An automated processing method for rectangular beam and column reinforcement cages

Abstract

The present invention relates to the technical field of automated processing of steel cages, and in particular to an automated processing method for rectangular beam-column steel cages, comprising the following steps: step S1, cutting and processing longitudinal bars and stirrups; step S2, placing stirrups in sequence on a fixture system using a swinging robot; step S3, conveying the longitudinal bars to a synchronous conveying device via a single longitudinal bar conveying device; step S4, transporting the fixture system to a transverse movement mechanism; step S5, driving a push cart of the synchronous conveying device close to an assembly welding device to synchronously convey the longitudinal bars to the assembly welding device, and reciprocatingly transporting the longitudinal bars via the push cart close to the assembly welding device until all the longitudinal bars are conveyed to the assembly welding device; step S6, welding the stirrups and longitudinal bars using a welding robot; through intelligent processing technology, the efficiency of loose assembly is greatly improved compared to the prior art, and the carbon emissions per unit output of the components are significantly reduced compared to the conventional prefabricated component reinforcement production method.

Description

Technical Field

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

[0002] Rectangular steel cages are widely used in construction engineering structures. They consist of multiple longitudinal bars and stirrups, which wrap around the longitudinal bars to form a columnar structure. Currently, the production and processing of steel cages is mostly manual, resulting in low efficiency. The high demand for steel cages during actual construction makes it difficult to ensure on-site supply of manually produced cages. This manual process also creates significant human factors and results in inconsistent processing quality.

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

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

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] An automated processing method for rectangular beam-column reinforcement cages comprises the following steps:

[0007] Step S1, cutting and processing the longitudinal reinforcement and stirrups according to the size of the reinforcement cage;

[0008] Step S2: The clamp system is placed on the stirrup swing device by the AGV, and the stirrups are placed on top of the clamp system in sequence by the swing robot, so that the stirrups of the steel cage are positioned according to the preset parameters;

[0009] Step S3: The longitudinal bars are sequentially placed on the single longitudinal bar conveying device by means of a sling, and the single longitudinal bar conveying device is directly opposite to the synchronous conveying device. The longitudinal bars are conveyed to the synchronous conveying device by the single longitudinal bar conveying device. The pusher of the synchronous conveying device is provided with a plurality of corresponding positioning rollers to support the longitudinal bars, so that the longitudinal bars are distributed according to the preset parameters of the steel cage;

[0010] In step S4, the fixture system is transported to the transverse movement mechanism by the AGV. The multiple push carts for assembling the welding device are adjusted along the ground rail to make way for the transverse movement of the fixture system. After the transverse movement mechanism moves the fixture system to the top of the ground rail, the fixture system is supported by multiple brackets provided in the middle of the ground rail. The multiple push carts for assembling the welding device are then reset to nest around the periphery of the fixture system.

[0011] Step S5: The synchronous conveying device drives the push cart close to the assembly welding device to synchronously convey the longitudinal bars to the assembly welding device. The push cart close to the assembly welding device reciprocates until all the longitudinal bars are conveyed to the assembly welding device. The stirrups and longitudinal bars are assembled into a steel cage by the support of the assembly welding device.

[0012] Step S6, welding the stirrups and longitudinal bars between the first and second push carts of the assembly welding device away from the synchronous conveying device by a welding robot;

[0013] The first pusher of the assembly welding device away from the synchronous conveying device drives the longitudinal reinforcement and the clamping system forward synchronously, thereby completing the steel cage welding through the welding robot.

[0014] Preferably, step S2 and step S3 are performed simultaneously.

[0015] Preferably, in step S3, the bottom frame, upper frame, left frame and right frame of the push cart are adjusted so that the internal space of the push cart is adapted to the cross-section of the steel cage.

[0016] Preferably, a longitudinal reinforcement spacing adjustment mechanism corresponding to the four sides of the steel cage is provided on the push vehicle, and the adjustment piece on the longitudinal reinforcement spacing adjustment mechanism is adjusted to drive the positioning roller to adjust the longitudinal reinforcement gap through the adjustment piece.

[0017] Preferably, in step S2, centering plates driven by a driving frame are provided on both sides of the clamp system, and the centering plates squeeze on both sides so that the stirrups on the clamp system are aligned with each other and centered relative to the clamp system.

[0018] Preferably, a clamping mechanism corresponding to the positioning roller is provided on the adjusting member of the longitudinal rib spacing adjustment mechanism, and the clamping mechanism squeezes the longitudinal rib toward the positioning roller to achieve clamping.

[0019] Preferably, the push cart of the synchronous conveying device moves back and forth near the assembly welding device to synchronously push the longitudinal reinforcement to the assembly welding device. During the process of pushing the longitudinal reinforcement forward, the push cart of the synchronous conveying device clamps the longitudinal reinforcement, and the push cart of the assembly welding device releases the longitudinal reinforcement; during the process of retreating the push cart of the synchronous conveying device near the assembly welding device, the push cart of the synchronous conveying device releases the longitudinal reinforcement, and the push cart of the assembly welding device clamps the longitudinal reinforcement, and thus reciprocates until the pushing of the longitudinal reinforcement is completed.

