bar positioning mechanism 203, and a semi-surrounding longitudinal bar guiding tube 20303 is provided on one side of the longitudinal bar positioning mechanism 203 for supporting and guiding the longitudinal bars; the welding and forming module 3 includes a mobile welding module 304, and the mobile welding module 304 includes a welding secondary positioning mechanism 30401 for fixing the longitudinal bars and stirrups.

[0063] The present application integrates multiple modules such as longitudinal bar caching, longitudinal bar threading and positioning, welding and forming, and finished product blanking and palletizing, realizing the efficient and automated production of steel bar cages. Among them, the design of the longitudinal bar positioning mechanism 203 and the semi-surrounding longitudinal bar guiding tube 20303 ensures the accurate threading and stable support of the longitudinal bars, while the mobile welding module 304 and its welding secondary positioning mechanism 30401 ensure the firm welding of the longitudinal bars and stirrups, improving the production efficiency and finished product quality of the steel bar cages.

[0064] Specifically, on the processing production line for the beam-column steel bar cage, first, the longitudinal bar caching module 1 is responsible for storing and issuing longitudinal bars as needed; subsequently, the longitudinal bar threading and positioning module 2 receives the longitudinal bars and accurately threads the longitudinal bars into the stirrups through the longitudinal bar positioning mechanism 203 and the semi-surrounding longitudinal bar guiding tube 20303; then, the mobile welding module 304 in the welding and forming module 3 welds the stirrups with longitudinal bars threaded therein, and the welding secondary positioning mechanism 30401 ensures the accuracy and stability of the welding; finally, the finished product blanking and palletizing module 4 is responsible for blanking and palletizing the welded steel bar cages for subsequent transportation and use.

[0065] Refer to Figures 7 to 9 As shown, in some possible embodiments, the welding and forming module 3 further includes: a stirrup conveying line 301, a stirrup loading truss manipulator 302, a stirrup feeding device 303, and a finished product discharging platform 305.

[0066] The stirrup conveying line 301 is used to convey stirrups; the stirrup loading truss manipulator 302 is used to cut the tying straps of the bundled stirrups and convey the stirrups to the stirrup feeding device 303; the stirrup feeding device 303 is automatically adjusted in the horizontal and vertical directions, located at the other end of the mobile welding module 304, and is used to adjust the position of the stirrups, and through the mobile welding module 304, the fed stirrups are fixed and positioned and welded with longitudinal bars; the finished product discharging platform 305 is arranged at one end of the mobile welding module 304 and is connected to the finished product blanking and palletizing module 4, and is used to convey the welded steel reinforcement cage to the finished product blanking and palletizing module 4.

[0067] Specifically, the welding and forming module 3 is located at one end of the longitudinal bar threading and positioning module 2. During operation, the stirrup conveying line 301 conveys the stirrups to be welded to the stirrup loading truss manipulator 302, and then the stirrup loading truss manipulator 302 places the stirrups on the stirrup feeding device 303. The stirrup feeding device 303 feeds one stirrup to the mobile welding module 304, and the stirrup is fixed by the welding secondary positioning mechanism 30401. At the same time, the longitudinal bar buffer module 1 and the longitudinal bar threading and positioning module 2 thread the longitudinal bars to the position of the stirrups to be welded, and through the welding secondary positioning mechanism 30401, the longitudinal bars to be welded are positioned with the stirrups, and then through the mobile welding module 304, the longitudinal bars and the stirrups are welded, and finally the welded steel reinforcement cage is conveyed to the finished product discharging platform 305.

[0068] Among them, there are multiple groups of stirrup feeding devices 303, and the stirrup loading truss manipulator can move between multiple groups of stirrup feeding devices 303. The stirrup feeding device 303 is adjustable in the horizontal and vertical directions, increasing the welding range for different steel reinforcement cages and ensuring that the stirrups are in the correct position.

