Intelligent box girder production line

Abstract

The intelligent box girder production line comprises a bottom web plate production module and a flange plate production module, and the bottom web plate production module comprises a stirrup storage device, a stirrup bending device, a material taking six-axis robot, a bottom web plate mesh welding device and a bottom web plate forming device; the number of the stirrup storage devices is three, and the stirrup storage devices are distributed in a triangular mode. The three stirrup bending devices are distributed corresponding to the stirrup storage devices; the bottom web mesh welding device is arranged among the three stirrup bending devices; the number of the material taking six-axis robots corresponding to the three stirrup storage devices and the three stirrup bending devices is three. The flange plate production module comprises a flange plate forming device; the whole process is mechanically completed, the automation degree is high, the intelligent degree is high, time and labor are saved, and the working efficiency and the production quality can be remarkably improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of box girder production, and particularly relates to a box girder intelligent production line. BACKGROUND

[0002] The prefabricated box girder is a bridge structure which is poured or assembled into shape according to design drawings and specification requirements at a place other than a bridge construction site, and then transported to a bridge site for installation. The prefabricated box girder has the advantages of controllable quality, fast construction speed, short construction period, high standardization degree and reliable structural performance, and is one of the mainstream choices for modern standardized and assembled bridge construction.

[0003] In the prior art, the bottom web plate and the flange plate of the prefabricated box girder are basically processed by manually transferring the steel bars to different workstations for processing, which needs to consume a large amount of manpower, and has the technical problems of insufficient automation, low intelligence, high labor cost and low production and processing efficiency. SUMMARY

[0004] The application aims to provide a box girder intelligent production line to solve the technical problems in the background.

[0005] In order to achieve the above-mentioned purpose, the application adopts the following technical scheme:

[0006] A box girder intelligent production line comprises a bottom web plate production module and a flange plate production module, the bottom web plate production module comprises a stirrup storage device, a stirrup bending device, a six-axis material taking robot, a bottom web plate mesh welding device and a bottom web plate forming device, the stirrup storage device is distributed in a triangular shape and has three, the stirrup bending device is distributed in correspondence with the stirrup storage device and has three, the bottom web plate mesh welding device is arranged between the three stirrup bending devices, the six-axis material taking robot is arranged in correspondence with the three stirrup storage devices and the three stirrup bending devices and has three, and the flange plate production module comprises a flange plate forming device. The six-axis material taking robot puts the stirrups in the three stirrup storage devices into the corresponding stirrup bending devices, the stirrups are bent by the stirrup bending device to form two side stirrups and a bottom stirrup of a bottom web plate mesh, and after the bending is completed, the six-axis material taking robot puts the two side stirrups and the bottom stirrup into the bottom web plate mesh welding device to weld the stirrups into a bottom web plate mesh, and after the bottom web plate mesh is welded, a bottom web plate framework is formed in the bottom web plate forming device. A flange plate mesh forms a flange plate framework in the flange plate forming device, and finally the bottom web plate framework and the flange plate framework are transferred to a mold to pour and form a box girder.

[0007] Further, the stirrup storage device comprises a rotating mechanism and a stirrup material bin.

[0008] Further, the stirrup material bin comprises a storage assembly; the storage assembly comprises a bottom rod, a front vertical rod, a rear vertical rod, a connecting rod and a storage rod; the bottom rod is arranged on the top surface of the bottom disc; the front vertical rod is vertically arranged on the top surface of the bottom rod away from the center of the bottom disc; the rear vertical rod is vertically arranged on the top surface of the bottom rod close to the center of the bottom disc, and the height of the rear vertical rod is lower than that of the front vertical rod; the connecting rod is arranged between the front vertical rod and the rear vertical rod and is fixedly connected with the front vertical rod and the rear vertical rod, and the top surface of the front vertical rod is higher than that of the connecting rod; and the bottom surface of the storage rod is horizontally arranged on the top surface of the front vertical rod.

[0009] Further, the stirrup material bin further comprises an adjusting assembly; the adjusting assembly comprises an adjusting cylinder, an adjusting support and an adjusting rod; the cylinder body of the adjusting cylinder is hingedly connected with the connecting rod, and the piston rod thereof is hingedly connected with one end of the storage rod close to the center of the bottom disc; the adjusting support is vertically arranged on the top surface of the front vertical rod; the adjusting rod is rotatably arranged in the adjusting support; and the bottom surface of the storage rod is fixedly connected with the top surface of the adjusting rod.

[0010] Further, the stirrup material bin further comprises a blocking assembly; the blocking assembly comprises a blocking support, a blocking piece and a spring; the blocking support is arranged on one end of the storage rod away from the center of the bottom disc, and grooves are formed in the top surface of the blocking support; the bottom surface of each groove is provided with an opening; the blocking piece is arranged in each groove of the blocking support, and the side surface of one end of the blocking piece away from the center of the bottom disc is rotatably connected with the blocking support, and the other end of the blocking piece close to the center of the bottom disc extends upwardly out of the top surface of the storage rod; and the spring is vertically arranged in the opening of each groove, and the bottom end of the spring is fixedly connected with the bottom surface of the opening, and the top end of the spring is fixedly connected with the bottom surface of the blocking piece.

[0011] Further, the stirrup bending device comprises a bending frame, a bending base plate, a bending cylinder, a bending piece, a bending rod, a bending head, a bending clamping cylinder and an adjusting clamping arm; the bending frame is vertically arranged; the bending base plate is arranged at the lower part of one side of the bending frame, and two arc-shaped bending grooves with upward arc surfaces are arranged on the side wall of the bending base plate at intervals; the top surface of the cylinder body of the bending cylinder is hingedly connected to the upper part of the other side of the bending frame; the bending piece is in L-shaped structure, the upper part of the vertical edge of the bending piece is hingedly connected to the side of the bending base plate away from the bottom web sheet welding device, the horizontal edge is located at the bottom of the vertical edge and faces the bending cylinder, and the end of the horizontal edge facing the bending cylinder is hingedly connected to the piston rod of the bending cylinder; two bending rods are arranged corresponding to the arc-shaped bending grooves, one end of each of the two bending rods is fixedly connected to the side of the vertical edge of the bending piece close to the bottom web sheet welding device, and the other end of each of the two bending rods penetrates through the arc-shaped bending groove; the bending head is rotatably arranged on the end of each of the two bending rods close to the bottom web sheet welding device; the bending clamping cylinder is arranged on the side of the bending base plate close to the bottom web sheet welding device and is located above the arc-shaped bending groove, and the piston rod of the bending clamping cylinder penetrates through the bending base plate; and the adjusting clamping arm is vertically arranged on the piston rod of the bending clamping cylinder.

[0012] Further, the bottom web sheet welding device comprises a welding frame, a first left positioning and welding mechanism, a first right positioning and welding mechanism, a second left positioning and welding mechanism and a second right positioning and welding mechanism; the welding frame is horizontally arranged; the first positioning and welding mechanism comprises a first positioning assembly, a clamping assembly, a first welding assembly and a first pressing assembly; the first positioning assembly comprises a first positioning base plate, a first positioning table, a first positioning rod, a first stirrup positioning cylinder, a first positioning seat and a limiting rod; the first positioning base plate is horizontally arranged on the top surface of the left side of the welding frame, a first through groove is formed in the middle of the top surface of the first positioning base plate, and a through hole is formed in the right side of the top surface of the first positioning base plate; the first positioning table is arranged on the first positioning base plate; the first positioning rod is vertically arranged on the top surface of the first positioning base plate and is spaced apart; the first stirrup positioning cylinder is arranged on the bottom surface of the first positioning base plate and has an output end facing the direction of the through groove of the first positioning base plate; the first positioning seat is fixedly arranged on the output end of the first stirrup positioning cylinder; and the limiting rod is vertically arranged on the top surface of the first positioning seat and has an upper end extending out of the first through groove of the first positioning base plate.

[0013] The clamping assembly comprises a positioning and clamping cylinder and a positioning and clamping arm; the positioning and clamping cylinder is vertically arranged on the bottom surface of the first positioning base plate and has an output rod penetrating through the through hole of the first positioning base plate; and the positioning and clamping arm is vertically arranged on the output end of the positioning and clamping cylinder.

[0014] The first welding assembly is arranged on the left side and the front side of the top surface of the first positioning base plate, and comprises a first welding sliding table cylinder, a first welding support, and a first mesh welding gun.