[0020] Preferably, multiple brackets are evenly distributed in the length direction of the ground rail, a lifting mechanism is provided under the bracket, and a position sensor corresponding to each bracket is provided on the ground rail to sense the position of the push cart during the resetting process, so that the lifting mechanism can be used to lower and make way when the push cart passes.

[0021] Preferably, after the welding of the steel cage is completed, the steel cage is transferred by the hoist, the transverse movement mechanism transfers the fixture system to the AGV trolley, and the AGV trolley transports the fixture system to the stirrup swing device to produce the next steel cage.

[0022] Preferably, two welding robots are provided on each side of the steel cage, and the two welding robots on the same side respectively weld the steel nodes on the corresponding half side. The moving route of the welding robots is S-shaped, and they weld the welding nodes.

[0023] Beneficial effects: Through intelligent processing technology, the automated assembly and welding of rectangular reinforcement cages for building beams and columns is realized, which promotes the transformation of the construction industry from traditional extensive to refined and intelligent, and promotes the coordinated development of upstream and downstream industrial chains. Compared with the existing technology of scattered installation, the efficiency is greatly improved, and compared with the conventional prefabricated component reinforcement production method, the carbon emissions per unit output of components are significantly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings and the accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. Among them:

[0025] Figure 1 This is a schematic diagram of the distribution of the processing production line in the specific embodiment provided by the present invention;

[0026] Figure 2 A schematic diagram of the travel route of the welding robot in a specific embodiment provided by the present invention;

[0027] Figure 3 This is a simplified structural diagram of the stirrup swinging device in a specific embodiment provided by the present invention;

[0028] Figure 4 A schematic structural diagram of the stirrup clamping mechanism in a specific embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the assembly of the stirrup clamping mechanism in the specific embodiment provided by the present invention;

[0030] Figure 6 This is a simplified structural diagram of a single longitudinal reinforcement conveying device in a specific embodiment provided by the present invention;

[0031] Figure 7 for Figure 6 A in the middle is an enlarged schematic diagram;

[0032] Figure 8 A simplified structural diagram of a synchronous conveying device in a specific embodiment provided by the present invention;

[0033] Figure 9 This is a simplified structural diagram of a push cart in a specific embodiment provided by the present invention;

[0034] Figure 10 This is a schematic diagram of the assembly of the longitudinal reinforcement spacing adjustment mechanism in a specific embodiment provided by the present invention;

[0035] Figure 11 This is a simplified structural diagram of the longitudinal reinforcement spacing adjustment mechanism in a specific embodiment provided by the present invention;

[0036] Figure 12 This is a schematic diagram of the assembly of the positioning roller in the specific embodiment provided by the present invention;

[0037] Figure 13 A simplified structural diagram of the mechanism for adjusting the spacing between the bottom frame and the longitudinal ribs in a specific embodiment of the present invention;

[0038] Figure 14 A simplified structural diagram of an assembly welding device in a specific embodiment provided by the present invention;

[0039] Figure 15 A schematic structural diagram of a stirrup straightening mechanism in a specific embodiment of the present invention;

[0040] Figure 16 A simplified structural diagram of a bracket in a specific embodiment of the present invention;

[0041] Figure 17 This is a simplified structural diagram of the stirrup transverse movement mechanism in a specific embodiment provided by the present invention.

[0042] In the figure: 1. Stirrup material swing device; 2. Single longitudinal reinforcement conveying device; 3. Synchronous conveying device; 4. Stirrup buffer area bracket; 5. Assembly welding device; 6. Welding robot; 7. Ground rail; 8. Transverse movement mechanism; 9. Longitudinal reinforcement; 101. Base; 102. Drive frame; 103. Elastic member; 104. Crossbeam; 105. Main beam; 106. Third slide rail; 107. Centering plate; 108. Fixing plate; 109. Clamping plate; 201. Threading frame; 202. Conveyor rail; 203. Second slide rail; 204. Base frame; 205. Conveyor wheel; 206, first slide rail; 301, right frame; 302, track plate; 303, upper frame; 304, left frame; 305, bottom frame; 306, adjustment rail; 307, adjustment plate; 308, scissor-type adjustment unit; 309, first drive; 310, positioning roller; 311, clamping mechanism; 312, adjusting member; 501, bracket; 502, support beam; 503, assembly plate; 504, clamping claw; 505, main shaft; 506, pull rod; 507, sixth drive; 508, roller; 509, eighth drive; 801, transverse track. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention are within the scope of protection of the present invention.

