Automatic manufacturing device for steel bar net rack

Abstract

The utility model provides an automatic steel bar net rack manufacturing device which comprises a first working platform and a second working platform, a jig frame is arranged between the first working platform and the second working platform, and an automatic feeding and welding unit is arranged on the first working 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; the second operation platform is provided with an automatic bending and welding unit, the automatic bending and welding unit is connected with a lifting device on the second operation platform, the automatic bending and welding unit is provided with a second mechanical arm, and the second mechanical arm is provided with bending and welding equipment. By combining the installation method and the whole process of equipment, the whole-set precision control requirement and method for industrial installation of the draw hook ribs are provided, and the installation precision of the draw hook ribs is guaranteed.

Description

Technical Field

[0001] The utility model relates to the field of steel bar grid preparation, in particular to an automatic steel bar grid preparation device. 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 efficiency of hook bars of steel bar components of bridge towers is low, difficult, labor-intensive, and difficult to control. Aiming at the demand for automated installation of steel bars of 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 during the construction process, an industrialized construction method for hook bars of steel bar components of bridge towers is formed. Compared with the traditional method, the installation difficulty is greatly reduced, the labor intensity of workers is reduced, and the installation efficiency and quality of hook bars are improved. The main contents involved are as follows:

[0004] (1) An online bending method for installing hook bars, which is different from the traditional process of completely prefabricating and installing hook bars. The forming of the hook bars is divided into one bending in the factory and two online bending on site, which greatly simplifies the difficulty of installing the hook bars and is easy to automate. At the same time, the online bending method can make the hook end of the hook bar completely fit the main bar so that it does not affect the thickness of the concrete cover.

[0005] (2) A robot for automatic forming and installation of hook bars, which integrates mechanical, electrical, hydraulic and pneumatic technologies, and combines visual positioning technology, industrial robot technology and digital twin technology to complete automated installation tasks such as steel bar mesh identification and positioning, automatic insertion, online bending, and automatic welding.

[0006] (3) Combining the installation method with the entire equipment process, a set of precision control requirements and methods for the industrial installation of hook bars are proposed to ensure the installation accuracy of hook bars.

[0007] 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.

[0008] 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.

[0009] The bending equipment of the welding robot needs to rely on the positioning of the vertical bars of the steel bar parts to be effectively positioned, and bending can only be performed after positioning. This situation results in the vertical bars of the steel bar parts needing to be designed and placed strictly according to the data, resulting in increased production costs and a high tolerance for bending. Utility Model Content

[0010] The main purpose of the utility model is to provide an automatic preparation device for a steel mesh frame, so as to solve the problem that the installation of hook bars is purely manual when steel parts are assembled in a frame.

[0011] In order to solve the above technical problems, the technical solution adopted by the utility model is: an automatic preparation device for a steel mesh frame, the steel mesh frame 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 reinforcement rack is provided on one side of the automatic feeding and welding unit, a multi-degree-of-freedom first manipulator is provided on the automatic feeding and welding unit, and an interlaced feeding mechanism is provided on the first manipulator;

[0012] An automatic bending and welding unit is arranged on the second working platform, and the automatic bending and welding unit is connected with the lifting device on the second working platform. A second manipulator is arranged on the automatic bending and welding unit, and a bending and welding device is arranged on the second manipulator.

[0013] 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;

[0014] The first lifting operation unit is provided with a plurality of first slide rails, a first rack is provided on one side of the first slide rail, the first manipulator is slidably connected with the plurality of first slide rails, and 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;

[0015] 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.

[0016] 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;

[0017] A first cylinder is provided on the sliding guide block, and a telescopic end of the first cylinder is connected to a rod body of a first pneumatic clamping claw;

[0018] A welding gun mounting frame is provided at one side of the tail of the screw driving frame, a 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 an output end of the second cylinder is connected to a second pneumatic clamp;

[0019] 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;

[0020] 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;

[0021] 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;

[0022] A first visual camera is provided on the rear side of the second pneumatic gripper;

[0023] 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;

[0024] 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.

[0025] 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;

[0026] 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;

[0027] The first wedge-shaped seat and the second wedge-shaped seat are connected by a plurality of locking buckles;

[0028] 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;

[0029] 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.

[0030] 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;

[0031] 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.

[0032] In a preferred embodiment, the automatic bending and welding unit includes a second lifting operation unit, which is also provided with a second outer frame with front and rear openings, and the second lifting operation unit is connected to the lifting device on the second operation platform;

[0033] The second lifting operation unit is provided with a plurality of second slide rails, a second rack is provided on one side of the second slide rail, the second manipulator is slidably connected with the plurality of second slide rails, and the gear on the second manipulator driving motor on the second manipulator is meshed with the second rack;

[0034] A second assisting frame is also arranged above the second manipulator, the end of the second assisting frame is connected to the bending and welding equipment, the top of the second assisting frame is connected to the second moving frame, and the second moving frame is slidably connected to the second outer frame.

[0035] In the preferred embodiment, the bending and welding equipment includes an outer assembly frame, an upper clamping mechanism and a lower clamping mechanism are provided on the upper and lower sides of the outer assembly frame, and an upper clamping head at the end of the upper clamping mechanism and a lower clamping head at the end of the lower clamping mechanism are arranged at the front end of the outer assembly frame;

[0036] A bending mechanism is also provided inside the outer assembly frame, and a pushing mechanism is also provided at the rear end of the outer assembly frame, and the pushing mechanism is connected to the bending mechanism;

[0037] One side of the outer assembly frame is connected to the welding gun driving mechanism, the second welding gun is arranged on the welding gun driving mechanism, the end of the second welding gun is oriented toward the upper clamp and the lower clamp, and the other side is hinged to the second angle frame, and the second angle frame is connected to the second power-assisting frame and the second manipulator;

[0038] The upper clamping mechanism and the lower clamping mechanism are symmetrically arranged on the upper and lower sides of the outer assembly frame, the upper clamping mechanism includes a seventh motor, the seventh motor is connected to the driving groove, the screw at the end of the seventh motor is arranged inside the driving groove, the end of the push rod is slidably connected to the driving groove, and the end of the push rod is threadedly connected to the screw;

[0039] The end of the push rod is hinged to one end of the clamping plate frame, and the other end of the clamping plate frame is connected to the upper clamp;

[0040] The end of the driving groove is connected to the fixed rod, and the two sides of the fixed rod are connected to the two sides of the clamping plate frame through at least two connecting rods;

[0041] Two parallel side limit blocks are arranged on one side of the upper chuck surface, and a V-shaped groove is arranged on one side of the upper surface of the lower chuck. The side surface of the side limit block of the upper chuck matches with the end surface of the V-shaped groove of the lower chuck.

[0042] The upper and lower surfaces of the inner part of the outer assembly frame are provided with guide strips, the top block is slidably connected with the guide strips, one end of the top block is connected with the end of the telescopic rod of the push mechanism, the upper and lower sides of the other end of the top block are hinged with one end of at least two bending connecting rods, the other ends of the two bending connecting rods are connected with the two ends of the bending cross bar, and the end of the bending cross bar is provided with a bending and thickened bending head;

[0043] The upper and lower sides of the middle part of the bending connecting rod near the bending thickened bending head end are hinged to one end of the top bending rod, and the other end of the top bending rod is rotatably connected to the outer assembly frame through a fixed rotating shaft;

[0044] An eighth motor is provided on one side of the second angle frame, a position adjustment mounting frame is provided on the outer assembly frame, a second angle gear is provided on the rotating shaft of the position adjustment mounting frame, and the second angle gear is meshed with the eighth motor gear;

[0045] At least two adjusting clamps are slidably arranged on the rotating shaft of the position adjustment mounting frame, and the adjusting clamps are fixedly connected to the outer assembly frame. A position adjustment cylinder is also arranged inside the position adjustment mounting frame, and the position adjustment cylinder is connected to the adjusting clamps;

[0046] The welding gun driving mechanism includes a welding gun clamping jaw, the second welding gun is arranged on the welding gun clamping jaw, and the welding gun clamping jaw can drive the second welding gun to rotate;

[0047] The welding gun clamp is connected to the second nut slider, the second nut slider is threadedly connected to the screw rod at the end of the fifth motor, the second nut slider is slidably connected to the fifth motor frame, the frame of the fifth motor is connected to the third nut slider, the third nut slider is threadedly connected to the screw rod at the end of the sixth motor, and the third nut slider is slidably connected to the sixth motor frame;

[0048] A second visual camera is provided below the sixth motor frame, and the second visual camera shoots in the reverse direction toward the end of the second welding gun.

[0049] In the preferred solution, the first boosting frame and the second boosting frame on the first manipulator and the second manipulator have the same structure;

[0050] 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;

[0051] 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.

[0052] The tops of the first power-assisting frame and the second power-assisting frame are movably connected to the first outer frame and the second outer frame through the first mobile frame and the second mobile frame respectively, and the first mobile frame and the second mobile frame have the same structure;

[0053] 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.

