Manipulator for welding reinforcement cage

Abstract

The invention relates to the technical field of industrial robots, in particular to a reinforcement cage welding manipulator which comprises a rotary table rack and a welding gun body, the rotary table rack is slidably sleeved with a moving frame, an electric push rod used for pushing the moving frame is installed on the rotary table rack, and a telescopic connecting piece is installed on the side, close to a transverse bar, of the moving frame; the telescopic connecting piece is fixedly connected with a supporting rod, and one end of the supporting rod is rotationally connected with a rotating frame; the reinforcement cage welding manipulator is composed of the welding gun body, the movable frame, the electric push rod, the telescopic connecting piece and the alternate connecting mechanism, so that one welding gun body can be adopted when welding points between transverse bars and longitudinal bars on a reinforcement cage are welded; the effect of alternately welding the two sides of the two adjacent welding points is achieved, it is further guaranteed that the welding stress of the longitudinal bars and the transverse bars can be evenly distributed on the two sides, and meanwhile the strength and durability of the welding points of the reinforcement cage are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and specifically to a manipulator for welding steel reinforcement cages. Background Art

[0002] The manipulator for welding steel reinforcement cages is a high-end device integrating automated control and laser processing technologies. It can achieve automated laser processing operations through preset programs and is widely used in fields such as material cutting, engraving, marking, and welding.

[0003] Currently, during the welding of existing steel reinforcement cages, the welding manipulator is installed on a support device, and the support device drives multiple longitudinal bars to rotate, enabling the transverse bars to be wound around the outside of the multiple longitudinal bars. Subsequently, the welding manipulator performs unilateral welding on the welding points between the longitudinal bars and the transverse bars. However, since the welding manipulator only welds on one side, it will cause the welding stress to concentrate on one side, while the other side lacks sufficient welding reinforcement. This stress unevenness will increase the risk of deformation and cracking at the welding points, thereby reducing the strength and durability of the welding points. For this reason, we propose a manipulator for welding steel reinforcement cages. Summary of the Invention

[0004] The purpose of the present invention is to provide a manipulator for welding steel reinforcement cages to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A manipulator for welding steel reinforcement cages, including a turntable frame and a welding torch body. A moving frame is slidably sleeved on the turntable frame, and an electric push rod for pushing the moving frame is installed on the turntable frame. One side of the moving frame close to the transverse bar is provided with a telescopic connecting piece, and a support rod is fixedly connected at the telescopic connecting piece. One end of the support rod is rotatably connected to a rotating frame, and an alternating connecting mechanism is connected to the rotating frame. The alternating connecting mechanism is used for connecting the welding torch body.

[0006] Further, the telescopic connecting piece includes an adjusting cylinder, a connecting plate, and a telescopic rod. The adjusting cylinder is fixedly installed on the moving frame, and the output end of the adjusting cylinder is fixedly connected to the connecting plate. There are two telescopic rods, both of which are fixedly connected to the moving frame, and the other ends of the telescopic rods are fixedly connected to the connecting plate.

[0007] Further, the connecting plate is L-shaped and is composed of a connecting end and a fixed end. The output end of the adjusting cylinder is fixedly connected to the connecting end, and one end of the support rod is fixedly connected to the fixed end.

[0008] Further, the alternating connection mechanism includes a guiding sleeve, a guiding member, a synchronous plate, a synchronous member, and a driving member. The guiding sleeve is fixedly sleeved outside the welding torch body, and is close to the welding head of the welding torch body. The guiding member is arranged outside the guiding sleeve, and the guiding sleeve is connected to the rotating frame through the guiding member;

[0009] The synchronous plate is fixedly sleeved outside one end of the guiding sleeve, and the other end of the synchronous plate is connected to the synchronous member. The synchronous member is installed on the rotating frame, and the synchronous member is connected to the driving member. The driving member synchronously drives the rotating frame.

