Automatic bending and welding device for drag hook rib manufacturing equipment

Abstract

The utility model provides an automatic bending and welding device for draw hook rib manufacturing equipment, rib net rack manufacturing equipment comprises a first working platform and a second working platform, and a jig frame is arranged between the first working platform and the second working platform; 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. Power assisting equipment is additionally arranged, effective mechanical linkage design is carried out, in this way, the supporting and assisting effects can be achieved in the process that the mechanical arm grabs and transfers the drag hook rib, the load pressure directly acting on the mechanical arm is reduced, the high-precision visual sensor is used for capturing the site environment and the position information of a reinforcing steel bar component, and therefore the mechanical arm can be used for grabbing and transferring the drag hook rib. Therefore, the bending action does not only depend on the accurate placement of the reinforcing steel bar component itself.

Description

Technical Field

[0001] The utility model relates to the field of steel bar mesh preparation, bending and welding, in particular to an automatic bending and welding device for hook bar manufacturing equipment. 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] 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.

[0004] The bending and welding device disclosed in this patent is a first-generation device. During the process of research and development and actual production, the bending equipment of the welding robot needs to rely on the positioning of the vertical bars of the steel bar component to be effectively positioned, and bending can only be performed after positioning. This situation results in the vertical bars of the steel bar component needing to be designed and placed strictly according to the data, resulting in increased production costs, a high tolerance for bending, and the robot encounters jams and excessive loads during operation. Utility Model Content

[0005] The main purpose of the utility model is to provide an automatic bending and welding device for hook bar manufacturing equipment, so as to solve the problem that 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 can only be bent after positioning. This situation leads to 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 high tolerance for bending.

[0006] In order to solve the above technical problems, the technical solution adopted by the utility model is: an automatic bending and welding device for hook bar manufacturing equipment, the steel mesh preparation equipment includes a first working platform and a second working platform, and a tire frame is provided between the first working platform and the second working platform;

[0007] 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.

[0008] 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;

[0009] 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;

[0010] A power-assisting frame is also arranged above the second manipulator, the end of the power-assisting frame is connected to the bending and welding equipment, the top of the power-assisting frame is connected to the moving frame, and the moving frame is slidably connected to the second outer frame.

[0011] 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;

[0012] A bending mechanism is also arranged inside the outer assembly frame, and a pushing mechanism is also arranged at the rear end of the outer assembly frame, and the pushing mechanism is connected with the bending mechanism.

[0013] In the preferred embodiment, 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 power-assisting frame and the second manipulator;

[0014] 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;

[0015] 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;

[0016] The end of the driving groove is connected to the fixed rod, and the two sides of the fixed rod are hinged to the two sides of the clamping plate frame through at least two connecting rods.

[0017] In the preferred embodiment, two parallel side limit blocks are provided on one side of the upper chuck surface, and a V-shaped groove is provided on one side of the upper surface of the lower chuck. The side surface of the side limit block of the upper chuck cooperates with the end surface of the V-shaped groove of the lower chuck.

[0018] In the preferred embodiment, guide strips are provided on the upper and lower surfaces of the inner part of the outer assembly frame, the top block is slidably connected to the guide strips, one end of the top block is connected to 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 to one end of at least two bending connecting rods, the other ends of the two bending connecting rods are hinged to 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;

[0019] The upper and lower sides of the middle part of the bending connecting rod close to the bending and thickening 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.

[0020] In the preferred embodiment, 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;

[0021] At least two adjusting clamps are slidably arranged on the rotating shaft of the position adjusting mounting frame, and the adjusting clamps are fixedly connected to the outer assembly frame. A position adjusting cylinder is also arranged inside the position adjusting mounting frame, and the position adjusting cylinder is connected to the adjusting clamps.

[0022] In a preferred embodiment, 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;

[0023] 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;

[0024] A second visual camera is provided below the sixth motor frame, and the shooting direction of the second visual camera is toward the end of the second welding gun.

[0025] In a preferred embodiment, the power-assisting 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;

[0026] 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.

[0027] The top of the power-assisting frame is movably connected to the second outer frame through a movable frame;

[0028] A plurality of sliding wheels are arranged at both ends of the moving frame, and the sliding wheels are connected to the second outer frame in a transverse sliding manner. The 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.