[0069] By using the stirrup conveying line 301, the stirrup loading truss manipulator 302, the stirrup feeding device 303, and the finished product discharging platform 305 in cooperation, full-automatic operation from stirrup conveying, loading, feeding to finished product output is realized, reducing manual intervention and labor intensity. At the same time, the stirrup feeding device 303 can accurately adjust the position of the stirrups, ensuring welding quality and improving the overall stability and safety of the steel reinforcement cage; through connection with the finished product blanking and palletizing module 4, the continuity and automation of the production process are realized, improving production efficiency.

[0070] Refer to Figure 8As shown, in the present application, the stirrup feeding device 303 includes a stirrup feeding block 30301 and a stirrup separating mechanism 30302, which work simultaneously to extract one stirrup.

[0071] Referring to Figure 7 As shown, in some specific embodiments, the mobile welding module 304 further includes a frame 30404 and a welding torch 30402.

[0072] The frame 30404 has two degrees of freedom of left - right movement and front - back movement in the horizontal direction, and is used to switch between multiple workstations and drag the semi - formed steel cage to move at the stirrup spacing pitch; there are multiple groups of the welding torch 30402 and the welding secondary positioning mechanism 30401, which are movably arranged on the frame 30404 and are used to fix the stirrups and longitudinal bars and then perform welding through the welding torch 30402.

[0073] Specifically, the welding torch 30402 and the welding secondary positioning mechanism are arranged on the frame 30404 and move with the frame 30404 in two degrees of freedom of left - right and front - back. After the stirrups and longitudinal bars are fixed by the welding secondary positioning mechanism 30401, the welding torch 30402 welds the connection points of the longitudinal bars and stirrups. After the welding at one place of the steel cage is completed, the frame 30404 moves the welded steel cage by a pitch distance in the direction of the finished product discharging table through the welding secondary positioning mechanism 30401. Then, the stirrup feeding device 303 and the welding secondary positioning mechanism 30401 weld the longitudinal bars and stirrups of the next pitch. Repeat the above operations until the welding of the steel cage is completed.

[0074] By moving the frame 30404 in two degrees of freedom of left - right and front - back in the horizontal direction, it can efficiently switch between multiple workstations and accurately move the semi - formed steel cage at the stirrup spacing pitch; combined with the movable arrangement of multiple groups of the welding torch 30402 and the welding secondary positioning mechanism 30401, it improves the flexibility and accuracy of welding, and can also continuously and automatically complete the fixing and welding operations of the longitudinal bars and stirrups, significantly improving the production efficiency and welding quality of the steel cage, and reducing the production cost and safety risk.

[0075] Among them, the welding secondary positioning mechanism 30401 and the welding torch 30402 are fixed together, and there are always eight groups, which are respectively located on the four sides of the frame 30404 and can move horizontally and vertically on the four sides of the frame 30404 to simultaneously weld the circumference of the steel cage and improve the welding efficiency.

[0076] Referring to Figures 9 to 10 As shown, in some specific embodiments, the welding secondary positioning mechanism 30401 includes a longitudinal bar claw 304011 and a stirrup clamp 304012.

[0077] The stirrup clamping block 304012 fixes the stirrups drawn out by the stirrup feeding device 303; the longitudinal bar claw 304011 is telescopically arranged and is used to pull the longitudinal bars closer to fit the stirrups, so that the longitudinal bars and the stirrups are completely fitted to form "secondary positioning before welding".

[0078] During operation, the stirrup clamping block 304012 of the welding secondary positioning mechanism 30401 first fixes the stirrups fed down by the stirrup feeding device 303, and then fits the longitudinal bars towards the stirrups through the longitudinal bar claws 304011 to complete the secondary positioning before welding. Then, the eight groups of welding torches 30402 work simultaneously for welding. After welding is completed, the moving welding module 304 drives the welded stirrups and longitudinal bars to axially move a stirrup pitch, that is, one step distance as a whole. The stirrup feeding device 303 feeds out another stirrup, and the moving welding module 304 returns to its position for welding. Subsequently, the above welding - dragging - returning welding actions are repeated until the entire steel reinforcement cage is welded.