[0010] Further, the guiding member includes a guiding strip and a guiding block. There are two guiding strips, and both guiding strips are fixedly installed outside the guiding sleeve. The guiding block is provided with a through hole, and the guiding sleeve slidably penetrates through the through hole. The guiding block is provided with guiding grooves corresponding to the positions of the two guiding strips, and the guiding strips slidably penetrate through the guiding grooves. The guiding block is fixedly installed on the rotating frame. By providing the guiding member, the guiding and limiting effect on the guiding sleeve is realized.

[0011] Further, the synchronous member includes a connecting shaft, a driving motor, a reciprocating lead screw, and a reciprocating sleeve. The connecting shaft is rotatably connected to the rotating frame. The driving motor is installed on the rotating frame, and the output end of the driving motor is fixedly connected to the connecting shaft. The other end of the connecting shaft is fixedly connected to the reciprocating lead screw, and the reciprocating sleeve is threadedly sleeved outside the reciprocating lead screw. One end of the synchronous plate is fixedly connected to the reciprocating sleeve. By providing the synchronous member, the synchronous driving effect on the guiding sleeve is realized.

[0012] Further, the driving member includes a first driving gear, a second driving gear, a driving sleeve, and a swing adjustment member. The first driving gear is fixedly sleeved outside the connecting shaft, and the first driving gear is meshed with the second driving gear. The second driving gear is fixedly sleeved outside the driving sleeve. The driving sleeve is internally provided with a connecting hole, and the driving sleeve is slidably sleeved outside the welding torch body through the connecting hole. The outside of the driving sleeve is provided with a spiral groove, and the swing adjustment member is connected to the spiral groove. By providing the driving member, the synchronous driving effect on the connecting shaft and the rotating frame is realized.

[0013] Further, the swing adjustment member includes a rotating gear, a rotating shaft, and a swing member. The rotating shaft is rotatably connected to the rotating frame. One end of the rotating shaft is fixedly connected to the rotating gear, and the rotating gear is meshed with the spiral groove. The other end of the rotating shaft is connected to the swing member, and the swing member is connected to the support rod. By providing the swing adjustment member, the swinging effect on the rotating frame is realized.

[0014] Further, the swinging member includes a swinging plate, a swinging shaft, an adjusting support rod, an adjusting shaft and a positioning plate. One end of the swinging plate is fixedly connected to the rotating shaft, and the other end of the swinging plate is fixedly connected to the swinging shaft. One end of the adjusting support rod is rotatably sleeved outside the swinging shaft, and the other end of the adjusting support rod is rotatably connected to the adjusting shaft. The adjusting shaft is fixedly connected to the positioning plate, and the positioning plate is fixedly sleeved outside the support rod. By providing the swinging member, the rotating shaft can be synchronously driven.

[0015] Further, a matching detection mechanism is provided below the welding torch body. The matching detection mechanism includes a support frame, a matching plate, a laser emitter, a laser receiver, a buzzer and a pushing member. The support frame is located below the welding torch body, and one end of the support frame is fixedly connected to the turntable frame. A guide rail is provided at one end of the support frame, and a guide groove is provided on one side of the matching plate. The matching plate is slidably sleeved outside the guide rail through the guide groove. Two top plates are fixedly connected to the top of the matching plate. The laser emitter and the laser receiver are fixedly installed on one side of the two top plates close to each other. The buzzer is installed on the matching plate, and the pushing member is installed on the support frame and is used to adjust the position of the matching plate. By providing the matching detection mechanism, the weld at the welding point can be detected.

[0016] The present invention has at least the following beneficial effects:

[0017] 1. The steel cage welding manipulator in the present invention is composed of a welding torch body, a moving frame, an electric push rod, a telescopic connecting member and an alternating connection mechanism. When welding the welding points between the horizontal bars and vertical bars on the steel cage, a single welding torch body can be used to alternately weld the two adjacent welding points on both sides, further ensuring that the welding stress between the vertical bars and horizontal bars can be evenly distributed on both sides, and at the same time improving the strength and durability of the welding points of the steel cage.

