Stirrup welding device, stirrup machining equipment, stirrup machining system and sleeper production line

Abstract

The utility model discloses a stirrup welding device, stirrup machining equipment, a stirrup machining system and a sleeper production line. The stirrup welding device comprises a bearing structure, a mounting arm, a welding workbench and a welding unit. The bearing structure comprises a bearing beam; the mounting arm is suspended on one side of the bearing beam and is connected with the bearing beam, and the mounting arm has a state of moving along the extension direction of the bearing beam; the welding workbench is used for restraining the stirrup to a set welding position, and the welding workbench is located below the moving track of the mounting arm; the welding unit comprises a welding gun, the welding gun is installed on the installation arm, and the welding gun is provided with a welding position for welding the stirrup on the welding workbench. The stirrup welding device has the advantage of being simple in structure, and automatic welding of stirrups can be achieved easily.

Description

Technical Field

[0001] The utility model relates to the technical field of stirrup processing and prefabricated part production, and in particular to a stirrup welding device, stirrup processing equipment, a stirrup processing system and a sleeper production line. Background Art

[0002] Stirrups are widely used in the production process of prefabricated parts. For example, stirrups are an important part of the metal skeleton of sleepers. In the mass production of sleepers, stirrups are used in large quantities. How to quickly, efficiently and with high quality realize the processing and production of stirrups is of great significance to the production of prefabricated parts using them.

[0003] In the production process of some stirrups, it is necessary to weld the stirrups to improve the mechanical properties of the prefabricated parts using the welded stirrups. In addition, after the stirrups are welded, the welds must be inspected to screen out qualified stirrups to avoid unqualified stirrups affecting the performance of the prefabricated parts. How to solve the problem of fast and high-quality welding and screening of stirrups is a technical problem that needs to be solved urgently by those skilled in the art.

[0004] In the production process of stirrups, how to efficiently realize the automated production of stirrups is a core technical problem that technicians in this field need to solve. In the actual production process, stirrups are often welded on a welding workbench. How to transfer the welded stirrups on the welding workbench to the set position is a key difficulty in breaking through the automated production of stirrups. Utility Model Content

[0005] The purpose of this application is to provide a new stirrup welding device, stirrup processing equipment, stirrup processing system and sleeper production line to solve the problems of low welding efficiency, detection efficiency and transportation efficiency in the existing stirrup processing scheme. It is specifically achieved through the following technical solutions:

[0006] In the first aspect, the present application provides a stirrup welding device, which includes a bearing structure, a mounting arm, a welding workbench and a welding unit; the bearing structure includes a bearing beam; the mounting arm is suspended on one side of the bearing beam and connected to the bearing beam, and the mounting arm has a state of moving along the extension direction of the bearing beam; the welding workbench is used to constrain the stirrups to a set welding position, and the welding workbench is located below the running track of the mounting arm; the welding unit includes a welding gun, the welding gun is installed on the mounting arm, and the welding gun has a welding position for welding the stirrups on the welding workbench.

[0007] The present application enables the installation arm of the stirrup welding device to be suspended on one side of the load-bearing beam, and the installation arm can move along the extension direction of the load-bearing beam; during the movement of the installation arm, the welding gun can be driven to move, so that the welding gun has the conditions to weld the stirrups on the welding workbench. In specific implementation, the installation arm can be connected to the load-bearing beam through the installation arm drive assembly, and the installation arm drive assembly can be further controlled by the control unit. Under the control of the control unit, the automatic adjustment of the welding gun position can be achieved by controlling the installation arm drive assembly.

[0008] In addition, the stirrup welding device according to the present application may also have the following additional technical features:

[0009] In some preferred embodiments of the present application, the welding direction of the welding gun is further selectively made parallel to the extension direction of the load-bearing beam. The present application makes the welding direction of the welding gun parallel to the extension direction of the load-bearing beam, so that the welding unit can perform and complete the welding process on the stirrups during the movement of the welding gun with the mounting arm.

[0010] In some preferred embodiments of the present application, the stirrup welding device further selectively includes a welding gun push-pull assembly, the welding gun push-pull assembly is fixed on the mounting arm, and the push-pull end of the welding gun push-pull assembly faces downward, and the welding gun is connected to the push-pull end of the welding gun push-pull assembly. The present application connects the welding gun to the welding gun push-pull assembly fixed on the mounting arm, and under the action of the welding gun push-pull assembly, the position of the welding gun can be adjusted according to processing needs, thereby enabling the welding gun to have a welding position and an avoidance position during operation.

[0011] In some preferred embodiments of the present application, the welding gun push-pull assembly is further selectively made to be one of a pneumatic telescopic cylinder, a hydraulic telescopic rod, a linear motor, a lead screw slider linear module and a gear rack linear module.

[0012] In some preferred embodiments of the present application, the stirrup welding device further selectively includes a first mounting seat, a first guide rail, a first slider and a welding gun mounting seat, the first mounting seat is fixed on one side of the mounting arm, and the welding gun push-pull assembly is fixed on the first mounting seat; the first guide rail is fixed on the first mounting seat, and the first guide rail extends along the push-pull direction of the welding gun push-pull assembly; the first slider is slidably adapted to the first guide rail, and the first slider can slide along the first guide rail; the welding gun mounting seat is fixedly connected to the push-pull end of the welding gun push-pull assembly, and the welding gun mounting seat is connected to the first slider; the welding gun is mounted on the welding gun mounting seat, and the gun head of the welding gun is set downward. The present application further fixes the welding gun on the welding gun mounting seat by making the stirrup welding device include the first guide rail, the first slider and the welding gun mounting seat, and the welding gun mounting seat slides with the first guide rail through the first slider, so that the welding gun can move along the first track during the up and down movement, thereby effectively improving the position accuracy of the welding gun, reducing the constraint requirements of the welding workbench on the stirrups to a certain extent, and at the same time, can effectively improve the qualified rate of the welded stirrups.

[0013] In some preferred embodiments of the present application, the stirrup welding device further selectively includes a protective cover, which has a position above the welding position, and a through hole is provided in the middle of the protective cover; when the welding gun is in the welding position, the protective cover is located in a shielding position above the welding position, and the gun head of the welding gun extends from the top of the protective cover to the bottom of the protective cover. The present application sets a protective cover, and during the welding process, the protective cover can block the spatter generated during the welding process, making the welding process safer and reducing the probability of safety accidents; in addition, by setting a protective cover, the strong light generated during welding can also be blocked to reduce the damage to the workers during the welding process.

[0014] In some preferred embodiments of the present application, the stirrup welding device further selectively includes a weld detection unit, which is fixed on the mounting arm, and the detection area of ​​the weld detection unit can cover the welding position. The present application enables the stirrup welding device to detect the stirrups after welding by including a weld detection unit to determine whether the welded stirrups are qualified, and then screen out qualified stirrups to avoid unqualified stirrups from being transferred to the next process. In addition, the present application enables the stirrup welding device to have both welding function and weld detection function by fixing both the weld detection unit and the welding gun on the mounting arm, which can effectively improve the production efficiency of stirrups.

[0015] In some preferred embodiments of the present application, the welding gun push-pull assembly and the weld detection unit are further selectively installed on both sides of the mounting arm along the running direction of the mounting arm. The present application arranges the welding gun push-pull assembly and the weld detection unit on both sides of the mounting arm along the running direction of the mounting arm, so that the detection area of ​​the weld detection unit can cover the welding position during the running of the mounting arm along the load-bearing beam, and the stirrup welding device can realize the welding of stirrups and the detection process of the weld during the running of the mounting arm, which effectively reduces the difficulty of implementing the process of stirrup processing and improves the production efficiency of stirrups. At the same time, it is also convenient to realize the automated and intelligent production of stirrups.

