Hook bar feeding and welding device for tower column hook bar preparation equipment

Abstract

The utility model provides a hook bar feeding and welding device for tower column hook bar preparation equipment, reinforcing mesh frame preparation equipment comprises a first operation platform and a second operation platform, a jig frame is arranged between the first operation platform and the second operation platform, an automatic feeding and welding unit is arranged on the first operation platform, and a hook bar feeding and welding unit is arranged on the second operation platform. The automatic feeding and welding unit is connected with a lifting device on the first working platform, a drag hook rib material frame is arranged on one side of the automatic feeding and welding unit, a multi-degree-of-freedom first mechanical arm is arranged on the automatic feeding and welding unit, and a penetrating and feeding mechanism is arranged on the first mechanical arm; power assisting equipment is additionally arranged, and the load pressure directly acting on the mechanical arm is reduced. The L-shaped drag hook rib feeding and clamping equipment is subjected to reinforced design, and a clamping mechanism is optimized and can be adjusted in multiple directions.

Description

Technical Field

[0001] The utility model relates to the field of steel bar mesh preparation, feeding and welding, in particular to a steel bar mesh tensioning reinforcement preparation device for a bridge tower steel bar component and a preparation method thereof. Background Art

[0002] The componentized construction of steel bars is one of the future development directions of bridge tower construction technology. The steel bars are made into steel bar components in advance, and then hoisted to the docking position as a whole for installation. The use of componentized steel bar construction technology can effectively save the construction time of bridge tower steel bar binding and improve the quality of steel bar binding. Steel bar components can be mechanized or semi-mechanized in factories or special tire frames, which can effectively reduce labor intensity, improve the working environment, and reduce the risk of high-altitude operations.

[0003] The installation of hook bars in bridge tower steel components is inefficient, difficult, labor-intensive, and difficult to control quality. Aiming at the demand for automated installation of steel bars in vertical component structures, starting from the installation method, a hook bar installation method and equipment suitable for industrialized construction are proposed. Combined with the requirements for precision control in the construction process, an industrialized construction method for hook bars in bridge tower steel components is formed. Compared with traditional methods, the installation difficulty is greatly reduced, while reducing the labor intensity of workers and improving the installation efficiency and quality of hook bars.

[0004] Chinese patent CN116175171B provides a tower column hook reinforcement automatic installation robot system, including an inner cavity platform and an outer cavity platform, the inner cavity platform and the outer cavity platform are arranged on both sides of the steel bar component, the outer cavity platform is provided with an automatic feeding manipulator, one side of the automatic feeding manipulator is provided with a hook reinforcement material rack, the inner cavity platform is provided with a welding manipulator, the welding manipulator is provided with a bending and welding device, the automatic feeding manipulator passes the straight end of the hook reinforcement through the steel bar component, the welding manipulator bends the straight end of the hook reinforcement and welds it to the steel bar component through the welding device. On the outer cavity bracket of the component frame, an automatic hook reinforcement grabbing mechanism is provided at the bottom.

[0005] The equipment disclosed in this patent is the first generation of equipment. During the process of research and development and actual production, the feeding electric push rod and the hook clamping arm got stuck when feeding the rebar. During the feeding process, the hook clamping claws at the tail of the hook were unable to stably clamp the hook, resulting in frequent tilting during the insertion process, which also caused the hook to fall off.

[0006] Moreover, the feeding electric push rod and hook clamping arm equipment disclosed in the patent are heavy, resulting in a heavy load on the feeding robot, which reduces the service life of the robot. Utility Model Content

[0007] The main purpose of the utility model is to provide a hook bar feeding and welding device for tower column hook bar preparation equipment, so as to solve the problem that the feeding electric push rod and the hook bar clamping arm are stuck during the process of feeding the structural bars, and the hook bar clamping claws at the tail of the hook bar cannot stably clamp the hook bar during the feeding process.

[0008] In order to solve the above technical problems, the technical solution adopted by the utility model is: a hook bar feeding and welding device for tower column hook bar preparation equipment, the steel mesh preparation equipment includes a first working platform and a second working platform, a tire frame is provided between the first working platform and the second working platform, an automatic feeding and welding unit is provided on the first working platform, the automatic feeding and welding unit is connected to the lifting device on the first working platform, a hook bar material rack is provided on one side of the automatic feeding and welding unit, a first multi-degree-of-freedom manipulator is provided on the automatic feeding and welding unit, and an interlaced feeding mechanism is provided on the first manipulator.

[0009] In a preferred embodiment, the automatic feeding and welding unit includes a first lifting operation unit, the first lifting operation unit is provided with a first outer frame with front and rear openings, the first manipulator is arranged on the first lifting operation unit, and the first lifting operation unit is connected to the lifting device.

[0010] In the preferred embodiment, a plurality of first slide rails are provided on the first lifting operation unit, a first rack is provided on one side of the first slide rail, the first manipulator is slidably connected to the plurality of first slide rails, a gear is provided at the output end of the first manipulator driving motor on the first manipulator, and the gear is meshed with the first rack;

[0011] A first boosting frame is also provided above the first manipulator, the end of the first boosting frame is connected to the interlaced feeding mechanism, the top of the first boosting frame is connected to the first moving frame, and the first moving frame is slidably connected to the first outer frame.

[0012] In the preferred embodiment, the interlaced feeding mechanism includes a screw driving frame, a screw inside the screw driving frame is threadedly connected to a sliding guide block, an inner wall screw is connected to a first motor at the end of the screw driving frame, a positioning groove is provided on the screw driving frame, and the sliding guide block is slidably connected to the positioning groove;

[0013] A first cylinder is arranged on the sliding guide block, and a telescopic end of the first cylinder is connected with a first pneumatic clamping claw rod body.

[0014] In the preferred embodiment, a welding gun mounting frame is provided on one side of the rear end of the screw driving frame, the first welding gun is arranged on the side of the welding gun mounting frame, a second cylinder is provided on the end surface of the welding gun mounting frame, and the output end of the second cylinder is connected to the second pneumatic clamp;

[0015] A third motor is provided at the rear back plate position of the screw driving frame, a first nut slider is provided on the screw of the third motor, an upper surface of the first nut slider is connected to the third cylinder, an output end of the third cylinder is connected to the adjustment frame, the adjustment frame is slidably connected to the fourth motor, the screw output end of the fourth motor is threadedly connected to the welding gun mounting frame, and the welding gun mounting frame is slidably connected to the top sliding plate of the fourth motor;

[0016] A first visual camera is arranged on the rear side of the second pneumatic clamping jaw.

[0017] In the preferred embodiment, the first angle frame is hinged to the screw drive frame, and the first manipulator and the first power-assisting frame are connected to the first angle frame;

[0018] The first angle frame is provided with a second motor, the screw drive frame is provided with a first angle gear, and the first angle gear is meshed with the gear on the second motor;

[0019] The tail of the screw driving frame is also provided with a clamping crank arm with a bending structure, one end of the clamping crank arm close to the positioning groove is provided with a vertical clamping rotating roller, and the other end is hinged to the telescopic end of the end clamping cylinder at the tail of the screw driving frame, the middle bending section of the clamping crank arm is hinged to one end of the clamping adjustment rod, and the other end of the clamping adjustment rod is hinged to the end face of the screw driving frame;

[0020] The end clamping cylinder drives the clamping crank arm to rotate, and the clamping rotating roller at the end of the clamping crank arm is pressed on the tail end of the L-shaped hook reinforcement.

[0021] In the preferred embodiment, the structure of the hook bar material rack is as follows: a rectangular frame forms a U-shaped hook bar material discharge trough, the lower end opening position of the hook bar material discharge trough is clamped with the fixed table, an automatic material picker is provided under the fixed table, the automatic material picker is slidably connected with the fixed table, a plurality of material picker rods are provided on the automatic material picker, and a groove body for placing hook bars is provided at the end of the material picker rod, the feeding drive cylinder inside the fixed table is arranged parallel to the automatic material picker, the feeding drive cylinder telescopic rod is hinged to the driving plate, and the driving plate is hinged to the automatic material picker;

[0022] A plurality of second wedge-shaped seats are arranged on the hook bar discharge trough, and a plurality of first wedge-shaped seats matching the second wedge-shaped seats are arranged on the fixed table. The hook bar discharge trough is suspended on the fixed table at the lower end through the first wedge-shaped seats and the second wedge-shaped seats;

[0023] The first wedge-shaped seat and the second wedge-shaped seat are connected by a plurality of locking buckles;

[0024] A plurality of limit pins are arranged at the opening position of the lower end of the hook bar discharge trough, the bending position of one end of the limit pin is stuck on one side of the hook bar discharge trough, and the straight section of the other end is horizontal to the opening position of the lower end of the hook bar discharge trough;

[0025] After the automatic material picking rack is retracted, the hook bar inside the material discharging trough falls on the trough body at the end of the material picking rod, and then is pushed out by the feeding drive cylinder to complete the material picking.

