Automatic machining method for rectangular beam column reinforcement cage

Abstract

The invention relates to the technical field of reinforcement cage automatic machining, in particular to a rectangular beam column reinforcement cage automatic machining method which comprises the following steps that S1, longitudinal bars and stirrups are blanked and machined; s2, the stirrups are sequentially placed above a clamp system through a material placing robot; s3, conveying the single longitudinal bars to a synchronous conveying device through a single longitudinal bar conveying device; s4, the clamp system is conveyed to a transverse moving mechanism; s5, the pushing trolley, close to the assembling and welding device, of the synchronous conveying device drives the longitudinal bars to be synchronously conveyed to the assembling and welding device, and the longitudinal bars are conveyed back and forth through the pushing trolley close to the assembling and welding device till all the longitudinal bars are conveyed to the assembling and welding device; s6, the stirrups and the longitudinal bars are welded through a welding robot; through the intelligent processing technology, compared with the prior art, the efficiency of assembling and mounting is greatly improved, and compared with a conventional prefabricated part steel bar manufacturing mode, the carbon emission per unit yield of a component is remarkably reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic processing of steel bar cages, and particularly relates to an automatic processing method for rectangular beam-column steel bar cages. Background Art

[0002] Rectangular steel bar cages are widely used in building engineering structures, which include multiple longitudinal bars and stirrups, etc. The stirrups wrap the longitudinal bars to form a columnar structure. At present, the manufacturing process of steel bar cages mostly adopts manual operation, with low work efficiency. In the actual construction process, the demand for steel bar cages is large, and it is difficult to ensure the on-site supply of steel bar cages by manual production; due to manual operation, there are large human factors and the processing quality is unstable.

[0003] Therefore, it is necessary to provide an improved technical solution for the above-mentioned deficiencies of the prior art. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art, and the present invention provides an automatic processing method for rectangular beam-column steel bar cages.

[0005] In order to achieve the above purpose, the present invention provides the following technical solutions: An automatic processing method for rectangular beam-column steel bar cages, comprising the following steps: Step S1, cutting and processing the longitudinal bars and stirrups according to the dimensions of the steel bar cage; Step S2, placing the fixture system on the stirrup feeding device by an AGV cart, and using the feeding robot to sequentially place the stirrups above the fixture system, so that the stirrups of the steel bar cage are positioned according to preset parameters; Step S3, sequentially placing the longitudinal bars on the single longitudinal bar conveying device through a hoist. The single longitudinal bar conveying device faces the synchronous conveying device. The single longitudinal bar conveying device conveys the single longitudinal bar monomer to the synchronous conveying device. There are corresponding multiple positioning rollers on the pusher of the synchronous conveying device to support the longitudinal bars, so that the longitudinal bars are distributed according to the preset parameters of the steel bar cage; Step S4, transporting the fixture system to the transverse movement mechanism by an AGV cart. The multiple pushers of the assembly and welding device adjust their positions along the ground rail to make way for the transverse movement of the fixture system. After the transverse movement mechanism transversely moves the fixture system above the ground rail, the fixture system is supported by multiple brackets arranged in the middle of the ground rail, and then the multiple pushers of the assembly and welding device are reset to nest on the outer periphery of the fixture system; Step S5, the synchronous conveying device drives the longitudinal bars to be synchronously conveyed to the assembly and welding device close to the pusher of the assembly and welding device. Through the reciprocating transportation of the pusher close to the assembly and welding device until all the longitudinal bars are conveyed to the assembly and welding device, the stirrups and longitudinal bars are assembled into a steel bar cage by the support of the assembly and welding device; Step S6: Weld the stirrups and longitudinal bars between the first and second pusher cars of the assembly and welding device away from the synchronous conveying device by a welding robot. The first pusher car in the direction away from the synchronous conveying device of the assembly and welding device drives the longitudinal bars and the fixture system to move forward synchronously, so as to complete the welding of the steel cage through the welding robot.

[0006] Preferably, step S2 and step S3 are carried out synchronously.

[0007] Preferably, in step S3, the bottom frame, upper frame, left frame and right frame of the pusher car are adjusted to make the internal space of the pusher car adapt to the cross-section of the steel cage.

[0008] Preferably, a longitudinal bar spacing adjustment mechanism corresponding to the four sides of the steel cage is provided on the pusher car. The adjusting member on the longitudinal bar spacing adjustment mechanism is adjusted, and the positioning roller is driven by the adjusting member to adjust the longitudinal bar gap.

[0009] Preferably, in step S2, centering plates driven by a driving frame are provided on both sides of the fixture system. The stirrups on the fixture system are aligned with each other by squeezing on both sides through the centering plates and centered relative to the fixture system.

[0010] Preferably, a clamping mechanism corresponding to the positioning roller is provided on the adjusting member of the longitudinal bar spacing adjustment mechanism. The clamping mechanism squeezes the longitudinal bars towards the positioning roller to achieve clamping.