[0016] In some preferred embodiments of the present application, the stirrup welding device further selectively includes a mounting arm driving assembly, the mounting arm is connected to the load-bearing beam through the mounting arm driving assembly, and the mounting arm driving assembly can drive the mounting arm to move along the extension direction of the load-bearing beam. The present application connects the mounting arm to the load-bearing beam through the mounting arm driving assembly, and then drives the mounting arm to move along the load-bearing beam under the action of the mounting arm driving assembly, and further enables the mounting arm driving assembly to be controlled by the control unit, so as to adjust the position of the mounting arm by controlling the mounting arm driving assembly according to actual process requirements, so that the stirrup welding device can perform welding, detection and other functions as required.

[0017] In some preferred embodiments of the present application, the mounting arm driving assembly is further selectively made to be a linear motor module, the linear motor module is fixed on the load-bearing beam along the extension direction of the load-bearing beam, and the mounting arm is transmission-connected to the load-bearing beam via the linear motor module. Alternatively, the mounting arm driving assembly is selectively made to be a gear rack linear module, the gear rack linear module is fixed on the load-bearing beam along the extension direction of the load-bearing beam, and the mounting arm is transmission-connected to the load-bearing beam via the gear rack linear module. Alternatively, the mounting arm driving assembly is selectively made to be a screw slider module, the screw slider module is fixed on the load-bearing beam along the extension direction of the load-bearing beam, and the mounting arm is transmission-connected to the load-bearing beam via the screw slider module. Alternatively, the mounting arm driving assembly is selectively made to be a synchronous belt linear module, the synchronous belt linear module is fixed on the load-bearing beam along the extension direction of the load-bearing beam, and the mounting arm is transmission-connected to the load-bearing beam via the synchronous belt linear module.

[0018] This application enables the installation arm to move along the installation arm under the drive of electricity by setting the installation arm drive component as one of the linear motor module, gear rack linear module, screw slider module or synchronous belt linear module, thereby providing technical support for the automated and intelligent transportation of stirrups. Not only that, the linear motor module, gear rack linear module, screw slider module or synchronous belt linear module are all ready-made products. In the specific design, they can be selected according to actual needs, which effectively reduces the design difficulty of the stirrup transfer device, shortens the research and development cycle, and makes the stirrup transfer device have reliable performance, reduces the failure rate of the equipment and reduces the maintenance cost.

[0019] In the second aspect, the present application provides a stirrup processing equipment, the stirrup processing equipment includes a stirrup picking and placing unit and a stirrup welding device as described in any of the above embodiments, the stirrup picking and placing unit is used to obtain stirrups from the welding workbench and transfer them to the stirrup placement area, the stirrup picking and placing unit is installed on the mounting arm, and the stirrup placement area and the welding workbench are both located below the running track of the stirrup picking and placing unit. The present application enables the stirrup processing equipment to include a stirrup picking and placing unit installed on the mounting arm for obtaining stirrups from the welding workbench, thereby enabling the stirrup processing equipment to also have the function of stirrup transfer, specifically, the stirrups that have been welded can be transferred from the welding workbench to the stirrup placement area; to prepare for the processing of the next stirrup. Thus, the stirrup processing equipment not only has the function of welding, but also has the function of transferring the welded stirrups; in addition, in some preferred embodiments, the stirrup processing equipment also has the function of detecting the weld seam of the stirrups before transfer. The stirrup processing equipment has the functions of welding, detection and transfer, which can effectively improve the processing and transfer efficiency of the stirrups, so as to realize the automation and intelligent production of stirrups.

[0020] In some preferred embodiments of the present application, the stirrup picking and placing unit further includes a stirrup picking and placing push-pull assembly and a stirrup picking and placing assembly, the stirrup picking and placing push-pull assembly is fixed on the mounting arm, and the push-pull end of the stirrup picking and placing push-pull assembly is set downward; the stirrup picking and placing assembly is used to obtain the stirrups on the welding workbench, and the stirrup picking and placing assembly is connected to the push-pull end of the stirrup picking and placing push-pull assembly.

[0021] The present application makes the stirrup picking and placing unit include a stirrup picking and placing assembly and a stirrup picking and placing push-pull assembly, and the stirrup picking and placing assembly is fixed at the push-pull end of the stirrup picking and placing push-pull assembly. Under the action of the stirrup picking and placing push-pull assembly, the stirrup picking and placing assembly can be driven to adjust the working position upward and downward according to actual needs, so as to facilitate the implementation of processes such as obtaining and transporting the stirrups.

[0022] In some preferred embodiments of the present application, the stirrup pick-up and placement unit further includes a strip-shaped mounting body, the middle part of which is fixedly connected to the push-pull end of the stirrup pick-up and placement push-pull assembly; the stirrup pick-up and placement unit includes two stirrup pick-up and placement assemblies, the two stirrup pick-up and placement assemblies are fixed on the strip-shaped mounting body, one stirrup pick-up and placement assembly is located on the first side of the push-pull direction of the stirrup pick-up and placement push-pull assembly, and the other stirrup pick-up and placement assembly is located on the second side of the push-pull direction of the stirrup pick-up and placement push-pull assembly. The present application enables the stirrup pick-up and placement unit to include two stirrup pick-up and placement assemblies, and under the action of the two stirrup pick-up and placement assemblies, the two positions of the stirrups can be grasped, thereby making the stirrups grasped more firmly, alleviating the occurrence of misalignment and falling of the stirrups during the grasping and transportation process, and effectively improving the reliability of the transportation of the stirrups. In addition, by making the two stirrup pick-up and placement assemblies respectively located on both sides of the push-pull direction of the stirrup pick-up and placement push-pull assembly, the distance between the grasping positions of the two stirrup pick-up and placement assemblies can be increased, and the stirrup pick-up and placement unit can also grasp the transported stirrups more firmly.

[0023] In some preferred embodiments of the present application, the stirrup picking and placing unit further selectively includes a second mounting seat, a second guide rail and a second slider, the second mounting seat is fixed on the mounting arm; the second guide rail is vertically mounted on the second mounting seat, and the second guide rail extends along the push-pull direction of the stirrup picking and placing push-pull assembly; the second slider is slidably connected with the second guide rail; the stirrup picking and placing push-pull assembly is fixed on the second mounting seat, and the strip mounting body is fixedly connected with the second slider and can move along the second guide rail. The present application can effectively improve the positioning accuracy of the stirrup picking and placing unit, can effectively improve the reliability of stirrup acquisition, and can accurately place the stirrups at the set position of the stirrup placement area by installing the second mounting seat, the second guide rail and the second slide rail included in the stirrup picking and placing unit in the above-mentioned arrangement.

[0024] In some preferred embodiments of the present application, the stirrup picking and placing assembly is further selectively set as a pneumatic clamp, one stirrup picking and placing assembly is used to clamp the first section of the stirrup, and the other stirrup picking and placing assembly is used to clamp the second section of the stirrup. The present application sets the stirrup picking and placing device as a pneumatic clamp, and takes advantage of the rapid response of the pneumatic clamp to effectively improve the grabbing speed of the stirrup, thereby improving the transportation efficiency of the stirrup, and further improving the production efficiency of the stirrup; at the same time, there are many types of pneumatic clamps, which can be selected and purchased according to actual needs during design, without the need for additional design work.

[0025] In some preferred embodiments of the present application, the stirrup taking, placing and pushing assembly is further selectively configured as a pneumatic telescopic cylinder or a hydraulic telescopic cylinder.

