Multi-machine-head bending device for integrated machining of bottom web stirrups and forming method of multi-machine-head bending device

Abstract

The invention belongs to the technical field of box girder reinforcement cage machining, and particularly relates to a bottom web stirrup integrated machining multi-machine-head bending device and a forming method of the bottom web stirrup integrated machining multi-machine-head bending device. The bending device comprises a discharging mechanism, a storage mechanism, a bending mechanism, a transferring mechanism, a welding mechanism and a discharging mechanism. The discharging mechanism comprises a straightening cut-off machine. The storage mechanism is used for discharging the straightened reinforcing steel bars into the bending mechanism. The bending mechanism comprises a bending platform and a plurality of bending heads which are arranged in parallel; the plurality of bending heads divide a steel bar into two parts, namely an inner ring bar and an outer ring bar, and the two parts are bent and folded to form a stirrup mesh; the transfer mechanism comprises a transfer gripper which is used for gripping the stirrup mesh and transferring the stirrup mesh into the welding mechanism; the welding mechanism is used for welding the stirrup meshes into an integrated structure; and the discharging mechanism comprises a discharging gripper which is used for gripping the stirrup meshes in the welding mechanism and discharging the stirrup meshes. According to the bending device, all construction processes for producing the stirrup meshes are smoothly joined, the operation intensity is reduced, and the production efficiency of the stirrup meshes is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of box girder reinforcement skeleton processing, and specifically relates to a multi-head bending device for integrated processing of bottom web stirrups and a forming method thereof. Background Art

[0002] In bridge engineering, precast box girders are widely used due to their high structural strength and efficient construction. The steel skeleton in precast box girders, a key load-bearing component, directly impacts the overall load-bearing capacity and seismic performance of the box girder. The precast box girder steel skeleton consists of four main components: bottom plate stirrups, left and right web stirrups, and top plate stirrups.

[0003] The traditional prefabricated box girder bottom web reinforcement skeleton consists of a separate fabrication process consisting of the bottom plate stirrup mesh, left web stirrup mesh, and right web stirrup mesh. The overlapping ends of the left and right web stirrup meshes are aligned with the bottom plate stirrup mesh before longitudinal bars are inserted into the overlapping ends of adjacent meshes. However, the low degree of mechanization in stirrup mesh production results in low production efficiency. The subsequent reinforcement skeleton installation process is complex and labor-intensive, limiting its production efficiency and making it difficult to meet the current demands of intelligent construction production. Optimizing the bottom web reinforcement skeleton processing and production methods and upgrading supporting equipment have become key issues in increasing the speed and efficiency of small box girder reinforcement skeleton production lines.

[0004] Therefore, it is necessary to provide an improved technical solution to the above-mentioned deficiencies in the prior art. Summary of the Invention

[0005] The purpose of the present application is to provide a multi-head bending device for integrated processing of bottom web stirrups and a forming method thereof, so as to at least solve the above-mentioned problems existing in the prior art.

[0006] In order to achieve the above objectives, this application provides the following technical solutions: A multi-head bending device for integrated processing of bottom web stirrups, the bending device comprising: a material feeding mechanism, a material storage mechanism, a bending mechanism, a transfer mechanism, a welding mechanism and a material discharging mechanism; The unloading mechanism is located upstream of the bending mechanism, the storage mechanism is located above the bending mechanism, a welding mechanism is provided downstream of the bending mechanism, the transfer mechanism is moved between the bending mechanism and the welding mechanism, and the discharging mechanism is moved along the welding mechanism to the downstream direction; The feeding mechanism includes a straightening and cutting machine, which is used to straighten the steel bars and cut them into set lengths and feed them into the storage mechanism; The storage mechanism is used to drop the straightened steel bars into the bending mechanism; The bending mechanism includes a bending platform and a plurality of bending heads arranged in parallel. The plurality of bending heads divide the steel bars into two parts, the inner ring and the outer ring, and bend them to form a stirrup mesh. The transfer mechanism includes a transfer gripper for grabbing the stirrup mesh and transferring it to the welding mechanism; The welding mechanism is used to weld the stirrup mesh into an integrated structure; The discharging mechanism comprises a discharging gripper, which is used for grabbing the stirrup mesh in the welding mechanism and discharging the material.

[0007] As described above, the multi-head bending device for integrated processing of bottom web stirrups, preferably, the multiple bending heads are arranged in parallel along the extension direction of the storage mechanism, and the bending heads are located below the discharge port in the storage mechanism; Each bending head is set on a lifting platform, and the bending head is driven by the lifting platform to move up and down, and each lifting platform moves along the track guide; The transfer mechanism also includes a gantry track and a transfer gantry. The transfer gantry moves along the gantry track, and the transfer gripper is arranged on the transfer gantry through a transfer lifting rod.

[0008] As described above, the multi-head bending device for integrated processing of bottom web stirrups, preferably, the multiple bending heads include a first bending head, a second bending head, a third bending head, a fourth bending head and a fifth bending head distributed in parallel from upstream to downstream, wherein the first bending head, the second bending head and the third bending head are bending heads of the upstream part, and the fourth bending head and the fifth bending head are bending heads of the downstream part; In the bending head of the upstream part and the bending head of the downstream part, one part is used to bend the outer ring reinforcement of the stirrup mesh, and the other part is used to bend the inner ring reinforcement of the stirrup mesh; The bending platform is arranged between the upstream bending head and the downstream bending head.

[0009] As described above, the multi-head bending device for integrated processing of bottom web stirrups, preferably, the bending platform includes a panel and a limiting discharge mechanism, the panel is located between the upstream bending head and the downstream bending head, and the limiting discharge mechanism is located below the panel; The position-limiting discharge mechanism includes a base, a discharge track and a discharge cylinder. The base moves along the discharge track. The extension direction of the discharge track is perpendicular to the extension direction of the storage mechanism. The telescopic end of the discharge cylinder is connected to the side of the base. The discharge cylinder is located between the base and the bending mechanism. The base is provided with a plurality of groups of limiting components, which are used to limit the stirrup mesh. The panel is provided with a plurality of long through-holes for the limiting components to move in the long through-holes.