[0011] Preferably, the pusher car of the synchronous conveying device close to the assembly and welding device moves back and forth to synchronously push the longitudinal bars to the assembly and welding device. During the forward pushing of the longitudinal bars, the pusher car of the synchronous conveying device clamps the longitudinal bars, and the pusher car of the assembly and welding device releases the longitudinal bars; during the backward movement of the pusher car of the synchronous conveying device close to the assembly and welding device, the pusher car of the synchronous conveying device releases the longitudinal bars, and the pusher car of the assembly and welding device clamps the longitudinal bars, and reciprocates until the pushing of the longitudinal bars is completed.

[0012] Preferably, a plurality of brackets are evenly distributed in the length direction of the ground rail. A lifting mechanism is provided below the brackets, and a position sensor corresponding to each bracket is provided on the ground rail to sense the position of the pusher car during the reset process, and to lower and make way through the lifting mechanism when the pusher car passes.

[0013] Preferably, after the welding of the steel cage is completed, the steel cage is transferred by a lifting tool, the transverse movement mechanism transfers the fixture system to the AGV cart, and the AGV cart transports the fixture system to the stirrup feeding device for the production of the next steel cage.

[0014] Preferably, two welding robots are arranged on each surface of the steel cage. The two welding robots on the same surface respectively carry out the welding of the corresponding half of the steel bar joints. The traveling route of the welding robot is in an S shape, and the welding joints are welded.

[0015] Beneficial effects: Through intelligent processing technology, the automatic assembly and welding of rectangular steel bar cages for building beams and columns are realized, promoting the transformation of the construction industry from traditional extensive to refined and intelligent directions, promoting the coordinated development of the upstream and downstream industrial chains, greatly improving the efficiency compared with the scattered assembly and installation in the existing technology, and significantly reducing the carbon emissions per unit output of parts compared with the conventional method of manufacturing steel bars for precast components. Brief Description of the Drawings

[0016] The attached drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention. Among them: Figure 1 It is a schematic distribution diagram of the processing production line in the specific embodiment provided by the present invention; Figure 2 It is a schematic diagram of the traveling route of the welding robot in the specific embodiment provided by the present invention; Figure 3 It is a structural schematic diagram of the stirrup feeding device in the specific embodiment provided by the present invention; Figure 4 It is a structural schematic diagram of the stirrup clamping mechanism in the specific embodiment provided by the present invention; Figure 5 It is an assembly schematic diagram of the stirrup clamping mechanism in the specific embodiment provided by the present invention; Figure 6 It is a structural schematic diagram of the single longitudinal bar conveying device in the specific embodiment provided by the present invention; Figure 7 It is Figure 6 The enlarged schematic diagram at A in Figure 8 It is a structural schematic diagram of the synchronous conveying device in the specific embodiment provided by the present invention; Figure 9 It is a structural schematic diagram of the pushing cart in the specific embodiment provided by the present invention; Figure 10 It is an assembly schematic diagram of the longitudinal bar spacing adjusting mechanism in the specific embodiment provided by the present invention; Figure 11 It is a structural schematic diagram of the longitudinal bar spacing adjusting mechanism in the specific embodiment provided by the present invention; Figure 12 It is an assembly schematic diagram of the positioning roller in the specific embodiment provided by the present invention; Figure 13 It is a structural schematic diagram of the bottom frame corresponding to the longitudinal bar spacing adjusting mechanism in the specific embodiment provided by the present invention; Figure 14 It is a structural schematic diagram of the assembly and welding device in the specific embodiment provided by the present invention; Figure 15Schematic diagram of the stirrup straightening mechanism in the specific embodiment provided by the present invention; Figure 16 Schematic diagram of the bracket in the specific embodiment provided by the present invention; Figure 17 Schematic diagram of the stirrup transverse movement mechanism in the specific embodiment provided by the present invention.

[0017] In the figure: 1. Stirrup feeding device; 2. Single longitudinal bar conveying device; 3. Synchronous conveying device; 4. Stirrup buffer bracket; 5. Assembly and welding device; 6. Welding robot; 7. Ground rail; 8. Transverse movement mechanism; 9. Longitudinal bar; 101. Base; 102. Driving frame; 103. Elastic member; 104. Cross beam; 105. Main beam; 106. Third slide rail; 107. Centering plate; 108. Fixed plate; 109. Clamping plate; 201. Threading frame; 202. Conveying rail; 203. Second slide rail; 204. Underframe; 205. Conveying wheel; 206. First slide rail; 301. Right frame; 302. Rail plate; 303. Upper frame; 304. Left frame; 305. Bottom frame; 306. Adjusting rail; 307. Adjusting plate; 308. Scissor adjusting unit; 309. First driver; 310. Positioning roller; 311. Clamping mechanism; 312. Adjusting member; 501. Bracket; 502. Support beam; 503. Assembly plate; 504. Jaw; 505. Main shaft; 506. Tie rod; 507. Sixth driver; 508. Support roller; 509. Eighth driver; 801. Transverse movement track. Specific embodiments

[0018] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art shall fall within the protection scope of the present invention.

