High-altitude building outer wall steel bar automatic positioning and welding mechanical arm

Abstract

The application discloses high-altitude building outer wall steel bar automatic positioning and welding mechanical arm and relates to the technical field of welding. The high-altitude building outer wall steel bar automatic positioning and welding mechanical arm comprises a supporting rail, a fixed plate is arranged on the front side of the supporting rail, a vertical plate is arranged on the front side of the fixed frame, a sliding block is slidably connected in the vertical plate, a feeding hopper is fixedly connected in the sliding block, a first fixed disc is fixedly connected on the front side of the feeding hopper, a first clamping plate is fixedly connected to one end of each of a plurality of first sliding plates, a connecting frame is fixedly connected to the bottom of the first fixed disc, a second fixed disc is fixedly connected to the top of the connecting frame, a second clamping plate is fixedly connected to one end of each of a plurality of second sliding plates, a receiving hopper is fixedly connected to the front side of the second fixed disc, and a discharging assembly is arranged on the front side of the receiving hopper. The high-altitude building outer wall steel bar automatic positioning and welding mechanical arm drives a plurality of clamping plates to simultaneously contract or expand, ensures accurate centering of outer wall steel bars and extension steel bars, and significantly improves welding efficiency and precision.

Description

Technical Field

[0001] This invention relates to the field of welding technology, specifically to an automatic positioning and welding robotic arm for steel reinforcement bars on the exterior walls of high-rise buildings. Background Technology

[0002] Existing high-rise building exterior walls have steel bars as internal supports for decorative panels and other protruding decorations. In some buildings, the original steel bars in the exterior walls are not long enough, so it is necessary to weld them to be longer.

[0003] In the prior art, Chinese Patent No. CN117324820B discloses a welding device for building steel bars, including a support, on which a circumferential welding mechanism is provided. The circumferential welding mechanism is used to perform circumferential welding on two weld joints at opposite ends of two steel bars. The circumferential welding mechanism includes a rotating ring, which is rotatably connected to the support. A rotating cylinder is fixedly connected to one side of the rotating ring, and the rotating cylinder is rotatably connected to the support through a rotating mechanism. Two welding machines are respectively arranged symmetrically on the inner wall of the rotating ring.

[0004] In the construction of exterior walls of high-rise buildings, the positioning and welding of reinforcing bars are crucial steps to ensure structural stability. Traditional methods rely primarily on manual operation, requiring workers to manually adjust the position of the reinforcing bars and perform welding in a high-altitude environment. This is not only inefficient but also poses significant safety risks. Furthermore, manual operation makes it difficult to guarantee the accuracy of reinforcing bar alignment, easily leading to unstable welding quality and affecting the overall structural strength. While the aforementioned reinforcing bar welding equipment can partially replace manual labor, it cannot be used at high altitudes and suffers from problems such as inaccurate positioning, limited welding range, and insufficient automation, making it difficult to meet the demands of complex high-altitude working environments. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic positioning and welding robotic arm for steel reinforcement in the exterior walls of high-rise buildings, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an automatic positioning and welding robotic arm for steel reinforcement of high-altitude building exterior walls, comprising a support rail, a fixed plate provided on the front side of the support rail, a fixed frame provided at the bottom of the fixed plate, a vertical plate provided on the front side of the fixed frame, a slider slidably connected inside the vertical plate, a plurality of first springs fixedly connected inside the vertical plate, the two ends of the first springs being fixedly connected to the slider and the vertical plate respectively, a feeding hopper fixedly connected inside the slider, a first fixed plate fixedly connected on the front side of the feeding hopper, a plurality of first sliding sleeves provided inside the first fixed plate, a first sliding plate slidably connected inside each of the plurality of first sliding sleeves, a first clamping plate fixedly connected at one end of each of the plurality of first sliding plates, a connecting frame fixedly connected at the bottom of the first fixed plate, a second fixed plate fixedly connected on the front side of the top of the connecting frame, a plurality of second sliding sleeves fixedly connected inside the second fixed plate, a second sliding plate slidably connected inside each of the plurality of second sliding sleeves, a second clamping plate fixedly connected at one end of each of the plurality of second sliding plates, a receiving hopper fixedly connected on the front side of the second fixed plate, and a discharge assembly provided on the front side of the receiving hopper.