[0010] As described above, the multi-head bending device for integrated processing of bottom web stirrups, preferably, each set of the limiting components includes a first baffle, a second baffle and a shift rod, the first baffle and the second baffle are arranged opposite to each other, and the first baffle, the second baffle and the shift rod in each set of limiting components are located on a straight line parallel to the storage mechanism; The first baffle is driven by the cylinder to move up and down, the second baffle is driven by the cylinder to move up and down, and the gear lever is driven by the cylinder to move up and down.

[0011] As described above, the multi-head bending device for integrated processing of bottom web stirrups, preferably, the transfer gripper includes a fixed plate and an I-frame, the fixed plate is fixed to the bottom end of the transfer lifting rod, the I-frame is rotatably arranged on the fixed plate, and a rotating cylinder is provided between the fixed plate and the I-frame; The transfer gripper also includes a transfer left arm and a transfer right arm, one end of the transfer left arm is hinged on the I-frame, and the other end is connected to the I-frame through a transfer left cylinder; one end of the transfer right arm is hinged on the I-frame, and the other end is connected to the I-frame through a transfer right cylinder; The outer sides of the I-frame, the left transfer arm and the right transfer arm are all provided with regular cylinders and pneumatic clamps, and the inner side of at least one of the left transfer arm and the right transfer arm is provided with a pneumatic clamp.

[0012] The multi-head bending device for integrated processing of bottom web stirrups as described above, preferably, the welding mechanism includes a welding frame, a left welding arm and a right welding arm; one end of the left welding arm is hingedly arranged on the welding frame, and the other end is connected to the welding frame through a left welding cylinder; one end of the right welding arm is hingedly arranged on the welding frame, and the other end is connected to the welding frame through a right welding cylinder; A translation track is provided on one of the left welding arm and the right welding arm, a translation seat is provided on the translation track for guiding movement, a pressure rod is rotatably provided on the translation seat, and a welding machine and a pneumatic clamp are respectively provided on both sides of the pressure rod on the translation seat; Pneumatic clamps are provided at the middle of the left welding arm and the right welding arm; A plurality of welding machines are arranged on the welding frame at the bottom positions corresponding to the stirrup mesh, and a plurality of pressure rods are rotatably arranged.

[0013] As described above, the multi-head bending device for integrated processing of bottom web stirrups, preferably, the discharging mechanism also includes a discharging gantry, the discharging gantry moves along the gantry track, and the discharging gripper is arranged on the transfer gantry through a discharging lifting rod.

[0014] The present application also provides a multi-head bending method for integrally processing bottom web stirrups, the forming method using the multi-head bending device for integrally processing bottom web stirrups described above, the forming method comprising the following steps: Step 1: The straightening and cutting machine straightens the steel bars and cuts them into the set length and feeds them into the storage mechanism; Step 2: The storage mechanism drops the temporarily stored steel bars into the bending mechanism; Step 3: The bending mechanism divides the steel bars into two parts, the inner ring and the outer ring, and bends and aligns them to form a stirrup mesh; specifically: Step 301: the first bending head and the fifth bending head perform the first bending; the flange connecting the outer ring rib and the inner ring rib is bent; Step 302: The first bending head is translated and performs a second bending to bend out a short side of a web in the inner ring rib; Step 303: The second bending head performs a first bend to bend out the long side of a web in the inner ring rib. This bend also forms the first inflection point bend at the junction of the bottom plate and a web in the inner ring rib. Step 304: the second bending head is translated and performs a second bending, so as to perform a second inflection point bend at the intersection of the bottom plate and one of the webs in the inner ring rib; Step 305: The second bending head is flattened again and performs a third bend to bend the third inflection point at the intersection of the bottom plate and one web of the inner ring rib. Simultaneously, the fifth bending head is translated to perform a second bend to bend out one of the long sides of the web of the outer ring rib. Step 306 , the third bending head performs a first bending to perform a first inflection point bend at the intersection of the bottom plate and the other web in the inner ring rib; Step 307 , after the third bending head is translated into position, a second bending is performed to perform a second inflection point bend at the intersection of the bottom plate and the other web in the inner ring rib; Step 308: After the third bending head is translated into position, a third bending is performed to bend the third inflection point at the intersection of the bottom plate in the inner ring rib and the other web. Simultaneously, the fifth bending head is translated to bend the third time to bend out the bottom plate in the outer ring rib. Step 309: The second baffle is raised, and the fourth bending head performs the first bending to bend out another web in the outer ring rib. At this time, under the action of the second baffle, the outer ring rib is initially positioned on the sinker plate; Step 3010: The first limiting baffle is raised, and the fourth bending head is translated into position to perform a second bending to complete the alignment of the outer and inner ring ribs. At this time, under the action of the first baffle, the inner ring rib is initially positioned on the sinker plate; Step 3011: After the bending is completed, the five bending heads are lowered, the blocking rod is raised, and the synchronous discharge cylinder is extended to push the one-piece stirrup mesh out and wait for the transfer gantry to grab it; then, the five bending heads are raised and wait for the next steel bar to be dropped to perform the cyclic bending operation; Step 4: After the transfer gantry drives the transfer gripper to move to the stirrup mesh into position, the transfer gripper descends and clamps the stirrup mesh, then the transfer gripper rises, and after the transfer gantry drives the transfer gripper to move to the welding mechanism into position, the transfer gripper descends; Step 5: The pressure rod in the welding mechanism rotates to compress the stirrup mesh, and the pneumatic clamp in the welding mechanism clamps the stirrup mesh. At this time, the transfer gripper releases the stirrup mesh and resets. Then, multiple welding machines in the welding mechanism simultaneously block the stirrup mesh for welding, so that the stirrup mesh is welded into a whole. Step 6: After the discharging gantry drives the discharging gripper to move to the welding mechanism into position, the discharging gripper descends and clamps the stirrup mesh, and then the discharging gripper rises. After the discharging gantry drives the discharging gripper to move to the stirrup mesh discharging position, the discharging gripper releases the stirrup mesh, and the discharging operation is completed.