[0019] In the description of the present invention, the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention rather than requiring the present invention to be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. The terms "connected" and "connected" used in the present invention should be understood in a broad sense. For example, it may be a fixed connection or a detachable connection; it may be directly connected or indirectly connected through an intermediate component. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0020] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0021] In view of the problems in the production of steel bar cages in the prior art, the present application provides an automated processing method for rectangular beam-column steel bar cages for manufacturing rectangular steel bar cages. As Figure 1-17 shown, it includes the following steps: Step S1: Cut and process the longitudinal bars 9 and stirrups according to the dimensions of the steel bar cage; Step S2: The production line used for processing the steel bar cage includes a stirrup placing device 1, a single longitudinal bar conveying device 2, a synchronous conveying device 3, and an assembly and welding device 5. The fixture system is placed on the stirrup placing device 1 by an AGV cart. The stirrup placing device 1 is used for placing stirrups. The placing robot is used to sequentially place the stirrups above the fixture system and fix the stirrups at preset intervals and quantities, so that the stirrups of the steel bar cage are positioned according to preset parameters; Step S3: The longitudinal bars 9 are sequentially placed on the single longitudinal bar conveying device 2 by a lifting tool. The single longitudinal bar conveying device 2, the synchronous conveying device 3, and the assembly and welding device 5 are linearly distributed. The single longitudinal bar conveying device 2 faces the synchronous conveying device 3. The synchronous conveying device 3 and the assembly and welding device 5 are slidably assembled on the same ground rail 7. The single longitudinal bar conveying device 2 conveys the longitudinal bar monomers to the synchronous conveying device 3. The pusher cart of the synchronous conveying device 3 is provided with a corresponding plurality of positioning rollers 310 to support the longitudinal bars 9, so that the longitudinal bars 9 are distributed according to the preset parameters of the steel bar cage, so that the synchronous conveying device 3 can push the longitudinal bars 9 to the assembly and welding device 5.

[0022] Step S4: The fixture system is transported to the transverse movement mechanism 8 by an AGV cart. The transverse movement mechanism 8 is located outside the ground rail 7. There are corresponding groups of transverse movement mechanisms 8 for the fixture system outside the ground rail 7. A plurality of transverse movement mechanisms 8 are arranged at different positions corresponding to the assembly and welding device 5. The transverse movement track 801 with telescopic function is provided on the transverse movement mechanism 8. The transverse movement track 801 is driven by a stepping motor or a pneumatic rod. The lower part of the transverse movement track 801 slides with the transverse movement mechanism 8 through a dovetail groove to ensure the supporting ability after extension. The transverse movement track 801 extends into or withdraws from above the ground rail 7 to perform the transverse movement of the fixture system. The pusher carts of the assembly and welding device 5 adjust their positions along the ground rail 7 to make way for the transverse movement of the fixture system. After the transverse movement mechanism 8 transverses the fixture system above the ground rail 7, the fixture system is supported by a plurality of brackets 501 arranged in the middle of the ground rail 7, and then the pusher carts of the assembly and welding device 5 are reset to nest around the fixture system.

[0023] Step S5. The synchronous conveying device 3 includes a pusher cart and a longitudinal bar spacing adjustment mechanism. The pusher cart of the synchronous conveying device 3 close to the assembly and welding device 5 drives the longitudinal bars 9 to be synchronously conveyed to the assembly and welding device 5. Through the reciprocating transportation of the pusher cart close to the assembly and welding device 5 until all the longitudinal bars 9 are conveyed to the assembly and welding device 5, and through the support of the assembly and welding device 5, the stirrups and longitudinal bars 9 are assembled into a steel reinforcement cage.

[0024] Step S6. The welding robot 6 welds the stirrups and longitudinal bars 9 between the first and second pusher carts of the assembly and welding device 5 far from the synchronous conveying device 3; the first pusher cart in the direction where the assembly and welding device 5 is far from the synchronous conveying device 3 drives the longitudinal bars 9 and the fixture system to move forward synchronously. Through external force traction, the fixture system and the longitudinal bars 9 are driven to pass through the welding robot 6 synchronously, and the welding robot 6 is used for welding. A plurality of brackets 501 are evenly distributed at the position of the ground rail 7 corresponding to the assembly and welding device 5 to ensure the displacement of the fixture system during the traction process. The plurality of brackets 501 are evenly distributed in the length direction of the ground rail 7, and thus the steel reinforcement cage welding is completed through the welding robot 6.

[0025] In an alternative embodiment, Step S2 and Step S3 are carried out synchronously.

[0026] In Step S3, the pusher cart includes a bottom frame 305, an upper frame 303, a left frame 304 and a right frame 301, which are respectively used to install four longitudinal bar spacing adjustment mechanisms. Among them, adjustment rails 306 corresponding to the left frame 304 and the right frame 301 are provided on the bottom frame 305 and the upper frame 303, so that the left frame 304 and the right frame 301 can adjust the spacing between the bottom frame 305 and the upper frame 303. Specifically, the left frame 304 and the right frame 301 are independently adjusted by a seventh driver, and the seventh driver can be any one of a stepper motor, an electric lead screw or a cylinder.

[0027] Furthermore, an adjustment plate 307 is provided on the upper frame 303. The adjustment plate 307 is slidably assembled longitudinally on the upper frame 303, and its lower end is correspondingly connected to the corresponding longitudinal bar spacing adjustment mechanism. A rack is provided at the edge of the adjustment plate 307, and the adjustment plate 307 is driven by a stepper motor and a gear provided on the upper frame 303 to adjust the longitudinal bar spacing adjustment mechanism, so as to be applicable to steel reinforcement cages of different models.

