阅读说明：本技术 夹持定位装置及夹持定位方法、钢筋笼加工机器人 (Clamping and positioning device and clamping and positioning method and reinforcement cage processing robot ) 是由 邬全兵 张琼 毛家振 于 2020-04-23 设计创作，主要内容包括：本发明涉及一种夹持定位装置及夹持定位方法、钢筋笼加工机器人,包括：夹持机构,所述夹持机构包括至少两个定位组件和至少两个夹爪,所述夹爪与所述定位组件一一对应连接,至少两个所述夹爪间隔围绕布置于箍筋的外周并用于夹持住所述箍筋,所述定位组件用于驱动所述夹爪移动以迫使所述箍筋产生扩张形变而脱离接触纵筋；及移位机构,所述移位机构与所述夹持机构连接,所述移位机构用于驱动所述夹持机构移动以将所述箍筋从集中摆放位置移动到连接加工位置。通过采用本方案的夹持定位装置,能够大大降低箍筋移动难度,提高钢筋笼生产效率,保证加工质量。(The invention relates to a clamping and positioning device, a clamping and positioning method and a reinforcement cage processing robot, which comprise: the clamping mechanism comprises at least two positioning assemblies and at least two clamping jaws, the clamping jaws are connected with the positioning assemblies in a one-to-one correspondence mode, the at least two clamping jaws are arranged on the periphery of a stirrup in a surrounding mode at intervals and used for clamping the stirrup, and the positioning assemblies are used for driving the clamping jaws to move so as to force the stirrup to expand and deform and to be separated from the longitudinal ribs; and the shifting mechanism is connected with the clamping mechanism and is used for driving the clamping mechanism to move so as to move the stirrups from the centralized placing position to the connecting and processing position. Through the centre gripping positioner who adopts this scheme, can greatly reduced stirrup remove the degree of difficulty, improve steel reinforcement cage production efficiency, guarantee processingquality.)

1. A clamp positioning device, comprising:

the clamping mechanism comprises at least two positioning assemblies and at least two clamping jaws, the clamping jaws are connected with the positioning assemblies in a one-to-one correspondence mode, the at least two clamping jaws are arranged on the periphery of a stirrup in a surrounding mode at intervals and used for clamping the stirrup, and the positioning assemblies are used for driving the clamping jaws to move so as to force the stirrup to expand and deform and to be separated from the longitudinal ribs; and

the shifting mechanism is connected with the clamping mechanism and is used for driving the clamping mechanism to move so as to move the stirrups from the centralized placing position to the connection machining position.

2. The clamp positioning device of claim 1, wherein the jaw includes a first jaw and a second jaw, the first jaw and the second jaw being spaced apart and arranged side-by-side, and an avoidance cavity being formed between the first jaw and the second jaw.

3. A clamping and positioning device as set forth in claim 2 wherein said first and second grabbers are each provided with a hook slot.

4. A clamping and positioning device as claimed in claim 2, wherein said first and second grabbers are each further provided with a first clearance recess.

5. A clamping and positioning device as claimed in claim 4, wherein each of the first and second claws is provided with a second clearance recess disposed opposite the first clearance recess.

6. The clamping and positioning device of claim 5, wherein the positioning assembly comprises a clamping seat and a first driving member disposed on the clamping seat, the clamping jaw further comprises a jaw body connected with the first jaw hook and the second jaw hook, the first driving member is connected with the jaw body, and the first driving member is used for outputting rotary power.

7. The clamp positioning device of claim 6, wherein the positioning assembly further comprises a second driving member and a pressing arm, the second driving member is disposed on the clamp seat and connected to the pressing arm, and the second driving member is used for driving the pressing arm to move closer to or away from the stirrup.

8. A clamp positioning device according to claim 7, wherein the press arm is provided with a press groove; the press arm is in a centered position between the first and second grabbers.

9. The clamp positioning device of claim 6, wherein the positioning assembly further comprises a third driving member for outputting rotational power, the third driving member being connected to the clamp base; the positioning assembly further comprises a first moving unit and a second moving unit connected with the first moving unit, the first moving unit is used for outputting a driving force in one direction of the horizontal direction or the vertical direction, the second moving unit is used for outputting a driving force in the other direction of the horizontal direction or the vertical direction, and the third driving piece is connected with the second moving unit; the first mobile unit and the second mobile unit can act sequentially or synchronously.