[0054] In the preferred embodiment, the lifting devices on the first outer frame and the second outer frame have the same structure, and the lifting device structure is as follows: the first outer frame is arranged on the first lifting operation unit, and lifting cylinders are symmetrically arranged at both ends of one side of the first lifting operation unit, and lifting guide wheels are arranged at the ends of the telescopic rods of the lifting cylinders, and one end of the lifting steel cable is connected to the first lifting operation unit, and the other end bypasses the lifting guide wheel and is connected to the work platform frame;

[0055] The first lifting work unit is provided with first synchronous steel cables at both ends of the other side, and the first lifting guide wheels and the second lifting guide wheels are provided on both ends of the first lifting work unit. One end of the first synchronous steel cable is connected to the top of the work platform frame, and the other end is passed through the bottom of the first lifting guide wheel in turn, and then passed through the top of the second lifting guide wheel to connect to the bottom of the work platform frame;

[0056] A pull-wire sensor is also provided on the working platform frame, and the wire end of the pull-wire sensor is connected to the first lifting working unit;

[0057] A second synchronous steel cable is provided between the lifting cylinder and the first lifting operation unit, and a first double-guide groove guide wheel and a second double-guide groove guide wheel are provided at both ends of the side surface of the first lifting operation unit close to the lifting cylinder, and one end of the two second synchronous steel cables at both ends of the first lifting operation unit is connected to the top of the working platform frame;

[0058] The other end of one of the second synchronous steel cables passes under the first double-guide groove guide wheel, and then passes over the second double-guide groove guide wheel to connect with the bottom of the working platform frame, and the other second synchronous steel cable passes under the second double-guide groove guide wheel, and then passes over the first double-guide groove guide wheel to connect with the bottom of the working platform frame;

[0059] A small crane is also provided inside the first working platform, which is used to hoist the automatic material taking rack to one side of the automatic feeding and welding unit;

[0060] The first working platform and the second working platform have the same structure. The first working platform is provided with a plurality of flip working boards, one side of which is hinged to the working platform frame. The working platform frame is also provided with a flip cylinder, one end of which is hinged to the working platform frame, and the other end is hinged to the middle of the working platform frame.

[0061] The tire frame is also provided with a plurality of positioning grooves, the bottoms of the inner mesh, the middle mesh and the outer mesh are arranged inside the positioning grooves, and the inner mesh, the middle mesh and the outer mesh are connected to the first working platform and the second working platform on both sides through a plurality of basket bolts.

[0062] The utility model provides an automatic preparation device for a steel mesh frame. The utility model aims to solve the problems of low installation efficiency, high difficulty, high labor intensity, and difficult quality control of hook bars of current bridge tower steel bar components. Aiming at the demand for automatic installation of steel bars of 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 of the construction process, an industrialized construction method for hook bars of bridge tower steel bar components is formed. Compared with the traditional method, the installation difficulty is greatly reduced, the labor intensity of workers is reduced, and the installation efficiency and quality of hook bars are improved. The main contents involved are as follows:

[0063] A method for installing hook bars by online bending is different from the traditional process of fully prefabricating and installing hook bars. The forming of the hook bars is divided into one bending in the factory and two online bending on site, which greatly simplifies the difficulty of installing the hook bars and is easy to automate. At the same time, the online bending method can make the hook end of the hook bar completely fit the main bar so that it does not affect the thickness of the concrete protective layer.

[0064] A robot for automatic forming and installation of hook bars, which integrates mechanical, electrical, hydraulic and gas integrated technologies, combines visual positioning technology, industrial robot technology and digital twin technology, to complete automated installation tasks such as steel bar mesh identification and positioning, automatic insertion, online bending, and automatic welding, thereby improving the installation efficiency of hook bars.

[0065] Combining the installation method and the entire equipment process, a set of precision control requirements and methods for the industrial installation of hook bars are proposed to ensure the installation accuracy of hook bars.

[0066] Solving the installation problem of hook bars of bridge tower steel components through automated means can provide an economical, reliable, safe and efficient installation method for the subsequent hook bar construction of bridge steel projects, which has a significant demonstration and leading role in improving the intelligent construction level of bridge steel projects, and promotes the continuous promotion and application of steel component assembly and industrialization technology in bridge construction. In addition, this technical achievement can be promoted and applied to the automated construction of hook bars of other engineering structures such as beams and piers.

[0067] In addition, in the cases used in this patent, the hook reinforcement 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 reinforcements with hooks at both ends at 135° and one end with a 90° hook and the other end with a 135° hook, thereby achieving flexible installation of hook reinforcements with multiple structures and sizes. This content is also within the scope of protection of this patent. In addition, this technical solution mentions that the connection form is welding. In fact, the binding connection form can also be equally replaced, which is within the scope of protection of this patent. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0069] Figure 1 This is a bending structure diagram of the L-shaped hook bar of the utility model;

[0070] Figure 2 This is a diagram of the interlaced structure of the L-shaped hook reinforcement of the utility model;

[0071] Figure 3 This is a structural diagram of the U-shaped hook bar of the utility model after being bent and installed;

[0072] Figure 4 This is the overall equipment structure diagram of the utility model steel mesh preparation equipment;

[0073] Figure 5 This is the overall equipment layout diagram of the utility model steel mesh preparation equipment;

[0074] Figure 6 This is a top view of the overall equipment layout structure of the utility model steel mesh preparation equipment;

[0075] Figure 7 This is a structural diagram of the first working platform of the utility model after the flip working board is folded;

[0076] Figure 8 This is a diagram showing the unfolded structure of the flip work board of the first work platform of the utility model;

[0077] Fig. 9 This is a specific installation structure diagram of the flip work board of the first work platform of the utility model;

[0078] Fig.10 This is a structural diagram of the installation of the lifting rope of the first lifting operation unit of the utility model;

[0079] Fig.11 This is a structural diagram of the first synchronous steel cable winding of the first lifting operation unit of the utility model;

[0080] Fig.12 This is a structural diagram of the second synchronous steel cable winding of the first lifting operation unit of the utility model;

[0081] Fig.13 This is a structural diagram of the installation position of the interlaced feeding mechanism of the utility model;

[0082] Fig.14 This is the installation structure diagram of the first power-assisting frame and the first manipulator of the utility model;

[0083] Fig.15 This is the installation structure diagram of the first power-assisting frame and the first mobile frame of the utility model;

[0084] Fig.16 This is the overall structural diagram of the interlaced feeding mechanism of the utility model;

[0085] Fig.17 This is the installation structure diagram of the first angle frame and the interlaced feeding mechanism of the utility model;

[0086] Fig.18 This is an installation structure diagram of the first welding gun and the welding gun driving device of the utility model;

[0087] Fig.19 This is the installation structure diagram of the hook reinforcement rack of the utility model;

[0088] Fig. 20 This is the installation structure diagram of the feeding drive cylinder of the automatic material taking rack of the utility model;

[0089] Fig.21 This is the installation structure diagram of the hook reinforcement rack and the automatic material taking rack of the utility model;

[0090] Fig. 22 This is a cross-sectional structural diagram of the hook reinforcement rack and the automatic material taking rack of the utility model;

[0091] 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;

[0092] 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;

[0093] Fig.25 This is a structural diagram of the automatic material taking rack of the utility model, which is a horizontal sliding drive;

[0094] Fig.26 This is the installation position structure diagram of the bending welding equipment of the utility model;

[0095] Fig. 27 This is a structural diagram of the installation position of the bending welding equipment and the second power-assisting frame of the utility model;

[0096] Fig.28 This is the overall structural diagram of the bending and welding equipment of the utility model;

[0097] Fig.29 This is a structural diagram of the installation position of the second welding gun of the utility model;

[0098] Fig.30 This is a structural diagram of the installation position of the second welding gun and the welding gun drive frame of the utility model;

[0099] Fig.31 This is a structural diagram of the installation positions of the bending mechanism and the upper and lower clamping mechanisms of the utility model;

[0100] Fig.32 This is a structural diagram of the upper and lower clamping mechanism of the utility model;

[0101] Fig.33 This is a disassembled structural diagram of the upper and lower clamping mechanism chucks of the utility model;

[0102] Fig.34 This is the internal structure diagram of the bending mechanism of the utility model;

[0103] Fig.35 This is the installation structure diagram of the second angle frame of the utility model;

[0104] Fig.36 This is the internal structure diagram of the position adjustment mounting frame of the utility model;

[0105] Fig.37 This is a flow chart of the installation of hook reinforcement of the utility model;

[0106] Fig.38 This is the L-shaped hook bar manufacturing equipment diagram of the utility model:

[0107] Fig.39 This is a flow chart of the installation of hook reinforcement insertion of the utility model;

[0108] Fig.40 The utility model is a feeding flow chart of a feeding machine.

[0109] In the figure: CNC bending machine 1; L-shaped hook bar 2; storage rack 3; steel mesh preparation equipment 4; main control room 401; first working platform 402; turning cylinder 4021; turning working plate 4022; lifting cylinder 4023; first lifting 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; second lifting unit 4061; second outer frame 4062; inner mesh 5; middle mesh 6; outer mesh 7; stirrups 8; U-shaped hook bar 9; lifting cable 10; lifting guide wheel 11; first synchronous cable 12; first lifting guide wheel 1201; second lifting guide wheel 1202 ; second synchronous steel cable 13; first double-guide groove guide wheel 1301; second double-guide groove guide wheel 1302; interlaced 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 1 422; pressing rotating roller 1423; pressing adjusting rod 1424 first manipulator 15; first assisting frame 16; first bracket 1601; second bracket 1602; docking joint 1603; counterweight block 1604; first pneumatic rod 1605; rotating mounting seat 1606; second pneumatic rod 1607; first slide rail 17; first rack 18; first manipulator driving motor 19; first moving frame 20; sliding wheel 2001; longitudinal sliding basket 2002; sliding cross frame 2003; hook reinforcement rack 21; fixed table 2101; locking buckle 2102; limit pin 2103; first wedge seat 2104; second wedge seat 2105; avoidance groove 2106; hook reinforcement discharge groove 2107; automatic material taking rack 22; feeding drive Cylinder 2201; material taking rod 2202; material unloading limit block 2203; driving plate 2204; second manipulator 23; bending welding device 24; second welding gun 2401; welding gun clamp 24011; fifth motor 24012; second nut slider 24013; sixth motor 24014; third nut slider 24015; second visual camera 2402; upper clamping mechanism 2403; seventh motor 24031; driving slot 24032; push rod 24033; connecting rod 24034; fixed rod 24035; clamping plate frame 24036; upper clamp 24037; side limit block 24038; lower clamping mechanism 2404; lower clamp 24041; bending mechanism 2405; guide bar 24051; top block 24052;Bending connecting rod 24053; fixed rotating shaft 24054; top bending rod 24055; bending cross bar 24056; pushing mechanism 2406; second angle frame 2407; outer assembly frame 2408; eighth motor 2409; second angle gear 2410; position adjustment mounting frame 2411; position adjustment cylinder 2412; adjustment clamping plate 2413; second power-assisting frame 25; second moving frame 26; second slide rail 27; second rack 28; second manipulator driving motor 29. ; DETAILED DESCRIPTION

[0110] Example 1

[0111] like Figures 1 to 8 As shown, a steel mesh automatic preparation device, 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 rack 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;

[0112] 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 .

