Stirrup detection unit, transfer device, processing equipment, processing system and production line

Abstract

The utility model belongs to the technical field of steel bar machining and sleeper production, and particularly discloses a stirrup detection unit, a stirrup transfer device, stirrup machining equipment, a stirrup machining system and a sleeper production line. Wherein the stirrup detection unit is used for detecting whether a machined stirrup is qualified or not, the stirrup detection unit comprises an information collection unit, an information processing module and a control unit, the information collection unit is configured to be used for collecting information of the machined stirrup, and the information collected by the information collection unit is used for judging whether the machined stirrup is qualified or not; the information processing module is configured to be used for collecting and processing the information collected by the information collection unit and judging whether the machined stirrup is qualified or not according to the information collected by the information collection unit; the information acquisition unit is in signal connection with the control unit, the information acquisition unit is controlled by the control unit, and the information processing module is in signal connection with the control unit. The stirrup detection unit provided by the utility model can realize the functions of automatically detecting the machined stirrup and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of steel bar processing and sleeper production, and in particular to a stirrup detection unit, a stirrup transfer 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. Therefore, in the processing process of some stirrups, it is necessary to weld the stirrups, inspect the welds, and transfer the inspected stirrups to the stirrup placement area. The automatic inspection of stirrups is the key technology to realize the automatic production of stirrups. For this purpose, the applicant has proposed a stirrup inspection unit, a stirrup transfer device, a stirrup processing equipment, a stirrup processing system and a sleeper production line. Utility Model Content

[0004] The purpose of this application is at least to solve the problem of automatic detection of whether the processed stirrups are qualified. Specifically, it is achieved through the following technical solutions:

[0005] In the first aspect, the present application provides a stirrup detection unit, which is used to detect whether the processed stirrups are qualified. The stirrup detection unit includes an information collection unit, an information processing module and a control unit. The information collection unit is configured to collect information about the processed stirrups, and the information collected by the information collection unit is used to determine whether the processed stirrups are qualified; the information processing module is configured to collect and process the information collected by the information collection unit, and determine whether the processed stirrups are qualified based on the information collected by the information collection unit; the information collection unit is signal-connected to the control unit, and the information collection unit is controlled by the control unit, and the information processing module is signal-connected to the control unit.

[0006] The present application provides a unit capable of detecting processed stirrups. Specifically, the stirrup detection unit includes an information collection unit, an information processing module and a control unit. The control unit can control the information collection unit to collect information about the processed stirrups. The information processing module can collect and process the information collected by the information collection unit, and judge whether the processed stirrups are qualified based on the collected information, so that the stirrup detection unit can realize automatic detection of the processed stirrups and give the detection results. In addition, the present application can also provide the control unit with information related to the detection results by connecting the information processing module with the control unit signal, so that the control unit can perform subsequent processes according to the set requirements on the actuator included in the device, equipment, system, etc. including the stirrup detection unit based on the detection results, and can provide strong technical support for the automated production of stirrups. In addition, the stirrup detection unit provided by the present application can replace manual detection, not only has higher detection efficiency, but also can effectively improve the work efficiency of the device, equipment, system, etc. including the stirrup detection unit.

[0007] In addition, the stirrup detection unit according to the present application may also have the following additional technical features:

[0008] In some embodiments of the present application, the information collected by the information collection unit may further include at least one of the height difference of the welding position, weld length, weld height deviation, weld width, open weld information and looseness information.

[0009] The present application enables the information collected by the information collection unit to include at least one of the height difference of the welding position, weld length, weld height deviation, weld width, open weld information and looseness information, so as to more comprehensively collect the information of the welded stirrups at the welding position as required, provide more judgment information for accurately determining whether the processed stirrups are qualified, and thus be able to better and more objectively determine whether the processed stirrups are qualified.

[0010] In some embodiments of the present application, the information acquisition unit can be further configured as a 3D industrial camera, or the information acquisition unit can be configured as a 2D industrial camera. By configuring the information acquisition unit as a 3D industrial camera, the present application can enable the information acquisition unit to collect at least one of the height difference of the welding position, weld length, weld height deviation, weld width, open welding information, and loosening information, and thus can more comprehensively collect information on the processed stirrups, and can effectively improve the detection capability of the stirrup detection unit. By configuring the information acquisition unit as a 2D industrial camera, the present application can enable the information acquisition unit to collect at least one of the height difference of the welding position, weld length, weld width, open welding information, and loosening information, and can also more comprehensively collect information on the processed stirrups, providing important guarantees for the automated detection of stirrups.

[0011] In the second aspect, the present application also provides a stirrup transfer device, which is configured to transfer stirrups welded on a welding workbench to a stirrup placement area; the stirrup transfer device also includes a stirrup detection unit, a support structure, an installation arm, and a stirrup picking and placing unit as described in any of the aforementioned embodiments; the support structure includes a load-bearing beam, the installation arm is connected to the load-bearing beam, and the installation arm is configured to be able to move along the load-bearing beam; the information collection unit is installed on the installation arm, and the information collection unit has a position for collecting information on the welding area of ​​the processed stirrups; the stirrup picking and placing unit is configured to pick up and place stirrups; the stirrup picking and placing unit is connected to the installation arm, and the welding workbench and the stirrup placement area are both located below the movement trajectory of the stirrup picking and placing unit; the stirrup picking and placing unit is connected to the control unit and is controlled by the control unit.

[0012] The present application enables the stirrup transport device to include a stirrup detection unit and a stirrup placement unit that can move along the load-bearing beam, thereby enabling the stirrup transport device to have both stirrup detection and stirrup transport functions. Under the control of the control unit, the stirrup transport device can realize the functions of automated detection and automated transport. In addition, the stirrup transport device of the present application can also transport the processed stirrups according to the detection results of the stirrup detection unit, and can automatically classify and transport qualified stirrups and unqualified stirrups during the transport process.

[0013] In some preferred embodiments of the present application, the stirrup placement area can be further made to include a qualified product placement area and an unqualified product placement area; the stirrup transfer device is configured as follows: when the processed stirrups are qualified, the stirrup picking and placing unit is controlled by the control unit and can transfer the processed stirrups from the welding workbench to the qualified product placement area; when the processed stirrups are unqualified, the stirrup picking and placing unit is controlled by the control unit and can transfer the processed stirrups from the welding workbench to the unqualified product placement area.

[0014] The present application enables the stirrup placement area to include a qualified product placement area and a non-qualified product placement area, and enables the stirrup placement unit to place the processed stirrups in the qualified product placement area or the non-qualified product placement area according to the detection results of the processed stirrups. Under the control of the control unit, the stirrup transfer device can realize the automatic transfer of the processed stirrups according to the set requirements.

[0015] In some preferred embodiments of the present application, the stirrup picking and placing unit can further include a first push-pull assembly and a stirrup picking and placing assembly, the first push-pull assembly is fixed on the mounting arm, and the push-pull end of the first push-pull assembly is set downward, and the first push-pull assembly is controlled by the control unit; the stirrup picking and placing assembly is configured to be able to obtain stirrups from the welding workbench, the stirrup picking and placing assembly is connected to the push-pull end of the first push-pull assembly, and the stirrup picking and placing assembly is controlled by the control unit.

[0016] The present application enables the stirrup pick-up and placement unit to include a first push-pull assembly and a stirrup pick-up and placement assembly, and the first push-pull assembly is fixed on the mounting arm, and the stirrup pick-up and placement assembly is fixed at the push-pull end of the first push-pull assembly, so that the first push-pull assembly can drive the stirrup pick-up and placement assembly to move along the load-bearing beam, and can also adjust the position of the stirrup pick-up and placement assembly in the vertical direction to meet the transportation requirements of the stirrup transport device. The present application enables the first push-pull assembly and the stirrup pick-up and placement assembly to be controlled by the control unit, so that the stirrup pick-up and placement assembly and the first push-pull assembly can be automatically controlled.

[0017] In some preferred embodiments of the present application, the stirrup picking and placing assembly can be further selectively made into a pneumatic clamp or a hydraulic clamp; and / or, the first push-pull assembly can be made into a pneumatic telescopic cylinder or a hydraulic telescopic cylinder. The present application makes the stirrup picking and placing assembly into a pneumatic clamp, and takes advantage of the rapid response of the pneumatic clamp to effectively improve the grabbing speed of the stirrups, thereby improving the transportation efficiency of the stirrups and improving the production efficiency of the stirrups. In addition, 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. Not only that, by making the stirrup picking and placing assembly into a pneumatic clamp, it is also convenient to realize the automatic control of the stirrup picking and placing assembly, and it also has the advantages of low cost of use. Similarly, by making the first push-pull assembly into a pneumatic telescopic cylinder, the present application also has the advantages of rapid response and low cost of use.