[0007] Preferably, a plurality of first sliding sleeves are arranged in a circular array inside the first fixed disk. One end of each of the plurality of first sliding plates is fixedly connected to a first clamping plate. One side of each of the plurality of first sliding plates is fixedly connected to a first guide rod. The plurality of first guide rods pass through the sidewalls of the plurality of first sliding sleeves and are slidably connected to the plurality of first sliding sleeves. A first turntable is rotatably connected inside the first fixed disk. The first turntable has a plurality of first guide grooves inside. The plurality of first guide rods pass through the plurality of first guide grooves and are slidably connected to the plurality of first guide grooves. When the first turntable rotates, the plurality of first guide grooves limit and guide the plurality of first guide rods, thereby driving the plurality of first guide rods and the first sliding plates to move. The inner ring sidewall of the first fixed disk has a plurality of opening grooves. The plurality of first clamping plates pass through the plurality of opening grooves and are slidably connected to the plurality of opening grooves.

[0008] Preferably, a plurality of second sliding sleeves are arranged in a circular array inside the second fixed disk. A second guide rod is fixedly connected to one side of each of the plurality of second sliding plates. The plurality of second guide rods pass through the side walls of the plurality of second sliding sleeves and are slidably connected to the plurality of second sliding sleeves. A second turntable is rotatably connected inside the second fixed disk. A plurality of second guide grooves are opened inside the second turntable. The plurality of second guide rods pass through the plurality of second guide grooves and are slidably connected to the plurality of second guide grooves. By rotating the second turntable, the plurality of second guide grooves limit the plurality of second guide rods, thereby driving the plurality of second sliding plates to move.

[0009] Preferably, a connecting rod is fixedly connected between the second turntable and the first turntable. Both the second fixed plate and the side wall of the first turntable are provided with arc-shaped grooves. The two ends of the connecting rod pass through the two arc-shaped grooves respectively and are slidably connected to the two arc-shaped grooves, so that the second turntable and the first turntable rotate synchronously, thereby driving multiple second sliding plates and multiple first sliding plates to contract inward or expand outward at the same time, which facilitates the fixing of the reinforcing bars.

[0010] Preferably, a first hydraulic cylinder is fixedly connected to the bottom of the connecting frame, and a guide plate is fixedly connected to the output end of the first hydraulic cylinder. The guide plate passes through the connecting frame and is slidably connected to the connecting frame. The connecting rod passes through the guide plate and is slidably connected to the guide plate. The first hydraulic cylinder drives the guide plate to move horizontally, thereby causing the guide plate to drive the connecting rod to move.

[0011] Preferably, both the first and second fixed disks are fixedly connected to the outer sides of an arc-shaped rail, and a sliding plate is slidably connected to the outer sides of the two arc-shaped rails. A welding head is fixedly connected inside the sliding plate, and a first motor is fixedly connected to one side of the sliding plate. A guide gear is fixedly connected to the output end of the first motor, and a guide gear ring is fixedly connected to the outer side of the second fixed disk. The guide gear meshes with the guide gear ring. When the first motor is started, it drives the guide gear to rotate, causing the guide gear to move outside the guide gear ring, thereby driving the sliding plate to move.

[0012] Preferably, the discharge assembly includes a receiving box and a first threaded rod. The receiving box is fixedly connected to the front side of the receiving hopper, and a through hole is opened on the side of the receiving box facing the receiving hopper. The first threaded rod is rotatably connected to the bottom of the receiving box. A second motor is fixedly connected to one side of the bottom of the receiving box, and the output end of the second motor is fixedly connected to the first threaded rod. A moving plate is threadedly connected to the outer side of the first threaded rod, and a limit sleeve is fixedly connected to one side of the moving plate. The limit sleeve penetrates the bottom wall of the receiving box and is slidably connected to the receiving box, so that when the first threaded rod rotates, it drives the moving plate and the limit sleeve to move back and forth.

[0013] Preferably, a telescopic plate is slidably connected inside the limiting sleeve, and a swing rod is hinged to both sides of the top of the telescopic plate. A second spring is fixedly connected between the two swing rods, and a round rod is fixedly connected to one side of the bottom of the telescopic plate. After the telescopic plate extends out from inside the limiting sleeve, the second spring pushes the two swing rods to open, increasing the contact area with the reinforcing bar and facilitating the movement of the reinforcing bar.