[0079] In this application, the welding forming module 3 can be changed to a "tying forming module". By replacing the welding torches 30402 with the tying guns (30403) in the figure, the welding process can be converted to a tying process, and other actions remain unchanged.

[0080] Refer to Figures 2 to 3 As shown, in some possible embodiments, the longitudinal bar caching module 1 includes: a three - dimensional longitudinal bar bin 102 for storing longitudinal bars; an in - out truss manipulator 101 for storing longitudinal bars in the three - dimensional longitudinal bar bin 102 or taking out longitudinal bars from the three - dimensional longitudinal bar bin 102; and an out - of - warehouse transfer table 103 for temporarily storing the longitudinal bars taken out from the three - dimensional longitudinal bar bin 102 by the in - out truss manipulator 101.

[0081] When producing the steel reinforcement cage, the in - out truss manipulator 101 takes out and exits from the corresponding position of the out - of - warehouse transfer table 103 according to the material list. During the out - of - warehouse gap, it can continue to enter the warehouse and work in a cycle.

[0082] Refer to Figure 5 As shown, in some specific embodiments, a position - adjusting servo motor 20301 and a longitudinal bar guide sleeve 20302 are provided on the other side of the longitudinal bar positioning mechanism 203.

[0083] The longitudinal bar guide sleeve 20302 is a hollow structure, and the longitudinal bars can extend into the longitudinal bar guide sleeve 20302; the longitudinal bar guide sleeve 20302 and the semi - enclosed longitudinal bar guide tube 20303 are connected to the position - adjusting servo motor 20301. Under the action of the position - adjusting servo motor 20301, stepless adjustment is realized in two degrees of freedom in the horizontal and vertical directions to meet the longitudinal bar positioning of steel reinforcement cages with different cross - sections.

[0084] By arranging a position adjustment servo motor 20301 and a longitudinal bar guide sleeve 20302 on the other side of the longitudinal bar positioning mechanism 203 and making the longitudinal bar guide sleeve 20302 a hollow structure, primary positioning of the longitudinal bar before welding is achieved. By setting the servo motor, welding of steel bar cages with different cross-sections is realized, improving the scope of application. At the same time, a semi-enclosed longitudinal bar guide pipe 20303 is arranged on one side of the longitudinal bar positioning mechanism 203. Before the longitudinal bar is conveyed to the welding and forming module 3, the lower part of the bar is supported to ensure that the longitudinal bar does not sag when inserted into all the cantilever parts of the stirrups. The "semi-enclosed" form of the guide pipe, that is, the semi-circular guide pipe, will not affect the secondary positioning (bringing the longitudinal bar closer to fit the stirrup) of the longitudinal bar and the stirrup.

[0085] Among them, there are multiple groups of the longitudinal bar guide sleeve 20302 and the position adjustment servo motor 20301, which together with the semi-enclosed longitudinal bar guide pipe 20303 constitute the longitudinal bar positioning mechanism 203. At the same time, under the action of the position adjustment servo motor 20301, the semi-enclosed longitudinal bar adjustment structure and the longitudinal bar guide sleeve 20302 can move in different directions to adjust the distance between the longitudinal bar guide sleeves 20302, so as to meet the welding and positioning requirements of steel bar cages with different cross-sections.

[0086] Refer to Figure 4 As shown, in some possible embodiments, the longitudinal bar passing and positioning module 2 further includes: a bar passing truss manipulator 201 for grasping the longitudinal bar from the out-of-store transfer table 103 and axially conveying it into the longitudinal bar guide sleeve 20302; an automatic lifting mechanism 202 located on the other side of the longitudinal bar positioning mechanism 203 for supporting the tail of the longitudinal bar after the bar passing truss manipulator 201 conveys the longitudinal bar into the longitudinal bar guide sleeve 20302.

[0087] By arranging the bar passing truss manipulator 201 and the automatic lifting mechanism 202 in the longitudinal bar passing and positioning module 2, before welding, the bar passing truss manipulator 201 takes out the longitudinal bar from the out-of-store transfer station and conveys one end of the longitudinal bar into the longitudinal bar guide sleeve 20302, and then the automatic lifting mechanism 202 supports the other part of the longitudinal bar to prevent the longitudinal bar from bending.

