A rotary butterfly tendon welding forming device and method

Abstract

This application discloses a rotary butterfly rib welding and forming device and method. The device includes a base, a rotating mechanism, at least four moving mechanisms and a clamping mechanism, a welding mechanism, and a gripping mechanism. The moving mechanisms and clamping mechanisms are paired to form first and second clamping areas. The rotating mechanism drives the rotating frame to rotate around a horizontal axis, so that the two clamping areas are alternately positioned at the loading / unloading station and the welding station. The clamping mechanism uses a multi-link structure to drive the pressure block to rotate, screwing it into the positioning groove from the opening of the positioning seat to clamp the figure-eight rib, or retracting it to avoid the gripping mechanism. The method includes: sequentially clamping two figure-eight ribs at the loading / unloading station, rotating them to the welding station to complete the welding of the double-sided weld, and then having the finished product removed by the gripping mechanism. This application solves the technical problems of complex multi-mechanism coordination, unstable clamping of irregular parts, and poor station conversion accuracy through rotary station conversion, multi-link clamping, and symmetrical layout design, realizing fully automated, efficient, and precise production of butterfly ribs.

Description

Technical Field

[0001] This application relates to the field of steel reinforcement welding technology, specifically to a rotary butterfly rebar welding forming device and method. Background Technology

[0002] A butterfly-shaped support structure is formed by welding two steel reinforcement members in a figure-eight shape together. As a key support component, it is widely used in grid arch frames in infrastructure construction such as tunnel engineering. The special spatial configuration of the butterfly-shaped support structure dictates that strict requirements must be placed on dimensional accuracy, alignment accuracy, and welding quality during its production process.

[0003] Currently, the production and processing of butterfly rebars mainly relies on manual operation. First, workers use bending equipment to bend the rebars into figure-eight shapes. Then, two or more workers manually align and clamp the two figure-eight shapes, and finally, they are fixed into a butterfly rebar by hand welding. This manual operation method has significant drawbacks, including low production efficiency, high labor intensity, and difficulty in ensuring product quality stability.

[0004] To overcome the problems of manual operation, the industry has begun to explore automated welding solutions for butterfly rebars. However, in the process of achieving automation, those skilled in the art face several general technical challenges that urgently need to be overcome.

[0005] First, there is the complexity of coordinating multiple actuators. The automated forming process of butterfly tendons involves multiple steps, including feeding, alignment, clamping, station transition, welding, and unloading. To achieve full automation, multiple actuators, such as rotating, moving, clamping, welding, and gripping mechanisms, need to be coordinated within a limited equipment space, and they must complete collaborative operations according to precise timing and spatial trajectories. The actions of each mechanism have strict sequential dependencies and spatial constraints. If the action logic or execution speed of any step is poorly designed, it will not only cause mechanical interference between mechanisms but also generate a large amount of unproductive waiting time, resulting in a long overall production cycle and low efficiency. Designing an optimized collaborative control logic that ensures tight coordination between mechanisms and minimizes auxiliary time for process transitions is a core challenge in achieving efficient automated production.

[0006] Secondly, there is the issue of precise and stable clamping of irregularly shaped workpieces by the clamping mechanism. A figure-eight rib is an irregularly shaped rigid component with a curved profile; its sides are neither flat plates nor regular cylindrical surfaces. In automated welding processes, the clamping mechanism must not only reliably position the figure-eight rib and ensure precise alignment and fit between the central welding areas of the two ribs, but also provide sufficient and uniform clamping force to prevent deformation or displacement of the workpiece under welding thermal stress. However, existing general-purpose clamping mechanisms are mostly designed for regular-shaped workpieces and are difficult to adapt well to the special contour of the figure-eight rib. They often suffer from problems such as small clamping contact area, unreasonable force application points, and easy workpiece deflection, directly affecting alignment accuracy and the final weld quality. Furthermore, when the clamping mechanism is released, its structural components often still occupy the space required for the workpiece's entry and exit channels, obstructing the path of the external gripping mechanism during loading and unloading operations, forming a bottleneck in the automated process. Therefore, how to design a clamping mechanism that can adapt to irregular contours, provide stable clamping, and completely avoid obstacles after release, providing unobstructed working space for other mechanisms, is a technical problem that urgently needs to be solved.

[0007] Furthermore, there is the issue of layout and precision in multi-station transfer. To improve production efficiency, ideal automated equipment needs to functionally partition loading / unloading and welding stations, and use a reliable station transfer mechanism to facilitate the flow of workpieces between different stations. This requires the station transfer mechanism to be able to carry the entire set of fixtures and workpieces, achieving precise positioning and stopping during high-speed movement to ensure the positional accuracy of the workpiece relative to the welding and gripping mechanisms after each station switch. Simultaneously, the station transfer mechanism also needs to address the power transmission and control issues of the moving fixture components, as well as the coordination with fixed external mechanisms. Designing a station transfer device that integrates with the moving and clamping mechanisms into a compact and coordinated whole to achieve efficient and precise transfer between stations is also a significant technical challenge in this field.

[0008] In summary, there is an urgent need to develop a novel butterfly tendon welding and forming device and method to systematically solve the technical problems in the existing technology, such as difficulties in multi-mechanism coordination, unstable clamping of irregular workpieces, and poor accuracy of station conversion, so as to achieve full-process, automated, efficient and precise production of butterfly tendons. Summary of the Invention

[0009] To address the aforementioned issues, this application provides a rotary butterfly rebar welding and forming device and method, which enables fully automated, efficient, and precise production of butterfly rebar throughout the entire process.

[0010] Specifically, the following technical solutions are included: In a first aspect, this application provides a rotary butterfly rebar welding and forming device, comprising: Base; The rotating mechanism includes a rotating frame rotatably mounted on the base and a fixed plate fixedly installed inside the rotating frame; The moving mechanism includes a second drive mechanism fixedly installed within the rotating frame and a moving plate connected to the second drive mechanism. The moving plate is slidably connected to the fixed plate. The second drive mechanism is used to drive the moving plate to move relative to the fixed plate. The moving plate is fixedly connected to a positioning seat. The positioning seat is provided with a positioning groove for locking the side of the figure-eight rib, an opening on one side of the positioning groove, and an abutment plate on the other side of the positioning groove. The clamping mechanism includes a third drive mechanism connected to the movable plate and a pressure block connected to the third drive mechanism. The third drive mechanism is used to drive the pressure block to rotate so that the pressure block extends from the opening of the positioning seat into the positioning groove and presses the side of the figure-eight rib against the abutment plate to fix the figure-eight rib, or to move the pressure block away from the positioning seat to release the locking of the figure-eight rib. A welding mechanism, located on one side of the base, includes a movable welding torch; A gripping mechanism, disposed on the base, includes a movable hook, the gripping mechanism being configured to grip and transport the figure-eight rib. The number of the moving mechanism and the clamping mechanism is at least four, and the at least four moving mechanisms and the at least four clamping mechanisms are arranged in two pairs to form a first clamping area and a second clamping area respectively; the positioning seats of the two moving mechanisms in each clamping area are arranged opposite to each other, so as to clamp a figure-eight rib to be welded from both sides, and the middle parts of the two figure-eight ribs to be welded held in the two clamping areas respectively are in contact and aligned; The rotating mechanism is used to drive the rotating frame to rotate about a horizontal axis, so that the first clamping area and the second clamping area can be alternately positioned to at least one loading and unloading station and at least one welding station; At the loading and unloading station, the gripping mechanism's claws can place the figure-eight rib to be welded into the positioning slot of the positioning seat in the corresponding clamping area, and can remove the welded butterfly rib from the positioning seat. At the welding station, the welding torch of the welding mechanism can extend into the rotating frame to weld the middle part of the two aligned figure-eight ribs.