[0015] The first pressing assembly comprises a first pressing cylinder, a first pressing support, a first pressing block, a first pushing cylinder, and a first pushing block. The first pressing cylinder is vertically arranged on the top surface of the first positioning base plate and located between the two groups of first welding assemblies. The first pressing support is fixedly arranged on the top surface of the piston rod of the first pressing cylinder and has a through channel in the middle. The first pressing block is arranged in the channel of the first pressing support and is in sliding connection with the first pressing support. The first pushing cylinder is arranged on the top surface of the first pressing support, and the piston rod of the first pushing cylinder is directed away from the first positioning table. The first pushing block is vertically arranged, and the upper end of the first pushing block is fixedly connected with the piston rod of the first pushing cylinder, and the lower end of the first pushing block is fixedly connected with one end of the first pressing block away from the first positioning table.

[0016] The first right positioning and welding mechanism is the same as the first left positioning and welding mechanism and is symmetrically arranged on the right side of the welding rack.

[0017] Further, the second left positioning and welding mechanism comprises a second positioning assembly, a second welding assembly, and a second pressing assembly. The second positioning assembly comprises a second positioning base plate, a second positioning table, a second positioning rod, a second stirrup positioning cylinder, a second positioning seat, and a limiting block. The second positioning base plate is horizontally arranged on the left rear part of the top surface of the welding rack. The second positioning table is arranged on the second positioning base plate, and the top surface of the second positioning table is provided with a second through slot on the front side. The second positioning rod is vertically arranged on the top surface of the second positioning base plate and located behind the through slot. The second stirrup positioning cylinder is arranged on the bottom surface of the second positioning base plate on the rear side, and the piston rod of the second stirrup positioning cylinder is directed toward the through slot of the second positioning base plate. The second positioning seat is fixedly arranged on the output end of the second stirrup positioning cylinder. The limiting block is vertically arranged on the top surface of the second positioning seat, and the upper end of the limiting block extends out of the second through slot of the second positioning table.

[0018] The second welding assembly comprises a second welding sliding table cylinder, a second welding support, and a second mesh welding gun. The second welding sliding table cylinder is horizontally arranged on the rear side of the top surface of the second positioning member and located behind the second positioning table. The second welding support is vertically arranged on the top surface of the second welding sliding table cylinder. The second mesh welding gun is arranged in the second welding support, and the gun head of the second mesh welding gun is directed toward the second positioning table.

[0019] The second pressing assembly comprises a second pressing cylinder, a second pressing support, a second pressing block, a second pushing cylinder and a second pushing cylinder.

[0020] The second right positioning and welding mechanism is identical in structure to the second left positioning and welding mechanism and is symmetrically arranged on the right side of the welding rack.

[0021] Further, the bottom web forming device comprises a bottom web assembling mechanism, a bottom web horizontal rib penetrating mechanism and a supporting mechanism. The bottom web assembling mechanism is provided with a plurality of cradles. The cradle is provided with a bottom frame, an upright frame, a horizontal plate, an upper bottom web mesh comb plate and a lower bottom web mesh comb plate. The bottom frame is horizontally arranged. The upright frame is vertically arranged on the top surface of the bottom frame. The horizontal plate is horizontally arranged on the top surface of the upright frame. The upper bottom web mesh comb plate is horizontally arranged on the side of the two bottom frames of each bottom web assembling mechanism. The lower bottom web mesh comb plate is horizontally arranged on the side of the two horizontal plates of each bottom web assembling mechanism. The bottom web horizontal rib penetrating mechanism is arranged on the cradle. The supporting mechanism is arranged between the two ends of the plurality of bottom web assembling mechanisms and the two cradles of the adjacent bottom web assembling mechanisms.

[0022] Further, the flange plate forming device comprises a flange plate assembling mechanism, a flange plate horizontal rib penetrating mechanism and a flange plate welding mechanism; the flange plate assembling mechanism is provided in plurality and arranged in sequence, comprising an assembling rack and a flange plate mesh comb plate; the assembling rack is horizontally arranged; the flange plate mesh comb plate is horizontally arranged on the top surface of the assembling rack and is provided with two comb plates in front and back, and the comb teeth are upward; the flange plate horizontal rib penetrating mechanism is arranged in the assembling rack and is used for penetrating the flange plate horizontal rib into the assembling rack; and the flange plate welding mechanism is arranged on both sides of the assembling rack and can move left and right, and is used for welding the flange plate mesh and the flange plate horizontal rib.

[0023] The present application has the following beneficial effects compared with the prior art:

[0024] 1. The present application comprises a stirrup storage device, a stirrup bending device, a bottom web mesh welding device, and a bottom web forming device to form a bottom web production module. The stirrup stored in the stirrup storage device is taken out by the six-axis robot and put into the stirrup bending device to form a bottom web mesh stirrup. Then the mesh stirrup is put into the bottom web mesh welding device by the six-axis robot to form a mesh. Finally, the mesh is laid into the bottom web forming device to form a bottom web skeleton. The flange plate mesh is formed into a flange plate skeleton by the flange plate forming device. The whole process is completed by mechanization, with high automation and intelligence, saving time and effort, and significantly improving work efficiency and production quality.

[0025] 2. In the stirrup storage device of the present application, a plurality of stirrup storage bins are arranged on the rotating mechanism. Different specifications of stirrups can be stored in the plurality of stirrup storage bins. The rotating mechanism can rotate the stirrup storage bin storing different specifications of stirrups to the taking position as needed, thereby ensuring continuous production and improving processing efficiency.

[0026] 3. In the stirrup storage bin of the present application, an adjusting assembly is arranged. When storing the material, the stirrup can automatically slide and store. When taking the material, it can automatically slide to the discharging position, which is convenient for storage and taking. At the same time, a blocking assembly is arranged. When taking the material, it can prevent the stirrup from falling. When storing the material, it does not affect the entry of the stirrup, saving time and effort and being convenient to use.

[0027] 4. In the stirrup bending device of the present application, the bending cylinder drives the bending member to rotate based on the connecting shaft, drives the bending head to move on the bending arc-shaped groove, and makes the stirrup bend based on the limiting head, so as to bend and form the stirrup into a mesh stirrup, with high processing precision and good processing quality.

[0028] 5. The bottom web mesh welding device of the present application, by setting the first left positioning welding mechanism, the first right positioning welding mechanism, the second left positioning welding mechanism and the second right welding positioning mechanism, when the steel bar is put into the welding rack by the six-axis robot, the stirrup can be positioned, and then the stirrup is fixed by the first positioning assembly, the first pressing assembly, the second positioning assembly and the second pressing assembly, so as to prevent displacement of the stirrup during welding, and the stirrup is welded by the mesh welding gun after being fixed, so as to ensure the welding quality and improve the product quality.

[0029] 6. The bottom web forming device of the present application, by setting the bottom web assembling mechanism, the bottom web horizontal bar penetrating mechanism and the supporting mechanism, the bottom web mesh forms a bottom web frame in the bottom web assembling mechanism, the bottom web horizontal bar enters the bottom web assembling mechanism from the bottom web horizontal bar penetrating mechanism, and then the bottom web horizontal bar is moved to the welding position by the supporting mechanism to form a bottom web skeleton; in the flange plate forming device, by setting the flange plate assembling mechanism, the flange plate horizontal bar penetrating mechanism and the flange plate welding mechanism, the flange plate mesh forms a flange plate frame in the flange plate assembling mechanism, the flange plate horizontal bar enters the flange plate assembling mechanism from the flange plate horizontal bar penetrating mechanism, and finally is welded and formed by the flange plate welding mechanism; the whole process can be automatically completed, and the automation and intelligent level is further improved. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a structural schematic diagram of the present application;

[0031] Figure 2 is a connecting mechanism schematic diagram of the stirrup storage device of the present application;

[0032] Figure 3 is a structural schematic diagram of the stirrup storage device of the present application;

[0033] Figure 4 is a structural schematic diagram of the rotating mechanism of the present application;

[0034] Figure 5 is a connecting structure schematic diagram of the material storage assembly of the present application;

[0035] Figure 6 is a structural schematic diagram of the adjusting assembly of the present application;

[0036] Figure 7 is a structural schematic diagram of the stirrup bending device of the present application;

[0037] Figure 8 is another perspective structural schematic diagram of the stirrup bending device of the present application;

[0038] Figure 9 is a connecting structure schematic diagram of the bending base plate of the present application;

[0039] Figure 10 is the connecting structure diagram of the bending cylinder of the present application;

[0040] Figure 11 is the structure diagram of the bottom web mesh welding device of the present application;

[0041] Figure 12 is the structure diagram of the first left positioning welding mechanism of the present application;

[0042] Figure 13 is the structure diagram of the first pressing assembly of the present application;

[0043] Figure 14 is the structure diagram of the second left positioning welding mechanism of the present application;