[0026] In the preferred embodiment, a plurality of avoidance grooves are arranged on the fixed table, a plurality of unloading limit blocks are arranged on the automatic material taking frame, the unloading limit blocks are slidably connected with the automatic material taking frame, the unloading limit blocks are arranged inside the avoidance grooves, the upper ends of the unloading limit blocks are arranged below the hook bar unloading groove, the unloading limit blocks are wedge-shaped, and the wedge-shaped surface faces the opposite direction of the material taking rod;

[0027] The unloading limit block retracts through the automatic material pick-up rack to make the hook bar fall onto the material pick-up rod. When pushing, the unloading limit block is stuck in the position below the hook bar discharge trough to limit the hook bar from falling.

[0028] In a preferred embodiment, the first booster frame includes a first bracket and a second bracket, the first bracket end is provided with a bending section, one end of the first bracket and the second bracket is hinged to the butt joint, the other end of the second bracket is hinged to the rotating mounting seat, the bending position of the second bracket is hinged to the rotating mounting seat, and the first bracket and the second bracket are arranged in parallel between the rotating mounting seat and the butt joint;

[0029] The bent end of the second bracket passes through the lower part of the rotating mounting seat and is connected to the counterweight block. A plurality of first pneumatic rods are arranged between the counterweight block and the upper part of the rotating mounting seat. A plurality of second pneumatic rods are arranged between the two sides of the lower part of the rotating mounting seat and the middle part of the first bracket.

[0030] The first power-assisting frame is movably connected to the first outer frame through the first movable frame;

[0031] A plurality of sliding wheels are arranged at both ends of the first moving frame, and the sliding wheels are connected to the first outer frame in a transverse sliding manner. The first moving frame is also provided with a longitudinal sliding basket for longitudinal sliding, and the lower end of the longitudinal sliding basket is rotatably connected to the rotating mounting seat.

[0032] The utility model provides a hook bar feeding and welding device for tower column hook bar preparation equipment, which adds a power-assisting device. An power-assisting frame is located above the first manipulator, and one end of the power-assisting frame is effectively mechanically linked with the interlaced feeding mechanism. In this way, it can play a supporting and auxiliary role in the process of the manipulator grasping and transferring the hook bar, reducing the load pressure directly acting on the manipulator, thereby making it easier for the first manipulator to perform tasks, which not only reduces the load during work, but also helps to extend its service life.

[0033] The L-shaped hook reinforcement feeding and clamping equipment has also been enhanced. Through improved design, electric push rods with higher precision and greater thrust are used for feeding, and the clamping mechanism is optimized so that the clamping mechanism can be adjusted in multiple directions.

[0034] Through the above improvement measures, the new tower column hook reinforcement automatic installation robot system not only solves the problems existing in the original equipment, but also significantly improves the work efficiency and service life, and further improves the quality and stability of automated installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0036] Figure 1 This is the L-shaped hook bar manufacturing equipment diagram of the utility model:

[0037] Figure 2 This is a flow chart of the installation of hook reinforcement insertion of the utility model;

[0038] Figure 3 This is the feeding flow chart of the utility model feeder;

[0039] Figure 4 This is a bending structure diagram of the L-shaped hook bar of the utility model;

[0040] Figure 5 This is a diagram of the interlaced structure of the L-shaped hook reinforcement of the utility model;

[0041] Figure 6 This is a structural diagram of the U-shaped hook bar of the utility model after being bent and installed;

[0042] Figure 7 This is the overall equipment structure diagram of the utility model steel mesh preparation equipment;

[0043] Figure 8 This is the overall equipment layout diagram of the utility model steel mesh preparation equipment;

[0044] Fig. 9 This is a top view of the overall equipment layout structure of the utility model steel mesh preparation equipment;

[0045] Fig.10 This is a structural diagram of the first working platform of the utility model after the flip working board is folded;

[0046] Fig.11 This is a diagram showing the unfolded structure of the flip work board of the first work platform of the utility model;

[0047] Fig.12 This is a specific installation structure diagram of the flip work board of the first work platform of the utility model;

[0048] Fig.13 This is a structural diagram of the installation position of the interlaced feeding mechanism of the utility model;

[0049] Fig.14 This is the installation structure diagram of the first power-assisting frame and the first manipulator of the utility model;

[0050] Fig.15 This is the installation structure diagram of the first power-assisting frame and the first mobile frame of the utility model;

[0051] Fig.16 This is the overall structural diagram of the interlaced feeding mechanism of the utility model;

[0052] Fig.17 This is the installation structure diagram of the first angle frame and the interlaced feeding mechanism of the utility model;

[0053] Fig.18 This is an installation structure diagram of the first welding gun and the welding gun driving device of the utility model;

[0054] Fig.19 This is the installation structure diagram of the hook reinforcement rack of the utility model;

[0055] Fig. 20 This is the installation structure diagram of the feeding drive cylinder of the automatic material taking rack of the utility model;

[0056] Fig.21 This is the installation structure diagram of the hook reinforcement rack and the automatic material taking rack of the utility model;

[0057] Fig. 22 This is a cross-sectional structural diagram of the hook reinforcement rack and the automatic material taking rack of the utility model;

[0058] Fig.23 This is a cross-sectional structural diagram of the installation of the limit pull pin in the cross-sectional view of the hook reinforcement rack and the automatic material taking rack of the utility model;

[0059] Fig.24 This is a sectional structural diagram of the installation of the material limit block of the hook reinforcement rack and the automatic material taking rack of the utility model;

[0060] Fig.25 This is a structural diagram of the horizontal sliding drive of the automatic material taking rack of the utility model.

[0061] In the figure: CNC bending machine 1; L-shaped hook reinforcement 2; material storage rack 3; reinforcement mesh preparation equipment 4; control room 401; first working platform 402; turning cylinder 4021; turning working plate 4022; lifting cylinder 4023; first lifting working unit 4024; working platform frame 4025; first outer frame 4026; automatic feeding and welding unit 403; tire frame 404; automatic bending and welding unit 405; second working platform 406; inner mesh 5; middle mesh 6; outer mesh 7; stirrups 8; U-shaped hook reinforcement 9; Interspersed feeding mechanism 14; first motor 1401; first cylinder 1402; sliding guide block 1403; first pneumatic clamp 1404; screw drive frame 1405; positioning groove 1406; first visual camera 1407; welding gun mounting frame 1408; second cylinder 1409; first welding gun 1410; second pneumatic clamp 1411; second motor 1412; first angle gear 1413; first angle frame 1414; rotating shaft 1415; third motor 1416; first nut slider 1417; third cylinder 1418; adjusting frame 1419; fourth motor 1420; end clamping cylinder 1421; clamping crank arm 1422; clamping rotating roller 1423; clamping adjusting rod 1424; first manipulator 15; first A power-assisting frame 16; a first bracket 1601; a second bracket 1602; a docking joint 1603; a counterweight 1604; a first pneumatic rod 1605; a rotating mounting seat 1606; a second pneumatic rod 1607; a first slide rail 17; a first rack 18; a first manipulator drive motor 19; a first moving frame 20; a sliding wheel 2001; a longitudinal sliding basket 2002; a sliding cross frame 2003; a hook reinforcement rack 21; a fixed table 2101; a locking buckle 2102; a limiting pull pin 2103; a first wedge-shaped seat 2104; a second wedge-shaped seat 2105; an avoidance groove 2106; a hook reinforcement discharge groove 2107; an automatic material pick-up rack 22; a feeding drive cylinder 2201; a pick-up rod 2202; a material unloading limit block 2203; a driving plate 2204. DETAILED DESCRIPTION

[0062] Example 1

[0063] like Figure 1-13 As shown, a hook reinforcement feeding and welding device for tower column hook reinforcement preparation equipment, the steel mesh preparation equipment 4 includes a first working platform 402 and a second working platform 406, a tire frame 404 is provided between the first working platform 402 and the second working platform 406, an automatic feeding and welding unit 403 is provided on the first working platform 402, the automatic feeding and welding unit 403 is connected to the lifting device on the first working platform 402, a hook reinforcement material frame 21 is provided on one side of the automatic feeding and welding unit 403, a multi-degree-of-freedom first manipulator 15 is provided on the automatic feeding and welding unit 403, and an interlaced feeding mechanism 14 is provided on the first manipulator 15;

[0064] An automatic bending and welding unit 405 is provided on the second working platform 406 , and the automatic bending and welding unit 405 is connected to the lifting device on the second working platform 406 . A second manipulator 23 is provided on the automatic bending and welding unit 405 , and a bending and welding device 24 is provided on the second manipulator 23 .

