Automatic mounting robot system for tower column tie bar

Abstract

An automatic mounting robot system for a tower column tie bar, the system comprising an inner cavity platform (1) and an outer cavity platform (3). The inner cavity platform (1) and the outer cavity p

Description

Tower column hook reinforcement automatic installation robot system Technical Field

[0001] The present invention relates to the field of bridge construction, and in particular to a tower column hook reinforcement automatic installation robot system. Background Art

[0002] Componentized rebar construction is one of the future developments in bridge tower construction technology. Rebar is prefabricated into component parts, then hoisted to their designated locations for installation. This process effectively reduces tower reinforcement tying time and improves quality. Componentized rebar can be assembled in a mechanized or semi-mechanized manner in factories or dedicated cradles, effectively reducing labor intensity, improving the working environment, and mitigating the risks of working at height. Technical issues

[0003] During the production of bridge reinforcement components, a large number of hook bars are required for manual installation. This cumbersome process is not conducive to the industrialized construction of bridge reinforcement. A mechanized hook bar installation method is urgently needed to replace manual labor. Technical Solutions

[0004] The main purpose of the present invention is to provide a tower column hook bar automatic installation robot system to solve the problem of purely manual operation of hook bar installation when steel bar components are assembled in a frame.

[0005] To solve the above technical problems, the technical solution adopted by the present invention is: a tower column hook reinforcement automatic installation robot system, including an inner cavity platform and an outer cavity platform, the inner cavity platform and the outer cavity platform are arranged on both sides of the steel bar component, the outer cavity platform is provided with an automatic feeding robot, and a hook reinforcement material rack is provided on one side of the automatic feeding robot, and the inner cavity platform is provided with a welding robot, and the welding robot is provided with a bending and welding device;

[0006] The automatic feeding robot passes the straight end of the hook bar through the steel bar component, and the welding robot bends the straight end of the hook bar and welds it to the steel bar component through a welding device.

[0007] In the preferred embodiment, a feeding sliding platform is provided on the outer cavity platform. One side of the feeding sliding platform is slidably connected to the outer cavity platform, and the feeding sliding platform is driven to slide up and down on the outer cavity platform by a gear rack. The other side is supported by a plurality of sliding rollers on the supporting column of the outer cavity platform. The automatic feeding robot and the hook reinforcement rack are arranged on the feeding sliding platform.

[0008] In the preferred embodiment, the automatic feeding robot and the hook reinforcement material rack are arranged on the first mounting base, the first mounting base is slidably connected to the feeding sliding platform, and the driving motor on the first mounting base drives the first mounting base to slide on the feeding sliding platform through the engagement of the gear and the second rack.

[0009] In the preferred embodiment, the structure of the hook bar material rack is as follows: a rectangular frame forms a U-shaped hook bar material discharge trough, the lower end opening of the hook bar material discharge trough is clamped with the fixed table, an automatic material picker is provided under the fixed table, the automatic material picker is slidably connected to the fixed table, a plurality of material picker rods are provided on the automatic material picker, and the ends of the material picker rods are provided with a groove body for placing the hook bar, and the first cylinder telescopic rod inside the fixed table is connected to the automatic material picker;

[0010] The hook bar discharge trough is provided with a plurality of second wedge-shaped seats, and the fixed table is provided with a plurality of first wedge-shaped seats matching the second wedge-shaped seats. The hook bar discharge trough is suspended on the fixed table by the first wedge-shaped seats and the second wedge-shaped seats.

[0011] The first wedge-shaped seat and the second wedge-shaped seat are connected by a plurality of locking buckles;

[0012] A plurality of limit pins are provided at the opening of the lower end of the hook bar discharge trough. The bent position of one end of the limit pin is stuck on one side of the hook bar discharge trough, and the straight section of the other end is horizontal to the opening of the lower end of the hook bar discharge trough;

[0013] After the automatic material picking rack retracts, the hook reinforcement inside the hook reinforcement discharge trough falls on the trough body at the end of the material picking rod, and then is pushed out by the first cylinder to complete the material picking.

[0014] In the preferred embodiment, a plurality of avoidance grooves are provided on the fixed table, a plurality of unloading limit blocks are provided on the automatic material picking rack, the unloading limit blocks are slidably connected to the automatic material picking rack, the unloading limit blocks are arranged inside the avoidance grooves, and the upper ends of the unloading limit blocks are arranged below the hook bar discharge trough;

[0015] The unloading limit block is retracted by the automatic material picking rack to make the hook bar fall onto the material picking rod. When pushing, the unloading limit block is stuck in the position below the hook bar discharge trough to limit the hook bar from falling.

[0016] In the preferred embodiment, the automatic feeding manipulator is a multi-degree-of-freedom manipulator, the end of the lifting arm of the automatic feeding manipulator is provided with a feeding electric push rod, the sliding plate of the feeding electric push rod is provided with a hook clamping arm, the end of the hook clamping arm is connected to the rotating motor, and the rotating motor is connected to the sliding plate of the feeding electric push rod;

[0017] The hook reinforcement clamping arm is provided with a plurality of second cylinders, and the ends of the second cylinders are provided with clamping claws, which are used to clamp the straight section of the hook reinforcement;

[0018] A hook bar clamping claw is provided on the second cylinder at the end of the hook bar clamping arm. The hook bar clamping claw is a right-angle structure. The bending positions of the two hook bar clamping claws form a clamping groove. The hook bar clamping claw is used to clamp the bent section of the hook bar.

[0019] The upper right-angle positions of the clamping claw and the hook bar clamping claw are rotatably connected to the second cylinder, and the upper right-angle ends of the clamping claw and the hook bar clamping claw are hinged to the telescopic rod of the second cylinder.