[0018] 2. When the present invention is in use, through the provided matching detection mechanism, which cooperates with the alternating connection mechanism, the weld at the welding point of the steel cage can be detected in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 is a top view of the overall structure of the present invention;

[0021] Figure 3 is a schematic side view of the turntable frame of the present invention;

[0022] Figure 4 is a schematic diagram of the structure of the moving frame of the present invention;

[0023] Figure 5 Schematic diagram of the support frame structure of the present invention;

[0024] Figure 6 Schematic diagram of the adjusting cylinder structure of the present invention;

[0025] Figure 7 For the present invention Figure 6 Enlarged structure schematic diagram of area A in;

[0026] Figure 8 Schematic diagram of the rotating frame structure of the present invention;

[0027] Figure 9 Schematic diagram of the driving sleeve structure of the present invention;

[0028] Figure 10 Schematic diagram of the swinging member structure of the present invention;

[0029] Figure 11 Schematic diagram of the side view of the rotating gear of the present invention.

[0030] In the figure: 1 - turntable frame; 2 - welding torch body; 3 - moving frame; 31 - electric push rod; 4 - telescopic connecting member; 41 - adjusting cylinder; 42 - connecting plate; 421 - connecting end; 422 - fixed end; 43 - telescopic rod; 5 - support rod; 51 - rotating frame; 6 - alternating connection mechanism; 61 - guiding sleeve; 62 - guiding member; 621 - guiding strip; 622 - guiding block; 63 - synchronous plate; 7 - synchronous member; 71 - connecting shaft; 72 - driving motor; 73 - reciprocating lead screw; 74 - reciprocating sleeve; 8 - driving member; 81 - first driving gear; 82 - second driving gear; 83 - driving sleeve; 831 - connecting hole; 832 - spiral groove; 84 - swinging adjustment member; 841 - rotating gear; 842 - rotating shaft; 843 - swinging member; 8431 - swinging plate; 8432 - swinging shaft; 8433 - adjusting support rod; 8434 - adjusting shaft; 8435 - positioning plate; 9 - cooperation detection mechanism; 91 - support frame; 92 - cooperation plate; 921 - cooperation groove; 93 - laser emitter; 94 - laser receiver; 95 - buzzer; 96 - pushing member; 961 - pushing cylinder; 962 - pushing frame; 963 - pushing rod; 97 - top plate. Specific embodiments

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0032] Embodiment 1

[0033] Please refer to Figures 1 to 5 Figures 1 to 5 , a manipulator for welding a steel reinforcement cage, including a turntable frame 1 and a welding torch body 2. A moving frame 3 is slidably sleeved on the turntable frame 1. The turntable frame 1 is an existing turntable frame 1, which is used to support multiple longitudinal bars and drive the multiple longitudinal bars to rotate at the same time;

[0034] An electric push rod 31 for pushing the moving frame 3 is installed on the turntable frame 1. The electric push rod 31 is fixedly installed on one side of the turntable frame 1, and the output end of the electric push rod 31 is fixedly connected to the moving frame 3. A telescopic connecting piece 4 is installed on the side of the moving frame 3 close to the transverse bar, and a support rod 5 is fixedly connected at the telescopic connecting piece 4. One end of the support rod 5 is rotatably connected to a rotating frame 51, and an alternating connecting mechanism 6 is connected to the rotating frame 51. The alternating connecting mechanism 6 is used to connect the welding torch body 2.

[0035] Please refer to Figures 4 to 6 Figures 4 to 6 , the telescopic connecting piece 4 includes an adjusting cylinder 41, a connecting plate 42 and a telescopic rod 43. The adjusting cylinder 41 is fixedly installed on the moving frame 3, and the output end of the adjusting cylinder 41 is fixedly connected to the connecting plate 42. There are two telescopic rods 43, and both telescopic rods 43 are fixedly connected to the moving frame 3, and the other end of the telescopic rod 43 is fixedly connected to the connecting plate 42. That is, the two telescopic rods 43 are used to assist in supporting the moving frame 3 and the connecting plate 42, and by the telescopic movement of the adjusting cylinder 41, the distance between the connecting plate 42 and the moving frame 3 can be adjusted;

[0036] The connecting plate 42 is L-shaped and is composed of a connecting end 421 and a fixed end 422. The output end of the adjusting cylinder 41 is fixedly connected to the connecting end 421, and one end of the support rod 5 is fixedly connected to the fixed end 422.