[0028] In this embodiment, the number of pusher carts in the synchronous conveying device 3 is 4, and the number of pusher carts in the assembly and welding device 5 is 4 or 5, and one pusher cart far from the synchronous conveying device 3 is used to traction the steel reinforcement cage.

[0029] The assembly and welding device 5 includes a pusher cart, brackets 501, a stirrup alignment mechanism and a welding robot 6. The pusher cart in the assembly and welding device 5 has the same structure as the pusher cart of the synchronous conveying device 3, and longitudinal bar spacing adjustment mechanisms are correspondingly provided.

[0030] Similarly, multiple pushing workshops are distributed at intervals on the ground rail 7. The ground rail 7 is a straight rail. The longitudinal bar spacing adjustment mechanism on the pusher of the assembly and welding device 5 is adjusted to be the same as the spacing of the longitudinal bars 9 of the synchronous conveying device 3, so that the longitudinal bars 9 conveyed by the synchronous conveying device 3 can be received smoothly. Multiple brackets 501 are evenly distributed at the position of the ground rail 7 corresponding to the assembly and welding device 5. The multiple brackets 501 are evenly distributed in the length direction of the ground rail 7. A lifting mechanism is provided below the bracket 501. The lifting mechanism can be the eighth driver 509, specifically a cylinder or a hydraulic cylinder, to lift the fixture system to position the stirrups. Two rollers 508 corresponding to the fixture system are provided on the bracket 501. Specifically, during the process of placing the fixture system, the pusher moves away to make way. After the fixture system moves horizontally, the pusher resets in sequence. During the reset process, when the pusher passes by the bracket 501, the bracket 501 retracts, and the fixture system continues to remain stable under the support of other brackets 501. For positioning, a position sensor corresponding to the pusher is provided on the ground rail 7 to automatically control the lifting of the bracket 501.

[0031] Then, the longitudinal bars 9 are pushed in place by the pusher. During the pushing process, the pusher close to the assembly and welding device 5 moves back and forth until the longitudinal bars 9 are pushed. At this time, the longitudinal bars 9 and the stirrups form a reinforcement cage under the support of the positioning rollers 310 for subsequent welding. A welding robot 6 is provided on one side of the ground rail 7. First, the reinforcement cage between the first and second pushers far from the synchronous conveying device 3 is welded to initially connect the stirrups and the longitudinal bars 9. Then, the pushers far from the synchronous conveying device 3 pull the reinforcement cage through the welding robot 6 for welding.

[0032] In this embodiment, a clamping mechanism 311 corresponding to the longitudinal bars 9 is provided on the positioning rollers 310 to meet the requirements of pushing or pulling. During the pulling process, the fixture system moves synchronously to ensure the relative positions of the longitudinal bars 9 and the stirrups.

[0033] The single longitudinal bar conveying device 2 includes a wire threading frame 201, a conveying rail 202 and conveying wheels 205. The two wire threading frames 201 are distributed oppositely. The height of the wire threading frame 201 is adapted to the height of the synchronous conveying device 3. The two wire threading frames 201 can be slidably assembled along the transverse direction of the steel reinforcement cage respectively, so that the position of the wire threading frame 201 can be adjusted to convey the longitudinal bars 9 at different transverse positions. In order to convey the longitudinal bars 9 in the longitudinal direction, the conveying rail 202 points to the synchronous conveying device 3 and is slidably assembled longitudinally inside the wire threading frame 201, so that the position can be adjusted transversely and longitudinally. Further, the conveying wheels 205 are distributed at intervals in the conveying rail 202. The conveying rail 202 can be a V-shaped groove. At least the conveying wheels 205 are arranged at one end of the conveying rail 202 away from the synchronous conveying device 3 to drive the longitudinal bars 9 to be conveyed to the synchronous conveying device 3. The number of the conveying wheels 205 can be multiple, and the multiple conveying wheels 205 are evenly distributed in the conveying rail 202.

[0034] In an alternative embodiment, the pushing cart is a square truss welded by square steel and has an internal space adapted to the shape of the steel reinforcement cage. A plurality of pushing carts are slidably assembled on the ground rail 7. The pushing carts slide along the ground rail 7. Specifically, traveling wheels are provided at the bottom of the pushing carts, and the traveling wheels are correspondingly connected with driving motors, so that the distance or position can be moved according to actual needs, and multiple longitudinal bars 9 are driven to be synchronously conveyed to the assembling and welding device 5. In this embodiment, the driving motor can be directly connected to the traveling wheels, or a rack is provided on the ground rail 7, the driving motor is arranged at the bottom of the pushing cart, and the pushing cart is driven by the gear meshing with the rack.