[0088] Specifically, the automatic lifting mechanism 202 includes a bracket 20202 and lifting rollers 20201. The lifting rollers 20201 are rotatable relative to the bracket 20202; there are multiple lifting rollers 20201, which are arranged at intervals along the vertical direction of the bracket 20202 within the adjustment range of the longitudinal bar guide sleeve 20302.

[0089] Among them, the tail of the longitudinal reinforcement is supported by the automatic lifting mechanism 202. The vertical distance between each row of lifting rollers 20201 is 150 mm, enabling it to adapt to the stepless adjustment of the vertical position of the longitudinal reinforcement guide sleeve 20302 and hold the tail of a horizontal row of longitudinal reinforcements; the lifting rollers 20201 can rotate 90 degrees, and each roller has independent power to support the longitudinal reinforcements layer by layer from bottom to top.

[0090] Referring to Figure 6 As shown, specifically, the steel bar truss manipulator 201 includes power clamping rollers 20101 for axially conveying the longitudinal reinforcements into the longitudinal reinforcement guide sleeve 20302.

[0091] Specifically, the steel bar truss manipulator 201 is responsible for grasping the longitudinal reinforcements and axially conveying them through the power clamping rollers 20101. All longitudinal reinforcement guide sleeves 20302 in the longitudinal reinforcement positioning mechanism 203 can be steplessly adjusted in two degrees of freedom, horizontal and vertical, by the position adjustment servo motor 20301 to meet the positioning of longitudinal reinforcements in steel bar cages with different cross-sections; and through servo automatic control, the longitudinal reinforcements are pre-pierced at the positions where the stirrups are sparse. After passing through all the stirrups, the longitudinal reinforcements are repositioned to make the piercing of the longitudinal reinforcements simpler and more reliable.

[0092] Referring to Figure 11 As shown, in the second aspect of the present application, a control method for a beam-column steel bar cage processing production line is provided, including:

[0093] The stirrup conveying line 301 first conveys the bundled stirrups to the loading position. The stirrup loading truss manipulator 302 cuts the straps of the bundled stirrups and loads them onto the stirrup feeding device 302 waiting for the longitudinal reinforcements to be inserted.

[0094] The in-out warehouse truss manipulator 101 takes out the longitudinal reinforcements from the longitudinal reinforcement three-dimensional storage bin 102 and places them on the outbound transfer table 103. The steel bar truss manipulator 201 takes out the longitudinal reinforcements from the transfer table 103 and axially inserts them into the stirrup feeding device 303.

[0095] After all the longitudinal reinforcements are inserted, the stirrup feeding block 30301 and the stirrup separating mechanism 30302 work simultaneously to pull out one stirrup. After the welding secondary positioning mechanism 30401 clamps and fixes the stirrup and the longitudinal reinforcements, the welding torch 30402 performs welding.

[0096] After welding is completed, the moving welding module 304 drives the welded stirrup and the longitudinal reinforcements as a whole to axially move a stirrup spacing. The stirrup feeding device 303 then pulls out another stirrup, and the moving welding module 304 returns to its position for welding. Subsequently, the above welding - dragging - returning welding actions are repeated until the entire steel bar cage is welded.

[0097] The welded steel bar cage is unloaded and stacked through the unloading truss of the finished product unloading and stacking module 4.