[0011] In one embodiment of this application, the clamping mechanism further includes a mounting base fixedly connected to the movable plate; a connecting seat is fixedly connected to the output end of the third driving mechanism; the other end of the third driving mechanism is hinged to the movable plate via a fifth hinge axis; a first fixing rod is fixedly connected to the mounting base; a second fixing rod is fixedly connected to the movable plate; a first hinge rod is hinged to the first fixing rod via a first hinge axis; a rotating rod is hinged to the second fixing rod via a second hinge axis; a second hinge rod is hinged to the rotating rod via a fourth hinge axis; the second hinge rod, the first hinge rod, and the connecting base are hinged together via a third hinge axis; the first fixing rod and the second fixing rod, and the first hinge rod and the second hinge rod are respectively located on both sides of the connecting base; the pressure block is fixedly installed on the side of the rotating rod away from the second hinge axis; the third driving mechanism is used to drive the connecting base to perform telescopic movement, so that the connecting base drives the rotating rod and the pressure block to rotate around the second hinge axis.

[0012] In one embodiment of this application, the rotating mechanism further includes a first drive mechanism and a bearing housing mounted on the base. The first drive mechanism drives the rotating frame to rotate via a transmission mechanism. The transmission mechanism includes a first synchronous pulley connected to the output end of the first drive mechanism, a rotating shaft fixedly connected to the rotating frame, a second synchronous pulley connected to the rotating shaft, and a transmission chain connecting the first synchronous pulley and the second synchronous pulley. The rotating shaft is rotatably connected to the bearing housing.

[0013] In one embodiment of this application, the fixed plate is fixedly mounted with a slide rail arranged along the axial direction of the rotating frame, the movable plate is fixedly mounted with a slider, the slider is slidably connected to the slide rail, and the second driving mechanism is used to drive the movable plate to move along the axial direction of the slide rail.

[0014] In one embodiment of this application, the welding mechanism further includes a welding frame disposed on one side of the base, a fourth drive mechanism fixedly mounted on the welding frame, a mounting plate connected to the fourth drive mechanism, a guide rail fixedly mounted on the mounting plate, an adjusting seat slidably connected to the guide rail, and a fifth drive mechanism fixedly mounted on the adjusting seat; the welding torch is fixedly mounted on the output end of the fifth drive mechanism, the fifth drive mechanism is used to drive the welding torch to perform lifting and lowering movements, the adjusting seat is slidably connected to the guide rail to adjust the position of the fifth drive mechanism and the welding torch along the axial direction of the rotating frame, and the fourth drive mechanism is used to drive the mounting plate, the guide rail, the adjusting seat, the fifth drive mechanism, and the welding torch to perform feed movements perpendicular to the axial direction of the rotating frame.

[0015] In one embodiment of this application, the gripping mechanism further includes a gripping frame disposed on the other side of the base, a sixth drive mechanism fixedly installed on the gripping frame, a rotating arm connected to the output end of the sixth drive mechanism, a seventh drive mechanism fixedly connected to the rotating arm, a lifting plate connected to the output end of the seventh drive mechanism, and an eighth drive mechanism fixedly connected to the lifting plate. The claw is connected to the output end of the eighth drive mechanism. The eighth drive mechanism is used to drive the claw to expand or contract to grip or release the figure-eight tendon, the seventh drive mechanism is used to drive the lifting plate to perform lifting and lowering movements, and the sixth drive mechanism is used to drive the rotating arm to perform rotational movements.

[0016] In one embodiment of this application, the lifting plate is fixedly connected to two eighth driving mechanisms, and the two eighth driving mechanisms respectively drive the two hooks to grab the two sides of the figure-eight rib; the outer side of the hook is provided with an outwardly extending rolled edge, and when the eighth driving mechanism drives the hook to expand, the rolled edge opens outward to hook the figure-eight rib.

[0017] In one embodiment of this application, there are two gripping mechanisms, which are respectively disposed on both sides of the base. One gripping mechanism is used to transport the figure-eight rib to be welded into the rotating frame, and the other gripping mechanism is used to remove the butterfly rib after welding from the rotating frame.

[0018] In one embodiment of this application, there are two fixing plates, which are fixedly installed on opposite sides of the rotating frame. Each fixing plate has a symmetrically arranged moving mechanism and clamping mechanism on both sides. The positioning seats of the moving mechanisms on the same side of the two fixing plates face each other to form the first clamping area. The positioning seats of the moving mechanisms on the other side of the two fixing plates also face each other to form the second clamping area. This allows for simultaneous clamping of both sides of the two figure-eight ribs, and the first and second clamping areas are alternately aligned with the loading / unloading station and the welding station by the rotation of the rotating mechanism.

[0019] Secondly, this application provides a rotary butterfly rib welding and forming method, which employs the aforementioned rotary butterfly rib welding and forming device. The rotary butterfly rib welding and forming method includes the following steps: Step 1: The rotating mechanism stops at the 0° loading / unloading position. One of the gripping mechanisms grabs the first figure-eight rib to be welded and places it between two opposing positioning seats in the first clamping area. The two second driving mechanisms in the first clamping area drive the two opposing positioning seats to move closer to each other until the two sides of the first figure-eight rib to be welded are respectively locked in the positioning grooves of the two opposing positioning seats in the first clamping area. The third driving mechanism in the first clamping area drives the pressure block to rotate so that the pressure block extends from the opening of the positioning seat into the positioning groove and presses the side of the figure-eight rib against the abutment plate to fix the figure-eight rib. The two moving mechanisms in the first clamping area cooperate with the two clamping mechanisms to clamp the first figure-eight rib to be welded in the first clamping area. The gripper releases the first figure-eight rib to be welded and exits from the rotating frame. Step 2: The rotating mechanism rotates to the 180° loading / unloading position, and the first clamping area and the second clamping area exchange positions; the claw of the gripping mechanism grips the second figure-eight rib to be welded and places it between the two opposing positioning seats in the second clamping area; the two second driving mechanisms in the second clamping area drive the two opposing positioning seats to move closer to each other until both sides of the second figure-eight rib to be welded are respectively locked in the positioning grooves of the two opposing positioning seats in the second clamping area; the third driving mechanism in the second clamping area... The mechanism drives the pressure block to rotate, so that the pressure block extends from the opening of the positioning seat into the positioning groove and presses the side of the figure-eight rib against the abutment plate to fix the figure-eight rib. The two moving mechanisms in the second clamping area cooperate with the two clamping mechanisms to clamp the second figure-eight rib to be welded in the second clamping area. The hook releases the second figure-eight rib to be welded and exits from the rotating frame. At this time, the first figure-eight rib to be welded and the middle part of the second figure-eight rib to be welded are in contact and aligned, and both ends are clamped by the clamping mechanism and the positioning seat respectively. Step 3: The rotating mechanism rotates to the welding position at 90°, the welding torch of the welding mechanism extends into the rotating frame, and welds the first weld on the middle part to be welded between the two figure-eight ribs. After welding is completed, the welding torch is withdrawn from the rotating frame. Step 4: The rotating mechanism rotates to the welding position at 270°, the welding torch of the welding mechanism extends into the rotating frame, and welds the second weld on the middle part to be welded of the two figure-eight ribs. After the welding is completed, the welding torch is withdrawn from the rotating frame; at this time, the two figure-eight ribs are welded and form a butterfly rib. Step 5: The claw of the other gripping mechanism extends into the rotating frame and fixes the welded butterfly rib. The third drive mechanism of the first clamping area and the second clamping area drives the pressure block to rotate, so that the pressure block moves away from the positioning seat to release the clamping mechanism from locking the welded butterfly rib. The second drive mechanism of the first clamping area and the second clamping area drives the opposing positioning seats to move away from each other to release the positioning seats from fixing the welded butterfly rib. The claw of the gripping mechanism moves to remove the welded butterfly rib from the rotating frame.