[0015] Beneficial effects: In this bending device, a plurality of bending heads in the bending mechanism work together to bend a steel bar into an integrated bottom web stirrup mesh, which not only makes the bending operation more efficient, but also makes the formed stirrup mesh structure more integrated; then a transfer mechanism is set between the bending mechanism and the welding mechanism, which grabs the stirrup mesh through a transfer gripper and transfers it to the welding mechanism. The welding mechanism welds the overlapping steel bars in the stirrup mesh to weld the stirrup mesh into a whole. Finally, the discharging gripper of the discharging mechanism grabs the welded stirrup mesh and transfers it for discharging. The various construction processes in the production of stirrup mesh by this bending device are smoothly connected, and the construction operation of bending a steel bar to form a stirrup mesh is more efficient, which not only helps to reduce the work intensity of the construction workers, but also improves the production efficiency of the bottom web stirrup mesh. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings and descriptions that constitute part of this application are intended to provide a further understanding of this application. The exemplary embodiments and descriptions of this application are intended to explain this application and do not constitute an improper limitation on this application. Among them: Figure 1 This is a schematic structural diagram of a bending device according to an embodiment of the present application; Figure 2 This is a structural diagram of a blanking mechanism according to an embodiment of the present application; Figure 3 This is a structural diagram of a material storage mechanism according to an embodiment of the present application; Figure 4 This is a schematic structural diagram of a bending mechanism according to an embodiment of the present application; Figure 5 A top view of a discharging mechanism according to an embodiment of the present application; Figure 6 This is a front view of a discharging mechanism according to an embodiment of the present application; Figure 7 This is a structural diagram of a transfer gripper according to an embodiment of the present application; Figure 8 This is a structural diagram of a welding mechanism according to an embodiment of the present application; Figure 9 This is a structural diagram of a discharging gripper according to an embodiment of the present application; Figure 10 A schematic diagram of the steps of a molding method according to an embodiment of the present application; Figure 11 For attachment Figure 4 Enlarged view of the second bending head.

[0017] Description of reference numerals: 1. Unloading mechanism; 11. Rebar unloading rack; 12. Squirrel cage; 13. Straightening and cutting machine; 2. Material storage mechanism; 21. Truss; 22. Material storage trough; 23. Material storage cylinder; 24. Material drop switch; 3. Bending mechanism; 31. First bending head; 32. Second bending head; 33. Third bending head; 34. Fourth bending head; 35. Fifth bending head; 36. Transition flap; 4. Bending platform; 41. Panel; 42. Gear lever; 43. Base; 44. Discharge track; 45. Second baffle; 46. First baffle; 47. Platform plate; 5. Transfer mechanism; 51. Gantry track; 52. Transfer gantry; 53. Fixing plate; 54. Transfer right cylinder; 55. I-beam; 56. Rotating cylinder; 57. Extension rod; 58. Transfer left cylinder; 59. Transfer left arm; 510. Transfer right arm; 511. Regularization cylinder; 6. Welding mechanism; 61. Welding frame; 62. Welding left arm; 63. Welding right arm; 64. Welding left cylinder; 65. Welding right cylinder; 66. Translation seat; 67. Translation track; 68. Press rod; 69. Welding machine; 7. Discharging mechanism; 71. Discharging gripper; 8. Pneumatic gripper. DETAILED DESCRIPTION

[0018] The following is a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0019] In the description of this application, the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and do not require that this application must be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on this application. The terms "connected" and "connected" used in this application should be understood in a broad sense. For example, they can be fixed connections or detachable connections; they can be directly connected or indirectly connected through intermediate components. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0020] The present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that, unless there is a conflict, the embodiments and features in the embodiments of the present application can be combined with each other.

[0021] According to the specific embodiments of this application, Figure 1-10 As shown, the present application provides a multi-head bending device for integrated processing of bottom web stirrups, the bending device comprising: a feeding mechanism 1, a material storage mechanism 2, a bending mechanism 3, a transfer mechanism 5, a welding mechanism 6 and a discharging mechanism 7; The unloading mechanism 1 is located upstream of the bending mechanism 3, the storage mechanism 2 is located above the bending mechanism 3, a welding mechanism 6 is provided downstream of the bending mechanism 3, the transfer mechanism 5 is moved between the bending mechanism 3 and the welding mechanism 6, and the discharging mechanism 7 is moved along the welding mechanism 6 to the downstream direction.

[0022] The unloading mechanism 1 includes a straightening and cutting machine 13, which is used to straighten the rebar and cut it to the set length before feeding it into the storage mechanism 2. In this embodiment, the unloading mechanism 1 also includes a rebar unloading rack 11 and a cage 12. The rebar unloading rack 11 is used to store the rebar; the cage 12 is a tapered structure that guides the rebar. Rebar in the unloading rack 11 passes through the cage 12 and enters the straightening and cutting machine 13, where it is straightened and cut to the set length. The cut rebar falls into the storage mechanism 2.

[0023] The storage mechanism 2 is used to drop straightened rebar into the bending mechanism 3. In this embodiment, the storage mechanism 2 comprises a truss 21 and a storage trough 22. One side of the storage trough 22 is hinged to the truss 21, and a storage cylinder 23 is connected between the other side and the truss 21. Specifically, one end of the storage cylinder 23 is hinged to the truss 21, and the other end is hinged to the storage trough 22. A drop channel is provided on the truss 21 below the storage trough 22. When dropping rebar is required, the storage cylinder 23 is controlled to shorten, causing the storage trough 22 to rotate about its hinge point, thereby allowing the rebar in the storage trough 22 to drop into the drop channel.

[0024] In this embodiment, a blanking switch 24 can be set on the blanking channel. The blanking switch 24 can be a plurality of cylinders arranged in parallel. When the cylinder is extended, the blanking channel is blocked, and when the cylinder is retracted, the blanking channel is opened. In other embodiments, the blanking switch 24 can also be an electromagnetic suction cup. When the electromagnetic suction cup is opened, the steel bars are adsorbed on the electromagnetic suction cup. When the electromagnetic suction cup is closed, the steel bars fall from the blanking channel.

[0025] In this embodiment, a pushing device is provided downstream of the multiple bending heads, and the pushing device includes a pushing cylinder with a pushing plate provided at the end of the cylinder; when the steel bars fall into the bending head, the pushing cylinder pushes the pushing plate outward a set distance, and the pushing plate pushes the steel bars to the set position, thereby ensuring that the steel bars are accurately positioned.

[0026] The bending mechanism 3 includes a bending platform 4 and a plurality of bending heads arranged in parallel. The plurality of bending heads divide the steel bars into two parts, the inner ring bars and the outer ring bars, and bend them together to form a stirrup mesh. In this embodiment, the stirrup mesh is composed of the bottom plate bars and the web bars on both sides thereof to form a whole.