[0098] Specifically, the stirrup conveyor line 301 first conveys the bundled stirrups to the loading position. The stirrup loading truss manipulator 302 cuts the binding straps of the bundled stirrups and then loads them onto the double-station stirrup feeding device 303 waiting for the longitudinal bars to be inserted. The in-out warehouse truss manipulator 101 takes out the longitudinal bars from the three-dimensional longitudinal bar storage bin 102 and places them on the outbound transfer table 103. Subsequently, the bar-passing truss manipulator 201 takes out the longitudinal bars from the transfer table, aligns the ends with the longitudinal bar guiding sleeve 20302, and axially inserts the longitudinal bars into the stirrup feeding device 303 through the power clamping rollers 20101. The lifting rollers 2020 in the automatic lifting mechanism 202 open to hold the tail of the longitudinal bar. The bar-passing truss manipulator 201 continues to repeat the material-taking action and inserts the longitudinal bars layer by layer from bottom to top into the stirrups waiting for welding. After all the longitudinal bars are inserted, the stirrup feeding block 30301 and the stirrup separating mechanism 30302 work simultaneously to pick out one stirrup. After the welding secondary positioning mechanism 30401 clamps and fixes the stirrup and the longitudinal bars, eight welding torches 30402 work simultaneously for welding. After welding is completed, the moving welding module 304 drives the welded stirrups and longitudinal bars to axially move a stirrup pitch as a whole. The stirrup feeding device 303 picks out another stirrup, and the moving welding module 304 returns to its position for welding. Subsequently, the above welding-dragging-return welding actions are repeated until the entire steel reinforcement cage is welded. The welded steel reinforcement cage is unloaded and stacked through the unloading truss of the finished product unloading and stacking module 4.

[0099] In this application, there are two workstations. While welding is being performed at workstation #1, the action of inserting longitudinal bars can be carried out simultaneously at workstation #2, enabling the welding module to operate without stopping and maximizing efficiency.

[0100] The specific embodiments of the present application have been described above. It should be understood that the present application is not limited to the above specific implementation manners. Those skilled in the art can make various deformations or modifications within the scope of the claims, which do not affect the essence of the present application. The above preferred features can be combined arbitrarily without conflict.

Claims

1. A beam and column reinforcement cage processing production line, characterized in that: include: Longitudinal reinforcement cache module, used to store and retrieve longitudinal reinforcement; A longitudinal reinforcement positioning module is located on one side of the longitudinal reinforcement buffer module and is used to insert the longitudinal reinforcement into the stirrups; A welding forming module, located at one end of the longitudinal reinforcement positioning module, is used to weld the stirrups that penetrate the longitudinal reinforcement to form a reinforcement cage; A finished product unloading and stacking module is located at one end of the welding and forming module and is used for unloading and stacking finished steel cages; The longitudinal reinforcement positioning module includes a longitudinal reinforcement positioning mechanism, and a half-enclosed longitudinal reinforcement guide tube is provided on one side of the longitudinal reinforcement positioning mechanism for supporting and guiding the longitudinal reinforcement; The welding forming module includes a movable welding module, and the movable welding module includes a welding secondary positioning mechanism for fixing the longitudinal reinforcement and the stirrups.

2. A beam-column reinforcement cage processing production line according to claim 1, characterized in that: The welding forming module also includes: a stirrup conveyor line, a stirrup feeding truss manipulator, a stirrup material removal device and a finished product discharge platform; The stirrup conveying line is used to convey the stirrups; The stirrup feeding truss manipulator is used to cut the tie ties of the bundled stirrups and transport the stirrups to the stirrup feeding device; The stirrup material-dispensing device is automatically adjusted in the horizontal and vertical directions and is located at the other end of the mobile welding module. It is used to adjust the position of the stirrups and fix the stirrups after dispensing to cooperate with the longitudinal reinforcement for positioning welding through the mobile welding module. The finished product discharging platform is arranged at one end of the mobile welding module and is connected to the finished product unloading and stacking module, and is used to transport the welded steel cage to the finished product unloading and stacking module.

3. A beam-column reinforcement cage processing production line according to claim 2, characterized in that: The mobile welding module also includes a frame and a welding gun; The frame has two degrees of freedom in the horizontal direction, namely, left-right movement and front-back movement, and is used to switch between multiple workstations and drag the semi-formed steel cage to move in steps of stirrup spacing; The welding gun and the welding secondary positioning mechanism have multiple groups and are movably arranged on the frame, and are used to fix the stirrups and the longitudinal reinforcements before welding through the welding gun.