[0044] In the description of the present invention, the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention. The terms "connected" and "connected" used in the present invention should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a direct connection or an indirect connection through an intermediate component. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0045] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other.

[0046] In view of the problems in the production of steel cages in the prior art, this application provides an automated processing method for rectangular beam and column steel cages, which is used to produce rectangular steel cages. Figure 1-17 As shown, the following steps are included:

[0047] Step S1, cutting and processing the longitudinal reinforcement 9 and stirrups according to the size of the reinforcement cage; Step S2, the production line used to process the reinforcement cage includes a stirrup swing device 1, a single longitudinal reinforcement conveying device 2, a synchronous conveying device 3 and an assembly welding device 5, the clamp system is placed on the stirrup swing device 1 by the AGV trolley, the stirrup swing device 1 is used to place the stirrups, and the stirrups are placed on the clamp system in sequence by the swing robot, and the stirrups are fixed according to the preset spacing and quantity, so that the stirrups of the reinforcement cage are positioned according to the preset parameters; Step S3, the longitudinal reinforcement 9 is placed by the sling They are placed in sequence on the single longitudinal reinforcement conveying device 2. The single longitudinal reinforcement conveying device 2, the synchronous conveying device 3 and the assembly welding device 5 are distributed linearly. The single longitudinal reinforcement conveying device 2 is opposite to the synchronous conveying device 3. The synchronous conveying device 3 and the assembly welding device 5 are slidably assembled on the same ground rail 7. The longitudinal reinforcement 9 is transported to the synchronous conveying device 3 through the single longitudinal reinforcement conveying device 2. The pushing vehicle of the synchronous conveying device 3 is provided with corresponding multiple positioning rollers 310 to support the longitudinal reinforcement 9, so that the longitudinal reinforcement 9 is distributed according to the preset parameters of the steel cage, so that the synchronous conveying device 3 can push the longitudinal reinforcement 9 to the assembly welding device 5.

[0048] In step S4, the fixture system is transported to the transverse mechanism 8 by the AGV trolley. The transverse mechanism 8 is located outside the ground rail 7. The ground rail 7 is provided with a transverse mechanism 8 corresponding to the fixture system. Multiple transverse mechanisms 8 are provided at different positions corresponding to the assembly welding device 5. The transverse mechanism 8 has a retractable transverse track 801. The transverse track 801 is driven by a stepper motor or a gas rod. The transverse track 801 slides with the transverse mechanism 8 through a dovetail groove below the transverse track 801 to ensure the support capacity after extension. The transverse track 801 extends toward or withdraws from the top of the ground rail 7 to move the fixture system horizontally. The multiple push carts of the assembly 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 mechanism 8 moves the fixture system horizontally to the top of the ground rail 7, the multiple brackets 501 provided in the middle of the ground rail 7 support the fixture system. Then, the multiple push carts of the assembly welding device 5 are reset to be nested on the periphery of the fixture system.

[0049] Step S5, the synchronous conveying device 3 includes a pushing cart and a longitudinal reinforcement spacing adjustment mechanism. The pushing cart of the synchronous conveying device 3 close to the assembly welding device 5 drives the longitudinal reinforcement 9 to be synchronously conveyed to the assembly welding device 5. The pushing cart close to the assembly welding device 5 is used to transport the longitudinal reinforcement 9 back and forth until all the longitudinal reinforcement 9 are conveyed to the assembly welding device 5. The stirrups and the longitudinal reinforcement 9 are assembled into a steel cage through the support of the assembly welding device 5.

[0050] Step S6, the stirrups and longitudinal bars 9 between the first and second pushing carts of the assembly welding device 5 away from the synchronous conveying device 3 are welded by the welding robot 6; the first pushing cart of the assembly welding device 5 away from the synchronous conveying device 3 drives the longitudinal bars 9 and the clamp system to move forward synchronously, and the clamp system and the longitudinal bars 9 are driven synchronously through the welding robot 6 by external force, and welding is performed by the welding robot 6. A plurality of brackets 501 are evenly distributed on the ground rail 7 corresponding to the position of the assembly welding device 5, so as to ensure the displacement of the clamp system during the traction process, and the plurality of brackets 501 are evenly distributed in the length direction of the ground rail 7, so as to complete the steel cage welding through the welding robot 6.

[0051] In an optional embodiment, step S2 and step S3 are performed simultaneously.

[0052] In step S3, the push cart includes a bottom frame 305, an upper frame 303, a left frame 304 and a right frame 301, so as to respectively install four longitudinal reinforcement spacing adjustment mechanisms, wherein the bottom frame 305 and the upper frame 303 are provided with adjustment rails 306 corresponding to the left frame 304 and the right frame 301, so that the left frame 304 and the right frame 301 can be adjusted in distance between the bottom frame 305 and the upper frame 303. Specifically, the left frame 304 and the right frame 301 are independently adjusted by the seventh driver, which can be any one of a stepping motor, an electric screw or a cylinder.