[0029] The utility model provides an automatic bending and welding device for hook bar manufacturing equipment, which adds a power-assisting device. The power-assisting frame is located above the second manipulator, and one end of the power-assisting frame is effectively mechanically linked with the bending and welding equipment, so that it can play a supporting and auxiliary role in the process of the manipulator grabbing and transferring the hook bar, reducing the load pressure directly acting on the manipulator, thereby making it easier for the second manipulator to perform tasks, which not only reduces the load during work, but also helps to extend its service life.

[0030] The original equipment's welding robot bending equipment's reliance on the strict positioning of the steel bar vertical bars has been solved. In the improved system, high-precision visual sensors are used to capture the on-site environment and the position information of the steel bar parts, so that the bending action is no longer solely dependent on the precise placement of the steel bar parts themselves, thereby reducing the stringent requirements on the production cost and precision of the steel bar parts and improving the flexibility and fault tolerance of the overall production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0032] Figure 1 This is a bending structure diagram of the L-shaped hook bar of the utility model;

[0033] Figure 2 This is the main structural diagram of the L-shaped hook bar interlaced in the utility model;

[0034] Figure 3 This is a side view of the L-shaped hook reinforcement structure of the utility model;

[0035] Figure 4 This is a side view of the structure of the U-shaped hook bar of the utility model after being bent and installed;

[0036] Figure 5 This is the main structural diagram of the U-shaped hook bar of the utility model after being bent and installed;

[0037] Figure 6 This is a top view of the structure of the U-shaped hook bar of the utility model after being bent and installed;

[0038] Figure 7 This is the overall equipment structure diagram of the utility model steel mesh preparation equipment;

[0039] Figure 8 This is the overall equipment layout diagram of the utility model steel mesh preparation equipment;

[0040] Fig. 9This is a top view of the overall equipment layout structure of the utility model steel mesh preparation equipment;

[0041] Fig.10 This is a structural diagram of the first working platform of the utility model after the flip working board is folded;

[0042] Fig.11 This is a diagram showing the unfolded structure of the flip work board of the first work platform of the utility model;

[0043] Fig.12 This is a specific installation structure diagram of the flip work board of the first work platform of the utility model;

[0044] Fig.13 This is the installation position structure diagram of the bending welding equipment of the utility model;

[0045] Fig.14 This is a structural diagram of the installation position of the bending welding equipment and the second power-assisting frame of the utility model;

[0046] Fig.15 This is a right side structural diagram of the utility model power-assisting frame and the mobile frame;

[0047] Fig.16 This is a right side structural diagram of the utility model power-assisting frame and the mobile frame;

[0048] Fig.17 This is the overall structural diagram of the bending and welding equipment of the utility model;

[0049] Fig.18 This is a structural diagram of the installation position of the second welding gun of the utility model;

[0050] Fig.19 This is a structural diagram of the installation position of the second welding gun and the welding gun drive frame of the utility model;

[0051] Fig. 20 This is a structural diagram of the installation positions of the bending mechanism and the upper and lower clamping mechanisms of the utility model;

[0052] Fig.21 This is a structural diagram of the upper and lower clamping mechanism of the utility model;

[0053] Fig. 22 This is a disassembled structural diagram of the upper and lower clamping mechanism chucks of the utility model;

[0054] Fig.23 This is the internal structure diagram of the bending mechanism of the utility model;

[0055] Fig.24 This is the installation structure diagram of the second angle frame of the utility model;

[0056] Fig.25 This is the internal structure diagram of the position adjustment mounting frame of the utility model.