[0027] The transfer mechanism 5 includes a transfer gripper for grabbing the stirrup mesh and transferring it to the welding mechanism 6 .

[0028] The welding mechanism 6 is used to weld the stirrup mesh into an integrated structure.

[0029] The discharging mechanism 7 includes a discharging gripper 71 for grabbing the stirrup mesh in the welding mechanism 6 and discharging the stirrup mesh.

[0030] In the bending device, the feeding mechanism 1 feeds the steel bars into the storage mechanism 2, and the storage mechanism 2 and the bending mechanism 3 are arranged in parallel, so that the storage mechanism 2 can feed the steel bars into the bending mechanism 3; the multiple bending heads in the bending mechanism 3 work together to bend a steel bar into an integrated bottom web stirrup mesh, which not only makes the bending operation more efficient, but also improves the integrity of the formed stirrup mesh structure; then the transfer mechanism 5 arranged between the bending mechanism 3 and the welding mechanism 6 grabs the stirrup mesh through the transfer gripper and transfers it to the welding mechanism 6, the welding mechanism 6 welds the overlapping steel bars in the stirrup mesh, so that the stirrup mesh is welded into a whole, and finally the discharging gripper 71 of the discharging mechanism 7 grabs the welded stirrup mesh and transfers it for discharging.

[0031] When assembling the box girder frame, after arranging multiple stirrup meshes side by side, the longitudinal reinforcement is directly passed through and welded between the stirrup meshes to complete the assembly of the bottom web stirrups.

[0032] Moreover, the various construction processes in the production of stirrup mesh by the bending device are smoothly connected, and the construction operation of bending a steel bar to form a stirrup mesh is made more efficient, which not only helps to reduce the work intensity of the construction workers, but also improves the production efficiency of the bottom web stirrup mesh.

[0033] A plurality of bending heads are arranged in parallel along the extension direction of the material storage mechanism 2 , and the bending heads are located below the discharge port in the material storage mechanism 2 .

[0034] Each bending head is arranged on a lifting platform, and the bending head is driven by the lifting platform to perform lifting motion, and each lifting platform moves along a track guide.

[0035] In one embodiment of the present application, the track on which the lifting platform moves is parallel to the extension direction of the material storage mechanism 2. When the material storage mechanism 2 drops material into the bending head, multiple bending heads are in a raised state. At this time, multiple bending heads support the steel bars. In the subsequent bending process, when a certain bending head is needed to perform a bending operation, the bending head can be lowered first, then translated to the position to be bent, and then raised for bending. This arrangement can avoid interference with the steel bars during the translation process of the bending head.

[0036] In this embodiment, the lifting platform includes a base and a lifting rod, one end of the lifting rod is fixed on the base, and the other end is fixed to the bottom of the bending head; the bending head is driven to move up and down through the lifting movement of the lifting rod, wherein the lifting rod can be a retractable structure such as a hydraulic rod or a pneumatic rod.

[0037] The base guide is set on a track, wherein two tracks can be set in parallel to ensure the stability of the base movement; an electric drive wheel can be set at the bottom of the base to drive the base to move along the track guide; in other embodiments, a rack can also be set on the side of the track, and a gear driven by a motor can be set on the base. The gear and the rack are engaged and driven to drive the base to move along the track. In this structure, the gear and the rack have a self-locking effect, which can ensure the stability of the base after it moves into place.

[0038] The multiple bending heads include a first bending head 31, a second bending head 32, a third bending head 33, a fourth bending head 34 and a fifth bending head 35 distributed in parallel from upstream to downstream, wherein the first bending head 31, the second bending head 32 and the third bending head 33 are the bending heads of the upstream part, and the fourth bending head 34 and the fifth bending head 35 are the bending heads of the downstream part.

[0039] In the bending head of the upstream part and the bending head of the downstream part, one part is used to bend the outer ring reinforcement of the stirrup mesh, and the other part is used to bend the inner ring reinforcement of the stirrup mesh.

[0040] The bending platform 4 is arranged between the upstream bending head and the downstream bending head.

[0041] In one embodiment of the present application, multiple bending heads include a first bending head 31, a second bending head 32, a third bending head 33, a fourth bending head 34 and a fifth bending head 35 distributed in parallel from upstream to downstream, wherein the first bending head 31, the second bending head 32 and the third bending head 33 are the bending heads of the upstream part, which are used to bend the inner ring reinforcement of the stirrup mesh; the fourth bending head 34 and the fifth bending head 35 are the bending heads of the downstream part, which are used to bend the outer ring reinforcement of the stirrup mesh; and the bending platform 4 is arranged between the third bending head 33 and the fourth bending head 34, so that when the outer ring reinforcement and the inner ring reinforcement are matched to form the stirrup mesh, it plays a supporting role on the stirrup mesh.

[0042] In this embodiment, the tracks of the lifting platforms of the first bending head 31, the second bending head 32, and the third bending head 33 are integrated tracks, and the tracks of the lifting platforms of the fourth bending head 34 and the fifth bending head 35 are various independent tracks; in other embodiments, the tracks of the lifting platforms of the first bending head 31, the second bending head 32, the third bending head 33, the fourth bending head 34, and the fifth bending head 35 can be various independent tracks or integrated tracks; the selection can be made according to the needs of the bending head operation path.

[0043] In this embodiment, a transition flap 36 is provided on at least one of the first bending head 31, the second bending head 32, the third bending head 33, the fourth bending head 34 and the fifth bending head 35. Specifically, the second bending head 32 and the third bending head 33 are both provided with a transition flap 36; the transition flap 36 can be fixed on the bending head. When the bending head is in the process of bending the steel bars, the transition flap 36 plays a role of transition support for the steel bars, which can avoid interference between the steel bar bending process and the components near the transition flap 36.

[0044] In other embodiments, the transition flap 36 may also be arranged on the bending head in a manner that can be raised and lowered by a cylinder. When the transition flap 36 is needed, the cylinder lifts the transition flap 36 upward to raise the transition flap 36.

[0045] The bending platform 4 includes a panel 41 and a limiting discharge mechanism. The panel 41 is located between the upstream bending head and the downstream bending head, and the limiting discharge mechanism is located below the panel 41. In this embodiment, the panel 41 is located on the side of the bending head away from the storage mechanism 2, so that the panel 41 can support the stirrup mesh folded out by the bending head.