[0053] Furthermore, an adjustment plate 307 is provided on the upper frame 303, and the adjustment plate 307 is assembled on the upper frame 303 in a longitudinal sliding manner. The lower end of the adjustment plate 307 is connected to the corresponding longitudinal reinforcement spacing adjustment mechanism. A rack is provided on the edge of the adjustment plate 307. The stepping motor and gear provided on the upper frame 303 drive the adjustment plate 307 to adjust the longitudinal reinforcement spacing adjustment mechanism, so as to be suitable for different types of steel cages.

[0054] In this embodiment, the number of push carts in the synchronous conveying device 3 is 4, and the number of push carts in the assembly welding device 5 is 4 or 5, wherein a push cart away from the synchronous conveying device 3 is used to pull the steel cage.

[0055] The assembly welding device 5 includes a push cart, a bracket 501, a stirrup straightening mechanism and a welding robot 6. The push cart in the assembly welding device 5 has the same structure as the push cart of the synchronous conveying device 3, and both are provided with a longitudinal reinforcement spacing adjustment mechanism.

[0056] Similarly, multiple push carts are distributed at intervals on the ground rail 7, which is a straight rail. The longitudinal reinforcement spacing adjustment mechanism on the push cart of the assembly welding device 5 is adjusted to be the same as the spacing of the longitudinal reinforcement 9 of the synchronous conveying device 3, so that the longitudinal reinforcement 9 conveyed by the synchronous conveying device 3 can be smoothly received. A plurality of brackets 501 are evenly distributed on the ground rail 7 corresponding to the position of the assembly welding device 5. The plurality of brackets 501 are evenly distributed in the length direction of the ground rail 7. A lifting mechanism is provided under the bracket 501. The lifting mechanism can be an eighth drive 509, which can be specifically a cylinder or a hydraulic cylinder to lift the clamp system to put the stirrups in place. Two rollers 508 corresponding to the clamp system are provided on the bracket 501. Specifically, in the process of placing the clamp system, the push cart moves out of the way. After the horizontal movement of the clamp system is completed, the push cart is reset in sequence. During the reset process, the bracket 501 retracts when the push cart passes by the bracket 501, and the clamp system continues to remain stable under the support of other brackets 501. In order to perform positioning, a position sensor corresponding to the push cart is provided on the ground rail 7 to automatically control the lifting and lowering of the bracket 501.

[0057] Then the longitudinal reinforcement 9 is pushed into place by the pushing cart. During the pushing process, the pushing cart close to the assembly welding device 5 moves back and forth until the longitudinal reinforcement 9 is pushed. At this time, the longitudinal reinforcement 9 and the stirrups form a steel cage supported by the positioning roller 310 for subsequent welding. A welding robot 6 is provided on one side of the ground rail 7. First, the steel cage between the first and second pushing carts away from the synchronous conveying device 3 is welded to preliminarily connect the stirrups and the longitudinal reinforcement 9. Then, the pushing cart away from the synchronous conveying device 3 pulls the steel cage through the welding robot 6 for welding.

[0058] In this embodiment, a clamping mechanism 311 corresponding to the longitudinal reinforcement 9 is provided on the positioning roller 310 to meet the needs of pushing or pulling. During the pulling process, the clamping system moves synchronously to ensure the relative position of the longitudinal reinforcement 9 and the stirrups.

[0059] The single longitudinal reinforcement conveying device 2 includes a threading frame 201, a conveying rail 202 and a conveying wheel 205. The two threading frames 201 are relatively distributed, and the height of the threading frames 201 is adapted to the height of the synchronous conveying device 3. The two threading frames 201 can be respectively slidably assembled along the transverse direction of the steel cage, so that the position of the threading frame 201 can be adjusted to convey the longitudinal reinforcement 9 at different transverse positions; in order to be able to convey the longitudinal reinforcement 9 in the longitudinal direction, the conveying rail 202 points to the synchronous conveying device 3 and is slidably assembled on the inner side of the threading frame 201 along the longitudinal direction, so that the transverse and longitudinal position can be adjusted. Furthermore, the conveying wheels 205 are distributed at intervals in the conveying rail 202, and the conveying rail 202 can be a V-shaped groove. The conveying wheel 205 is provided at least at one end of the conveying rail 202 away from the synchronous conveying device 3, so as to drive the longitudinal reinforcement 9 to be conveyed to the synchronous conveying device 3; the number of conveying wheels 205 can be multiple, and the multiple conveying wheels 205 are evenly distributed in the conveying rail 202.