[0044] Figure 15 is the structure diagram of the second pressing assembly of the present application;

[0045] Figure 16 is the structure diagram of the bottom web forming device of the present application;

[0046] Figure 17 is the structure diagram of the bottom web assembling mechanism of the present application;

[0047] Figure 18 is the structure diagram of the bottom web assembling mechanism of the present application from another perspective;

[0048] Figure 19 is the structure diagram of the supporting mechanism of the present application;

[0049] Figure 20 is the structure diagram of the material bearing assembly of the present application;

[0050] Figure 21 is the structure diagram of the flange plate forming device of the present application;

[0051] Figure 22 is the structure diagram of the bottom web assembling mechanism of the present application;

[0052] Figure 23 is the structure diagram of the flange plate horizontal rib threading mechanism of the present application;

[0053] Figure 24 is the structure diagram of the flange plate welding mechanism of the present application;

[0054] Figure 25 is the connecting structure diagram of the welding base plate of the present application;

[0055] in the figure;

[0056] 1 - stirrup storage device;

[0057] 11-rotation mechanism; 111-base; 112-slewing bearing; 113-chassis; 114-motor mounting plate; 115-rotation motor; 116-gear; 117-gimbal ball;

[0058] 12-tie bar material bin;

[0059] 121-storage assembly; 1211-bottom bar; 1212-front vertical bar; 1213-rear vertical bar; 1214-connecting bar; 1215-storage bar; 1216-side guardrail;

[0060] 122-adjustment assembly; 1221-adjustment cylinder; 1222-adjustment support; 1223-adjustment bar;

[0061] 123-blocking assembly; 1231-blocking support; 1232-blocking piece; 1233-spring;

[0062] 13-fixed bar; 14-proximity switch;

[0063] 2-tie bar bending device;

[0064] 201-bending rack; 202-bending base plate; 203-arc-shaped bending groove; 204-bending cylinder; 205-connecting shaft; 206-bending piece; 207-limiting head; 208-bending bar; 209-bending head; 210-bending clamping cylinder; 211-adjusting clamping arm;

[0065] 3-material taking six-axis robot;

[0066] 4-bottom web plate welding device;

[0067] 41-welding rack;

[0068] 42-first left positioning welding mechanism;

[0069] 421-first positioning assembly; 4211-first positioning base plate; 4212-first positioning table; 4213-first positioning bar; 4214-first tie bar positioning cylinder; 4215-first positioning seat; 4216-limiting bar;

[0070] 422-clamping assembly; 4221-positioning clamping cylinder; 4222-positioning clamping arm;

[0071] 423-first welding assembly; 4231-first welding sliding table cylinder; 4232-first welding support; 4233-first web plate welding gun;

[0072] 424-first pressing assembly; 4241-first pressing cylinder; 4242-first pressing support; 4243-first pressing block; 4244-first pushing cylinder; 4245-first pushing block;

[0073] 43 - first right positioning and welding mechanism;

[0074] 44 - second left positioning and welding mechanism;

[0075] 441 - second positioning assembly; 4411 - second positioning base plate; 4412 - second positioning table; 4413 - second positioning rod; 4414 - second stirrup positioning cylinder; 4415 - second positioning seat; 4416 - limiting block;

[0076] 442 - second welding assembly; 4421 - second welding slide table cylinder; 4422 - second welding support; 4423 - second mesh welding gun;

[0077] 443 - second pressing assembly; 4431 - second pressing cylinder; 4432 - second pressing support; 4433 - second pressing block; 4434 - second pushing cylinder; 4435 - second pushing cylinder;

[0078] 45 - second right positioning and welding mechanism;

[0079] 5 - bottom web forming device;

[0080] 51 - bottom web assembling mechanism;

[0081] 511 - cradle assembly; 5111 - bottom frame; 5112 - vertical frame; 5113 - horizontal plate; 5114 - upper bottom web mesh comb plate; 5115 - lower bottom web mesh comb plate;

[0082] 52 - bottom web horizontal rib penetrating mechanism; 521 - inner penetrating piece; 522 - outer penetrating piece;

[0083] 53 - supporting mechanism;

[0084] 531 - supporting frame;

[0085] 532 - moving assembly; 5321 - moving frame; 5322 - up-and-down moving module; 5323 - front-and-back moving module;

[0086] 533 - material supporting assembly; 5331 - material supporting mounting plate; 5332 - material supporting cylinder; 5333 - material supporting plate; 5334 - pressing plate;

[0087] 534 - jacking assembly; 5341 - jacking cylinder; 5342 - jacking plate;

[0088] 6 - flange plate forming device;

[0089] 61 - flange plate assembling mechanism; 611 - assembling frame; 612 - flange plate mesh comb plate;

[0090] 62 - horizontal rib plate bundle passing mechanism; 621 - mounting frame; 622 - bottom plate; 623 - jacking cylinder; 624 - jacking column; 625 - fixed column; 626 - receiving member;

[0091] 63 - flange plate welding mechanism; 631 - track; 632 - gantry; 633 - front and rear linear module; 634 - welding base plate; 635 - welding machine; 636 - up and down linear module; 637 - connecting seat; 638 - connecting frame; 639 - flange plate welding gun. DETAILED DESCRIPTION

[0092] To make the objectives, technical solutions, and advantages of the present application clearer, further detailed explanations will be given below with reference to the drawings and preferred embodiments. However, it should be noted that many details listed in the specification are only to make the reader have a thorough understanding of one or more aspects of the present application, and the aspects of the present application can be realized even without these specific details.

[0093] As shown in Figures 1-25 FIG. 1, a box girder intelligent production line includes a bottom web production module and a flange plate production module. The bottom web production module includes three stirrup storage devices 1, three stirrup bending devices 2, three six-axis robots 3, a bottom web mesh welding device 4, and a bottom web forming device 5. The stirrup storage devices 1 are distributed in a triangular manner. The stirrup bending devices 2 are distributed in correspondence with the stirrup storage devices 1. The bottom web mesh welding device 4 is arranged between the three stirrup bending devices 2. The six-axis robots 3 are arranged in correspondence with the three stirrup storage devices 1 and the three stirrup bending devices 2. The flange plate production module includes a flange plate forming device 6. The six-axis robots 3 respectively place the stirrups in the three stirrup storage devices 1 into the corresponding stirrup bending devices 2, and the stirrups are bent by the stirrup bending devices 2 to form two side stirrups and a bottom stirrup of a bottom web mesh. After the bending, the six-axis robots 3 place the two side stirrups and the bottom stirrup into the bottom web mesh welding device 4, and the stirrups are welded into a bottom web mesh. After the bottom web mesh is welded, a bottom web framework is formed in the bottom web forming device 5. A flange plate mesh forms a flange plate framework in the flange plate forming device 6. Finally, the bottom web framework and the flange plate framework are transferred to a mold to form a box girder.

[0094] As shown in Figures 3-4As shown, the stirrup storage device 1 comprises a rotating mechanism 11 and a stirrup bin 12; the rotating mechanism 11 comprises a base 111, a slewing bearing 112, a bottom plate 113, a motor mounting plate 114, a rotating motor 115, a gear 116 and a universal ball 117; the slewing bearing 112 is arranged on the top surface of the base 111, the inner ring bottom surface is fixedly connected with the middle part of the top surface of the base 111, and the outer ring outer lateral wall is provided with a gear slot; the motor mounting plate 114 is arranged on the outer side of the top surface of the base 111; the rotating motor 115 is arranged on the bottom surface of the motor mounting plate 114, and the output shaft thereof penetrates the motor mounting plate 114 upward; the gear 116 is fixedly sleeved on the upper end of the output shaft and is engaged with the gear slot of the outer ring of the slewing bearing 112; the bottom plate 113 is horizontally arranged, and the bottom surface thereof is fixedly connected with the top surface of the outer ring of the slewing bearing 112; the universal ball 117 is arranged on the top surface of the base 111 and is in contact with the bottom surface of the bottom plate 113; the stirrup bin 12 is arranged on the top surface of the bottom plate 113 and is circumferentially spaced apart.