[0035] Four longitudinal bar spacing adjusting mechanisms are provided around the pushing cart. The four longitudinal bar spacing adjusting mechanisms respectively correspond to the four sides of the steel reinforcement cage to support the longitudinal bars 9 on each side of the steel reinforcement cage. A plurality of positioning rollers 310 are slidably assembled on the rail plate 302 of the longitudinal bar spacing adjusting mechanism. The positioning rollers 310 are used to support the longitudinal bars 9. The spacing of the longitudinal bars 9 of the steel reinforcement cage can be adjusted according to actual needs by sliding the positioning rollers 310, so as to be applicable to steel reinforcement cages of different models. Adjust the adjusting member 312 on the longitudinal bar spacing adjusting mechanism, and drive the positioning rollers 310 to adjust the spacing of the longitudinal bars 9 through the adjusting member 312.

[0036] In an alternative embodiment, during the pushing process of the longitudinal bars 9, in order to maintain the stability of the stirrups, a stirrup straightening mechanism is provided on the pushing cart. The stirrup straightening mechanism is arranged above the steel reinforcement cage. A plurality of clamps are provided on the stirrup straightening mechanism for clamping and straightening the stirrups to ensure the stability of the stirrups. A lifting mechanism corresponding to the support beam 502 is provided on the pushing cart. The lifting mechanism can be a cylinder or a hydraulic cylinder. A fourth slide rail extending longitudinally corresponding to the support beam 502 is provided on the pushing cart. When the pushing of the longitudinal bars 9 is completed, the stirrups are loosened for traction.

[0037] In an alternative embodiment, the longitudinal bar spacing adjustment mechanism includes a rail plate 302, an adjusting member 312, a scissor adjuster, and a first driver 309. The rail plate 302 is a rectangular plate, which is fixedly arranged on the pusher cart correspondingly. The rail plates 302 at the bottom can be horizontally distributed to minimize the bottom gap as much as possible and improve the stability of the pusher cart. A plurality of adjusting members 312 are slidably assembled on the rail plate 302. The adjusting member 312 is a strip-shaped plate, and tracks corresponding to the adjusting members 312 are arranged on the rail plate 302. The length of the adjusting member 312 is adapted to the width of the rail plate 302. Positioning rollers 310 are correspondingly connected to the side of the rail plate 302 corresponding to the steel reinforcement cage to support the longitudinal bars 9 of the steel reinforcement cage. The longitudinal bar spacing adjustment mechanism located on the bottom frame 305 can connect the adjusting member 312 and the positioning roller 310 through a support plate, and a V-shaped clamping member is arranged on the micro-push rod located on the bottom frame 305, and the V-shaped clamping member extends above the corresponding positioning roller 310. Two scissor adjusters are distributed in parallel along the length direction of the rail plate 302. Each scissor adjuster includes a plurality of scissor adjustment units 308 hinged to each other. The scissor adjustment unit 308 includes two shear plates in a scissor cross shape. The scissor adjustment units 308 of the two scissor adjusters divide the plurality of adjusting members 312 into a single array group and a double array group in a spaced connection form respectively. Specifically, the adjusting members 312 in the single array group are correspondingly connected to the scissor adjustment units 308 at the relative positions of one scissor adjuster, and the adjusting members 312 in the double array group are correspondingly connected to the scissor adjustment units 308 at the relative positions of the other scissor adjuster. One hinge shaft of the scissor adjustment unit 308 is correspondingly hinged to the adjusting member 312, so that the space can be fully utilized and the length of the hinge rod of the scissor adjustment unit 308 can be reduced.

[0038] The two first drivers 309 can be stepping motors. One end of the scissor adjuster, where the scissor adjustment unit 308 is hinged to the rail plate 302. A rack is connected to one of the hinge shafts of any two adjacent scissor adjustment units 308. The first driver 309 is assembled on the rail plate 302 and drives through the gear meshing with the rack. The two first drivers 309 drive the two scissor adjusters respectively to adjust the positions of the adjusting members 312 in the single array group and the double array group respectively. The scissor adjuster is used to adjust the spacing to adapt to the distribution of the longitudinal bars 9 with different spacings.

[0039] In an alternative embodiment, in step S2, centering plates 107 driven by a driving frame 102 are arranged on both sides of the fixture system. The stirrups on the fixture system are aligned with each other by squeezing on both sides through the centering plates 107 and centered relative to the fixture system.

[0040] The stirrup arranging device 1 includes a fixture system and a lateral centering tooling. The lower part of the fixture system is a square truss, whose shape is adapted to the steel reinforcement cage. A plurality of stirrup clamping mechanisms 311 are arranged at intervals on both sides of the fixture system. The spacing between the stirrup clamping mechanisms 311 in the same row is adapted to the spacing of the stirrups. The stirrup clamping mechanisms 311 on both sides correspond to each other one by one, and the quantity is adapted to the quantity of the stirrups corresponding to the steel reinforcement cage, so as to clamp and position the stirrups through the stirrup clamping mechanisms 311. The lateral centering tooling includes two centering plates 107 distributed on both sides of the fixture system. The length of the centering plate 107 is adapted to the steel reinforcement cage. The centering plate 107 is located in the middle of the stirrups, fixed on the driving frame 102, and displaced transversely along the steel reinforcement cage by the drive of the driving frame 102. As the two centering plates 107 squeeze from both sides of the steel reinforcement cage, a plurality of stirrups are driven to align with each other, and the stirrups are centered relative to the fixture system through the limit of the pressing plate, thereby ensuring the positioning accuracy of the stirrups.