10. The clamping and positioning device as claimed in any one of claims 1 to 9, wherein the clamping mechanism and the displacement mechanism are two and assembled and connected in a one-to-one correspondence manner, and two sets of the clamping mechanism and the displacement mechanism are arranged at opposite intervals on two sides of the stirrups which are arranged in a centralized manner.

11. The clamp positioning device of claim 10, wherein in each set of said clamping mechanism and said displacement mechanism, there are four said positioning members and said jaws, and four said jaws are configured to hook at four corners of said stirrup in a one-to-one correspondence.

12. A reinforcement cage processing robot, comprising the clamping and positioning device as claimed in any one of claims 1 to 11.

13. A clamping and positioning method is characterized by comprising the following steps:

arranging a plurality of clamping jaws at the periphery of a stirrup in a surrounding mode at intervals, and enabling the clamping jaws to hook and buckle the inner side of the stirrup at the same time;

each positioning assembly drives the corresponding clamping jaw to move so as to force the stirrups to expand and deform to be separated from the contact longitudinal bars;

and the shifting mechanism drives the clamping mechanism to move so as to move the stirrups from the centralized placing position to the connecting and processing position.

Technical Field

The invention relates to the technical field of construction robots, in particular to a clamping and positioning device, a clamping and positioning method and a reinforcement cage processing robot.

Background

In building structures, there are many structural members for carrying compressive and tensile forces, such as reinforcing beams/columns, shear walls, and the like. The main frame of the structural member is a reinforcement cage formed by connecting longitudinal reinforcements and stirrups according to a certain rule. Usually, when producing the steel reinforcement cage, need earlier concentrate the stirrup after prefabricating and put, wait to penetrate behind the longitudinal reinforcement again with the stirrup manually push one by one or the machine dial send to welder or ligature rifle position and accomplish the connection. However, the longitudinal bars and the stirrups are not smooth surfaces, but transverse ribs and longitudinal ribs are distributed on the outlines, so that the stirrups are very difficult to move, the processing difficulty of the reinforcement cage is high, and the processing quality and efficiency are difficult to guarantee.

Disclosure of Invention

Therefore, a clamping and positioning device, a clamping and positioning method and a reinforcement cage processing robot are needed to be provided, and the problems that reinforcement cage processing difficulty is high and efficiency is low due to the fact that stirrups are difficult to move are solved.

In one aspect, the present application provides a clamping and positioning device, comprising:

the clamping mechanism comprises at least two positioning assemblies and at least two clamping jaws, the clamping jaws are connected with the positioning assemblies in a one-to-one correspondence mode, the at least two clamping jaws are arranged on the periphery of a stirrup in a surrounding mode at intervals and used for clamping the stirrup, and the positioning assemblies are used for driving the clamping jaws to move so as to force the stirrup to expand and deform and to be separated from the longitudinal ribs; and

the shifting mechanism is connected with the clamping mechanism and is used for driving the clamping mechanism to move so as to move the stirrups from the centralized placing position to the connection machining position.

The clamping and positioning device is applied to a steel reinforcement cage processing robot and used in the processes of positioning and clamping and fixing each stirrup and the longitudinal bar before the welding or binding process, so that the processing difficulty is reduced, and the processing efficiency is improved. Specifically, before processing, a plurality of stirrups are put together in a centralized manner, and then longitudinal bars are inserted into the inner sides of the stirrups; when formal processing is carried out, at least two clamping jaws of the clamping mechanism surround the periphery of the stirrup arranged on the outermost side and clamp (namely hook and buckle) the inner side of the stirrup, then the positioning assembly is driven to act, the positioning assembly drives the clamping jaws to move, the clamping jaws can apply outward pulling force on the stirrup at the moment to force the stirrup to expand and deform outwards, the stirrup can be separated from the longitudinal rib, the movement of the stirrup cannot be blocked by the transverse rib and the longitudinal rib on the outline of the longitudinal rib, therefore, the shifting mechanism can drive the clamping mechanism to move towards the end part direction of the longitudinal rib, the outermost side stirrup can be moved to a connection processing position (namely the position where a welding gun or a binding gun is located) from a concentrated placing position (namely the position where a plurality of stirrups are concentrated and placed together), and the longitudinal rib and the stirrup are connected and fixed. So far, through the centre gripping positioner of this scheme of adoption, can greatly reduced stirrup remove the degree of difficulty, improve steel reinforcement cage production efficiency, guarantee processingquality.