[0014] Preferably, a second hydraulic cylinder is fixedly connected to one side of the movable plate, and a support rod is fixedly connected to the output end of the second hydraulic cylinder. The round rod passes through the side wall of the limiting sleeve and is slidably connected to the limiting sleeve. The round rod passes through the support rod and is fixedly connected to the support rod, so that the second hydraulic cylinder drives the support rod to move, and the support rod drives the round rod and the telescopic plate to rise and fall.

[0015] Preferably, a second threaded rod is rotatably connected inside the support rail, a third motor is fixedly connected to one end of the support rail, the output end of the third motor is fixedly connected to the second threaded rod, a moving block is slidably connected inside the support rail, the second threaded rod passes through the moving block and is threadedly connected to the moving block, a fixed plate is fixedly connected to one side of the moving block, a third hydraulic cylinder is fixedly connected to one side of the fixed plate, a fixed frame is fixedly connected to the bottom end of the output end of the third hydraulic cylinder, a fourth hydraulic cylinder is fixedly connected inside the fixed frame, a vertical plate is fixedly connected to the front end of the output end of the fourth hydraulic cylinder, support rods are fixedly connected to both sides of the fixed frame, and cameras are fixedly connected to the front ends of both support rods. The cameras monitor the position of the reinforcing bars and the welding process, facilitating adjustment and preventing misalignment.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. This application utilizes a linkage design between the first and second fixed plates, employing the synchronous rotation of the first and second turntables to simultaneously contract or expand multiple clamping plates, ensuring precise alignment of the external wall reinforcement and extended reinforcement. The welding head, driven by a motor, moves around the guide gear ring, enabling omnidirectional welding at the reinforcement joints, significantly improving welding efficiency and precision while reducing manual intervention and errors. It can automatically complete the positioning, clamping, welding, and material arrangement of the reinforcement. Real-time monitoring of the reinforcement position and welding process via a camera adjusts the position and movement of the robotic arm, greatly reducing operational difficulty and labor intensity, making it suitable for operations in complex high-altitude environments.

[0017] 2. In this application, after the telescopic plate pushes the reinforcing bar forward, the second hydraulic cylinder drives the support rod to descend, and the support rod drives the telescopic plate to descend, causing the telescopic plate to retract into the limiting sleeve, and the limiting sleeve to limit the two swing rods, bringing the two swing rods together in the middle and compressing the second spring, so that the two swing rods also retract into the limiting sleeve, thereby ensuring that the first threaded rod will not affect the subsequent falling of the reinforcing bar when it drives the moving plate and the limiting sleeve to move back.

[0018] 3. This application uses a welding head to perform welding operations at the joint of the reinforcing bars, and starts the first motor to drive the guide gear to rotate. The guide gear moves outside the guide gear ring, thereby driving the sliding plate to rotate, which facilitates the welding head to weld around the reinforcing bars. After welding is completed, the first hydraulic cylinder resets and drives the first clamping plate and the second clamping plate to loosen the reinforcing bars. The fourth hydraulic cylinder extends forward to move the feed hopper out from the outside of the reinforcing bars to facilitate subsequent work. The third motor starts and drives the feed hopper to move horizontally to weld other reinforcing bars. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2This is a schematic diagram of the receiving box of the present invention; Figure 3 This is a schematic diagram of the structure of the feed hopper of the present invention; Figure 4 This is a schematic diagram of the material receiving hopper of the present invention; Figure 5 This is a schematic diagram of the structure of the first fixing disk of the present invention; Figure 6 This is a schematic diagram of the structure of the first turntable of the present invention; Figure 7 This is a schematic diagram of the structure of the first sliding sleeve of the present invention; Figure 8 This is a schematic diagram of the connecting rod of the present invention; Figure 9 This is a schematic diagram of the structure of the second turntable of the present invention; Figure 10 This is a schematic diagram of the structure of the second sliding sleeve of the present invention; Figure 11 This is a schematic diagram of the connecting frame of the present invention; Figure 12 This is a schematic diagram of the structure of the sliding plate of the present invention; Figure 13 This is a schematic diagram of the structure of the first threaded rod of the present invention; Figure 14 This is a schematic diagram of the structure of the movable plate of the present invention; Figure 15 This is a schematic diagram of the structure of the pendulum rod of the present invention.