[0037] Please refer to Figures 3 to 5 and Figures 8 to 11 Figures 8 to 11 , the alternating connecting mechanism 6 includes a guide sleeve 61, a guide member 62, a synchronous plate 63, a synchronous member 7 and a driving member 8. The guide sleeve 61 is fixedly sleeved on the outside of the welding torch body 2, and the guide sleeve 61 is close to the welding head of the welding torch body 2. The guide member 62 is arranged on the outside of the guide sleeve 61, and the guide sleeve 61 is connected to the rotating frame 51 through the guide member 62;

[0038] The synchronous plate 63 is fixedly sleeved on the outside of one end of the guide sleeve 61, and the other end of the synchronous plate 63 is connected to the synchronous member 7. The synchronous member 7 is installed on the rotating frame 51, and the synchronous member 7 is connected to the driving member 8. The driving member 8 synchronously drives the rotating frame 51;

[0039] The guiding member 62 includes a guiding bar 621 and a guiding block 622. There are two guiding bars 621, and both of the two guiding bars 621 are fixedly installed on the outer side of the guiding sleeve 61. The guiding block 622 is provided with a through hole, and the guiding sleeve 61 slidably penetrates through the through hole. The guiding block 622 is provided with guiding grooves corresponding to the positions of the two guiding bars 621, and the guiding bars 621 slidably penetrate through the guiding grooves. The guiding block 622 is fixedly installed on the rotating frame 51;

[0040] The synchronizing member 7 includes a connecting shaft 71, a driving motor 72, a reciprocating lead screw 73 and a reciprocating sleeve 74. The connecting shaft 71 is rotatably connected to the rotating frame 51. The driving motor 72 is installed on the rotating frame 51, and the output end of the driving motor 72 is fixedly connected to the connecting shaft 71. The other end of the connecting shaft 71 is fixedly connected to the reciprocating lead screw 73, and the reciprocating sleeve 74 is threadedly sleeved on the outer side of the reciprocating lead screw 73. One end of the synchronizing plate 63 is fixedly connected to the reciprocating sleeve 74;

[0041] Specific implementation process: When welding the welding point between the longitudinal bars and the transverse bars, the welding head of the welding torch body 2 is inclined and welds one side of the welding point between the longitudinal bars and the transverse bars. And as the multiple longitudinal bars rotate relative to the turntable frame 1, the welding torch body 2 completes the stable welding of one side of the welding point. Subsequently, by operating the driving motor 72, the connecting shaft 71 is rotated. And when the connecting shaft 71 rotates, on the one hand, the reciprocating lead screw 73 is rotated. When the reciprocating lead screw 73 rotates, a driving force is provided for the reciprocating sleeve 74. And under the limitation of the synchronizing plate 63, the reciprocating sleeve 74 moves relative to the reciprocating lead screw 73. That is, when the reciprocating sleeve 74 moves, the guiding sleeve 61 is driven by the synchronizing plate 63 to move relative to the through hole of the guiding block 622. And when the guiding sleeve 61 moves along the direction away from the through hole, the welding head of the welding torch body 2 is simultaneously driven to deviate from the welding point until, through the synchronous rotation of the rotating frame 51 and in cooperation with the retraction operation of the adjusting cylinder 41, when the longitudinal bars and the transverse bars rotate to the next welding point, the welding torch body 2 is located on the other side to perform alternate welding on the welding point.

[0042] The driving member 8 includes a first driving gear 81, a second driving gear 82, a driving sleeve 83 and a swing adjusting member 84. The first driving gear 81 is fixedly sleeved on the outer side of the connecting shaft 71, and the first driving gear 81 is meshed with the second driving gear 82. The second driving gear 82 is fixedly sleeved on the outer side of the driving sleeve 83. The driving sleeve 83 is provided with a connecting hole 831 inside, and the driving sleeve 83 is slidably sleeved on the outer side of the welding torch body 2 through the connecting hole 831. The outer side of the driving sleeve 83 is provided with a spiral groove 832, and the swing adjusting member 84 is connected to the spiral groove 832;

[0043] The swing adjustment member 84 includes a rotating gear 841, a rotating shaft 842 and a swing member 843. The rotating shaft 842 is rotatably connected to the rotating frame 51. One end of the rotating shaft 842 is fixedly connected to the rotating gear 841, and the rotating gear 841 is meshed with the spiral groove 832. The other end of the rotating shaft 842 is connected to the swing member 843, and the swing member 843 is connected to the support rod 5.

