A rectangular steel reinforcement framework multi-limb stirrup integrated forming device and forming method

Abstract

The application relates to the technical field of processing of rectangular steel reinforcement framework multi-limb stirrup, in particular to a rectangular steel reinforcement framework multi-limb stirrup integrated forming device and a forming method. In the forming device, a bending head bends a steel bar at a predetermined angle each time, and then a feeding mechanism feeds a set length downstream according to set multi-limb stirrup size parameters; the multi-limb stirrup is completely formed by bending a steel bar, so that the integrated forming process of the multi-limb stirrup is realized; the integrated forming process of the multi-limb stirrup is optimized, and the integrated forming efficiency of the multi-limb stirrup is improved. The integrated bending of the multi-limb stirrup is realized through cooperation of the feeding mechanism and the bending mechanism, the forming and fixing of the multi-limb stirrup are realized through the welding mechanism, and real-time support in the processing of the multi-limb stirrup is realized through the rotary follow-up mechanism. The forming device greatly improves the integrated forming processing efficiency of the multi-limb stirrup through efficient cooperation, and is favorable for improving the production and manufacturing precision and efficiency of the rectangular steel reinforcement framework.

Description

Technical Field

[0001] This application relates to the field of processing technology for multi-limb stirrups of rectangular steel reinforcement cages, and in particular to an integrated forming device and forming method for multi-limb stirrups of rectangular steel reinforcement cages. Background Technology

[0002] With the continuous development of my country's construction industry and the accelerated advancement of industrialization, steel bars, as a key component of building structures, are gradually shifting towards intelligent, standardized, and green production methods in terms of production, transportation, and construction.

[0003] In the field of automated production technology for stirrups in building steel reinforcement cages, intelligent high-precision one-time forming of stirrups for cases with large cross-sections and complex stirrup configurations has not yet been achieved. In the existing production process of steel cage structures, taking rectangular steel reinforcement cages as an example, rectangular steel reinforcement cages generally include multi-limb stirrups in a rectangular structure, as well as longitudinal bars perpendicular to the multi-limb stirrups. Among them, the multi-limb stirrups are often made by manual binding and assembly. This traditional manual method of making multi-limb stirrups is not only extremely inefficient, but also has a large human error, which seriously affects the overall production efficiency of rectangular steel reinforcement cages.

[0004] Therefore, there is a need to provide an improved technical solution that addresses the shortcomings of the existing technology. Summary of the Invention

[0005] The purpose of this application is to provide an integral forming device and method for multi-limb stirrups of a rectangular steel reinforcement cage, so as to solve or alleviate the problems existing in the prior art.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] A rectangular steel reinforcement cage multi-limb stirrup integral forming device, the forming device comprising a feeding rack, a straightening mechanism and a frame arranged sequentially from upstream to downstream;

[0008] The feeding rack is used to store steel bars;

[0009] The straightening mechanism is used to straighten the reinforcing bars;

[0010] The frame is equipped with a feeding mechanism, a cutting mechanism, a bending mechanism and a welding mechanism, and a finished product gripper, arranged sequentially from upstream to downstream.

[0011] The feeding mechanism is used to transport the steel bars downstream;

[0012] The cutting mechanism is used to cut the reinforcing bars after the multi-limb stirrups are integrally formed;

[0013] The bending mechanism achieves the integral forming of multi-limb stirrups through multiple bending operations;

[0014] The welding mechanism is located next to the bending mechanism. When the welding point on the multi-limb stirrup moves to the bottom of the welding mechanism, the feeding mechanism stops feeding the steel bar, and the welding mechanism performs welding operations on the welding point on the multi-limb stirrup.

[0015] A moving track is provided below the frame, and a rotary follower mechanism and a discharge mechanism are provided on the moving track.

[0016] The rotary follower mechanism is used to receive multi-limb stirrups and rotate synchronously with the multi-limb stirrups when the bending mechanism bends the steel bars, and moves synchronously with the multi-limb stirrups when the feeding mechanism feeds the steel bars.

[0017] During the bending operation of multi-limb stirrups, the rotating follower mechanism is located below the bending mechanism, and the rotation center of the rotating follower mechanism and the bending center of the bending mechanism are on the same vertical line.

[0018] After the multi-limb stirrup is integrally formed, the cutting mechanism first cuts the steel bar, and then the rotating follower mechanism moves along the moving track to below the finished product gripper. The finished product gripper picks up the multi-limb stirrup and places it on the discharge mechanism. When the multi-limb stirrup on the discharge mechanism reaches the set number, the discharge mechanism sends out the multi-limb stirrup.

[0019] The rectangular steel reinforcement cage multi-limb stirrup integrated molding device described above preferably includes, from top to bottom, an upper receiving tray, a middle mold frame, a lower mold frame and a bottom rotating table.

[0020] A rotating assembly is provided between the bottom rotating platform and the lower mold frame. The rotating assembly is used to drive the lower mold frame to rotate on the bottom rotating platform to accommodate the bending and rotation of the stirrups.

[0021] A Y-axis lead screw assembly is provided between the lower mold frame and the middle mold frame. The Y-axis lead screw assembly includes at least a Y-axis lead screw. The Y-axis lead screw assembly is used to drive the middle mold frame to move along the Y-axis lead screw axis to accommodate the movement of the stirrups.

[0022] An X-axis lead screw assembly is provided between the middle mold frame and the upper receiving tray. The X-axis lead screw assembly includes at least an X-axis lead screw. The X-axis lead screw assembly is used to drive the upper receiving tray to move along the X-axis lead screw axis to accommodate the movement of the stirrups. The X-axis lead screw axis is perpendicular to the Y-axis lead screw axis.

[0023] The upper receiving tray is equipped with a positioning mold assembly, which is used to position the stirrups.

[0024] In the rectangular steel reinforcement cage multi-limb stirrup integrated molding device described above, preferably, the rotating component includes a driving gear and a driven gear, the driving gear and the driven gear meshing and driving each other, the driving gear driving the driven gear to rotate;

[0025] The lower mold frame is fixed above the driven gear.

[0026] In the rectangular steel reinforcement cage multi-limb stirrup integrated molding device described above, preferably, the bottom rotating platform includes a support frame and a support disc, with the support disc mounted on the support frame;

[0027] Both the driving gear and the driven gear are rotatably mounted on the support disk;

[0028] The rotating assembly also includes a rotating motor, which is located below the support disk. The drive shaft of the rotating motor passes through the support disk and is connected to the drive gear.