[0020] Labels in the diagram: 1. Support rail; 2. Fixing plate; 3. Fixing frame; 4. Vertical plate; 5. Slider; 6. Feed hopper; 7. First fixing plate; 8. First sliding sleeve; 9. First sliding plate; 10. First clamping plate; 11. First guide rod; 12. First turntable; 13. First guide groove; 14. Opening groove; 15. Connecting rod; 16. Connecting frame; 17. Second fixing plate; 18. Second sliding sleeve; 19. Second sliding plate; 20. Second clamping plate; 21. Second guide rod; 22. Second turntable; 23. Second guide groove; 25. Arc groove; 26. First hydraulic cylinder; 27. Guide plate 28. Receiving hopper; 29. ​​First spring; 30. Arc rail; 31. Sliding plate; 32. Welding head; 33. First motor; 34. Guide gear; 35. Guide gear ring; 36. Receiving box; 37. First threaded rod; 38. Second motor; 39. Moving plate; 40. Limiting sleeve; 41. Telescopic plate; 42. Round rod; 43. Swing rod; 44. Second spring; 45. Second hydraulic cylinder; 46. Support rod; 47. Second threaded rod; 48. Third motor; 49. Moving block; 50. Third hydraulic cylinder; 51. Fourth hydraulic cylinder; 52. Support rod; 53. Camera. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Example: Figures 1-15 As shown, this invention provides a technical solution for an automatic positioning and welding robotic arm for steel reinforcement in the exterior walls of high-altitude buildings. It includes a support rail 1, a fixed plate 2 on the front side of the support rail 1, a fixed frame 3 at the bottom of the fixed plate 2, a vertical plate 4 on the front side of the fixed frame 3, a second threaded rod 47 rotatably connected inside the support rail 1, a third motor 48 fixedly connected to one end of the support rail 1, the output end of the third motor 48 fixedly connected to the second threaded rod 47, a moving block 49 slidably connected inside the support rail 1, the second threaded rod 47 passing through the moving block 49 and threadedly connected to it, a fixed plate 2 fixedly connected to one side of the moving block 49, a third hydraulic cylinder 50 fixedly connected to one side of the fixed plate 2, a fixed frame 3 fixedly connected to the bottom end of the output end of the third hydraulic cylinder 50, a fourth hydraulic cylinder 51 fixedly connected inside the fixed frame 3, a vertical plate 4 fixedly connected to the front end of the output end of the fourth hydraulic cylinder 51, support rods 52 fixedly connected to both sides of the fixed frame 3, and cameras 5 fixedly connected to the front ends of both support rods 52. 3. The position of the reinforcing bars and the welding process are monitored by camera 53 to facilitate adjustment and prevent misalignment. A slider 5 is slidably connected inside the vertical plate 4. Multiple first springs 29 are fixedly connected inside the vertical plate 4. The two ends of the first springs 29 are fixedly connected to the slider 5 and the vertical plate 4, respectively. A feed hopper 6 is fixedly connected inside the slider 5. A first fixed plate 7 is fixedly connected to the front of the feed hopper 6. Multiple first sliding sleeves 8 are provided inside the first fixed plate 7. A first sliding plate 9 is slidably connected inside each of the multiple first sliding sleeves 8. A first clamping plate 10 is fixedly connected to one end of each of the multiple first sliding plates 9. A connecting frame 16 is fixedly connected to the bottom of the first fixed plate 7. A second fixed plate 17 is fixedly connected to the front of the top of the connecting frame 16. Multiple second sliding sleeves 18 are fixedly connected inside the second fixed plate 17. A second sliding plate 19 is slidably connected to the inside of each of the multiple second sliding sleeves 18. A second clamping plate 20 is fixedly connected to one end of each of the multiple second sliding plates 19. A receiving hopper 28 is fixedly connected to the front of the second fixed plate 17. Multiple first sliding sleeves 8 are arranged in a ring array inside the first fixed plate 7. One end of each of the multiple first sliding plates 9 is fixedly connected to a first clamping plate 10. One side of each of the multiple first sliding plates 9 is fixedly connected to a first guide rod 11. The multiple first guide rods 11 pass through the side walls of the multiple first sliding sleeves 8 and are slidably connected to the multiple first sliding sleeves 8. The first fixed plate 7 is rotatably connected to a first turntable 12. The first turntable 12 has multiple first guide grooves 13. The multiple first guide rods 11 pass through the multiple first guide grooves 13 and are slidably connected to the multiple first guide grooves 13. When the first turntable 12 rotates, the multiple first guide grooves 13 limit and guide the multiple first guide rods 11, thereby driving the multiple first guide rods 11 and the first sliding plates 9 to move. The inner ring side wall of the first fixed plate 7 has multiple opening grooves 14. The multiple first clamping plates 10 pass through the multiple opening grooves 14 and are slidably connected to the multiple opening grooves 14.