[0026] In a third aspect, the present application provides a stirrup processing system, which includes a steel bar bending machine, a stirrup transfer robot, and at least one set of stirrup processing equipment as described in any embodiment; the steel bar bending machine is used to bend steel bars into stirrups; the stirrup transfer robot is used to obtain stirrups from the steel bar bending machine and transfer the obtained stirrups to a welding workbench. By making the stirrup processing system include a steel bar bending machine, a stirrup transfer robot, and a stirrup processing equipment, the present application can reduce the participation of personnel in the processing of stirrups or realize the processing technology of stirrups without the participation of personnel.

[0027] In a fourth aspect, the present application also provides a sleeper production line, which includes a stirrup processing system as described in the above-mentioned embodiment. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A structural schematic diagram of a stirrup processing device according to some embodiments of the present application;

[0029] Figure 2 A second structural schematic diagram of a stirrup processing device according to some embodiments of the present application;

[0030] Figure 3 A schematic diagram of a structure including two sets of stirrup processing equipment according to some embodiments of the present application;

[0031] Figure 4 Another structural schematic diagram of some embodiments of the present application including two sets of stirrup processing equipment;

[0032] Figure 5 A schematic structural diagram of a structural unit including a mounting arm, a stirrup picking and placing unit, a welding gun, a weld detection unit and other components in some embodiments of the present application from one perspective;

[0033] Figure 6 for Figure 5 A schematic structural diagram of another perspective of the structural unit shown;

[0034] Figure 7 A perspective structural schematic diagram of a structural unit including a mounting arm, a stirrup picking and placing unit, a welding gun, a weld detection unit, etc. in some other embodiments of the present application;

[0035] Figure 8 for Figure 7 A schematic structural diagram of another perspective of the structural unit shown;

[0036] Fig. 9 It is a schematic diagram of the structure of a stirrup storage rack in some embodiments of the present application, and stirrups are provided on the stirrup storage rack;

[0037] Fig.10It is a structural schematic diagram of a stirrup production line in some embodiments of the present application;

[0038] Fig.11 It is a structural schematic diagram of a stirrup production line in some other embodiments of the present application;

[0039] Fig.12 A schematic diagram of the structure of a stirrup welded by a stirrup processing device in some embodiments of the present application, in which the stirrup is not welded;

[0040] Fig.13 This is a schematic diagram of the structure of a stirrup transported by a stirrup transport device in some embodiments of the present application, in which the stirrup has been welded.

[0041] In the figure:

[0042] 1. Welding workbench;

[0043] 2. Stirrup placement area; 21. Stirrup storage rack; 211. Stirrup limiting structure;

[0044] 31. Supporting column; 32. Load-bearing beam;

[0045] 4. Mounting arm; 41. Mounting arm body; 42. Connecting flange;

[0046] 5. stirrup pick-up and placement unit; 51. stirrup pick-up and placement push-pull assembly; 511. push-pull end of stirrup pick-up and placement push-pull assembly; 52. stirrup pick-up and placement assembly; 53. strip-shaped mounting body; 54. second guide rail; 55. second mounting seat; 56. second slider;

[0047] 6. stirrups; 61. welds;

[0048] 7. Install the arm drive assembly;

[0049] 8. Welding unit; 81. Welding gun; 82. Wire feeder;

[0050] 91. welding gun push-pull assembly; 911. push-pull end of welding gun push-pull assembly; 92. welding gun mounting seat; 93. protective cover; 94. first guide rail; 95. first mounting seat; 96. first slide block;

[0051] 10. Weld inspection unit;

[0052] 100. Steel bar bending machine;

[0053] 1000. Stirrup transfer robot. DETAILED DESCRIPTION

[0054] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0055] It should be understood that the terms used herein are only for the purpose of describing specific example embodiments and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive and therefore specify the presence of stated features, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, steps, operations, elements, parts and / or their combinations. The method steps, processes and operations described herein are not interpreted as requiring them to be performed in the specific order described or illustrated, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0056] Although the terms "first", "second", "third", etc. can be used in the text to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these technical terms. These terms can only be used to distinguish an element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates, terms such as "first", "second", etc. and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer or section discussed below can be referred to as the first element, component, region, layer or section without departing from the teachings of the example embodiments.

[0057] For ease of description, spatial relative terms may be used herein to describe the relationship of one element or feature relative to another element or feature as shown in the figure, such as "inside", "outside", "inner side", "outer side", "below", "below", "above", "above", etc. Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure is turned over, then the element described as "below other elements or features" or "below other elements or features" will subsequently be oriented as "above other elements or features" or "above other elements or features". Therefore, the example term "below..." can include both above and below orientations.

[0058] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0059] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "provided with", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] In the present application, "above a certain value" includes the number itself, for example, "above two" includes "two".

[0061] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0062] Combine the following Figures 1 to 13 , the stirrup welding device, stirrup processing equipment, stirrup processing system and sleeper production line provided in this application are specifically described. It should be pointed out that the sleepers involved in this application can be selectively sleepers required for railway construction, and the sleepers can be selectively double-block sleepers, prestressed sleepers, etc.

[0063] like Figures 1 to 4 As shown, the stirrup processing equipment includes a stirrup welding device, which includes a bearing structure, a mounting arm 4, a welding workbench 1 and a welding unit 8. Specifically, the bearing structure includes a bearing beam 32; the mounting arm 4 is suspended on one side of the bearing beam 32 and connected to the bearing beam 32, and the mounting arm 4 has a state of moving along the extension direction of the bearing beam 32. Among them, the welding workbench 1 is used to constrain the stirrup 6 to a set welding position, and the welding workbench 1 is located below the running track of the mounting arm 4. In addition, the stirrup welding device also includes a welding unit 8, and the welding unit 8 includes a welding gun 81, which is mounted on the mounting arm 4, and the welding gun 81 has a welding position for welding the stirrup 6 on the welding workbench 1.

[0064] It should be noted that the structure of the bearing structure of the present application is not specifically limited, and it can be any structure that includes a bearing beam 32 and meets the installation, operation, and bearing requirements of the mounting arm 4. Figures 1 to 4 As shown, the bearing structure includes two supporting columns 31 and a bearing beam 32. The two supporting columns 31 are arranged vertically. The bearing beam 32 is connected to the two supporting columns 31 in a cross-connected manner to form a door-shaped structure. The mounting arm 4 is suspended on one side of the bearing beam 32. The present application makes the bearing structure include supporting columns 31 and bearing beam 32, and the bearing beam 32 is fixed on the supporting columns 31. This arrangement can effectively reduce the space occupied by the stirrup processing equipment. As some preferred embodiments of the present application, such as Figures 1 to 4 As shown, the load-bearing beam 32 is disposed horizontally as a whole, and the mounting arm 4 is disposed horizontally and perpendicular to the load-bearing beam 32 .

[0065] As a convertible implementation, the number of supporting columns 31 included in the bearing structure can be selectively set to one, three, four or five or more, and the bearing beam 32 can be straddled on the supporting columns 31. In a specific implementation, the number of supporting columns 31 can be selected according to the span of the bearing beam 32. As a convertible implementation, the bearing structure can also be selectively made into a wall structure.

[0066] The structural form of the mounting arm 4 in the present application is not specifically limited, and it can be any structural form that can at least meet the installation and load-bearing requirements of the stirrup pick-up and placement unit 5. In specific implementation, the mounting arm body 41 can be further made of a profile, as shown in the attached Figures 1 to 8 The mounting arm body 41 shown in the figure is made of a square tube; as a convertible embodiment, the mounting arm 4 can also be selectively made into a truss structure, etc.