[0044] The swing member 843 includes a swing plate 8431, a swing shaft 8432, an adjustment support rod 8433, an adjustment shaft 8434 and a positioning plate 8435. One end of the swing plate 8431 is fixedly connected to the rotating shaft 842, and the other end of the swing plate 8431 is fixedly connected to the swing shaft 8432. One end of the adjustment support rod 8433 is rotatably sleeved outside the swing shaft 8432, and the other end of the adjustment support rod 8433 is rotatably connected to the adjustment shaft 8434. The adjustment shaft 8434 is fixedly connected to the positioning plate 8435, and the positioning plate 8435 is fixedly sleeved outside the support rod 5.

[0045] Specific implementation process: When the connecting shaft 71 rotates, it simultaneously drives the first driving gear 81 thereon to rotate. When the first driving gear 81 rotates, it synchronously drives the second driving gear 82 to rotate. When the second driving gear 82 rotates, it makes the driving sleeve 83 rotate relative to the outside of the welding torch body 2. Since the spiral groove 832 is provided on the outside of the driving sleeve 83, when the driving sleeve 83 rotates, it drives the rotating gear 841 to rotate synchronously through the spiral groove 832. When the rotating gear 841 rotates, it drives the rotating shaft 842 to rotate relative to the rotating frame 51. The rotating shaft 842 drives the swing plate 8431 at its other end to rotate. When the swing plate 8431 rotates, it drives the swing support rod to rotate through the swing shaft 8432. When the swing support rod rotates, due to the limiting connection between the rotating frame 51 and the support rod 5, the rotating frame 51 further rotates around the support rod 5 as the center, and at the same time, it cooperates with the telescopic movement of the welding torch body 2 relative to the position of the horizontally arranged transverse ribs wound around, preventing the welding head from colliding with the transverse ribs. At the same time, when the welding torch body 2 rotates with the rotating frame 51 to the position of the next welding point between the transverse ribs, the welding torch body 2 realizes the precise welding of the next welding point on the other side, and thus runs in this way repeatedly to realize the function of alternately welding the multiple welding points of the horizontally arranged transverse ribs wound around the longitudinal ribs on both sides at intervals.

[0046] Embodiment 2

[0047] Please refer to Figures 4 to 7, Embodiment 2 is a further supplementary description of Embodiment 1. Specifically, a cooperation detection mechanism 9 is provided below the welding torch body 2. The cooperation detection mechanism 9 includes a support frame 91, a cooperation plate 92, a laser emitter 93, a laser receiver 94, a buzzer 95, and a pushing member 96. The support frame 91 is located below the welding torch body 2, and one end of the support frame 91 is fixedly connected to the turntable frame 1. A guide rail is provided at one end of the support frame 91, and a guide groove is provided on one side of the cooperation plate 92. The cooperation plate 92 is slidably sleeved outside the guide rail through the guide groove. Two top plates 97 are fixedly connected to the top of the cooperation plate 92. The laser emitter 93 and the laser receiver 94 are fixedly installed on one side of the two top plates 97 close to each other. The buzzer 95 is installed on the cooperation plate 92, and the pushing member 96 is installed on the support frame 91, and the pushing member 96 is used to adjust the position of the cooperation plate 92.