[0020] The beneficial effects of this application are: First, addressing the technical challenge of complex multi-mechanism coordination and lengthy process transition auxiliary times leading to prolonged production cycles, this application integrates the moving mechanism and clamping mechanism into the first and second clamping areas within the rotating frame. These areas, in conjunction with fixed loading / unloading and welding stations, create a clear and orderly collaborative control logic. This logic decouples actions such as loading, clamping, welding, and unloading into tightly linked sequential steps. The movement paths of each mechanism are clearly defined, effectively avoiding the mechanical interference risks of overlapping operations. Furthermore, it minimizes auxiliary times such as indexing and fixture opening / closing, significantly eliminating non-productive waiting time and achieving a highly efficient and smooth automated production cycle.

[0021] Secondly, addressing the technical challenges of clamping mechanisms being unable to adapt to irregularly shaped contours, unstable clamping, and structural components obstructing the workpiece's entry and exit channels after release, this application solves the problem by connecting a third driving mechanism to a moving plate and driving the pressure block to rotate. This allows the pressure block to screw into the positioning slot from the opening of the positioning seat to clamp the workpiece, or to completely leave the positioning seat to release the lock. This ensures reliable positioning and clamping of irregularly shaped workpieces while providing an unobstructed entry and exit channel for the gripping mechanism in the released state, fundamentally resolving the contradiction between stable clamping and space avoidance. As a preferred embodiment, by employing a multi-link clamping mechanism composed of a first hinge rod, a second hinge rod, a rotating rod, and a pressure block, the linear telescopic motion is precisely converted into the arc rotation of the pressure block. This further achieves high-degree contact with the workpiece's curved contour and uniform force application, effectively preventing workpiece displacement under welding thermal stress and achieving better clamping stability.

[0022] Third, regarding multi-station conversion, the conversion mechanism needs to accurately stop the entire set of fixtures and workpieces during high-speed movement, and the challenge of power transmission and control coordination of the follow-up fixture needs to be addressed. This application directly mounts the moving mechanism and clamping mechanism inside the rotating frame, allowing them to rotate synchronously around the horizontal axis, forming a compact, integrated rotating work unit. This layout facilitates a more balanced mass distribution in the rotating parts. Each drive mechanism rotates with the rotating frame, and its power supply only needs to be drawn from the fixed base to the rotating axis, eliminating the need for complex intermediate transmission mechanisms between the fixed and rotating components, thus systematically simplifying the power transmission path of the follow-up fixture. Combined with precise angular control from servo drives and robust bearing support, the clamping area can reliably stop at the preset loading / unloading or welding station each time, ensuring high positional accuracy of the workpiece relative to the welding and gripping mechanisms. Therefore, this application comprehensively overcomes the existing technical bottlenecks in terms of both layout accuracy and power coordination. Attached Figure Description

[0023] Figure 1 This is a perspective view of the rotary butterfly tendon welding and forming device of this application.

[0024] Figure 2 This is a front view of the base, rotating mechanism, moving mechanism, and clamping mechanism of this application.

[0025] Figure 3 for Figure 2 Sectional view along the AA direction.

[0026] Figure 4 for Figure 3 Sectional view along the BB direction.

[0027] Figure 5 for Figure 3 Sectional view along the CC direction.

[0028] Figure 6 for Figure 5 A magnified view of D.

[0029] Figure 7 This is a perspective view of the base, rotating mechanism, rotating frame, moving mechanism, and clamping mechanism of this application, with parts removed.

[0030] Figure 8 This is a perspective view of the rotating mechanism of this application with parts of the rotating frame, moving mechanism, and clamping mechanism removed.

[0031] Figure 9 This is a perspective view of the rotating mechanism of this application, with parts of the rotating frame, moving mechanism, and clamping mechanism removed.

[0032] Figure 10 for Figure 9 A magnified view of E in the middle.

[0033] Figure 11 This is the front view of the welding mechanism in this application.

[0034] Figure 12 This is a top view of the welding mechanism of this application.

[0035] Figure 13 This is the main view of the crawling organization in this application.

[0036] Figure 14 This is a three-dimensional view of a portion of the structure of the grasping mechanism in this application.

[0037] In the diagram: 1. Base; 2. Rotating mechanism; 21. Rotating frame; 22. First drive mechanism; 23. Transmission mechanism; 231. First synchronous pulley; 232. Transmission chain; 233. Second synchronous pulley; 234. Rotating shaft; 24. Bearing seat; 25. Fixed plate; 3. Moving mechanism; 31. Second drive mechanism; 32. Moving plate; 33. Slide rail; 34. Slider; 35. Positioning seat; 351. Positioning groove; 352. Abutment plate; 4. Clamping mechanism; 41. Third drive mechanism; 42. Mounting seat; 43. Connecting seat; 44. First hinge rod; 45. Second hinge rod; 46. First fixed rod; 7. Second fixed rod; 48. Rotating rod; 49. Pressure block; 410. First hinge shaft; 411. Second hinge shaft; 412. Third hinge shaft; 413. Fourth hinge shaft; 414. Fifth hinge shaft; 5. Welding mechanism; 51. Welding torch; 52. Welding frame; 53. Fourth drive mechanism; 54. Mounting plate; 55. Guide rail; 56. Adjusting seat; 57. Fifth drive mechanism; 6. Gripping mechanism; 61. Hook; 611. Edge curling; 62. Gripping frame; 63. Sixth drive mechanism; 64. Rotating arm; 65. Seventh drive mechanism; 66. Lifting plate; 67. Eighth drive mechanism; 7. Figure-eight rib. Detailed Implementation

[0038] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0039] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0040] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0041] like Figures 1 to 14 As shown, this application provides a rotary butterfly rebar welding and forming device, which aims to systematically solve the technical problems in the prior art, such as difficulties in multi-mechanism coordination, unstable clamping of irregular workpieces, and poor accuracy of station transition, so as to realize the full-process, automated, efficient and precise production of butterfly rebar. The device includes a base 1 as the basic support, a rotating mechanism 2 mounted on the base 1, a moving mechanism 3 and a clamping mechanism 4 mounted in the rotating mechanism 2, and a welding mechanism 5 and a gripping mechanism 6 disposed on the side of the base 1.

[0042] In some embodiments, the rotating mechanism 2 performs the core function of workstation switching, and includes a rotating frame 21 rotatably mounted on the base 1, and a fixed plate 25 fixedly installed inside the rotating frame 21. The rotating mechanism 2 is configured to drive the rotating frame 21 to rotate about a horizontal axis, which is the basis for achieving precise alternating positioning of multiple clamping areas between the loading / unloading station and the welding station.