[0113] 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, thereby achieving flexible installation of hook bars with multiple structures and sizes.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] Example 2

[0122] 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.

[0123] The first lifting operation unit 4024 is provided with a plurality of first slide rails 17, 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 first manipulator driving motor 19 on the first manipulator 15 is provided with a gear at the output end, and the gear is meshed with the first rack 18; the first manipulator driving motor 19 drives the first manipulator 15 to slide horizontally on the first lifting operation unit 4024.

[0124] 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.

[0125] 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.

[0126] In the preferred embodiment, the interlaced 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 slidably connected to the positioning groove 1406;

[0127] Among them, 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. 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.

[0128] The sliding guide block 1403 is provided with a first cylinder 1402, and the telescopic end of the first cylinder 1402 is connected to the rod body of the first pneumatic clamp 1404;

[0129] 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.

[0130] 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.

[0131] A welding gun mounting frame 1408 is provided at 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;

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] A third motor 1416 is provided at the rear back plate position of the screw drive frame 1405, 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, the output end of the third cylinder 1418 is connected to the adjustment frame 1419, the adjustment frame 1419 is slidably connected to the fourth motor 1420, the screw output end of the fourth motor 1420 is threadedly connected to the welding gun mounting frame 1408, the welding gun mounting frame 1408 is slidably connected to the top of the fourth motor 1420 The plate is slidably connected; 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 adjusting frame 1419 to move up and down, and the fourth motor 1420 on the adjusting frame 1419 can drive the welding gun mounting frame 1408 to move left and right. The first welding gun 1410 can be adjusted according to the multi-position of the welding gun mounting frame 1408, so as to perform welding and piercing and hooking operations more accurately.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] 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.

[0141] 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;

[0142] The first angle frame 1414 is provided with a second motor 1412, and the screw drive frame 1405 is provided with a first angle gear 1413, and the first angle gear 1413 is meshed with the gear on the second motor 1412;

[0143] A first visual camera 1407 is disposed on the rear side of the second pneumatic clamp 1411 .

[0144] 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.

[0145] 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.

[0146] 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.

[0147] In addition, a first visual camera 1407 is provided at the rear side of the second pneumatic clamp 1411 for real-time capture and monitoring of the installation position and status of the hook bar to ensure accurate operation of the entire system.

[0148] 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.

[0149] 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;

[0150] 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.

[0151] 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.

[0152] 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.

[0153] 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.

[0154] 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.

[0155] The method of interleaving feeding mechanism 14 is as follows:

[0156] A1, the hook bar 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 taking trough of the material taking rod 2202;

[0157] 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;

[0158] 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;

[0159] 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;

[0160] 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;

[0161] 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;

[0162] 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;

[0163] 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.

[0164] 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;

[0165] 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;

[0166] 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;

[0167] 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;

[0168] 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;

[0169] 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;

[0170] 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;

[0171] 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.

[0172] Example 3

[0173] Further illustrate with reference to Example 1, Figure 19-25 The 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;

[0174] 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.

[0175] 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.

[0176] The core working mechanism is as follows:

[0177] 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.

[0178] 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.

[0179] 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.

[0180] 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 .

[0181] 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.

[0182] 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.

[0183] 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.

[0184] 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.

[0185] 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.

[0186] 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.

[0187] 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.

[0188] 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.

[0189] 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.

[0190] 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.

[0191] The material unloading limit block 2203 retracts the automatic material picking rack 22 to make the hook bar fall onto the material picking rod 1102. 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.

[0192] 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 .

[0193] 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.

[0194] 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.

[0195] 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.

[0196] 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.

[0197] Example 4

[0198] Further illustrate with reference to Example 1, Figure 26-36 In the structure shown, the automatic bending and welding unit 405 includes a second lifting operation unit 4061, and the second lifting operation unit 4061 is also provided with a second outer frame 4062 with front and rear openings. The second lifting operation unit 4061 is connected to the lifting device on the second working platform 406; the second outer frame 4062 with front and rear openings facilitates the operation of the automatic bending and welding unit 405, and the second outer frame 4062 also protects the automatic bending and welding unit 405.

[0199] The second lifting operation unit 4061 is provided with a plurality of second slide rails 27, a second rack 28 is provided on one side of the second slide rail 27, the second manipulator 23 is slidably connected with the plurality of second slide rails 27, and the gear on the second manipulator driving motor 29 on the second manipulator 23 is meshed with the second rack 28;

[0200] The second manipulator 23 slides on the second slide rail 27 , and the gear on the second manipulator driving motor 29 meshes with the second rack 28 , so that the second manipulator driving motor 29 drives the second manipulator 23 to slide on the second slide rail 27 .

[0201] A second boosting frame 25 is further provided above the second manipulator 23 , the end of the second boosting frame 25 is connected to the bending welding device 24 , the top of the second boosting frame 25 is connected to the second moving frame 26 , and the second moving frame 26 is slidably connected to the second outer frame 4062 .

[0202] The second assisting frame 25 is located above the second manipulator 23, and one end of the second assisting frame 25 is effectively mechanically linked with the bending and welding equipment 24, so that it can play a supporting and assisting role in the process of the manipulator grasping and transferring the hook reinforcement, reducing the load pressure directly acting on the manipulator, thereby making it easier for the second manipulator 23 to perform tasks, which not only reduces the load during work, but also helps to extend its service life.

[0203] At the same time, the top of the second assisting frame 25 is also rotatably connected to the second mobile frame 26, and the second mobile frame 26 is slidably connected to the second outer frame 4062, which means that when the second manipulator 23 moves laterally or longitudinally, the second assisting frame 25 will move synchronously with the sliding of the second mobile frame 26, always maintaining effective support and assistance to the second manipulator 23, making the entire installation process smoother and more stable, and significantly improving the degree of automation and work efficiency of the hook reinforcement installation.

[0204] In the preferred embodiment, the bending and welding equipment 24 includes an outer assembly frame 2408, and an upper clamping mechanism 2403 and a lower clamping mechanism 2404 are provided on the upper and lower sides of the outer assembly frame 2408, and an upper clamping head 24037 at the end of the upper clamping mechanism 2403 and a lower clamping head 24041 at the end of the lower clamping mechanism 2404 are arranged at the front end of the outer assembly frame 2408; the outer assembly frame 2408 is the basic frame of the entire bending and welding equipment 24, and the upper clamping mechanism 2403 and the lower clamping mechanism 2404 are installed on the upper and lower sides of the outer assembly frame 2408, and the upper clamping head 24037 at the end of the upper clamping mechanism 2403 and the lower clamping head 24041 at the end of the lower clamping mechanism 2404 are arranged at the front end of the outer assembly frame 2408, and the upper clamping head 24037 and the lower clamping head 24041 can better clamp the steel bars.

[0205] The core part of the bending and welding equipment 24 is composed of an outer assembly frame 2408, which is like the skeleton of the equipment and provides a stable and reliable installation foundation for the upper clamping mechanism 2403 and the lower clamping mechanism 2404. The upper clamping mechanism 2403 and the lower clamping mechanism 2404 are respectively installed on the upper and lower sides of the outer assembly frame 2408, and the two groups of mechanisms perform their respective functions and work in coordination.

[0206] The end of the upper clamping mechanism 2403 is equipped with an upper clamp 24037, and the end of the lower clamping mechanism 2404 is equipped with a lower clamp 24041, both of which are arranged at the front end of the outer assembly frame 2408. When the steel bar needs to be bent and welded, the upper clamp 24037 and the lower clamp 24041 can accurately and forcefully clamp the steel bar to ensure the stable positioning of the steel bar during the bending and welding process, avoid processing errors caused by uneven force or displacement, and effectively improve the steel bar processing quality and work efficiency. Through such a design, the bending and welding equipment can accurately complete multiple processes such as clamping, bending and welding of steel bars, and realize the automation and precision of steel bar component processing.

[0207] A bending mechanism 2405 is also provided inside the outer assembly frame 2408, and a pushing mechanism 2406 is also provided at the rear end of the outer assembly frame 2408, and the pushing mechanism 2406 is connected to the bending mechanism 2405; after the upper clamp 24037 and the lower clamp 24041 are clamped, one end of the steel bar extends into the outer assembly frame 2408, and the pushing mechanism 2406 pushes the bending mechanism 2405 to bend one end of the steel bar.

[0208] In the bending welding equipment 24, a key bending mechanism 2405 is also integrated inside the outer assembly frame 2408, which is responsible for completing the bending operation of the steel bar. In addition, a push mechanism 2406 is also installed at the rear end of the outer assembly frame 2408, and this mechanism and the bending mechanism 2405 work in coordination through a reasonable mechanical connection method.

[0209] In specific operation, after the upper clamp 24037 and the lower clamp 24041 firmly clamp one end of the steel bar to be bent, the other end of the steel bar will be introduced into the outer assembly frame 2408. At this moment, the pushing mechanism 2406 starts to play a role, and through precise control, it can drive the bending mechanism 2405 to bend this end of the steel bar to a preset angle and shape.

[0210] In this way, the entire bending and welding equipment 24 can automatically clamp, position and bend the steel bars, greatly improving the precision and work efficiency of steel bar processing, while also reducing the labor intensity and safety risks of workers.