[0095] As shown in the drawings, Figure 5 The stirrup bin 12 comprises a storage assembly 121; the storage assembly 121 comprises a bottom rod 1211, a front vertical rod 1212, a rear vertical rod 1213, a connecting rod 1214 and a storage rod 1215; the bottom rod 1211 is arranged on the top surface of the bottom plate 113; the front vertical rod 1212 is vertically arranged on the top surface of the bottom rod 1211 away from the center of the bottom plate 113; the rear vertical rod 1213 is vertically arranged on the top surface of the bottom rod 1211 close to the center of the bottom plate 113, and the height thereof is lower than that of the front vertical rod 1212; the connecting rod 1214 is arranged between the front vertical rod 1212 and the rear vertical rod 1213 and is fixedly connected with the front vertical rod 1212 and the rear vertical rod 1213, and the top surface of the front vertical rod 1212 is higher than that of the connecting rod 1214; and the bottom surface of the storage rod 1215 is horizontally arranged on the top surface of the front vertical rod 1212. A plurality of stirrups are vertically arranged and hung on the storage rod 1215, so that a single storage assembly 121 can store a plurality of stirrups, and different specifications of stirrups can be stored by arranging a plurality of stirrup bins 12. When different specifications of stirrups are needed, the required stirrup is rotated to the material taking position in cooperation with the rotating mechanism 11, so that continuous production is ensured.

[0096] As shown in the drawings, Figure 5As shown, the stirrup material bin 12 further comprises an adjusting assembly 122; the adjusting assembly 122 comprises an adjusting cylinder 1221, an adjusting support 1222, and an adjusting rod 1223; the adjusting cylinder 1221 is hinged to the connecting rod 1214 at the bottom surface, and the piston rod is hinged to the one end of the storage rod 1215 close to the center of the chassis 113. The adjusting support 1222 is vertically arranged on the top surface of the front vertical rod 1212; the adjusting rod 1223 is rotatably arranged in the adjusting support 1222; and the bottom surface of the storage rod 1215 is fixedly connected to the top surface of the adjusting rod 1223. During storage, the piston rod of the adjusting cylinder 1221 is retracted, and the storage rod 1215 is rotated on the adjusting support 1222 based on the adjusting rod 1223, so that the one end of the storage rod 1215 far away from the center of the chassis 113 is inclined upward, and the stirrup can slide toward the center of the chassis 113, facilitating storage. During material taking, the piston rod of the adjusting cylinder 1221 is extended, and the one end of the storage rod 1215 far away from the center of the chassis 113 is inclined downward, so that the stirrup can slide away from the center of the chassis 113, and the stirrup is always in the material taking position, facilitating material taking.

[0097] As shown in the drawings, Figure 6 The stirrup material bin 12 further comprises a blocking assembly 123; the blocking assembly 123 comprises a blocking support 1231, a blocking piece 1232, and a spring 1233; the blocking support 1231 is arranged at the one end of the storage rod 1215 far away from the center of the chassis 113, and the top surface of the blocking support 1231 is provided with grooves on both sides; the bottom surface of the groove is provided with an opening; the blocking piece 1232 is arranged in the groove of the blocking support 1231, and the one end far away from the center of the chassis 113 is rotatably connected to the blocking support 1231, and the other end close to the center of the chassis 113 extends upward beyond the top surface of the storage rod 1215; and the spring 1233 is vertically arranged in the opening of the groove, and the bottom end is fixedly connected to the bottom surface of the opening, and the top end is fixedly connected to the bottom surface of the blocking piece 1232. During storage, the stirrup can press down the blocking piece 1232 and enter the storage rod 1215 when the stirrup enters the storage rod 1215; during material taking, the storage rod 1215 is inclined downward, and the blocking piece 1232 can block the stirrup to prevent the stirrup from falling off the storage rod 1215, and the stirrup can be taken out by lifting the stirrup to avoid the blocking piece 1232.

[0098] In further embodiments, the storage assembly 121 further comprises a side guard 1216; the side guard 1216 has a U-shaped structure, and the back surface is connected to the side of the front vertical rod 1212 far away from the center of the chassis 113; the stirrup is arranged in the opening of the side guard 1216, and the side guard 1216 protects the two sides of the stirrup.

[0099] As shown in the drawings, Figure 6As shown in the further embodiment, it further comprises a fixed rod 13 and a proximity switch 14; the fixed rod 13 is L-shaped structure, the vertical edge bottom end is arranged on the top surface of the storage rod 1215 away from the center of the base plate 113 on one side, the horizontal edge is located on the top of the vertical edge and extends away from the center of the base plate 113 on one side, and is spaced a certain distance from the blocking piece 1232, so that the stirrup can be lifted and taken out; the proximity switch 14 is arranged on the end of the horizontal edge of the fixed rod away from the center of the base plate 113, and the proximity switch 14 is used to sense whether the stirrup is used up.

[0100] As shown in the further embodiment, it further comprises a fixed rod 13 and a proximity switch 14; the fixed rod 13 is L-shaped structure, the vertical edge bottom end is arranged on the top surface of the storage rod 1215 away from the center of the base plate 113 on one side, the horizontal edge is located on the top of the vertical edge and extends away from the center of the base plate 113 on one side, and is spaced a certain distance from the blocking piece 1232, so that the stirrup can be lifted and taken out; the proximity switch 14 is arranged on the end of the horizontal edge of the fixed rod away from the center of the base plate 113, and the proximity switch 14 is used to sense whether the stirrup is used up. Figures 7-10 As shown, the stirrup bending device 2 comprises a bending rack 201, a bending base plate 202, a bending cylinder 204, a connecting shaft 205, a bending piece 206, a limiting head 207, a bending rod 208, a bending head 209, a bending clamping cylinder 210, and an adjusting clamping arm 211; the bending rack 201 is vertically arranged; the bending base plate 202 is arranged on the lower part of one side of the bending rack 201, and two arc-shaped bending grooves 203 with upward arc surfaces are arranged on the side wall of the bending base plate 202; the cylinder body top surface of the bending cylinder 204 is hinged to the upper part of the other side of the bending rack 201; the connecting shaft 205 is arranged on the bending base plate 202, and the two ends of the connecting shaft 205 respectively extend to the two sides of the bending base plate 202; the limiting head 207 is fixedly sleeved on one end of the connecting shaft 205 close to the bottom web mesh welding device 4; the bending piece 206 is L-shaped structure, the upper part of the vertical edge of the bending piece 206 is rotatably connected to the side of the connecting shaft 205 away from the bottom web mesh welding device 4 through a bearing, the horizontal edge is located at the bottom of the vertical edge and faces the bending cylinder 204, and one end of the horizontal edge facing the bending cylinder 204 is hinged to the piston rod of the bending cylinder 204; two bending rods 208 corresponding to the arc-shaped bending grooves 203 are arranged, one end of each of the two bending rods 208 is fixedly connected to the side of the vertical edge of the bending piece 206 close to the bottom web mesh welding device 4, and the other end of each of the two bending rods 208 penetrates through the arc-shaped bending groove 203; the bending head 209 is rotatably sleeved on one end of each of the two bending rods 208 close to the bottom web mesh welding device 4; the bending clamping cylinder 210 is arranged on the side of the bending base plate 202 close to the bottom web mesh welding device 4 and located above the arc-shaped bending groove 203, the piston rod of the bending clamping cylinder 210 penetrates through the bending base plate 202, and the bending clamping cylinder 210 is a rotary clamping cylinder; the adjusting clamping arm 211 is vertically arranged on the piston rod of the bending clamping cylinder 210. The stirrup is taken out from the stirrup bin 12 and enters the bending rack 201, the bending clamping cylinder 210 drives the adjusting clamping arm 211 to rotate and press the stirrup, fixes the stirrup, then the piston rod of the bending cylinder 204 is retracted, drives the bending piece 206 to rotate based on the connecting shaft 205, when the bending piece 206 rotates, drives the bending head 209 to move in the arc-shaped bending groove 203, so that the stirrup is bent with the limiting head 207 as the fulcrum, and finally forms the stirrup with the required shape of the mesh.

[0101] AsFigure 11 As shown in the figure, the bottom web plate mesh welding device 4 comprises a welding frame 41, a first left positioning welding mechanism 42, a first right positioning welding mechanism 43, a second left positioning welding mechanism 44, and a second right positioning welding mechanism 45. Three shaped stirrups are synchronously fed into the bottom web plate mesh welding device 4, wherein the stirrup located in front of the bottom web plate mesh welding device 4 is used to form the bottom stirrup of the mesh, and the stirrups located on both sides of the front of the bottom web plate mesh welding device 4 are used to form the two side stirrups of the mesh. The bottom stirrup is fed into the first left positioning welding mechanism 42 and the first right positioning welding mechanism 43, one side stirrup is fed into the first left positioning welding mechanism 42 and the second left positioning welding mechanism 44, and the other side stirrup is fed into the first right positioning welding mechanism 43 and the second right positioning welding mechanism 45. The three stirrups are positioned and welded to form the mesh.