[0029] In the rectangular steel reinforcement cage multi-limb stirrup integrated molding device described above, preferably, the Y-axis lead screw is rotatably mounted on the lower mold frame;

[0030] The Y-axis lead screw assembly also includes a Y-axis motor, which is fixed on the lower mold frame, and the drive shaft of the Y-axis motor is connected to the Y-axis lead screw.

[0031] The Y-axis lead screw assembly also includes a Y-axis screw block, which is driven on the Y-axis lead screw and is fixedly connected to the middle layer mold frame;

[0032] The X-axis lead screw is rotatably mounted on the middle layer mold frame;

[0033] The X-axis lead screw assembly also includes an X-axis motor, which is fixed on the middle mold frame, and the drive shaft of the X-axis motor is connected to the X-axis lead screw.

[0034] The X-axis lead screw assembly also includes an X-axis screw block, which is driven on the X-axis lead screw and is fixedly connected to the upper receiving tray.

[0035] In the rectangular steel reinforcement cage multi-limb stirrup integrated molding device described above, preferably, the positioning mold assembly includes two parallel horizontal slide rails and two parallel vertical slide rails, the horizontal slide rails and the vertical slide rails being perpendicular to each other; the horizontal slide rails and the vertical slide rails are both movably mounted on the upper receiving tray so that the two horizontal slide rails and the two vertical slide rails are assembled into rectangles of different sizes.

[0036] Both the horizontal and vertical slide rails are provided with grooves, and multiple clamps are slidably arranged in the grooves. The clamps are used to support the multi-limb stirrups.

[0037] In the rectangular steel reinforcement cage multi-limb stirrup integrated molding device described above, preferably, the lower surface of the lower mold frame is evenly distributed with multiple casters, all of which are located around the rotating component, and the multiple casters slide in contact with the supporting disc.

[0038] In the rectangular steel reinforcement cage multi-limb stirrup integrated molding device described above, preferably, the finished gripper includes a gripper base and a gripper assembly, wherein the gripper assembly is disposed on the gripper base;

[0039] The frame is provided with a pair of slide rails, and the gripper seat is slidably mounted on the pair of slide rails;

[0040] The frame is also rotatably equipped with a drive pulley and a driven pulley. The drive pulley is driven to rotate by a drive source, and the drive pulley and the driven pulley rotate through a transmission belt.

[0041] The gripper base is fixedly connected to the transmission belt.

[0042] In the rectangular steel reinforcement cage multi-limb stirrup integrated molding device described above, preferably, the gripper assembly includes a gripper frame;

[0043] The gripper base is equipped with a lifting cylinder, and the output end of the lifting cylinder is fixedly connected to the gripper frame to drive the gripper frame to move up and down.

[0044] The lower surface of the gripper frame is provided with a pair of slide rails, and multiple gripper bars are slidably arranged on the slide rails of the gripper frame. Each gripper bar is controlled to move by a telescopic cylinder, and each gripper bar is slidably provided with at least one gripper claw.

[0045] This application also provides a method for integrally forming multi-limb stirrups of a rectangular steel reinforcement cage. The forming method uses the aforementioned integral forming device for multi-limb stirrups of a rectangular steel reinforcement cage, and the forming method includes the following steps:

[0046] Step 1: The steel bars in the feeding rack enter the straightening mechanism, which straightens the steel bars and then conveys them to the feeding mechanism. The feeding mechanism conveys the steel bars downstream so that they enter the bending mechanism.

[0047] Step 2: The bending mechanism bends the steel bar at a predetermined angle, and the rotating component in the rotating follower mechanism rotates synchronously.

[0048] Step 3: The feeding mechanism controls the conveying of the steel bars to a set length, and the Y-axis lead screw assembly and X-axis lead screw assembly in the rotating follower mechanism move synchronously.

[0049] Step 4: During the movement of the reinforcing bars, when the welding point on the multi-limb stirrup moves to below the welding mechanism, the feeding mechanism stops feeding the reinforcing bars, and the welding mechanism performs welding operations on the welding point on the multi-limb stirrup.

[0050] Step 5: Repeat steps 2-4 to complete the one-piece molding of the multi-limb stirrup;

[0051] Step 6: Activate the cutting mechanism to cut the steel bar;

[0052] Step 7: The rotating follower mechanism drives the multi-limb stirrup to move below the finished gripper;

[0053] Step 8: The lifting cylinder extends, lowering the gripper assembly to the height of the multi-limb stirrup; the telescopic cylinder shortens, causing the gripper rod to drive the jaws to grip the multi-limb stirrup; the lifting cylinder shortens, causing the gripper assembly to lift the multi-limb stirrup from the rotating follower mechanism.

[0054] Step 9: The drive source drives the active pulley to rotate, causing the transmission belt to move the gripper seat above the discharge mechanism; the lifting cylinder extends to lower the height of the multi-limb hoop; the telescopic cylinder extends to release the multi-limb hoop, allowing it to fall onto the discharge mechanism; the finished product gripper is reset.

[0055] Step 10: Repeat steps 1-9. When the number of multi-limb stirrups stacked on the discharge mechanism reaches the set quantity, the discharge mechanism will send out the multi-limb stirrups.

[0056] Compared with the closest prior art, the technical solution of this application has the following beneficial effects:

[0057] In this forming device, the bending head bends the steel bar by 90° each time, and then the feeding mechanism feeds the set length downstream according to the set multi-limb stirrup size parameters; so that the multi-limb stirrup is formed by bending a single steel bar, thereby realizing the integrated forming process of the multi-limb stirrup; the integrated forming process of the multi-limb stirrup is optimized and the integrated forming efficiency of the multi-limb stirrup is improved.