[0023] Multiple second sliding sleeves 18 are arranged in a circular array inside the second fixed disk 17. Each of the multiple second sliding plates 19 has a second guide rod 21 fixedly connected to one side. The multiple second guide rods 21 pass through the side walls of the multiple second sliding sleeves 18 and are slidably connected to them. A second turntable 22 is rotatably connected inside the second fixed disk 17. The second turntable 22 has multiple second guide grooves 23 inside. The multiple second guide rods 21 pass through the multiple second guide grooves 23 and are slidably connected to them. Rotation of the second turntable 22 causes the multiple second guide rods 21 to... The groove 23 limits the movement of multiple second guide rods 21, thereby driving multiple second slide plates 19 to move. A connecting rod 15 is fixedly connected between the second turntable 22 and the first turntable 12. Arc-shaped grooves 25 are opened on the side walls of the second fixed plate 17 and the first turntable 12. The two ends of the connecting rod 15 pass through the two arc-shaped grooves 25 respectively and slide in connection with the two arc-shaped grooves 25, so that the second turntable 22 and the first turntable 12 rotate synchronously, thereby simultaneously driving multiple second slide plates 19 and multiple first slide plates 9 to retract inward or expand outward, which facilitates the fixing of the reinforcing bars.

[0024] A first hydraulic cylinder 26 is fixedly connected to the bottom of the connecting frame 16. A guide plate 27 is fixedly connected to the output end of the first hydraulic cylinder 26. The guide plate 27 passes through the connecting frame 16 and is slidably connected to the connecting frame 16. The connecting rod 15 passes through the guide plate 27 and is slidably connected to the guide plate 27. The first hydraulic cylinder 26 drives the guide plate 27 to move horizontally, thereby causing the guide plate 27 to drive the connecting rod 15 to move.

[0025] Arc-shaped rails 30 are fixedly connected to the outer sides of both the first fixed plate 7 and the second fixed plate 17. Sliding plates 31 are slidably connected to the outer sides of the two arc-shaped rails 30. Welding heads 32 are fixedly connected inside the sliding plates 31. A first motor 33 is fixedly connected to one side of the sliding plates 31. A guide gear 34 is fixedly connected to the output end of the first motor 33. A guide gear ring 35 is fixedly connected to the outer side of the second fixed plate 17. The guide gear 34 meshes with the guide gear ring 35. The first motor 33 starts and drives the guide gear 34 to rotate, causing the guide gear 34 to move outside the guide gear ring 35, thereby moving the sliding plates 31. A discharge assembly is provided on the front side of the receiving hopper 28. The discharge assembly includes a receiving box 36 and a first threaded rod 37. The receiving box 36 is fixedly connected to the front side of the receiving hopper 28. A through hole is opened on the side of the receiving box 36 facing the receiving hopper 28. The first threaded rod 37 is rotatably connected to the bottom of the receiving box 36. A second motor 38 is fixedly connected to one side of the bottom of the receiving box 36. The output end of the second motor 38 is fixedly connected to the first threaded rod 37. A moving plate 39 is threadedly connected to the outer side of the first threaded rod 37. A limit sleeve 40 is fixedly connected to one side of the moving plate 39. The limit sleeve 40 penetrates the bottom wall of the receiving box 36 and is slidably connected to the receiving box 36, so that when the first threaded rod 37 rotates, it drives the moving plate 39 and the limit sleeve 40 to move back and forth. An extension is slidably connected inside the limit sleeve 40. The telescopic plate 41 has two hinged swing rods 43 on both sides of its top end. A second spring 44 is fixedly connected between the two swing rods 43. A round rod 42 is fixedly connected to one side of the bottom end of the telescopic plate 41. After the telescopic plate 41 extends out of the limiting sleeve 40, the second spring 44 pushes the two swing rods 43 to open, increasing the contact area with the steel bar and facilitating the movement of the steel bar. A second hydraulic cylinder 45 is fixedly connected to one side of the moving plate 39. A support rod 46 is fixedly connected to the output end of the second hydraulic cylinder 45. The round rod 42 passes through the side wall of the limiting sleeve 40 and is slidably connected to the limiting sleeve 40. The round rod 42 passes through the support rod 46 and is fixedly connected to the support rod 46. The second hydraulic cylinder 45 drives the support rod 46 to move, and the support rod 46 drives the round rod 42 and the telescopic plate 41 to rise and fall.