[0020] In a preferred embodiment, the inner cavity platform is slidably connected to the welding sliding platform, and the driving motor on the welding sliding platform drives the welding sliding platform to slide on the inner cavity platform through the engagement of the gear and the third rack;

[0021] The welding manipulator is arranged on the second mounting base, and the driving motor on the second mounting base causes the second mounting base to slide horizontally on the welding sliding platform through the gear rack;

[0022] The welding manipulator is a multi-degree-of-freedom manipulator. The welding bending device is arranged on the welding manipulator. The welding bending device includes a bending device and a welding gun control device. The welding gun control device is arranged on the bending device. The welding gun is arranged on the welding gun control device, and the welding gun control device controls the welding gun to move in multiple positions for welding.

[0023] In the preferred embodiment, the bending device includes a fixed frame connected to the welding manipulator, and a hook reinforcement clamping seat is provided on one side of the fixed frame, and the hook reinforcement clamping seat is used to clamp the straight section of the hook reinforcement;

[0024] A bending electric push rod is provided on one side of the fixed frame, and a fixed support arm is provided on the bending electric push rod. The end of the telescopic rod of the bending electric push rod is hinged to the end of the bending arm, and the end of the fixed support arm is hinged to the middle part of the bending arm through the bending hinge arm. The end of the bending arm is provided with a V-shaped bending positioning groove;

[0025] After the hook bar clamping seat clamps the straight section of the hook bar, the bending electric push rod pushes the bending arm to bend the straight end of the hook bar;

[0026] The hook bar clamping seat is arranged on one side of the fixed frame, and the fixed frame is provided with a positioning slot on one side of the hook bar clamping seat position, and the steel bar of the steel bar component is positioned on the positioning slot;

[0027] The hook bar clamping seat includes two clamping upper clamping blocks and a lower clamping block, and the two clamping blocks are driven to clamp by two fifth cylinders respectively;

[0028] The end of the compression push rod of the fifth cylinder is connected to the push slider, the push slider is slidably connected to the fixed plate, the fixed plate is fixedly connected to the fixed frame, the lower end of the push slider is hinged to the upper clamping block by pushing the hinge rod, and the upper clamping block is slidably connected to the fixed plate through multiple guide columns;

[0029] The upper clamping block and the lower clamping block are provided with hook bar clamping grooves, which are used to clamp the hook bar;

[0030] The upper clamping block is provided with a plurality of positioning protrusions, and the lower clamping block is provided with a plurality of positioning grooves that match the bending positioning grooves;

[0031] The structure of the welding gun control device is as follows: the welding gun mounting frame is arranged on one side of the bending device, the welding gun is arranged on the slide, the slide is slidably connected to the slide, the slide is laterally slidably connected to the sliding rod of the welding gun mounting frame, the end of the telescopic rod of the third cylinder on the welding gun mounting frame is connected to the slide, and the end of the telescopic rod of the fourth cylinder on the side of the welding gun mounting frame is connected to the slide;

[0032] The welding end of the welding gun extends into the interior of the bending device, and the third cylinder and the fourth cylinder move the welding gun position to weld the hook bar to the steel bar component.

[0033] In the preferred embodiment, video monitoring equipment is provided on the inner cavity platform and the outer cavity platform, and the video monitoring equipment is used to control the insertion position of the hook reinforcement;

[0034] The inner cavity platform and the outer cavity platform are also provided with an artificial platform, which can be folded to allow the feeding sliding platform and the welding sliding platform to slide up and down on the inner cavity platform and the outer cavity platform;

[0035] A supporting cross frame is provided on one side of the artificial platform, which is hinged to the supporting cross frame, which is hinged to the end of the bent long rod of the retracting arm, the end of the telescopic rod of the sixth cylinder on the supporting cross frame is hinged to the bent position of the retracting arm, the end of the bent short rod of the retracting arm is hinged to the retracting hinged rod, and the end of the retracting hinged rod is hinged to one side of the artificial platform;

[0036] The supporting columns of the inner cavity platform and the outer cavity platform are provided with limit blocks, and the lower end of the artificial platform abuts against the limit blocks after it is unfolded;

[0037] A plurality of ground rails are provided at the lower end of the inner cavity platform. The ground rails are arranged on the ground through anchor rods, and the inner cavity platform is slidably connected to the ground rails. Beneficial effects

[0038] This invention provides a robotic system for automatically installing hook reinforcement for tower columns. When steel components are assembled on a jig, hook reinforcement is the final step. A jig is provided for assembling steel components, which is divided into an inner chamber and an outer chamber. A manual work platform is installed on each of the inner and outer chambers. The platform can move up and down along the jig column and can be fixed at several points.

[0039] On the outer cavity bracket of the component frame, an automatic hook bar grabbing mechanism is set at the bottom. The present invention mainly uses a mechanical device to complete the automatic loading, point finding, feeding, installation, bending, welding and other tasks of the hook bar in the steel bar component frame. It replaces manual work and realizes the automatic installation of the hook bar. This platform is a mechanism bearing platform, which is controlled by a servo motor to move up and down. The hook bar material rack and the hook bar feeding mechanism are installed on this platform. The hook bar material rack is a fixed position, and the feeding mechanism can slide along the platform. It is convenient for taking the hook bar. At present, the material taking mechanism is set as a three-coordinate mechanism, and a manipulator is used instead of three-coordinate movement. Multiple clamps are used for material taking. At the same time, the material taking mechanism is provided with a welding gun, machine vision and other structures.