[0018] In some preferred embodiments of the present application, the stirrup transfer device may further include an installation arm driving unit, the installation arm is connected to the load-bearing beam via the installation arm driving unit, and the installation arm driving unit is controlled by the control unit; the installation arm driving unit is configured to be able to drive the installation arm to move along the load-bearing beam. The present application connects the installation arm to the load-bearing beam via the installation arm driving unit, and then, under the action of the installation arm driving unit, the installation arm can be driven to move along the load-bearing beam, thereby better meeting the transfer needs of the stirrup transfer device. In addition, the present application enables the installation arm driving unit to be controlled by the control unit, and then the position of the installation arm and the stirrup picking and placing unit can be adjusted by the control unit to better realize the automated transfer process of the stirrup transfer device.

[0019] In some preferred embodiments of the present application, the mounting arm driving unit can be further made into a linear motor module, the linear motor module is fixed on the load-bearing beam along the extension direction of the load-bearing beam, the mounting arm is tranmission-connected to the load-bearing beam via the linear motor module, the linear motor module is electrically connected to the control unit and is controlled by the control unit; or, the mounting arm driving unit can be selectively made into 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, the mounting arm is tranmission-connected to the load-bearing beam via the gear rack linear module, the driving motor of the gear rack linear module is electrically connected to the control unit and is controlled The control unit controls the mounting arm; or, selectively, the mounting arm driving unit is a screw slide module, the screw slide 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 screw slide module, the driving motor of the screw slide module is electrically connected to the control unit and is controlled by the control unit; or, selectively, the mounting arm driving unit is 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, the mounting arm is transmission-connected to the load-bearing beam via the synchronous belt linear module, the linear motor of the synchronous belt linear module is electrically connected to the control unit and is controlled by the control unit.

[0020] In a third aspect, the present application also provides a stirrup processing equipment, which includes a welding workbench and a stirrup transfer device as described in some of the aforementioned embodiments, and the welding workbench is configured to constrain the stirrups to a position that meets welding conditions.

[0021] In some preferred embodiments of the present application, the stirrup processing equipment further selectively includes a welding machine, the welding machine is configured to be controlled by the control unit, the welding machine includes a welding gun and a wire feeder, the welding gun is connected to the mounting arm, and the welding gun is configured to be able to weld the stirrups on the welding workbench; the wire feeder is configured to provide welding wire for the welding gun. In specific implementation, the welding gun and the information collection unit can be further installed on both sides of the mounting arm along the extension direction of the load-bearing beam.

[0022] The stirrup processing equipment of the present application includes a stirrup detection unit, a stirrup transfer device and a welder, so that the stirrup processing equipment can have the functions of stirrup welding, stirrup detection and stirrup transfer. Under the control of the control unit, the automated production of stirrups can be realized, which can effectively improve the processing efficiency of stirrups and the production efficiency of related products.

[0023] In some preferred embodiments of the present application, the stirrup processing equipment can further include a second push-pull assembly and a welding gun mounting seat, the second push-pull assembly is installed on the mounting arm, and the push-pull end of the second push-pull assembly is facing downward, and the second push-pull assembly is controlled by the control unit; the welding gun mounting seat is connected to the push-pull end of the second push-pull assembly, and the welding gun is fixed on the welding gun mounting seat.

[0024] The present application enables the stirrup processing equipment to include a second push-pull assembly, and thus the position adjustment of the welding gun in the vertical direction can be achieved under the action of the second push-pull assembly. The second push-pull assembly is installed on the mounting arm, so that the welding gun can move along the load-bearing beam with the second push-pull assembly, so as to better meet the needs of stirrup processing. Furthermore, the control unit controls the second push-pull assembly to achieve automatic adjustment of the vertical position of the welding gun.

[0025] In a fourth aspect, the present application further provides a stirrup processing system, the stirrup processing system comprising at least one stirrup processing device in any of the aforementioned embodiments;

[0026] A steel bar bending unit, the steel bar bending unit is configured to bend the steel bar into stirrups;

[0027] The stirrup transfer robot is configured to obtain stirrups from the steel bar bending unit and transfer the obtained stirrups to the welding workbench.

[0028] In a fifth aspect, the present application also provides a sleeper production line, which includes a stirrup processing system as described in some of the aforementioned embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic structural diagram of a stirrup processing device involved in some embodiments of the present application;

[0030] Figure 2 It is a structural schematic diagram of another stirrup processing equipment involved in some embodiments of the present application;

[0031] Figure 3 for Figure 2 A perspective structural schematic diagram of a structural unit including a mounting arm, a stirrup picking and placing unit, a welding gun, an information collection unit and other components installed on a load-bearing beam;

[0032] Figure 4 for Figure 3 A schematic structural diagram of another perspective of the structural unit shown;

[0033] Figure 5 for Figure 2 A perspective structural schematic diagram of a structural unit including a mounting arm, a stirrup picking and placing unit, a welding gun, an information collection unit, etc., which is installed on another load-bearing beam;

[0034] Figure 6 for Figure 5 A schematic structural diagram of another perspective of the structural unit shown;

[0035] Figure 7 A schematic structural diagram of a welding workbench from a first perspective involved in some embodiments of the present application;

[0036] Figure 8 for Figure 7 A structural schematic diagram of a welding workbench from a second viewing angle;

[0037] Figure 8.1 for Figure 8 A partial magnified view of the structure at A in the middle;

[0038] Figure 8.2 for Figure 8 A partial magnified view of the structure at B in the middle;

[0039] Fig. 9 for Figure 7 A schematic structural diagram of the welding workbench from a third perspective;

[0040] Fig.10 for Fig. 9 AA section view in;

[0041] Fig.11 for Fig. 9 BB section view in;

[0042] Fig.12 It is a structural schematic diagram of a stirrup storage rack in some embodiments of the present application, and stirrups are provided on the stirrup storage rack;

[0043] Fig.13 A structural schematic diagram of a stirrup processing system involved in some embodiments of the present application;

[0044] Fig.14 It is a structural schematic diagram of another stirrup processing system involved in some embodiments of the present application;

[0045] Fig.15 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 in an unwelded state;

[0046] Fig.16 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.

[0047] In the figure:

[0048] 1. Welding workbench; 11. Loading table;

[0049] 12. Compression unit; 121. Telescopic assembly; 1211. Telescopic end of the telescopic assembly; 122. Compression member; 1221. Connecting end; 1222. Compression end; 123. Articulated support; 124. Connecting arm;

[0050] 13. First stirrup push-pull assembly;

[0051] 14. Second stirrup push-pull assembly;

[0052] 15. The third stirrup push-pull assembly;

[0053] 16. Fourth stirrup push-pull assembly;

[0054] 17. Positioning stop; 171. Stop surface;

[0055] 181. first supporting member; 1811. first bearing surface;

[0056] 19. Stirrup limiting unit; 191. Stirrup limiting groove;

[0057] 2. Stirrup placement area; 21. Stirrup storage rack; 211. Stirrup limiting structure;

[0058] 3. Support structure; 31. Support column; 32. Load-bearing beam;

[0059] 4. Mounting arm; 41. Mounting arm body; 42. Connecting flange;

[0060] 5. stirrup picking and placing unit; 51. first push-pull assembly; 511. push-pull end of the first push-pull assembly; 52. stirrup picking and placing assembly; 53. strip-shaped mounting body; 54. first guide rail; 55. first mounting seat; 56. first slider;

[0061] 6. stirrups; 61. first welding section; 62. second welding section; 63. first straight section; 64. weld;

[0062] 7. Install the arm drive unit;

[0063] 81. welding gun; 82. wire feeder; 83. second push-pull assembly; 831. push-pull end of the second push-pull assembly; 84. welding gun mounting seat; 85. protective cover; 86. second guide rail; 87. second mounting seat; 88. second slide block;

[0064] 9. Mounting plate;

[0065] 10. Information collection unit;

[0066] 100. Steel bar bending unit;

[0067] 1000. Stirrup transfer robot. DETAILED DESCRIPTION

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] In the present application, "above a certain value" includes the number itself, for example, "five above" includes five.

[0075] 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.

[0076] Combine the following Figures 1 to 16 , the stirrup detection unit, stirrup transfer device, stirrup processing equipment, stirrup processing system and sleeper production line provided by the utility model are specifically described. It should be pointed out that the sleepers involved in the present application can be selectively sleepers required for railway construction, and the sleepers can be selectively double-block sleepers, prestressed sleepers, etc.

[0077] The present application provides a stirrup detection unit, which is used to detect whether the processed stirrups are qualified. The stirrup detection unit includes an information acquisition unit 10, an information processing module and a control unit. The information acquisition unit 10 is configured to collect information about the processed stirrups 6, and the information collected by the information acquisition unit 10 is used to determine whether the processed stirrups 6 are qualified. The information processing module is configured to collect and process the information collected by the information acquisition unit 10, and determine whether the processed stirrups 6 are qualified based on the information collected by the information acquisition unit 10. In a specific implementation, the information acquisition unit 10 is connected to the control unit signal, and the information acquisition unit 10 is controlled by the control unit, and the information processing module is connected to the control unit signal.