[0065] The hook bar has a 90° hook structure at both ends. By optimizing the feeding mechanism and the bending mechanism, it can also be expanded to the automatic installation of hook bars with 135° hooks at both ends and 90° hooks at one end and 135° hooks at the other end, thus realizing flexible installation of hook bars with multiple structures and sizes.

[0066] The first working platform 402 and the second working platform 406 have the same structure and are located on both sides of the tire frame 404. The tire frame 404 is used to locate the positions of the inner mesh 5, the middle mesh 6 and the outer mesh 7.

[0067] The automatic feeding and welding unit 403 can move up and down on the first working platform 402, and the first manipulator 15 inside the automatic feeding and welding unit 403 can move laterally, and can move to multiple positions to realize the functions of multi-position feeding and welding.

[0068] The installation method of the automatic bending and welding unit 405 is the same as that of the automatic feeding and welding unit 403, which can enable the bending and welding equipment 24 inside the automatic bending and welding unit 405 to move to multiple positions.

[0069] The first working platform 402 and the second working platform 406 have the same structure. The first working platform 402 is provided with a plurality of flip working panels 4022. One side of the flip working panel 4022 is hinged to the working platform frame 4025. The working platform frame 4025 is also provided with a flip cylinder 4021. One end of the flip cylinder 4021 is hinged to the working platform frame 4025, and the other end is hinged to the middle part of the working platform frame 4025.

[0070] When the automatic bending and welding unit 405 and the automatic feeding and welding unit 403 are in operation, the flipping oil cylinder 4021 drives the flipping work plate 4022 to fold, so as to facilitate the automatic bending and welding unit 405 and the automatic feeding and welding unit 403 to move up and down for construction. When the automatic bending and welding unit 405 and the automatic feeding and welding unit 403 are not in operation, the flipping oil cylinder 4021 drives the flipping work plate 4022 to unfold and flatten, so as to facilitate the construction personnel to perform manual inspection and manual leak repair on the flipping work plate 4022. In order to adjust the position of the working surface according to actual needs, the adaptability and flexibility of the hook reinforcement installation operation are greatly improved, thereby improving the overall construction efficiency and installation accuracy.

[0071] The tire frame 404 is also provided with a plurality of positioning grooves, and the bottoms of the inner mesh 5, the middle mesh 6 and the outer mesh 7 are arranged inside the positioning grooves, and the inner mesh 5, the middle mesh 6 and the outer mesh 7 are connected to the first working platform 402 and the second working platform 406 on both sides by a plurality of basket bolts.

[0072] A plurality of positioning grooves locate the bottom positions of the inner mesh 5, the middle mesh 6 and the outer mesh 7, and the top positions of the inner mesh 5, the middle mesh 6 and the outer mesh 7 are respectively connected to the first working platform 402 and the second working platform 406 through a plurality of basket bolts. The inner mesh 5, the middle mesh 6 and the outer mesh 7 are fixed more stably, which is convenient for the subsequent hook reinforcement operation.

[0073] Example 2

[0074] Further illustrate with reference to Example 1, Figure 13-18 In the structure shown, the automatic feeding and welding unit 403 includes a first lifting unit 4024, a first outer frame 4026 with front and rear openings is provided on the first lifting unit 4024, a first manipulator 15 is provided on the first lifting unit 4024, and the first lifting unit 4024 is connected to the lifting device. The lifting device drives the entire first lifting unit 4024 to move up and down on the first working platform 402. The first outer frame 4026 is used to protect the operation of the interlaced feeding mechanism 14.

[0075] In the preferred embodiment, a plurality of first slide rails 17 are provided on the first lifting operation unit 4024, a first rack 18 is provided on one side of the first slide rail 17, the first manipulator 15 is slidably connected to the plurality of first slide rails 17, a gear is provided at the output end of the first manipulator drive motor 19 on the first manipulator 15, and the gear is meshed with the first rack 18; the first manipulator drive motor 19 drives the first manipulator 15 to slide horizontally on the first lifting operation unit 4024.

[0076] A first boosting frame 16 is also provided above the first manipulator 15. The end of the first boosting frame 16 is connected to the interlaced feeding mechanism 14, the top of the first boosting frame 16 is connected to the first mobile frame 20, and the first mobile frame 20 is slidably connected to the first outer frame 4026. In order to further optimize the working performance of the first manipulator 15, the first boosting frame 16 is specially provided. The first boosting frame 16 is located above the first manipulator 15, and one end of the first boosting frame 16 is effectively mechanically linked with the interlaced feeding mechanism 14, so that it can play a supporting and auxiliary role in the process of the manipulator grabbing and transferring the hook reinforcement, reducing the load pressure directly acting on the manipulator, so that the first manipulator 15 can perform tasks more easily, which not only reduces the load during work, but also helps to extend its service life.

[0077] At the same time, the top of the first assisting frame 16 is also rotatably connected to the first movable frame 20, and the first movable frame 20 is slidably connected to the first outer frame 4026, which means that when the first manipulator 15 moves laterally or longitudinally, the first assisting frame 16 will move synchronously with the sliding of the first movable frame 20, always maintaining effective support and assistance to the first manipulator 15, making the entire installation process smoother and more stable, and significantly improving the degree of automation and work efficiency of the hook reinforcement installation.

[0078] In the preferred embodiment, the interspersed feeding mechanism 14 includes a screw driving frame 1405, the screw inside the screw driving frame 1405 is threadedly connected to the sliding guide block 1403, the inner wall screw is connected to the first motor 1401 at the end of the screw driving frame 1405, and a positioning groove 1406 is provided on the screw driving frame 1405, and the sliding guide block 1403 is slidingly connected to the positioning groove 1406; wherein, a U-shaped groove body is provided on the positioning groove 1406, and the U-shaped groove body is convenient for placing the L-shaped hook bar 2, and the sliding guide blocks 1403 are placed on both sides of the positioning groove 1406, and the sliding guide blocks 1403 can also slide on the U-shaped groove body of the positioning groove 1406.

[0079] A first cylinder 1402 is disposed on the sliding guide block 1403 , and a telescopic end of the first cylinder 1402 is connected to a rod body of a first pneumatic clamp 1404 .

[0080] The screw drive frame 1405 is provided with a screw, which is connected to the sliding guide block 1403 by a thread, and generates linear motion by the rotation of the screw, and the power of the screw comes from the first motor 1401 connected to the end of the screw drive frame 1405. A positioning groove 1406 is provided on the screw drive frame 1405, and the positioning groove 1406 is designed as a U-shaped structure, such as Fig.15 As shown, it is particularly suitable for accommodating and positioning the L-shaped hook bar 2. The sliding guide block 1403 can slide along the groove wall in the U-shaped groove body of the positioning groove 1406, so as to accurately guide and transport the L-shaped hook bar 2.

[0081] The sliding guide block 1403 is also equipped with a first cylinder 1402, whose telescopic end is connected to the rod of the first pneumatic clamp 1404. By manipulating the first cylinder 1402, not only can the position of the first pneumatic clamp 1404 relative to the hook bar be adjusted to ensure accurate clamping of the L-shaped hook bar 2, but also the tail position of the hook bar can be finely adjusted, effectively improving the efficiency and accuracy of the insertion and installation of the hook bar in the steel bar component, thereby realizing the automation and precise control of the entire hook bar installation process.