[0040] The inner platform of the component frame features a hook bar bending mechanism at the bottom. This mechanism features a hook bar slot, which allows the hook bar to be clamped near the bending point and within the rebar component, preventing the hook bar from bending. The bending mechanism also incorporates a bending mechanism that allows the hook bar to be bent on-site. It also integrates machine vision recognition, a welding gun, and other mechanisms. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The present invention will be further described below with reference to the accompanying drawings and examples:

[0042] FIG1 is a front view of the overall installation structure of the present invention;

[0043] FIG2 is a rear view diagram of the overall installation structure of the present invention;

[0044] FIG3 is a top view of the overall installation structure of the present invention;

[0045] FIG4 is a diagram showing the installation structure of the inner cavity platform and the outer cavity platform of the present invention;

[0046] FIG5 is a diagram showing the overall structure of the external cavity platform of the present invention;

[0047] 6 is a diagram showing the overall installation structure of the hook reinforcement rack and the automatic feeding manipulator of the present invention;

[0048] 7 is a front structural diagram of the hook reinforcement rack of the present invention;

[0049] 8 is a rear structural diagram of the hook reinforcement rack of the present invention;

[0050] 9 is a diagram of the disassembled structure of the hook reinforcement rack of the present invention;

[0051] 10 is a cross-sectional structural diagram of the automatic reclaimer installation of the hook reinforcement rack of the present invention;

[0052] 11 is a cross-sectional structural diagram of the installation of the limit pull pin of the present invention;

[0053] 12 is a cross-sectional structural diagram of the blanking limit block installation of the present invention;

[0054] 13 is a structural diagram of the automatic feeding manipulator of the present invention;

[0055] 14 is a diagram of the installation structure of the feed electric push rod and the hook reinforcement clamping arm of the present invention;

[0056] 15 is a disassembled structural diagram of the hook reinforcement clamping arm of the present invention;

[0057] 16 is a diagram of the internal structure of the clamping cylinder of the present invention;

[0058] FIG17 is a left side overall structural diagram of the inner cavity platform of the present invention;

[0059] FIG18 is a right side view of the overall structure of the inner cavity platform of the present invention;

[0060] 19 is a general structural diagram of the welding manipulator of the present invention;

[0061] 20 is a diagram showing the installation structure of the welding gun control device and the bending device of the present invention;

[0062] 21 is a left side view of the installation structure of the welding gun control device of the present invention;

[0063] 22 is a right side view of the installation structure of the welding gun control device of the present invention;

[0064] 23 is a diagram of the installation structure of the hook clamping seat of the present invention;

[0065] 24 is a cross-sectional structural diagram of the hook reinforcement clamping seat of the present invention;

[0066] FIG25 is a diagram showing the overall structure of the bending device of the present invention;

[0067] FIG26 is a top view schematic diagram of the bending structure of the bending device of the present invention;

[0068] FIG27 is a side structural diagram of the bending device of the present invention;

[0069] FIG28 is a structural diagram of the bending principle of a single bending device of the present invention;

[0070] FIG29 is a diagram showing the folding and unfolding structure of the artificial platform of the present invention;

[0071] Figure 30 is a main structural diagram of the folded and unfolded artificial platform of the present invention.

[0072] Figure: Inner cavity platform 1; Rebar component 2; Outer cavity platform 3; Artificial platform 4; Ground rail 5; Anchor rod 501; First rack 6; Rebar hook rack 7; Fixed table 701; Locking buckle 702; Limit pull pin 703; First wedge seat 704; Second wedge seat 705; Avoidance groove 706; Rebar hook discharge groove 707; Automatic feeding manipulator 8; Lifting arm 801; Feeding sliding platform 9; Sliding roller 901; Second gear 10; automatic material picker 11; first cylinder 1101; material picker rod 1102; material unloading stopper 1103; feeding electric push rod 12; first mounting base 13; hook reinforcement clamping arm 14; second cylinder 1401; clamping claw 1402; hook reinforcement clamping claw 1403; rotating motor 15; third rack 16; welding slide platform 17; welding manipulator 18; second mounting base 19; bending electric push rod 20; welding gun 21; welding gun control device 22; welding gun mounting base 2201; third cylinder 2202; slider 2203; welding gun mounting bracket 2204; slide 2205; sliding rod 2206; fourth cylinder 2207; bending device 23; positioning slot 2301; guide sliding column 2302; sliding sleeve 2303; bending arm 2304; bending positioning slot 2305; bending articulated arm 2306; fixed support arm 2307; Hook reinforcement clamping seat 24; upper clamping block 2401; fixing plate 2402; fifth cylinder 2403; positioning protrusion 2405; hook reinforcement clamping groove 2406; positioning groove 2407; lower clamping block 2408; pressing push rod 2409; pushing slider 2410; pushing hinge rod 2411; guide column 2412; supporting cross frame 25; sixth cylinder 26; retracting arm 27; retracting hinge rod 28; limit block 29. Best Mode for Carrying Out the Invention

[0073] Example 1

[0074] As shown in Figures 1-30, a tower column hook rebar automatic installation robot system includes an inner cavity platform 1 and an outer cavity platform 3. The inner cavity platform 1 and the outer cavity platform 3 are arranged on either side of a rebar component 2. The outer cavity platform 3 is equipped with an automatic feeding robot 8, and a hook rebar rack 7 is located on one side of the automatic feeding robot 8. The inner cavity platform 1 is equipped with a welding robot 18, which is equipped with a bending and welding device. The automatic feeding robot 8 passes the straight end of the hook rebar through the rebar component 2, and the welding robot 18 bends the straight end of the hook rebar and welds it to the rebar component 2 using the welding device. As shown in Figures 1-2, the inner cavity platform 1 and the outer cavity platform 3 are arranged on either side of the rebar component 2. The automatic feeding robot 8 on the outer cavity platform 3 takes the rebar from the hook rebar rack 7 and passes it through the rebar component 2. The welding robot 18 on the inner cavity platform 1 bends the straight end of the hook rebar and welds it to the rebar component 2. The overall structure is simple.