[0060] In an optional embodiment, the push cart is a square truss welded from square steel and has an internal space adapted to the shape of the reinforcement cage. Multiple push carts are slidably assembled on the ground rail 7, along which the push carts slide. Specifically, the bottom of the push cart is provided with travel wheels, each of which is connected to a drive motor. This allows the travel wheels to move the spacing or position according to actual needs and drive the multiple longitudinal bars 9 to be synchronously transported to the assembly welding device 5. In this embodiment, the drive motor can be directly connected to the travel wheels, or a rack can be provided on the ground rail 7, the drive motor is installed at the bottom of the push cart, and the push cart is driven by the gear meshing with the rack.

[0061] Four longitudinal reinforcement spacing adjustment mechanisms are installed around the pusher, corresponding to the four sides of the rebar cage. These mechanisms support the longitudinal reinforcement 9 on each side of the cage. Multiple positioning rollers 310 are slidably mounted on the rails 302 of the longitudinal reinforcement spacing adjustment mechanisms. These rollers support the longitudinal reinforcement 9 and slide to adjust the spacing between the longitudinal reinforcement 9 according to actual needs, making them suitable for different types of rebar cages. Adjusting the adjustment members 312 on the longitudinal reinforcement spacing adjustment mechanisms drives the positioning rollers 310 to adjust the spacing between the longitudinal reinforcement 9.

[0062] In an optional embodiment, during the pushing process of the longitudinal reinforcement 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 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 corresponding to the support beam 502 and extending longitudinally is provided on the pushing cart. After the pushing of the longitudinal reinforcement 9 is completed, the stirrups are loosened to facilitate traction.

[0063] In an optional embodiment, the longitudinal reinforcement spacing adjustment mechanism includes a rail plate 302, an adjusting member 312, a scissor-type adjuster and a first driver 309. The rail plate 302 is a rectangular plate, which is fixed to the push cart. The rail plate 302 at the bottom can be distributed horizontally to minimize the bottom gap and improve the stability of the push cart; multiple adjusting members 312 are slidably assembled on the rail plate 302, and the adjusting members 312 are strip plates. Tracks corresponding to the adjusting members 312 are provided on the rail plate 302. The length of the adjusting member 312 is adapted to the width of the rail plate 302. A positioning roller 310 is connected to the side of the rail plate 302 corresponding to the steel cage to support the longitudinal reinforcement 9 of the steel cage. The adjusting member 312 and the positioning roller 310 can be connected to the longitudinal reinforcement spacing adjustment mechanism located on the bottom frame 305 through a support plate, and a V-shaped clamp is provided on the miniature push rod located on the bottom frame 305, which extends above the corresponding positioning roller 310. The two scissor-type adjusters are distributed in parallel along the length direction of the rail plate 302. Each scissor-type adjuster includes a plurality of scissor-type adjustment units 308 hinged to each other. The scissor-type adjustment unit 308 includes two shear plates that are cross-shaped in a scissor-like manner. The scissor-type adjustment units 308 of the two scissor-type adjusters respectively divide the plurality of adjustment members 312 into a single array and a double array in the form of interval connection. Specifically, the adjustment member 312 of the single array corresponds to the scissor-type adjustment unit 308 connected to the relative position of one scissor-type adjuster, and the adjustment member 312 of the double array corresponds to the scissor-type adjustment unit 308 connected to the relative position of another scissor-type adjuster. One of the hinge shafts of the scissor-type adjustment unit 308 corresponds to the hinged adjustment member 312, so that the space can be fully utilized and the length of the hinged rod of the scissor-type adjustment unit 308 can be reduced.

[0064] The two first drivers 309 can be stepper motors. The scissor-type adjustment unit 308 at one end of the scissor-type adjuster is hinged on the rail plate 302. A rack is connected to one of the hinge shafts of any two adjacent scissor-type adjustment units 308. The first driver 309 is assembled on the rail plate 302 and driven by the gear meshing with the rack. The two first drivers 309 respectively drive the two scissor-type adjusters to adjust the position of the adjustment parts 312 in the single array and the double array respectively. The spacing adjustment is achieved by using the scissor-type adjuster to adapt to the distribution of longitudinal reinforcements 9 with different spacings.

[0065] In an optional embodiment, in step S2, centering plates 107 driven by the drive frame 102 are provided on both sides of the clamp system, and the centering plates 107 squeeze on both sides to align the stirrups on the clamp system with each other and center the clamp system relative to each other.

[0066] The stirrup swinging device 1 includes a clamp system and a transverse centering tool. The lower part of the clamp system is a square truss, the shape of which is adapted to the steel cage. A plurality of stirrup clamping mechanisms 311 are provided on both sides of the clamp 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 one to one, and the number is adapted to the number of stirrups corresponding to the steel cage, so that the stirrups are clamped and positioned by the stirrup clamping mechanisms 311; the transverse centering tool includes two centering plates 107 distributed on both sides of the clamp system. The length of the centering plate 107 is adapted to the steel cage. The centering plate 107 is located in the middle of the stirrup. The centering plate 107 is fixed on the driving frame 102 and is driven by the driving frame 102 to move laterally along the steel cage. As the two centering plates 107 are squeezed from both sides of the steel cage, the multiple stirrups are driven to align with each other, and the stirrups are centered relative to the clamp system by the limiting of the extrusion plate, thereby ensuring the positioning accuracy of the stirrups.