[0078] The present application provides a unit capable of automatically detecting the processed stirrups 6. Specifically, the stirrup detection unit includes an information acquisition unit 10, an information processing module and a control unit. The control unit can control the information acquisition unit 10 to collect information about the processed stirrups 6. The information processing module can collect and process the information collected by the information acquisition unit 10, and judge whether the processed stirrups 6 are qualified based on the collected information, so that the stirrup detection unit can realize automatic detection of the processed stirrups 6 and give the detection results. In addition, the stirrup detection unit provided by the present application can replace manual detection, not only has higher detection efficiency, but also can effectively improve the working efficiency of the device, equipment, system, etc. including the stirrup detection unit.

[0079] It should be pointed out that the information acquisition unit 10 in the present application is not specifically limited, and it can be any information acquisition unit 10 that can collect the setting information of the processed stirrup 6. In the specific implementation, it is preferred that the information acquisition unit 10 can collect at least part of the information of the height difference of the welding position, the weld length, the weld height deviation, the weld width, the open weld information and the loosening information. In the specific implementation, the information acquisition unit 10 can be selectively made into a 3D industrial camera or a 2D industrial camera. The present application enables the information acquisition unit 10 to collect information including at least one of the height difference of the welding position, the weld length, the weld height deviation, the weld width, the open weld information and the loosening information, thereby being able to perform more comprehensive information collection on the weld 64 and the welding position of the processed stirrup 6, and then more accurately and objectively judge whether the processed stirrup 6 is qualified.

[0080] In specific implementation, when the information acquisition unit 10 is a 3D industrial camera, the information acquisition unit 10 can collect at least part of the height difference of the welding position, the weld length, the weld height deviation, the weld width, the open welding information and the loosening information, and then can more comprehensively collect the information of the processed stirrup 6, which can effectively improve the detection capability of the stirrup detection unit. When the information acquisition unit 10 is a 2D industrial camera, the information acquisition unit 10 can collect at least part of the information of the weld length, the weld width, the open welding information and the loosening information, and can also more comprehensively collect the information of the processed stirrup 6, providing important guarantee for the detection of the stirrup 6.

[0081] It should be explained that the "height difference of the welding position" in this application refers to the height deviation between the connection between the weld 64 and the first welding section 61 of the stirrup 6 and the connection between the weld 64 and the second welding section 62 of the stirrup 6; by collecting this information, the degree of misalignment of the first welding section 61 and the second welding section 62 of the stirrup 6 in the height direction can be reflected. In specific implementation, the height difference of the welding position should be within the set numerical range. Preferably, the height difference of the welding position is between ±2mm. When the height difference of the detected welding position is within this range, the detected stirrup 6 is judged to be qualified for the test item, otherwise it is unqualified.

[0082] It is also necessary to explain that the "weld height deviation" in the present application refers to the deviation of the same weld 64 in the height direction. In specific implementation, it is preferred to make the weld height deviation within a set numerical range. When the detected weld height deviation is within the set numerical range, the detected stirrup 6 is judged to be qualified for the test item, otherwise it is unqualified.

[0083] In specific implementation, it is preferred that the weld length is greater than or equal to a set value, for example, the weld length is greater than or equal to 8 cm. When the length of the weld 64 under test is greater than or equal to 8 cm, the tested stirrup 6 is determined to be qualified for the test item, otherwise it is unqualified. In specific implementation, the weld length can be selectively set according to process requirements.

[0084] In addition, the weld width is set to be greater than or equal to a set value, for example, the width of the weld 64 is set to be greater than or equal to 8 mm. In specific implementation, when the detected weld width is greater than or equal to 8 mm, the detected stirrup 6 is judged to be qualified for the test item, otherwise it is unqualified. In specific implementation, the weld width can be selectively set according to the process requirements.

[0085] It should also be pointed out that the "information processing module" in the present application is not specifically limited, and it can be any processing unit that can collect and process the information collected by the information collection unit 10 and judge whether the tested stirrup 6 is qualified. In specific implementation, it can be a part of an industrial control computer; or it can be other units, devices or systems that can collect and process the information collected by the information collection unit 10 and judge whether the tested stirrup 6 is qualified.

[0086] It should also be pointed out that the "control unit" in this application is not specifically limited. It can be any device, unit or system that can realize the control function. In specific implementation, the control unit can selectively be one of a relay, a single-chip microcomputer or a programmable logic controller, or a unit or system including a relay, a single-chip microcomputer or a programmable logic controller.

[0087] The "information processing module and control unit signal connection" in this application refers to the connection mode in which the information processing module can provide a signal to the control unit. In specific implementation, it can be an electrical signal connection, an optical signal connection or a wireless communication connection. By connecting the information processing module with the control unit signal, this application can also provide the control unit with a detection result, so that the control unit can perform corresponding actions according to the set requirements on the actuator included in the device, equipment, system, etc. including the stirrup detection unit based on the detection result, thereby providing technical support for the automated production of stirrups 6.

[0088] The present application also provides a stirrup transfer device, which is configured to transfer stirrups 6 welded on a welding workbench 1 to a stirrup placement area 2; the stirrup transfer device also includes a stirrup detection unit, a support structure 3, an installation arm 4, and a stirrup placement unit 5 as described in any of the above embodiments. The support structure 3 includes a load-bearing beam 32, the installation arm 4 is connected to the load-bearing beam 32, and the installation arm 4 is configured to be able to move along the load-bearing beam 32. The information acquisition unit 10 is installed on the installation arm 4, and the information acquisition unit 10 has a position for collecting information on the welding area of ​​the processed stirrup 6. The stirrup placement unit 5 is configured to take and place stirrups 6; the stirrup placement unit 5 is connected to the installation arm 4, and the welding workbench 1 and the stirrup placement area 2 are both located below the movement trajectory of the stirrup placement unit 5. In a specific implementation, the stirrup placement unit 5 is connected to the control unit and controlled by the control unit.

[0089] It should be noted that the form of the support structure 3 in the present application is not specifically limited, and it can be any structural form that meets the installation, operation and load requirements of the installation arm 4. In specific implementation, the support structure 3 can selectively include a support column 31 and a load-bearing beam 32, the load-bearing beam 32 is fixed on the support column 31, the installation arm 4 is suspended on one side of the load-bearing beam 32, and the installation arm 4 can move along the extension direction of the load-bearing beam 32. Further, as Figure 1 , Figure 2 , Fig.13 and Fig.14 As shown, the support structure 3 includes two support columns 31 and a load-bearing beam 32. The two support columns 31 are arranged vertically, and the load-bearing beam 32 is connected to the two support columns 31 by bridging to form a gate-shaped structure. In the present application, the support structure 3 includes the support columns 31 and the load-bearing beam 32, and the load-bearing beam 32 is fixed on the support columns 31. This arrangement can effectively reduce the space occupied by the support structure 3.

[0090] It should be noted that the structure of the load-bearing beam 32 in the present application is not specifically limited. In specific implementation, it can be made of profiles (such as square tubes, I-beams, square steel, etc.). Figure 1The stirrup processing equipment shown includes two supporting columns 31 and a load-bearing beam 32. The two supporting columns 31 are vertically arranged. The load-bearing beam 32 is connected to the two supporting columns 31 by a bridge to form a door-shaped structure. The mounting arm 4 is suspended on one side of the load-bearing beam 32. As some preferred embodiments of the present application, Figure 1 As shown, the load beam 32 is disposed horizontally as a whole, and the mounting arm 4 extends in a transverse direction and is perpendicular or substantially perpendicular to the load beam 32 .

[0091] As a convertible implementation, the number of support columns 31 included in the stirrup processing equipment can be selectively set to one, three, four or five or more, and the load-bearing beam 32 can be straddled on the support columns 31. In a specific implementation, the number of support columns 31 can be selected according to the span of the load-bearing beam 32.

[0092] It should be noted that 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 placement unit 5; in specific implementation, such as Figures 1 to 6 As shown, the mounting arm 4 is a cantilever beam, and the mounting arm 4 can be further made into a structure formed by processing a profile (as shown in the figure, the mounting arm body 41 is processed from a square tube), and the mounting arm 4 can also be selectively made into a truss structure.

[0093] It should also be pointed out that the structure of the stirrup placing unit 5 in the present application is not specifically limited, and it can be any unit that can obtain and release the stirrup 6. In specific implementation, the stirrup placing unit 5 can selectively include a stirrup placing assembly 52, and the stirrup placing assembly 52 can further include a clamp that can clamp the stirrup 6.

[0094] In a specific implementation, the stirrup picking and placing assembly 52 can be selectively made to be a picking and placing assembly including a clamp and a driving unit capable of realizing a push-pull function; during the push-pull process of the driving unit, the clamp has a clamping state and a loose state. Further, the stirrup picking and placing assembly 52 can be selectively made to be a pneumatic clamp or a hydraulic clamp. When the stirrup picking and placing assembly 52 is a pneumatic clamp, the stirrup picking and placing assembly 52 is connected to the air 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 set to an electromagnetic reversing valve (for example, a two-position five-way electromagnetic reversing valve, etc.), so that the electromagnetic reversing valve is connected to the control unit circuit and is controlled by the control unit, so that the stirrup picking and placing assembly 52 is in a clamping state or a loose state as required.