[0048] The pushing member 96 includes a pushing cylinder 961, a pushing frame 962, and a pushing rod 963. The pushing cylinder 961 is fixedly installed on the support frame 91, and the output end of the pushing cylinder 961 is fixedly connected to the pushing frame 962, and the pushing frame 962 is slidably connected to the support frame 91. One end of the pushing frame 962 close to the cooperation plate 92 is U-shaped, and the pushing rod 963 is fixedly installed on the pushing frame 962. A Z-shaped cooperation groove 921 is provided on the cooperation plate 92, and the pushing rod 963 slidably penetrates through the cooperation groove 921;

[0049] Specific implementation process: In this embodiment, the support frame 91 is fixedly installed on the turntable frame 1. That is, as the turntable frame 1 moves relative to multiple longitudinal bars, the support frame 91 is driven to move synchronously. When the support frame 91 moves, the laser emitter 93 and the laser receiver 94 on the cooperation plate 92 are always located outside the welding point. Through the laser emitter 93, a linear or dot matrix laser is emitted and projected onto the weld surface to form a visible laser stripe or light spot. The laser receiver 94, such as a CCD / CMOS camera, captures the deformed pattern of the laser stripe reflected on the weld surface. By the displacement of the laser spot on the imaging plane of the receiver and combining the known laser emission angle and baseline distance, the three-dimensional coordinate information (height, width, depth, etc.) of the weld surface can be accurately deduced, further realizing precise detection of the weld at the welding point. When an unqualified condition is detected, the buzzer 95 gives an early warning, and the turntable frame 1 and the welding torch body 2 stop running. At this time, the staff can promptly repair the weld to further ensure the welding quality of the steel reinforcement cage;

[0050] At the same time, when repairing, the pushing cylinder 961 operates, so that through the pushing rod 963, the cooperation plate 92 is further separated from the weld position under the limiting action of the pushing rod 963 at the cooperation groove 921 and the guide rail.

[0051] It should be noted that, in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0052] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A manipulator for welding a steel reinforcement cage, comprising a turntable frame (1) and a welding gun body (2), characterized in that: A moving frame (3) is slidably sleeved on the turntable frame (1), and an electric push rod (31) for pushing the moving frame (3) is installed on the turntable frame (1). A telescopic connecting piece (4) is installed on one side of the moving frame (3) close to the transverse rib, and a support rod (5) is fixedly connected to the telescopic connecting piece (4). One end of the support rod (5) is rotatably connected to a rotating frame (51), and an alternating connecting mechanism (6) is connected to the rotating frame (51). The alternating connecting mechanism (6) is used to connect the welding torch body (2).

2. The manipulator for welding a steel reinforcement cage according to claim 1, wherein: The telescopic connecting piece (4) includes an adjusting cylinder (41), a connecting plate (42) and a telescopic rod (43). The adjusting cylinder (41) is fixedly installed on the moving frame (3), and the output end of the adjusting cylinder (41) is fixedly connected to the connecting plate (42). There are two telescopic rods (43), and both telescopic rods (43) are fixedly connected to the moving frame (3), and the other end of the telescopic rod (43) is fixedly connected to the connecting plate (42).

3. The manipulator for welding a steel reinforcement cage according to claim 2, characterized in that: The connecting plate (42) is L-shaped and consists of a connecting end (421) and a fixed end (422). The output end of the adjusting cylinder (41) is fixedly connected to the connecting end (421), and one end of the support rod (5) is fixedly connected to the fixed end (422).

4. A manipulator for welding a steel reinforcement cage according to claim 1, characterized in that: The alternating connecting mechanism (6) includes a guiding sleeve (61), a guiding member (62), a synchronous plate (63), a synchronizing member (7) and a driving member (8). The guiding sleeve (61) is fixedly sleeved on the outer side of the welding torch body (2), and is close to the welding head of the welding torch body (2). The guiding member (62) is arranged on the outer side of the guiding sleeve (61), and the guiding sleeve (61) is connected to the rotating frame (51) through the guiding member (62). The synchronous plate (63) is fixedly sleeved on the outer side of one end of the guiding sleeve (61), and the other end of the synchronous plate (63) is connected to the synchronizing member (7). The synchronizing member (7) is installed on the rotating frame (51), and the synchronizing member (7) is connected to the driving member (8). The driving member (8) synchronously drives the rotating frame (51).