[0058] The multi-limb stirrups are bent in one piece by the cooperation of the feeding mechanism and the bending mechanism, and the multi-limb stirrups are formed and fixed by the welding mechanism. The multi-limb stirrups are supported in real time during the processing by the rotation follower mechanism. Through efficient cooperation, this forming device greatly improves the efficiency of the one-piece forming of multi-limb stirrups, which in turn helps to improve the production accuracy and efficiency of rectangular steel reinforcement cages. Attached Figure Description

[0059] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. Wherein:

[0060] Figure 1 This is a schematic diagram of the layout of a rectangular steel reinforcement cage multi-limb stirrup integrated molding device according to some embodiments of this application;

[0061] Figure 2This is a schematic diagram of a frame and mechanisms for feeding, bending, welding, and cutting, provided according to some embodiments of this application;

[0062] Figure 3 This is a schematic diagram of the structure of a rotary follower mechanism provided according to some embodiments of this application;

[0063] Figure 4 This is a schematic diagram of the structure of a bottom rotating platform according to some embodiments of this application;

[0064] Figure 5 This is a schematic diagram of a bottom rotating platform and a lower mold frame according to some embodiments of this application;

[0065] Figure 6 This is a structural schematic diagram of a lower mold frame provided according to some embodiments of this application;

[0066] Figure 7 This is a structural schematic diagram of a mid-level mold frame provided according to some embodiments of this application;

[0067] Figure 8 This is a schematic diagram of the upper receiving tray provided according to some embodiments of this application;

[0068] Figure 9 This is a schematic diagram of the structure of a finished gripper provided according to some embodiments of this application;

[0069] Figure 10 This is a schematic diagram of the structure of a gripper assembly provided according to some embodiments of this application;

[0070] Figure 11 This is a schematic diagram of the structure of an integrally formed multi-limb stirrup provided according to some embodiments of this application.

[0071] Explanation of reference numerals in the attached figures:

[0072] 1. Bottom rotating platform; 11. Support disc; 12. Support frame; 13. Rotary motor; 14. Drive gear; 15. Driven gear;

[0073] 2. Lower mold frame; 21. Casters; 22. Y-axis motor; 23. Y-axis lead screw; 24. Y-axis screw block;

[0074] 3. Middle layer mold frame; 31. X-axis motor; 32. X-axis lead screw; 33. X-axis screw block;

[0075] 4. Upper receiving tray; 41. Longitudinal slide rail; 42. Transverse slide rail; 43. Clamp;

[0076] 5. Finished gripper; 51. Lifting cylinder; 52. Guide rod; 53. Gripper base; 54. Drive pulley; 55. Transmission belt; 56. Gripper rod; 57. Gripper frame; 58. Driven pulley; 59. Telescopic cylinder; 510. Gripper;

[0077] 6. Welding mechanism; 7. Bending mechanism; 8. Cutting mechanism; 9. Feeding mechanism; 100. Unloading rack; 200. Straightening mechanism; 300. Frame; 400. Discharge mechanism; 500. Multi-limb stirrup. Detailed Implementation

[0078] The present application will now be described in detail with reference to the accompanying drawings and embodiments. Various examples are provided by way of explanation and not by way of limitation. In fact, those skilled in the art will recognize that modifications and variations can be made to the present application without departing from the scope or spirit thereof. For example, a feature shown or described as part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desirable that the present application encompass such modifications and variations that fall within the scope of the appended claims and their equivalents.

[0079] In the following description, the terms "first / second / third" are used merely to distinguish similar objects and do not represent a specific order of objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0080] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used herein is for the purpose of describing embodiments of this disclosure only and is not intended to limit this disclosure.

[0081] In the description of this application, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and do not require that this application be constructed and operated in a specific orientation, and therefore should not be construed as limiting this application. The terms "connected," "linked," and "set up" used in this application should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; direct connections or indirect connections through intermediate components; wired connections, radio connections, or wireless communication signal connections. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0082] The present application will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the present application can be combined with each other.

[0083] According to specific embodiments of this application, such as Figure 1-11 As shown, this application provides an integral forming device for multi-limb stirrups of rectangular steel reinforcement cage. The forming device includes a feeding rack 100, a straightening mechanism 200 and a frame 300 arranged sequentially from upstream to downstream.

[0084] The feeding rack 100 is used to store steel bars; in this embodiment, the feeding rack 100 is wrapped with steel bar raw materials for conveying steel bars downstream.

[0085] The straightening mechanism 200 is used to straighten the reinforcing bars. In this embodiment, the straightening mechanism 200 includes two sets of rollers, each set of rollers including multiple pairs of rollers arranged in pairs. The reinforcing bars are straightened by entering between the pairs of rollers. The axes of the rollers in each set of rollers are parallel to each other, while the axes of the rollers in the two sets of rollers are perpendicular to each other, so as to achieve a better straightening effect on the reinforcing bars.

[0086] The frame 300 is equipped with a feeding mechanism 9, a cutting mechanism 8, a bending mechanism 7, a welding mechanism 6, and a finished product gripper 5, arranged sequentially from upstream to downstream.

[0087] The feeding mechanism 9 is used to convey the steel bars downstream. In this embodiment, the feeding mechanism 9 includes multiple pairs of rollers arranged in pairs. The steel bars enter between the pairs of rollers, and the feeding of the steel bars is achieved by the rotation of the pairs of rollers. The driving source of the feeding mechanism 9 adopts a servo motor structure to achieve precise feeding of the steel bars.

[0088] The cutting mechanism 8 is used to cut the reinforcing bar after the multi-limb stirrup 500 is integrally formed. In this embodiment, the cutting mechanism 8 is located upstream of the bending mechanism 7 and adjacent to the bending mechanism 7 to cut the reinforcing bar after the multi-limb stirrup 500 is bent and integrally formed, thereby separating the multi-limb stirrup 500 from the upstream reinforcing bar. It also facilitates the upstream reinforcing bar to continue entering the bending mechanism 7 for the production process of the next multi-limb stirrup 500. The cutting mechanism 8 includes a pair of cutters, which are driven by a hydraulic mechanism to cut the reinforcing bar.

[0089] The bending mechanism 7 achieves the integral forming of the multi-limb stirrup 500 through multiple bending operations. In this embodiment, the bending mechanism 7 includes a bending head. The multi-limb stirrup 500 includes multiple horizontal bars and multiple vertical bars that are perpendicular to each other, dividing the multi-limb stirrup 500 into three parts: multiple small rectangles arranged horizontally, multiple small rectangles arranged vertically, and a large rectangle on the outermost ring of the stirrup. One group of small rectangles arranged horizontally and one group of small rectangles arranged vertically are bent in sequence, then another group of small rectangles is bent, and finally the large rectangle on the outermost ring of the multi-limb stirrup 500 is bent, so that the multi-limb stirrup 500 is completely formed by bending a single steel bar, thereby realizing the integral forming process of the multi-limb stirrup 500. Specifically, the bending head and the feeding mechanism 9 cooperate with each other. The bending head bends the steel bar by 90° each time (where the first bend and the last bend are 135°), and then the feeding mechanism 9 feeds the set length downstream according to the set size parameters of the multi-limb stirrup 500.