[0067] It should also be noted that the structure and size of the stirrups in this application are not specifically limited, and they can be any stirrups that need to be welded. Fig.12 and Fig.13 As shown, a stirrup structure with an overall rectangular shape is disclosed, and this stirrup can be selectively used as a metal skeleton of a prefabricated structure, for example, it can be used as a metal skeleton of a sleeper (especially a double-block sleeper), a prefabricated beam, etc. In specific implementation, the stirrup 6 can also be selectively made into a stirrup structure with an overall square shape.

[0068] It should also be noted that the structural form of the welding workbench 1 in the present application is not specifically limited, and it can be any structural form that can constrain the stirrups. In specific implementation, it is preferred that the welding workbench is a welding workbench that can automatically constrain the stirrups so that the stirrups meet the welding conditions.

[0069] As some preferred embodiments of the present application, Figures 1 to 4 , Fig.10 and Fig.11 As shown, the welding unit 8 further includes a welding gun 81 and a wire feeder 82. The welding gun 81 is connected to the mounting arm 4, and the head of the welding gun 81 is facing downward; the mounting arm 4 is connected to a wire feeder mounting position, and the wire feeder 82 is installed on the wire feeder mounting position. The wire feeder 82 can provide welding wire to the welding gun 81. It should be pointed out that there is no specific restriction on the wire feeder mounting position, and it can be any position connected to the mounting arm 4 and meeting the wire feeder installation requirements. In specific implementation, Figures 1 to 4 As shown, a mounting plate for fixing the wire feeder 82 is connected to the mounting arm 4, and the wire feeder 82 is fixed on the mounting plate, and the mounting plate can drive the wire feeder 82 to move synchronously with the movement of the mounting arm 4. As a convertible embodiment, the mounting plate can also be selectively fixed on the mounting arm 4, or the wire feeder installation position can be selectively located on the mounting arm 4.

[0070] In the present application, the mounting arm 4 of the stirrup welding device is suspended on one side of the load-bearing beam 32, and the mounting arm 4 can move along the extension direction of the load-bearing beam 32; during the movement of the mounting arm 4, the welding gun 81 can be driven to move, so that the welding gun 81 has the conditions to weld the stirrup 6 on the welding workbench 1. In the specific implementation, the mounting arm 4 is driven by the mounting arm driving assembly 7, and the mounting arm driving assembly 7 is further controlled by the control unit to control and adjust the position of the welding gun 81.

[0071] As some preferred embodiments of the present application, the welding direction of the welding gun 81 (i.e., the feeding direction of the welding gun 81 during welding, i.e., the extending direction of the weld after welding) is further selectively made parallel to the extending direction of the load-bearing beam 32. Figures 1 to 4 As shown, the welding position of the stirrup 6 constrained by the welding workbench 1 is extended along the welding direction of the welding gun 81, and then the welding gun 81 is satisfied to weld the welding position during the movement of the mounting arm along the load-bearing beam 32. The present application makes the welding direction of the welding gun 81 parallel to the extension direction of the load-bearing beam 32, and then during the movement of the welding gun 81 with the mounting arm 4, the welding unit 8 can implement and complete the welding process on the stirrup 6.

[0072] As some preferred embodiments of the present application, the stirrup welding device further selectively includes a welding gun push-pull assembly 91, the welding gun push-pull assembly 91 is fixed on the mounting arm 4, and the push-pull end 911 of the welding gun push-pull assembly faces downward, and the welding gun 81 is connected to the push-pull end 911 of the welding gun push-pull assembly. As some convertible embodiments of the present application, the welding gun push-pull assembly 91 can be further selectively made to be one of a pneumatic telescopic cylinder, a hydraulic telescopic rod, a linear motor, a screw slider linear module, and a gear rack linear module. By connecting the welding gun 81 to the welding gun push-pull assembly 91 fixed on the mounting arm 4, the position of the welding gun 81 can be adjusted according to processing needs under the action of the welding gun push-pull assembly 91, so that the welding gun 81 has a welding position and an avoidance position during operation.

[0073] In a specific implementation, it is preferred that the welding gun push-pull assembly 91 is a pneumatic telescopic cylinder, and the welding gun push-pull assembly 91 is connected to the gas circuit of the pressure gas source (gas storage tank, gas pump, etc.) through a control valve; in a specific implementation, the control valve can be selectively made into an electromagnetic reversing valve, and the electromagnetic reversing valve is connected to the control unit circuit and controlled by the control unit, so that the telescopic rod of the welding gun push-pull assembly 91 is in an extended state or a retracted state; thereby adjusting the position of the welding gun 81 in the vertical direction.

[0074] As some preferred embodiments of the present application, Figures 1 to 8 As shown, the stirrup welding device further selectively includes a first mounting seat 95, a first guide rail 94, a first slider 96 and a welding gun mounting seat 92. Among them, the first mounting seat 95 is fixed on one side of the mounting arm 4, and the welding gun push-pull assembly 91 is fixed on the first mounting seat 95. The first guide rail 94 is fixed on the first mounting seat 95 and extends along the push-pull direction of the welding gun push-pull assembly 91. The first slider 96 is slidably connected to the first guide rail 94, and the first slider 96 can slide along the first guide rail 94. The welding gun mounting seat 92 is fixedly connected to the push-pull end 911 of the welding gun push-pull assembly, and the welding gun mounting seat 92 is connected to the first slider 96. The welding gun 81 is mounted on the welding gun mounting seat 92, and the gun head of the welding gun 81 is set downward. In specific work, when the welding gun push-pull assembly 91 is pushed and pulled, the welding gun 81 is adjusted upward or downward along the extension direction of the first guide rail 94 with the welding gun mounting seat 92.

[0075] It should be noted that the structure of the first mounting base 95 in the present application is not specifically limited, and it can be any structure that can meet the installation requirements of the welding gun push-pull assembly 91. Figures 5 to 8As shown, the first mounting seat 95 is in the shape of a strip as a whole; the first mounting seat 95 is fixed to one side of the mounting arm 4 and extends downward as a whole, the welding gun push-pull assembly 91 is fixed on the first mounting seat 95, and a first guide rail 94 extending downward is provided on the first mounting seat 95, and the welding gun mounting seat 92 is slidably connected to the first guide rail 94 through a first slider 96 that is slidably adapted to the first guide rail 94.

[0076] The present application makes the stirrup welding device include a first guide rail 94, a first slider 96 and a welding gun mounting seat 92, further fixes the welding gun 81 on the welding gun mounting seat 92, and the welding gun mounting seat 92 slides with the first guide rail 94 through the first slider 96, so that the welding gun 81 can move along the first guide rail 94 during the up and down movement, thereby effectively improving the position accuracy of the welding gun 81 and reducing the constraint requirements of the welding workbench 1 on the stirrup 6 to a certain extent. At the same time, the qualified rate of the welded stirrup 6 can be effectively improved. Further, the welding gun push-pull assembly 91 is controlled by the control unit, so that the position of the welding gun 81 can be automatically adjusted.

[0077] As some preferred embodiments of the present application, the stirrup welding device further selectively includes a protective cover 93, which has a position above the welding position of the welding workbench 1, and a through hole is provided in the middle of the protective cover 93; when the welding gun 81 is in the welding position, the protective cover 93 is located in a shielding position above the welding position, and the gun head of the welding gun 81 extends from above the protective cover 93 to below the protective cover 93.