[0095] When the stirrup pick-up and placement assembly 52 is a hydraulic clamp, the stirrup pick-up and placement 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 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 to put the stirrup pick-up and placement assembly 52 in a clamping state or a loosening state.

[0096] The present application enables the stirrup transport device to include a stirrup detection unit and a stirrup placement unit 5 that can move along the load-bearing beam 32, thereby enabling the stirrup transport device to have both stirrup detection and stirrup transport functions. Under the control of the control unit, the stirrup transport device can realize the functions of automatic detection and automatic transport. In addition, the stirrup transport device of the present application can also transport the processed stirrups 6 according to the detection results of the stirrup detection unit, and can automatically classify and transport qualified stirrups 6 and unqualified stirrups 6.

[0097] As some preferred embodiments of the present application, the stirrup placement area 2 can be further made to include a qualified product placement area and an unqualified product placement area. In specific implementation, the stirrup transfer device is configured as follows: when the processed stirrup 6 is qualified, the stirrup pick-up and placement unit 5 is controlled by the control unit and can transfer the processed stirrup 6 from the welding workbench 1 to the qualified product placement area; when the processed stirrup 6 is unqualified, the stirrup pick-up and placement unit 5 is controlled by the control unit and can transfer the processed stirrup 6 from the welding workbench 1 to the unqualified product placement area. The present application enables the stirrup placement area 2 to include a qualified product placement area and an unqualified product placement area, and enables the stirrup pick-up and placement unit 5 to place the processed stirrup 6 in the qualified product placement area or in the unqualified product placement area according to the inspection results of the processed stirrup 6. Under the control of the control unit, the stirrup transfer device can realize the automatic transfer of the processed stirrup 6 according to the set requirements.

[0098] It should also be noted that the stirrup placement area 2 in the present application refers to an area for placing welded stirrups 6; the stirrup placement area 2 may further be selectively provided with a stirrup storage rack 21 for carrying stirrups 6. In specific implementation, at least two stirrup storage racks 21 may be selectively placed in the stirrup placement area 2, wherein at least one stirrup storage rack 21 is used to place qualified stirrups 6, and at least one stirrup storage rack 21 is used to place unqualified stirrups 6.

[0099] As some alternative embodiments of the present application, 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. Figure 1 , Figure 2 and Figure 12 to Figure 14As shown, two groups of stirrup limiting structures 211 for limiting stirrups 6 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.

[0100] It should also be noted that the structure and size of the stirrup 6 in the present application are not specifically limited, and it can be any stirrup that needs to be welded. Fig.15 and Fig.16 A stirrup structure in the shape of a square frame is shown. The stirrup 6 can be selectively used as a metal frame of a prefabricated structure, for example, it can be used as a metal frame of a sleeper (especially a double-block sleeper). In specific implementation, the stirrup 6 can also be selectively made into a stirrup structure in the shape of a square frame.

[0101] As some preferred embodiments of the present application, the stirrup pick-up and placement unit 5 can further include a first push-pull assembly 51 and a stirrup pick-up and placement assembly 52, the first push-pull assembly 51 is fixed on the mounting arm 4, and the push-pull end 511 of the first push-pull assembly is set downward, and the first push-pull assembly 51 is controlled by the control unit. The present application enables the stirrup pick-up and placement unit 5 to include the first push-pull assembly 51 and the stirrup pick-up and placement assembly 52, and the first push-pull assembly 51 is fixed on the mounting arm 4, and the stirrup pick-up and placement assembly 52 is fixed to the push-pull end 511 of the first push-pull assembly, so that the first push-pull assembly 51 can drive the stirrup pick-up and placement assembly 52 to move along the load-bearing beam 32, and can also adjust the position of the stirrup pick-up and placement assembly 52 in the vertical direction to meet the transportation requirements of the stirrup transport device. The present application enables the first push-pull assembly 51 and the stirrup pick-up and placement assembly 52 to be controlled by the control unit, so that the stirrup pick-up and placement assembly 52 and the first push-pull assembly 51 can be automatically controlled.

[0102] In specific implementation, the stirrup pick-up and placement assembly 52 is configured to be able to obtain the stirrup 6 from the welding workbench 1, and the stirrup pick-up and placement assembly 52 is connected to the push-pull end 511 of the first push-pull assembly, and the stirrup pick-up and placement assembly 52 is controlled by the control unit. In this application, the stirrup pick-up and placement unit 5 includes a first push-pull assembly 51, and the stirrup pick-up and placement assembly 52 is connected to the mounting arm 4 through the first push-pull assembly 51. Under the action of the first push-pull assembly 51, the position of the stirrup pick-up and placement unit 5 in the vertical direction can be better adjusted, thereby better meeting the position adjustment needs of the stirrup 6 during transportation. In addition, by making the first push-pull assembly 51 and the stirrup pick-up and placement assembly 52 both controlled by the control unit, the function of automatically picking up and placing the processed stirrup 6 and automatically adjusting the position during the transportation of the stirrup 6 can be realized.

[0103] During specific work, when obtaining stirrups 6 from the welding workbench 1, the control unit can be used to control the first push-pull component 51 to move downward toward the welding workbench 1 to the set stirrup 6 acquisition position, and further control the control unit to make the stirrup picking and placing component 52 acquire the stirrups 6 welded on the welding workbench 1. When the stirrups 6 are acquired, the first push-pull component 51 is further controlled to move upward in the direction away from the welding workbench 1 to the set position, and the installation arm 4 is further moved along the load-bearing beam 32 to above the stirrup placement area 2, and the stirrup picking and placing unit 5 is further controlled to place the stirrups 6 in the stirrup placement area 2; thereby completing the transportation process of the stirrups 6.

[0104] It should be noted that the first push-pull component 51 in the present application is not specifically limited, and it can be any component, unit or system that can realize the push-pull function. Specifically, the first push-pull component 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 first push-pull component 51 can be controlled by a fluid medium or an electric unit, so as to facilitate the automatic control of the first push-pull component 51. In specific implementation, the first push-pull component 51 is preferably a pneumatic telescopic cylinder; so that the stirrup pick-up and placement component 52 can be quickly pushed and pulled; and the use cost can be effectively reduced.

[0105] As some preferred embodiments of the present application, when the first push-pull component 51 is a pneumatic telescopic cylinder, the first push-pull component 51 is connected to the air circuit of the pressure gas source (gas storage tank, gas pump, etc.) through a control valve; in 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 first push-pull component 51 is in an extended state or a retracted state.

[0106] As some preferred embodiments of the present application, the first push-pull assembly 51 is a hydraulic telescopic cylinder, and the first 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 first push-pull assembly 51 in an extended state or a retracted state.

[0107] As some preferred embodiments of the present application, when the first push-pull component 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 first push-pull component 51. As a convertible embodiment, the first push-pull component 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 first push-pull component 51.

[0108] As some preferred embodiments of the present application, Figure 1 , Figure 2 , Figure 3 and Figure 5 As shown, the stirrup picking and placing unit 5 further includes a strip-shaped mounting body 53, and the middle part of the strip-shaped mounting body 53 is fixedly connected to the push-pull end 511 of the first push-pull assembly. The stirrup picking and placing unit 5 includes two stirrup picking and placing assemblies 52, and the two stirrup picking and placing assemblies 52 are fixed on the strip-shaped mounting body 53. One of the stirrup picking and placing assemblies 52 is located on the first side of the push-pull direction of the first push-pull assembly 51, and the other stirrup picking and placing assembly 52 is located on the second side of the push-pull direction of the first push-pull assembly 51. And the first side and the second side are in a relative positional relationship. In the present application, by making the stirrup transport device include two stirrup picking and placing assemblies 52, under the action of the two stirrup picking and placing assemblies 52, two positions of the stirrup 6 can be grasped, thereby making the stirrup 6 grasped more securely, alleviating the stirrup 6 from being misplaced or falling during the grasping and transporting process, and further improving the reliability of the transport of the stirrup 6. In addition, by locating the two stirrup picking and placing components 52 on both sides of the push-pull direction of the first push-pull component 51, the distance between the grasping positions of the two stirrup picking and placing components 52 can be increased, so that the stirrup picking and placing unit 5 can grasp the transported stirrups 6 more firmly.

[0109] Specific as Figures 1 to 6 As shown, the stirrup transfer device also includes a first mounting seat 55, a first slider 56 and a first guide rail 54 slidably adapted to the first slider 56. The first mounting seat 55 is fixed on the mounting arm 4, and the first push-pull assembly 51 is fixed on the first mounting seat 55; the first guide rail 54 is installed on the first mounting seat 55, and the first guide rail 54 extends downward. The first slider 56 is slidably matched with the first guide rail 54, and the strip-shaped mounting body 53 is fixedly connected to the first slider 56. During the push-pull process of the first push-pull assembly 51, the strip-shaped mounting body 53 can drive the two stirrup picking and placing assemblies 52 to move along the first guide rail 54 through the first slider 56. Under the action of the first guide rail 54 and the first slider 56, the stirrup picking and placing unit 5 can have better positioning accuracy, and thus the stirrup 6 can be obtained from the welding workbench 1 more accurately and reliably.