[0026] When using this solution, the support rail 1 can be lowered from the roof to the position of the external wall reinforcement by welding hooks to the top and using slings, or the support rail 1 can be lifted to the position of the external wall reinforcement by using lifting devices such as lifts.

[0027] When the support rail 1 is placed above the reinforcing bar, the third motor 48 is started to drive the second threaded rod 47 to rotate, causing the second threaded rod 47 to drive the moving block 49 to move horizontally. The moving block 49 then drives the fixed plate 2 and the third hydraulic cylinder 50 to move, which in turn drives the fixed frame 3 and the fourth hydraulic cylinder 51 to move, thereby adjusting the position of the feed hopper 6 horizontally. Next, the third hydraulic cylinder 50 is started to drive the fixed frame 3 and the vertical plate 4 to adjust their vertical positions, aligning the feed hopper 6 with the outer wall reinforcing bar. Then, the fourth hydraulic cylinder 51 is started to drive the vertical plate 4 to move inward, causing the vertical plate 4 to drive the feed hopper 6 to move. The opening of the feed hopper 6 aligns with the reinforcing bar. When the feed hopper 6 moves towards the reinforcing bar, the outer wall reinforcing bar pushes the feed hopper 6 and the slider 5 to move up and down, guiding the reinforcing bar and accurately inserting it into the slider 5 and the first fixed plate 7, facilitating the fixing of the reinforcing bar and subsequent connection.

[0028] Multiple extended steel bars are stacked vertically inside the receiving box 36. The second motor 38 starts, driving the first threaded rod 37 to rotate. The first threaded rod 37 then moves the moving plate 39, which in turn moves the limiting sleeve 40 and the telescopic plate 41 within the receiving box 36. The telescopic plate 41 then moves two swing rods 43, which in turn push the bottommost steel bar, pushing it from inside the receiving box 36 into the receiving hopper 28 and into the second fixed plate 17. This causes the outer wall steel bars and the extended steel bars to come into contact with each other. Next, the first hydraulic cylinder 26 starts, moving the guide plate 27. The guide plate 27 moves the connecting rod 15, causing the connecting rod 15 to drive the second turntable 22 and the first turntable 12 to rotate synchronously. This causes the first turntable 12 to limit the movement of the first guide rod 11, moving multiple first sliding plates 9 and pushing multiple first clamping plates 10 to extend. The second turntable 22 limits the second guide rod 21, causing multiple second slide plates 19 to move and push multiple second clamping plates 20 to extend, so that multiple first clamping plates 10 position the outer wall reinforcement, thereby setting the outer wall reinforcement at the center of the first fixed plate 7. Multiple second clamping plates 20 position the extended reinforcement, so that the extended reinforcement is located at the center of the second fixed plate 17, thereby aligning the two reinforcements and facilitating subsequent welding steps. After the telescopic plate 41 pushes the reinforcement forward, the second hydraulic cylinder 45 drives the support rod 46 to descend, and the support rod 46 drives the telescopic plate 41 to descend, causing the telescopic plate 41 to retract into the limiting sleeve 40, and the limiting sleeve 40 limits the two swing rods 43, bringing the two swing rods 43 together in the middle and compressing the second spring 44, so that the two swing rods 43 also retract into the limiting sleeve 40, so that the first threaded rod 37 will not affect the subsequent falling of the reinforcement when it drives the moving plate 39 and the limiting sleeve 40 to move back.