The technical solution of the present application is further described below:

in one embodiment, the clamping jaw comprises a first claw hook and a second claw hook, the first claw hook and the second claw hook are arranged side by side at intervals, and an avoidance concave cavity is formed between the first claw hook and the second claw hook.

In one embodiment, the first claw hook and the second claw hook are each provided with a hook groove.

In one embodiment, the first claw hook and the second claw hook are provided with a first clearance concave part.

In one embodiment, the first claw hook and the second claw hook are both further provided with a second empty-avoiding recess arranged opposite to the first empty-avoiding recess.

In one embodiment, the positioning assembly includes a holder and a first driving member disposed on the holder, the clamping jaw further includes a jaw main body connected to the first jaw hook and the second jaw hook, the first driving member is connected to the jaw main body, and the first driving member is configured to output rotational power.

In one embodiment, the positioning assembly further comprises a second driving member and a pressing arm, the second driving member is disposed on the holder and connected to the pressing arm, and the second driving member is used for driving the pressing arm to move close to or away from the stirrup.

In one embodiment, the pressing arm is provided with a pressing groove, and the pressing arm is located in a central position between the first claw hook and the second claw hook.

In one embodiment, the positioning assembly further comprises a third driving member for outputting rotary power, the third driving member is connected with the holder, the positioning assembly further comprises a first moving unit and a second moving unit, the first moving unit is used for outputting driving force in one of the horizontal direction or the vertical direction, the second moving unit is used for outputting driving force in the other of the horizontal direction or the vertical direction, and the third driving member is connected with the second moving unit; the first mobile unit and the second mobile unit can act sequentially or synchronously.

In one embodiment, the two clamping mechanisms and the two shifting mechanisms are assembled and connected in a one-to-one correspondence manner, and the two groups of clamping mechanisms and the two groups of shifting mechanisms are arranged on two sides of the stirrups which are arranged in a centralized manner at opposite intervals.

In one embodiment, in each set of the clamping mechanism and the shifting mechanism, the number of the positioning assemblies and the number of the clamping jaws are four, and the four clamping jaws are used for hooking and buckling four top corners of the stirrups in a one-to-one correspondence manner.

On the other hand, this application still provides a steel reinforcement cage processing machine people, and it includes as above the centre gripping positioner.

In addition, the application also provides a clamping and positioning method, which comprises the following steps:

arranging a plurality of clamping jaws at the periphery of a stirrup in a surrounding mode at intervals, and enabling the clamping jaws to hook and buckle the inner side of the stirrup at the same time;

each positioning assembly drives the corresponding clamping jaw to move so as to force the stirrups to expand and deform to be separated from the contact longitudinal bars;

and the shifting mechanism drives the clamping mechanism to move so as to move the stirrups from the centralized placing position to the connecting and processing position.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a clamping and positioning device according to an embodiment of the present invention (the stirrup is moved to a connection processing position);

FIG. 2 is a schematic view of a portion A of FIG. 1;

fig. 3 is a schematic structural view of a clamping and positioning device according to another embodiment of the present invention (the stirrup and the longitudinal bar are clamped and fixed);

FIG. 4 is a schematic view of a portion of the enlarged structure at B in FIG. 3;

FIG. 5 is a schematic diagram of a demonstration structure of the stirrup and the longitudinal bar being clamped, positioned and fixed according to an embodiment of the present invention;

FIG. 6 is a block diagram of another perspective of FIG. 5;

fig. 7 is a schematic structural view of a reinforcement cage according to an embodiment of the present invention;

fig. 8 is a flowchart illustrating steps of a clamping and positioning method according to an embodiment of the invention.