[0057] In the figure: CNC bending machine 1; L-shaped hook bar 2; material storage rack 3; steel bar mesh preparation equipment 4; main control room 401; first working platform 402; turning cylinder 4021; turning working plate 4022; lifting cylinder 4023; first lifting working unit 4024; working platform frame 4025; second outer frame 4062;

[0058] Automatic feeding and welding unit 403; tire frame 404; automatic bending and welding unit 405; second working platform 406; second lifting working unit 4061; second outer frame 4062;

[0059] Inner mesh 5; middle mesh 6; outer mesh 7; stirrups 8; U-shaped hook reinforcement 9;

[0060] Booster 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;

[0061] Mobile frame 20; sliding wheel 2001; longitudinal sliding basket 2002; sliding horizontal frame 2003;

[0062] 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 240 38; lower clamping mechanism 2404; lower clamping head 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;

[0063] Second slide rail 27; second rack 28; second manipulator drive motor 29. DETAILED DESCRIPTION

[0064] Example 1

[0065] like Figure 1-12As shown, an automatic bending and welding device for hook reinforcement manufacturing equipment, the steel mesh preparation equipment 4 includes a first working platform 402 and a second working platform 406, a tire frame 404 is provided between the first working platform 402 and the second working platform 406, an automatic feeding and welding unit 403 is provided on the first working platform 402, the automatic feeding and welding unit 403 is connected to the lifting device on the first working platform 402, a hook reinforcement material frame 21 is provided on one side of the automatic feeding and welding unit 403, a multi-degree-of-freedom second manipulator 23 is provided on the automatic feeding and welding unit 403, and an interlaced feeding mechanism 14 is provided on the second manipulator 23;

[0066] 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 .

[0067] 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.

[0068] 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.

[0069] The automatic feeding and welding unit 403 can move up and down on the first working platform 402, and the second manipulator 23 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] Example 2

[0076] Further illustrate with reference to Example 1, Figure 13-25 In the structure shown, the automatic bending and welding unit 405 includes a second lifting unit 4061, and the second lifting unit 4061 is also provided with a second outer frame 4062 with front and rear openings, and the second lifting 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. The lifting device is a hydraulic cylinder top push lifting structure.

[0077] 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;

[0078] A booster frame 16 is also provided above the second manipulator 23 , the end of the booster frame 16 is connected to the bending welding device 24 , the top of the booster frame 16 is connected to the moving frame 20 , and the moving frame 20 is slidably connected to the second outer frame 4062 .

[0079] The assist frame 16 is located above the second manipulator 23, and one end of the assist frame is effectively mechanically linked to 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.

[0080] At the same time, the top of the assisting frame 16 is also rotatably connected to the mobile frame 20, and the mobile frame 20 is slidably connected to the second outer frame 4062, which means that when the second manipulator 23 moves laterally or longitudinally, the assisting frame 16 will move synchronously with the sliding of the mobile frame 20, 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.

[0081] 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. 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.

[0082] The outer assembly frame 2408 is the basic frame of the entire bending and welding equipment 24. 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. 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. The upper clamping head 24037 and the lower clamping head 24041 can better clamp the steel bars.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] In the preferred embodiment, 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 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 power-assisting frame 16 and the second manipulator 23.

[0090] 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 hinged to the auxiliary frame 16.

[0091] The entire bending and welding equipment 24 needs to be connected to the power-assisting frame 16 and the second manipulator 23. In order to increase the flexibility of the bending and welding equipment 24, the second angle frame 2407 can adjust the angle with the bending and welding equipment 24 to perform multi-directional bending and welding operations.

[0092] 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 a hinged manner, and the second angle frame 2407 is further connected to the power-assisting frame 16 and the second manipulator 23.

[0093] In actual operation, when 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 assisting frame 16 and the second manipulator 23 to achieve bending and welding operations at different angles and positions.

[0094] 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.

[0095] 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;

[0096] The end of the push rod 24033 is hinged to one end of the clamping frame 24036, and the other end of the clamping frame 24036 is connected to the upper clamp 24037;

[0097] 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 .

[0098] 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.

[0099] 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.

[0100] 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 hinged to the two sides of the clamping frame 24036 through at least two connecting rods 24034, thereby forming a four-link structure.

[0101] 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.

[0102] 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.

[0103] In the preferred embodiment, 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 21-22As 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.

[0104] In the preferred embodiment, guide strips 24051 are provided on the upper and lower surfaces of the inner part of the outer assembly frame 2408, 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 hinged to both 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.23 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.

[0105] The upper and lower sides of the middle part of the bending connecting rod 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.

[0106] The four-link 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. The top bending rod 24055 mainly tilts the bending link 24053 to one side, so that the thickened bending head can be bent in the same direction.

[0107] 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.

[0108] 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.

[0109] like Fig.23 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.