[0043] In some embodiments, the moving mechanism 3 and the clamping mechanism 4 are the execution units that directly contact the workpiece in this device to complete positioning and clamping. The moving mechanism 3 includes a second drive mechanism 31 fixedly installed in the rotating frame 21, and a moving plate 32 that is driveably connected to the second drive mechanism 31. The moving plate 32 and the fixed plate 25 are slidably connected. The function of the second drive mechanism 31 is to drive the moving plate 32 to move linearly back and forth relative to the fixed plate 25. The moving plate 32 is fixedly connected to a positioning seat 35. The positioning seat 35 has a positioning groove 351 for locking the side of the figure-eight rib 7. The contour of the positioning groove 351 is adapted to the side shape of the figure-eight rib, which plays a role in initial limiting and positioning. An opening is provided on one side of the positioning groove 351, which provides an access channel for the pressure block 49 of the clamping mechanism 4. An abutment plate 352 is provided on the other side of the positioning groove 351. The abutment plate 352 serves as a rigid reference surface during clamping, ensuring that the clamping force is transmitted evenly and reliably, and ensuring the accuracy of the position of the workpiece after clamping. Among them, the figure-eight rib 7 includes two sides and a middle part to be welded, which is in the shape of "8".

[0044] In some embodiments, the clamping mechanism 4 is designed to provide a clamping solution that can both securely clamp irregularly shaped workpieces and completely avoid them after release. It includes a third drive mechanism 41 connected to the moving plate 32, and a pressure block 49 connected to the third drive mechanism 41. The third drive mechanism 41 drives the pressure block 49 to rotate. When clamping is required, the pressure block 49 can be screwed into the positioning groove 351 from the opening of the positioning seat 35, firmly pressing the side of the figure-eight rib 7 against the abutment plate 352 to fix the workpiece; when releasing is required, the pressure block 49 can rotate in the opposite direction and completely move away from the positioning seat 35, thereby releasing the locking of the figure-eight rib 7. This screw-in clamping and screw-out avoidance action mode solves the common technical problem of traditional clamps where structural components still occupy the workpiece entry / exit channel and interfere with the gripping mechanism after release.

[0045] In some embodiments, the welding mechanism 5 and the gripping mechanism 6 are respectively used to perform welding operations and material handling functions. The welding mechanism 5 is located on one side of the base 1 and includes a welding torch 51 capable of multi-degree-of-freedom movement, used to extend into the rotating frame 21 at the welding station to perform welding operations. The gripping mechanism 6 is located on the other side of the base 1 and includes a movable claw 61, which is configured to grip and transport the figure-eight ribs 7 to achieve automatic feeding of raw materials and automatic unloading of finished products.

[0046] To address the production efficiency challenges of multi-station parallel operation and simultaneous processing of multiple workpieces, this device features a core innovation in its layout: at least four moving mechanisms 3 and at least four clamping mechanisms 4 are arranged in two pairs, forming a first clamping area and a second clamping area. In each clamping area, the positioning seats 35 of the two moving mechanisms 3 are positioned opposite each other, enabling them to clamp a figure-eight rib 7 to be welded from both sides. After all clamping is completed, the middle portions of the two figure-eight ribs 7 to be welded, clamped in the two clamping areas respectively, are in contact and aligned. The advantage of this dual-area, dual-side clamping design is that precise positioning of two workpieces can be achieved in a single clamping operation, preparing them for subsequent welding.

[0047] The rotating mechanism 2 drives the rotating frame 21 to rotate around a horizontal axis, thereby allowing the first clamping area and the second clamping area to be alternately positioned at at least one loading / unloading station and at least one welding station. This station flow mechanism allows the two main functions of loading / unloading and welding to be spatially partitioned, and the action paths of each mechanism are clearly defined, avoiding mechanical interference.

[0048] Specifically, at the loading and unloading station, the gripper 61 of the grasping mechanism 6 can place the figure-eight ribs 7 to be welded into the positioning slots 351 of the positioning seats 35 in the corresponding clamping area, and can also remove the welded butterfly ribs from the positioning seats 35; while at the welding station, the welding torch 51 of the welding mechanism 5 can extend into the rotating frame 21 to weld the middle part of the two aligned figure-eight ribs 7. This collaborative relationship solves the core problem of the complexity of collaborative cooperation between multiple actuators. Through optimized spatial layout and timing logic, the actions of each mechanism can be tightly connected, and the auxiliary time for process transitions is minimized.

[0049] Existing general-purpose clamping mechanisms are difficult to adapt to the curved contour of a figure-eight rib, and often occupy the workpiece passage after loosening. This application overcomes the above problems by using a multi-link transmission mechanism of the clamping mechanism 4. In some embodiments, the clamping mechanism 4 further includes a mounting base 42 fixedly connected to the moving plate 32. The output end of the third drive mechanism 41 is fixedly connected to a connecting seat 43, and its rear end is hinged to the moving plate 32 through a fifth hinge shaft 414. This floating connection method can avoid jamming during movement. In this embodiment, the third drive mechanism 41 can be a cylinder.

[0050] The core of the clamping mechanism 4 is a planar linkage group composed of multiple rods. Specifically, the mounting base 42 is fixedly connected to a first fixed rod 46, and the moving plate 32 is fixedly connected to a second fixed rod 47. The distal end of the first fixed rod 46 is hinged to one end of the first hinge rod 44 via a first hinge shaft 410; the distal end of the second fixed rod 47 is hinged to one end of the rotating rod 48 via a second hinge shaft 411. The middle part of the rotating rod 48 is hinged to one end of the second hinge rod 45 via a fourth hinge shaft 413, and the other end of the rotating rod 48 extends toward the positioning base 35, and the pressure block 49 is fixedly installed on its side. The other end of the first hinge rod 44, the other end of the second hinge rod 45, and the end of the connecting base 43 are all hinged to a single point via the same third hinge shaft 412, forming a common rotating pair.

[0051] In terms of spatial layout, the first fixed rod 46 and the second fixed rod 47, the first hinge rod 44 and the second hinge rod 45 are located on both sides of the connecting seat 43. This offset arrangement ensures the smoothness of movement and transmits the driving force to the pressure block 49 in a reasonable manner.

[0052] In this embodiment, the clamping mechanism 4 uses a compact multi-bar mechanism to precisely convert the telescopic motion of the linear drive source into the rotational pressing and large-scale retraction motion of the pressure block 49. Its transmission logic and working principle are as follows: when the piston rod of the third drive mechanism 41 extends outward, it pushes the connecting seat 43 forward; the connecting seat 43 synchronously pushes the first hinge rod 44 and the second hinge rod 45 through the third hinge shaft 412; since the first hinge rod 44 is constrained by the first fixed rod 46 and the first hinge shaft 410, its motion trajectory is determined, thereby forcing the second hinge rod 45 to drive the rotating rod 48 to rotate around the second hinge shaft 411 through the position change of the third hinge shaft 412. This rotational action causes the pressure block 49, fixed at the far end of the rotating rod 48, to smoothly rotate into the positioning groove 351 from the opening of the positioning seat 35 along a designed arc trajectory, ultimately pressing the side of the figure-eight reinforcement 7 vertically onto the abutment plate 352. When it is necessary to release the clamp, the piston rod of the third drive mechanism 41 retracts, and each rod moves in the opposite direction, causing the rotating rod 48 and the pressure block 49 to rotate outwards in a large manner, completely exiting the opening of the positioning seat 35.

[0053] Therefore, the clamping mechanism 4 converts the linear motion of the third drive mechanism 41 into rotational clamping. The direction of the clamping force can be designed to be perpendicular to the abutment plate, adapting to the irregular contour of the figure-eight rib and achieving stable clamping. Furthermore, the complete avoidance trajectory of the pressure block 49 in the released state provides an unobstructed passage for the gripping mechanism 6, fundamentally eliminating spatial interference between the fixture and the loading and unloading paths. In addition, through the reasonable design of the rod proportions, the clamping mechanism 4 has a force amplification effect, which can generate a strong and stable clamping force with a small drive cylinder, ensuring that the workpiece does not shift under thermal stress during the welding process.