[0046] In this embodiment, the bending platform 4 further includes a platform plate 47, which is disposed on the periphery of the bending mechanism. Long perforations are provided on the platform plate 47 corresponding to the positions of each bending head, allowing the bending head to extend out of the platform plate 47. Furthermore, a panel 41 is embedded in the platform plate 47, and one side of the panel 41 is hingedly connected to the platform plate 47. When the position-limiting discharge mechanism below the panel 41 needs to be adjusted, the panel 41 can be simply rotated open, making it easier to adjust the position-limiting discharge mechanism below the panel 41.

[0047] The limited discharging mechanism includes a base 43, a discharging track 44 and a discharging cylinder. The base 43 is guided and moved along the discharging track 44. The extension direction of the discharging track 44 is perpendicular to the extension direction of the storage mechanism 2. The telescopic end of the discharging cylinder is connected to the side of the base 43. The discharging cylinder is located between the base 43 and the bending mechanism 3.

[0048] The base 43 is provided with a plurality of limit assemblies for limiting the position of the stirrup mesh. The panel 41 is provided with a plurality of long through-holes for the limit assemblies to move in the long through-holes.

[0049] Each set of limiting components includes a first baffle 46, a second baffle 45 and a shift rod 42. The first baffle 46 and the second baffle 45 are arranged opposite to each other. The first baffle 46, the second baffle 45 and the shift rod 42 in each set of limiting components are located on a straight line parallel to the storage mechanism 2.

[0050] The first baffle 46 is driven by the cylinder to move up and down, the second baffle 45 is driven by the cylinder to move up and down, and the shift rod 42 is driven by the cylinder to move up and down.

[0051] In one embodiment of the present application, the first baffle 46 and the second baffle 45 are both right-angled triangle structures, and a right-angled side of the first baffle 46 is arranged opposite to a right-angled side of the second baffle 45, and the right-angled side of the second baffle 45 is lower than the right-angled side of the first baffle 46.

[0052] When the outer ring reinforcement needs to be bent into place, the second baffle 45 is raised by the cylinder, and the outer ring reinforcement is bent into place after touching the right-angled side of the second baffle 45; when the inner ring reinforcement needs to be bent into place, the first baffle 46 is raised by the cylinder, and the inner ring reinforcement is bent into place after touching the right-angled side of the first baffle 46; at this time, the first baffle 46 and the second baffle 45 clamp the overlapping part of the outer ring reinforcement and the inner ring reinforcement of the stirrup mesh.

[0053] When the limiting discharging mechanism needs to drive the stirrup mesh to be discharged, the cylinder drives the shift rod 42 to rise, so that the shift rod 42 abuts against the overlapping part of the outer ring reinforcement and the inner ring reinforcement, and then controls the discharging cylinder to extend outward, driving the base 43 to move away from the bending mechanism 3, so that the stirrup mesh is away from the bending mechanism 3, and the bending mechanism 3 performs the next round of bending operation.

[0054] In this embodiment, multiple groups of limiting components are provided, and the spacing between the first baffle 46, the second baffle 45 and the baffle rod 42 in each group of limiting components is different. Multiple groups of limiting components are used to meet the limiting requirements of stirrup meshes of different sizes, so that the bending device has a wider applicability.

[0055] The transfer mechanism 5 also includes a gantry track 51 and a transfer gantry 52. The transfer gantry 52 is guided and moved along the gantry track 51, and the transfer grabber is set on the transfer gantry 52 through a transfer lifting rod.

[0056] In one embodiment of the present application, the gantry track 51 is arranged across the bending platform 4 and the welding mechanism 6, and the gantry track 51 extends all the way to the discharge mechanism 7 of the welding mechanism 6, wherein the discharge gripper 71 can also move along the gantry track 51, that is, the transfer mechanism 5 and the discharge mechanism 7 can share a gantry track 51; at the same time, the gantry track 51 is fixedly connected to the truss 21 at the intersection of the storage mechanism 2. Such an arrangement greatly simplifies the structure of the bending device and reduces the footprint of the bending device.

[0057] In this embodiment, one end of the transfer lifting rod is fixed to the mobile vehicle of the transfer gantry 52, and the other end is fixed to the transfer gripper; the transfer gantry 52 moves along the gantry track 51, driving the transfer gripper to move horizontally, so that the transfer gripper can be rotated between the bending platform 4 and the welding mechanism 6; the mobile vehicle moves along the transfer gantry 52, driving the transfer gripper to move longitudinally, so that the transfer gripper can better align with the stirrup meshes of different sizes; the transfer lifting rod's telescopic lifting movement can drive the transfer gripper to move vertically. When the transfer gripper position is aligned with the stirrup mesh, the transfer gripper descends and grabs the stirrup mesh, then the transfer gripper grabs the stirrup mesh and rises, driving the stirrup mesh to translate. After translating to the welding mechanism 6, the transfer gripper descends to place the stirrup mesh in the welding mechanism 6. The transfer lifting rod can be a telescopic structure such as a hydraulic rod or a pneumatic rod.

[0058] The transfer gripper includes a fixed plate 53 and an I-frame 55. The fixed plate 53 is fixed to the bottom end of the transfer lifting rod. The I-frame 55 is rotatably set on the fixed plate 53. A rotating cylinder 56 is set between the fixed plate 53 and the I-frame 55. In this embodiment, an extension rod 57 is set on one side of the fixed plate 53. One end of the rotating cylinder 56 is hinged to the I-frame 55, and the other end is hinged to the extension rod 57. The extension rod 57 is provided to increase the rotational torque of the rotating cylinder 56. The telescopic movement of the rotating cylinder 56 drives the I-frame 55 to rotate relative to the fixed plate 53, so that the I-frame 55 can be adjusted to align with the stirrup mesh in different postures, which makes it easier for the transfer gripper to grab the stirrup mesh.

[0059] The transfer gripper also includes a transfer left arm 59 and a transfer right arm 510. One end of the transfer left arm 59 is hinged to the I-frame 55, and the other end is connected to the I-frame 55 through a transfer left cylinder 58; one end of the transfer right arm 510 is hinged to the I-frame 55, and the other end is connected to the I-frame 55 through a transfer right cylinder 54; in this embodiment, one end of the transfer left cylinder 58 is hinged to the I-frame 55, and the other end is hinged to the transfer left arm 59; one end of the transfer right cylinder 54 is hinged to the I-frame 55, and the other end is hinged to the transfer right arm 510; by controlling the telescopic movement of the transfer left cylinder 58, the angular position of the transfer left arm 59 relative to the I-frame 55 can be adjusted, and by controlling the telescopic movement of the transfer right cylinder 54, the angular position of the transfer right arm 510 relative to the I-frame 55 can be adjusted, so that the transfer gripper can be suitable for grabbing operations of stirrup meshes of different sizes, which is beneficial to improving the scope of application of the bending device.