5. The manipulator for welding a steel reinforcement cage according to claim 4, characterized in that: The guiding member (62) includes guiding strips (621) and guiding blocks (622). There are two guiding strips (621), and both guiding strips (621) are fixedly installed on the outer side of the guiding sleeve (61). The guiding block (622) is provided with through holes, and the guiding sleeve (61) slidably penetrates through the through holes. The guiding block (622) is provided with guiding grooves corresponding to the positions of the two guiding strips (621), and the guiding strips (621) slidably penetrate through the guiding grooves. The guiding block (622) is fixedly installed on the rotating frame (51).

6. The manipulator for welding steel reinforcement cages according to claim 4, characterized in that: The synchronization member (7) includes a connecting shaft (71), a driving motor (72), a reciprocating lead screw (73) and a reciprocating sleeve (74). The connecting shaft (71) is rotatably connected to the rotating frame (51). The driving motor (72) is installed on the rotating frame (51), and the output end of the driving motor (72) is fixedly connected to the connecting shaft (71). The other end of the connecting shaft (71) is fixedly connected to the reciprocating lead screw (73), and the reciprocating sleeve (74) is threadedly sleeved outside the reciprocating lead screw (73). One end of the synchronization plate (63) is fixedly connected to the reciprocating sleeve (74).

7. The manipulator for welding steel reinforcement cages according to claim 4, characterized in that: The driving member (8) includes a first driving gear (81), a second driving gear (82), a driving sleeve (83) and a swing adjusting member (84). The first driving gear (81) is fixedly sleeved outside the connecting shaft (71), and the first driving gear (81) is meshed and connected to the second driving gear (82). The second driving gear (82) is fixedly sleeved outside the driving sleeve (83). A connecting hole (831) is provided inside the driving sleeve (83), and the driving sleeve (83) is slidably sleeved outside the welding torch body (2) through the connecting hole (831). A spiral groove (832) is provided outside the driving sleeve (83), and the swing adjusting member (84) is connected to the spiral groove (832).

8. A manipulator for welding a steel reinforcement cage according to claim 7, characterized in that: The swing adjusting member (84) includes a rotating gear (841), a rotating shaft (842) and a swing member (843). The rotating shaft (842) is rotatably connected to the rotating frame (51). One end of the rotating shaft (842) is fixedly connected to the rotating gear (841), and the rotating gear (841) is meshed and connected to the spiral groove (832). The other end of the rotating shaft (842) is connected to the swing member (843), and the swing member (843) is connected to the support rod (5).

9. The manipulator for welding a steel reinforcement cage according to claim 8, wherein: The swing member (843) includes a swing plate (8431), a swing shaft (8432), an adjusting support rod (8433), an adjusting shaft (8434) and a positioning plate (8435). One end of the swing plate (8431) is fixedly connected to the rotating shaft (842), and the other end of the swing plate (8431) is fixedly connected to the swing shaft (8432). One end of the adjusting support rod (8433) is rotatably sleeved outside the swing shaft (8432), and the other end of the adjusting support rod (8433) is rotatably connected to the adjusting shaft (8434). The adjusting shaft (8434) is fixedly connected to the positioning plate (8435), and the positioning plate (8435) is fixedly sleeved outside the support rod (5).

10. The manipulator for welding steel reinforcement cages according to claim 1, characterized in that: A cooperation detection mechanism (9) is provided below the torch body (2). The cooperation detection mechanism (9) includes a support frame (91), a cooperation plate (92), a laser emitter (93), a laser receiver (94), a buzzer (95) and a pushing member (96). The support frame (91) is located below the torch body (2), and one end of the support frame (91) is fixedly connected to the turntable rack (1). A guide rail is provided at one end of the support frame (91), and a guide groove is provided on one side of the cooperation plate (92). The cooperation plate (92) is slidably sleeved outside the guide rail through the guide groove. Two top plates (97) are fixedly connected to the top of the cooperation plate (92). The laser emitter (93) and the laser receiver (94) are fixedly installed on one side of the two top plates (97) close to each other. The buzzer (95) is installed on the cooperation plate (92). The pushing member (96) is installed on the support frame (91), and the pushing member (96) is used to adjust the position of the cooperation plate (92).

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