[0054] To address the positioning accuracy challenge in multi-station switching, the rotating mechanism 2 not only needs to drive the load to rotate but also needs to ensure that the clamping area can accurately stop at the preset workstation position after each rotation. In some embodiments, the rotating mechanism 2 further includes a first drive mechanism 22 installed inside the base 1 and a bearing seat 24 fixed to the top of the base 1. The first drive mechanism 22 drives the rotating frame 21 to rotate via a transmission mechanism 23. The transmission mechanism 23 specifically includes: a first synchronous pulley 231 connected to the output end of the first drive mechanism 22, a rotating shaft 234 fixedly connected to the rotating frame 21, a second synchronous pulley 233 fixedly connected to the rotating shaft 234, and a transmission chain 232 connecting the first synchronous pulley 231 and the second synchronous pulley 233. The rotating shaft 234 is rotatably connected in the bearing seat 24, forming a stable support. In this embodiment, the first drive mechanism 22 is preferably a servo motor.

[0055] The design employing a transmission chain drive combined with a servo motor offers several advantages: First, compared to gear drives, the transmission chain drive absorbs the impact and vibration during equipment start-up and shutdown, resulting in smoother rotational motion. It also facilitates long-distance power transmission between the motor and the rotating shaft 234, optimizing the internal space layout of the machine base 1. Second, through the precise control of the rotation angle by the servo motor and the fixed reduction ratio of the synchronous pulley, the rotating frame 21 can be precisely driven to specific workstation angles such as 0°, 90°, 180°, and 270°, and then stably stopped. The stable rotational support provided by the bearing housing 24 effectively overcomes the enormous inertia generated by the rotating frame 21 and the fixtures and workpieces it carries, ensuring repeatable positioning accuracy during long-term, high-cycle production. Therefore, this rotating mechanism 2 achieves the function of maintaining high-precision positioning and stopping during high-speed movement of the workstation switching device, solving the positioning accuracy problem in multi-workstation switching.

[0056] To ensure precise alignment and fit between the two figure-eight ribs 7 and the parts to be welded, the linearity and stability of the movement of the moving mechanism 3 when driving the positioning seat 35 are crucial. This application provides a high-precision guiding system for the moving mechanism 3. In some embodiments, a slide rail 33 arranged axially along the rotating frame 21 is fixedly mounted on the fixed plate 25. Correspondingly, a slider 34 is fixedly mounted on the back of the moving plate 32. The slider 34 and the slide rail 33 slide precisely together, forming a linear guide pair. The second driving mechanism 31 is fixed to the rotating frame 21, and its output end drives the moving plate 32 to move axially along the slide rail 33.

[0057] The aforementioned structure addresses the problem of swaying that easily occurs in the moving mechanism 3 under load and stress, thus affecting alignment accuracy. Compared to a simple shaft-hole sliding fit, the slide rail-slider mechanism provides higher structural rigidity and linearity of operation. It effectively constrains the degrees of freedom of the moving plate 32 in the non-moving direction, ensuring that it will not twist or sway even under clamping reaction force or workpiece gravity. This allows the two opposing positioning seats 35 to maintain precise alignment during movement, ensuring a gapless fit between the middle parts to be welded of the two figure-eight ribs, providing a solid foundation for subsequent stable and high-quality welding.

[0058] The welding mechanism 5 needs to accommodate the dimensional tolerances that may exist in different batches of figure-eight reinforcement, and adjust the optimal relative position between the welding torch 51 and the weld. In some embodiments, the welding mechanism 5 further includes a welding frame 52 disposed on one side of the base 1. A fourth drive mechanism 53 is fixedly mounted on the welding frame 52, and its output end is connected to the mounting plate 54. A guide rail 55 extending axially along the rotating frame 21 is fixedly mounted on the mounting plate 54, and an adjusting seat 56 is slidably connected to the guide rail 55. A vertically arranged fifth drive mechanism 57 is fixedly mounted on the adjusting seat 56, and the welding torch 51 is fixedly mounted on the output end of the fifth drive mechanism 57.

[0059] In this structure, the fifth drive mechanism 57 drives the welding torch 51 to move up and down, completing the vertical welding path; the adjusting seat 56 can slide along the guide rail 55, and can adjust the position of the welding torch 51 along the axis of the rotating frame 21, so that the welding torch 51 can be accurately aligned with the butterfly-shaped weld seam of different widths; the fourth drive mechanism 53 drives the mounting plate 54 and all the components supported on it to move together in a feed motion perpendicular to the axis of the rotating frame 21, so as to send the welding torch 51 into or out of the welding work area. Thus, the welding mechanism 5 decouples the feed, axial alignment and vertical movement of the welding torch 51 into three independent and adjustable degrees of freedom. This not only meets the basic requirements of welding process automation, but also realizes the great flexibility and adjustability of the equipment. When the workpiece specifications change or the equipment develops a slight positional shift after long-term operation, the operator can easily make axial correction through the adjusting seat 56 to ensure that the welding torch 51 is always accurately aligned with the weld center, solving the problems of difficult welding torch alignment and poor welding position consistency, and ensuring stable welding quality.

[0060] The gripping mechanism 6 is a crucial execution unit for achieving precise workpiece transfer within a compact space. In some embodiments, the gripping mechanism 6 further includes a gripping frame 62 disposed on the other side of the base 1. A sixth drive mechanism 63 is fixedly mounted on the gripping frame 62, and its output end is connected to the rear end of a rotating arm 64. A seventh drive mechanism 65 is fixedly connected to the front end of the rotating arm 64, and the output end of the seventh drive mechanism 65 is connected to a liftable lifting plate 66. An eighth drive mechanism 67 is fixedly connected below the lifting plate 66, and a hook 61 for directly contacting and gripping the workpiece is connected to the output end of the eighth drive mechanism 67.

[0061] Among them, the eighth drive mechanism 67 is responsible for the action of the end effector, which is used to drive the claw 61 to expand or contract in order to grasp or put down the figure-eight rib 7; the seventh drive mechanism 65 is used to drive the lifting plate 66 to perform lifting and lowering movements, and to perform the action of lifting and placing the workpiece into the rotating frame 21; the sixth drive mechanism 63 is used to drive the entire rotating arm 64 to rotate at a large angle in the horizontal plane, thereby realizing the spatial transfer of the workpiece between the external hopper and the loading and unloading station inside the equipment.

[0062] Therefore, this combination of rotating arm 64, lifting, and end-effector opening and closing motion completely replicates the motion trajectory of manual loading and unloading, including transfer, descent, grabbing / releasing, rising, and rotation. It solves the technical problem of how to efficiently and accurately retrieve workpieces from the outside into the equipment or remove finished products from the inside and move them out within a limited operating space, providing a logistical foundation for the automated closed-loop system of the entire device.

[0063] For annular components with internal cavities, such as figure-eight ribs, using traditional external grippers not only makes it difficult to select gripping points but also easily leads to collisions and interference with peripheral clamps such as the positioning seat 35 and the pressure block 49. Therefore, this application proposes an "internal support and external hook" gripping solution.

[0064] Specifically, two parallel eighth drive mechanisms 67 are fixedly connected to the lifting plate 66. These two eighth drive mechanisms 67 drive two opposing hooks 61 respectively. Each hook 61 has an outwardly extending rolled edge 611 on its outer side (i.e., the side of the two hooks 61 facing away from each other). When the eighth drive mechanism 67 drives the two hooks 61 to expand outward, the rolled edge 611 opens outward.