[0060] The outer sides of the I-beam 55, the left transfer arm 59 and the right transfer arm 510 are all provided with a regular cylinder 511 and a pneumatic clamp 8, and the inner side of at least one of the left transfer arm 59 and the right transfer arm 510 is provided with a pneumatic clamp 8.

[0061] In one embodiment of the present application, a tidying plate is provided at the end of the tidying cylinder 511, and the tidying plate is driven by the cylinder to telescopically move to a set position. After the tidying plate pushes the stirrup mesh to the set position, the stirrup mesh is located within the range of the pneumatic clamp 8, thereby realizing precise positioning of the transfer gripper and the stirrup mesh; then the pneumatic clamp 8 is started to grab the stirrup mesh, so that the transfer gripper grabs the stirrup mesh, and then the transfer gripper drives the stirrup mesh to move to the position of the welding mechanism 6, and the pneumatic clamp 8 releases the stirrup mesh so that the stirrup mesh falls on the welding mechanism 6.

[0062] In this embodiment, two regularized cylinders 511 and a pneumatic clamp 8 are provided on the outside of the left transport arm 59 and the right transport arm 510. A regularized cylinder 511 and a pneumatic clamp 8 are provided on the top of the I-shaped frame 55. The pneumatic clamps 8 on the left transport arm 59, the right transport arm 510, and the top of the I-shaped frame 55 are used to clamp the outer ring reinforcement of the stirrup mesh; and a pneumatic clamp 8 is provided on the inside of the right transport arm 510 for clamping the inner ring reinforcement of the stirrup mesh. The pneumatic clamps 8 provided on the transport gripper enable precise and secure grasping of the stirrup mesh. The pneumatic clamps 8 are conventional structures and will not be described in detail here.

[0063] The welding mechanism 6 includes a welding frame 61, a welding left arm 62 and a welding right arm 63; one end of the welding left arm 62 is hinged on the welding frame 61, and the other end is connected to the welding frame 61 through a welding left cylinder 64; one end of the welding right arm 63 is hinged on the welding frame 61, and the other end is connected to the welding frame 61 through a welding right cylinder 65; in this embodiment, one end of the welding left cylinder 64 is hinged on the welding left arm 62, and the other end is hinged on the welding frame 61, one end of the welding right cylinder 65 is hinged on the welding right arm 63, and the other end is hinged on the welding frame 61, by adjusting the telescopic length of the welding left cylinder 64 and the welding right cylinder 65 to adjust the angle of the welding left arm 62 and the welding right arm 63 relative to the welding frame 61, so that the welding mechanism 6 can be suitable for welding operations of stirrup meshes of different sizes, which is beneficial to improving the scope of application of the bending device.

[0064] A translation track 67 is provided on one of the left welding arm 62 and the right welding arm 63, a translation seat 66 is provided on the translation track 67 for guiding movement, a pressure rod 68 is rotatably provided on the translation seat 66, and a welding machine 69 and a pneumatic clamp 8 are respectively provided on both sides of the pressure rod 68 on the translation seat 66.

[0065] Pneumatic clamps 8 are provided at the middle of the left welding arm 62 and the right welding arm 63 .

[0066] A plurality of welding machines 69 are provided on the welding frame 61 at the bottom positions corresponding to the stirrup mesh, and a plurality of pressing rods 68 are rotatably provided.

[0067] In one embodiment of the present application, the pressure rod 68 and the pneumatic clamp 8 work together to accurately fix the stirrup mesh on the welding frame 61, which is beneficial to the accurate welding operation of the stirrup mesh.

[0068] Among them, the pressure rod 68 is set at the output end of the servo motor, and the pressure rod 68 is controlled by the servo motor to rotate so that the pressure rod 68 presses the stirrup mesh on the welding frame 61; among them, the pressure rod 68 is a linear or T-shaped structure, and the T-shaped pressure rod 68 has a larger pressing area, so that it can better press the stirrup mesh.

[0069] In this embodiment, the welding points on the stirrup mesh are mostly distributed at the bottom plate and web positions at the bottom of the stirrup mesh, and the welding points on the stirrup mesh are the positions where the outer ring reinforcement and the inner ring reinforcement overlap with each other, so as to ensure that the stirrup mesh has better integrity after welding.

[0070] The discharge mechanism 7 also includes a discharge gantry, which moves along the gantry track 51. A discharge gripper 71 is mounted on the transfer gantry 52 via a discharge lifting rod. In this embodiment, the discharge gantry and the transfer gantry 52 share a gantry track 51. One end of the discharge lifting rod is fixed to the discharge gantry's mobile vehicle, and the other end is fixed to the discharge gripper 71. Furthermore, the main structure of the discharge gripper 71 is identical to that of the transfer gripper. The difference between the two is that the discharge gripper 71 is only provided with an outer pneumatic clamping jaw 8, and the discharge gripper 71 is not provided with a regular cylinder 511. Since the stirrup mesh has been welded into an integral structure, the discharge gripper 71 only needs to grasp the outer ring of the stirrup mesh.

[0071] In this embodiment, a controller is also provided in the bending device. The straightening and cutting machine 13, cylinder, telescopic rod, servo motor and other motion structures in the bending device are all connected to the controller, and the controller controls the movement through a prefabricated PLC control program to ensure the efficient operation of the bending device.