4. A beam-column reinforcement cage processing production line according to claim 2, characterized in that: The welding secondary positioning mechanism includes a longitudinal reinforcement hook and a stirrup clamp block; The stirrup clamp block fixes the stirrups removed by the stirrup removing device; The hook claw of the longitudinal reinforcement can be retracted to pull the longitudinal reinforcement closer to fit the stirrup, so that the longitudinal reinforcement and the stirrup are completely fitted to form "secondary positioning before welding".

5. The beam-column reinforcement cage processing production line according to claim 1 is characterized in that: The longitudinal reinforcement buffer module comprises: Longitudinal reinforcement three-dimensional silo, used to store longitudinal reinforcement; A storage and unloading truss manipulator is used to store the longitudinal reinforcement into the longitudinal reinforcement three-dimensional silo or take out the longitudinal reinforcement from the longitudinal reinforcement three-dimensional silo; The outbound transfer table is used to temporarily store the longitudinal reinforcement taken out from the longitudinal reinforcement three-dimensional silo by the inbound and outbound truss manipulator.

6. The beam-column reinforcement cage processing production line according to claim 1 is characterized in that: The other side of the longitudinal reinforcement positioning mechanism is provided with a position adjustment servo motor and a longitudinal reinforcement guide sleeve; The longitudinal reinforcement guide sleeve is a hollow structure, and the longitudinal reinforcement can extend into the longitudinal reinforcement guide sleeve; The longitudinal reinforcement guide sleeve and the half-wrapped longitudinal reinforcement guide tube are connected to the position adjustment servo motor. Under the action of the position adjustment servo motor, stepless adjustment is achieved in two degrees of freedom in the horizontal and vertical directions to meet the longitudinal reinforcement positioning of steel cages with different cross-sections.

7. A beam-column reinforcement cage processing production line according to claim 6, characterized in that: The longitudinal reinforcement positioning module also includes: A reinforcing truss manipulator is used to grab the longitudinal reinforcing bar from the outbound transfer table and axially transport it into the longitudinal reinforcing bar guide sleeve; The automatic lifting mechanism is located on the other side of the longitudinal reinforcement positioning mechanism and is used to support the tail of the longitudinal reinforcement after the reinforcement truss manipulator conveys the longitudinal reinforcement to the longitudinal reinforcement guide sleeve.

8. A beam-column reinforcement cage processing production line according to claim 7, characterized in that: The automatic lifting mechanism comprises a bracket and a lifting roller; The lifting roller is rotatable relative to the bracket; There are multiple lifting rollers, which are arranged on the bracket at intervals along the vertical direction of the bracket within the adjustment range of the longitudinal rib guide sleeve.

9. The beam-column reinforcement cage processing production line according to claim 7 is characterized in that: The reinforcing bar truss manipulator comprises a power clamping roller for axially conveying the longitudinal reinforcing bar into the longitudinal reinforcing bar guide sleeve.

10. A control method for a beam-column reinforcement cage processing production line according to any one of claims 1 to 9, characterized in that: include: The stirrup conveyor line first transports the bundled stirrups to the loading position, and the stirrup loading truss manipulator cuts the bundled stirrup ties and loads them to the stirrup feeding device to wait for the longitudinal reinforcement to be inserted; The loading and unloading truss manipulator takes out the longitudinal reinforcement from the longitudinal reinforcement three-dimensional silo and places it on the outbound transfer platform. The reinforcing truss manipulator takes out the longitudinal reinforcement from the transfer platform and axially inserts it into the stirrup material dispensing device. After all the longitudinal bars are inserted, the stirrup feeding block and stirrup separation mechanism work simultaneously to pull out a stirrup, and after the welding secondary positioning mechanism clamps and fixes the stirrup and the longitudinal bars, the welding gun starts welding; After welding is completed, the mobile welding module drives the welded stirrups and longitudinal bars to move axially by a stirrup spacing, and the stirrup material removal device removes another stirrup, and the mobile welding module returns to the position for welding, and then repeats the above welding-dragging-returning welding action until the entire steel cage is welded; The welded steel cages are unloaded and stacked through the unloading truss of the finished product unloading and stacking module.

Images