[0041] In an optional embodiment, the wire threading frame 201 is a vertical frame body. A bottom frame 204 is provided at the bottom of the wire threading frame 201. The bottom frame 204 is welded by square steel. A plurality of first slide rails 206 distributed transversely are provided on the bottom frame 204. Two wire threading frames 201 are slidably assembled at both ends of the first slide rails 206, so as to be displaced transversely on the base 101. A second driver corresponding to the wire threading frame 201 is further provided on the bottom frame 204. The second driver can be a stepping motor, a cylinder or a hydraulic cylinder, and will not be limited too much here. A plurality of second slide rails 203 are evenly distributed on the wire threading frame 201 to ensure the stable movement of the wire threading frame 201. The conveying rail 202 is slidably assembled on the second slide rails 203. A third driver corresponding to the conveying rail 202 is provided on the wire threading frame 201. The conveying wheel 205 is arranged at the bottom of the conveying rail 202. The conveying rail 202 is a V-shaped groove and is driven by a fourth driver. Preferably, at least one conveying wheel 205 is provided at both ends of the conveying rail 202. The fourth driver is preferably a stepping motor. The second driver and the third driver can be a stepping motor, a cylinder or a hydraulic cylinder, and will not be limited too much here. The specific installation structure is selected according to the actual structure.

[0042] In an optional embodiment, the stirrup clamping mechanism 311 includes a fixing plate 108 and a clamping plate 109. The fixing plate 108 is a strip-shaped plate longitudinally fixed on the fixture system. Two fixing plates 108 are distributed in parallel. A strip-shaped notch corresponding to the stirrup is provided in the middle of the fixing plate 108. The length of the strip-shaped notch is adapted to the length of the fixing plate 108, and the width is slightly larger than the diameter of the stirrup.

[0043] There are two clamping plates 109 of the same stirrup clamping mechanism 311. The two clamping plates 109 are correspondingly hinged between two fixed plates 108. The two fixed plates 108 are respectively located on both sides of the strip-shaped notch and are symmetrically distributed about the strip-shaped notch. Elastic members 103 corresponding to the clamping plates 109 are provided on both sides of the clamping plates 109 of the fixed plate 108. The elastic members 103 can be springs. Driven by the springs, the lower ends of the clamping plates 109 have a tendency to clamp each other, so as to squeeze both sides of the stirrup through deformation after the stirrup is loaded, thereby maintaining the stability of the stirrup.

[0044] In this embodiment, the length of the clamping plate 109 is adapted to the length of the fixed plate 108. The upper end of the clamping plate 109 extends upward from the fixed plate 108, and an inclined surface is provided on the inner side of the part where the upper end of the clamping plate 109 extends out of the fixed plate 108 to form a V-shaped guiding inlet corresponding to the stirrup, which is convenient for putting in the stirrup. The distance between the two clamping plates 109 in the parallel state is adapted to the thickness of the stirrup. In response to the stirrup being placed in the strip-shaped notch, the two clamping plates 109 are driven to be in a parallel state and clamp the stirrup. In order to reduce the volume of the stirrup clamping mechanism 311, stepped platforms with reduced thickness are provided on the adjacent sides of the lower half of the two clamping plates 109, so that after the stirrup is taken out, the two clamping plates 109 cross in a scissor shape through the stepped platforms, thereby fully maintaining the angle of the upper V-shaped guiding inlet and ensuring the smooth insertion of the stirrup. Preferably, the fixed plate 108 can support more than 3 limbs of the stirrup.

[0045] In an alternative embodiment, the fixture system includes a main beam 105 and a cross beam 104. The main beam 105 is a square steel. The two main beams 105 are parallelly distributed for installing the stirrup clamping mechanism 311. A plurality of cross beams 104 are evenly distributed between the two main beams 105, forming a square planar truss therefrom. The cross beam 104 includes two mutually sleeved sleeves. Locking bolts are correspondingly provided on the outer sleeve, so that the width of the fixture system can be adjusted according to actual needs to be applicable to different models of square steel cages.

[0046] In an alternative embodiment, bases 101 are respectively provided on both sides of the fixture system. The bases 101 are trusses welded by square steels. A plurality of evenly distributed third slide rails 106 pointing to the fixture system are provided on the bases 101. The driving frame 102 is slidably assembled on the third slide rails 106 and is driven by a fifth driver. The fifth driver can be an electromagnetic push rod, a cylinder or a hydraulic cylinder, which is specifically selected according to actual situations; a guide roller is provided on one side of the base 101 close to the fixture system. The guide rollers respectively support the stirrup to prevent the stirrup from losing stability during the centering process. A longitudinally extending limiting groove corresponding to the stirrup is provided on the centering plate 107. Two centering plates 107 on the same side can be provided.