[0075] In the preferred embodiment, a feeding slide platform 9 is provided on the outer cavity platform 3. One side of the feeding slide platform 9 is slidably connected to the outer cavity platform 3 and driven by a gear rack to slide up and down on the outer cavity platform 3. The other side of the feeding slide platform 9 is supported by a plurality of sliding rollers 901 against the supporting columns of the outer cavity platform 3. The automatic feeding robot 8 and the hook rib material rack 7 are provided on the feeding slide platform 9. The entire automatic feeding robot 8 and the hook rib material rack 7 are installed on the feeding slide platform 9 and can slide up and down on the outer cavity platform 3. The motor drives the gear and rack to mesh and drive the entire feeding slide platform 9 to slide up and down.

[0076] In the preferred embodiment, the automatic feeding manipulator 8 and the hook-rebar rack 7 are arranged on the first mounting base 13, which is slidably connected to the feeding slide platform 9. The drive motor on the first mounting base 13 engages with the second rack 10 through a gear to drive the first mounting base 13 to slide on the feeding slide platform 9. The automatic feeding manipulator 8 and the hook-rebar rack 7 are arranged on the first mounting base 13, and the first mounting base 13 can slide horizontally on the feeding slide platform 9, realizing two degrees of freedom of movement of the automatic feeding manipulator 8 and the hook-rebar rack 7 on the outer cavity platform 3, making it convenient to reach any position of the steel bar component 2.

[0077] In the preferred embodiment, the structure of the hook bar material rack 7 is: a rectangular frame forms a U-shaped hook bar discharge trough 707, the lower end opening position of the hook bar discharge trough 707 is clamped with the fixed table 701, and an automatic material picking rack 11 is provided under the fixed table 701, and the automatic material picking rack 11 is slidably connected to the fixed table 701. A plurality of material picking rods 1102 are provided on the automatic material picking rack 11, and a trough body for placing hook bars is provided at the end of the material picking rod 1102. The telescopic rod of the first cylinder 1101 inside the fixed table 701 is connected to the automatic material picking rack 11; as shown in the structure of Figure 7-12, the first cylinder 1101 drives the automatic material picking rack 11 to reach the bottom of the hook bar discharge trough 707 of the hook bar material rack 7, and the hook bars inside the hook bar discharge trough 707 will fall onto the automatic material picking rack 11 to complete the material picking.

[0078] A plurality of second wedge-shaped seats 705 are provided on the hook bar discharge trough 707, and a plurality of first wedge-shaped seats 704 matching the second wedge-shaped seats 705 are provided on the fixed table 701. The hook bar discharge trough 707 is suspended at the lower end on the fixed table 701 through the first wedge-shaped seats 704 and the second wedge-shaped seats 705; after the hook bar discharge trough 707 places the hook bar on the outside, the entire hook bar discharge trough 707 is installed on the fixed table 701, and a distance is left between it and the fixed table 701 to facilitate unloading.

[0079] The first wedge-shaped seat 704 and the second wedge-shaped seat 705 are connected by a plurality of locking buckles 702 ; the locking buckles 702 facilitate quick disassembly and assembly of the hook bar discharge trough 707 and the fixed table 701 .

[0080] A plurality of limit pins 703 are provided at the opening position of the lower end of the hook bar discharge trough 707. The bent position of one end of the limit pin 703 is stuck in one side of the hook bar discharge trough 707, and the straight section of the other end is horizontally placed at the opening position of the lower end of the hook bar discharge trough 707. After the hook bar discharge trough 707 is loaded, the limit pin 703 is stuck in the opening position of the lower end of the hook bar discharge trough 707 to prevent the hook bar from falling when the hook bar discharge trough 707 is installed. After the installation is completed, the limit pin 703 is pulled out during the material removal process.

[0081] After the automatic material picking rack 11 is retracted, the hook bar inside the hook bar discharge trough 707 falls on the trough body at the end of the material picking rod 1102, and is then pushed out by the first cylinder 1101 to complete the material picking.

[0082] In the preferred embodiment, a plurality of avoidance grooves 706 are provided on the fixed table 701, and a plurality of unloading stoppers 1103 are provided on the automatic material reclaimer 11. The unloading stoppers 1103 are slidably connected to the automatic material reclaimer 11. The unloading stoppers 1103 are disposed within the avoidance grooves 706, and the upper ends of the unloading stoppers 1103 are disposed below the hook bar discharge trough 707. The unloading stoppers 1103 are retracted by the automatic material reclaimer 11, causing the hook bar to fall onto the material reclaimer rod 1102. During the push operation, the unloading stoppers 1103 are stuck below the hook bar discharge trough 707 to prevent the hook bar from falling.

[0083] As shown in the structure of Figures 9-12, the material removal limit block 1103 is slidably connected to the automatic material removal rack 11. When the automatic material removal rack 11 slides, the material removal limit block 1103 remains inside the avoidance groove 706.

[0084] During the entire automatic material feeding rack 11 moving backward, the unloading limit block 1103 abuts against the root of the avoidance groove 706, and the hook bar falls onto the groove body at the end of the feeding rod 1102. When the automatic material feeding rack 11 is ejected, the upper end of the unloading limit block 1103 abuts against the hook bar discharge groove 707, and the hook bar will abut against the top of the unloading limit block 1103, completing the limit and preventing the hook bar from falling, thereby realizing the step of single-bar feeding.

[0085] In the preferred embodiment, the automatic feeding robot 8 is a multi-degree-of-freedom robot. A feeding electric push rod 12 is mounted at the end of its lifting arm 801. A rebar clamping arm 14 is mounted on the sliding plate of the feeding electric push rod 12. The end of the rebar clamping arm 14 is connected to a rotary motor 15, which is in turn connected to the sliding plate of the feeding electric push rod 12. The feeding electric push rod 12 pushes the entire rebar clamping arm 14 into the interior of the rebar component 2, completing the process of installing the rebar. The rotary motor 15 can adjust the angle of the entire rebar clamping arm 14 in real time, making it easy to adjust the angle of the rebar.