[0082] In the preferred embodiment, a welding gun mounting frame 1408 is provided on one side of the rear end of the screw driving frame 1405, a first welding gun 1410 is arranged on the side of the welding gun mounting frame 1408, a second cylinder 1409 is provided on the end face of the welding gun mounting frame 1408, and an output end of the second cylinder 1409 is connected to a second pneumatic clamp 1411;

[0083] The L-shaped hook bar 2 is sent to the position of the outer mesh 7 by the first pneumatic clamp 1404, and the welding gun mounting bracket 1408 is in an avoidance state. After the first pneumatic clamp 1404 retracts, the welding gun mounting bracket 1408 enters the working position, and the second cylinder 1409 drives the second pneumatic clamp 1411 to adjust the position. The second pneumatic clamp 1411 clamps the tail of the L-shaped hook bar 2, and the first welding gun 1410 welds the position of the L-shaped hook bar 2.

[0084] In the design of the interlaced feeding mechanism 14, a welding gun mounting frame 1408 is specially provided on one side of the rear end of the screw driving frame 1405 for integrating welding tools. The first welding gun 1410 is fixed on the side of the welding gun mounting frame 1408 for welding operation. A second cylinder 1409 is also installed on the end surface of the welding gun mounting frame 1408, and the output end of the cylinder is connected to the second pneumatic clamp 1411.

[0085] In the actual process of installing the hook bar, the first pneumatic clamp 1404 first accurately delivers the L-shaped hook bar 2 to the predetermined position of the outer mesh 7. At this stage, the welding gun mounting frame 1408 will be in a temporary avoidance state to avoid interfering with the correct insertion of the hook bar. After the first pneumatic clamp 1404 retracts, the welding gun mounting frame 1408 will quickly enter the working position. At this time, the second cylinder 1409 is started to drive the second pneumatic clamp 1411 to adjust the position and accurately clamp the tail part of the L-shaped hook bar 2 that has been inserted into place.

[0086] Finally, through the control of the pre-set program, the first welding gun 1410 is started to accurately weld the joint between the L-shaped hook bar 2 and the outer mesh 7 to ensure a stable connection between the hook bar and the steel bar component. The whole process is highly automated, which greatly improves the welding quality and work efficiency.

[0087] A third motor 1416 is provided at the rear back plate position of the screw driving frame 1405, and a first nut slider 1417 is provided on the screw of the third motor 1416. The upper surface of the first nut slider 1417 is connected to the third cylinder 1418, and the output end of the third cylinder 1418 is connected to the adjusting frame 1419, and the adjusting frame 1419 is slidably connected to the fourth motor 1420, and the screw output end of the fourth motor 1420 is threadedly connected to the welding gun mounting frame 1408, and the welding gun mounting frame 1408 is slidably connected to the top sliding plate of the fourth motor 1420.

[0088] The first nut slider 1417 carried by the third motor 1416 can move forward and backward, and the movement of the first nut slider 1417 can drive the third cylinder 1418 to move forward and backward. The third cylinder 1418 can drive the adjustment frame 1419 to move up and down, and the fourth motor 1420 on the adjustment frame 1419 can drive the welding gun mounting frame 1408 to move left and right. The first welding gun 1410 can perform welding and piercing and hooking operations more accurately according to the multi-position adjustment of the welding gun mounting frame 1408.

[0089] The fourth motor 1420 can also be positioned on the adjustment frame 1419 , and the position of the fourth motor 1420 can be installed according to different shapes to ensure that the welding gun mounting frame 1408 can achieve better welding accuracy.

[0090] In the interlaced feeding mechanism 14, a third motor 1416 is installed in the back plate area at the rear of the screw drive frame 1405, and the motor is connected to the first nut slider 1417 through a screw drive. The upper surface of the first nut slider 1417 is then connected to the third cylinder 1418 to form a multi-dimensional motion control system. When the third motor 1416 is running, it can drive the first nut slider 1417 to move forward and backward, and then drive the third cylinder 1418 to move up and down in the vertical direction.

[0091] The output end of the third air cylinder 1418 is connected to the adjustment frame 1419, and the adjustment frame 1419 is connected to the fourth motor 1420 by sliding. The screw output end of the fourth motor 1420 is threadedly connected to the welding gun mounting frame 1408, so that the welding gun mounting frame 1408 can be translated horizontally to the left and right under the drive of the fourth motor 1420. At the same time, the welding gun mounting frame 1408 also slides on the sliding plate on the top of the fourth motor 1420, further increasing its degree of freedom in three-dimensional space.

[0092] Such a complex transmission and adjustment system enables the first welding gun 1410 to be accurately adjusted at different positions according to the welding gun mounting frame 1408, so as to achieve more accurate welding and puncturing operations on the L-shaped hook bar 2. In addition, the fourth motor 1420 can also select different positions on the adjustment frame 1419 according to specific installation conditions and welding requirements, thereby ensuring that the welding gun mounting frame 1408 reaches the best welding position and the highest accuracy, effectively improving the quality and efficiency of the entire hook bar installation.

[0093] A first visual camera 1407 is disposed on the rear side of the second pneumatic clamp 1411 to capture and monitor the installation position and status of the hook bar in real time to ensure the accurate operation of the entire system.

[0094] In the preferred embodiment, the first angle frame 1414 is hinged to the screw drive frame 1405, and the first manipulator 15 and the first assisting frame 16 are connected to the first angle frame 1414;

[0095] The first angle frame 1414 is provided with a second motor 1412 , and the screw driving frame 1405 is provided with a first angle gear 1413 , which is meshed with a gear on the second motor 1412 .

[0096] Because the first assisting frame 16 and the first manipulator 15 are both connected to the interlaced feeding mechanism 14, the position change of the interlaced feeding mechanism 14 requires a freer angle change to realize the assisting operation of the first assisting frame 16, and the first angle frame 1414 is hinged to the screw driving frame 1405 of the column structure, and the first angle gear 1413 is installed on the rotating shaft of the screw driving frame 1405. The gear on the second motor 1412 on the first angle frame 1414 adjusts the angle of the interlaced feeding mechanism 14, which increases the freedom of the interlaced feeding mechanism 14 and can achieve the effect of grabbing the L-shaped hook reinforcement 2 at multiple angles.

[0097] In order to enhance the coordination and flexibility between the interlaced feeding mechanism 14, the first manipulator 15 and the first assisting frame 16, the utility model introduces a first angle frame 1414. The first angle frame 1414 is closely combined with the screw driving frame 1405 in an articulated manner, so that the first manipulator 15 and the first assisting frame 16 can be connected to the first angle frame 1414, thereby realizing the grabbing and feeding of the L-shaped hook bar 2 from different angles.

[0098] On this basis, the second motor 1412 is installed on the first angle frame 1414, and the first angle gear 1413 is provided on the screw drive frame 1405. The two components are linked by gear meshing, that is, the gear on the second motor 1412 is meshed with the first angle gear 1413, so that when the second motor 1412 is running, it can drive the interlaced feeding mechanism 14 to rotate around the hinge axis as a whole to achieve a variety of angle changes.

[0099] In summary, through the cooperation of the first angle frame 1414 and the second motor 1412, the interlaced feeding mechanism 14 can realize free rotation at multiple angles, which not only enables more flexible grasping of the hook bar, but also greatly improves the installation efficiency and accuracy of the hook bar in a complex structural environment.

[0100] The tail of the screw driving frame 1405 is also provided with a clamping arm 1422 of a bending structure, one end of the clamping arm 1422 close to the positioning groove 1406 is provided with a vertical clamping rotating roller 1423, and the other end is hinged to the telescopic end of the end clamping cylinder 1421 at the tail of the screw driving frame 1405, the middle bending section of the clamping arm 1422 is hinged to one end of the clamping adjustment rod 1424, and the other end of the clamping adjustment rod 1424 is hinged to the end face of the screw driving frame 1405;

[0101] The end clamping cylinder 1421 drives the clamping crank arm 1422 to rotate, and the clamping rotating roller 1423 at the end of the clamping crank arm 1422 is pressed on the tail end of the L-shaped hook bar 2.

[0102] The tail end of the L-shaped hook bar 2 is compressed by the compression rotating roller 1423, and the compression rotating roller 1423 can also rotate while compressing, so that the L-shaped hook bar 2 is more stable when moving.