[0211] One side of the outer assembly frame 2408 is connected to the welding gun driving mechanism, and the second welding gun 2401 is arranged on the welding gun driving mechanism. The end of the second welding gun 2401 is directed toward the upper clamp 24037 and the lower clamp 24041, and the other side is hinged to the second angle frame 2407, and the second angle frame 2407 is connected to the second assisting frame 25 and the second manipulator 23; after the bending mechanism 2405 bends the end of the steel bar, the welding gun driving mechanism drives the end of the second welding gun 2401 to weld the bending position and the stirrup position, and the other side of the outer assembly frame 2408 is hinged to the second angle frame 2407, and the outer assembly frame 2408 is connected to the second assisting frame 25 and the second manipulator 23. The entire bending and welding equipment 24 needs to be connected to the second assisting frame 25 and the second manipulator 23. In order to increase the flexibility of the bending and welding equipment 24, the second angle frame 2407 can be adjusted at an angle with the bending and welding equipment 24 to perform multi-directional bending and welding operations.

[0212] In the design of the bending welding equipment 24, one side of the outer assembly frame 2408 is connected to the welding gun driving mechanism, and the welding gun driving mechanism is equipped with a second welding gun 2401, and the end direction of the welding gun points to the position of the upper clamp 24037 and the lower clamp 24041, so as to accurately weld the bent steel bars and stirrups. At the same time, the other side of the outer assembly frame 2408 is connected to the second angle frame 2407 by hinged connection, and the second angle frame 2407 is further connected to the second auxiliary frame 25 and the second manipulator 23.

[0213] In actual operation, after the bending mechanism 2405 completes bending the end of the steel bar, the welding gun driving mechanism will drive the second welding gun 2401 to accurately reach the bending position and the stirrup position for welding. Thanks to the hinged design of the outer assembly frame 2408 and the second angle frame 2407, the bending and welding equipment 24 can be flexibly adjusted and moved in all directions with the second auxiliary frame 25 and the second manipulator 23 to achieve bending and welding operations at different angles and positions.

[0214] This design greatly improves the applicability and operating efficiency of the bending and welding equipment 24, ensuring that the bending and welding of steel bars can be completed accurately and efficiently in various complex environments.

[0215] The upper clamping mechanism 2403 and the lower clamping mechanism 2404 are symmetrically arranged on the upper and lower sides of the outer assembly frame 2408, the upper clamping mechanism 2403 includes a seventh motor 24031, the seventh motor 24031 is connected to the driving slot 24032, the screw at the end of the seventh motor 24031 is arranged inside the driving slot 24032, the end of the push rod 24033 is slidably connected to the driving slot 24032, and the end of the push rod 24033 is threadedly connected to the screw; the end of the push rod 24033 is hinged to one end of the clamping plate frame 24036, and the other end of the clamping plate frame 24036 is connected to the upper clamp 24037; the end of the driving slot 24032 is connected to the fixed rod 24035, and the two sides of the fixed rod 24035 are connected to the two sides of the clamping plate frame 24036 through at least two connecting rods 24034;

[0216] The two sides of the fixed rod 24035 form a four-bar structure with the clamping frame 24036 through two connecting rods 24034. The push rod 24033 realizes the lifting and lowering of the clamping frame 24036 under the screw drive of the seventh motor 24031. The upper clamping mechanism 2403 and the lower clamping mechanism 2404 can realize the clamping action of the upper clamp 24037 and the lower clamp 24041. The structure is simple, convenient and durable.

[0217] The upper clamping mechanism 2403 and the lower clamping mechanism 2404 are symmetrically arranged on the upper and lower sides of the outer assembly frame 2408 of the bending welding device 24 to achieve balanced and stable clamping of the steel bars. The upper clamping mechanism 2403 is internally integrated with a seventh motor 24031, which is connected to the driving groove 24032, and the screw at the end of the motor is embedded in the driving groove. One end of the push rod 24033 is slidably connected to the driving groove 24032 and meshes with the screw through a thread, so that the push rod can perform precise linear motion along the screw under the drive of the motor.

[0218] The other end of the push rod 24033 is connected to one end of the clamping frame 24036 by hinged connection, and the other end of the clamping frame 24036 is connected to the upper clamp 24037. A fixed rod 24035 is also fixed to the end of the driving groove 24032, and the two sides of the fixed rod are connected to the two sides of the clamping frame 24036 through at least two connecting rods 24034 to form a four-link structure.

[0219] When the seventh motor 24031 drives the screw to rotate, the push rod 24033 is lifted or lowered by the action of the screw thread, and then drives the clamping plate frame 24036 and the upper clamp 24037 to open and close through the four-bar structure. The same principle is also applied to the lower clamping mechanism 2404, ensuring that the upper clamp 24037 and the lower clamp 24041 can clamp or release the steel bars synchronously and coordinately.

[0220] This structural design is simple and compact. It is not only easy to manufacture and maintain, but also has good stability and durability, ensuring the efficient and stable operation of the bending and welding equipment in actual operation.

[0221] Two parallel side limit blocks 24038 are provided on one side of the surface of the upper clamp 24037, and a V-shaped groove is provided on one side of the upper surface of the lower clamp 24041. The side surface of the side limit block 24038 of the upper clamp 24037 cooperates with the end surface of the V-shaped groove of the lower clamp 24041; Figure 32-33 As shown, the slot of the V-shaped structure of the lower clamp 24041 is set at the outermost part, and then two side limit blocks 24038 are set on the inner side of the slot of the V-shaped structure. The slot of the V-shaped structure can guide the end of the steel bar into the slot body, and the side limit block 24038 plays the role of, when the bending mechanism 2405 is bent, the steel bar leans against the side limit block 24038 to provide a fulcrum for the steel bar to bend.

[0222] The upper and lower surfaces of the inner part of the outer assembly frame 2408 are both provided with guide strips 24051, and the top block 24052 is slidably connected to the guide strip 24051. One end of the top block 24052 is connected to the end of the telescopic rod of the push mechanism 2406. The upper and lower sides of the other end of the top block 24052 are hinged to one end of at least two bending connecting rods 24053. The other ends of the two bending connecting rods 24053 are connected to the two ends of the bending cross bar 24056. The end of the bending cross bar 24056 is provided with a bent and thickened bending head; Fig.34 As shown, the top block 24052 is guided by the guide bar 24051, and the top block 24052 can move in a straight line more accurately. The top block 24052 forms a four-link structure with the bending cross bar 24056 through two bending connecting rods 24053. The end of the bending cross bar 24056 is provided with a protruding bending and thickening bending head, and the bending and thickening bending head is used for bending. After bending, the bending head can also press the end of the steel bar tightly against the vertical reinforcement.

[0223] The upper and lower sides of the middle part of the bending link 24053 near the bending and thickening bending head end are hinged to one end of the top bending rod 24055, and the other end of the top bending rod 24055 is rotatably connected to the outer assembly frame 2408 through a fixed rotating shaft 24054; the four-bar structure is then angle-limited by the bending link 24053 to ensure that the bending cross bar 24056 can be pushed and bent in one direction, and the top bending rod 24055 mainly tilts the bending link 24053 to one side, so that the bending and thickening bending head can bend in the same direction.

[0224] In the internal design of the bending and welding device 24, guide bars 24051 are installed on the upper and lower surfaces of the outer assembly frame 2408 to accurately guide the top block 24052. The top block 24052 is slidably connected to the guide bar 24051 to ensure that it can move linearly along a preset path when driven by the telescopic rod of the push mechanism 2406.

[0225] One end of the top block 24052 is directly connected to the end of the telescopic rod of the push mechanism 2406, and the other end is hinged to the two ends of the bending cross bar 24056 through at least two bending links 24053, forming a four-bar linkage. The end of the bending cross bar 24056 is provided with a thickened bending head. This specially designed bending head is not only used to accurately bend the steel bar, but also can firmly press the bent steel bar end onto the vertical bar through structural characteristics after the bending is completed, ensuring the stability and durability of the bending effect.

[0226] like Fig.34 As shown in the figure, this design makes full use of the linkage principle of the mechanical structure, so that the top block 24052 can drive the bending cross bar to move accurately through the four-bar linkage under the action of the top push mechanism, thereby realizing the precise bending operation of the steel bar, and after bending, the bending head ensures the firm connection between the steel bar and the vertical bar. This structure not only ensures the accuracy of the operation, but also improves the reliability and durability of the equipment.

[0227] An eighth motor 2409 is provided on one side of the second angle frame 2407, a position adjustment mounting frame 2411 is provided on the outer assembly frame 2408, a second angle gear 2410 is provided on the rotating shaft of the position adjustment mounting frame 2411, and the second angle gear 2410 is gear-engaged with the eighth motor 2409;

[0228] The eighth motor 2409 on the second angle frame 2407 can drive the outer assembly frame 2408 to tilt.

[0229] At least two adjusting clamping plates 2413 are slidably disposed on the rotating shaft of the position adjusting mounting frame 2411, and the adjusting clamping plates 2413 are fixedly connected to the outer assembly frame 2408. A position adjusting cylinder 2412 is also disposed inside the position adjusting mounting frame 2411, and the position adjusting cylinder 2412 is connected to the adjusting clamping plates 2413;

[0230] The second angle frame 2407 can not only drive the outer assembly frame 2408 to tilt at an angle through the eighth motor 2409, but also utilize the position adjustment cylinder 2412 to extend and retract to drive the two adjustment clamps 2413 to move. The entire outer assembly frame 2408 led by the two adjustment clamps 2413 can be laterally extended and retracted for fine-tuning, thereby increasing the fine-tuning action of the bending and welding equipment 24 to adapt to bending and welding at different positions.

[0231] The welding gun driving mechanism includes a welding gun clamp 24011, and the second welding gun 2401 is set on the welding gun clamp 24011, and the welding gun clamp 24011 can drive the second welding gun 2401 to rotate; the welding gun clamp 24011 clamps the second welding gun 2401, and the welding gun clamp 24011 can drive the second welding gun 2401 to rotate, which is suitable for welding at different positions.