[0078] It should be noted that the structure of the protective cover 93 in the present application is not specifically limited, and it can be any structure that can shield the spatter, arc light, etc. generated during welding. Figures 1 to 8 As shown, the protective cover 93 is a square groove structure with a certain wall thickness, and the protective cover 93 is fixed at the lower end of the first guide rail 94. As a convertible embodiment, the protective cover 93 can also be selectively made into a circular groove structure with a certain wall thickness; and so on.

[0079] It should be noted that the "shielding position" in the present application refers to a position where the protective cover 93 can shield the spatter, arc light, etc. generated by the welding of the welding gun 81. The present application sets the protective cover 93. During the welding process, the protective cover 93 can block the spatter generated during the welding process, making the welding process safer and reducing the probability of safety accidents. In addition, by setting the protective cover 93, the arc light generated during welding can also be blocked to reduce the harm caused to the workers during the welding process.

[0080] As some preferred embodiments of the present application, the stirrup welding device further selectively includes a weld detection unit 10, the weld detection unit 10 is fixed on the mounting arm 4, and the detection area of ​​the weld detection unit 10 has a position covering the welding position. In the specific implementation, the weld detection unit 10 in the present application is not specifically limited, and it can be any detection instrument that can meet the stirrup weld detection. It should be pointed out that the weld detection unit 10 can detect at least one of the weld length, weld height deviation, weld width deviation and weld quality detection, wherein the weld quality detection includes whether there is an open weld or looseness. In the specific implementation, the weld detection unit 10 is preferably an industrial camera that can detect welds. The present application enables the stirrup welding device to include a weld detection unit 10, so that the stirrup welding device can detect the stirrup 6 after welding to determine whether the welded stirrup 6 is qualified, and then screen out qualified stirrups 6 to avoid unqualified stirrups 6 from flowing to the next process. In addition, the present application fixes both the weld detection unit 10 and the welding gun 81 on the mounting arm 4 , so that the stirrup welding device has both welding function and weld detection function, which can effectively improve the production efficiency of the stirrups 6 .

[0081] As some preferred embodiments of the present application, the welding gun push-pull assembly 91 and the weld detection unit 10 are further selectively installed on both sides of the mounting arm 4 along the running direction of the mounting arm 4. Figures 1 to 8 As shown, the welding gun push-pull assembly 91 and the weld detection unit 10 are fixed on the mounting arm 4, and the welding gun push-pull assembly 91 is located on one side of the mounting arm 4, and the weld detection unit 10 is located on the other side of the mounting arm 4, and the weld push-pull assembly is opposite to the weld detection unit 10.

[0082] The present application installs the welding gun push-pull assembly 91 and the weld detection unit 10 on both sides of the mounting arm 4 along the running direction of the mounting arm 4, so that the detection area of ​​the weld detection unit 10 can cover the welding position during the running of the mounting arm 4 along the load-bearing beam 32, and then the stirrup welding device can realize the welding of the stirrup 6 and the detection process of the weld during the running of the mounting arm 4, effectively reducing the difficulty of the process implementation of the stirrup 6, thereby improving the production efficiency of the stirrup 6. At the same time, it also helps to realize the automated production of the stirrup 6.

[0083] It should be noted that the positions where the welding gun push-pull assembly 91 and the weld inspection unit 10 are installed in the length direction of the mounting arm 4 are not specifically limited and can be selectively set according to actual needs. Figure 5 and Figure 6 As shown, the welding gun push-pull assembly 91 and the weld detection unit 10 are installed on both sides near the connection end of the mounting arm 4; Figure 7 and Figure 8As shown, the welding gun push-pull assembly 91 and the weld detection unit 10 are installed on both sides of the cantilever end of the mounting arm 4.

[0084] As some preferred embodiments of the present application, the stirrup welding device further selectively includes a mounting arm driving assembly 7, the mounting arm 4 is connected to the load beam 32 through the mounting arm driving assembly 7, and the mounting arm driving assembly 7 can drive the mounting arm 4 to move along the extension direction of the load beam 32. The present application connects the mounting arm 4 to the load beam 32 through the mounting arm driving assembly 7, and then drives the mounting arm 4 to move along the load beam 32 under the action of the mounting arm driving assembly 7. In specific implementation, the mounting arm driving assembly 7 can be further controlled by the control unit to adjust the position of the mounting arm 4 by controlling the mounting arm driving assembly 7 according to actual process requirements, so that the stirrup welding device can implement welding, weld detection and other processes as required.

[0085] In specific implementation, Figures 1 to 4 , Fig.10 and Fig.11 As shown, the mounting arm driving assembly 7 is a linear motor module, which is fixed to one side of the load beam 32 along the extension direction of the load beam 32, and the mounting arm 4 is connected to the load beam 32 through the linear motor module. In specific implementation, the function of driving the mounting arm 4 is achieved by supplying power to the linear motor module. Specifically, the stator of the linear motor module is fixed to one side of the load beam 32 along the extension direction of the load beam 32, and the mover of the linear motor module is fixed to the mounting arm 4. Figures 1 to 8 As shown, the mounting arm 4 includes a mounting arm body 41 and a connecting flange 42. The connecting flange 42 is fixed to one end of the mounting arm body 41, and the connecting flange 42 is fixedly connected to the mover of the linear motor module (it can be connected by connecting pieces such as screws and bolts, or it can be connected by welding). In specific implementation, the control unit controls the linear motor module according to the actual working conditions to drive the mounting arm 4 to run along the load beam 32 to a set position.

[0086] As some convertible embodiments of the present application, the mounting arm driving assembly 7 can also be selectively made into a gear rack linear module, the gear rack linear module is fixed on the load beam 32 along the extension direction of the load beam 32, and the mounting arm 4 can be connected to the load beam 32 through the gear rack linear module. Specifically, the gear rack linear module includes a driving motor, a transmission gear, a rack, a slide and a guide rail adapted to the slide. The transmission gear is further connected to the output shaft of the driving motor, the transmission gear is meshed with the rack, the guide rail and the rack are both fixed on the load beam 32 along the extension direction of the load beam 32, the driving motor and the slide are fixed on the mounting arm 4, and the slide is connected with the guide rail in a sliding manner; when the driving motor is powered, the meshing transmission of the transmission gear and the rack drives the mounting arm 4 to move along the guide rail (not shown in the figure). As some preferred embodiments of the present application, the control unit is further connected to the driving motor circuit included in the gear rack linear module, and the driving motor is controlled by the control unit. During specific operation, the control unit controls the driving motor according to actual working conditions to drive the mounting arm 4 to move along the load-bearing beam 32 to a set position.

[0087] As some convertible embodiments of the present application, the installation arm drive assembly 7 can also be selectively made into a screw slider module, the screw slider module is fixed on the load beam 32 along the extension direction of the load beam 32, and the installation arm 4 is connected to the load beam 32 through the screw slider module (not shown in the figure). Specifically, the screw slider module includes a drive motor, a screw, a slider adapted to the screw, and a slide rail adapted to the slide rail. In the specific implementation, the screw is connected to the load beam 32 through the bearing seat along the extension direction of the load beam 32, the drive motor is connected to the screw, and the slide rail is fixedly connected to the installation arm 4. When the drive motor is powered, the motor drives the screw to rotate, and during the rotation of the screw, the installation arm 4 is driven to move along the slide rail through the slide rail (not shown in the figure). As a preferred embodiment under this embodiment, the control unit is further connected to the drive motor circuit included in the screw slider module, and the drive motor is controlled by the control unit. In the specific operation, the control unit controls the drive motor according to the actual working conditions to drive the installation arm 4 to run to the set position along the load beam 32.