[0110] As some preferred embodiments of the present application, the stirrup picking and placing assembly 52 can be further selectively made into a pneumatic clamp or a hydraulic clamp. By setting the stirrup picking and placing assembly 52 as a pneumatic clamp and taking advantage of the rapid response of the pneumatic clamp, the present application can effectively improve the grabbing speed of the stirrup 6, thereby improving the transportation efficiency of the stirrup 6, and further improving the production efficiency of the stirrup 6. In addition, 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. Not only that, by making the stirrup picking and placing assembly 52 into a pneumatic clamp, it is also convenient to realize the automatic control of the stirrup picking and placing assembly 52, and it also has the advantages of low cost of use. Similarly, by making the first push-pull assembly 51 into a pneumatic telescopic cylinder, the present application also has the advantages of rapid response and low cost of use.

[0111] In a specific implementation, one stirrup pick-and-place assembly 52 is used to clamp the first section of the stirrup 6, and the other stirrup pick-and-place assembly 52 is used to clamp the second section of the stirrup 6. In a 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 is controlled by the control unit. In a specific implementation, the pneumatic clamp is controlled by the control unit and realizes its clamping function or release function according to actual process requirements.

[0112] It should be pointed out that the first section of the stirrup 6 and the second section of the stirrup 6 can be adjacent straight sections of the stirrup 6 or opposite straight sections of the stirrup 6. In the specific implementation, it is preferred that the first section of the stirrup 6 and the second end of the stirrup 6 are set as adjacent straight sections of the stirrup 6. By clamping at two points, the stirrup 6 can be better clamped, thereby alleviating problems such as displacement and rotation of the stirrup 6 during the clamping process.

[0113] As some preferred embodiments of the present application, the stirrup transport device may further include an installation arm driving unit 7, wherein the installation arm 4 is connected to the load-bearing beam 32 via the installation arm driving unit 7, and the installation arm driving unit 7 is controlled by the control unit; the installation arm driving unit 7 is configured to be able to drive the installation arm 4 to move along the load-bearing beam 32. The present application connects the installation arm 4 to the load-bearing beam 32 via the installation arm driving unit 7, and then, under the action of the installation arm driving unit 7, the installation arm 4 can be driven to move along the load-bearing beam 32, thereby better meeting the transport needs of the stirrup transport device. In addition, the present application enables the installation arm driving unit 7 to be controlled by the control unit, and then the positions of the installation arm 4 and the stirrup picking and placing unit 5 can be adjusted by the control unit to better realize the automated transport process of the stirrup transport device.

[0114] It should be noted that the mounting arm driving unit 7 of the present application may be any driving component capable of driving the mounting arm 4 and moving along the extension direction of the load-bearing beam 32. Further, the mounting arm driving unit 7 is connected to the control unit circuit and is controlled by the control unit.

[0115] As some preferred embodiments of the present application, the mounting arm driving unit 7 can be further configured as a linear motor module, which is fixed on the load beam 32 along the extension direction of the load beam 32, and the mounting arm 4 is transmission-connected to the load beam 32 via the linear motor module, and the linear motor module is electrically connected to the control unit and is controlled by the control unit. Figure 1 , Figure 2 , Fig.13 and Fig.14 As shown, the mounting arm driving unit 7 is a linear motor module, which is fixed on one side of the load-bearing beam 32 along the extension direction of the load-bearing beam 32, and the mounting arm 4 is connected to the load-bearing beam 32 through the linear motor module. In a specific implementation, the function of driving the mounting arm 4 is achieved by energizing the linear motor module. In a specific implementation, the stator of the linear motor module is fixed on one side of the load-bearing beam 32 along the extension direction of the load-bearing beam 32, so that the mover of the linear motor module is fixed to the mounting arm 4, and the mounting arm 4 includes a mounting arm body 41 and a connecting flange 42, and 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 parts such as screws and bolts, or it can be connected by welding). In a specific implementation, the linear motor module is electrically connected to the control unit and controlled by the control unit, and 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-bearing beam 32 to the set position.

[0116] As some convertible embodiments of the present application, the mounting arm driving unit 7 is selectively made to be 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, the mounting arm 4 is connected to the load beam 32 through the gear rack linear module, and the driving motor of the gear rack linear module is electrically connected to the control unit and controlled by the control unit. In the specific implementation, the gear rack linear module includes a driving motor, a transmission gear, a rack, a slide and a guide rail adapted to the slide. In the specific implementation, the transmission gear is connected to the output shaft of the driving motor, the transmission gear is meshed with the rack, the guide rail and the rack are 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). Further, the control unit is connected to the driving motor circuit included in the gear rack linear module, and the driving motor is controlled by the control unit. In specific implementation, 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.

[0117] As some convertible embodiments of the present application, the installation arm drive unit 7 is selectively made to be a screw slide module, the screw slide module is fixed on the load beam 32 along the extension direction of the load beam 32, the installation arm 4 is connected to the load beam 32 through the screw slide module, and the drive motor of the screw slide module is electrically connected to the control unit and controlled by the control unit. In the specific implementation, the screw slider includes a drive motor, a screw, a slide adapted to the screw, and a slide rail adapted to the slide. 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 is fixedly connected to the installation arm 4. When the drive motor is powered, the motor drives the screw to rotate, and in the process of the screw rotating, the installation arm 4 is driven to move along the slide rail through the slide (not shown). Further, the control unit is connected to the drive motor circuit included in the screw slide module, and the drive motor is controlled by the control unit. In specific implementation, 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.

[0118] As some convertible embodiments of the present application, the mounting arm driving unit 7 is selectively made to be a synchronous belt linear module, the synchronous belt linear module is fixed on the load beam 32 along the extension direction of the load beam 32, the mounting arm 4 is transmission-connected to the load beam 32 via the synchronous belt linear module, and the linear motor of the synchronous belt linear module is electrically connected to the control unit and controlled by the control unit. In specific implementation, the control unit controls the driving motor according to the actual working conditions to drive the mounting arm 4 to run along the load beam 32 to a set position.

[0119] In addition, the present application also provides a stirrup processing equipment, which includes a welding workbench 1, and the welding workbench 1 is configured to constrain the stirrup 6 to a position that meets welding conditions; and a stirrup transfer device as described in some of the aforementioned embodiments.

[0120] It should 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 6. In specific implementation, it is preferred that the welding workbench 1 is a welding workbench 1 that can automatically constrain the stirrups 6 and make the stirrups 6 meet the welding conditions.

[0121] As some preferred embodiments of the present application, Figures 7 to 11 As shown, the welding workbench 1 further selectively includes a bearing platform 11, a clamping unit 12, a first stirrup push-pull assembly 13 and a second stirrup push-pull assembly 14. The clamping unit 12 is fixed on the bearing platform 11, and is used to clamp the stirrup 6 to the bearing platform 11 in the vertical direction. The clamping unit 12 includes a clamping member 122, and the clamping portion of the clamping member 122 has a clamping position for clamping the stirrup 6 to the bearing platform 11 and a yielding position away from the stirrup 6.

[0122] like Figures 7 to 9 As shown, the first stirrup push-pull assembly 13 is installed on the upper surface of the carrier 11, and the first stirrup push-pull assembly 13 is used to push the first welding section 61 of the stirrup 6 to move toward the second welding section 62 to the welding position. The second stirrup push-pull assembly 14 is installed on the upper surface of the carrier 11, and the second stirrup push-pull assembly 14 is used to push the second welding section 62 of the stirrup to move toward the first welding section 61 to the welding position. In the specific implementation, the first stirrup push-pull assembly 13 is further controlled by the control unit to adjust the position of the push-pull end of the first stirrup push-pull assembly 13; and the second stirrup push-pull assembly 14 is controlled by the control unit to adjust the position of the push-pull end of the second stirrup push-pull assembly 14.

[0123] It should also be pointed out that the pressing unit in the present application is not specifically limited, and it can be any pressing unit that can press the welded stirrup 6 onto the bearing surface of the bearing platform 11. In specific implementation, Fig.10 and Fig.11 As shown, the pressing unit 12 includes a telescopic assembly 121 and a pressing member 122. When the telescopic end 1211 of the telescopic assembly extends to a set position, the telescopic assembly 121 drives the pressing member 122 to press the stirrup 6 on the bearing platform 11. When the telescopic end 1211 of the telescopic assembly retracts to the set position, the telescopic assembly 121 drives the pressing end 1222 of the pressing member 122 to move upward and release the stirrup 6 on the bearing platform 11.