[0110] In the preferred embodiment, 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.

[0111] The eighth motor 2409 on the second angle frame 2407 can drive the outer assembly frame 2408 to tilt.

[0112] At least two adjusting clamps 2413 are slidably provided on the rotating shaft of the position adjustment mounting frame 2411, and the adjusting clamps 2413 are fixedly connected to the outer assembly frame 2408. A position adjustment cylinder 2412 is also provided inside the position adjustment mounting frame 2411, and the position adjustment cylinder 2412 is connected to the adjusting clamps 2413. The second angle frame 2407 can not only drive the outer assembly frame 2408 to tilt by the eighth motor 2409, but also use the position adjustment cylinder 2412 to extend and retract to drive the two adjusting clamps 2413 to move. The entire outer assembly frame 2408 with the two adjusting clamps 2413 can be extended and retracted laterally to fine-tune, thereby increasing the fine-tuning action of the bending and welding equipment 24 to adapt to bending and welding at different positions.

[0113] In the preferred embodiment, 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 in different positions.

[0114] 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.

[0115] 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.

[0116] 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 slidingly 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 slidingly connected to the frame of the sixth motor 24014.

[0117] 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.

[0118] 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 toward the end direction of the second welding gun 2401. 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.

[0119] Example 3

[0120] Further illustrate with reference to Examples 1-2, Figure 14-16In the structure shown, the power-assisting frame 16 includes a first bracket 1601 and a second bracket 1602. The first bracket 1601 has a bending section at its end. The first bracket 1601 and the second bracket 1602 are hinged at one end 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.

[0121] The first bracket 1601 and the second bracket 1602 together with the docking joint 1603 and the rotating mounting seat 1606 form a four-bar linkage. When the rotating mounting seat 1606 remains in position, the docking joint 1603 can maintain a vertical state during the ascent or descent of the second manipulator 23 .

[0122] 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.

[0123] 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.

[0124] 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 second manipulator 23 rises or falls, under the premise that the rotating mounting seat 1606 is fixed, which is conducive to accurately assisting 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.

[0125] 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 provided between the counterweight block 1604 and the upper position of the rotating mounting seat 1606. A plurality of second pneumatic rods 1607 are provided between the two sides of the lower position of the rotating mounting seat 1606 and the middle of the first bracket 1601.

[0126] 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 ascending and descending.

[0127] 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 second manipulator 23 needs to overcome during the lifting process through self-weight balance, thereby improving work efficiency and reducing energy consumption.

[0128] 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 second manipulator 23 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.

[0129] The top of the booster frame 16 is movably connected to the second outer frame 4062 via the movable frame 20;

[0130] A plurality of sliding wheels 2001 are provided at both ends of the mobile frame 20 , and the sliding wheels 2001 are connected to the second outer frame 4062 in a transverse sliding manner. The 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 .

[0131] A plurality of sliding wheels 2001 are provided at both ends of the mobile frame 20, and the sliding wheels 2001 are connected to the second outer frame 4062 in a transverse sliding manner. The 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 mobile frame 20 can slide transversely on the second outer frame 4062, and the longitudinal sliding basket 2002 can slide longitudinally on the 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 second manipulator 23 moves, the first booster frame 16 can also move to multiple positions on the second outer frame 4062 through the mobile frame 20.

[0132] The design of the mobile frame 20 provides great flexibility and adaptability. A plurality of sliding wheels 2001 are installed at both ends of the mobile frame 20, and these sliding wheels are connected to the second outer frame 4062 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.

[0133] Moreover, a longitudinal sliding basket 2002 capable of longitudinal sliding is also provided on the 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 while rotating around the rotating mounting seat to a certain extent, thereby increasing the working range in the three-dimensional space.

[0134] Therefore, when the second manipulator 23 is performing a moving task, the first assisting frame 16 can follow the moving frame 20 to perform multiple horizontal and vertical position movements on the second outer frame 4062 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.

[0135] Example 4

[0136] Further illustrate with reference to Example 1, Figure 1-25 In the structure shown, B1, one end of the L-shaped hook bar 2 passes through the inner mesh 5, and 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;

[0137] 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.