[0232] The welding gun driving mechanism further includes a welding gun clamp 24011, in which the second welding gun 2401 is mounted on the welding gun clamp 24011. The welding gun clamp 24011 has the function of clamping and rotating the second welding gun 2401, that is, when components at different positions or angles need to be welded, the welding gun clamp 24011 can flexibly adjust the direction and position of the second welding gun 2401 according to preset instructions or information fed back by sensors, ensuring that the welding gun can be accurately aligned with the welding point, thereby achieving all-round and multi-angle welding operations.

[0233] Such a design greatly improves the flexibility and adaptability of the welding equipment, and can ensure efficient and accurate welding operations regardless of complex structures or narrow spaces. Through the dynamic adjustment of the welding gun clamp 24011, the second welding gun 2401 can easily switch welding postures in different application scenarios to meet the process requirements of welding in different positions.

[0234] The welding gun clamp 24011 is connected to the second nut slider 24013, the second nut slider 24013 is threadedly connected to the screw at the end of the fifth motor 24012, the second nut slider 24013 is slidably connected to the frame of the fifth motor 24012, the frame of the fifth motor 24012 is connected to the third nut slider 24015, the third nut slider 24015 is threadedly connected to the screw at the end of the sixth motor 24014, and the third nut slider 24015 is slidably connected to the frame of the sixth motor 24014;

[0235] The fifth motor 24012 drives the second nut slider 24013 to move linearly, and the second welding gun 2401 carried by the second nut slider 24013 moves linearly left and right. The sixth motor 24014 drives the third nut slider 24015 to move linearly. The third nut slider 24015 drives the entire frame of the fifth motor 24012 to move linearly back and forth. The second welding gun 2401 can move forward and backward and left and right to adjust the welding position and weld.

[0236] A second visual camera 2402 is provided below the frame of the sixth motor 24014, and the second visual camera 2402 is facing the end direction of the second welding gun 2401 in the reverse direction of shooting. The second visual camera 2402 is used to shoot the grasping position of the bending welding equipment 24, and is also used to shoot the welding position and the situation after welding, and the grasping position, welding position and the situation after welding are identified and detected according to the shooting situation.

[0237] The method of using the bending welding equipment 24 is as follows:

[0238] B1. One end of the L-shaped hook bar 2 passes through the inner mesh 5. The interlaced feeding mechanism 14 transmits the interlaced feeding data of the initial position to the bending and welding device 24. The bending and welding device 24 also moves to the relative position of the interlaced feeding mechanism 14 according to the interlaced feeding mechanism 14, waiting for one end of the L-shaped hook bar 2 to pass through the inner mesh 5.

[0239] B2. The second visual camera 2402 takes a photo. The main control room 401 identifies the photo taken by the second visual camera 2402. The visual processing system processes the photo. In the photo, the vertical reinforcement and stirrups of the inner mesh 5 are crossed, and the end of the L-shaped hook reinforcement 2 is near the intersection of the vertical reinforcement and stirrups. The main control room 401 determines that the end of the L-shaped hook reinforcement 2 passes through the inner mesh 5.

[0240] The method of image recognition in the control room 401 is as follows: firstly, noise reduction, brightness / contrast adjustment, and sharpening processing are performed on the photographed photos;

[0241] Using the Sobel edge detection algorithm, the edge contours of the vertical reinforcement, stirrups and L-shaped hook reinforcement 2 of the inner mesh 5 are identified;

[0242] The feature point detection algorithm SIFT is used to extract the feature points of vertical reinforcement, stirrups and hook reinforcement, and their positional relationship in the image is determined through feature matching;

[0243] The region growing method in image segmentation technology is used to distinguish the regions of vertical reinforcement, stirrups and hook reinforcement, and then the intersection of vertical reinforcement and stirrups is determined through geometric analysis.

[0244] By measuring the relative position relationship between the characteristic point of the end of the hook bar and the intersection of the vertical bar and the stirrup, combined with the set safety threshold, it is determined whether the hook bar has successfully passed through the inner mesh 5;

[0245] By calculating the Euclidean distance or other similarity index between the intersection point and the end of the hook bar, combined with a preset threshold, the main control room 401 determines whether to determine that the end of the L-shaped hook bar 2 successfully passes through the inner mesh 5;

[0246] By calculating the characteristic point: the Euclidean distance between the characteristic point of the hook end and the intersection of the vertical bar and the stirrup, it can be used to determine whether the end of the hook bar is close to or crosses the intersection. The Euclidean distance between the characteristic point of the hook end and the intersection of the stirrup is expressed as:

[0247]

[0248] Where D1 is the Euclidean distance between the characteristic point of the hook end and the intersection point of the stirrup, p1x 、p1 y is the coordinate of the characteristic point at the end of the hook bar, p2 x 、p2 y is the coordinate of the intersection of the vertical reinforcement and the stirrup. When D1 is less than the preset threshold, it can be determined that the end of the hook reinforcement is near the intersection.

[0249] B3. After determining the end position of the L-shaped hook bar 2, the second manipulator 23 drives the bending welding device 24 to approach the end position of the L-shaped hook bar 2, and the upper clamping mechanism 2403 and the lower clamping mechanism 2404 drive the upper clamp 24037 and the lower clamp 24041 to clamp the end of the L-shaped hook bar 2. The end of the L-shaped hook bar 2 penetrates into the outer assembly frame 2408, and the pushing mechanism 2406 pushes the bending mechanism 2405 to start bending the end of the L-shaped hook bar 2.

[0250] The end of the L-shaped hook bar 2 is bent to 60-80 degrees, the lower clamping mechanism 2404 begins to loosen the end position of the L-shaped hook bar 2, the upper clamping mechanism 2403, the end of the bending cross bar 24056 of the bending mechanism 2405 continues to bend the end of the L-shaped hook bar 2, the bending welding device 24 remains stationary, the end of the L-shaped hook bar 2 is bent and parallel to the stirrup 8 of the inner mesh 5, and the L-shaped hook bar 2 forms a U-shaped hook bar 9;

[0251] B4. The second visual camera 2402 takes a plurality of photos of the fitting position of the U-shaped hook reinforcement 9 and the stirrup reinforcement 8 of the inner mesh 5. The fitting position photos taken in the main control room 401 are visually processed to identify the weld between the U-shaped hook reinforcement 9 and the stirrup reinforcement 8.

[0252] The identification method is:

[0253] Perform Canny edge detection on the photo, use Gaussian filter to smooth the image, then calculate the gradient amplitude and direction of the image, then apply non-maximum suppression to refine the edge, and finally use double threshold method to determine the potential edge, and obtain the contour information of U-shaped hook reinforcement 9 and stirrup 8;

[0254] The contour information in the image is binarized and segmented. A threshold T is set for the binarization process, and then the pixels are classified according to the following rules:

[0255]

[0256] Where f(x, y) is the grayscale value of the original image at point (x, y), and g(x, y) is the binarized image;

[0257] The positions of the edges on both sides of the weld are found through edge detection, and the weld width W is obtained by calculating the Euclidean distance between the two points:

[0258]

[0259] Among them, (x1, y1) and (x2, y2) are the coordinates of the edge points on both sides of the weld respectively;

[0260] The weld width W is judged based on whether the welding conditions are met. Steel bar welding only requires the weld width, and the weld is basically in a horizontal state. The weld width between 0-6 mm does not require finding the weld track, so the second welding gun 2401 can directly weld under the weld width between 0-6 mm.

[0261] Welding can be performed if the weld width is between 0-6mm;

[0262] Otherwise, the welding conditions are not met, and the upper clamping mechanism 2403 starts to press the U-shaped hook bar 9 downward, and the second visual camera 2402 takes pictures to determine the weld width again, and welding can be started until the weld width is between 0-6mm;

[0263] B5. After the weld width is qualified, the second welding gun 2401 is driven by the fifth motor 24012 and the sixth motor 24014 to spot weld the U-shaped hook reinforcement 9 and the end position of the stirrup reinforcement 8 of the inner mesh 5. After the U-shaped hook reinforcement 9 and the stirrup reinforcement 8 of the inner mesh 5 are spot welded and fixed, the upper clamping mechanism 2403 is released and returned to its original position, and the fifth motor 24012 and the sixth motor 24014 drive the second welding gun 2401 to weld the U-shaped hook reinforcement 9 and the stirrup reinforcement 8 of the inner mesh 5;

[0264] After the welding of B6, U-shaped hook reinforcement 9 and stirrup reinforcement 8 of inner mesh 5 is completed, the second visual camera 2402 takes a picture of the welding area and judges the quality of the steel bar weld in the welding area;

[0265] The quality of the welding area is judged based on the FAHP algorithm. The quality judgment method is as follows:

[0266] Image processing technology extracts the width, thickness and saturation index data of the weld from the image of the welding area, and selects the width of the weld as the detection index;

[0267] The collected weld index data are fuzzified and converted into membership in the fuzzy set. Let (A) be the fuzzy set of width, μA(b) be the membership of width b in the fuzzy set (A), then it can be expressed as:

[0268]

[0269] The specific meaning of the membership function μA(b) of the width index (b) in the fuzzy set (A) is as follows:

[0270] When the width (b) is very narrow, its membership in the fuzzy set (A) is 1, indicating that the width index (b) completely belongs to the fuzzy subset of "very narrow";

[0271] When the width (b) belongs to the medium width range, its membership in the fuzzy set (A) is 0.5, which means that the width index (b) partially belongs to both the fuzzy subsets of "very narrow" and "very wide";

[0272] When the width (b) is very wide, its membership in the fuzzy set (A) is 0, which means that the width index (b) does not belong to the fuzzy subset of "very narrow", but tends to the fuzzy subset of "very wide";

[0273] According to the data of weld width, a weight is assigned to the weld index to reflect its influence on weld quality. The overall weld quality evaluation value is calculated by combining the membership and weight of each index using fuzzy operation rules. Let (E) be the fuzzy set of overall evaluation, ω i is the weight of the ith indicator, μA i (b i ) is the membership degree of the i-th indicator, then the membership degree μE of the overall evaluation can be expressed as:

[0274]

[0275] The results of the comprehensive evaluation based on the membership degree μE are converted into specific quality grades of "excellent", "medium" and "poor", and the final weld quality evaluation results are output;

[0276] The “poor” quality grade will display the coordinates and photos of the photos on the rework page in the main control room 401 to facilitate manual processing and welding at a later stage.