[0029] Welding is performed on the joint of the reinforcing bars by welding head 32, and the first motor 33 is started to drive the guide gear 34 to rotate. The guide gear 34 moves outside the guide gear ring 35, thereby driving the sliding plate 31 to rotate, so that the welding head 32 can weld around the reinforcing bars. After welding is completed, the first hydraulic cylinder 26 is reset to drive the first clamping plate 10 and the second clamping plate 20 to loosen the reinforcing bars, and the fourth hydraulic cylinder 51 extends forward to move the feed hopper 6 out from the outside of the reinforcing bars to facilitate subsequent work. The third motor 48 is started to drive the feed hopper 6 to move horizontally to weld other reinforcing bars.

[0030] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An automatic positioning and welding robotic arm for steel reinforcement in the exterior walls of high-rise buildings, characterized in that: Includes a support rail (1), a fixing plate (2) is provided on the front side of the support rail (1), a fixing frame (3) is provided at the bottom of the fixing plate (2), a vertical plate (4) is provided on the front side of the fixing frame (3), a slider (5) is slidably connected inside the vertical plate (4), a plurality of first springs (29) are fixedly connected inside the vertical plate (4), the two ends of the first springs (29) are fixedly connected to the slider (5) and the vertical plate (4) respectively, a feed hopper (6) is fixedly connected inside the slider (5), a first fixing plate (7) is fixedly connected on the front side of the feed hopper (6), a plurality of first sliding sleeves (8) are provided inside the first fixing plate (7), and the plurality of first sliding sleeves (8) are internally Each of the first sliding plates (9) is slidably connected to a first sliding plate (9). Each of the first sliding plates (9) is fixedly connected to a first clamping plate (10) at one end. The bottom of the first fixed plate (7) is fixedly connected to a connecting frame (16). The top front side of the connecting frame (16) is fixedly connected to a second fixed plate (17). The inside of the second fixed plate (17) is fixedly connected to a plurality of second sliding sleeves (18). The inside of each of the plurality of second sliding sleeves (18) is slidably connected to a second sliding plate (19). Each of the plurality of second sliding plates (19) is fixedly connected to a second clamping plate (20) at one end. The front side of the second fixed plate (17) is fixedly connected to a receiving hopper (28). The front side of the receiving hopper (28) is provided with a discharge assembly. Multiple first sliding sleeves (8) are arranged in a ring array inside the first fixed disk (7). One end of each of the multiple first sliding plates (9) is fixedly connected to a first clamping plate (10). One side of each of the multiple first sliding plates (9) is fixedly connected to a first guide rod (11). The multiple first guide rods (11) pass through the side walls of the multiple first sliding sleeves (8) and are slidably connected to the multiple first sliding sleeves (8). The first fixed disk (7) is rotatably connected to a first turntable (12). The first turntable (12) has multiple first guide grooves (13) inside. The multiple first guide rods (11) pass through the multiple first guide grooves (13) and are slidably connected to the multiple first guide grooves (13). The inner ring side wall of the first fixed disk (7) has multiple opening grooves (14). The multiple first clamping plates (10) pass through the multiple opening grooves (14) and are slidably connected to the multiple opening grooves (14). Multiple second sliding sleeves (18) are arranged in a ring array inside the second fixed disk (17). Multiple second sliding plates (19) are fixedly connected to one side with a second guide rod (21). Multiple second guide rods (21) pass through the side walls of multiple second sliding sleeves (18) and are slidably connected to multiple second sliding sleeves (18). A second turntable (22) is rotatably connected inside the second fixed disk (17). Multiple second guide grooves (23) are opened inside the second turntable (22). Multiple second guide rods (21) pass through multiple second guide grooves (23) and are slidably connected to multiple second guide grooves (23). A connecting rod (15) is fixedly connected between the second turntable (22) and the first turntable (12). The side walls of the second fixed plate (17) and the first turntable (12) are provided with arc-shaped grooves (25). The two ends of the connecting rod (15) pass through the two arc-shaped grooves (25) respectively and are slidably connected to the two arc-shaped grooves (25).