[0124] It should also be pointed out that the first stirrup push-pull assembly 13 in the present application is not specifically limited, and it can be any assembly that can act on the first welding section 61 of the stirrup 6 and move to the second welding section 62 of the stirrup 6 to the set welding position. In specific implementation, the first stirrup push-pull assembly 13 can be selectively set to include one of a pneumatic telescopic cylinder, a hydraulic telescopic cylinder, a screw slider module, a gear rack module, a linear motor module, etc. In specific implementation, it is preferred that the first stirrup push-pull assembly 13 is a pneumatic telescopic cylinder, and the pneumatic telescopic cylinder is connected to the pressure gas source (gas pressure tank, gas pump, etc.) through a control valve. Further, the control unit controls the control valve, and the control valve can be selectively switched to a position where the telescopic rod of the pneumatic telescopic cylinder can be extended, or the control valve can be switched to a position where the telescopic rod of the pneumatic telescopic cylinder can be retracted. In specific implementation, it is preferred that the control valve is set to a two-position five-way electromagnetic reversing valve, etc.

[0125] In the specific implementation, the second stirrup push-pull assembly 14 in the present application is not specifically limited, and it can be any assembly that can act on the second welding section 62 of the stirrup 6 and move to the set position toward the first welding section 61 of the stirrup 6. In the specific implementation, the second stirrup push-pull assembly 14 can be selectively set to include one of a pneumatic telescopic cylinder, a hydraulic telescopic cylinder, a screw slider module, a gear rack module, a linear motor, etc. Preferably, the second stirrup push-pull assembly 14 is a pneumatic telescopic cylinder, and the pneumatic telescopic cylinder is connected to the pressure gas source (gas pressure tank, gas pump, etc.) through a control valve. Further, the control unit controls the control valve, and the control valve can be selectively switched to a position where the telescopic rod of the pneumatic telescopic cylinder can be extended, or the control valve can be switched to a position where the telescopic rod of the pneumatic telescopic cylinder can be retracted. In the specific implementation, the control valve is preferably set to a two-position five-way electromagnetic reversing valve, etc.

[0126] It should be noted that the "first welding section" in the present application is a section of the stirrup that needs to be welded; similarly, the "second welding section" in the present application is another section of the stirrup 6 that needs to be welded; in the specific implementation, such as Fig.16 As shown, the stirrup 6 is welded to connect the first welding section 61 and the second welding section 62 by a welding gun 81 so that the stirrup 6 is welded into a closed structure.

[0127] It should be noted that the "welding position" in "the first welding section moves toward the second welding section to the welding position" in the present application refers to the position where the first welding section 61 is located when the first welding section 61 moves toward the second welding section 62 under the action of external force to meet the welding requirements of the stirrup 6. In a specific implementation, the external force applied to the first welding section 61 is provided by the first stirrup push-pull assembly 13.

[0128] It should also be pointed out that the "welding position" in "the second welding section moves toward the first welding section to the welding position" in this application refers to the position where the second welding section 62 is located when the second welding section 62 moves toward the first welding section 61 under the action of external force to meet the welding requirements of the stirrup 6. In specific implementation, the external force applied to the second welding section 62 is provided by the second stirrup push-pull assembly 14.

[0129] As some preferred embodiments of the present application, Figures 7 to 9 As shown, the welding workbench 1 further selectively includes a third stirrup push-pull assembly 15 and a fourth stirrup push-pull assembly 16. The third stirrup push-pull assembly 15 is installed on the upper surface of the bearing platform 11. The third stirrup push-pull assembly 15 is used to push the first straight section 63 adjacent to the second welding section 62 toward the inner side of the stirrup 6 body to a set position. The fourth stirrup push-pull assembly 16 is installed on the upper surface of the bearing platform 11. The fourth stirrup push-pull assembly 16 is used to push the first straight section 63 toward the outer side of the stirrup body to a set position. The third stirrup push-pull assembly 15 and the fourth stirrup push-pull assembly 16 are further offset relative to each other, as shown in FIG. Fig. 9 As shown, the distance a between the position of the first straight section 63 pushed by the third stirrup push-pull assembly 15 and the second welding section 62 is greater than the distance b between the position of the first straight section 63 pushed by the fourth stirrup push-pull assembly 16 and the second welding section 62.

[0130] It should be noted that the third stirrup push-pull assembly 15 in the present application is not specifically limited, and can be any stirrup push-pull assembly that can move the first straight section 63 of the stirrup 6 toward the inner side of the body of the stirrup 6 to a set position. In specific implementation, the third stirrup push-pull assembly 15 can be selectively configured to include one of a pneumatic telescopic cylinder, a hydraulic telescopic cylinder, a screw slider module, a gear rack module, a linear motor, etc.

[0131] In a specific implementation, the third stirrup push-pull assembly 15 is preferably a pneumatic telescopic cylinder, and the pneumatic telescopic cylinder is connected to the pressure gas source (gas pressure tank, gas pump, etc.) through a control valve. The control unit further controls the control valve, and the control valve can be selectively switched to a position where the telescopic rod of the pneumatic telescopic cylinder can be extended, or the control valve can be switched to a position where the telescopic rod of the pneumatic telescopic cylinder can be retracted. In a specific implementation, the control valve is preferably set to a two-position five-way electromagnetic reversing valve, etc.

[0132] Specific as Figures 7 to 9 As shown, the cylinder body of the third stirrup push-pull assembly 15 is fixed on the upper surface of the supporting platform 11, and the telescopic direction of the telescopic rod of the third stirrup push-pull assembly 15 is perpendicular or substantially perpendicular to the push-pull direction of the first stirrup push-pull assembly 13. Under the action of the third stirrup push-pull assembly 15, the first straight section 63 of the stirrup 6 can be pushed toward the inner side of the main body of the stirrup 6 to a set position.

[0133] Similarly, the fourth stirrup push-pull assembly 16 in the present application is not specifically limited, and it can be any stirrup push-pull assembly that can move the first straight section 63 of the stirrup 6 toward the outside of the body of the stirrup 6 to a set position. In specific implementation, the fourth stirrup push-pull assembly 16 can be selectively set to include a stirrup push-pull assembly selected from a pneumatic telescopic cylinder, a hydraulic telescopic cylinder, a screw slider module, a gear rack module, a linear motor, etc. In specific implementation, it is preferred that the fourth stirrup push-pull assembly 16 is a pneumatic telescopic cylinder, and the pneumatic telescopic cylinder is connected to the pressure gas source (gas pressure tank, gas pump, etc.) through a control valve. In specific implementation, the control unit controls the control valve, and can selectively switch the control valve to a position where the telescopic rod of the pneumatic telescopic cylinder can be extended, or switch the control valve to a position where the telescopic rod of the pneumatic telescopic cylinder can be retracted; in specific implementation, it is preferred that the control valve is set to a two-position five-way electromagnetic reversing valve, etc.

[0134] It should also be noted that the "first straight section" in the present application is a component of the stirrup 6, specifically a straight section adjacent to the second welding section 62 of the stirrup 6 (specifically, Fig.15 and Fig.16 shown).

[0135] As some preferred embodiments of the present application, Figure 7 and Fig. 9 As shown, the welding workbench 1 further selectively includes a positioning stopper 17, which is fixed on the upper surface of the bearing platform 11, and is opposite to the push-pull end of the fourth stirrup push-pull assembly 16. The positioning stopper 17 is provided with a stopper surface 171 facing the fourth stirrup push-pull assembly 16, and the fourth stirrup push-pull assembly 16 is used to push a portion of the first straight section 63 to the stopper surface 171. It should be noted that the structure of the positioning stopper 17 in the present application is not specifically limited. Figure 7 As shown, the positioning stopper 17 is a block structure, and the positioning stopper 17 is fixed to the upper surface of the bearing platform 11 . Furthermore, a stop surface 171 of the positioning stopper 17 is directly opposite to the push-pull end of the fourth stirrup push-pull assembly 16 .

[0136] As some preferred embodiments of the present application, the pressing unit 12 further selectively includes a telescopic assembly 121, a pressing member 122, a hinged support 123 and a connecting arm 124. Figures 7 to 11 As shown, the telescopic assembly 121 is fixed on the bearing platform 11, and the telescopic end 1211 of the telescopic assembly can extend upward to a first position and retract downward to a second position. In the specific working process, when the telescopic end extends to the first position, the pressing member 122 is in a position that can press the stirrup 6 to the bearing platform 11 (not shown in the figure); when the telescopic end retracts to the second position, the pressing member 122 is in a position away from the stirrup 6 (as shown in the figure); Fig.10and Fig.11 shown).

[0137] In specific implementation, Figure 8.1 , Fig.10 and Fig.11 As shown, the clamping member 122 can be further selectively made into a strip structure including a connecting end 1221 and a clamping end 1222, the clamping portion is located at the clamping end 1222, the connecting end 1221 of the clamping member 122 is hinged to the telescopic end 1211 of the telescopic assembly; the hinged support 123 is fixed on the supporting platform 11, and the hinged support 123 is located between the telescopic end and the contour of the stirrup 6 during welding; one end of the connecting arm 124 is hinged to the hinged support 123, and the other end of the connecting arm 124 is hinged to the clamping member 122, and the hinged position of the connecting arm 124 and the clamping member 122 is located between the connecting end 1221 and the clamping end 1222.