[0103] In the interlaced feeding mechanism 14, the tail of the screw driving frame 1405 is also equipped with a clamping arm 1422 with a bending structure. The clamping arm 1422 is uniquely designed, and a vertical clamping rotating roller 1423 is installed at one end close to the positioning groove 1406. The clamping rotating roller 1423 is used to perform stable clamping contact on the tail end of the L-shaped hook bar 2 during the installation of the hook bar. The other end of the clamping arm 1422 is connected to the telescopic end of the end clamping cylinder 1421 set at the tail of the screw driving frame 1405 by a hinged manner. In this way, when the end clamping cylinder 1421 is working, it can drive the clamping arm 1422 to rotate.

[0104] The bent section in the middle of the pressing arm 1422 is also hinged to one end of the pressing adjustment rod 1424, and the other end of the pressing adjustment rod 1424 is also hinged to the end surface of the screw driving frame 1405. This design allows the pressing arm 1422 to swing flexibly within a larger range, ensuring that the pressing rotating roller 1423 can always accurately press on the tail end of the L-shaped hook bar 2.

[0105] In actual operation, when the end clamping cylinder 1421 is started, it pushes the clamping crank arm 1422 to rotate around the hinge point, thereby driving the clamping rotating roller 1423 to tightly press the tail of the L-shaped hook bar 2. It is worth noting that the clamping rotating roller 1423 allows itself to rotate while clamping, which is conducive to maintaining the stability of the L-shaped hook bar 2 when it is pushed and moved, avoiding deformation or damage caused by uneven force or excessive friction, thereby effectively improving the accuracy and stability of the hook bar installation.

[0106] Example 3

[0107] Further illustrate with reference to Examples 1-2, Figure 19-25The structure shown is that the hook bar material rack 21 has a U-shaped hook bar material discharge trough 2107 formed by a rectangular frame, the lower end opening position of the hook bar material discharge trough 2107 is clamped with the fixed table 2101, an automatic material picker 22 is arranged below the fixed table 2101, the automatic material picker 22 is slidably connected with the fixed table 2101, a plurality of material picker rods 2202 are arranged on the automatic material picker 22, and a groove body for placing hook bars is arranged at the end of the material picker rod 2202, the feeding drive cylinder 2201 inside the fixed table 2101 is arranged parallel to the automatic material picker 22, the telescopic rod of the feeding drive cylinder 2201 is hinged to the driving plate 2204, and the driving plate 2204 is hinged to the automatic material picker 22;

[0108] The feeding drive cylinder 2201 drives the automatic material taking rack 22 to reach below the hook bar discharge trough 2107 of the hook bar material rack 21, and the hook bars inside the hook bar discharge trough 2107 will fall onto the automatic material taking rack 22, and the feeding drive cylinder 2201 pushes out the automatic material taking rack 22 to complete the material taking.

[0109] The design of the hook bar rack 21 adopts a U-shaped hook bar discharge trough 2107, which is composed of a rectangular frame, and the lower end opening forms a clamping structure with the fixed base table 2101 to ensure that the hook bars can be stably stored inside it. Under the fixed table 2101, an automatic material rack 22 is installed to be slidably connected thereto, and a plurality of material rods 2202 are arranged on the material rack, and each end of the material rod 2202 is provided with a groove for placing the hook bars, so as to facilitate the storage and transfer of the hook bars.

[0110] The core working mechanism is as follows:

[0111] When it is necessary to pick up materials, the feeding drive cylinder 2201 inside the fixed table 2101 starts to operate. The telescopic rod of the feeding drive cylinder 2201 is connected to a driving plate 2204 by a hinge, and the driving plate 2204 is connected to the automatic material picking rack 22 by a hinge structure. Through the telescopic movement of the cylinder, the driving plate 2204 drives the automatic material picking rack 22 to move below the hook bar material discharge slot 2107 of the hook bar material rack 21.

[0112] When the automatic material picking rack 22 moves to its position, the hook bar in the hook bar discharge slot 2107 falls naturally due to gravity and falls into the slot at the end of the material picking rod 2202 on the automatic material picking rack 22. Then, the feeding drive cylinder 2201 moves again to push out the automatic material picking rack 22 with the hook bar, thus completing the material picking action. This design simplifies manual operation, improves the material picking efficiency of the hook bar, and ensures the continuity and accuracy of the entire automated installation process.

[0113] A plurality of second wedge-shaped seats 2105 are provided on the hook bar discharge trough 2107, and a plurality of first wedge-shaped seats 2104 matching the second wedge-shaped seats 2105 are provided on the fixed table 2101. The hook bar discharge trough 2107 makes the lower end of the hook bar discharge trough 2107 suspended on the fixed table 2101 through the first wedge-shaped seats 2104 and the second wedge-shaped seats 2105; the first wedge-shaped seats 2104 and the second wedge-shaped seats 2105 are connected by a plurality of locking buckles 2102; after the hook bar discharge trough 2107 places the hook bar outside, the entire hook bar discharge trough 2107 is installed on the fixed table 2101, and a distance is left between the hook bar discharge trough 2107 and the fixed table 2101 to facilitate material unloading.

[0114] The first wedge-shaped seat 2104 and the second wedge-shaped seat 2105 are connected by a plurality of locking buckles 2102 ; the locking buckles 2102 facilitate quick disassembly and assembly of the hook bar discharge trough 2107 and the fixed table 2101 .

[0115] The second wedge-shaped seat 2105 on the hook bar discharge trough 2107 and the second wedge-shaped seat 2105 also play the role of positioning the hook bar material rack 21, and the installation position of the hook bar material rack 21 is more accurate.

[0116] In the design of the hook bar discharge trough 2107, in order to achieve accurate installation and convenient material unloading, a plurality of second wedge seats 2105 are specially arranged on the discharge trough. At the same time, a plurality of matching first wedge seats 2104 are correspondingly arranged on the fixed table 2101. Through the cooperation of the second wedge seats 2105 and the first wedge seats 2104, the lower end of the hook bar discharge trough 2107 can be suspended above the fixed table 2101, ensuring that the hook bar can smoothly slide onto the automatic material unloading rack 22 when unloading.

[0117] During the installation process, the first wedge-shaped seat 2104 and the second wedge-shaped seat 2105 are connected to each other through multiple locking buckles 2102. This method greatly simplifies the installation and disassembly steps between the hook bar discharge trough 2107 and the fixed table 2101, and realizes rapid switching and maintenance.

[0118] In addition, the second wedge-shaped seat 2105 not only plays a connecting role, but also assumes a positioning function. When the hook bar rack 21 is connected to the first wedge-shaped seat 2104 on the fixed table 2101 through the second wedge-shaped seat 2105, the installation position of the hook bar rack can be ensured to be accurate, which is crucial for the smooth progress and precise control of the entire automated installation process. Through this ingenious design, not only the work efficiency is improved, but also the construction quality is guaranteed.

[0119] A plurality of limit pins 2103 are provided at the opening position at the lower end of the hook bar discharge trough 2107, the bent position of one end of the limit pin 2103 is stuck in one side of the hook bar discharge trough 2107, and the straight section of the other end is horizontally placed at the opening position at the lower end of the hook bar discharge trough 2107; after the loading of the hook bar discharge trough 2107 is completed, the limit pin 2103 is stuck in the opening position at the lower end of the hook bar discharge trough 2107 to prevent the hook bar from falling when the hook bar discharge trough 2107 is installed. After the installation is completed, the limit pin 2103 is pulled out during the material removal process.

[0120] After the automatic material picking rack 22 is retracted, the hook bar inside the hook bar discharge trough 2107 falls on the trough body at the end of the material picking rod 2202, and then is pushed out by the feeding drive cylinder 2201 to complete the material picking.

[0121] In the design of the hook bar discharge trough 2107, in order to prevent the hook bar from accidentally falling off in advance during transportation and installation, a plurality of limit pins 2103 are added at the lower opening. One end of the limit pin 2103 is designed to be bent, which can be firmly stuck on one side of the hook bar discharge trough 2107, and the other end is a straight section, which spans the lower opening of the discharge trough, thereby effectively blocking the hook bar.