[0090] The welding mechanism is located adjacent to the bending mechanism 7. When the welding point on the multi-limb stirrup 500 moves to below the welding mechanism 6, the feeding mechanism 9 stops feeding the steel bars, and the welding mechanism 6 performs welding operations on the welding point on the multi-limb stirrup 500. In this embodiment, the welding mechanism 6 is arranged side by side on one side of the bending mechanism 7. The welding mechanism 6 adopts a resistance welding mechanism, which performs spot welding operations on the stacked positions of the steel bars. The welding speed is relatively fast, which is beneficial to improving the efficiency of the welding operation.

[0091] In this embodiment, the outermost layer of reinforcing bars of the multi-limb stirrup 500 is the location where welding is required, and the location where the transverse and longitudinal bars inside the multi-limb stirrup 500 intersect is also the location where welding is required.

[0092] A moving track is provided below the frame 300, and a rotary follower mechanism and a discharge mechanism 400 are provided on the moving track.

[0093] The rotary follower mechanism is used to receive the multi-limb stirrup 500 and rotates synchronously with the multi-limb stirrup 500 when the bending mechanism 7 bends the steel bar, and moves synchronously with the multi-limb stirrup 500 when the feeding mechanism 9 feeds the material.

[0094] During the bending operation of the multi-limb stirrup 500, the rotary follower mechanism is located below the bending mechanism 7, and the rotation center of the rotary follower mechanism and the bending center of the bending mechanism 7 are on the same vertical line.

[0095] After the multi-limb stirrup 500 is integrally formed, the cutting mechanism 8 first cuts the steel bar, and then the rotating follower mechanism moves along the moving track to below the finished product gripper 5. The finished product gripper 5 picks up the multi-limb stirrup 500 and places it on the discharge mechanism 400. When the multi-limb stirrup 500 on the discharge mechanism 400 reaches the set number, the discharge mechanism 400 sends out the multi-limb stirrup 500.

[0096] In this embodiment, the discharge mechanism 400 includes a discharge rack for stacking multi-limb stirrups 500. Multiple rollers are provided below the discharge rack so that the discharge mechanism 400 can slide on a moving track.

[0097] In this forming device, the bending head and the feeding mechanism 9 cooperate with each other. The bending head bends the steel bar by 90° each time, and then the feeding mechanism 9 feeds the set length of the multi-limb stirrup 500 downstream according to the set size parameters. This makes the multi-limb stirrup 500 completely formed by bending a single steel bar, thereby realizing the one-piece forming process of the multi-limb stirrup 500. This optimizes the one-piece forming process of the multi-limb stirrup 500 and improves the one-piece forming efficiency of the multi-limb stirrup 500.

[0098] The multi-limb stirrup 500 is bent as a whole by the cooperation of the feeding mechanism 9 and the bending mechanism 7. The multi-limb stirrup 500 is formed and fixed by the welding mechanism 6. The multi-limb stirrup 500 is supported in real time during the processing by the rotation follower mechanism. Through efficient cooperation, this forming device greatly improves the efficiency of the integrated forming of the multi-limb stirrup 500, which in turn helps to improve the production accuracy and efficiency of the rectangular steel reinforcement cage.

[0099] In this embodiment, the multi-limb stirrup 500 can be a 13-limb stirrup, an 18-limb stirrup, or a stirrup with other numbers of limbs; depending on its specific structure, the stirrup with different numbers of limbs can be designed with different starting and ending points.

[0100] In this embodiment, a second straightening mechanism is also provided between the feeding mechanism 9 and the cutting mechanism 8. The second straightening mechanism is located between the feeding mechanism 9 and the bending mechanism 7. The second straightening mechanism is used to straighten the steel bar downstream of the feeding mechanism 9 again to ensure that the steel bar is integrally formed in a better straightened state.

[0101] The rotary follower mechanism includes, from top to bottom, an upper receiving tray 4, a middle mold frame 3, a lower mold frame 2, and a bottom rotary table 1.

[0102] A rotating assembly is provided between the bottom rotating platform 1 and the lower mold frame 2. The rotating assembly is used to drive the lower mold frame 2 to rotate on the bottom rotating platform 1 to accommodate the bending and rotation of the stirrups.

[0103] A Y-axis lead screw assembly is provided between the lower mold frame 2 and the middle mold frame 3. The Y-axis lead screw assembly includes at least a Y-axis lead screw 23. The Y-axis lead screw assembly is used to drive the middle mold frame 3 to move along the axis of the Y-axis lead screw 23 to accommodate the movement of the stirrups.

[0104] An X-axis lead screw assembly is provided between the middle mold frame 3 and the upper receiving tray 4. The X-axis lead screw assembly includes at least an X-axis lead screw 32. The X-axis lead screw assembly is used to drive the upper receiving tray 4 to move along the axis of the X-axis lead screw 32 to accommodate the movement of the stirrups. The axis of the X-axis lead screw 32 is perpendicular to the axis of the Y-axis lead screw 23.

[0105] The upper receiving tray 4 is equipped with a positioning mold assembly, which is used to position the stirrups.

[0106] Specifically, the rotary follower mechanism is located below the bending mechanism 7, and the rotation center of the rotary component is on the same axis as the bending mechanism 7. When the bending mechanism 7 bends the steel bar, the rotary component rotates synchronously, that is, the lower mold frame 2 drives the middle mold frame 3 and the upper receiving tray 4 to rotate synchronously, so that the rotation angle of the upper receiving tray 4 matches the bending angle of the steel bar. After the rotary component completes its rotation, the axis of one of the X-axis lead screw 32 and the Y-axis lead screw 23 is parallel to the direction of steel bar movement. When the steel bar moves forward after bending, the X-axis lead screw assembly or the Y-axis lead screw assembly works, so that the middle mold frame 3 or the upper receiving tray 4 moves synchronously with the steel bar, so as to ensure that the upper receiving tray 4 always supports the multi-limb stirrup 500 during the bending process. The above process is repeated until the bending operation of the multi-limb stirrup 500 is completed, and then the multi-limb stirrup 500 is removed from the upper receiving tray 4, thus completing the one-piece forming process of the multi-limb stirrup 500.