[0138] As some preferred embodiments of the present application, Figure 8.2 As shown, the welding workbench 1 further selectively includes a first supporting member 181, and the first supporting member 181 has a first bearing surface 1811. Figure 6 and Figure 7 As shown, a plurality of first support members 181 are fixed on the bearing platform 11 at intervals along the extension direction of the supported stirrup 6, and the first bearing surfaces 1811 of the plurality of first support members 181 are in the same plane. In specific operation, when the pressing member 122 is in the position of pressing the stirrup 6 to the bearing platform 11, the pressing member 122 can press the stirrup 6 to the first bearing surface 1811.

[0139] It should be pointed out that the number of the first support members 181 is not specifically limited and can be selectively set according to actual needs. In specific implementation, the number of the first support members 181 can be selectively two, three, four, five, six, seven or more than eight. In specific implementation, it is preferred to set the first support member 181 at least at the position of the bearing platform 11 corresponding to the pressing member 122 included in the pressing unit 12. The first support member 181 that can support the stirrup 6 can also be selectively set at other positions of the bearing platform 11.

[0140] It should be noted that the first bearing surfaces 1811 of the multiple first supporting members 181 in the present application are in the same plane, which includes the situation where the first bearing surfaces 1811 of the multiple supporting members are substantially in the same plane due to factors such as processing and installation errors.

[0141] As some preferred embodiments of the present application, Figure 8 and Figure 8.2As shown, the welding workbench 1 further selectively includes a stirrup limiting unit 19, the stirrup limiting unit 19 has a stirrup limiting groove 191, and a plurality of stirrup limiting units 19 are fixed at intervals on the upper surface of the bearing platform 11, and each stirrup limiting groove 191 extends along the extension direction of the stirrup 6 during welding. It should be noted that the structural form of the stirrup limiting unit 19 is not specifically limited, and it can be any structure, unit or device that includes a stirrup limiting groove 191 and can constrain the stirrup 6.

[0142] As some preferred embodiments of the present application, Figure 1 and Figure 2 As shown, the stirrup processing equipment further selectively includes a welding machine, which is configured to be controlled by the control unit. The welding machine includes a welding gun 81 and a wire feeder 82. The welding gun 81 is connected to the mounting arm 4, and the welding gun 81 is configured to be able to weld the stirrups 6 on the welding workbench 1; the wire feeder 82 is configured to provide welding wire for the welding gun 81. In specific implementation, the welding gun 81 and the information acquisition unit 10 can be further installed on both sides of the mounting arm 4 along the extension direction of the load-bearing beam 32. The present application enables the welding machine to be controlled by the control unit, thereby enabling the welding machine to automatically weld the processed stirrups 6 according to the settings. The stirrup processing equipment of the present application includes a stirrup detection unit, a stirrup transfer device and a welding machine, thereby enabling the stirrup processing equipment to have the functions of stirrup welding, stirrup detection and stirrup transfer. Under the control of the control unit, the automated production of stirrups 6 can be realized, which can effectively improve the processing efficiency of stirrups 6 and the production efficiency of related products.

[0143] In specific implementation, Figure 1 , Figure 2 , Fig.13 and Fig.14 As shown, a mounting plate 9 for fixing a wire feeder 82 is connected to the mounting arm 4, and the wire feeder 82 is fixed on the mounting plate 9. The mounting plate 9 can drive the wire feeder 82 to move synchronously with the movement of the mounting arm 4. As a convertible embodiment, the mounting plate 9 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.

[0144] As some preferred embodiments of the present application, Figure 3 and Figure 5As shown, the stirrup processing equipment can further selectively include a second push-pull assembly 83 and a welding gun mounting seat 84, the second push-pull assembly 83 is installed on the mounting arm 4, and the push-pull end 831 of the second push-pull assembly faces downward, and the second push-pull assembly 83 is controlled by the control unit; the welding gun mounting seat 84 is connected to the push-pull end 831 of the second push-pull assembly, and the welding gun 81 is fixed on the welding gun mounting seat 84. The present application enables the stirrup processing equipment to include the second push-pull assembly 83, and then the position adjustment of the welding gun 81 in the vertical direction can be achieved under the action of the second push-pull assembly 83. The second push-pull assembly 83 is installed on the mounting arm 4, so that the welding gun 81 can move along the bearing beam 32 with the second push-pull assembly 83; so as to better meet the needs of stirrup 6 processing. Further, the second push-pull assembly 83 is controlled by the control unit to realize the automatic adjustment of the vertical position of the welding gun 81.

[0145] As a convertible embodiment under some of the aforementioned embodiments, the second push-pull assembly 83 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. The present application connects the welding gun 81 to the second push-pull assembly 83 fixed on the mounting arm 4. Under the action of the second push-pull assembly 83, the position of the welding gun 81 can be adjusted according to processing needs, so that the welding gun 81 has a welding position and an avoidance position during operation. In addition, the present application enables the second push-pull assembly 83 to be a pneumatic telescopic cylinder, a hydraulic telescopic cylinder, etc., so that the second push-pull assembly 83 can be controlled by the control unit, thereby realizing the function of automatically adjusting the position of the welding gun 81.

[0146] In the specific implementation, it is further preferred that when the second push-pull assembly 83 is a pneumatic telescopic cylinder, the second push-pull assembly 83 is connected to the gas circuit of the pressure gas source (gas storage tank, gas pump, etc.) through the 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 second push-pull assembly 83 is in an extended state or a retracted state; thereby adjusting the position of the welding gun 81 in the vertical direction.

[0147] As some preferred embodiments of the present application, Figure 3 and Figure 5As shown, the stirrup processing equipment further selectively includes a second mounting seat 87, a second guide rail 86 and a second slider 88. The second mounting seat 87 is fixed on one side of the mounting arm 4, and the second push-pull assembly 83 is fixed on the second mounting seat 87. The second guide rail 86 is fixed on the second mounting seat 87, and the second guide rail 86 extends along the push-pull direction of the second push-pull assembly 83. The second slider 88 is further adapted to be connected with the second guide rail 86, and the second slider 88 can slide along the second guide rail 86; the welding gun mounting seat 84 is fixedly connected with the push-pull end 831 of the second push-pull assembly, and the welding gun mounting seat 84 is connected to the second slider 88; the welding gun 81 is mounted on the welding gun mounting seat 84, and the gun head of the welding gun 81 is set downward. In specific operation, when the second push-pull assembly 83 is pushed and pulled, the welding gun 81 is adjusted upward or downward along the extension direction of the first guide rail 54 with the welding gun mounting seat 84.

[0148] 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 64 after welding) is further selectively made parallel to the moving direction of the mounting arm 4. Figure 1 and Fig.15 As shown, the welding position of the stirrup 6 constrained by the welding workbench 1 extends along the welding direction of the welding gun 81, and then the welding gun 81 meets the conditions for welding the welding position during the movement of the mounting arm 4 along the load-bearing beam 32. The present application makes the welding direction of the welding gun 81 parallel to the movement direction of the mounting arm 4, so that the welding machine can implement and complete the welding process on the stirrup 6 during the movement of the welding gun 81 with the mounting arm 4.

[0149] As some preferred embodiments of the present application, the stirrup processing equipment is further selectively made to include a protective cover 85, which has a position above the welding position, and a through hole is provided in the middle of the protective cover 85; when the welding gun 81 is in the welding position, the protective cover 85 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 85 to below the protective cover 85.

[0150] The present application also provides a stirrup processing system, which includes at least one stirrup processing device in any of the above embodiments, a steel bar bending unit 100, and a stirrup transfer robot 1000. The steel bar bending unit 100 is configured to bend the steel bar into stirrups 6. The stirrup transfer robot 1000 is configured to obtain stirrups 6 from the steel bar bending unit 100 and transfer the obtained stirrups 6 to the welding workbench 1. Fig.13 The stirrup processing system shown in the figure includes a stirrup processing device, which can process one stirrup at a time; Fig.14The stirrup processing system shown comprises another stirrup processing device, which can process two stirrups at one time and has higher stirrup processing efficiency.

[0151] The present application also provides a sleeper production line, which includes a stirrup processing system as described in some embodiments. During the production process of the sleepers, the stirrup processing system provides qualified stirrups for the sleeper production line.

[0152] The stirrup transfer device provided in the present application includes, when working: an information collection unit 10 collects information of the processed stirrup 6; an information processing module collects and processes the information collected by the information collection unit 10, and determines whether the processed stirrup 6 is qualified; and a stirrup picking and placing unit 5 transfers the processed stirrup 6 from the welding workbench 1 to a qualified product placement position or to a non-qualified product placement position according to the judgment result of the information processing module. In specific implementation, the control unit controls the information collection unit 10 to collect information of the processed stirrup 6, and further enables the information processing module to collect and process the information collected by the information collection unit 10. Based on this, the information processing module determines whether the processed stirrup 6 is qualified, and sends corresponding instructions to the control unit. When the detected stirrup 6 is qualified, the control unit controls the stirrup transfer device to transfer the qualified stirrup 6 to the qualified product placement position; when the detected stirrup 6 is unqualified, the control unit controls the stirrup transfer device to transfer the unqualified stirrup 6 to the unqualified product placement position.