[0088] As some preferred embodiments of the present application, the mounting arm driving assembly 7 can also be selectively made into a synchronous belt linear module, the synchronous belt linear module is fixed on the load-bearing beam 32 along the extension direction of the load-bearing beam 32, and the mounting arm 4 is transmission-connected to the load-bearing beam 32 via the synchronous belt linear module. Further, the control unit is connected to the driving motor circuit included in the synchronous belt linear module, and the driving motor is controlled by the control unit. During specific operation, the control unit controls the driving motor according to the actual working conditions to drive the mounting arm 4 to run along the load-bearing beam 32 to a set position.

[0089] In addition to the above-mentioned embodiments, the mounting arm driving assembly 7 can also be selectively made to be a driving assembly including a telescopic cylinder (a pneumatic telescopic cylinder, a hydraulic telescopic cylinder); the specific connection method is not described in detail here.

[0090] The present application sets the installation arm drive assembly 7 as one of a linear motor module, a gear rack linear module, a screw slider module or a synchronous belt linear module, so that the installation arm 4 can move along the installation arm under the drive of electricity, providing technical support for the automated welding of the stirrups 6. In addition, the linear motor module, the gear rack linear module, the screw slider module or the synchronous belt linear module are all ready-made products, and they can be selected according to actual needs during the specific design, which effectively reduces the design difficulty of the stirrup transfer device, shortens the research and development cycle, and makes the stirrup transfer device have reliable performance, which can reduce the failure rate of the equipment and reduce the maintenance cost.

[0091] The present application also provides a stirrup processing device, such as Figures 1 to 5 As shown, the stirrup processing equipment includes a stirrup picking and placing unit 5 and a stirrup welding device as described in any of the above embodiments. The stirrup picking and placing unit 5 is used to obtain stirrups 6 from the welding workbench 1 and transfer them to the stirrup placement area 2. The stirrup picking and placing unit 5 is installed on the mounting arm 4. The stirrup placement area 2 and the welding workbench 1 are both located below the running track of the stirrup picking and placing unit 5. In this application, the stirrup processing equipment includes a stirrup picking and placing unit 5 installed on the mounting arm 4 for obtaining stirrups 6 from the welding workbench 1, so that the stirrup processing equipment can also have the function of stirrup transfer, specifically, the stirrup 6 that has been welded can be transferred from the welding workbench 1 to the stirrup placement area 2; to prepare for the processing of the next stirrup 6. The stirrup processing equipment not only has the function of welding, but also has the function of transferring the welded stirrups 6; in addition, in some preferred embodiments, the stirrup processing equipment also has the function of detecting the weld seam of the stirrup 6 before transfer. The stirrup processing equipment has the functions of welding, detection and transfer, which can effectively improve the processing and transfer efficiency of the stirrup 6, so as to realize the automated production of the stirrup 6.

[0092] It should be pointed out that the structure of the stirrup picking and placing unit 5 in the present application is not specifically limited, and it can be any unit that can obtain and release the stirrups 6. In a specific implementation, the stirrup picking and placing unit 5 can be selectively made to include a stirrup picking and placing assembly 52, and the stirrup picking and placing assembly 52 can further include a clamp capable of clamping the stirrups 6. In a specific implementation, the stirrup picking and placing assembly 52 can also be selectively made to be a picking and placing assembly including a clamp and a driving unit capable of realizing a push-pull function. Further, the stirrup picking and placing assembly 52 can be selectively made to be a pneumatic clamp or a hydraulic clamp. Preferably, the stirrup picking and placing assembly 52 is a pneumatic clamp. As a convertible embodiment, the driving unit capable of realizing a push-pull function can also be selectively made to be a screw slider module, a linear motor module, a gear rack module, etc.

[0093] As a preferred embodiment under some embodiments, the stirrup pick-up and placement assembly 52 is a pneumatic clamp, and the pneumatic clamp can be further controlled by the control unit. Specifically, the stirrup pick-up and placement assembly 52 is connected to the pressure gas source (gas storage tank, gas pump, etc.) through the control valve. In specific implementation, the control valve can be selectively set as an electromagnetic reversing valve (for example, a two-position five-way electromagnetic reversing valve, etc.), and the electromagnetic reversing valve is connected to the control unit circuit and controlled by the control unit, so that the stirrup pick-up and placement assembly 52 is in a clamping state or a loose state according to process requirements.

[0094] As some other preferred embodiments under some embodiments, the stirrup picking and placing assembly 52 is a hydraulic clamp, which can be further controlled by the control unit, and the stirrup picking and placing assembly 52 is connected to the hydraulic source fluid circuit through the control valve and the hydraulic pump. In specific implementation, the control valve can be selectively set as an electromagnetic reversing valve (such as a two-position four-way electromagnetic reversing valve, a three-position five-way electromagnetic reversing valve, etc.), and the electromagnetic reversing valve is connected to the control unit circuit and controlled by the control unit, so that the stirrup picking and placing assembly 52 is in a clamping state or a loose state.

[0095] It should be pointed out that the stirrup placement area 2 in the present application refers to an area for placing welded stirrups; in specific implementation, the stirrup placement area 2 is further selectively provided with a stirrup storage rack 21 for carrying stirrups 6. In the actual production process, the stirrup storage rack 21 is preferably placed in a state and position that can be transported. During specific transportation, the stirrup storage rack 21 can be selectively transported by an AGV trolley, or by a forklift, a transport trolley, a crane, etc.

[0096] As some preferred embodiments of the present application, at least two stirrup storage racks 21 can be selectively placed in the stirrup placement area 2, wherein at least one stirrup storage rack 21 is used to place stirrups 6 that have passed the inspection, and at least one stirrup storage rack 21 is used to place stirrups 6 that have failed the inspection.

[0097] As some preferred embodiments of this implementation, at least two sets of stirrup limiting structures 211 may be selectively provided on the stirrup storage rack 21, wherein at least one set of stirrup limiting structures 211 is used to place qualified stirrups 6, and at least one set of stirrup limiting structures 211 is used to place unqualified stirrups 6. Figures 1 to 4 and Fig. 9 As shown, two groups of stirrup limiting structures 211 are arranged side by side on the stirrup storage rack 21, one group of stirrup limiting structures 211 is used to place qualified stirrups 6, and the other group of stirrup limiting structures 211 is used to place unqualified stirrups 6.

[0098] As some preferred embodiments of the present application, the stirrup pick-up and placement unit 5 further includes a stirrup pick-up and placement push-pull assembly 51 and a stirrup pick-up and placement assembly 52. ​​The stirrup pick-up and placement push-pull assembly 51 is fixed on the mounting arm 4, and the push-pull end 511 of the stirrup pick-up and placement push-pull assembly is arranged downward. The stirrup pick-up and placement assembly 52 is used to obtain the stirrup 6 on the welding workbench 1, and the stirrup pick-up and placement assembly 52 is connected to the push-pull end 511 of the stirrup pick-up and placement push-pull assembly.

[0099] It should be noted that the stirrup pick-up push-pull assembly 51 in the present application is not specifically limited, and it can be any assembly, unit or system that can realize the push-pull function. Specifically, the stirrup pick-up push-pull assembly 51 can be selectively made into one of a pneumatic telescopic cylinder, a hydraulic telescopic cylinder, a linear motor module, a gear rack linear module, a screw slider linear module, etc., so that the stirrup pick-up push-pull assembly 51 can be controlled by a fluid medium or an electric unit, so as to facilitate the automatic control of the stirrup pick-up push-pull assembly 51. In specific implementation, the stirrup pick-up push-pull assembly 51 is preferably a pneumatic telescopic cylinder; so that the stirrup pick-up assembly 52 can be quickly pushed and pulled.