[0107] In this embodiment, the bottom rotating platform 1 of the rotary follower mechanism is also provided with multiple rollers so that the rotary follower mechanism can slide on the moving track; the bottom rotating platform 1 of the rotary follower mechanism is provided with a positioning hole, and a positioning cylinder is set at a predetermined position on the moving track. When the rotary follower mechanism moves to below the bending mechanism 7, the positioning cylinder controls its extension rod to extend, so that the extension rod of the positioning cylinder is inserted into the positioning hole at the bottom of the rotary follower mechanism to ensure the positioning accuracy of the rotary follower mechanism.

[0108] The rotating assembly includes a drive gear 14 and a driven gear 15. The drive gear 14 and the driven gear 15 mesh and drive each other, and the drive gear 14 drives the driven gear 15 to rotate. The lower mold frame 2 is fixed above the driven gear 15.

[0109] In this embodiment, the rotation of the driving gear 14 drives the driven gear 15 and the lower mold frame 2 to rotate. At this time, the lower mold frame 2 drives the middle mold frame 3 and the upper receiving tray 4 to rotate synchronously, so that the rotation angle of the upper receiving tray 4 matches the bending angle of the steel bar.

[0110] In this embodiment, multiple fixing frames are provided on the upper surface of the driven gear 15, and the lower mold frame 2 is fixed on the multiple fixing frames on the driven gear 15; wherein, four fixing frames are provided, and the four fixing frames are evenly distributed around the center of the driven gear 15 to ensure the stability of the lower mold frame 2.

[0111] The bottom rotating platform 1 includes a support frame 12 and a support disk 11, with the support disk 11 mounted on the support frame 12; both the driving gear 14 and the driven gear 15 are rotatably mounted on the support disk 11; the rotating assembly also includes a rotary motor 13, which is located below the support disk 11, and the drive shaft of the rotary motor 13 passes through the support disk 11 and is connected to the driving gear 14 for transmission.

[0112] In this embodiment, the drive gear 14 is driven to rotate by the rotary motor 13, and the drive gear 14 drives the driven gear 15 to rotate, so that the lower mold frame 2 drives the middle mold frame 3 and the upper receiving tray 4 to rotate synchronously, thereby realizing the bending of the steel bar and the following of the upper receiving tray 4.

[0113] In this embodiment, the driven gear 15 is rotatably mounted on the support disk 11 via a slewing bearing; a weight reduction hole is provided at the center of the slewing bearing on the support disk 11, and multiple weight reduction holes are evenly distributed around the driven gear 15 on the support disk 11.

[0114] The Y-axis lead screw 23 is rotatably mounted on the lower mold frame 2; the Y-axis lead screw assembly also includes a Y-axis motor 22, which is fixed on the lower mold frame 2, and the drive shaft of the Y-axis motor 22 is connected to the Y-axis lead screw 23; the Y-axis lead screw assembly also includes a Y-axis screw block 24, which is driven on the Y-axis lead screw 23, and the Y-axis screw block 24 is fixedly connected to the middle mold frame 3.

[0115] In this embodiment, the Y-axis screw block 24 is provided with a threaded hole, and the Y-axis lead screw 23 is driven and assembled in the threaded hole of the Y-axis screw block 24, so that the Y-axis screw block 24 is threadedly connected to the Y-axis lead screw 23. When the Y-axis motor 22 drives the Y-axis lead screw 23 to rotate, the Y-axis screw block 24 moves along the axial extension direction of the Y-axis lead screw 23, thereby driving the middle mold frame 3 to move along the axial direction of the Y-axis lead screw 23. The lower mold frame 2 is provided with at least one slide rail, which is parallel to the Y-axis lead screw 23; at least one slider is provided on the slide rail, and the slider on the lower mold frame 2 is fixedly connected to the middle mold frame 3.

[0116] In this embodiment, the lower mold frame 2 is provided with two slide rails, which are located on both sides of the Y-axis lead screw 23. Each slide rail is provided with two sliders, and a total of four sliders are connected to the four corners of the middle mold frame 3. This arrangement ensures that when the Y-axis screw block 24 drives the middle mold frame 3 to move, the middle mold frame 3 can move more smoothly, which is beneficial to improving the stability of the rotary follower mechanism during use.

[0117] The X-axis lead screw 32 is rotatably mounted on the middle mold frame 3; the X-axis lead screw assembly also includes an X-axis motor 31, which is fixed on the middle mold frame 3, and the drive shaft of the X-axis motor 31 is connected to the X-axis lead screw 32; the X-axis lead screw assembly also includes an X-axis screw block 33, which is driven on the X-axis lead screw 32, and the X-axis screw block 33 is fixedly connected to the upper receiving tray 4.

[0118] In this embodiment, the X-axis screw block 33 is provided with a threaded hole, and the X-axis lead screw 32 is driven and assembled in the threaded hole of the X-axis screw block 33, so that the X-axis screw block 33 is threadedly connected to the X-axis lead screw 32; when the X-axis motor 31 drives the X-axis lead screw 32 to rotate, the X-axis screw block 33 moves along the extension direction of the X-axis lead screw 32 axis, thereby driving the upper receiving tray 4 to move along the X-axis lead screw 32 axis direction.

[0119] At least one slide rail is provided on the middle mold frame 3, and the slide rail on the middle mold frame 3 is parallel to the Y-axis lead screw 23; at least one slider is provided on the slide rail, and the slider on the middle mold frame 3 is fixedly connected to the upper receiving tray 4. In this embodiment, two slide rails are provided on the middle mold frame 3, and the two slide rails are respectively located on both sides of the X-axis lead screw 32. Two sliders are provided on each slide rail, and a total of four sliders are respectively connected to the four corners of the upper receiving tray 4. This arrangement ensures that when the X-axis screw block 33 drives the upper receiving tray 4 to move, the upper receiving tray 4 can move more smoothly, which is beneficial to improving the stability of the rotary follower mechanism during use.