[0277] Example 5

[0278] Further illustrate with reference to Examples 2-4, Figure 14-15 In the structure shown, in the preferred embodiment, the first boosting frame 16 and the second boosting frame 25 on the first manipulator 15 and the second manipulator 23 have the same structure;

[0279] The first assisting frame 16 includes 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 is hinged to the docking 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 docking joint 1603. The first bracket 1601 and the second bracket 1602, the docking 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 docking joint 1603 can maintain a vertical state during the ascent or descent of the first manipulator 15.

[0280] 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.

[0281] 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.

[0282] 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.

[0283] 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.

[0284] 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.

[0285] 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.

[0286] The tops of the first boosting frame 16 and the second boosting frame 25 are movably connected to the first outer frame 4026 and the second outer frame 4062 through the first mobile frame 20 and the second mobile frame 26, respectively. The first mobile frame 20 and the second mobile frame 26 have the same structure;

[0287] The first assisting frame 16 can move to multiple positions on the first outer frame 4026 according to the first moving frame 20 .

[0288] A plurality of sliding wheels 2001 are provided at both ends of the first mobile frame 20, and the sliding wheels 2001 are connected to the first outer frame 4026 in a transverse sliding manner. The first mobile 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. The sliding wheels 2001 at both ends of the first mobile frame 20 can slide transversely on the first outer frame 4026, and the longitudinal sliding basket 2002 can slide longitudinally on the first mobile frame 20, and 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 booster frame 16 can also move to multiple positions on the first outer frame 4026 through the first mobile frame 20.

[0289] 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.

[0290] 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.

[0291] 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.

[0292] Example 6

[0293] Further illustrate with reference to Examples 1, 2 and 4, Figure 1-13 In the structure shown, the lifting device structure on the first outer frame 4026 and the second outer frame 4062 is the same, and the lifting device structure is: the first outer frame 4026 is arranged on the first lifting work unit 4024, and the lifting cylinders 4023 are symmetrically provided at both ends of one side of the first lifting work unit 4024, and the end of the telescopic rod of the lifting cylinder 4023 is provided with a lifting guide wheel 11, one end of the lifting steel cable 10 is connected to the first lifting work unit 4024, and the other end bypasses the lifting guide wheel 11 and is connected to the working platform frame 4025; the end of the telescopic rod of the lifting cylinder 4023 lifts the lifting steel cable 10, and the lifting steel cable 10 drives the entire first lifting work unit 4024 to start rising.

[0294] The first lifting unit 4024 is provided with a first synchronous steel cable 12 at both ends of the other side, and a first lifting guide wheel 1201 and a second lifting guide wheel 1202 are provided on both ends of the first lifting unit 4024. One end of the first synchronous steel cable 12 is connected to the top of the working platform frame 4025, and the other end passes through the bottom of the first lifting guide wheel 1201 in turn, and then passes through the top of the second lifting guide wheel 1202 to connect to the bottom of the working platform frame 4025; two lifting cylinders 4023 are provided on one side of the first lifting unit 4024, and the first synchronous steel cable 12 is provided on the other side. The top of the cable 12 is connected to the top of the working platform frame 4025, and the other end passes under the first lifting guide wheel 1201, then passes over the second lifting guide wheel 1202 and is connected to the bottom of the working platform frame 4025. When the two lifting cylinders 4023 lift on one side, the first synchronous steel cable 12 on the other side will also realize the horizontal rise of the first lifting work unit 4024 under the action of the first lifting guide wheel 1201 and the second lifting guide wheel 1202. There is no need for multiple lifting cylinders 4023 to lift, and the first lifting work unit 4024 can be horizontally risen by using two first synchronous steel cables 12.

[0295] The first outer frame 4026 is arranged on the first lifting operation unit 4024, and both sides of the lifting operation unit have unique lifting drive and balancing mechanisms. The lifting cylinders 4023 are symmetrically mounted on both ends of one side, and the top of the telescopic rod of the lifting cylinder is equipped with a lifting guide wheel 11. One end of the lifting cable 10 is connected to the first lifting operation unit 4024, and the other end is wound around the work platform frame 4025 through the lifting guide wheel 11. When the telescopic rod of the lifting cylinder 4023 is extended, that is, the lifting cable 10 is lifted, the lifting cable pulls the entire first lifting operation unit 4024 up.

[0296] On the other side of the first lifting operation unit 4024, the first synchronous steel cable 12 is symmetrically arranged at both ends. Both sides of this side are equipped with a first lifting guide wheel 1201 and a second lifting guide wheel 1202. One end of the first synchronous steel cable 12 is fixed to the top of the work platform frame 4025, and the other end first passes under the first lifting guide wheel 1201, then passes over the second lifting guide wheel 1202, and finally connects to the bottom of the work platform frame 4025.

[0297] This design ensures that when only the two lifting cylinders 4023 on one side are working, through the tensioning of the first synchronous steel cable 12 and the guiding effect of the lifting guide wheel, the first lifting work unit 4024 can be kept horizontal during the ascent without the need for more lifting cylinders to work simultaneously, thus avoiding the problem of tilting and imbalance, thereby effectively utilizing the principles of mechanical mechanics and achieving a smooth ascent of the work unit.

[0298] A pull-wire sensor is also provided on the working platform frame 4025 , and the wire end of the pull-wire sensor is connected to the first lifting working unit 4024 ; the pull-wire sensor can sense the lifting position of the first lifting working unit 4024 .

[0299] A second synchronous steel cable 13 is provided between the lifting cylinder 4023 and the first lifting operation unit 4024. A first double-guide groove guide wheel 1301 and a second double-guide groove guide wheel 1302 are provided at both ends of the side of the first lifting operation unit 4024 near the lifting cylinder 4023. One end of the two second synchronous steel cables 13 at both ends of the first lifting operation unit 4024 is connected to the top of the operation platform frame 4025.

[0300] A second synchronous steel cable 13 is also provided on one side of the installation position of the lifting cylinder 4023 , and two second synchronous steel cables 13 are also symmetrically installed on one side of the first lifting operation unit 4024 .

[0301] The other end of one of the second synchronous steel cables 13 passes around the bottom of the first double guide groove guide wheel 1301, and then passes around from the top of the second double guide groove guide wheel 1302 to be connected to the bottom of the working platform frame 4025. The other second synchronous steel cable 13 passes around the bottom of the second double guide groove guide wheel 1302, and then passes around from the top of the first double guide groove guide wheel 1301 to be connected to the bottom of the working platform frame 4025. The other end of the second synchronous steel cable 13 passes around the bottom of the first double guide groove guide wheel 1301, and then passes around from the top of the second double guide groove guide wheel 1302 to be connected to the bottom of the working platform frame 4025. During the lifting process of the lifting cylinder 4023, the second synchronous steel cable 13 cooperates with the first synchronous steel cable 12, and the first lifting operation unit 4024 can rise more smoothly.

[0302] A second synchronous steel cable 13 system is also added between the lifting cylinder 4023 and the first lifting operation unit 4024 to further enhance the balance and stability of the operation unit during lifting. A first double-guide groove guide wheel 1301 and a second double-guide groove guide wheel 1302 are provided at both ends of the side of the first lifting operation unit 4024 near the installation position of the lifting cylinder.

[0303] One end of the two second synchronous steel cables 13 is connected to the top of the work platform frame 4025. The other end of one of the second synchronous steel cables 13 first passes under the first double-groove guide wheel 1301, then bypasses over the second double-groove guide wheel 1302, and finally connects to the bottom of the work platform frame 4025; while the other second synchronous steel cable 13 passes under the second double-groove guide wheel 1302, then bypasses over the first double-groove guide wheel 1301, and connects to the bottom of the work platform frame 4025.

[0304] When the lifting cylinder 4023 performs the lifting operation, the second synchronous steel cable 13 and the first synchronous steel cable 12 mentioned above work together to ensure that the first lifting operation unit 4024 always maintains a horizontal position during the lifting process through the alternating traction of the double guide groove guide wheel, and is not tilted by the unilateral force, thereby achieving a more stable and precise lifting action. Through this sophisticated synchronous control system, the imbalance phenomenon during the lifting operation is effectively avoided, ensuring the efficient and stable operation of the entire lifting operation unit.

[0305] A small crane is also provided inside the first working platform 402 , and the crane is used to lift the automatic material taking rack 22 to one side of the automatic feeding and welding unit 403 .