[0067] In an optional embodiment, the threading rack 201 is a vertical frame, and a base frame 204 is provided at the bottom of the threading rack 201. The base frame 204 is welded from square steel, and a plurality of first slide rails 206 distributed laterally are provided on the base frame 204. The two threading racks 201 are slidably assembled at both ends of the first slide rails 206, so that they can be laterally displaced on the base 101. A second driver corresponding to the threading rack 201 is also provided on the base frame 204. The second driver can be a stepping motor, a cylinder or a hydraulic cylinder, which is not limited here. Multiple second slide rails 203 are evenly distributed on the threading frame 201 to ensure that the threading frame 201 moves smoothly. The conveying rail 202 is slidably assembled on the second slide rail 203. The threading frame 201 is provided with a third driver corresponding to the conveying rail 202. 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 stepper motor. The second driver and the third driver can be stepper motors, cylinders or hydraulic cylinders. No excessive restrictions are made here. The specific installation structure is selected according to the actual structure.

[0068] In an optional embodiment, the stirrup clamping mechanism 311 includes a fixed plate 108 and a clamping plate 109. The fixed plate 108 is a strip plate fixed on the clamping system along the longitudinal direction. The two fixed plates 108 are distributed in parallel. A strip notch corresponding to the stirrup is provided in the middle of the fixed plate 108. The length of the strip notch is adapted to the length of the fixed plate 108, and the width is slightly larger than the diameter of the stirrup.

[0069] Two clamping plates 109 are provided for the same stirrup clamping mechanism 311, and the two clamping plates 109 are correspondingly hinged between the two fixed plates 108. The two fixed plates 108 are respectively located on both sides of the strip notch and are symmetrically distributed about the strip notch. Elastic parts 103 corresponding to the clamping plates 109 are provided on both sides of the clamping plates 109 of the fixed plate 108. The elastic parts 103 can be springs. Driven by the springs, the lower ends of the clamping plates 109 have a movement tendency to clamp each other, so that after the stirrups are installed, the two sides of the stirrups are squeezed by deformation, thereby maintaining the stability of the stirrups.

[0070] In this embodiment, the length of the clamping plate 109 is adapted to the length of the fixed plate 108, and the upper end of the clamping plate 109 extends upwardly from the fixed plate 108, and the inner side of the part of the upper end of the clamping plate 109 extending out of the fixed plate 108 is provided with an inclined surface to form a V-shaped introduction port corresponding to the stirrup, which is convenient for inserting the stirrup. The spacing between the two clamping plates 109 in a parallel state is adapted to the thickness of the stirrup. In response to the stirrup being placed in the strip 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, the adjacent sides of the lower half of the two clamping plates 109 are provided with a stepped platform with reduced thickness, so that after the stirrup is taken out, the two clamping plates 109 are shear-crossed through the stepped platform, thereby fully maintaining the angle of the upper V-shaped introduction port to ensure smooth insertion of the stirrup. Preferably, the fixed plate 108 can support more than 3 limbs of the stirrup.

[0071] In an optional embodiment, the clamp system includes a main beam 105 and a cross beam 104. The main beam 105 is square steel. The two main beams 105 are distributed in parallel and are used to install the stirrup clamping mechanism 311. Multiple cross beams 104 are evenly distributed between the two main beams 105, thereby forming a square plane truss. The cross beam 104 includes two sections of sleeves that are socketed with each other. The sleeves on the outside are correspondingly provided with locking bolts, so that the width of the clamp system can be adjusted according to actual needs and is suitable for different types of square steel cages.

[0072] In an optional embodiment, a base 101 is provided on both sides of the clamping system. The base 101 is a truss welded from square steel. A plurality of evenly distributed third slide rails 106 pointing to the clamping system are provided on the base 101. The driving frame 102 is slidably assembled on the third slide rails 106 and driven by a fifth driver. The fifth driver can be an electromagnetic push rod, a cylinder or a hydraulic cylinder, which is selected according to actual conditions. Guide rollers are provided on the side of the base 101 close to the clamping system. The guide rollers respectively support stirrups to prevent the stirrups from becoming unstable during the centering process. A longitudinally extending limit groove corresponding to the stirrups is provided on the centering plate 107. There can be two centering plates 107 on the same side.