[0122] In the actual operation process, the staff first puts the hook bar into the hook bar discharge trough 2107. After all the loading is completed, the limit pin 2103 is locked in the lower opening position to ensure that the hook bar will not accidentally slip out due to vibration or tilt during the transportation and installation of the hook bar discharge trough 2107 to the fixed table 2101.

[0123] When the hook bar discharge trough 2107 is successfully installed on the fixed table 2101 and is ready to start the automatic material taking operation, it is only necessary to pull out the limit pin 2103, and the hook bar can slide smoothly along the lower end opening of the discharge trough onto the automatic material taking rack 22, thereby realizing the automatic, orderly and safe supply and installation of the hook bar. This design effectively ensures the smooth progress and safety of the hook bar installation work.

[0124] In the preferred embodiment, a plurality of avoidance grooves 2106 are provided on the fixed table 2101, and a plurality of unloading limit blocks 2203 are provided on the automatic material feeding rack 22. The unloading limit blocks 2203 are slidably connected to the automatic material feeding rack 22, and the unloading limit blocks 2203 are arranged inside the avoidance grooves 2106. The upper ends of the unloading limit blocks 2203 are arranged below the hook bar discharge groove 2107. The unloading limit blocks 2203 are wedge-shaped in structure, and the wedge-shaped surface faces the opposite direction of the feeding rod 2202. When the unloading limit block 2203 moves forward, the wedge-shaped surface can better lift the hook bar into the hook bar discharge groove 2107, and can also guide the hook bar on the wedge-shaped surface to the feeding rod 2202.

[0125] The material unloading limit block 2203 retracts the automatic material picking rack 22 to make the hook bar fall onto the material picking rod 2202. When pushing, the material unloading limit block 2203 is stuck in the position below the hook bar discharge trough 2107 to limit the hook bar from falling.

[0126] The material unloading limit block 2203 is slidably connected to the automatic material unloading rack 22 . When the automatic material unloading rack 22 is sliding, the material unloading limit block 2203 is kept inside the avoidance groove 2106 .

[0127] During the entire process of the automatic material feeding rack 22 moving backward, the material feeding limit block 2203 abuts against the root of the avoidance groove 2106, and the hook bar falls onto the groove body at the end of the feeding rod 2202. When the automatic material feeding rack 22 is ejected, the upper end of the material feeding limit block 2203 abuts against the hook bar discharge groove 2107, and the hook bar will abut against the top of the material feeding limit block 2203, completing the limitation and preventing the hook bar from falling, thereby realizing the single-bar feeding step.

[0128] A plurality of avoidance grooves 2106 are pre-designed on the fixed table 2101, so that the unloading stopper 2203 of the automatic material picker 22 can slide therein. The unloading stopper 2203 is slidably connected to the automatic material picker 22, and its position is just set inside the avoidance groove 2106, and the upper end of the unloading stopper 2203 is just located below the hook bar discharge groove 2107, so as to facilitate the unloading and unloading operations of the hook bar. The unloading stopper 2203 adopts a wedge-shaped structure design, and its wedge-shaped surface faces the opposite direction of the material picker rod 2202. When the unloading stopper 2203 moves forward, its wedge-shaped surface can better lift the hook bar to the inside of the discharge groove, and can also guide the hook bar to the material picker rod 2202.

[0129] During the material picking process, when the automatic material picking frame 22 is retracted, the material unloading stopper 2203 is used to facilitate the hook bar to smoothly fall from the material unloading trough 2107 into the trough body on the material picking rod 2202. In the process of pushing the hook bar into the material unloading trough, the material unloading stopper 2203 will be stuck under the material unloading trough 2107, playing a limiting role in preventing the hook bar from accidentally falling.

[0130] During the backward movement of the entire automatic material picker 22, the material removal stop block 2203 will be effectively supported at the root of the avoidance groove 2106, and ensure that it always stays inside the avoidance groove during the entire sliding stroke. When the automatic material picker 22 is ejected, the upper end of the material removal stop block 2203 will accurately abut against the hook bar discharge groove 2107, at which time, the hook bar will be tightly attached to the top of the material removal stop block 2203, thereby achieving accurate positioning of a single hook bar, effectively preventing it from accidentally sliding off during the material removal process, and ensuring the smooth completion of the single hook bar material removal step.

[0131] Example 4

[0132] Further illustrate with reference to Example 1, Figure 13-15 In the structure shown, the first assisting frame 16 includes a first bracket 1601 and a second bracket 1602. The first bracket 1601 has a bent section at its end. One end of the first bracket 1601 and the second bracket 1602 is hinged to the butt joint 1603. The other end of the second bracket 1602 is hinged to the rotating mounting seat 1606. The bending position of the second bracket 1602 is hinged to the rotating mounting seat 1606. The first bracket 1601 and the second bracket 1602 are arranged in parallel between the rotating mounting seat 1606 and the butt joint 1603. The first bracket 1601 and the second bracket 1602, the butt joint 1603 and the rotating mounting seat 1606 form a four-bar linkage. When the position of the rotating mounting seat 1606 remains unchanged, the butt joint 1603 can remain in a vertical state during the ascent or descent of the first manipulator 15.

[0133] The first boosting frame 16 is mainly composed of a first bracket 1601 and a second bracket 1602, and the structural design of the two is highly flexible and functional. Among them, the end of the first bracket 1601 is provided with a bending section, which enhances the stability and adaptability of the overall structure.

[0134] One end of the first bracket 1601 and the second bracket 1602 are hingedly connected through the joint 1603, ensuring that they can be flexibly rotated within a certain range. The other end of the second bracket 1602 is also hingedly connected to the rotating mounting seat 1606. It is worth noting that the bending position of the second bracket is also hinged to the rotating mounting seat 1606. This design helps to maintain the balance and stability of the power-assisting frame during the activity.

[0135] The first bracket 1601 and the second bracket 1602 are arranged in parallel in space, and are connected to the butt joint 1603 and the rotating mounting seat 1606 respectively. The four-bar linkage formed in this way can ensure that the butt joint 1603 always remains in a vertical state through the linkage mechanism when the first manipulator 15 rises or falls, under the premise that the rotating mounting seat 1606 is fixed, so as to accurately assist the manipulator to complete the lifting and positioning tasks of the material. This design not only ensures the accuracy of the operation, but also greatly improves the flexibility and adaptability of the equipment.

[0136] The bent end of the second bracket 1602 passes through the lower position of the rotating mounting seat 1606 and is connected to the counterweight block 1604. A plurality of first pneumatic rods 1605 are arranged between the counterweight block 1604 and the upper position of the rotating mounting seat 1606. A plurality of second pneumatic rods 1607 are arranged between the two sides of the lower position of the rotating mounting seat 1606 and the middle part of the first bracket 1601. The counterweight block 1604 increases the labor-saving effect of lifting, and the first pneumatic rod 1605 and the second pneumatic rod 1607 play an auxiliary role in rising and falling.

[0137] In the design of the first booster frame 16, the bent end of the second bracket 1602 passes through the lower part of the rotating mounting seat 1606 in an ingenious way and is connected to the counterweight block 1604. The existence of the counterweight block 1604 is intended to enhance the labor-saving effect of the equipment when lifting materials, and reduce the load that the first manipulator 15 needs to overcome during the lifting process through self-weight balance, thereby improving work efficiency and reducing energy consumption.

[0138] In addition, a plurality of first pneumatic rods 1605 are arranged between the counterweight block 1604 and the upper part of the rotating mounting seat 1606, and a plurality of second pneumatic rods 1607 are arranged between the lower part of the rotating mounting seat 1606 and the middle part of the first bracket 1601. These pneumatic rods play a key auxiliary power role. The auxiliary force provided by the pneumatic device can not only help the first manipulator 15 to maintain stability during the ascent and descent process, but also provide additional thrust or pull when necessary, to ensure the stability and controllability of the entire operation process, and further improve the overall performance and operation efficiency of the equipment.

[0139] The first assisting frame 16 is movably connected to the first outer frame 4026 via the first movable frame 20 ; the first assisting frame 16 can move to multiple positions on the first outer frame 4026 according to the first movable frame 20 .