[0102] As shown in the figure, Figures 11-12 The welding frame 41 is horizontally arranged. The first positioning welding mechanism comprises a first positioning assembly 421, a clamping assembly 422, a first welding assembly 423, and a first pressing assembly 424. The first positioning assembly 421 comprises a first positioning base plate 4211, a first positioning table 4212, a first positioning rod 4213, a first stirrup positioning cylinder 4214, a first positioning seat 4215, and a limiting rod 4216. The first positioning base plate 4211 is horizontally arranged on the top surface of the left front part of the welding frame 41, and a first through slot is formed in the middle of the top surface, and a through hole is formed in the right side of the top surface. The first positioning table 4212 is arranged on the first positioning base plate 4211. The first positioning rod 4213 is vertically arranged on the top surface of the first positioning base plate 4211, and multiple first positioning rods 4213 are arranged at intervals. The first stirrup positioning cylinder 4214 is arranged on the bottom surface of the rear side of the first positioning base plate 4211, and the output end of the first stirrup positioning cylinder 4214 is directed towards the through slot of the first positioning base plate 4211. The first positioning seat 4215 is fixedly arranged on the output end of the first stirrup positioning cylinder 4214. The limiting rod 4216 is vertically arranged on the top surface of the first positioning seat 4215, and the upper end of the limiting rod 4216 protrudes out of the first through slot of the first positioning base plate 4211.

[0103] As shown in the figure, Figure 12 The clamping assembly 422 comprises a positioning clamping cylinder 4221 and a positioning clamping arm 4222. The positioning clamping cylinder 4221 is vertically arranged on the bottom surface of the first positioning base plate 4211, and the output rod of the positioning clamping cylinder 4221 passes through the through hole of the first positioning base plate 4211 in an upward direction. The positioning clamping cylinder 4221 is a rotary clamping cylinder. The positioning clamping arm 4222 is vertically arranged on the output end of the positioning clamping cylinder 4221.

[0104] As shown in the figure, Figure 12As shown, the first welding assembly 423 is arranged on the left side and the front side of the top surface of the first positioning base plate 4211, and includes a first welding slide cylinder 4231, a first welding support 4232, and a first mesh welding gun 4233. The first welding slide cylinder 4231 is arranged horizontally. The first welding support 4232 is arranged vertically on the top surface of the first welding slide cylinder 4231. The first mesh welding gun 4233 is arranged in the first welding support 4232, and the gun head of the first mesh welding gun 4233 faces the first positioning table 4212.

[0105] As shown in Figures 12-13 The first pressing assembly 424 includes a first pressing cylinder 4241, a first pressing support 4242, a first pressing block 4243, a first pushing cylinder 4244, and a first pushing block 4245. The first pressing cylinder 4241 is arranged vertically on the top surface of the first positioning base plate 4211, and is located between the two groups of first welding assemblies 423. The first pressing support 4242 is fixedly arranged on the top surface of the piston rod of the first pressing cylinder 4241, and a through channel is arranged in the middle of the first pressing support 4242. The first pressing block 4243 is arranged in the channel of the first pressing support 4242, and is in sliding connection with the first pressing support 4242. The first pushing cylinder 4244 is arranged on the top surface of the first pressing support 4242, and the piston rod of the first pushing cylinder 4244 faces away from the first positioning table 4212. The first pushing block 4245 is arranged vertically, and the upper end of the first pushing block 4245 is fixedly connected with the piston rod of the first pushing cylinder 4244, and the lower end of the first pushing block 4245 is fixedly connected with one end of the first pressing block 4243 which is away from the first positioning table 4212.

[0106] The first right positioning and welding mechanism 43 is the same as the first left positioning and welding mechanism 42 in structure, and is symmetrically arranged on the right side of the welding rack 41.

[0107] As shown in Figure 14As shown, the second left positioning welding mechanism 44 comprises a second positioning assembly 441, a second welding assembly 442, and a second pressing assembly 443. The second positioning assembly 441 comprises a second positioning base plate 4411, a second positioning table 4412, a second positioning rod 4413, a second stirrup positioning cylinder 4414, a second positioning seat 4415, and a limiting block 4416. The second positioning base plate 4411 is horizontally arranged at the left rear portion of the top surface of the welding rack 41. The second positioning table 4412 is arranged on the second positioning base plate 4411, and a second through slot is formed in the front top surface of the second positioning table 4412. The second positioning rod 4413 is vertically arranged on the top surface of the second positioning base plate 4411 and located behind the second through slot. The second stirrup positioning cylinder 4414 is arranged on the bottom surface of the second positioning base plate 4411 and has a piston rod directed towards the second through slot of the second positioning base plate 4411. The second positioning seat 4415 is fixedly arranged on the output end of the second stirrup positioning cylinder 4414. The limiting block 4416 is vertically arranged on the top surface of the second positioning seat 4415 and has an upper end extending out of the second through slot of the second positioning table 4412.

[0108] As shown, Figure 14 the second welding assembly 442 comprises a second welding sliding table cylinder 4421, a second welding support 4422, and a second mesh welding gun 4423. The second welding sliding table cylinder 4421 is horizontally arranged at the rear portion of the top surface of the second positioning member and located behind the second positioning table 4412. The second welding support 4422 is vertically arranged on the top surface of the second welding sliding table cylinder 4421. The second mesh welding gun 4423 is arranged in the second welding support 4422 and has a gun head directed towards the second positioning table 4412.

[0109] As shown, Figure 15 the second pressing assembly 443 comprises a second pressing cylinder 4431, a second pressing support 4432, a second pressing block 4433, a second pushing cylinder 4434, and a second pushing cylinder 4435. The second pressing cylinder 4431 is vertically arranged on the top surface of the second positioning base plate 4411 and located at the left side of the second positioning table 4412. The second pressing support 4432 is fixedly arranged on the top surface of the piston rod of the second pressing cylinder 4431 and has a through channel in the middle portion. The second pressing block 4433 is arranged in the through channel of the second pressing support 4432 and movably connected with the second pressing support 4432. The second pushing cylinder 4434 is arranged on the top surface of the second pressing support 4432 and has a piston rod directed away from the second positioning table 4412. The second pushing cylinder 4435 is vertically arranged, has an upper end fixedly connected with the piston rod of the second pushing cylinder 4434, and has a lower end fixedly connected with one end of the second pressing block 4433 away from the second positioning table 4412.

[0110] The second right positioning welding mechanism 45 and the second left positioning welding mechanism 44 have the same structure and are symmetrically arranged on the right side of the welding frame 41.

[0111] Three stirrups enter the bottom web mesh welding device 4. The first positioning rod 4213 of the first left positioning welding mechanism 42 restricts and positions the front part of the left stirrup and the outer side of the left side of the bottom stirrup. The first positioning rod 4213 of the first right positioning welding mechanism 43 restricts and positions the front part of the right stirrup and the outer side of the right side of the bottom stirrup. The second positioning rod 4413 of the second left positioning welding mechanism 44 restricts and positions the outer side of the rear part of the left stirrup. The second positioning rod 4413 of the second right positioning welding mechanism 45 restricts and positions the outer side of the rear part of the right stirrup, so that the three stirrups form a mesh shape. Then, the piston rod of the first stirrup positioning cylinder 4214 of the first positioning assembly 421 extends, driving the first positioning seat 4215 and the limiting rod 4216 to move toward the stirrup. The side stirrups and bottom stirrups are pressed together to prevent them from moving during welding. Then, the clamping assembly 422 and the first pressing assembly 424 are activated. The positioning clamping cylinder 4221 of the clamping assembly 422 drives the positioning clamping arm 4222 to rotate above the stirrup and then press down, thereby pressing the two sides of the middle part of the bottom stirrup to prevent the middle part of the bottom stirrup from jumping during welding. The piston rod of the first pushing cylinder 4244 of the first pressing assembly 424 retracts, driving the first pushing block 4245 and the first pressing block 4243 to move towards the first positioning table 4212. Then, the piston rod of the first pressing cylinder 4241 retracts, driving the first pressing block 4243 to move downward and press the connection between the side stirrups and the bottom stirrup to prevent the side stirrups and the bottom stirrup from jumping during welding. Simultaneously, the second positioning component 441 and the second clamping component 443 of the second left positioning welding mechanism 44 and the second right positioning welding mechanism 45 are activated. The limiting block 4416 of the second positioning component 441 clamps the side stirrups to prevent the rear part of the side stirrups from moving during welding. The second clamping block 4433 of the second clamping component 443 presses down on the side stirrups to prevent the rear part of the side stirrups from jumping during welding. After all the stirrups are positioned, the first welding slide cylinder 4231 and the second welding slide cylinder 4421 of the first welding component 423 and the second welding component 442 drive the mesh welding gun to move towards the stirrups. Once in position, the stirrups can be welded to form the bottom web mesh structure.