[0306] Example 7

[0307] Further illustrate with reference to Examples 1-6, Figure 1-40 The structure shown, S1, in a steel bar processing plant, according to the one-time bending processing requirements, a CNC bending machine 1 processes an L-shaped hook bar 2, completes the one-time bending processing of the hook bar, and places it in a storage rack 3, wherein a plurality of storage racks 3 can be provided;

[0308] S2, transporting the storage rack 3 equipped with the L-shaped hook bar 2 to the site by a flatbed truck, and placing it next to the first working platform 402, close to the position of the self-weight automatic material taking rack 22;

[0309] S3, hoisting the L-shaped hook bar 2 in the storage rack 3 onto the hook bar material rack 21 through the hoisting auxiliary device, assembling the hook bar material rack 21 with the automatic material taking rack 22, and completing the loading work of the L-shaped hook bar 2 from the ground to the steel mesh preparation equipment 4;

[0310] S4, hoist the steel mesh into the tire frame 404 by lifting equipment, and hoist in the order of outer mesh 7 → middle mesh 6 → inner mesh 5 or vice versa, the main reinforcement at the bottom of each layer of mesh is inserted into the corresponding positioning groove of the tire frame 404 for positioning and restraining, and the top main reinforcement is positioned and restrained by multiple basket bolts connected to the first working platform 402 mechanical body, and the installation positions of the basket bolts need to be evenly distributed;

[0311] After the three-layer mesh is positioned and constrained, 2 to 3 auxiliary steel bars are manually welded or tied on the left, middle and right parts of the mesh to enhance the stability of the steel mesh assembly, thereby completing the preliminary shaping of the steel bar components;

[0312] S5, refer to the design drawing to obtain the installation position of the current steel bar component hook bar, then enter the corresponding parameters in the steel bar grid preparation equipment 4 operating system, and start the equipment;

[0313] S6. According to the coordinates of the task point, the first working platform 402 and the second working platform 406 on both sides work simultaneously. According to the feedback data of the wire pulling sensor, the lifting cylinder 4023 is actuated to lift the first lifting working unit 4024 to the corresponding height of the installation position of the hook reinforcement;

[0314] Then the automatic feeding and welding unit 403 and the automatic bending and welding unit 405 are started to automatically reset and return each actuator;

[0315] S7, the automatic material taking rack 22 starts to move, and the automatic material taking rack 22 feeds the L-shaped hook reinforcement 2 to the position of the material taking rod 2202;

[0316] Then the six-degree-of-freedom first manipulator 15 in the automatic feeding and welding unit 403 is actuated to move the automatic feeding and welding unit 403 to a fixed point, and the interlaced feeding mechanism 14 on the first manipulator 15 picks up the L-shaped hook bar 2 to complete the fixed-point material picking work;

[0317] S8. According to the coordinates of the task point, the six-degree-of-freedom first manipulator 15 moves the automatic feeding and welding unit 403 to the preset position of the installation point to achieve preliminary positioning; then, the 3D first visual camera 1407 on the interlaced feeding mechanism 14 inside the automatic feeding and welding unit 403 takes a picture, and the interlaced point of the L-shaped hook bar 2 is determined by the visual positioning system to achieve accurate positioning of the interlaced position;

[0318] Next, the first manipulator 15 moves the insertion feeding mechanism 14 to the precise insertion point; finally, the screw driving frame 1405 of the insertion feeding mechanism 14 moves to automatically insert the L-shaped hook reinforcement 2 in the order of outer mesh 7 → middle mesh 6 → inner mesh 5, completing the automatic positioning and insertion action;

[0319] S9, the 3D first visual camera 1407 takes a picture, and determines the welding position of the L-shaped hook reinforcement 2 at that location through the visual positioning system; then, the welding mechanism drives the first welding gun 1410 to work, and welds the hook of the L-shaped hook reinforcement 2 to the stirrup reinforcement 8 of the outer mesh 7, completing the automatic positioning and one-time welding work, and then, each actuator of the interlaced feeding mechanism 14 returns to the initial position, and prepares for the installation of the next working point;

[0320] S10, according to the task point coordinates, the six-degree-of-freedom second manipulator 23 in the automatic bending and welding unit 405 moves, and the second manipulator 23 moves the bending and welding equipment 24 to the preset position of the installation point to achieve preliminary positioning;

[0321] Secondly, the 3D camera second visual camera 2402 on the bending and welding device 24 takes a picture, and determines the bending point of the L-shaped hook bar 2 at that location through the visual positioning system, so as to achieve accurate positioning of the bending position; then, the six-degree-of-freedom second manipulator 23 moves to move the bending and welding device 24 to the precise bending point;

[0322] Next, the upper clamping mechanism 2403 and the lower clamping mechanism 2404 are activated to fix the L-shaped hook rib 2 and the inner mesh 5; finally, the bending mechanism 2405 is activated to automatically bend the L-shaped hook rib 2 into a U-shaped hook rib 9, completing the automatic positioning and online bending work;

[0323] The 3D camera second visual camera 2402 takes a picture, and determines the welding position of the U-shaped hook reinforcement 9 through the visual positioning system;

[0324] Then the welding mechanism drives the second welding gun 2401 to work, and welds the hook of the secondary bending end of the U-shaped hook bar 9 to the stirrup 8 on the inner mesh 5, completing the automatic positioning and secondary welding work; then, each actuator of the bending and welding device 24 returns to the original state, and the automatic installation of a hook bar is completed;

[0325] Repeat the above steps S6 to S11 to complete the automated installation of all hook bars of the steel bar component of the segment;

[0326] After the steel bar parts are hoisted onto the tower, the hook bar installation work of the next section of steel bar parts can begin;

[0327] During the automatic installation of hook bars, the digital twin system provides visual display and monitoring throughout the process.

[0328] Example 8

[0329] Further illustrate with reference to Example 7, Figure 37-40 The structure shown is a method for installing hook bars with online bending, which mainly includes one bending → interlacing → one welding → two bending → two welding. The specific steps are:

[0330] (1) Single bending: According to the design parameters, bend one end of the fixed-length steel bar to make it into an L-shaped hook bar 2 ( Figure 1 shown);

[0331] (2) Insertion: According to the installation position, the straight end of the L-shaped hook bar 2 is inserted through the outer mesh 7, the middle mesh 6 and the inner mesh 5 in sequence, so that the bent end of the L-shaped hook bar 2 is close to the main bar of the outer mesh 7. Figure 2 As shown;

[0332] (3) Primary welding: The hook end of the L-shaped hook bar 2 is welded to the stirrup of the outer mesh 7. Figure 2 As shown;

[0333] (4) Secondary bending (also called online bending): bend the straight end of the L-shaped hook bar 2 to form a U-shaped hook bar 9, with the bent end close to the main bar of the inner mesh 5. Figure 3 As shown;

[0334] (5) Secondary welding: Weld the hook end of the U-shaped hook bar 9 to the stirrup of the inner mesh 5 Figure 3 As shown;

[0335] When the L-shaped hook bar 2 that has been bent once passes through the steel mesh, since there is no hook at the end, the installation difficulty is greatly reduced compared to the traditional prefabricated hook bar, which is conducive to improving the installation efficiency of the hook bar and is easy to realize automation. At the same time, since the hook at the other end of the hook bar is bent only after passing through the steel mesh, it can be bent and formed online according to the actual distance between the outer mesh 7 and the inner mesh 5, and the hooks at both ends have a high degree of fit with the main bar, so the installation quality of the hook bar is greatly improved.

[0336] In addition, the steel mesh preparation equipment 4 is equipped with a digital twin system, which can collect equipment data and visualize various actions in a virtual platform.

[0337] The hook-rebar steel mesh preparation equipment 4 is equipped with an intelligent scheduling system for collaborative optimization of robot task layout and operation trajectory, and is equipped with a graphical interactive interface. It can plan the hook-rebar automated operation tasks through three task distribution methods: MES system import, standard file import, and clicking on graphic points, and freely design operation points and rules.

[0338] The hook reinforcement mesh preparation equipment 4 is equipped with an intelligent perception closed-loop monitoring system, a high-performance drive and sensor system, and a robot execution control system based on visual recognition and positioning technology. It can calculate the offset between the operation point and the preset point online, and realize the precise motion control of the robot operation through trajectory correction;

[0339] The hook bar steel mesh preparation equipment 4 is equipped with a visual recognition and positioning system. Based on the depth image technology, it uses a customized algorithm to accurately reconstruct the three-dimensional point cloud model of the steel mesh and accurately extract the steel mesh coordinates, so as to realize the feature detection, recognition and precise positioning of the steel bar insertion points and bending points.

[0340] Example 9

[0341] Further illustrate with reference to Example 8, Figure 37-40 The structure shown below combines the above-mentioned hook bar installation method and equipment process to propose a set of precision control requirements and methods for the industrial installation of hook bars to ensure the installation accuracy of hook bars.

[0342] 1. In the first bending process, the forming accuracy of the L-shaped hook bar 2 is strictly controlled, and the forming size of the L-shaped hook bar 2 is measured by marking or measuring ruler, and then correction and control are performed; at the equipment level, the bending angle and side length parameters of the CNC bending machine 1 can be strictly calculated and controlled through the theoretical bending angle and side length of the L-shaped hook bar 2, thereby realizing accurate control of the processing size;

[0343] 2. In the process of assembling and fixing the steel mesh, the relative installation accuracy of each layer of mesh is strictly controlled. The relative installation position of each layer of mesh can be measured and evaluated by pulling a wire or measuring ruler, and positioning grooves or markings are set in the tire frame 404 to control the main reinforcement position of each layer of mesh, thereby realizing high-precision layout of the steel mesh;

[0344] 3. In the automatic positioning and insertion process, the insertion position of the L-shaped hook bar 2 and the degree of fit with the main bar are strictly controlled. The insertion position and the degree of fit with the stirrup can be measured by a measuring ruler, and then correction and control can be carried out; at the equipment level, the visual positioning parameters of the automatic feeding and welding unit 403 and the execution control parameters of the insertion feeding mechanism 14 can be strictly calculated and controlled to achieve the control of the insertion position and the degree of fit with the main bar;

[0345] 4. In the process of automatic positioning and primary welding, the quality of the lap welding between the L-shaped hook reinforcement 2 and the stirrup reinforcement is strictly controlled. The quality of automatic welding can be checked by visual inspection, and then corrected and controlled. At the equipment level, the visual positioning parameters of the automatic feeding and welding unit 403 and the execution control parameters of the automatic bending and welding unit 405 can be strictly calculated and controlled to ensure the high quality of the primary welding work;

[0346] 5. In the process of automatic positioning and online bending, the bending position, bending angle and the degree of fit between the L-shaped hook reinforcement 2 and the hook and the main reinforcement can be strictly controlled. The bending angle of the U-shaped hook reinforcement 9 and the degree of fit between the hook and the stirrup can be measured by a measuring ruler, and then correction and control can be performed; at the equipment level, the visual positioning parameters and control parameters of the automatic bending and welding unit 405 can be strictly calculated and controlled to achieve precise control of automatic bending;

[0347] 6. In the process of automatic positioning and secondary welding, the quality of the lap welding between the U-shaped hook reinforcement 9 and the stirrups is strictly controlled. The quality of the robot's automatic welding can be checked by visual inspection, and then correction and control can be made. At the equipment level, the visual positioning parameters and control parameters of the automatic bending and welding unit 405 can be strictly calculated and controlled to ensure high quality of the secondary welding work.