[0120] The positioning mold assembly includes two parallel horizontal slide rails 42 and two parallel vertical slide rails 41, with the horizontal slide rails 42 and the vertical slide rails 41 perpendicular to each other. Both the horizontal slide rails 42 and the vertical slide rails 41 are movably mounted on the upper receiving tray 4 so that the two horizontal slide rails 42 and the two vertical slide rails 41 can be assembled into rectangles of different sizes.

[0121] In this embodiment, multiple horizontal aluminum profiles and multiple vertical aluminum profiles are provided in the upper receiving tray 4. The horizontal slide rail 42 is movably arranged on the vertical aluminum profile, and the vertical slide rail 41 is movably arranged on the horizontal aluminum profile. By adjusting the relative distance between the two horizontal slide rails 42 and the two vertical slide rails 41, the two horizontal slide rails 42 and the two vertical slide rails 41 are assembled into rectangles of different sizes, so that the positioning mold can be applied to multi-limb stirrups 500 with different numbers of limbs and different sizes.

[0122] The horizontal slide rail 42 and the vertical slide rail 41 are located in different height planes. For example, the horizontal slide rail 42 is higher than the vertical slide rail 41, so that when the horizontal slide rail 42 and the vertical slide rail 41 intersect each other, they will not interfere with each other.

[0123] Both the horizontal slide rail 42 and the vertical slide rail 41 are provided with slide grooves, and multiple clamps 43 are slidably arranged in the slide grooves. The clamps 43 are used to support the multi-limb stirrups 500.

[0124] In this embodiment, by adjusting the positions of the clamps 43 on the horizontal slide rail 42 and the vertical slide rail 41, the positioning mold can be adapted to multi-limb stirrups 500 with different numbers of limbs and different sizes. The clamp 43 includes a clamp seat and a positioning post disposed on the clamp seat. The positioning post is cylindrical and used to position the nodes on the multi-limb stirrup 500. The grooves on the horizontal slide rail 42 and the vertical slide rail 41 can be U-shaped grooves. The clamp seat is slidably disposed in the U-shaped groove. After the clamp seat is adjusted to the correct position, the bolts on the clamp seat can be tightened to fix the clamp seat in the U-shaped groove.

[0125] The lower surface of the lower mold frame 2 is evenly distributed with multiple casters 21. The multiple casters 21 are all located around the rotating component, and the multiple casters 21 slide in contact with the supporting disc 11.

[0126] In this embodiment, four casters 21 are evenly distributed on the lower surface of the lower mold frame 2. The four casters 21 slide on the support disc 11 to support the lower mold frame 2 and ensure its stable rotation. At the same time, it can also prevent all the weight of the lower mold frame 2 from pressing down on the rotating component, so that the rotary motor 13 in the rotating component can drive the drive gear 14 and the driven gear 15 to rotate without excessive torque, thus ensuring the stability of the rotating component.

[0127] The finished gripper 5 includes a gripper base 53 and a gripper assembly, with the gripper assembly mounted on the gripper base 53. A pair of slide rails are provided on the frame 300, and the gripper base 53 is slidably mounted on the pair of slide rails. A drive pulley 54 and a driven pulley 58 are also rotatably mounted on the frame 300. The drive pulley 54 is driven to rotate by a drive source, and the drive pulley 54 and the driven pulley 58 rotate through a transmission belt 55. The gripper base 53 is fixedly connected to the transmission belt 55.

[0128] In this embodiment, a fixing plate is provided on the gripper base 53. The fixing plate is fixed to the gripper base 53 by bolts, and the fixing plate presses a part of the transmission belt 55 onto the gripper base 53, thereby realizing the fixed connection between the gripper base 53 and the transmission belt 55. In other embodiments, through holes can also be provided on the transmission belt 55, and bolts can be directly passed through the through holes of the transmission belt 55 and then threaded onto the gripper base 53, so that the transmission belt 55 is directly fixedly connected to the gripper base 53.

[0129] In this embodiment, the drive source for the active pulley 54 can be a servo motor. A servo motor can more precisely control the rotation angle of the active pulley 54. By controlling the active pulley 54 to rotate by a set angle, the transmission belt 55 drives the gripper seat 53 to move a set distance, thereby precisely controlling the movement position of the gripper seat 53. The transmission belt 55 is a toothed transmission belt, and both the active pulley 54 and the driven pulley 58 are toothed pulleys to ensure a more efficient meshing transmission between the toothed transmission belt and the toothed pulleys.

[0130] The gripper assembly includes a gripper frame 57; a lifting cylinder 51 is provided on the gripper base 53, and the output end of the lifting cylinder 51 is fixedly connected to the gripper frame 57 to drive the gripper frame 57 to move up and down; in this embodiment, the gripper base 53 is also provided with multiple guide holes, and a guide rod 52 is guided in each guide hole. The bottom end of the guide rod 52 is fixedly connected to the gripper frame 57 to ensure the stability of the gripper frame 57 during the up and down movement process; specifically, four guide holes are evenly provided at the four corners of the gripper base 53.

[0131] The lower surface of the gripper frame 57 is provided with a pair of slide rails, and multiple gripper bars 56 are slidably arranged on the slide rails of the gripper frame 57. Each gripper bar 56 is controlled to move by a telescopic cylinder 59, and at least one gripper 510 is slidably arranged on each gripper bar 56.

[0132] In this embodiment, the main body of the telescopic cylinder 59 is fixed on the gripper frame 57, and the extended end of the telescopic cylinder 59 is fixed to the middle of the gripper rod 56 so as to drive the gripper rod 56 to slide along the slide rail on the gripper frame 57; wherein, there are three gripper rods 56, and the telescopic cylinder 59 drives the gripper rods 56 to move relative to each other, so as to realize the gripping and releasing operation of the multi-limb stirrup 500.

[0133] Each gripper arm 56 is provided with at least one slide, and a gripper 510 is slidably mounted on the slide. By adjusting the position of the gripper 510 on the slide, the gripper assembly can be adapted to gripping operations of multi-limb stirrups 500 of different sizes.

[0134] An air tank is also installed on the frame 300 to supply air to the pneumatic structures in the molding device, such as the positioning cylinder, lifting cylinder 51, and telescopic cylinder 59.

[0135] This application also provides a method for integrally forming a rectangular steel reinforcement cage multi-limb stirrup 500. This forming method uses the aforementioned integral forming device for the rectangular steel reinforcement cage multi-limb stirrup 500, and the forming method includes the following steps:

[0136] Step 1: The steel bars in the feeding rack 100 enter the straightening mechanism 200. The straightening mechanism 200 straightens the steel bars and then conveys them to the feeding mechanism 9. The feeding mechanism 9 conveys the steel bars downstream so that they enter the bending mechanism 7.