[0153] The stirrup processing equipment provided in the present application includes the following processes when working: the welding workbench 1 constrains the stirrup 6 formed after bending to the set welding position; controls the welding gun 81 to weld the set position (the first welding section and the second welding section) of the stirrup 6; the information acquisition unit 10 acquires the information of the welding position of the processed stirrup 6, and determines whether the processed stirrup 6 is qualified; the stirrup picking and placing unit 5 transfers the processed stirrup 6 from the welding workbench 1 to the qualified product placement position or to the unqualified product placement position according to the judgment result of the information processing module.

[0154] In the specific implementation, the stirrup 6 formed after bending is first constrained to the set welding position, and further controlled by the control unit, the welding gun 81 welds the stirrup 6 constrained in the set position. After welding, the information acquisition unit 10 collects the information of the welding position of the processed stirrup 6. Based on this, the information processing module determines whether the processed stirrup 6 is qualified and sends corresponding instructions to the control unit. When the detected stirrup 6 is qualified, the control unit controls the stirrup transfer device to transfer the qualified stirrup 6 to the qualified product placement position; when the detected stirrup 6 is unqualified, the control unit controls the stirrup transfer device to transfer the unqualified stirrup 6 to the unqualified product placement position.

[0155] The stirrup processing system provided in the present application includes the following processes when working: the steel bar bending unit 100 bends the steel bar to form stirrups 6; the stirrup transfer robot 1000 transfers the stirrups 6 formed by the steel bar bending unit 100 to the welding workbench 1; the welding workbench 1 constrains the stirrups 6 to a position that meets the welding conditions; the welder welds the stirrups 6 that meet the welding conditions; the information collection unit 10 at least collects information about the welding area of ​​the stirrups 6; the information processing module collects and processes the information collected by the information collection unit 10, and determines whether the processed stirrups 6 are qualified; the transfer unit transfers the processed stirrups 6 from the welding workbench 1 to a qualified product placement position or to a failed product placement position based on the result determined by the information processing module.

[0156] In the specific implementation, the steel bar bending unit 100 is controlled to bend the steel bar and form the stirrup 6, and then the stirrup transfer robot 1000 is controlled to transfer the stirrup 6 formed by the bending of the steel bar bending unit 100 to the welding workbench 1. The welding workbench 1 further constrains the stirrup 6 to a position that meets the welding conditions, and further controls the control unit to make the welder weld the stirrup 6. After the welding of the stirrup 6 is completed, the information acquisition unit 10 is controlled by the control unit to collect information on the welding area of ​​the stirrup 6. The information processing module collects and processes the information collected by the information acquisition unit 10, and the information processing module judges whether the processed stirrup 6 is qualified based on this, and sends corresponding instructions to the control unit. When the detected stirrup 6 is qualified, the control unit controls the stirrup transfer device to transfer the qualified stirrup 6 to the qualified product placement position; when the detected stirrup 6 is unqualified, the control unit controls the stirrup transfer device to transfer the unqualified stirrup 6 to the unqualified product placement position.

[0157] 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 detection unit, characterized in that: The stirrup detection unit is used to detect whether the processed stirrups are qualified, and the stirrup detection unit includes: An information collection unit, wherein the information collection unit is configured to collect information about the processed stirrups, and the information collected by the information collection unit is used to determine whether the processed stirrups are qualified; An information processing module, wherein the information processing module is configured to collect and process the information collected by the information collection unit, and determine whether the processed stirrups are qualified according to the information collected by the information collection unit; The control unit is connected to the information collection unit by signal, and the information collection unit is controlled by the control unit, and the information processing module is connected to the control unit by signal.

2. The stirrup detection unit according to claim 1, characterized in that: The information collected by the information collection unit includes at least one of the height difference of the welding position, the weld length, the weld height deviation, the weld width, the open weld information and the loosening information.

3. The stirrup detection unit according to claim 2, characterized in that: The information acquisition unit is a 3D industrial camera, or the information acquisition unit is a 2D industrial camera.

4. A stirrup transport device, characterized in that: The stirrup transfer device is configured to transfer the stirrups welded on the welding workbench to the stirrup placement area; the stirrup transfer device also includes: The stirrup detection unit according to any one of claims 1 to 3; A support structure, the support structure comprising a load-bearing beam; a mounting arm connected to the load-bearing beam and configured to be movable along the load-bearing beam; the information collection unit is mounted on the mounting arm and has a position for collecting information of a welding area of ​​the processed stirrup; and A stirrup picking and placing unit, wherein the stirrup picking and placing unit is configured to pick and place stirrups; the stirrup picking and placing unit is connected to the installation arm, and the welding workbench and the stirrup placement area are both located below the movement trajectory of the stirrup picking and placing unit; the stirrup picking and placing unit is connected to a control unit and is controlled by the control unit.

5. The stirrup transport device according to claim 4, characterized in that: The stirrup placement area includes a qualified product placement area and a non-qualified product placement area; The stirrup transfer device is configured as follows: when the processed stirrups are qualified, the stirrup picking and placing unit is controlled by the control unit and can transfer the processed stirrups from the welding workbench to the qualified product placement area; when the processed stirrups are unqualified, the stirrup picking and placing unit is controlled by the control unit and can transfer the processed stirrups from the welding workbench to the unqualified product placement area.

6. The stirrup transport device according to claim 5, characterized in that: The stirrup placing unit comprises: a first push-pull assembly, wherein the first push-pull assembly is fixed on the mounting arm, and a push-pull end of the first push-pull assembly is arranged downward, and the first push-pull assembly is controlled by a control unit; and A stirrup picking and placing assembly is configured to be able to obtain stirrups from the welding workbench, the stirrup picking and placing assembly is connected to the push-pull end of the first push-pull assembly, and the stirrup picking and placing assembly is controlled by a control unit.

7. The stirrup transport device according to claim 6, characterized in that: The stirrup picking and placing assembly is a pneumatic clamp or a hydraulic clamp; and / or, The first push-pull assembly is a pneumatic telescopic cylinder or a hydraulic telescopic cylinder.

8. The stirrup transport device according to any one of claims 5 to 7, characterized in that: The stirrup transport device also includes: The mounting arm driving unit is connected to the load-bearing beam via the mounting arm driving unit, and the mounting arm driving unit is controlled by a control unit; the mounting arm driving unit is configured to drive the mounting arm to move along the load-bearing beam.

9. The stirrup transport device according to claim 8, characterized in that: The mounting arm driving unit 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, the mounting arm is transmission-connected to the load-bearing beam via the linear motor module, the linear motor module is electrically connected to a control unit and is controlled by the control unit; or, The mounting arm driving unit 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, the mounting arm is transmission-connected to the load-bearing beam via the gear rack linear module, and the driving motor of the gear rack linear module is electrically connected to the control unit and controlled by the control unit; or, The mounting arm driving unit is a screw slide module, the screw slide 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 screw slide module, and the driving motor of the screw slide module is electrically connected to the control unit and controlled by the control unit; or, The mounting arm driving unit is a synchronous belt linear module, which 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. The linear motor of the synchronous belt linear module is electrically connected to the control unit and is controlled by the control unit.

10. A stirrup processing equipment, characterized in that: The stirrup processing equipment comprises: The welding workbench is configured to constrain stirrups to a position that satisfies welding conditions; and A stirrup transfer device as claimed in any one of claims 4 to 9.

11. The stirrup processing equipment according to claim 10, characterized in that: The stirrup processing equipment further includes a welding machine, which is configured to be controlled by a control unit, and the welding machine includes: a welding gun connected to the mounting arm and configured to weld the stirrups on the welding table; A wire feeder is configured to provide welding wire to the welding gun.

12. The stirrup processing equipment according to claim 11, characterized in that: The stirrup processing equipment also includes: a second push-pull assembly, wherein the second push-pull assembly is mounted on the mounting arm, and the push-pull end of the second push-pull assembly faces downward, and the second push-pull assembly is controlled by a control unit; A welding gun mounting seat, wherein the welding gun mounting seat is connected to the push-pull end of the second push-pull assembly, and the welding gun is fixed on the welding gun mounting seat.

13. A stirrup processing system, characterized in that: The stirrup processing system comprises at least one stirrup processing device according to any one of claims 10 to 12; a steel bar bending unit configured to bend the steel bars into stirrups; and A stirrup transfer robot is configured to obtain stirrups from the steel bar bending unit and transfer the obtained stirrups to a welding workbench.

14. A sleeper production line, characterized in that: The sleeper production line comprises the stirrup processing system as claimed in claim 13.

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