[0065] When gripping the figure-eight rib 7, the hook 61 is initially in a retracted state, extending downwards into the hollow inner ring of the figure-eight rib 7 without touching the outer clamps. Subsequently, the eighth drive mechanism 67 drives the hook 61 to expand outwards, causing the outer rolled edge 611 of the hook 61 to hook onto the inner edges of the figure-eight rib 7 from the inside out. This method of expanding and hooking from the inside out cleverly utilizes the structural space of the workpiece itself to arrange the gripping points, completely decoupling the entire gripping action from the outer positioning seat 35 and pressure block 49 in space. This fundamentally solves the technical problem of motion interference between the gripping mechanism 6 and the clamping fixture. Simultaneously, the design of the rolled edge 611 increases the contact area and the reliability of the hooking, effectively preventing the workpiece from falling off during high-speed transport.

[0066] To further optimize the overall production cycle and improve equipment utilization, this application proposes a scheme of configuring two independent gripping mechanisms. Specifically, there are two gripping mechanisms 6, which are respectively set on both sides of the machine base 1. One gripping mechanism 6 is set as a dedicated loading robot, responsible for transporting the figure-eight ribs 7 to be welded from the hopper to the loading and unloading station in the rotating frame 21; the other gripping mechanism 6 is set as a dedicated unloading robot, responsible for taking the finished butterfly ribs after welding from the rotating frame 21 and transferring them to the finished product area.

[0067] This parallel layout and functional division of labor, with one component above and one below, allows for seamless integration and even overlapping of the loading and unloading operations. For example, while the unloading gripper 6 is retrieving a finished product from the device, the loading gripper 6 may already be waiting nearby with the next workpiece to be welded. This avoids the extra time wasted by a single gripper 6 repeatedly switching tools or paths between loading and unloading tasks, significantly reducing the auxiliary time for workpiece flow. This design works in close coordination with the station switching logic of the rotating mechanism 2, solving the bottleneck problems caused by the serial operation of a single gripper 6, where equipment waiting time and the overall production line cycle time are limited by logistics efficiency.

[0068] To achieve the two clamping areas and integrate them compactly and symmetrically within the rotating frame 21, this application provides a preferred physical layout. Specifically, there are two fixing plates 25, which are fixedly installed opposite each other on both sides inside the rotating frame 21. Each fixing plate 25 has a moving mechanism 3 and a clamping mechanism 4 symmetrically arranged on both sides (along its own transverse direction). In this arrangement, the positioning seats 35 of the moving mechanisms 3 on the same side of the two fixing plates 25 are arranged opposite each other, thus forming the first clamping area; similarly, the positioning seats 35 of the moving mechanisms 3 on the other side of the two fixing plates 25 are also arranged opposite each other, forming the second clamping area.

[0069] Thus, this symmetrical layout enables simultaneous clamping of a single figure-eight rib from both sides. The clamping force acts symmetrically on the workpiece from both sides, resulting in uniform force distribution and eliminating the problems of workpiece skewing or inconsistent positioning references that may occur with single-sided clamping, ensuring centering accuracy. Furthermore, its structure is compact and has good dynamic balance performance. The two clamping areas are symmetrically integrated back-to-back within the same rotating frame 21, making the mass distribution of the entire rotating mechanism 2 more balanced in the circumferential and axial directions. This improves the stability of the rotating frame 21 during rotation, especially during start-up and stop after high-speed rotation, reducing inertial impact and ensuring positioning accuracy and service life under high-cycle operating conditions. In addition, it allows the first and second clamping areas to alternately correspond to the loading / unloading station and welding station through the rotation of the rotating mechanism 2. Due to the symmetry of the layout, when one clamping area rotates to the 0° loading / unloading station, the other clamping area is precisely positioned at 180°; when welding is required, rotating 90° or 270° will align the workpiece weld seam with the welding mechanism. This layout makes the workstation switching logic clear and concise, and the control programming easier.

[0070] Based on any of the above-described device embodiments, this application also provides a rotary butterfly rebar welding and forming method. This method extracts the collaborative action logic of various mechanisms in the device into a reproducible automated process flow, systematically realizing fully unmanned production from raw materials to finished products. The specific steps are as follows: Step 1: The rotating mechanism 2 first drives the rotating frame 21 to stop at the 0° loading / unloading position. At this time, the claw 61 of the gripping mechanism 6 grabs the first figure-eight rib 7 to be welded from the hopper and moves it into the space between two opposing positioning seats 35 in the first clamping area. Subsequently, the two second drive mechanisms 31 in the first clamping area drive the two positioning seats 35 to move closer to each other until the two sides of the first figure-eight rib 7 are respectively locked into the positioning grooves 351 of the two positioning seats 35. Immediately afterwards, the two third drive mechanisms 41 in the first clamping area drive the pressure block 49 to rotate. The pressure block 49 screws into the positioning groove 351 from the opening, firmly pressing the sides of the figure-eight rib against the abutment plate 352, completing the clamping and fixing. Finally, the claw 61 of the gripping mechanism 6 releases the workpiece and exits the rotating frame 21. This step, with the logic of placing first and then clamping, uses the opposing movement of the moving mechanism 3 to achieve flexible and adaptive centering gripping and positioning of the workpiece, avoiding rigid impact. For ease of description, an initial angle of the rotating frame 21 is defined as 0°. At this angle, the first clamping area is located exactly at the loading and unloading station facing the gripping mechanism 6.

[0071] Step 2: The rotating mechanism 2 drives the rotating frame 21 to rotate precisely 180°, exchanging the positions of the first and second clamping areas. At this point, the empty second clamping area faces the loading / unloading station of the gripping mechanism 6. The gripping mechanism 6's claws 61 grip the second workpiece to be welded 7 in the same manner as in Step 1 and place it into the second clamping area. The second drive mechanism 31 drives the positioning seat 35 to move towards each other to complete the locking, and the third drive mechanism 41 drives the pressure block 49 to complete the clamping and fixing. At this moment, inside the rotating frame 21, the middle parts of the first and second workpieces to be welded are precisely in contact and aligned, with their ends firmly clamped by their respective clamping mechanisms 4 and positioning seats 35. This step, through a 180° rotation, unifies the loading operation position to the same loading / unloading station, simplifies the movement path of the gripping mechanism 6, and simultaneously achieves precise pre-alignment of the two workpieces in space, fully preparing them for welding.

[0072] Step 3: The rotating mechanism 2 drives the rotating frame 21 to rotate to the 90° welding position. At this time, the weld seam on one side where the two figure-eight ribs meet is directly opposite the welding mechanism 5. The fourth drive mechanism 53 and the fifth drive mechanism 57 of the welding mechanism 5 work together to drive the welding torch 51 into the rotating frame 21 and complete the welding of the first weld seam. After welding is completed, the welding torch 51 is withdrawn. Choosing the 90° position for the first weld utilizes the symmetry of the workpiece structure, which can accurately expose one side of the weld seam to the fixed welding mechanism.

[0073] Step 4: The rotating mechanism 2 drives the rotating frame 21 to continue rotating to the 270° welding position. At this time, the weld seam on the other side of the two figure-eight ribs that are in contact is directly opposite the welding mechanism 5. The welding mechanism 5 completes the welding of the second weld seam according to the same logic, and then the welding torch 51 withdraws. Thus, the two figure-eight ribs have been symmetrically welded together to form the finished butterfly rib. By performing welding at two symmetrical positions at 90° and 270° in steps 3 and 4, the workpiece can be heated evenly during welding, effectively reducing the thermal stress deformation that may occur during continuous welding on one side. At the same time, it eliminates the need for the welding mechanism 5 to perform complex reversing actions, ensuring the symmetrical consistency of welding efficiency and weld quality.