[0348] 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 steel mesh automatic preparation device, characterized by: 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); An automatic bending and welding unit (405) is provided on the second working platform (406), the automatic bending and welding unit (405) is connected to the lifting device on the second working platform (406), the automatic bending and welding unit (405) is provided with a second manipulator (23), and the second manipulator (23) is provided with a bending and welding device (24).

2. According to claim 1, the automatic preparation device for a steel mesh is characterized by: 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; 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).

3. According to claim 2, the automatic preparation device for a steel mesh 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); 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); 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 first visual camera (1407) is provided on the rear side of the second pneumatic clamp (1411); 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).

4. The automatic preparation device for a steel mesh according to claim 1 is 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 clamped 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.

5. The automatic preparation device for a steel mesh according to claim 4 is 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.

6. The automatic preparation device for a steel mesh according to claim 1 is characterized in that: The automatic bending and welding unit (405) comprises a second lifting operation unit (4061), the second lifting operation unit (4061) is also provided with a second outer frame (4062) with front and rear openings, and the second lifting operation unit (4061) is connected to the lifting device on the second operation platform (406); A plurality of second slide rails (27) are provided on the second lifting operation unit (4061), a second rack (28) is provided on one side of the second slide rail (27), the second manipulator (23) is slidably connected to the plurality of second slide rails (27), and a gear on a second manipulator driving motor (29) on the second manipulator (23) is meshed with the second rack (28); A second assisting frame (25) is also provided above the second manipulator (23); the end of the second assisting frame (25) is connected to the bending welding device (24); the top of the second assisting frame (25) is connected to the second movable frame (26); and the second movable frame (26) is slidably connected to the second outer frame (4062).

7. The automatic preparation device for a steel mesh according to claim 6 is characterized in that: The bending and welding device (24) comprises an outer assembly frame (2408), wherein an upper clamping mechanism (2403) and a lower clamping mechanism (2404) are provided on the upper and lower sides of the outer assembly frame (2408), and an upper clamping head (24037) at the end of the upper clamping mechanism (2403) and a lower clamping head (24041) at the end of the lower clamping mechanism (2404) are provided at the front end of the outer assembly frame (2408); A bending mechanism (2405) is also provided inside the outer assembly frame (2408), and a pushing mechanism (2406) is also provided at the rear end of the outer assembly frame (2408), and the pushing mechanism (2406) is connected to the bending mechanism (2405); One side of the outer assembly frame (2408) is connected to the welding gun drive mechanism, the second welding gun (2401) is arranged on the welding gun drive mechanism, the end of the second welding gun (2401) is oriented toward the upper clamp (24037) and the lower clamp (24041), and the other side is hinged to the second angle frame (2407), and the second angle frame (2407) is connected to the second assisting frame (25) and the second manipulator (23); The upper clamping mechanism (2403) and the lower clamping mechanism (2404) are symmetrically arranged on the upper and lower sides of the outer assembly frame (2408); the upper clamping mechanism (2403) comprises a seventh motor (24031); the seventh motor (24031) is connected to the driving groove (24032); a screw at the end of the seventh motor (24031) is arranged inside the driving groove (24032); an end of the push rod (24033) is slidably connected to the driving groove (24032); and an end of the push rod (24033) is threadedly connected to the screw; The end of the push rod (24033) is hinged to one end of the clamping plate frame (24036), and the other end of the clamping plate frame (24036) is connected to the upper clamp (24037); The end of the driving groove (24032) is connected to the fixed rod (24035), and the two sides of the fixed rod (24035) are hinged to the two sides of the clamping plate frame (24036) through at least two connecting rods (24034); Two parallel side limit blocks (24038) are provided on one side of the surface of the upper chuck (24037); a V-shaped groove is provided on one side of the upper surface of the lower chuck (24041); the side surface of the side limit block (24038) of the upper chuck (24037) cooperates with the end surface of the V-shaped groove of the lower chuck (24041); The upper and lower surfaces of the inner part of the outer assembly frame (2408) are both provided with guide strips (24051), the top block (24052) is slidably connected to the guide strip (24051), one end of the top block (24052) is connected to the end of the telescopic rod of the push mechanism (2406), the upper and lower sides of the other end of the top block (24052) are hinged to one end of at least two bending connecting rods (24053), the other ends of the two bending connecting rods (24053) are hinged to the two ends of the bending cross bar (24056), and the end of the bending cross bar (24056) is provided with a bending and thickened bending head; The upper and lower sides of the middle part of the bending connecting rod (24053) near the bending thickened bending head end are hinged to one end of the top bending rod (24055), and the other end of the top bending rod (24055) is rotatably connected to the outer assembly frame (2408) through a fixed rotating shaft (24054); An eighth motor (2409) is provided on one side of the second angle frame (2407), a position adjustment mounting frame (2411) is provided on the outer assembly frame (2408), a second angle gear (2410) is provided on the rotating shaft of the position adjustment mounting frame (2411), and the second angle gear (2410) is meshed with the gear of the eighth motor (2409); At least two adjusting clamping plates (2413) are slidably disposed on the rotating shaft of the position adjusting mounting frame (2411), the adjusting clamping plates (2413) are fixedly connected to the outer assembly frame (2408), and a position adjusting cylinder (2412) is also disposed inside the position adjusting mounting frame (2411), and the position adjusting cylinder (2412) is connected to the adjusting clamping plates (2413); The welding gun driving mechanism comprises a welding gun clamp (24011), the second welding gun (2401) is arranged on the welding gun clamp (24011), and the welding gun clamp (24011) can drive the second welding gun (2401) to rotate; The welding gun clamp (24011) is connected to the second nut slider (24013), the second nut slider (24013) is threadedly connected to the screw at the end of the fifth motor (24012), the second nut slider (24013) is slidably connected to the frame of the fifth motor (24012), the frame of the fifth motor (24012) is connected to the third nut slider (24015), the third nut slider (24015) is threadedly connected to the screw at the end of the sixth motor (24014), and the third nut slider (24015) is slidably connected to the frame of the sixth motor (24014); A second visual camera (2402) is provided below the frame of the sixth motor (24014), and the shooting direction of the second visual camera (2402) is oriented toward the end of the second welding gun (2401).

8. The automatic preparation device for a steel mesh according to claim 2 or 6, characterized in that: The first assisting frame (16) and the second assisting frame (25) on the first manipulator (15) and the second manipulator (23) have the same structure; 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); 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 tops of the first boosting frame (16) and the second boosting frame (25) are movably connected to the first outer frame (4026) and the second outer frame (4062) respectively through the first movable frame (20) and the second movable frame (26); the first movable frame (20) and the second movable frame (26) have the same structure; 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).

9. The automatic preparation device for a steel mesh according to claim 1 is characterized in that: The lifting devices on the first outer frame (4026) and the second outer frame (4062) have the same structure, and the lifting devices are as follows: the first outer frame (4026) is arranged on the first lifting operation unit (4024), and lifting cylinders (4023) are symmetrically provided at both ends of one side of the first lifting operation unit (4024), and a lifting guide wheel (11) is provided at the end of the telescopic rod of the lifting cylinder (4023), and one end of the lifting steel cable (10) is connected to the first lifting operation unit (4024), and the other end bypasses the lifting guide wheel (11) and is connected to the work platform frame (4025); The first lifting operation unit (4024) is provided with a first synchronous steel cable (12) at both ends of the other side, and the first lifting operation unit (4024) is provided with a first lifting guide wheel (1201) and a second lifting guide wheel (1202) at both ends of the side, one end of the first synchronous steel cable (12) is connected to the top of the working platform frame (4025), and the other end is passed through the bottom of the first lifting guide wheel (1201), and then passed through the top of the second lifting guide wheel (1202) to be connected to the bottom of the working platform frame (4025); A pull-wire sensor is also provided on the working platform frame (4025), and the wire end of the pull-wire sensor is connected to the first lifting working unit (4024); A second synchronous steel cable (13) is provided between the lifting cylinder (4023) and the first lifting operation unit (4024); a first double-guide groove guide wheel (1301) and a second double-guide groove guide wheel (1302) are provided at both ends of the side surface of the first lifting operation unit (4024) close to the lifting cylinder (4023); one end of the two second synchronous steel cables (13) at both ends of the first lifting operation unit (4024) is connected to the top of the operation platform frame (4025); The other end of one of the second synchronous steel cables (13) passes under the first double-groove guide wheel (1301), and then passes over the second double-groove guide wheel (1302) to be connected to the bottom of the working platform frame (4025), and the other second synchronous steel cable (13) passes under the second double-groove guide wheel (1302), and then passes over the first double-groove guide wheel (1301) to be connected to the bottom of the working platform frame (4025); A small crane is also provided inside the first working platform (402), and the crane is used to hoist the automatic material taking rack (22) to one side of the automatic feeding and welding unit (403).

10. The automatic steel mesh preparation device according to claim 1, characterized in that: 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 panels (4022) is hinged to the working platform frame (4025). The working platform frame (4025) is also provided with a flipping cylinder (4021). One end of the flipping cylinder (4021) is hinged to the working platform frame (4025), and the other end is hinged to the middle of the working platform frame (4025). The tire frame (404) is also provided with a plurality of positioning grooves, 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 via a plurality of basket bolts.

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