Description of reference numerals:

10. a clamping mechanism; 11. a positioning assembly; 111. a holder; 112. a first driving member; 113. a second driving member; 114. pressing the arm; 114a, a pressing groove; 115. a third driving member; 116. a first mobile unit; 117. a second mobile unit; 12. a clamping jaw; 121. a first claw hook; 122. a second claw hook; 123. avoiding the concave cavity; 124. a hook groove; 125. a first clearance recess; 126. a second clearance recess; 13. a fixed mount; 20. hooping; 30. and (5) longitudinal ribs.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

The embodiment of the application provides a steel reinforcement cage processing robot, and it can replace the pure manual operation of traditional manpower or mechanical equipment and add artificial semi-automatization operation mode, realizes steel reinforcement cage full automation machine-shaping. The reinforcement cage processing refers to a process of connecting and fixing the longitudinal reinforcements 30 and the stirrups 20 in designed number, wherein each longitudinal reinforcement 30 is respectively arranged at each inner corner and each middle position of each side of the longitudinal reinforcement 30, and each stirrup 20 is hooped and sleeved outside each longitudinal reinforcement 30 according to a designed interval and is arranged at intervals along the axial direction. Therefore, the reinforcing cage structural member with high structural strength and good stress performance consistency of all parts is formed to become a bearing framework in each building structure.

As shown in fig. 7, in the present embodiment, the reinforcement cage processing robot includes a longitudinal bar feeding device, a stirrup feeding device, a supporting device, a processing execution device, a clamping and positioning device, and some auxiliary devices. The stirrup feeding device is used for placing a plurality of stirrups 20 together temporarily in a centralized manner, and the stirrups 20 are arranged next to each other or closely attached to each other in the same pose, so that densely arranged stirrup 20 strings are formed. After the stirrups 20 are put well, the longitudinal bar feeding device is used for inserting the longitudinal bars 30 into the inner sides of the stirrups 20 and clinging to the inner walls of the stirrups 20, so that the longitudinal bars 30 and the stirrups 20 are preassembled and fixed. After the longitudinal ribs 30 are inserted in place, the end parts of the longitudinal ribs 30 are clamped and fixed by the supporting devices to support the longitudinal ribs 30, and the longitudinal ribs 30 are guaranteed to keep unchanged in horizontal pose in the whole machining process. Then the clamping and positioning device moves each stirrup 20 to different positions of the longitudinal bar 30 one by one from outside to inside, a preset interval needs to be formed between each stirrup 20 at the moment, and finally the processing and executing device can connect and fix each stirrup 20 and the longitudinal bar 30 into a whole to complete the processing and forming of the reinforcement cage.

It is understood that the processing executing device may be a welding gun and its auxiliary equipment or a banding gun and its auxiliary equipment, and the specific processing equipment may be selected according to actual needs, and is not limited specifically herein.

Referring to fig. 1 to 4, an embodiment of the present application shows a clamping and positioning device, which includes: a clamping mechanism 10 and a displacement mechanism. The shifting mechanism is connected with the clamping mechanism 10 and is arranged at one side of all the stirrups 20 which are arranged in a concentrated manner and is positioned at one axial side of the longitudinal ribs 30. In operation, the stirrups 20 are moved one by one to different positions of the longitudinal bars 30 from outside to inside in a unilateral and unidirectional manner. In this embodiment, preferably, the two clamping mechanisms 10 and the two shifting mechanisms are two and are assembled and connected in a one-to-one correspondence manner, and the two groups of clamping mechanisms 10 and the two groups of shifting mechanisms are arranged on two sides of the stirrups 20 which are centrally placed at an interval in an opposite manner. So, two sets of fixture 10 and shift mechanism can be in step from two-way two sides simultaneous movement stirrup 20 to indulging different positions on the muscle 30, and at this moment, be located the axial both ends of indulging muscle 30 (also concentrate the left and right sides of all stirrups 20 of putting also) and need arrange a welder or ligature rifle respectively to this realizes two sides synchronous connection processing, improves the machining efficiency of steel reinforcement cage greatly.