[0086] The hook bar clamping arm 14 is provided with a plurality of second cylinders 1401 , and the end of the second cylinder 1401 is provided with a clamping claw 1402 , which is used to clamp the straight section of the hook bar; the second cylinder 1401 is used to drive the clamping claw 1402 to clamp the straight section of the hook bar.

[0087] A hook bar clamping claw 1403 is provided on the second cylinder 1401 at the end of the hook bar clamping arm 14. The hook bar clamping claw 1403 is a right-angle structure. The bending positions of the two hook bar clamping claws 1403 form a clamping groove. The hook bar clamping claw 1403 is used to clamp the bent section of the hook bar; as shown in Figure 15, the bending positions of the two hook bar clamping claws 1403 form a clamping groove to facilitate clamping the entire bent section of the hook bar.

[0088] The upper right-angled ends of the clamping claw 1402 and the hook bar clamping claw 1403 are rotatably connected to the second cylinder 1401, and the upper right-angled ends of the clamping claw 1402 and the hook bar clamping claw 1403 are hinged to the telescopic rod of the second cylinder 1401. The clamping method of the second cylinder 1401 is shown in Figure 16, which can clamp the entire hook bar in time. Modes for Carrying Out the Invention

[0089] The inner cavity platform 1 is slidably connected to the welding sliding platform 17, and the driving motor on the welding sliding platform 17 engages with the third rack 16 through the gear to drive the welding sliding platform 17 to slide on the inner cavity platform 1; the welding sliding platform 17 is used to install the welding manipulator 18, and the welding sliding platform 17 moves up and down on the inner cavity platform 1, and the driving motor engages with the third rack 16 through the gear to drive the welding sliding platform 17 to slide on the inner cavity platform 1.

[0090] The welding robot 18 is arranged on the second mounting base 19. The driving motor on the second mounting base 19 causes the second mounting base 19 to slide horizontally on the welding sliding platform 17 through the gear rack; the second mounting base 19 slides horizontally on the welding sliding platform 17, so that the entire welding robot 18 can move with multiple degrees of freedom on the inner cavity platform 1.

[0091] The welding robot 18 is a multi-degree-of-freedom robot. The welding bending device is arranged on the welding robot 18. The welding bending device includes a bending device 23 and a welding gun control device 22. The welding gun control device 22 is arranged on the bending device 23. The welding gun 21 is arranged on the welding gun control device 22, and the welding gun control device 22 controls the welding gun 21 to move to multiple positions for welding.

[0092] In the preferred embodiment, the bending device 23 includes a fixed frame, which is connected to the welding robot 18. A hook bar clamping seat 24 is provided on one side of the fixed frame. The hook bar clamping seat 24 is used to clamp the straight section of the hook bar. A bending electric push rod 20 is provided on one side of the fixed frame. A fixed support arm 2307 is provided on the bending electric push rod 20. The end of the telescopic rod of the bending electric push rod 20 is hinged to the end of the bending arm 2304. The end of the fixed support arm 2307 is hinged to the middle part of the bending arm 2304 through the bending hinge arm 2306. The end of the bending arm 2304 is provided with a V-shaped bending positioning groove 2305; as shown in the structure of Figures 25-28, the bending electric push rod 20 pushes the bending arm 2304, and the bending arm 2304 is limited by the bending hinge arm 2306, so that the bending arm 2304 forms a bending ring structure, and the end of the hook bar is bent and hung on the steel bar component 2. After the hook bar clamping seat 24 clamps the straight section of the hook bar, the bending electric push rod 20 pushes the bending arm 2304 to bend the straight end of the hook bar.

[0093] The hook bar clamping seat 24 is set on one side of the fixed frame, and the fixed frame is provided with a positioning slot 2301 on one side of the hook bar clamping seat 24. The steel bars of the steel bar component 2 are clamped on the positioning slot 2301 for positioning; as shown in the structure of Figure 20, the steel bars of the steel bar component 2 are clamped on the positioning slot 2301, the hook bar is clamped on the hook bar clamping seat 24, and then the bending structure bends the entire straight end of the hook bar.

[0094] The hook reinforcement clamping seat 24 includes two upper clamping blocks 2401 and lower clamping blocks 2408, and the two clamping blocks are driven to clamp by two fifth cylinders 2403 respectively; the end of the clamping pushing rod 2409 of the fifth cylinder 2403 is connected to the pushing slider 2410, the pushing slider 2410 is slidingly connected to the fixed plate 2402, and the fixed plate 2402 is fixedly connected to the fixed frame, and the lower end of the pushing slider 2410 is hinged to the upper clamping block 2401 by pushing the hinge rod 2411, and the upper clamping block 2401 is slidingly connected to the fixed plate 2402 through multiple guide columns 2412; the two upper clamping blocks 2401 and lower clamping blocks 2408 are driven by the fifth cylinder 2403 to achieve clamping.

[0095] The upper clamping block 2401 and the lower clamping block 2408 are provided with hook bar clamping grooves 2406, which are used to clamp the hook bar; the clamping grooves 2406 facilitate clamping the entire hook bar.

[0096] The upper clamping block 2401 is provided with a plurality of positioning protrusions 2405, and the lower clamping block 2408 is provided with a plurality of positioning grooves 2407 that match the bent positioning grooves 2305; the positioning protrusions 2405 are stuck inside the positioning grooves 2407, making the docking of the upper clamping block 2401 and the lower clamping block 2408 more stable.