[0073] In an optional embodiment, the stirrup straightening mechanism is provided between two adjacent push carts of the assembly welding device 5, and includes a support beam 502 and a clamping jaw 504, wherein one end of the support beam 502 is connected to the top of one of the push carts and extends along the center line of the push cart. Two sets of clamping jaws 504 are respectively located on an assembly plate 503 that is slidably assembled through a main shaft 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, which can be electromagnetic push rods or cylinders, and can be selected according to actual needs to achieve longitudinal adjustment of the stirrup straightening mechanism. After the longitudinal reinforcement 9 is pushed, the stirrup straightening mechanism loosens the stirrups; the number and spacing of the clamps 504 are adapted to the stirrups at the corresponding positions, and the clamps 504 on the two main shafts 505 are staggered, and the two main shafts 505 are driven respectively by two pull rods 506 to clamp the stirrups. The pull rods 506 can be cylinders or electromagnetic push rods, and 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.

[0074] Furthermore, the two groups of jaws 504 are distributed linearly, and the first main shaft and the second main shaft are distributed parallel to each other, wherein the odd-numbered jaws 504 are slidably assembled on the first main shaft, and are correspondingly connected and driven by the first main shaft; the even-numbered jaws 504 are slidably assembled on the second main shaft, and are correspondingly connected and driven by the second main shaft, so that the odd-numbered jaws 504 and the even-numbered jaws 504 are independently driven by the two main shafts 505 respectively, and the two move relative to each other to clamp the stirrups.

[0075] In order to push the longitudinal reinforcement 9, a clamping mechanism 311 corresponding to the longitudinal reinforcement 9 is provided on the longitudinal reinforcement spacing adjustment mechanism. The clamping mechanism 311 can be a micro push rod arranged on the adjustment member 312. The micro push rod can be any one of an electromagnetic push rod, a gas rod, and an oil cylinder. The driving end of the micro push rod points to the positioning roller 310, so that it can clamp the longitudinal reinforcement 9 of the steel cage together with the positioning roller 310.

[0076] Furthermore, the longitudinal reinforcement 9 can be pushed in the following manner: first, the four pushing carts move as a whole toward the assembly welding device 5 until they overlap in front of the assembly welding device 5; then the pushing cart of the assembly welding device 5 clamps the longitudinal reinforcement 9; the synchronous conveying device 3 retreats and continuously pushes the longitudinal reinforcement 9 by reciprocating the pushing cart close to the assembly welding device 5; during the clamping and pushing process of the synchronous conveying device 3, the assembly welding device 5 cancels the clamping of the longitudinal reinforcement 9; during the retreat process of the pushing cart of the synchronous conveying device 3 after releasing the longitudinal reinforcement 9, the assembly welding device 5 clamps the longitudinal reinforcement 9 until the longitudinal reinforcement 9 is completely pushed; then the synchronous conveying device 3 resets; at this time, the assembly welding device 5 clamps the longitudinal reinforcement 9 for welding, and pulls the clamp system and the longitudinal reinforcement 9 as a whole under the clamping of the pushing cart.

[0077] Alternatively, the synchronous conveying device 3 reciprocates when approaching the pushing cart of the assembly welding device 5 to synchronously push the longitudinal reinforcement 9 to the assembly welding device 5. During the forward pushing process of the longitudinal reinforcement 9, the pushing cart of the synchronous conveying device 3 clamps the longitudinal reinforcement 9, and the pushing cart of the assembly welding device 5 releases the longitudinal reinforcement 9; during the retreating process of the pushing cart of the synchronous conveying device 3 when approaching the assembly welding device 5, the pushing cart of the synchronous conveying device 3 releases the longitudinal reinforcement 9, and the pushing cart of the assembly welding device 5 clamps the longitudinal reinforcement 9, and thus reciprocates until the pushing of the longitudinal reinforcement 9 is completed.

[0078] In an optional embodiment, multiple brackets 501 are evenly distributed in the length direction of the ground rail 7, a lifting mechanism is provided under the brackets 501, and a position sensor corresponding to each bracket 501 is provided on the ground rail 7 to sense the position of the push cart during the resetting process, so that the lifting mechanism can be used to lower and make way when the push cart passes.

[0079] In an optional embodiment, after the rebar cage is welded, a pusher pulls the fixture system along the ground rail 7 to the hoisting station. The hoist then transfers the rebar cage using the hoist, and the transverse mechanism 8 transfers the fixture system to the AGV. The AGV then transports the fixture system to the stirrup swing device 1 for the next rebar cage. A gap corresponding to the AGV is provided between the two bases 101 of the stirrup swing device 1. The AGV is equipped with a jack corresponding to the fixture system, which is used to raise or lower the fixture system to the designated position. Multiple stirrup buffer brackets 4 are provided between the stirrup swing device 1 and the ground rail 7 to support the fixture system after the stirrups are installed.

[0080] In an optional embodiment, two welding robots 6 are provided on each side of the steel cage. The two welding robots 6 on the same side respectively weld the steel nodes on the corresponding half side. The movement path of the welding robots 6 is S-shaped, and the welding nodes are welded at intervals.

[0081] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are within the scope of protection of the pending claims of the present invention.