[0138] The method of image recognition in the control room 401 is: firstly, noise reduction, brightness / contrast adjustment, and sharpening processing are performed on the photographed photos;

[0139] 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;

[0140] 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;

[0141] 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.

[0142] 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;

[0143] 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;

[0144] 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:

[0145]

[0146] Among them, D 1 is the Euclidean distance between the characteristic point of the hook end and the intersection point of the stirrup, p1 x 、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. 1 When it is less than the preset threshold, it can be determined that the end of the hook bar is near the intersection;

[0147] 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.

[0148] 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;

[0149] 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.

[0150] The identification method is:

[0151] 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;

[0152] 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:

[0153]

[0154] Where f(x, y) is the grayscale value of the original image at point (x, y), and g(x, y) is the binarized image;

[0155] 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:

[0156]

[0157] Among them, (x 1 ,y 1 ) and (x 2 ,y 2 ) are the coordinates of the edge points on both sides of the weld;

[0158] 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.

[0159] Welding can be performed if the weld width is between 0-6mm;

[0160] 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;

[0161] 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;

[0162] 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;

[0163] The quality of the welding area is judged based on the FAHP algorithm. The quality judgment method is as follows:

[0164] 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;

[0165] 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:

[0166]

[0167] The specific meaning of the membership function μA(b) of the width index (b) in the fuzzy set (A) is as follows:

[0168] 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";

[0169] 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";

[0170] 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";

[0171] 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:

[0172]

[0173] 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;

[0174] 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.

[0175] 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. An automatic bending and welding device for hook bar manufacturing equipment, characterized by: The steel mesh preparation equipment (4) comprises a first working platform (402) and a second working platform (406), wherein a tire frame (404) is provided between the first working platform (402) and the second working platform (406); 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), 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); 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, 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 power-assisting frame (16) is also provided above the second manipulator (23); the end of the power-assisting frame (16) is connected to the bending and welding equipment (24); the top of the power-assisting frame (16) is connected to the moving frame (20); and the moving frame (20) is slidably connected to the second outer frame (4062).

2. According to claim 1, an automatic bending and welding device for hook bar manufacturing equipment is characterized in that: The bending and welding device (24) comprises an outer assembly frame (2408), an upper clamping mechanism (2403) and a lower clamping mechanism (2404) are arranged 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); 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).

3. The automatic bending and welding device for hook bar manufacturing equipment according to claim 2 is characterized in that: One side of the outer assembly frame (2408) is connected to the welding gun driving mechanism, the second welding gun (2401) is arranged on the welding gun driving 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 power-assisting frame (16) 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); the screw at the end of the seventh motor (24031) is arranged inside the driving groove (24032); the end of the push rod (24033) is slidably connected to the driving groove (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 frame (24036), and the other end of the clamping 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).

4. The automatic bending and welding device for hook bar manufacturing equipment according to claim 3 is characterized by: Two parallel side limit blocks (24038) are provided on one side of the surface of the upper chuck (24037), and 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).

5. The automatic bending and welding device for hook bar manufacturing equipment according to claim 2 is characterized in that: 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) close to 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).

6. The automatic bending and welding device for hook bar manufacturing equipment according to claim 3 is characterized by: 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).

7. The automatic bending and welding device for hook bar manufacturing equipment according to claim 3 is characterized by: 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 toward the end direction of the second welding gun (2401).

8. The automatic bending and welding device for hook bar manufacturing equipment according to claim 1 is characterized in that: The power-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 docking 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 docking joint (1603).

9. The automatic bending and welding device for hook bar manufacturing equipment according to claim 8, characterized in that: The bent end of the second bracket (1602) passes through the lower part of the rotating mounting seat (1606) and is connected to the counterweight block (1604); a plurality of first pneumatic rods (1605) are provided between the counterweight block (1604) and the upper part of the rotating mounting seat (1606); and a plurality of second pneumatic rods (1607) are provided between the two sides of the lower part of the rotating mounting seat (1606) and the middle part of the first bracket (1601); The top of the booster frame (16) is movably connected to the second outer frame (4062) via a movable frame (20); A plurality of sliding wheels (2001) are provided at both ends of the mobile frame (20), and the sliding wheels (2001) are connected to the second outer frame (4062) in a transverse sliding manner. The 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).

Images