[0112] like Figure 2 As shown, in a further embodiment, a six-axis unloading robot is also included; the six-axis unloading robot is located on one side of the bottom web plate mesh welding device 4, and the bottom of the six-axis unloading robot is slidably connected to the unloading track. After the bottom web plate mesh is welded, the six-axis unloading robot takes out the mesh and moves through the unloading track to unload the bottom web plate mesh.

[0113] like Figures 16-17As shown, the bottom web forming device 5 includes a bottom web assembly mechanism 51, a bottom web horizontal rib threading mechanism 52, and a support mechanism 53. Multiple bottom web assembly mechanisms 51 are arranged on the left and right sides, each including two spaced-apart and mirror-symmetrical frame assemblies 511. Each frame assembly 511 includes a base frame 5111, a vertical frame 5112, a horizontal plate 5113, an upper bottom web mesh comb plate 5114, and a lower bottom web mesh comb plate 5115. The base frame 5111 is horizontally arranged. The vertical frame 5112 is vertically arranged on the left and right sides of the top surface of the base frame 5111. The horizontal plate 5113 is horizontally arranged on the top surface of the vertical frame 5112, extending to both sides. Two frame assemblies in two adjacent bottom web assembly mechanisms 51 are... The horizontal plates 5113 of component 511 are interconnected, creating a gap between two adjacent base frames 5111; the lower bottom web mesh comb plate 5115 is horizontally arranged on the top surface of the base frame 5111 with its comb teeth facing upwards; the upper bottom web mesh comb plate 5114 is horizontally arranged on the side of the horizontal plate 5113, with the comb teeth of the upper bottom web mesh comb plates 5114 of the two jig assembly 511 facing each other; the bottom web horizontal rib threading mechanism 52 is provided on the jig assembly 511 and is used to thread the bottom web horizontal ribs into the jig assembly 511; the support mechanism 53 is provided at both ends of the multiple bottom web assembly mechanisms 51 and between two adjacent jig assemblies 511 in two adjacent bottom web assembly mechanisms 51, and is used to move the threaded horizontal ribs to the welding position.

[0114] The bottom web mesh fabric enters the frame assembly 511. The upper bottom web mesh comb plate 5114 in the two frame assemblies 511 clamps the stirrups on both sides of the mesh, and the lower bottom web mesh comb plate 5115 clamps the bottom stirrups of the mesh. Multiple meshes are placed in multiple bottom web assembly mechanisms 51 to form a bottom web frame. After the bottom web skeleton fabric is completed, the bottom web horizontal reinforcement is fed into the bottom web horizontal reinforcement threading mechanism 52. Then, the bottom web horizontal reinforcement is moved to the welding position by the support mechanism 53. Finally, the bottom web frame and the bottom web horizontal reinforcement are welded together to form the bottom web skeleton.

[0115] like Figure 18 As shown, in a further embodiment, the bottom web horizontal rib threading mechanism 52 includes an inner threading member 521 and an outer threading member 522. The inner threading member 521 is vertically arranged between two frame assemblies 511 of each bottom web assembly mechanism 51, with two sets spaced apart front to back, and multiple sets spaced apart left to right in each set. Its top surface is a U-shaped structure with an upward opening. The outer threading member 522 is a U-shaped plate structure with its opening facing upward and is horizontally arranged on the top surface of the base frame 5111 of the frame assembly 511. The horizontal ribs are threaded into the inner threading member 521 and the outer threading member 522 respectively. The multiple inner threading members 521 and the outer threading members 522 support the horizontal ribs, allowing the horizontal ribs to enter the interior of multiple bottom web assembly mechanisms 51.

[0116] As Figure 19 shown in further embodiments, the support mechanism 53 comprises a support frame 531, a moving assembly 532, a material receiving assembly 533, and a clamping assembly 534. The support frame 531 is vertically arranged. The moving assembly 532 comprises a moving frame 5321, an up-down moving module 5322, and a front-back moving module 5323. The moving frame 5321 is arranged in the support frame 531, and the lower part thereof is inclined to the direction of the bottom web horizontal bar penetrating mechanism 52, so that the moving frame 5321 is parallel to the side hoop of the mesh. The up-down moving module 5322 is arranged on the left side of the moving frame 5321 and parallel to the moving frame 5321. The front-back moving module 5323 is horizontally arranged on the left side of the up-down moving module 5322. Both the up-down moving module 5322 and the front-back moving module 5323 are semi-closed screw rod moving modules. The front-back moving module 5323 is connected to the sliding table of the up-down moving module 5322, and the up-down moving module 5322 can drive the front-back moving module 5323 to move up and down.

[0117] As Figure 20 shown, the material receiving assembly 533 comprises a material receiving mounting plate 5331, a material receiving cylinder 5332, a material receiving plate 5333, and a pressing plate 5334. The material receiving mounting plate 5331 is arranged on the left side of the front-back moving module 5323 and connected to the sliding table of the front-back moving module 5323. The front-back moving module 5323 can drive the material receiving mounting plate 5331 to move left and right. The material receiving cylinder 5332 is horizontally arranged on the left side of the material receiving mounting plate 5331, and the piston rod thereof is directed to the direction of the bottom web horizontal bar penetrating mechanism 52. The material receiving plate 5333 is horizontally arranged, one end of which is connected to the material receiving cylinder 5332, and the other end thereof extends to the direction of the bottom web horizontal bar penetrating mechanism 52. After the horizontal bar is penetrated to the bottom web horizontal bar penetrating mechanism 52, the front-back moving module 5323 drives the material receiving assembly 533 to move to the direction of the bottom web horizontal bar penetrating mechanism 52, and at the same time, the piston rod of the material receiving cylinder 5332 is extended to drive the material receiving plate 5333 to move to the direction of the bottom web horizontal bar penetrating mechanism 52. The front-back moving module 5323 is used to increase the moving stroke of the material receiving assembly 533, so that the material receiving plate 5333 can have enough stroke to move below the horizontal bar. After the material receiving plate 5333 is extended below the horizontal bar, the up-down moving module 5322 is moved upward to drive the front-back moving module 5323 and the material receiving assembly 533 to move upward, so that the material receiving plate 5333 supports the horizontal bar and moves upward. The material receiving plate 5333 moves the horizontal bar upward to the welding position on the mesh, and then the horizontal bar and the mesh are welded. After the welding is completed, the up-down moving module 5322 drives the material receiving assembly 533 to descend, and at the same time, the front-back moving module 5323 drives the material receiving assembly 533 to reset. The material receiving cylinder 5332 is retracted to reset the material receiving plate 5333, so as to avoid the horizontal bar being penetrated.

[0118] The pressing plate 5334 is vertically arranged on the top surface of the material receiving plate 5333 at one end of the material receiving plate 5333 towards the direction of the horizontal bar penetrating mechanism 52 of the bottom web; the clamping assembly 534 comprises a clamping cylinder 5341 and a clamping plate 5342; the clamping cylinder 5341 is horizontally arranged on the left side of the material receiving mounting plate 5331 above the material receiving cylinder 5332, and the piston rod of the clamping cylinder 5341 is towards the direction of the horizontal bar penetrating mechanism 52 of the bottom web; the clamping plate 5342 is vertically arranged on the piston rod of the clamping cylinder 5341. After the moving assembly 532 drives the material receiving assembly 533 to move the horizontal bar upwards to the welding position of the mesh, the piston rod of the clamping cylinder 5341 is elongated to drive the clamping plate 5342 to clamp against the outer horizontal bar for welding the side hoop of the mesh, so that the horizontal bar is clamped on the mesh, at the same time, the piston rod of the material receiving cylinder 5332 is retracted to drive the material receiving plate 5333 to retract, so that the pressing plate 5334 on the material receiving plate 5333 presses the inner horizontal bar for welding the side hoop of the mesh on the side hoop, so that the inner horizontal bar and the outer horizontal bar are respectively fastened on the mesh, and the material receiving assembly 533 can realize the material receiving, lifting and clamping positioning of the horizontal bar, which is convenient for welding.