[0137] Step 2: The bending mechanism 7 bends the steel bar at a predetermined angle, and the rotating component in the rotating follower mechanism rotates synchronously. In this embodiment, the bending head bends the steel bar by 90° each time (where the first and last bends are 135°). The rotating component drives the lower mold frame 2 to rotate, and the lower mold frame 2 drives the middle mold frame 3 and the upper receiving tray 4 to rotate synchronously, so that the rotation angle of the upper receiving tray 4 matches the bending angle of the steel bar.

[0138] Step 3: The feeding mechanism 9 controls the conveying of the reinforcing bar to a set length, and the Y-axis lead screw assembly and X-axis lead screw assembly in the rotating follower mechanism move synchronously. In this embodiment, after the rotating assembly completes its rotation, the axis of one of the X-axis lead screw 32 and Y-axis lead screw 23 is parallel to the direction of reinforcing bar movement. When the reinforcing bar moves forward after bending, the X-axis lead screw assembly or the Y-axis lead screw assembly works to make the middle mold frame 3 or the upper receiving tray 4 move synchronously with the reinforcing bar to ensure that the upper receiving tray 4 always supports the multi-limb stirrup 500 during the bending process.

[0139] Step 4: During the movement of the reinforcing bars, when the welding point on the multi-limb stirrup 500 moves to below the welding mechanism 6, the feeding mechanism 9 stops feeding the reinforcing bars, and the welding mechanism 6 performs welding operations on the welding point on the multi-limb stirrup 500. In other embodiments, if there are missed welding points, after the multi-limb stirrup 500 is bent, the X-axis lead screw assembly and the Y-axis lead screw assembly can be driven to work, so as to move the missed welding points on the multi-limb stirrup 500 to below the welding mechanism 6, so that the welding mechanism 6 can perform supplementary welding.

[0140] Step 5: Repeat steps 2-4 to complete the integral forming of the multi-limb stirrup 500. In this embodiment, the multi-limb stirrup 500 is divided into three parts: multiple small rectangles arranged horizontally, multiple small rectangles arranged vertically, and a large rectangle on the outermost ring of the stirrup. One group of small rectangles arranged horizontally and another group of small rectangles arranged vertically are bent sequentially, followed by bending of the large rectangle on the outermost ring of the multi-limb stirrup 500. This ensures that the multi-limb stirrup 500 is formed entirely from a single steel bar. The integral bending of the multi-limb stirrup 500 is achieved through the cooperation of the feeding mechanism 9 and the bending mechanism 7. The forming and fixing of the multi-limb stirrup 500 is achieved through the welding mechanism 6. Real-time support is achieved during the processing of the multi-limb stirrup 500 through the rotation follower mechanism. This forming device, through efficient coordination, greatly improves the integral forming efficiency of the multi-limb stirrup 500.

[0141] Step 6: Activate the cutting mechanism 8 to cut the steel bar.

[0142] Step 7: The rotating follower mechanism drives the multi-limb stirrup 500 to move below the finished gripper 5.

[0143] Step 8: The lifting cylinder 51 extends, lowering the gripper assembly to the height of the multi-limb stirrup 500; the telescopic cylinder 59 shortens, causing the gripper rod 56 to drive the gripper 510 to grip the multi-limb stirrup 500; the lifting cylinder 51 shortens, causing the gripper assembly to lift the multi-limb stirrup 500 from the rotating follower mechanism.

[0144] Step 9: The drive source drives the active pulley 54 to rotate, causing the transmission belt 55 to move the gripper seat 53 above the discharge mechanism 400; the lifting cylinder 51 extends, causing the multi-limb hoop 500 to drop in height; the telescopic cylinder 59 extends to release the multi-limb hoop 500, so that the multi-limb hoop 500 falls on the discharge mechanism 400; the finished gripper 5 is reset.

[0145] Step 10: Repeat steps 1-9. When the number of multi-limb stirrups 500 stacked on the discharge mechanism 400 reaches the set quantity, the discharge mechanism 400 will send out the multi-limb stirrups 500.

[0146] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A device for integrally forming multi-limb stirrups of a rectangular steel reinforcement cage, characterized in that, The forming device includes a feeding rack, a straightening mechanism, and a frame arranged sequentially from upstream to downstream. The feeding rack is used to store steel bars; The straightening mechanism is used to straighten the reinforcing bars; The frame is equipped with a feeding mechanism, a cutting mechanism, a bending mechanism and a welding mechanism, and a finished product gripper, arranged sequentially from upstream to downstream. The feeding mechanism is used to transport the steel bars downstream; The cutting mechanism is used to cut the reinforcing bars after the multi-limb stirrups are integrally formed; The bending mechanism achieves the integral forming of multi-limb stirrups through multiple bending operations; The welding mechanism is located next to the bending mechanism. When the welding point on the multi-limb stirrup moves to the bottom of the welding mechanism, the feeding mechanism stops feeding the steel bar, and the welding mechanism performs welding operations on the welding point on the multi-limb stirrup. A moving track is provided below the frame, and a rotary follower mechanism and a discharge mechanism are provided on the moving track. The rotary follower mechanism is used to receive multi-limb stirrups and rotate synchronously with the multi-limb stirrups when the bending mechanism bends the steel bars, and moves synchronously with the multi-limb stirrups when the feeding mechanism feeds the steel bars. During the bending operation of multi-limb stirrups, the rotating follower mechanism is located below the bending mechanism, and the rotation center of the rotating follower mechanism and the bending center of the bending mechanism are on the same vertical line. After the multi-limb stirrup is integrally formed, the cutting mechanism first cuts the steel bar, and then the rotating follower mechanism moves along the moving track to below the finished product gripper. The finished product gripper picks up the multi-limb stirrup and places it on the discharge mechanism. When the multi-limb stirrup on the discharge mechanism reaches the set number, the discharge mechanism sends out the multi-limb stirrup. The rotating follower mechanism includes, from top to bottom, an upper receiving tray, a middle mold frame, a lower mold frame and a bottom rotating table. A rotating assembly is provided between the bottom rotating platform and the lower mold frame. The rotating assembly is used to drive the lower mold frame to rotate on the bottom rotating platform to accommodate the bending and rotation of the stirrups. A Y-axis lead screw assembly is provided between the lower mold frame and the middle mold frame. The Y-axis lead screw assembly includes at least a Y-axis lead screw. The Y-axis lead screw assembly is used to drive the middle mold frame to move along the Y-axis lead screw axis to accommodate the movement of the stirrups. An X-axis lead screw assembly is provided between the middle mold frame and the upper receiving tray. The X-axis lead screw assembly includes at least an X-axis lead screw. The X-axis lead screw assembly is used to drive the upper receiving tray to move along the X-axis lead screw axis to accommodate the movement of the stirrups. The X-axis lead screw axis is perpendicular to the Y-axis lead screw axis. The upper receiving tray is provided with a positioning mold assembly, which is used to position the stirrups; The positioning mold assembly includes two parallel horizontal slide rails and two parallel vertical slide rails, which are perpendicular to each other. Both the horizontal and vertical slide rails are movably mounted on the upper receiving tray so that the two horizontal and two vertical slide rails can be assembled into rectangles of different sizes. Both the horizontal and vertical slide rails are provided with grooves, and multiple clamps are slidably arranged in the grooves. The clamps are used to support the multi-limb stirrups.