[0097] The welding gun control device 22 is structured as follows: a welding gun mounting bracket 2204 is positioned on one side of the bending device 23, and a welding gun 21 is mounted on a slider 2203. The slider 2203 is slidably connected to a chute 2205, which is laterally slidably connected to a sliding rod 2206 of the welding gun mounting bracket 2204. The end of the telescopic rod of a third cylinder 2202 on the welding gun mounting bracket 2204 is connected to the slider 2203, and the end of the telescopic rod of a fourth cylinder 2207 on the side of the welding gun mounting bracket 2204 is connected to the chute 2205. The welding gun 21 is mounted on the welding gun control device 22. The third and fourth cylinders 2202 and 2207 adjust the welding gun 21's proximity to the welding position and adjust the welding length by sliding laterally. The welding end of the welding gun 21 extends into the bending device 23. The third and fourth cylinders 2202 and 2207 move the welding gun 21 to weld the hook bar to the rebar component 2.

[0098] In the preferred embodiment, video monitoring equipment is provided on the inner cavity platform 1 and the outer cavity platform 3, and the video monitoring equipment is used to control the insertion position of the hook reinforcement; the video monitoring equipment is used to detect the position of the hook reinforcement and also facilitates the automatic insertion of the hook reinforcement.

[0099] An artificial platform 4 is also provided on the inner cavity platform 1 and the outer cavity platform 3. The artificial platform 4 is foldable so that the feeding sliding platform 9 and the welding sliding platform 17 can slide up and down on the inner cavity platform 1 and the outer cavity platform 3; a supporting cross frame 25 is provided on one side of the artificial platform 4, and one side of the artificial platform 4 is hinged to the supporting cross frame 25. The supporting cross frame 25 is hinged to the end of the bent long rod of the retraction arm 27, and the end of the telescopic rod of the sixth cylinder 26 on the supporting cross frame 25 is hinged to the bent position of the retraction arm 27. The end of the bent short rod of the retraction arm 27 is hinged to the retraction hinge rod 28, and the end of the retraction hinge rod 28 is hinged to one side of the artificial platform 4; a limit block 29 is provided on the supporting columns of the inner cavity platform 1 and the outer cavity platform 3, and the lower end of the artificial platform 4 rests on the limit block 29 after it is unfolded; after the artificial platform 4 is retracted, it is convenient for the feeding sliding platform 9 and the welding sliding platform 17 to slide up and down on the inner cavity platform 1 and the outer cavity platform 3.

[0100] The lower end of the inner cavity platform 1 is provided with a plurality of ground rails 5, which are set on the ground through anchor rods 501. The inner cavity platform 1 is slidably connected to the ground rails 5. The inner cavity platform 1 can be moved to facilitate adjustment of the distance between the inner cavity platform 1 and the steel bar component 2.

[0101] Preparation before work: shrink and fold the artificial platform 4 to one side, and move the inner and outer cavity hook reinforcement installation equipment to the bottom of the platform.

[0102] Hook bar loading: The hook bar material rack 7 loaded with hook bars is transported to the outer cavity platform 3 where the hook bar material rack is fixed and fixed.

[0103] Grid recognition: The feeding sliding platform 9 of the outer cavity platform 3 rises to the bottom height of the area to be installed, and the machine vision equipment of the automatic feeding robot 8 begins to scan the area on the steel bar component 2 where the hook bars are to be installed, and identifies the steel bar grid composed of the main bars and stirrups. The machine vision scans a certain area in turn. After each scan, the control system can automatically calculate the insertion positioning point position of the hook bars in the scanning area.

[0104] Hook bar feeding: The automatic feeding manipulator 8 on the hook bar feeding mechanism moves to the material rack, and the hook bar rack 7 begins to discharge and pick up the material. When the automatic feeding manipulator 8 grabs the hook bar, it grabs the hook bar and moves the hook bar clamping arm 14 of the automatic feeding manipulator 8 to the steel mesh to be threaded with the hook bar.

[0105] Move to the insertion point and insert the straight end of the hook bar from the mesh of the outer cavity steel bar component into the mesh of the steel bar component. When feeding the hook bar, due to its long length, multiple clamping jaws need to cooperate. The hook bar clamping arm 14 is pushed by the feeding electric push rod 12 to penetrate the steel bar component mesh.

[0106] Positioning of hook bars: Before the hook bars are inserted into the component, the machine vision on the bending mechanism scans the mesh of the inner cavity steel bar component and locates the position of the hook bars to be installed according to the program calculation. Wait for the hook bars to be inserted. When the clamping end of the feeding mechanism is close to the component, the opening receiving mechanism on the bending mechanism extends into the mesh and prepares to receive the material. At this time, the straight end is close to the opening on the bending device 23, and the hook bar is clamped by the hook bar clamping seat 24 along the opening. At this time, the hook bar has a hook part at the tail end, and the elbow has been inserted into the mesh, so that the hook part of the hook bar is placed against the stirrup of the component.

[0107] Hook bar connection: After the hook bar is inserted into the opening of the bending mechanism, it follows the stirrup guide groove and the tail enters the slot of the bending device 23, and the bending device 23 bends the hook bar.

[0108] Automatic bending: After the bending device 23 is engaged at the end of the hook bar to be bent, it will bend the end of the hook bar 90 degrees and attach it to the main bar. Then the hook bar, the bent part and the stirrup are immediately spot welded together.

[0109] Shift: After the hook bar end is spot welded, the feed mechanism moves to the next grid to feed the hook bar. When the hook bar enters the slot of the bending mechanism and is clamped, the feed mechanism begins spot welding. After spot welding is complete, the feed mechanism moves to the next grid. The feed mechanism and bending mechanism operate asynchronously.

[0110] Hook bar loading: When the hook bars on the hook bar rack are installed, the bending mechanism moves to the area where the next hook bar is to be installed. The feeding mechanism descends to the bottom with the platform and starts loading the next set of hook bars.