2. The automatic positioning and welding robotic arm for steel reinforcement in the exterior walls of high-altitude buildings according to claim 1, characterized in that: The bottom of the connecting frame (16) is fixedly connected to a first hydraulic cylinder (26), and the output end of the first hydraulic cylinder (26) is fixedly connected to a guide plate (27). The guide plate (27) passes through the connecting frame (16) and is slidably connected to the connecting frame (16). The connecting rod (15) passes through the guide plate (27) and is slidably connected to the guide plate (27).

3. The automatic positioning and welding robotic arm for steel reinforcement in the exterior walls of high-altitude buildings according to claim 1, characterized in that: Arc-shaped rails (30) are fixedly connected to the outer sides of the first fixed plate (7) and the second fixed plate (17). Sliding plates (31) are slidably connected to the outer sides of the two arc-shaped rails (30). Welding heads (32) are fixedly connected inside the sliding plates (31). A first motor (33) is fixedly connected to one side of the sliding plates (31). A guide gear (34) is fixedly connected to the output end of the first motor (33). A guide gear ring (35) is fixedly connected to the outer side of the second fixed plate (17). The guide gear (34) meshes with the guide gear ring (35).

4. The automatic positioning and welding robotic arm for reinforcing steel bars in the exterior walls of high-altitude buildings according to claim 1, characterized in that: The discharge assembly includes a receiving box (36) and a first threaded rod (37). The receiving box (36) is fixedly connected to the front side of the receiving hopper (28). The receiving box (36) has a through hole on the side facing the receiving hopper (28). The first threaded rod (37) is rotatably connected to the bottom of the receiving box (36). A second motor (38) is fixedly connected to one side of the bottom of the receiving box (36). The output end of the second motor (38) is fixedly connected to the first threaded rod (37). A moving plate (39) is threadedly connected to the outside of the first threaded rod (37). A limiting sleeve (40) is fixedly connected to one side of the moving plate (39). The limiting sleeve (40) penetrates the bottom wall of the receiving box (36) and is slidably connected to the receiving box (36).

5. The automatic positioning and welding robotic arm for steel reinforcement in the exterior walls of high-altitude buildings according to claim 4, characterized in that: The limiting sleeve (40) has a telescopic plate (41) slidably connected inside. Both sides of the top of the telescopic plate (41) are hinged with swing rods (43). A second spring (44) is fixedly connected between the two swing rods (43). A round rod (42) is fixedly connected to one side of the bottom of the telescopic plate (41).

6. The automatic positioning and welding robotic arm for reinforcing steel bars in the exterior walls of high-altitude buildings according to claim 5, characterized in that: A second hydraulic cylinder (45) is fixedly connected to one side of the movable plate (39), and a support rod (46) is fixedly connected to the output end of the second hydraulic cylinder (45). The round rod (42) passes through the side wall of the limiting sleeve (40) and is slidably connected to the limiting sleeve (40). The round rod (42) passes through the support rod (46) and is fixedly connected to the support rod (46).

7. The automatic positioning and welding robotic arm for reinforcing steel bars in the exterior walls of high-altitude buildings according to claim 1, characterized in that: The support rail (1) is rotatably connected to a second threaded rod (47). One end of the support rail (1) is fixedly connected to a third motor (48). The output end of the third motor (48) is fixedly connected to the second threaded rod (47). The support rail (1) is slidably connected to a moving block (49). The second threaded rod (47) passes through the moving block (49) and is threadedly connected to the moving block (49). The fixing plate (2) is fixedly connected to one side of the moving block (49). A third hydraulic cylinder (50) is fixedly connected to one side of the fixing plate (2). The fixing frame (3) is fixedly connected to the bottom end of the output end of the third hydraulic cylinder (50). A fourth hydraulic cylinder (51) is fixedly connected inside the fixing frame (3). The vertical plate (4) is fixedly connected to the front end of the output end of the fourth hydraulic cylinder (51). Support rods (52) are fixedly connected to both sides of the fixing frame (3). Cameras (53) are fixedly connected to the front ends of the two support rods (52).

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