[0119] As shown in Figure 21 The flange plate forming device 6 comprises a flange plate assembly mechanism 61, a flange plate horizontal bar penetrating mechanism 62 and a flange plate welding mechanism 63; the flange plate assembly mechanism 61 is provided in plurality and arranged in sequence, comprising an assembly rack 611 and a flange plate mesh comb plate 612; the assembly rack 611 is horizontally arranged; the flange plate mesh comb plate 612 is horizontally arranged on the top surface of the assembly rack 611, and two are arranged in front and back, and the comb teeth are upwards; the flange plate horizontal bar penetrating mechanism 62 is arranged in the assembly rack 611, and is used for penetrating the flange plate horizontal bar into the assembly rack 611; the flange plate welding mechanism 63 is arranged on both sides of the assembly rack 611 and can move left and right, and is used for welding the flange plate mesh and the flange plate horizontal bar. The flange plate hoop is arranged in the flange plate assembly mechanism 61 and is fixed on the flange plate mesh comb plate 612, and the plurality of flange plate hoops form a flange plate frame structure in the plurality of flange plate assembly mechanisms 61; after the arrangement of the flange plate hoop is completed, the flange plate horizontal bar is penetrated into the flange plate horizontal bar penetrating mechanism 62, and finally the flange plate frame and the flange plate horizontal bar are welded by the flange plate welding mechanism 63 to form a flange plate skeleton.

[0120] As shown in Figures 22-23As shown in the further embodiment, the flange plate horizontal rib penetrating mechanism 62 comprises a mounting frame 621, a bottom plate 622, a jacking cylinder 623, a jacking column 624, a fixed column 625, and a receiving member 626. The mounting frame 621 is fixedly arranged at the bottom of the assembling frame 611. The bottom plate 622 is horizontally arranged on the top surface of the mounting frame 621 and is provided with two front and back intervals. The jacking cylinder 623 is arranged on the bottom surface of each bottom plate 622, and the piston rod thereof penetrates through the bottom plate 622 upward. The jacking column 624 is horizontally arranged on the piston rod of each jacking cylinder 623. The fixed column 625 is horizontally arranged in front and back and is provided with two front and back intervals. The opposite sides of the two fixed columns 625 are fixedly connected with the two ends of the jacking column 624, respectively. The receiving member 626 is vertically arranged on the top surface of each fixed column 625, and a plurality of receiving members 626 are arranged on each fixed column 625 in front and back. The top surface of each receiving member 626 is in the form of an open U-shaped structure. A plurality of flange plate horizontal ribs penetrate into the receiving member 626, and the top surface of the receiving member 626 supports the flange plate horizontal ribs. After the penetration is completed, the piston rod of the jacking cylinder 623 is lifted to drive the receiving member 626 to move upward, so that the flange plate horizontal rib is moved to the welding position of the flange plate frame.

[0121] As shown in the further embodiment, Figures 24-25 As shown in the further embodiment, the flange plate welding mechanism 63 comprises a track 631, a gantry 632, front and back linear modules 633, a welding base plate 634, a welding machine 635, up and down linear modules 636, a connecting seat 637, a connecting frame 638, and a flange plate welding gun 639. The track 631 is horizontally arranged on the left and right sides of the front and back of the flange plate assembling mechanism 61. The gantry 632 is slidably connected with the track 631, and the gantry 632 can walk on the track 631. The front and back linear modules 633 are provided with three front and back horizontal staggered arrangements on the left and right sides of the front and back of the gantry 632. The welding base plate 634 is vertically arranged and is connected with the three front and back linear modules 633. The front and back linear modules 633 can drive the welding base plate 634 to move forward and backward. The welding machine 635 is arranged on the upper part of one side of the welding base plate 634 facing the gantry 632. The up and down linear modules 636 are vertically arranged on the lower part of one side of the welding base plate 634 facing the gantry 632. The connecting seat 637 is connected with the up and down linear modules 636, and the up and down linear modules 636 can drive the connecting seat 637 to move up and down. The connecting frame 638 is vertically arranged on the bottom surface of the connecting seat 637. The flange plate welding gun 639 is arranged in the connecting frame 638, and the gun head thereof faces downward. After the flange plate horizontal rib is penetrated and moved to the position, the front and back linear modules 633 in the flange plate welding mechanism 63 cooperate with the up and down linear modules 636 to drive the welding gun to move to the welding position, so that the flange plate frame and the flange plate horizontal rib are welded. The gantry 632 drives the welding gun to move left and right to weld all the stirrups in the flange plate frame and the flange plate horizontal rib.

[0122] In further embodiments, each component of the production line is controlled by a PLC control system.

[0123] The above description is only the preferred embodiment of the present application, it should be pointed out that for ordinary skilled in the art, without departing from the principles of the present application, can also make a number of improvements and refinements, these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A box girder intelligent production line, comprising a bottom web plate production module and a flange plate production module, characterized in that: The bottom web plate production module includes a stirrup storage device, a stirrup bending device, a six-axis material handling robot, a bottom web plate mesh welding device, and a bottom web plate forming device. Three stirrup storage devices are arranged in a triangular pattern. Three stirrup bending devices are arranged corresponding to the stirrup storage devices. The bottom web plate mesh welding device is located between the three stirrup bending devices. Three six-axis material handling robots are arranged corresponding to the three stirrup storage devices and the three stirrup bending devices. The flange plate production module includes a flange plate forming device. The six-axis material handling robots are respectively... The stirrups from the three stirrup storage devices are placed into the corresponding stirrup bending devices. The stirrups are bent by the stirrup bending devices to form two side stirrups and a bottom stirrup for the bottom web plate mesh. After bending, the six-axis robot then places the two side stirrups and the bottom stirrup into the bottom web plate mesh welding device to weld the stirrups into the bottom web plate mesh. After the bottom web plate mesh is welded, it forms the bottom web plate skeleton in the bottom web plate forming device. The flange plate mesh forms the flange plate skeleton in the flange plate forming device. Finally, the bottom web plate skeleton and the flange plate skeleton are transferred to the mold and cast to form the box girder.

2. The intelligent production line for box girders according to claim 1, characterized in that: The stirrup storage device includes a rotating mechanism and a stirrup hopper; the rotating mechanism includes a base, a slewing bearing, a chassis, a motor mounting plate, a rotary motor, a gear, and a universal ball joint; the slewing bearing is located on the top surface of the base, with its inner ring bottom surface fixedly connected to the middle of the top surface of the base, and its outer ring outer side wall having a toothed groove; the motor mounting plate is located on the outer side of the top surface of the base; the rotary motor is located on the bottom surface of the motor mounting plate, with its output shaft passing upward through the motor mounting plate; the gear is fixedly sleeved on the upper end of the output shaft and meshes with the toothed groove of the outer ring of the slewing bearing; the chassis is horizontally arranged, with its bottom surface fixedly connected to the top surface of the outer ring of the slewing bearing; the universal ball joint is located on the top surface of the base and contacts the bottom surface of the chassis.

3. The intelligent production line for box girders according to claim 2, characterized in that: The stirrup hopper includes a storage assembly; the storage assembly includes a bottom rod, a front vertical rod, a rear vertical rod, a connecting rod, and a storage rod. The bottom rod is located on the top surface of the chassis; the front vertical rod is vertically located on the top surface of the bottom rod away from the center of the chassis; the rear vertical rod is vertically located on the top surface of the bottom rod near the center of the chassis, and its height is lower than that of the front vertical rod; the connecting rod is located between the front and rear vertical rods and is fixedly connected to them, with the top surface of the front vertical rod higher than that of the connecting rod; the bottom center of the storage rod is horizontally located on the top surface of the front vertical rod.

4. The intelligent production line for box girders according to claim 3, characterized in that: The stirrup hopper also includes an adjustment assembly; the adjustment assembly includes an adjustment cylinder, an adjustment support, and an adjustment rod; the bottom surface of the adjustment cylinder body is hinged to the connecting rod, and its piston rod is hinged upward to one end of the storage rod near the center of the chassis; the adjustment support is vertically mounted on the top surface of the front vertical rod; the adjustment rod is rotatably mounted inside the adjustment support; the bottom surface of the storage rod is fixedly connected to the top surface of the adjustment rod.

5. The intelligent production line for box girders according to claim 4, characterized in that: The stirrup hopper also includes a blocking assembly; the blocking assembly includes a blocking support, blocking components, and springs; the blocking support is located at the end of the storage rod away from the center of the chassis, and slots are provided on both sides of its top surface; the bottom surface of the slots is provided with openings; the blocking components are respectively located in the slots of the blocking support, with the side of the component away from the center of the chassis rotatably connected to the blocking support, and the side of the component near the center of the chassis extending upwards out of the top surface of the storage rod; the springs are respectively vertically arranged in the openings of the slots, with their bottom ends fixedly connected to the bottom surface of the openings, and their top ends fixedly connected to the bottom surface of the blocking components.