Claims

1. A method for automatically processing rectangular beam and column reinforcement cages, characterized in that: The following steps are involved: Step S1, cutting and processing the longitudinal reinforcement and stirrups according to the size of the reinforcement cage; Step S2: The clamp system is placed on the stirrup swing device by the AGV, and the stirrups are placed on top of the clamp system in sequence by the swing robot, so that the stirrups of the steel cage are positioned according to the preset parameters; Step S3: The longitudinal bars are sequentially placed on the single longitudinal bar conveying device by means of a sling, and the single longitudinal bar conveying device is directly opposite to the synchronous conveying device. The longitudinal bars are conveyed to the synchronous conveying device by the single longitudinal bar conveying device. The pusher of the synchronous conveying device is provided with a plurality of corresponding positioning rollers to support the longitudinal bars, so that the longitudinal bars are distributed according to the preset parameters of the steel cage; In step S4, the fixture system is transported to the transverse movement mechanism by the AGV. The multiple push carts for assembling the welding device are adjusted along the ground rail to make way for the transverse movement of the fixture system. After the transverse movement mechanism moves the fixture system to the top of the ground rail, the fixture system is supported by multiple brackets provided in the middle of the ground rail. The multiple push carts for assembling the welding device are then reset to nest around the periphery of the fixture system. Step S5: The synchronous conveying device drives the push cart close to the assembly welding device to synchronously convey the longitudinal bars to the assembly welding device. The push cart close to the assembly welding device reciprocates until all the longitudinal bars are conveyed to the assembly welding device. The stirrups and longitudinal bars are assembled into a steel cage by the support of the assembly welding device. Step S6, welding the stirrups and longitudinal bars between the first and second push carts of the assembly welding device away from the synchronous conveying device by a welding robot; The first pusher of the assembly welding device away from the synchronous conveying device drives the longitudinal reinforcement and the clamping system forward synchronously, thereby completing the steel cage welding through the welding robot.

2. The automated processing method for rectangular beam-column reinforcement cage according to claim 1, characterized in that: Step S2 and step S3 are performed simultaneously.

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

4. The automated processing method for rectangular beam-column reinforcement cage according to claim 3 is characterized in that: The pusher is provided with longitudinal reinforcement spacing adjustment mechanisms corresponding to the four sides of the reinforcement cage. The adjustment pieces on the longitudinal reinforcement spacing adjustment mechanisms are adjusted to drive the positioning rollers to adjust the longitudinal reinforcement gaps through the adjustment pieces.

5. The automated processing method for rectangular beam-column reinforcement cage according to claim 1, characterized in that: In step S2, centering plates driven by a driving frame are provided on both sides of the clamp system, and the centering plates squeeze on both sides to align the stirrups on the clamp system with each other and center the clamp system relative to each other.

6. The automated processing method for rectangular beam-column reinforcement cage according to claim 4, characterized in that: A clamping mechanism corresponding to the positioning roller is provided on the adjusting piece of the longitudinal reinforcement spacing adjustment mechanism, and the clamping mechanism squeezes the longitudinal reinforcement toward the positioning roller to achieve clamping.

7. The automated processing method for rectangular beam-column reinforcement cage according to claim 6, characterized in that: The pushing trolley of the synchronous conveying device moves back and forth near the assembly welding device to synchronously push the longitudinal reinforcement to the assembly welding device. During the process of pushing the longitudinal reinforcement forward, the pushing trolley of the synchronous conveying device clamps the longitudinal reinforcement, and the pushing trolley of the assembly welding device releases the longitudinal reinforcement; during the process of retreating the pushing trolley of the synchronous conveying device near the assembly welding device, the pushing trolley of the synchronous conveying device releases the longitudinal reinforcement, and the pushing trolley of the assembly welding device clamps the longitudinal reinforcement, and this reciprocating movement is carried out until the longitudinal reinforcement is pushed.

8. The automated processing method for rectangular beam-column reinforcement cage according to claim 1, characterized in that: Multiple brackets are evenly distributed along the length of the ground rail. A lifting mechanism is provided under the brackets, and a position sensor corresponding to each bracket is provided on the ground rail to sense the position of the push cart during the reset process, so that the lifting mechanism can be used to lower the brackets to make way when the push cart passes.

9. The automated processing method for rectangular beam-column reinforcement cage according to claim 1, characterized in that: After the welding of the steel cage is completed, the steel cage is transferred by the hoist, and the transverse movement mechanism transfers the fixture system to the AGV trolley, and the AGV trolley transports the fixture system to the stirrup swing device for the production of the next steel cage.

10. The automated processing method for rectangular beam-column reinforcement cage according to claim 1, characterized in that: Two welding robots are set on each side of the steel cage. The two welding robots on the same side weld the steel nodes on the corresponding half side respectively. The welding robot's travel route is S-shaped and welds the welding nodes.

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