[0072] The present application also provides a multi-head bending method for integrally processing bottom web stirrups, which uses the multi-head bending device for integrally processing bottom web stirrups described above. The forming method comprises the following steps: Step 1: The straightening and cutting machine 13 straightens the steel bars and cuts them into the set length and feeds them into the storage mechanism 2; Step 2: the storage mechanism 2 drops the temporarily stored steel bars into the bending mechanism 3; Step 3: The bending mechanism 3 divides the steel bar into two parts, the inner ring and the outer ring, and bends and aligns them to form a stirrup mesh; specifically: Step 301: the first bending head 31 and the fifth bending head 35 perform the first bending; bend out the flange connecting the outer ring rib and the inner ring rib; Step 302: the first bending head 31 is translated and performs a second bending to bend out a short side of a web in the inner ring rib; Step 303: The second bending head 32 performs a first bending to bend out the long side of a web in the inner ring rib. This bending also forms the first inflection point bend at the junction of the bottom plate and a web in the inner ring rib. Step 304: the second bending head 32 is translated and performs a second bending operation to perform a second inflection point bend at the junction of the bottom plate and one of the webs in the inner ring rib. In step 305, the second bending head 32 is flattened again and performs a third bend to bend the third inflection point at the intersection of the bottom plate and one web in the inner ring rib. Simultaneously, the fifth bending head 35 is translated to perform a second bend to bend out one of the long sides of the web in the outer ring rib. Step 306: The third bending head 33 performs a first bending to bend the first inflection point of the junction between the bottom plate and the other web in the inner ring rib; Step 307 , the third bending head 33 is translated into position and then performs a second bending to perform a second inflection point bend at the intersection of the bottom plate and the other web in the inner ring rib; Step 308: The third bending head 33 is translated into position and performs a third bending to bend the third inflection point at the intersection of the bottom plate and the other web in the inner ring rib. Simultaneously, the fifth bending head 35 is translated and performs a third bending to bend out the bottom plate in the outer ring rib. Step 309: The second baffle 45 is raised, and the fourth bending head 34 performs the first bending to bend out another web in the outer ring rib. At this time, under the action of the second baffle 45, the outer ring rib is initially positioned on the sinker plate. Step 3010: The first limiting baffle is raised, and the fourth bending head 34 is translated into position to perform a second bending to complete the alignment of the outer and inner ring ribs. At this time, under the action of the first baffle 46, the inner ring rib is initially positioned on the sinker plate. Step 3011: After the bending is completed, the five bending heads are lowered, the blocking rod is raised, and the synchronous discharge cylinder is extended to push the one-piece stirrup mesh out of the material and wait for the transfer gantry 52 to grab it; then, the five bending heads are raised and wait for the next steel bar to be dropped to perform the cyclic bending operation; Step 4: After the transfer gantry 52 drives the transfer gripper to move to the stirrup mesh into position, the transfer gripper descends and clamps the stirrup mesh, and then the transfer gripper rises. After the transfer gantry 52 drives the transfer gripper to move to the welding mechanism 6 into position, the transfer gripper descends; Step 5: The pressure rod 68 in the welding mechanism 6 rotates to compress the stirrup mesh, and the pneumatic clamp 8 in the welding mechanism 6 clamps the stirrup mesh. At this time, the transfer gripper releases the stirrup mesh and resets. Then, the multiple welding machines 69 in the welding mechanism 6 simultaneously block the stirrup mesh and perform welding operations to weld the stirrup mesh into a whole. Step 6, after the discharging gantry drives the discharging gripper 71 to move to the welding mechanism 6 into position, the discharging gripper 71 descends and clamps the stirrup mesh, and then the discharging gripper 71 rises. After the discharging gantry drives the discharging gripper 71 to move to the stirrup mesh discharging position, the discharging gripper 71 releases the stirrup mesh, and the discharging operation is completed.

[0073] It will be understood that the above description is merely exemplary and the embodiments of the present application do not limit this.

[0074] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application are within the scope of protection of the pending claims of the present application.

Claims

1. A multi-head bending device for integrated processing of bottom web stirrups, characterized in that: The bending device includes: a material unloading mechanism, a material storage mechanism, a bending mechanism, a transfer mechanism, a welding mechanism and a material discharging mechanism; The unloading mechanism is located upstream of the bending mechanism, the storage mechanism is located above the bending mechanism, a welding mechanism is provided downstream of the bending mechanism, the transfer mechanism is moved between the bending mechanism and the welding mechanism, and the discharging mechanism is moved along the welding mechanism to the downstream direction; The feeding mechanism includes a straightening and cutting machine, which is used to straighten the steel bars and cut them into set lengths and feed them into the storage mechanism; The storage mechanism is used to drop the straightened steel bars into the bending mechanism; The bending mechanism includes a bending platform and a plurality of bending heads arranged in parallel. The plurality of bending heads divide the steel bars into two parts, the inner ring and the outer ring, and bend them to form a stirrup mesh. The transfer mechanism includes a transfer gripper for grabbing the stirrup mesh and transferring it to the welding mechanism; The welding mechanism is used to weld the stirrup mesh into an integrated structure; The discharging mechanism includes a discharging gripper for grabbing the stirrup mesh in the welding mechanism and discharging the material; The transfer mechanism also includes a gantry track and a transfer gantry. The transfer gantry moves along the gantry track, and the transfer gripper is arranged on the transfer gantry through a transfer lifting rod.

2. The multi-head bending device for integrated processing of bottom web stirrups according to claim 1, characterized in that: A plurality of bending heads are arranged in parallel along the extension direction of the material storage mechanism, and the bending heads are located below the material discharge port in the material storage mechanism; Each bending head is arranged on a lifting platform, and the bending head is driven by the lifting platform to perform lifting motion, and each lifting platform moves along a track guide.

3. The multi-head bending device for integrated processing of bottom web stirrups according to claim 2, characterized in that: The plurality of bending heads include a first bending head, a second bending head, a third bending head, a fourth bending head and a fifth bending head which are arranged in parallel from upstream to downstream, wherein the first bending head, the second bending head and the third bending head are bending heads of the upstream part, and the fourth bending head and the fifth bending head are bending heads of the downstream part; In the bending head of the upstream part and the bending head of the downstream part, one part is used to bend the outer ring reinforcement of the stirrup mesh, and the other part is used to bend the inner ring reinforcement of the stirrup mesh; The bending platform is arranged between the upstream bending head and the downstream bending head.

4. The multi-head bending device for integrated processing of bottom web stirrups according to claim 3 is characterized in that: The bending platform includes a panel and a position-limiting discharge mechanism, wherein the panel is located between the upstream bending head and the downstream bending head, and the position-limiting discharge mechanism is located below the panel; The position-limiting discharge mechanism includes a base, a discharge track and a discharge cylinder. The base moves along the discharge track. The extension direction of the discharge track is perpendicular to the extension direction of the storage mechanism. The telescopic end of the discharge cylinder is connected to the side of the base. The discharge cylinder is located between the base and the bending mechanism. The base is provided with a plurality of groups of limiting components, which are used to limit the stirrup mesh. The panel is provided with a plurality of long through-holes for the limiting components to move in the long through-holes.