[0047] In an alternative embodiment, the stirrup straightening mechanism is disposed between two adjacent pusher cars of the assembly welding device 5, and includes a support beam 502 and clamping jaws 504. One end of the support beam 502 is connected above one of the pusher cars and extends along the center line of the pusher car. Two sets of clamping jaws 504 are respectively located on the assembly plate 503 by sliding assembly through the main shafts 505. The assembly plate 503 is assembled below the support beam 502 through a lifting mechanism. The lifting mechanism includes at least two sixth drivers 507. The sixth driver 507 can be an electromagnetic push rod or a cylinder and can be selected according to actual requirements to achieve longitudinal adjustment of the stirrup straightening mechanism. After the longitudinal bars 9 are pushed, the stirrup straightening mechanism releases the stirrups. The number and spacing of the clamping jaws 504 are adapted to the stirrups at the corresponding positions. The clamping jaws 504 on the two main shafts 505 are staggered. The two main shafts 505 are respectively driven by two pull rods 506 to clamp the stirrups. The pull rod 506 can be a cylinder or an electromagnetic push rod. Mounting plates corresponding to the two main shafts 505 are provided on the assembly plate 503, and the main shafts 505 are slidably assembled on the mounting plates.

[0048] Furthermore, the two sets of clamping jaws 504 are linearly distributed, and the first main shaft and the second main shaft are parallelly distributed. Among them, the odd-numbered clamping jaws 504 are slidably assembled on the first main shaft and are correspondingly connected and driven through the first main shaft; the even-numbered clamping jaws 504 are slidably assembled on the second main shaft and are correspondingly connected and driven through the second main shaft, so that the odd-numbered clamping jaws 504 and the even-numbered clamping jaws 504 are independently driven by the two main shafts 505 respectively, and they move relatively to clamp the stirrups.

[0049] In order to push the longitudinal bars 9, a clamping mechanism 311 corresponding to the longitudinal bars 9 is provided on the longitudinal bar spacing adjusting mechanism. The clamping mechanism 311 can be a micro push rod provided on the adjusting member 312. The micro push rod can be any one of an electromagnetic push rod, a pneumatic rod, and an oil cylinder. The driving end of the micro push rod points to the positioning roller 310, so that the longitudinal bars 9 of the steel reinforcement cage can be clamped together with the positioning roller 310.

[0050] Furthermore, the longitudinal bars 9 can be pushed in the following manner. First, the four pusher cars move towards the assembly welding device 5 as a whole until they overlap in front of the assembly welding device 5. Then, the pusher cars of the assembly welding device 5 clamp the longitudinal bars 9. The synchronous conveying device 3 retracts and continuously pushes the longitudinal bars 9 through the reciprocating movement of the pusher car close to the assembly welding device 5. During the clamping and pushing process of the synchronous conveying device 3, the assembly welding device 5 releases the clamping of the longitudinal bars 9. During the process that the pusher car of the synchronous conveying device 3 releases the longitudinal bars 9 and retracts, the assembly welding device 5 clamps the longitudinal bars 9 until the synchronous conveying device 3 resets after the longitudinal bars 9 are completely pushed. At this time, the assembly welding device 5 clamps the longitudinal bars 9 for welding and integrally pulls the fixture system and the longitudinal bars 9 under the clamping of the pusher car.

[0051] Alternatively, the synchronous conveying device 3 reciprocates near the pusher car of the assembly and welding device 5 to synchronously push the longitudinal bars 9 to the assembly and welding device 5. During the forward pushing process of the longitudinal bars 9, the pusher car of the synchronous conveying device 3 clamps the longitudinal bars 9, and the pusher car of the assembly and welding device 5 releases the longitudinal bars 9; during the backward movement of the pusher car of the synchronous conveying device 3 near the assembly and welding device 5, the pusher car of the synchronous conveying device 3 releases the longitudinal bars 9, and the pusher car of the assembly and welding device 5 clamps the longitudinal bars 9, and this reciprocating movement continues until the pushing of the longitudinal bars 9 is completed.

[0052] In an alternative embodiment, a plurality of brackets 501 are evenly distributed in the length direction of the ground rail 7. A lifting mechanism is provided below the brackets 501, and position sensors corresponding to each bracket 501 are provided on the ground rail 7 to sense the position of the pusher car during the reset process, so as to lower and make way through the lifting mechanism when the pusher car passes by.

[0053] In an alternative embodiment, after the steel cage is welded, the pusher car traction fixture system moves along the position of the ground rail 7 to the lifting station. At this time, the steel cage is transferred by the lifting tool, and the transverse movement mechanism 8 transfers the fixture system to the AGV cart. The AGV cart transports the fixture system to the stirrup feeding device 1 for the production of the next steel cage. A gap corresponding to the AGV cart is provided between the two bases 101 of the stirrup feeding device 1, and a ejector rod corresponding to the fixture system is provided on the AGV cart, so that the fixture system is placed at the designated position by lifting or lowering. A plurality of stirrup buffer zone brackets 4 are provided between the stirrup feeding device 1 and the ground rail 7 for supporting the fixture system after the stirrups are installed.

[0054] In an alternative embodiment, two welding robots 6 are provided on each surface of the steel cage. The two welding robots 6 on the same surface respectively perform the welding of the corresponding half of the steel bar joints. The traveling route of the welding robot 6 is in an S shape, and the welding joints are welded at intervals.