[0140] A plurality of sliding wheels 2001 are provided at both ends of the first movable frame 20 , and the sliding wheels 2001 are connected to the first outer frame 4026 in a transverse sliding manner. The first movable frame 20 is also provided with a longitudinal sliding basket 2002 that slides longitudinally, and the lower end of the longitudinal sliding basket 2002 is rotatably connected to the rotating mounting seat 1606 .

[0141] The sliding wheels 2001 at both ends of the first movable frame 20 can slide horizontally on the first outer frame 4026, and the longitudinal sliding basket 2002 can slide longitudinally on the first movable frame 20. The lower end of the longitudinal sliding basket 2002 rotates with the rotating mounting seat 1606 to achieve multi-position movement. When the first manipulator 15 moves, the first assisting frame 16 can also move to multiple positions on the first outer frame 4026 through the first movable frame 20.

[0142] The design of the first mobile frame 20 provides great flexibility and adaptability. A plurality of sliding wheels 2001 are installed at both ends of the first mobile frame 20, and these sliding wheels are connected to the first outer frame 4026 for transverse sliding, which means that the first mobile frame can slide freely left and right on the track of the first outer frame to meet the needs of different working positions.

[0143] In addition, a longitudinal sliding basket 2002 capable of longitudinal sliding is also provided on the first mobile frame 20. The lower end of the longitudinal sliding basket 2002 is connected to the rotating mounting seat 1606 by a rotating connection, so that the longitudinal sliding basket can slide forward and backward on the first mobile frame and can also rotate to a certain extent around the rotating mounting seat, thereby increasing the working range in the three-dimensional space.

[0144] Therefore, when the first manipulator 15 is performing a moving task, the first assisting frame 16 can follow the first moving frame 20 to perform multiple horizontal and vertical position movements on the first outer frame 4026 to meet the requirements of grabbing, placing and processing at different angles and positions, greatly improving the operational flexibility and work efficiency of the entire system. At the same time, the linkage design of the first assisting frame enables the manipulator to continuously provide stable support and assistance during the movement of the manipulator, thereby ensuring the safety and stability of the operation process.

[0145] Example 5

[0146] Further illustrate with reference to Examples 1-4, Figure 1-25 In the structure shown, A1, the hook bar material rack 21 conveys the L-shaped hook bar 2 to the material trough of the material taking rod 2202 under the drive of the automatic material taking rack 22, and the first manipulator 15 drives the interlaced feeding mechanism 14 to form a parallel state with the L-shaped hook bar 2, and the L-shaped bending section of the L-shaped hook bar 2 is in a downward vertical state in the material trough of the material taking rod 2202;

[0147] The second motor 1412 of the first angle frame 1414 drives the interlaced feeding mechanism 14 to rotate the angle so that the positioning groove 1406 is located directly above the L-shaped hook bar 2;

[0148] A2, the sliding guide block 1403 is at the front end position, the first cylinder 1402 drives the first pneumatic clamp 1404 to extend, the first pneumatic clamp 1404 clamps the L-shaped bending section of the L-shaped hook bar 2, and then the first cylinder 1402 retracts, and the entire straight section of the L-shaped hook bar 2 is in the groove body of the positioning groove 1406;

[0149] At the same time, the end clamping cylinder 1421 at the rear end of the screw driving frame 1405 drives the clamping crank arm 1422 to rotate, and the clamping rotating roller 1423 at the end of the clamping crank arm 1422 is pressed on the rear end of the L-shaped hook bar 2;

[0150] A3, the first manipulator 15 and the first auxiliary frame 16 work together to transport the interlaced feeding mechanism 14 to the initial installation position specified by the outer mesh 7;

[0151] In this process, each installation point on the outer mesh 7 establishes a two-dimensional coordinate system in advance based on the position system of the first working platform 402, ensuring that the position information of each installation point is completely corresponding and synchronized with the coordinate data programmed inside the first manipulator 15;

[0152] The first manipulator 15 is loaded with precise motion control codes, and can accurately deliver the L-shaped hook reinforcement 2 carried by the interlaced feeding mechanism 14 to each pre-planned initial installation point on the outer mesh 7 according to these code instructions;

[0153] The first visual camera 1407 takes a position photo according to the two-dimensional coordinate system of the outer mesh 7. The first visual camera 1407 is at the two-dimensional coordinate point position of the outer mesh 7 and the photo data are transmitted to the main control room 401. The main control room 401 identifies the photo of the two-dimensional coordinate point position, and identifies whether the stirrup 8 and the vertical reinforcement of the outer mesh 7 have an intersection during the photo. The intersection needs to be in the middle to more accurately insert the L-shaped hook reinforcement 2.

[0154] The vertical reinforcement and stirrups 8 have a cross position, which needs to be in the middle. If the two-dimensional coordinate point position of the outer mesh 7 is in the correct interval, then this position is the interlaced installation position;

[0155] The vertical reinforcement and stirrups 8 have a cross position, and the cross position needs to be in the middle. If the two-dimensional coordinate point position of the outer mesh 7 is not in the correct interval, then the position is an interlaced installation position error, and the two-dimensional coordinate system of the outer mesh 7 needs to be repositioned;

[0156] There is no intersection between the vertical reinforcement and the stirrup 8, or the intersection is not in the middle, and the two-dimensional coordinate point position of the outer mesh 7 is in the correct interval. The first manipulator 15 adjusts the position of the interlaced feeding mechanism 14. Every time a position is adjusted, it is necessary to take a picture of the outer mesh 7 until the intersection is in the middle, and the identification and search of the interlaced position point are completed;

[0157] A4. After the installation point is reached, the screw drive frame 1405 drives the sliding guide block 1403 to start sliding toward the tail of the screw drive frame 1405, and the first pneumatic clamp 1404 accurately delivers the L-shaped hook bar 2 to the predetermined outer mesh 7 position. At this stage, the welding gun mounting frame 1408 will be in a temporary avoidance state to avoid interfering with the correct insertion of the hook bar. After the L-shaped hook bar 2 reaches the position, the first pneumatic clamp 1404 is released;

[0158] After the first pneumatic clamp 1404 retracts, the welding gun mounting frame 1408 will quickly enter the working position, and the second cylinder 1409 will start, driving the second pneumatic clamp 1411 to adjust the position, accurately clamping the tail bending section of the L-shaped hook bar 2 and the stirrup 8 that have been inserted into place, and the tail bending section of the L-shaped hook bar 2 and the outer mesh 7 and stirrup 8 are clamped by the second pneumatic clamp 1411. The welding end of the first welding gun 1410 is between the seam position of the stirrup 8 and the tail bending section of the L-shaped hook bar 2, and the first welding gun 1410 is started to spot weld and fix the seam position;

[0159] After the tail bending section of A5, stirrup 8 and L-shaped hook bar 2 are fixed by spot welding, the second pneumatic clamp 1411 is released, and the second pneumatic clamp 1411 of the second cylinder 1409 is retracted; the third motor 1416 drives the entire welding gun mounting frame 1408 forward, and the welding end of the first welding gun 1410 starts to weld the joint position, and the fourth motor 1420 drives the welding gun mounting frame 1408 to move horizontally, so that all the joint positions are very close, and the driving stroke of the fourth motor 1420 is the same as the length of the joint position;

[0160] The welding positions of A6, stirrup 8 and L-shaped hook bar 2 are photographed by the first visual camera 1407, and the welding position photographs are identified inside the main control room 401. The welding photos taken by the first visual camera 1407 are identified and processed by the correlation coefficient matching algorithm in the template matching algorithm;

[0161] If desoldering or incomplete welding occurs, the coordinates and photos of the photos will be displayed on the rework page in the main control room 401 to facilitate manual processing and welding in the later stage.

[0162] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limitations of the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A hook bar feeding and welding device for tower column hook bar preparation equipment, characterized in that: The steel mesh preparation equipment (4) comprises a first working platform (402) and a second working platform (406), a tire frame (404) is provided between the first working platform (402) and the second working platform (406), an automatic feeding and welding unit (403) is provided on the first working platform (402), the automatic feeding and welding unit (403) is connected to the lifting device on the first working platform (402), a hook reinforcement rack (21) is provided on one side of the automatic feeding and welding unit (403), a first multi-degree-of-freedom manipulator (15) is provided on the automatic feeding and welding unit (403), and an interlaced feeding mechanism (14) is provided on the first manipulator (15).