[0100] As some preferred embodiments of the present application, the stirrup picking-up and pushing-pull assembly 51 is a pneumatic telescopic cylinder, and the stirrup picking-up and pushing-pull assembly 51 is connected to the pressure gas source (gas storage tank, gas pump, etc.) through a control valve; in the specific implementation, the control valve can be selectively made into an electromagnetic reversing valve, and the electromagnetic reversing valve is connected to the control unit circuit and controlled by the control unit, so that the telescopic rod of the stirrup picking-up and pushing-pull assembly 51 is in an extended state or a retracted state.

[0101] As some preferred embodiments of the present application, the stirrup pick-up and push-pull assembly 51 is a hydraulic telescopic cylinder, and the stirrup pick-up and push-pull assembly 51 is connected to the hydraulic source fluid circuit via a control valve and a hydraulic pump. In specific implementation, the control valve is preferably set as an electromagnetic reversing valve, and the electromagnetic reversing valve is connected to the control unit circuit and is controlled by the control unit to put the stirrup pick-up and push-pull assembly 51 in an extended state or a retracted state.

[0102] As some preferred embodiments of the present application, when the stirrup pick-up and push-pull assembly 51 is a gear rack linear module or a screw slider linear module, the control unit is connected to the drive motor circuit included in the gear rack linear module or the screw slider linear module, and the control unit controls the gear rack linear module or the screw slider linear module to realize the push-pull function of the stirrup pick-up and push-pull assembly 51. As a convertible embodiment, the stirrup pick-up and push-pull assembly 51 can also be selectively made into a linear motor module, the control unit is connected to the linear motor module circuit, and the linear motor is controlled by the control unit to realize the push-pull function of the stirrup pick-up and push-pull assembly 51.

[0103] The present application makes the stirrup picking and placing unit 5 include a stirrup picking and placing assembly 52 and a stirrup picking and placing push-pull assembly 51, and the stirrup picking and placing assembly 52 is fixed to the push-pull end 511 of the stirrup picking and placing push-pull assembly. Under the action of the stirrup picking and placing push-pull assembly 51, the stirrup picking and placing assembly 52 can be driven to adjust the working position upward and downward according to actual needs, so as to facilitate the implementation of processes such as obtaining and transporting the stirrups 6.

[0104] As some preferred embodiments of the present application, Figures 1 to 8 As shown, the stirrup pick-up and placement unit 5 further includes a strip-shaped mounting body 53, the middle part of which is fixedly connected to the push-pull end 511 of the stirrup pick-up and placement push-pull assembly. The stirrup pick-up and placement unit 5 includes two stirrup pick-up and placement assemblies 52, which are fixed on the strip-shaped mounting body 53, one stirrup pick-up and placement assembly 52 is located on the first side of the push-pull direction of the stirrup pick-up and placement push-pull assembly 51, and the other stirrup pick-up and placement assembly 52 is located on the second side of the push-pull direction of the stirrup pick-up and placement push-pull assembly 51. Preferably, the first side is further opposite to the second side.

[0105] It should be noted that the strip-shaped installation body of the present application is not specifically limited, and it can be any structure that can be used to connect the stirrup pick-up and placement push-pull assembly and install two stirrup pick-up and placement assemblies, and can meet the mechanical requirements of load bearing. In specific implementation, the strip-shaped installation body 53 can be selectively made of metal profiles, for example, it can be made of aluminum alloy profiles, square tubes, etc.

[0106] The present application makes the stirrup picking and placing unit 5 include two stirrup picking and placing components 52. Under the action of the two stirrup picking and placing components 52, the stirrup 6 can be grasped at two positions, thereby making the stirrup 6 grasped more securely, alleviating the misalignment and falling of the stirrup 6 during the grasping and transportation process, and effectively improving the reliability of the transportation of the stirrup 6. In addition, by making the two stirrup picking and placing components 52 respectively located on both sides of the push-pull direction of the stirrup picking and placing push-pull component 51, the distance between the grasping positions of the two stirrup picking and placing components 52 can be increased, and the stirrup picking and placing unit 5 can also grasp the transported stirrup 6 more securely.

[0107] As some preferred embodiments of the present application, the stirrup placing and taking unit 5 further selectively includes a second mounting seat 55, a second guide rail 54 and a second slider 56. Figures 1 to 8 As shown, the second mounting seat 55 is fixed on the mounting arm 4; the second guide rail 54 is vertically mounted on the second mounting seat 55, and the second guide rail 54 extends along the push-pull direction of the stirrup pick-up and placement push-pull assembly 51. The second slider 56 is slidably connected with the second guide rail 54; the stirrup pick-up and placement push-pull assembly 51 is fixed on the second mounting seat 55, and the strip mounting body 53 is fixedly connected with the second slider 56 and can move along the second guide rail 54. The present application can effectively improve the positioning accuracy of the stirrup pick-up and placement unit 5 by arranging the second mounting seat 55, the second guide rail 54 and the second slider 56 included in the stirrup pick-up and placement unit 5 according to the above-mentioned arrangement method, and can effectively improve the reliability of the stirrup 6 acquisition, and can also accurately place the stirrup 6 at the set position of the stirrup placement area 2.

[0108] As some preferred embodiments of the present application, the stirrup picking and placing assembly 52 is further selectively set as a pneumatic clamp, one stirrup picking and placing assembly 52 is used to clamp the first section of the stirrup 6, and the other stirrup picking and placing assembly 52 is used to clamp the second section of the stirrup 6. In the specific implementation, the pneumatic clamp is connected to the pressure gas source (such as a pressure gas tank, a gas pump, etc.) through a control valve (such as a two-position five-way valve solenoid valve, etc.), and the control valve is connected to the control unit circuit and controlled by the control unit. The pneumatic clamp realizes its clamping function or release function according to the actual process requirements under the control of the control unit. The present application sets the stirrup picking and placing device as a pneumatic clamp, and utilizes the advantage of the rapid response of the pneumatic clamp to effectively improve the grabbing speed of the stirrup, thereby improving the transportation efficiency of the stirrup, and further improving the production efficiency of the stirrup; at the same time, there are many types of pneumatic clamps, which can be selected and purchased according to actual needs during design, without the need for additional design work.

[0109] It should be pointed out that, in the present application, the first section of the stirrup and the second section of the stirrup can be adjacent straight sections of the stirrup or opposite straight sections of the stirrup; in the specific implementation, it is preferred that the first section of the stirrup and the second end of the stirrup are set as adjacent straight sections of the stirrup, and the stirrup can be better clamped by clamping at two points, thereby alleviating problems such as displacement and rotation of the stirrup during the clamping process.

[0110] The present application also provides a stirrup processing system, which includes a steel bar bending machine 100, a stirrup transfer robot 1000 and at least one set of stirrup processing equipment as described in any embodiment; the steel bar bending machine 100 is used to bend steel bars into stirrups; the stirrup transfer robot 1000 is used to obtain stirrups 6 from the steel bar bending machine 100 and transfer the obtained stirrups 6 to the welding workbench 1. Fig.10 and Fig.11 As shown, the stirrup transfer robot 1000 includes a robotic arm and a clamp for clamping the stirrups 6 formed by bending the steel bar bending machine 100, wherein the clamp is installed at the free end of the robotic arm, and the robotic arm is controlled by a control unit. Furthermore, there is no specific restriction on the number of stirrups 6 that the clamp can clamp. In the actual production process, the clamp can selectively clamp one stirrup, two stirrups, three stirrups, four stirrups, etc. at a time. The specific number can be determined according to the number of stirrup processing equipment corresponding to the stirrup transfer robot 1000. Specifically, Fig.11 As shown, the stirrup production line includes two stirrup processing devices, the clamp includes two sets of components for clamping stirrups, and the stirrup transfer robot 1000 can provide stirrups to the two stirrup processing devices of the stirrup processing system.