[0055] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are within the scope of the claims of the present invention awaiting approval.

Claims

1. An automated processing method for a rectangular beam-column steel bar cage, characterized in that, Including the following steps: Step S1, cutting and processing the longitudinal bars and stirrups according to the dimensions of the reinforcement cage; Step S2, placing the fixture system on the stirrup placing device by an AGV cart, and using the placing robot to sequentially place the stirrups above the fixture system, so that the stirrups of the reinforcement cage are positioned according to the preset parameters; Step S3, sequentially placing the longitudinal bars on the single longitudinal bar conveying device by a hoist. The single longitudinal bar conveying device faces the synchronous conveying device. The single longitudinal bar conveying device conveys the longitudinal bar monomers to the synchronous conveying device. There are a corresponding plurality of positioning rollers on the pusher of the synchronous conveying device to support the longitudinal bars, so that the longitudinal bars are distributed according to the preset parameters of the reinforcement cage; Step S4, transporting the fixture system to the traversing mechanism by an AGV cart. The multiple pushers of the assembly and welding device adjust their positions along the ground rail to make way for the traversing of the fixture system. After the traversing mechanism traverses the fixture system above the ground rail, the fixture system is supported by a plurality of brackets arranged in the middle of the ground rail, and then the multiple pushers of the assembly and welding device are reset to nest around the fixture system; Step S5, the synchronous conveying device approaches the pusher of the assembly and welding device to drive the longitudinal bars to be synchronously conveyed to the assembly and welding device. The pusher close to the assembly and welding device reciprocates until all the longitudinal bars are conveyed to the assembly and welding device. The stirrups and longitudinal bars are assembled into a reinforcement cage through the support of the assembly and welding device; Step S6, welding the stirrups and longitudinal bars between the first and second pushers of the assembly and welding device far from the synchronous conveying device by a welding robot; The first pusher of the assembly and welding device far from the synchronous conveying device drives the longitudinal bars and the fixture system to move forward synchronously, and thus completes the welding of the reinforcement cage through the welding robot.

2. The automated processing method of the rectangular beam-column steel bar cage according to claim 1, characterized in that, Steps S2 and S3 are carried out synchronously.

3. The automated processing method of the rectangular beam-column steel reinforcement cage according to claim 1, characterized in that, In step S3, the bottom frame, upper frame, left frame and right frame of the pusher are adjusted so that the internal space of the pusher adapts to the cross section of the reinforcement cage.

4. The automated processing method of the rectangular beam-column steel bar cage according to claim 3, characterized in that, There is a longitudinal bar spacing adjustment mechanism corresponding to the four sides of the reinforcement cage on the pusher. The adjusting member on the longitudinal bar spacing adjustment mechanism is adjusted, and the positioning roller is driven by the adjusting member to adjust the longitudinal bar gap.

5. The automated processing method of the rectangular beam-column steel bar cage according to claim 1, characterized in that, In step S2, centering plates driven by drive frames are arranged on both sides of the fixture system, and the stirrups on the fixture system are aligned with each other and centered relative to the fixture system by squeezing on both sides by the centering plates.

6. The automated processing method of the rectangular beam-column steel bar cage according to claim 4, characterized in that, There is a clamping mechanism corresponding to the positioning roller on the adjusting member of the longitudinal bar spacing adjustment mechanism, and the longitudinal bar is squeezed towards the positioning roller by the clamping mechanism to achieve clamping.

7. The automated processing method of the rectangular beam-column steel bar cage according to claim 6, characterized in that, The pusher of the synchronous conveying device close to the assembly and welding device reciprocates to synchronously push the longitudinal bars to the assembly and welding device. During the forward pushing of the longitudinal bars, the pusher of the synchronous conveying device clamps the longitudinal bars, and the pusher of the assembly and welding device loosens the longitudinal bars; during the backward movement of the pusher of the synchronous conveying device close to the assembly and welding device, the pusher of the synchronous conveying device loosens the longitudinal bars, and the pusher of the assembly and welding device clamps the longitudinal bars, and reciprocates like this until the longitudinal bar pushing is completed.

8. The automated processing method of the rectangular beam-column steel bar cage according to claim 1, characterized in that, A plurality of brackets are evenly distributed in the length direction of the ground rail. A lifting mechanism is arranged below the brackets, and a position sensor corresponding to each bracket is arranged on the ground rail to sense the position of the pusher during the reset process, so as to lower and make way through the lifting mechanism when the pusher passes by.

9. The automated processing method of the rectangular beam-column steel bar cage according to claim 1, characterized in that, After the welding of the steel reinforcement cage is completed, the steel reinforcement cage is transferred by a lifting tool, and the transverse movement mechanism moves the fixture system to the AGV cart. The AGV cart transports the fixture system to the stirrup feeding device for the production of the next steel reinforcement cage.

10. The automated processing method of the rectangular beam-column steel bar cage according to claim 1, characterized in that, Two welding robots are arranged on each surface of the steel reinforcement cage. The two welding robots on the same surface respectively carry out the welding of the steel bar joints on the corresponding half sides. The traveling route of the welding robot is in an S shape, and the welding joints are welded.

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