2. The integral forming device for multi-limb stirrups of rectangular steel reinforcement cage according to claim 1, characterized in that, The rotating assembly includes a driving gear and a driven gear, which mesh and drive each other, with the driving gear driving the driven gear to rotate. The lower mold frame is fixed above the driven gear.

3. The integral forming device for multi-limb stirrups of rectangular steel reinforcement cage according to claim 2, characterized in that, The bottom rotating platform includes a support frame and a support disk, with the support disk mounted on the support frame. Both the driving gear and the driven gear are rotatably mounted on the support disk; The rotating assembly also includes a rotating motor, which is located below the support disk. The drive shaft of the rotating motor passes through the support disk and is connected to the drive gear.

4. The integral forming device for multi-limb stirrups of rectangular steel reinforcement cage according to claim 3, characterized in that, The Y-axis lead screw is rotatably mounted on the lower mold frame; The Y-axis lead screw assembly also includes a Y-axis motor, which is fixed on the lower mold frame, and the drive shaft of the Y-axis motor is connected to the Y-axis lead screw. The Y-axis lead screw assembly also includes a Y-axis screw block, which is driven on the Y-axis lead screw and is fixedly connected to the middle layer mold frame; The X-axis lead screw is rotatably mounted on the middle layer mold frame; The X-axis lead screw assembly also includes an X-axis motor, which is fixed on the middle mold frame, and the drive shaft of the X-axis motor is connected to the X-axis lead screw. The X-axis lead screw assembly also includes an X-axis screw block, which is driven on the X-axis lead screw and is fixedly connected to the upper receiving tray.

5. The integral forming device for multi-limb stirrups of rectangular steel reinforcement cage according to claim 4, characterized in that, The lower surface of the lower mold frame is evenly distributed with multiple casters, which are located around the rotating assembly and slide in contact with the supporting disc.

6. The integral forming device for multi-limb stirrups of rectangular steel reinforcement cage according to claim 4, characterized in that, The finished gripper includes a gripper base and a gripper assembly, wherein the gripper assembly is disposed on the gripper base; The frame is provided with a pair of slide rails, and the gripper seat is slidably mounted on the pair of slide rails; The frame is also rotatably equipped with a drive pulley and a driven pulley. The drive pulley is driven to rotate by a drive source, and the drive pulley and the driven pulley rotate through a transmission belt. The gripper base is fixedly connected to the transmission belt.

7. The integral forming device for multi-limb stirrups of rectangular steel reinforcement cage according to claim 6, characterized in that, The gripper assembly includes a gripper frame; The gripper base is equipped with a lifting cylinder, and the output end of the lifting cylinder is fixedly connected to the gripper frame to drive the gripper frame to move up and down. The lower surface of the gripper frame is provided with a pair of slide rails, and multiple gripper bars are slidably arranged on the slide rails of the gripper frame. Each gripper bar is controlled to move by a telescopic cylinder, and each gripper bar is slidably provided with at least one gripper claw.

8. A method for integrally molding multi-limb stirrups of a rectangular steel reinforcement cage, characterized in that, The forming method uses the integrated forming device for multi-limb stirrups of rectangular steel reinforcement cage as described in claim 7, and the forming method includes the following steps: Step 1: The steel bars in the feeding rack enter the straightening mechanism, which straightens the steel bars and then conveys them to the feeding mechanism. The feeding mechanism conveys the steel bars downstream so that they enter the bending mechanism. Step 2: The bending mechanism bends the steel bar at a predetermined angle, and the rotating component in the rotating follower mechanism rotates synchronously. Step 3: The feeding mechanism controls the conveying of the steel bars to a set length, and the Y-axis lead screw assembly and X-axis lead screw assembly in the rotating follower mechanism move synchronously. Step 4: During the movement of the reinforcing bars, when the welding point on the multi-limb stirrup moves to below the welding mechanism, the feeding mechanism stops feeding the reinforcing bars, and the welding mechanism performs welding operations on the welding point on the multi-limb stirrup. Step 5: Repeat steps 2-4 to complete the one-piece molding of the multi-limb stirrup; Step 6: Activate the cutting mechanism to cut the steel bar; Step 7: The rotating follower mechanism drives the multi-limb stirrup to move below the finished gripper; Step 8: The lifting cylinder extends, lowering the gripper assembly to the height of the multi-limb stirrup; the telescopic cylinder shortens, causing the gripper rod to drive the jaws to grip the multi-limb stirrup; the lifting cylinder shortens, causing the gripper assembly to lift the multi-limb stirrup from the rotating follower mechanism. Step 9: The drive source drives the active pulley to rotate, causing the transmission belt to move the gripper seat above the discharge mechanism; the lifting cylinder extends to lower the height of the multi-limb hoop; the telescopic cylinder extends to release the multi-limb hoop, allowing it to fall onto the discharge mechanism; the finished product gripper is reset. Step 10: Repeat steps 1-9. When the number of multi-limb stirrups stacked on the discharge mechanism reaches the set quantity, the discharge mechanism will send out the multi-limb stirrups.

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