6. The intelligent production line for box girders according to claim 1, characterized in that: The aforementioned stirrup bending device includes a bending frame, a bending base plate, a bending cylinder, a bending component, a bending rod, a bending head, a bending clamping cylinder, and an adjusting clamping arm. The bending frame is vertically arranged. The bending base plate is located on the lower part of one side of the bending frame, and its side wall has two arc-shaped bending grooves with upward-facing arc surfaces spaced apart vertically. The top surface of the bending cylinder body is hinged to the upper part of the other side of the bending frame. The bending component has an L-shaped structure, with its upper vertical side hinged to the side of the bending base plate away from the bottom web mesh welding device, and its horizontal side located at the bottom of the vertical side and facing the bending cylinder. One end of the bending rod facing the bending cylinder is hinged to the piston rod of the bending cylinder; two bending rods are provided corresponding to the arc-shaped bending groove, one end of each bending rod is fixedly connected to the side of the vertical edge of the bent piece near the bottom web mesh welding device, and the other end passes through the arc-shaped bending groove; the bending head is rotatably sleeved on the two bending rods at the ends near the bottom web mesh welding device; the bending clamping cylinder is located on the side of the bending base plate near the bottom web mesh welding device, above the arc-shaped bending groove, and its piston rod passes through the bending base plate; the adjusting clamping arm is vertically arranged on the piston rod of the bending clamping cylinder.

7. The intelligent production line for box girders according to claim 1, characterized in that: The aforementioned bottom web mesh welding device includes a welding frame, a first left positioning welding mechanism, a first right positioning welding mechanism, a second left positioning welding mechanism, and a second right positioning welding mechanism. The welding frame is horizontally arranged. The first positioning welding mechanism includes a first positioning component, a clamping component, a first welding component, and a first pressing component. The first positioning component includes a first positioning base plate, a first positioning table, a first positioning rod, a first stirrup positioning cylinder, a first positioning seat, and a limiting rod. The first positioning base plate is horizontally arranged on the front left side of the top surface of the welding frame, with a first through groove in the middle of its top surface and a through hole on the right side of its top surface. The first positioning table is mounted on the first positioning base plate. The first positioning rods are vertically arranged on the top surface of the first positioning base plate and are spaced apart. The first stirrup positioning cylinder is located on the rear side of the bottom surface of the first positioning base plate, with its output end facing the through groove direction of the first positioning base plate. The first positioning seat is fixedly arranged on the output end of the first stirrup positioning cylinder. The limiting rod is vertically arranged on the top surface of the first positioning seat plate, with its upper end extending upwards out of the first through groove of the first positioning base plate. The clamping assembly includes a positioning clamping cylinder and a positioning clamping arm; the positioning clamping cylinder is vertically disposed on the bottom surface of the first positioning base plate, and its output rod passes upward through the through hole of the first positioning base plate; the positioning clamping arm is vertically disposed on the output end of the positioning clamping cylinder. The first welding components are arranged in pairs on the left and front sides of the top surface of the first positioning base plate, including a first welding slide cylinder, a first welding support, and a first mesh welding gun; the first welding slide cylinder is horizontally arranged; the first welding support is vertically arranged on the top surface of the first welding slide cylinder; the first mesh welding gun is arranged inside the first welding support, with its head facing the first positioning table. The first clamping assembly includes a first clamping cylinder, a first clamping support, a first clamping block, a first pushing cylinder, and a first pushing block. The first clamping cylinder is vertically disposed on the top surface of the first positioning base plate, located between two sets of first welding assemblies. The first clamping support is fixedly disposed on the top surface of the piston rod of the first clamping cylinder, and has a through channel in its middle. The first clamping block is disposed in the channel of the first clamping support and is slidably connected to the first clamping support. The first pushing cylinder is disposed on the top surface of the first clamping support, and its piston rod faces away from the first positioning platform. The first pushing block is vertically disposed, with its upper end fixedly connected to the piston rod of the first pushing cylinder and its lower end fixedly connected to the end of the first clamping block away from the first positioning platform. The first right positioning welding mechanism has the same structure as the first left positioning welding mechanism and is symmetrically arranged on the right side of the welding frame.

8. The intelligent production line for box girders according to claim 7, characterized in that: The second left positioning welding mechanism includes a second positioning component, a second welding component, and a second clamping component. The second positioning component includes a second positioning base plate, a second positioning stage, a second positioning rod, a second hoop positioning cylinder, a second positioning seat, and a limiting block. The second positioning base plate is horizontally positioned on the rear left side of the top surface of the welding frame. The second positioning stage is mounted on the second positioning base plate, and a second through groove is formed on the front side of its top surface. The second positioning rod is vertically positioned on the top surface of the second positioning base plate and located behind the through groove. The second hoop positioning cylinder is located on the rear side of the bottom surface of the second positioning base plate, and its piston rod faces the through groove direction of the second positioning base plate. The second positioning seat is fixedly mounted on the output end of the second hoop positioning cylinder. The limiting block is vertically positioned on the top surface of the second positioning seat, and its upper end extends upward out of the second through groove of the second positioning stage. The second welding assembly includes a second welding slide cylinder, a second welding support, and a second mesh welding gun; the second welding slide cylinder is horizontally disposed on the rear side of the top surface of the second positioning component, located behind the second positioning table; the second welding support is vertically disposed on the top surface of the second welding slide cylinder; the second mesh welding gun is disposed inside the second welding support, with its tip facing the second positioning table. The second clamping assembly includes a second clamping cylinder, a second clamping support, a second clamping block, a second pushing cylinder, and a second pushing cylinder. The second clamping cylinder is vertically disposed on the top surface of the second positioning base plate and located to the left of the second positioning platform. The second clamping support is fixedly disposed on the top surface of the piston rod of the second clamping cylinder, and has a through channel in its middle. The second clamping block is disposed in the channel of the second clamping support and is movably connected to the second clamping support. The second pushing cylinder is disposed on the top surface of the second clamping support, and its piston rod faces away from the second positioning platform. The second pushing cylinder is vertically disposed, with its upper end fixedly connected to the piston rod of the second pushing cylinder and its lower end fixedly connected to the end of the second clamping block away from the second positioning platform. The second right positioning welding mechanism has the same structure as the second left positioning welding mechanism and is symmetrically arranged on the right side of the welding frame.

9. The intelligent production line for box girders according to claim 1, characterized in that: The bottom web forming device includes a bottom web assembly mechanism, a bottom web horizontal rib threading mechanism, and a support mechanism. Multiple bottom web assembly mechanisms are arranged on the left and right sides, including frame assemblies. Two frame assemblies are spaced apart front and rear, each including a base frame, uprights, a horizontal plate, an upper bottom web mesh comb plate, and a lower bottom web mesh comb plate. The base frame is horizontally arranged. The uprights are vertically arranged on the left and right sides of the top surface of the base frame. The upright on the top surface of the front base frame is located in front of the front side of the top surface of the front base frame, and the upright on the top surface of the rear base frame is located in rear of the top surface of the rear base frame. The horizontal plates are horizontally arranged on the top surface of the uprights, extending to both sides. The frame assemblies of two adjacent bottom web assembly mechanisms are connected to each other through the horizontal plates. A gap is formed between the base frames of two adjacent bottom web plate assembly mechanisms; the lower bottom web plate mesh comb plate is horizontally arranged on the upper part of the opposite side of the two base frames in each bottom web plate assembly mechanism, with its comb teeth facing upward; the upper bottom web plate mesh comb plate is horizontally arranged on the opposite side of the two transverse plates in each bottom web plate assembly mechanism, and the comb teeth of the upper bottom web plate mesh comb plates of the two jig assemblies are opposite; the bottom web plate horizontal rib threading mechanism is provided on the jig assembly and is used to thread the bottom web plate horizontal ribs into the jig assembly; the support mechanism is provided at both ends of multiple bottom web plate assembly mechanisms and between two adjacent jig assemblies in two adjacent bottom web plate assembly mechanisms, and is used to move the threaded horizontal ribs to the welding position.

10. The intelligent production line for box girders according to claim 1, characterized in that: The flange plate forming device includes a flange plate assembly mechanism, a flange plate horizontal rib threading mechanism, and a flange plate welding mechanism. Multiple flange plate assembly mechanisms are arranged sequentially, including an assembly frame and flange plate mesh combs. The assembly frame is horizontally positioned. Two flange plate mesh combs are horizontally positioned on the top surface of the assembly frame, spaced apart front to back, with their comb teeth facing upwards. The flange plate horizontal rib threading mechanism is located inside the assembly frame and is used to thread the flange plate horizontal ribs into the assembly frame. The flange plate welding mechanism is mounted on both sides of the assembly frame and can move left and right, used to weld the flange plate mesh and the flange plate horizontal ribs.

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