[0111] The present application enables the stirrup processing system to include a steel bar bending machine 100, a stirrup transfer robot 1000 and stirrup processing equipment, so that the stirrup processing process can reduce the participation of personnel and the stirrup processing technology can be realized without the participation of personnel.

[0112] In a fourth aspect, the present application also provides a sleeper production line, which includes a stirrup processing system as described in the above-mentioned embodiment.

[0113] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation methods of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A stirrup welding device, characterized in that: The stirrup welding device comprises: A load-bearing structure, the load-bearing structure comprising a load-bearing beam; A mounting arm, the mounting arm is suspended at one side of the load-bearing beam and connected to the load-bearing beam, and the mounting arm has a state of moving along the extension direction of the load-bearing beam; A welding workbench, which is used to constrain stirrups to a set welding position, and is located below the running track of the mounting arm; A welding unit comprises a welding gun, the welding gun is mounted on the mounting arm, and the welding gun has a welding position for welding stirrups on the welding workbench.

2. The stirrup welding device according to claim 1, characterized in that: The stirrup welding device also includes a welding gun push-pull assembly, which is fixed on the mounting arm, with the push-pull end of the welding gun push-pull assembly facing downward, and the welding gun is connected to the push-pull end of the welding gun push-pull assembly.

3. The stirrup welding device according to claim 2, characterized in that: The welding direction of the welding gun is parallel to the extending direction of the load-bearing beam; and / or, The welding gun push-pull assembly is one of a pneumatic telescopic cylinder, a hydraulic telescopic cylinder, a linear motor, a screw slider linear module and a gear rack linear module.

4. The stirrup welding device according to claim 3, characterized in that: The stirrup welding device also includes: A first mounting seat, wherein the first mounting seat is fixed to one side of the mounting arm, and the welding gun push-pull assembly is fixed to the first mounting seat; A first guide rail, wherein the first guide rail is fixed on the first mounting seat and extends along a push-pull direction of the welding gun push-pull assembly; A first slider, wherein the first slider is adaptably connected to the first guide rail and can slide along the first guide rail; A welding gun mounting seat, wherein the welding gun mounting seat is fixedly connected to the push-pull end of the welding gun push-pull assembly, and the welding gun mounting seat is connected to the first sliding block; the welding gun is mounted on the welding gun mounting seat, and the gun head of the welding gun is arranged downward.

5. The stirrup welding device according to claim 2, characterized in that: The stirrup welding device further comprises a protective cover, the protective cover has a position located above the welding position, and a through hole is provided in the middle of the protective cover; when the welding gun is in the welding position, the protective cover is located in a shielding position above the welding position, and the gun head of the welding gun extends from the top of the protective cover to the bottom of the protective cover; and / or, The stirrup welding device further comprises a weld detection unit, which is fixed on the mounting arm, and a detection area of ​​the weld detection unit can cover the welding position.

6. The stirrup welding device according to claim 5, characterized in that: The welding gun push-pull assembly and the weld detection unit are installed on both sides of the mounting arm along the running direction of the mounting arm.

7. The stirrup welding device according to any one of claims 1 to 6, characterized in that: The stirrup welding device also includes: The mounting arm driving assembly is connected to the load-bearing beam through the mounting arm driving assembly, and the mounting arm driving assembly can drive the mounting arm to move along the extending direction of the load-bearing beam.

8. The stirrup welding device according to claim 7, characterized in that: The mounting arm driving assembly is a linear motor module, the linear motor module is fixed on the load-bearing beam along the extension direction of the load-bearing beam, and the mounting arm is transmission-connected to the load-bearing beam via the linear motor module; or, The mounting arm driving assembly is a gear rack linear module, the gear rack linear module is fixed on the load-bearing beam along the extension direction of the load-bearing beam, and the mounting arm is transmission-connected to the load-bearing beam via the gear rack linear module; or, The mounting arm driving assembly is a screw slider module, the screw slider module is fixed on the load-bearing beam along the extension direction of the load-bearing beam, and the mounting arm is transmission-connected to the load-bearing beam via the screw slider module; or, The mounting arm driving assembly is a synchronous belt linear module, and the synchronous belt linear module is fixed on the load-bearing beam along the extension direction of the load-bearing beam. The mounting arm is transmission-connected to the load-bearing beam via the synchronous belt linear module.

9. A stirrup processing equipment, characterized in that: The stirrup processing equipment comprises: A stirrup picking and placing unit, the stirrup picking and placing unit is used to obtain stirrups from the welding workbench and transfer them to the stirrup placement area, the stirrup picking and placing unit is installed on the installation arm, and the stirrup placement area and the welding workbench are both located below the running track of the stirrup picking and placing unit; and A stirrup welding device as claimed in any one of claims 1 to 8.

10. The stirrup processing equipment according to claim 9, characterized in that: The stirrup placing unit comprises: A stirrup pick-up and push-pull assembly, wherein the stirrup pick-up and push-pull assembly is fixed on the mounting arm, and a push-pull end of the stirrup pick-up and push-pull assembly is arranged downward; and A stirrup picking and placing assembly is used to obtain the stirrups on the welding workbench, and the stirrup picking and placing assembly is connected to the push-pull end of the stirrup picking and placing push-pull assembly.

11. The stirrup processing equipment according to claim 10, characterized in that: The stirrup picking and placing unit also includes a strip-shaped mounting body, the middle part of which is fixedly connected to the push-pull end of the stirrup picking and placing push-pull assembly; the stirrup picking and placing unit includes two stirrup picking and placing assemblies, which are fixed on the strip-shaped mounting body, one stirrup picking and placing assembly is located on the first side of the push-pull direction of the stirrup picking and placing push-pull assembly, and the other stirrup picking and placing assembly is located on the second side of the push-pull direction of the stirrup picking and placing push-pull assembly.

12. The stirrup processing equipment according to claim 11, characterized in that: The stirrup placing unit further comprises: a second mounting seat, wherein the second mounting seat is fixed on the mounting arm; A second guide rail, the second guide rail is vertically mounted on a second mounting seat, and the second guide rail extends along a push-pull direction of the stirrup pick-and-place push-pull assembly; a second slider, the second slider being slidably connected to the second guide rail; The stirrup placement push-pull assembly is fixed on the second mounting seat, and the strip-shaped mounting body is fixedly connected to the second sliding block and can move along the second guide rail.

13. The stirrup processing equipment according to any one of claims 10 to 12, characterized in that: The stirrup picking and placing assembly is configured as a pneumatic clamp, one of the stirrup picking and placing assembly is used to clamp the first section of the stirrup, and the other stirrup picking and placing assembly is used to clamp the second section of the stirrup; and / or, The stirrup taking, placing, pushing and pulling assembly is a pneumatic telescopic cylinder or a hydraulic telescopic cylinder.

14. A stirrup processing system, characterized in that: The stirrup processing system comprises: At least one stirrup processing device according to any one of claims 9 to 13; A steel bar bending machine, which is used to bend steel bars into stirrups; and A stirrup transfer robot is used to obtain stirrups from the steel bar bending machine and transfer the obtained stirrups to the welding workbench.

15. A sleeper production line, characterized in that: The sleeper production line comprises the stirrup processing system as claimed in claim 14.

Images