[0074] Step 5: After welding is completed, the rotating mechanism 2 can rotate the clamping area back to the 0° or 180° loading / unloading position as needed. First, the hook 61 of the unloading gripping mechanism 6 extends into the rotating frame 21 and fixes the welded butterfly rib. Next, all the third drive mechanisms 41 in the first and second clamping areas operate synchronously, driving the pressure block 49 to rotate in the opposite direction, away from the positioning seat 35, releasing the clamping mechanism 4 from locking the finished butterfly rib. Subsequently, the second drive mechanisms 31 in the two clamping areas drive the opposing positioning seats 35 to move away from each other, completely releasing the physical constraint of the positioning seats 35 on the finished product. Finally, the hook 61 of the unloading gripping mechanism 6 moves to smoothly remove the finished butterfly rib from the rotating frame 21 and transfer it to the finished product area. After the material is picked up, the rotating mechanism 2 can rotate and reset again to start a new production cycle. In this step, the logic of first fixing the finished product with the gripping mechanism 6, then unlocking the fixture step by step, and finally taking it out ensures that the finished product is always reliably constrained before it is completely free, preventing the workpiece from damaging the equipment or causing a safety accident due to accidental detachment.

[0075] In this embodiment, the physical spatial position facing the gripping mechanism 6 constitutes the loading / unloading station, and the physical spatial position facing the welding mechanism 5 constitutes the welding station. Driven by the rotating mechanism 2, the first clamping area and the second clamping area can be rotated to the loading / unloading station or the welding station, respectively.

[0076] In summary, the rotary butterfly rebar welding and forming device and method provided in this application offer a systematic innovation from multiple dimensions to address the challenges of automated welding of irregularly shaped components such as butterfly rebars. In particular, the unique multi-link clamping mechanism resolves the contradiction between stable clamping of irregularly shaped parts and interference avoidance; the optimized layout integrating rotation, movement, and clamping functions achieves precise multi-station switching and compact collaboration of multiple mechanisms; and the rational step sequence design optimizes the cycle time of the entire production process. The organic combination of these designs enables the device and method to efficiently, accurately, and stably complete the entire automated production process from raw figure-eight rebar to finished butterfly rebar, significantly improving production efficiency and product consistency, reducing labor intensity, and meeting the mass production needs of high-quality butterfly rebars for infrastructure construction.

[0077] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A rotary butterfly tendon welding and forming device, characterized in that, include: Base (1); The rotating mechanism (2) includes a rotating frame (21) rotatably mounted on the base (1) and a fixed plate (25) fixedly installed in the rotating frame (21); The moving mechanism (3) includes a second drive mechanism (31) fixedly installed in the rotating frame (21) and a moving plate (32) connected to the second drive mechanism (31). The moving plate (32) is slidably connected to the fixed plate (25). The second drive mechanism (31) is used to drive the moving plate (32) to move relative to the fixed plate (25). The moving plate (32) is fixedly connected to a positioning seat (35). The positioning seat (35) is provided with a positioning groove (351) for locking the side of the figure-eight rib (7), an opening on one side of the positioning groove (351), and an abutment plate (352) on the other side of the positioning groove (351). The clamping mechanism (4) includes a third drive mechanism (41) connected to the movable plate (32) and a pressure block (49) connected to the third drive mechanism (41). The third drive mechanism (41) is used to drive the pressure block (49) to rotate so that the pressure block (49) extends from the opening of the positioning seat (35) into the positioning groove (351) and presses the side of the figure-eight rib (7) against the abutment plate (352) to fix the figure-eight rib (7), or to move the pressure block (49) away from the positioning seat (35) to release the locking of the figure-eight rib (7). Welding mechanism (5), located on one side of the base (1), includes a movable welding torch (51); A gripping mechanism (6) is disposed on the base (1) and includes a movable claw (61). The gripping mechanism (6) is configured to grip and transport the figure-eight rib (7). The number of the moving mechanism (3) and the clamping mechanism (4) is at least four, and the at least four moving mechanisms (3) and the at least four clamping mechanisms (4) are arranged in two pairs to form a first clamping area and a second clamping area respectively; the positioning seats (35) of the two moving mechanisms (3) in each clamping area are arranged opposite to each other, so that a figure-eight rib (7) to be welded can be clamped from both sides, and the middle parts of the two figure-eight ribs (7) to be welded held in the two clamping areas respectively are in contact and aligned; The rotating mechanism (2) is used to drive the rotating frame (21) to rotate about a horizontal axis, so that the first clamping area and the second clamping area can be alternately positioned to at least one loading and unloading station and at least one welding station; At the loading and unloading station, the claw (61) of the gripping mechanism (6) can place the figure-eight rib (7) to be welded into the positioning groove (351) of the positioning seat (35) of the corresponding clamping area, and can take out the welded butterfly rib from the positioning seat (35). At the welding station, the welding torch (51) of the welding mechanism (5) can extend into the rotating frame (21) to weld the middle part of the two aligned figure-eight ribs (7).

2. The rotary butterfly tendon welding and forming device according to claim 1, characterized in that, The clamping mechanism (4) further includes a mounting base (42) fixedly connected to the movable plate (32), and a connecting base (43) fixedly connected to the output end of the third drive mechanism (41). The other end of the third drive mechanism (41) is hinged to the movable plate (32) via a fifth hinge shaft (414). A first fixing rod (46) is fixedly connected to the mounting base (42), and a second fixing rod (47) is fixedly connected to the movable plate (32). The first fixing rod (46) is hinged to a first hinge rod (44) via a first hinge shaft (410), and the second fixing rod (47) is hinged to a rotating rod (48) via a second hinge shaft (411). The rotating rod (48) is hinged to a fourth hinge shaft (413). There is a second hinge rod (45), the second hinge rod (45), the first hinge rod (44), and the connecting seat (43) are hinged together by a third hinge shaft (412); the first fixed rod (46) and the second fixed rod (47), the first hinge rod (44) and the second hinge rod (45) are respectively located on both sides of the connecting seat (43), the pressure block (49) is fixedly installed on the side of the rotating rod (48) away from the second hinge shaft (411), and the third driving mechanism (41) is used to drive the connecting seat (43) to perform telescopic movement so that the connecting seat (43) drives the rotating rod (48) and the pressure block (49) to rotate around the second hinge shaft (411).

3. The rotary butterfly tendon welding and forming device according to claim 1, characterized in that, The rotating mechanism (2) further includes a first drive mechanism (22) and a bearing seat (24) mounted on the base (1). The first drive mechanism (22) drives the rotating frame (21) to rotate via a transmission mechanism (23). The transmission mechanism (23) includes a first synchronous pulley (231) connected to the output end of the first drive mechanism (22), a rotating shaft (234) fixedly connected to the rotating frame (21), a second synchronous pulley (233) connected to the rotating shaft (234), and a transmission chain (232) connecting the first synchronous pulley (231) and the second synchronous pulley (233). The rotating shaft (234) is rotatably connected to the bearing seat (24).

4. The rotary butterfly tendon welding and forming device according to claim 1, characterized in that, The fixed plate (25) is fixedly mounted with a slide rail (33) arranged along the axial direction of the rotating frame (21), and the movable plate (32) is fixedly mounted with a slider (34). The slider (34) is slidably connected to the slide rail (33), and the second driving mechanism (31) is used to drive the movable plate (32) to move along the axial direction of the slide rail (33).