[0111] Repeat the above steps until all the hook bars in the area are installed. Industrial Applicability

[0112] The present invention mainly uses a mechanical device to complete the automatic loading, point finding, feeding, installation, bending, welding and other tasks of the hook bar in the steel bar component frame. It replaces manual work and realizes the automatic installation of the hook bar. This platform is a mechanism bearing platform, which is controlled by a servo motor to move up and down. The hook bar material rack and the hook bar feeding mechanism are installed on this platform. The hook bar material rack is a fixed position, and the feeding mechanism can slide along the platform. It is convenient for taking the hook bar. At present, the material taking mechanism is set as a three-coordinate mechanism, and a manipulator is used instead of three-coordinate movement. Multiple clamps are used for material taking. At the same time, the material taking mechanism is provided with a welding gun, machine vision and other structures.

[0113] The above embodiments are merely preferred technical solutions of the present invention and should not be construed as limiting the present invention. The scope of protection of the present invention shall be the technical solutions set forth in the claims, including equivalent alternatives to the technical features of the technical solutions set forth in the claims. In other words, equivalent alternatives and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A tower column hook reinforcement automatic installation robot system, characterized by: The invention comprises an inner cavity platform (1) and an outer cavity platform (3), wherein the inner cavity platform (1) and the outer cavity platform (3) are arranged on both sides of a steel bar component (2), an automatic feeding manipulator (8) is arranged on the outer cavity platform (3), a hook steel bar rack (7) is arranged on one side of the automatic feeding manipulator (8), a welding manipulator (18) is arranged on the inner cavity platform (1), and a bending welding device is arranged on the welding manipulator (18); The automatic feeding manipulator (8) passes the straight end of the hook bar through the steel bar component (2), and the welding manipulator (18) bends the straight end of the hook bar and welds it to the steel bar component (2) through a welding device.

2. The automatic installation robot system for tower column hook reinforcement according to claim 1 is characterized by: A feeding sliding platform (9) is provided on the outer cavity platform (3). One side of the feeding sliding platform (9) is slidably connected to the outer cavity platform (3), and the feeding sliding platform (9) is driven to slide up and down on the outer cavity platform (3) by a gear rack. The other side is supported on the supporting column of the outer cavity platform (3) by a plurality of sliding rollers (901). An automatic feeding manipulator (8) and a hook reinforcement rack (7) are provided on the feeding sliding platform (9).

3. The automatic installation robot system for tower column hook reinforcement according to claim 2, characterized in that: The automatic feeding manipulator (8) and the hook reinforcement rack (7) are arranged on a first mounting base (13), and the first mounting base (13) is slidably connected to the feeding sliding platform (9). The driving motor on the first mounting base (13) drives the first mounting base (13) to slide on the feeding sliding platform (9) by meshing with the second rack (10) through a gear.

4. The automatic installation robot system for tower column hook reinforcement according to claim 2 is characterized by: The structure of the hook bar material rack (7) is as follows: a rectangular frame forms a U-shaped hook bar material discharge trough (707), the lower end opening position of the hook bar material discharge trough (707) is clamped with the fixed table (701), an automatic material picker (11) is provided below the fixed table (701), the automatic material picker (11) is slidably connected to the fixed table (701), a plurality of material picker rods (1102) are provided on the automatic material picker (111), the ends of the material picker rods (1102) are provided with a trough body for placing the hook bar, and the telescopic rod of the first cylinder (1101) inside the fixed table (701) is connected to the automatic material picker (11); The hook bar discharge trough (707) is provided with a plurality of second wedge-shaped seats (705), and the fixed table (701) is provided with a plurality of first wedge-shaped seats (704) matching the second wedge-shaped seats (705). The hook bar discharge trough (707) is suspended at its lower end on the fixed table (701) through the first wedge-shaped seats (704) and the second wedge-shaped seats (705); The first wedge-shaped seat (704) and the second wedge-shaped seat (705) are connected via a plurality of locking buckles (702); A plurality of limiting pull pins (703) are provided at the lower opening of the hook bar discharge trough (707), wherein the bent position of one end of the limiting pull pin (703) is stuck on one side of the hook bar discharge trough (707), and the straight section of the other end is horizontally positioned at the lower opening of the hook bar discharge trough (707); After the automatic material picking rack (11) is retracted, the hook reinforcement inside the hook reinforcement discharge trough (707) falls on the trough body at the end of the material picking rod (1102), and is then pushed out by the first cylinder (1101), completing the material picking.

5. The automatic installation robot system for tower column hook reinforcement according to claim 4 is characterized by: A plurality of avoidance grooves (706) are provided on the fixed table (701), and a plurality of blanking limit blocks (1103) are provided on the automatic material taking frame (11). The blanking limit blocks (1103) are slidably connected to the automatic material taking frame (11), and the blanking limit blocks (1103) are arranged inside the avoidance grooves (706), and the upper ends of the blanking limit blocks (1103) are arranged below the hook bar discharge groove (707); The unloading limit block (1103) is retracted by the automatic material picking rack (11) to allow the hook bar to fall onto the material picking rod (1102). When pushing, the unloading limit block (1103) is stuck in the position below the hook bar discharge trough (707) to limit the hook bar from falling.

6. The automatic installation robot system for tower column hook reinforcement according to claim 1, characterized in that: The automatic feeding manipulator (8) is a multi-degree-of-freedom manipulator. The end of the lifting arm (801) of the automatic feeding manipulator (8) is provided with a feeding electric push rod (12). A hook reinforcement clamping arm (14) is provided on the sliding plate of the feeding electric push rod (12). The end of the hook reinforcement clamping arm (14) is connected to the rotating motor (15), and the rotating motor (15) is connected to the sliding plate of the feeding electric push rod (12). A plurality of second cylinders (1401) are provided on the hook reinforcement clamping arm (14), and a clamping claw (1402) is provided at the end of the second cylinder (1401), and the clamping claw (1402) is used to clamp the straight section of the hook reinforcement; A hook bar clamping claw (1403) is provided on the second cylinder (1401) at the end of the hook bar clamping arm (14). The hook bar clamping claw (1403) is a right-angle structure. The bent positions of the two hook bar clamping claws (1403) form a clamping groove. The hook bar clamping claw (1403) is used to clamp the bent section of the hook bar. The upper right-angle positions of the clamping claw (1402) and the hook bar clamping claw (1403) are rotatably connected to the second cylinder (1401), and the upper right-angle ends of the clamping claw (1402) and the hook bar clamping claw (1403) are hinged to the telescopic rod of the second cylinder (1401).