2. According to claim 1, a hook bar feeding and welding device for tower column hook bar preparation equipment is characterized in that: The automatic feeding and welding unit (403) comprises a first lifting operation unit (4024), the first lifting operation unit (4024) is provided with a first outer frame (4026) with front and rear openings, the first manipulator (15) is arranged on the first lifting operation unit (4024), and the first lifting operation unit (4024) is connected to the lifting device.

3. According to claim 2, a hook bar feeding and welding device for tower column hook bar preparation equipment is characterized in that: A plurality of first slide rails (17) are provided on the first lifting operation unit (4024), a first rack (18) is provided on one side of the first slide rail (17), the first manipulator (15) is slidably connected to the plurality of first slide rails (17), a gear is provided at the output end of the first manipulator drive motor (19) on the first manipulator (15), and the gear is meshed with the first rack (18); A first assisting frame (16) is also provided above the first manipulator (15); the end of the first assisting frame (16) is connected to the interlacing feeding mechanism (14); the top of the first assisting frame (16) is connected to the first moving frame (20); and the first moving frame (20) is slidably connected to the first outer frame (4026).

4. The hook bar feeding and welding device for tower column hook bar preparation equipment according to claim 3 is characterized in that: The interpenetrating feeding mechanism (14) comprises a screw driving frame (1405), a screw inside the screw driving frame (1405) is threadedly connected to a sliding guide block (1403), an inner wall screw is connected to a first motor (1401) at the end of the screw driving frame (1405), a positioning groove (1406) is provided on the screw driving frame (1405), and the sliding guide block (1403) is slidably connected to the positioning groove (1406); A first cylinder (1402) is provided on the sliding guide block (1403), and a telescopic end of the first cylinder (1402) is connected to a rod body of a first pneumatic clamp (1404).

5. The hook bar feeding and welding device for tower column hook bar preparation equipment according to claim 4 is characterized in that: A welding gun mounting frame (1408) is provided on one side of the rear end of the screw drive frame (1405); a first welding gun (1410) is arranged on the side of the welding gun mounting frame (1408); a second cylinder (1409) is provided on the end surface of the welding gun mounting frame (1408); and an output end of the second cylinder (1409) is connected to a second pneumatic clamp (1411); A third motor (1416) is provided at the rear back plate of the screw drive frame (1405); a first nut slider (1417) is provided on the screw of the third motor (1416); an upper surface of the first nut slider (1417) is connected to a third cylinder (1418); an output end of the third cylinder (1418) is connected to an adjustment frame (1419); the adjustment frame (1419) is slidably connected to a fourth motor (1420); an output end of the screw of the fourth motor (1420) is threadedly connected to a welding gun mounting frame (1408); and the welding gun mounting frame (1408) is slidably connected to a top sliding plate of the fourth motor (1420); A first visual camera (1407) is provided on the rear side of the second pneumatic clamp (1411).

6. The hook bar feeding and welding device for tower column hook bar preparation equipment according to claim 4, characterized in that: The first angle frame (1414) is hinged to the screw drive frame (1405), and the first manipulator (15) and the first assist frame (16) are connected to the first angle frame (1414); A second motor (1412) is provided on the first angle frame (1414), a first angle gear (1413) is provided on the screw drive frame (1405), and the first angle gear (1413) is meshed with a gear on the second motor (1412); A clamping arm (1422) with a bending structure is also provided at the tail of the screw driving frame (1405); one end of the clamping arm (1422) close to the positioning groove (1406) is provided with a vertical clamping rotating roller (1423); the other end is hinged to the telescopic end of the end clamping cylinder (1421) at the tail of the screw driving frame (1405); the middle bending section of the clamping arm (1422) is hinged to one end of the clamping adjustment rod (1424); the other end of the clamping adjustment rod (1424) is hinged to the end face of the screw driving frame (1405); The end clamping cylinder (1421) drives the clamping crank arm (1422) to rotate, and the clamping rotating roller (1423) at the end of the clamping crank arm (1422) is clamped on the tail end of the L-shaped hook bar (2).

7. The hook bar feeding and welding device for tower column hook bar preparation equipment according to claim 1, characterized in that: The structure of the hook bar material rack (21) is as follows: a rectangular frame forms a U-shaped hook bar material discharge trough (2107); the lower end opening of the hook bar material discharge trough (2107) is snap-connected to the fixed table (2101); an automatic material picker (22) is provided below the fixed table (2101); the automatic material picker (22) is slidably connected to the fixed table (2101); a plurality of material picker rods (2202) are provided on the automatic material picker (22); the ends of the material picker rods (2202) are provided with a trough body for placing hook bars; a feeding drive cylinder (2201) inside the fixed table (2101) is arranged parallel to the automatic material picker (22); a telescopic rod of the feeding drive cylinder (2201) is hinged to a driving plate (2204); and the driving plate (2204) is hinged to the automatic material picker (22); A plurality of second wedge-shaped seats (2105) are provided on the hook bar discharge trough (2107), and a plurality of first wedge-shaped seats (2104) matching the second wedge-shaped seats (2105) are provided on the fixed table (2101); the hook bar discharge trough (2107) is suspended at its lower end on the fixed table (2101) via the first wedge-shaped seats (2104) and the second wedge-shaped seats (2105); The first wedge-shaped seat (2104) and the second wedge-shaped seat (2105) are connected via a plurality of locking buckles (2102); A plurality of limit pins (2103) are provided at the lower opening of the hook bar discharge trough (2107), wherein the limit pins (2103) are bent at one end and stuck at one side of the hook bar discharge trough (2107), and the straight section at the other end is horizontal at the lower opening of the hook bar discharge trough (2107); After the automatic material taking frame (22) is retracted, the hook bar inside the hook bar discharge trough (2107) falls on the trough body at the end of the material taking rod (2202), and then is pushed out by the feeding driving cylinder (2201), thereby completing the material taking.

8. The hook bar feeding and welding device for tower column hook bar preparation equipment according to claim 1, characterized in that: A plurality of avoidance grooves (2106) are provided on the fixed table (2101), and a plurality of material removal limit blocks (2203) are provided on the automatic material removal rack (22). The material removal limit blocks (2203) are slidably connected to the automatic material removal rack (22), and the material removal limit blocks (2203) are arranged inside the avoidance grooves (2106). The upper ends of the material removal limit blocks (2203) are arranged below the hook bar material discharge groove (2107). The material removal limit blocks (2203) are wedge-shaped in structure, and the wedge-shaped surface faces the opposite direction of the material removal rod (2202). The material removal limit block (2203) is retracted by the automatic material removal frame (22) to make the hook bar fall onto the material removal rod (2202). When pushing, the material removal limit block (2203) is stuck in the position below the hook bar discharge trough (2107) to limit the hook bar from falling.

9. The hook bar feeding and welding device for tower column hook bar preparation equipment according to claim 2, characterized in that: The first assisting frame (16) comprises a first bracket (1601) and a second bracket (1602); a bending section is provided at the end of the first bracket (1601); one end of the first bracket (1601) and the second bracket (1602) are hinged to a butt joint (1603); the other end of the second bracket (1602) is hinged to a rotating mounting seat (1606); the bending position of the second bracket (1602) is hinged to the rotating mounting seat (1606); the first bracket (1601) and the second bracket (1602) are arranged in parallel between the rotating mounting seat (1606) and the butt joint (1603).

10. The hook bar feeding and welding device for tower column hook bar preparation equipment according to claim 9, characterized in that: The bent end of the second bracket (1602) passes through the lower part of the rotating mounting seat (1606) and is connected to the counterweight block (1604); a plurality of first pneumatic rods (1605) are provided between the counterweight block (1604) and the upper part of the rotating mounting seat (1606); and a plurality of second pneumatic rods (1607) are provided between the two sides of the lower part of the rotating mounting seat (1606) and the middle part of the first bracket (1601); The first assisting frame (16) is movably connected to the first outer frame (4026) via the first movable frame (20); A plurality of sliding wheels (2001) are provided at both ends of the first mobile frame (20), the sliding wheels (2001) are slidably connected to the first outer frame (4026) in a transverse manner, and a longitudinal sliding basket (2002) is also provided on the first mobile frame (20) for longitudinal sliding, the lower end of the longitudinal sliding basket (2002) being rotatably connected to the rotating mounting seat (1606).

Images