5. The rotary butterfly tendon welding and forming device according to claim 1, characterized in that, The welding mechanism (5) further includes a welding frame (52) disposed on one side of the base (1), a fourth drive mechanism (53) fixedly installed on the welding frame (52), a mounting plate (54) connected to the fourth drive mechanism (53), a guide rail (55) fixedly installed on the mounting plate (54), an adjustment seat (56) slidably connected to the guide rail (55), and a fifth drive mechanism (57) fixedly installed on the adjustment seat (56); the welding torch (51) is fixedly installed on the output of the fifth drive mechanism (57). At the end, the fifth drive mechanism (57) is used to drive the welding torch (51) to move up and down. The adjustment seat (56) is slidably connected to the guide rail (55) to adjust the position of the fifth drive mechanism (57) and the welding torch (51) along the axial direction of the rotating frame (21). The fourth drive mechanism (53) is used to drive the mounting plate (54), the guide rail (55), the adjustment seat (56), the fifth drive mechanism (57), and the welding torch (51) to make feed movements perpendicular to the axial direction of the rotating frame (21).

6. The rotary butterfly tendon welding and forming device according to claim 1, characterized in that, The gripping mechanism (6) further includes a gripping frame (62) disposed on the other side of the base (1), a sixth drive mechanism (63) fixedly installed on the gripping frame (62), a rotating arm (64) connected to the output end of the sixth drive mechanism (63), a seventh drive mechanism (65) fixedly connected to the rotating arm (64), a lifting plate (66) connected to the output end of the seventh drive mechanism (65), and an eighth drive mechanism (67) fixedly connected to the lifting plate (66). The claw (61) is connected to the output end of the eighth drive mechanism (67). The eighth drive mechanism (67) is used to drive the claw (61) to expand or contract to grip or release the figure-eight tendon (7). The seventh drive mechanism (65) is used to drive the lifting plate (66) to perform lifting and lowering movements. The sixth drive mechanism (63) is used to drive the rotating arm (64) to perform rotating movements.

7. The rotary butterfly tendon welding and forming device according to claim 6, characterized in that, The lifting plate (66) is fixedly connected to two eighth drive mechanisms (67), and the two eighth drive mechanisms (67) respectively drive the two hooks (61) to grab the two sides of the figure-eight rib (7); the outer side of the hook (61) is provided with an outwardly extending rolled edge (611). When the eighth drive mechanism (67) drives the hook (61) to expand, the rolled edge (611) opens outward to hook the figure-eight rib (7).

8. The rotary butterfly tendon welding and forming device according to claim 1, characterized in that, There are two gripping mechanisms (6), which are respectively located on both sides of the base (1). One gripping mechanism (6) is used to transport the figure-eight rib (7) to be welded to the rotating frame (21), and the other gripping mechanism (6) is used to remove the butterfly rib after welding from the rotating frame (21).

9. The rotary butterfly tendon welding and forming device according to claim 1, characterized in that, There are two fixed plates (25), which are fixedly installed on both sides of the rotating frame (21). The moving mechanism (3) and the clamping mechanism (4) are symmetrically arranged on both sides of each fixed plate (25). The positioning seats (35) of the moving mechanism (3) on the same side of the two fixed plates (25) are arranged opposite each other to form the first clamping area. The positioning seats (35) of the moving mechanism (3) on the other side of the two fixed plates (25) are also arranged opposite each other to form the second clamping area. Thus, the two figure-eight ribs (7) are clamped on both sides at the same time, and the first clamping area and the second clamping area are alternately aligned with the loading and unloading station and the welding station by the rotation of the rotating mechanism (2).

10. A method for welding and forming a rotary butterfly rib, characterized in that, Using the rotary butterfly rebar welding and forming apparatus according to any one of claims 1-9, the rotary butterfly rebar welding and forming method includes the following steps: Step 1: The rotating mechanism (2) stops at the 0° loading / unloading position. The claw (61) of one of the gripping mechanisms (6) grips the first figure-eight rib (7) to be welded and places it between the two opposing positioning seats (35) in the first clamping area. The two second driving mechanisms (31) in the first clamping area drive the two opposing positioning seats (35) to move closer to each other until the two sides of the first figure-eight rib (7) to be welded are respectively locked in the positioning grooves (351) of the two opposing positioning seats (35) in the first clamping area; the first clamping... The third drive mechanism (41) of the holding area drives the pressure block (49) to rotate so that the pressure block (49) extends from the opening of the positioning seat (35) into the positioning groove (351) and presses the side of the figure-eight rib (7) against the abutment plate (352) to fix the figure-eight rib (7). The two moving mechanisms (3) of the first clamping area cooperate with the two clamping mechanisms (4) respectively to clamp the first figure-eight rib (7) to be welded in the first clamping area. The hook (61) releases the first figure-eight rib (7) to be welded and exits from the rotating frame (21). Step 2: The rotating mechanism (2) rotates to the 180° loading / unloading position, and the first clamping area and the second clamping area are swapped. The claw (61) of the gripping mechanism (6) grips the second figure-eight rib (7) to be welded and places it between the two opposing positioning seats (35) in the second clamping area. The two second driving mechanisms (31) in the second clamping area drive the two opposing positioning seats (35) to move closer to each other until the two sides of the second figure-eight rib (7) to be welded are respectively locked in the positioning grooves (351) of the two opposing positioning seats (35) in the second clamping area. The third driving mechanism (41) in the second clamping area drives the pressure block (49) The pressure block (49) is rotated so that it extends from the opening of the positioning seat (35) into the positioning groove (351) and presses the side of the figure-eight rib (7) against the abutment plate (352) to fix the figure-eight rib (7). The two moving mechanisms (3) in the second clamping area cooperate with the two clamping mechanisms (4) to clamp the second figure-eight rib (7) to be welded in the second clamping area. The hook (61) releases the second figure-eight rib (7) to be welded and exits from the rotating frame (21). At this time, the first figure-eight rib (7) to be welded and the middle part of the second figure-eight rib (7) to be welded are in contact and aligned, and the two ends are clamped by the clamping mechanism (4) and the positioning seat (35) respectively. Step 3: The rotating mechanism (2) rotates to the welding position at 90°, the welding gun (51) of the welding mechanism (5) extends into the rotating frame (21) and welds the first weld on the middle part to be welded of the two figure-eight ribs (7). After the welding is completed, the welding gun (51) withdraws from the rotating frame (21). Step 4: The rotating mechanism (2) rotates to the welding position at 270°, and the welding gun (51) of the welding mechanism (5) extends into the rotating frame (21) and welds the second weld on the middle part to be welded of the two figure-eight ribs (7). After the welding is completed, the welding gun (51) withdraws from the rotating frame (21); at this time, the two figure-eight ribs (7) are welded and form a butterfly rib. Step 5: The claw (61) of another gripping mechanism (6) extends into the rotating frame (21) and fixes the welded butterfly rib. The third drive mechanism (41) of the first clamping area and the second clamping area drives the pressure block (49) to rotate, so that the pressure block (49) moves away from the positioning seat (35) to release the locking of the clamping mechanism (4) on the welded butterfly rib. The second drive mechanism (31) of the first clamping area and the second clamping area drives the opposing positioning seats (35) to move away from each other to release the fixing of the positioning seats (35) on the welded butterfly rib. The claw (61) of the gripping mechanism (6) moves to remove the welded butterfly rib from the rotating frame (21).

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