7. The automatic installation robot system for tower column hook reinforcement according to claim 1 is characterized by: The inner cavity platform (1) is slidably connected to the welding sliding platform (17), and the driving motor on the welding sliding platform (17) drives the welding sliding platform (17) to slide on the inner cavity platform (1) by meshing the gear with the third rack (16); The welding manipulator (18) is arranged on the second mounting base (19), and the driving motor on the second mounting base (19) causes the second mounting base (19) to slide horizontally on the welding sliding platform (17) through a gear rack; The welding manipulator (18) is a multi-degree-of-freedom manipulator. The welding bending device is arranged on the welding manipulator (18). The welding bending device includes a bending device (23) and a welding gun control device (22). The welding gun control device (22) is arranged on the bending device (23). The welding gun (21) is arranged on the welding gun control device (22), and the welding gun control device (22) controls the welding gun (21) to move to multiple positions for welding.

8. The automatic installation robot system for tower column hook reinforcement according to claim 7, characterized in that: The bending device (23) includes a fixed frame connected to the welding manipulator (18), and a hook reinforcement clamping seat (24) is provided on one side of the fixed frame. The hook reinforcement clamping seat (24) is used to clamp the straight section of the hook reinforcement; A bending electric push rod (20) is provided on one side of the fixed frame. A fixed support arm (2307) is provided on the bending electric push rod (20). The end of the telescopic rod of the bending electric push rod (20) is hinged to the end of the bending arm (2304). The end of the fixed support arm (2307) is hinged to the middle of the bending arm (2304) through a bending hinge arm (2306). The end of the bending arm (2304) is provided with a V-shaped bending positioning groove (2305). After the hook reinforcement clamping seat (24) clamps the straight section of the hook reinforcement, the bending electric push rod (20) pushes the bending arm (2304) to bend the straight end of the hook reinforcement; The hook bar clamping seat (24) is arranged on one side of the fixed frame, and a positioning slot (2301) is provided on one side of the fixed frame at the position of the hook bar clamping seat (24), and the steel bar of the steel bar component (2) is clamped in the positioning slot (2301) for positioning; The hook bar clamping seat (24) comprises two upper clamping blocks (2401) and a lower clamping block (2408) for clamping, and the two clamping blocks are driven to clamp by two fifth cylinders (2403) respectively; The end of the pressing and pushing rod (2409) of the fifth cylinder (2403) is connected to the pushing slider (2410), the pushing slider (2410) is slidably connected to the fixed plate (2402), the fixed plate (2402) is fixedly connected to the fixed frame, the lower end of the pushing slider (2410) is hinged to the upper clamping block (2401) by pushing the hinged rod (2411), and the upper clamping block (2401) is slidably connected to the fixed plate (2402) via a plurality of guide columns (2412); The upper clamping block (2401) and the lower clamping block (2408) are provided with hook reinforcement clamping grooves (2406), and the hook reinforcement clamping grooves (2406) are used to clamp the hook reinforcement; The upper clamping block (2401) is provided with a plurality of positioning protrusions (2405), and the lower clamping block (2408) is provided with a plurality of positioning grooves (2407) that cooperate with the bending positioning grooves (2305).

9. The automatic installation robot system for tower column hook reinforcement according to claim 7, characterized in that: The structure of the welding gun control device (22) is as follows: the welding gun mounting frame (2204) is arranged on one side of the bending device (23), the welding gun (21) is arranged on the slider (2203), the slider (2203) is slidably connected to the slide groove (2205), the slide groove (2205) is laterally slidably connected to the sliding rod (2206) of the welding gun mounting frame (2204), the end of the telescopic rod of the third cylinder (2202) on the welding gun mounting frame (2204) is connected to the slider (2203), and the end of the telescopic rod of the fourth cylinder (2207) on the side of the welding gun mounting frame (2204) is connected to the slide groove (2205); The welding end of the welding gun (21) extends into the interior of the bending device (23), and the third cylinder (2202) and the fourth cylinder (2207) move the welding gun (21) to weld the hook bar to the steel bar component (2).

10. The automatic installation robot system for tower column hook bars according to claim 1, characterized in that: Video monitoring equipment is provided on the inner cavity platform (1) and the outer cavity platform (3), and the video monitoring equipment is used to control the insertion position of the hook reinforcement; An artificial platform (4) is also provided on the inner cavity platform (1) and the outer cavity platform (3). The artificial platform (4) is foldable so that the feeding sliding platform (9) and the welding sliding platform (17) can slide up and down on the inner cavity platform (1) and the outer cavity platform (3); A support cross frame (25) is provided on one side of the artificial platform (4), one side of the artificial platform (4) is hinged to the support cross frame (25), the support cross frame (25) is hinged to the end of the bent long rod of the retracting arm (27), the end of the telescopic rod of the sixth cylinder (26) on the support cross frame (25) is hinged to the bent position of the retracting arm (27), the end of the bent short rod of the retracting arm (27) is hinged to the retracting hinged rod (28), and the end of the retracting hinged rod (28) is hinged to one side of the artificial platform (4); A limit block (29) is provided on the supporting columns of the inner cavity platform (1) and the outer cavity platform (3), and the lower end of the artificial platform (4) abuts against the limit block (29) after it is unfolded; A plurality of ground rails (5) are provided at the lower end of the inner cavity platform (1). The ground rails (5) are set on the ground through anchor rods (501), and the inner cavity platform (1) is slidably connected to the ground rails (5).

Images