5. The multi-head bending device for integrated processing of bottom web stirrups according to claim 4, characterized in that: Each set of the limiting components includes a first baffle, a second baffle and a shift rod, the first baffle and the second baffle are arranged opposite to each other, and the first baffle, the second baffle and the shift rod in each set of the limiting components are located on a straight line parallel to the material storage mechanism; The first baffle is driven by the cylinder to move up and down, the second baffle is driven by the cylinder to move up and down, and the gear lever is driven by the cylinder to move up and down.

6. The multi-head bending device for integrated processing of bottom web stirrups according to claim 1, characterized in that: The transfer gripper includes a fixed plate and an I-shaped frame, wherein the fixed plate is fixed to the bottom end of the transfer lifting rod, the I-shaped frame is rotatably arranged on the fixed plate, and a rotating cylinder is arranged between the fixed plate and the I-shaped frame; The transfer gripper also includes a transfer left arm and a transfer right arm, one end of the transfer left arm is hinged on the I-frame, and the other end is connected to the I-frame through a transfer left cylinder; one end of the transfer right arm is hinged on the I-frame, and the other end is connected to the I-frame through a transfer right cylinder; The outer sides of the I-frame, the left transfer arm and the right transfer arm are all provided with regular cylinders and pneumatic clamps, and the inner side of at least one of the left transfer arm and the right transfer arm is provided with a pneumatic clamp.

7. The multi-head bending device for integrated processing of bottom web stirrups according to claim 6, characterized in that: The welding mechanism includes a welding frame, a left welding arm and a right welding arm; one end of the left welding arm is hingedly arranged on the welding frame, and the other end is connected to the welding frame through a left welding cylinder; one end of the right welding arm is hingedly arranged on the welding frame, and the other end is connected to the welding frame through a right welding cylinder; A translation track is provided on one of the left welding arm and the right welding arm, a translation seat is provided on the translation track for guiding movement, a pressure rod is rotatably provided on the translation seat, and a welding machine and a pneumatic clamp are respectively provided on both sides of the pressure rod on the translation seat; Pneumatic clamps are provided at the middle of the left welding arm and the right welding arm; A plurality of welding machines are arranged on the welding frame at the bottom positions corresponding to the stirrup mesh, and a plurality of pressure rods are rotatably arranged.

8. The multi-head bending device for integrated processing of bottom web stirrups according to claim 7, characterized in that: The discharging mechanism also includes a discharging gantry, which moves along the gantry track guide, and the discharging gripper is arranged on the transfer gantry through a discharging lifting rod.

9. A multi-head bending forming method for integrally processing bottom web stirrups, characterized in that: The forming method uses the multi-head bending device for integrally processing bottom web stirrups according to claim 8, and the forming method comprises the following steps: Step 1: The straightening and cutting machine straightens the steel bars and cuts them into the set length and feeds them into the storage mechanism; Step 2: The storage mechanism drops the temporarily stored steel bars into the bending mechanism; Step 3: The bending mechanism divides the steel bars into two parts, the inner ring and the outer ring, and bends and aligns them to form a stirrup mesh; specifically: Step 301: the first bending head and the fifth bending head perform the first bending; the flange connecting the outer ring rib and the inner ring rib is bent; Step 302: The first bending head is translated and performs a second bending to bend out a short side of a web in the inner ring rib; Step 303: The second bending head performs a first bend to bend out the long side of a web in the inner ring rib. This bend also forms the first inflection point bend at the junction of the bottom plate and a web in the inner ring rib. Step 304: the second bending head is translated and performs a second bending, so as to perform a second inflection point bend at the intersection of the bottom plate and one of the webs in the inner ring rib; Step 305: The second bending head is flattened again and performs a third bend to bend the third inflection point at the intersection of the bottom plate and one web of the inner ring rib. Simultaneously, the fifth bending head is translated to perform a second bend to bend out one of the long sides of the web of the outer ring rib. Step 306 , the third bending head performs a first bending to perform a first inflection point bend at the intersection of the bottom plate and the other web in the inner ring rib; Step 307 , after the third bending head is translated into position, a second bending is performed to perform a second inflection point bend at the intersection of the bottom plate and the other web in the inner ring rib; Step 308: After the third bending head is translated into position, a third bending is performed to bend the third inflection point at the intersection of the bottom plate in the inner ring rib and the other web. Simultaneously, the fifth bending head is translated to bend the third time to bend out the bottom plate in the outer ring rib. Step 309: The second baffle is raised, and the fourth bending head performs the first bending to bend out another web in the outer ring rib. At this time, under the action of the second baffle, the outer ring rib is initially positioned on the sinker plate; Step 3010: The first limiting baffle is raised, and the fourth bending head is translated into position to perform a second bending to complete the alignment of the outer and inner ring ribs. At this time, under the action of the first baffle, the inner ring rib is initially positioned on the sinker plate; Step 3011: After the bending is completed, the five bending heads are lowered, the blocking rod is raised, and the synchronous discharge cylinder is extended to push the one-piece stirrup mesh out and wait for the transfer gantry to grab it; then, the five bending heads are raised and wait for the next steel bar to be dropped to perform the cyclic bending operation; Step 4: After the transfer gantry drives the transfer gripper to move to the stirrup mesh into position, the transfer gripper descends and clamps the stirrup mesh, then the transfer gripper rises, and after the transfer gantry drives the transfer gripper to move to the welding mechanism into position, the transfer gripper descends; Step 5: The pressure rod in the welding mechanism rotates to compress the stirrup mesh, and the pneumatic clamp in the welding mechanism clamps the stirrup mesh. At this time, the transfer gripper releases the stirrup mesh and resets. Then, multiple welding machines in the welding mechanism simultaneously block the stirrup mesh for welding, so that the stirrup mesh is welded into a whole. Step 6: After the discharging gantry drives the discharging gripper to move to the welding mechanism into position, the discharging gripper descends and clamps the stirrup mesh, and then the discharging gripper rises. After the discharging gantry drives the discharging gripper to move to the stirrup mesh discharging position, the discharging gripper releases the stirrup mesh, and the discharging operation is completed.

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