It can be understood that, for matching with the machining requirements, the two displacement mechanisms can synchronously or sequentially drive the respective clamping mechanisms 10 to move close to or away from each other, so as to meet the requirements of the installation positions of different stirrups 20.

However, when the shifting mechanism has the capability of outputting driving force bidirectionally, two clamping mechanisms 10 can be connected with one shifting mechanism at the same time, so as to simplify the composition structure of the clamping and positioning device, and reduce the manufacturing material consumption and the operation energy consumption cost.

Alternatively, the displacement mechanism may be any driving mechanism capable of outputting linear reciprocating power in the prior art, such as but not limited to a motor screw and nut mechanism, a motor rack and pinion mechanism, and the like, and may be specifically selected according to actual needs.

With reference to fig. 1, in particular, the clamping mechanism 10 includes at least two positioning assemblies 11 and at least two clamping jaws 12, the clamping jaws 12 are connected to the positioning assemblies 11 in a one-to-one correspondence, the at least two clamping jaws 12 are disposed around the outer circumference of the stirrup 20 at intervals and are used for clamping (i.e., hooking) the inner wall of the stirrup 20, and the positioning assemblies 11 are used for driving the clamping jaws 12 to move so as to force the stirrup 20 to expand and deform so as to be out of contact with the longitudinal rib 30; the displacement mechanism is used for driving the clamping mechanism 10 to move so as to move the stirrups 20 from the centralized placing position to the connecting and processing position. The preferred positioning assembly 11 and the clamping jaws are multiple (i.e., three or more) so that the stirrup 20 can be easily deformed uniformly and completely separated from the longitudinal rib 30.

In this embodiment, taking the stirrup 20 to be processed as a rectangular structure as an example, in this case, preferably, in each group of the clamping mechanism 10 and the displacement mechanism, four positioning assemblies 11 and four clamping jaws 12 are provided, and four clamping jaws 12 are used for hooking and buckling four top corners of the stirrup 20 in a one-to-one correspondence manner. When the four clamping jaws 12 move synchronously (or successively) in the outward direction, the four top corners of the drawable stirrups 20 are expanded and deformed to be separated from the four longitudinal ribs 30 positioned at the four top corners, so that the four top corners are prevented from being hindered by the transverse ribs and the longitudinal ribs on the outline of the longitudinal ribs 30 during movement.

Of course, in some other embodiments, when the stirrup 20 is in a triangle shape, an L-shape, a circle shape, or other shapes, the corresponding number of the positioning assemblies 11 and the clamping jaws 12 may be other numbers, as long as the stirrup 20 can be pulled to expand and deform to be separated from the longitudinal rib 30, so as to ensure that the stirrup 20 moves smoothly.

In summary, the implementation of the technical solution of the present embodiment has the following beneficial effects: the clamping and positioning device is applied to a steel reinforcement cage processing robot and used in the processes of positioning and clamping and fixing each stirrup 20 and each longitudinal bar 30 before a welding or binding process, so that the processing difficulty is reduced, and the processing efficiency is improved. Specifically, before machining, a plurality of stirrups 20 are collectively placed together, and then longitudinal bars 30 are inserted into the inner sides of the stirrups 20; during formal machining, the clamping jaws 12 of the clamping mechanism 10 surround the outer periphery of the outermost stirrup 20 and hook and buckle the inner side of the outermost stirrup 20, then the positioning assembly 11 is driven to act, the positioning assembly 11 drives the clamping jaws 12 to move, at this time, the clamping jaws 12 can apply an outward pulling force to the outermost stirrup 20 to force the outward expansion deformation of the stirrup 20, so that the stirrup 20 can be separated from the contact with the longitudinal rib 30, the movement of the stirrup 20 is not blocked by the transverse rib and the longitudinal rib on the outer contour of the longitudinal rib 30, and thus, the shifting mechanism can drive the clamping mechanism 10 to move towards the end part direction of the longitudinal rib 30, and the outermost stirrup 20 is moved from a concentrated placement position (i.e., a position where the stirrups 20 are concentrated and placed together) to a connection processing position (i.e., a position where a welding gun or a binding gun is located), thereby completing the connection and fixation of the longitudinal rib 30 and the stirrup 20. So far, through the centre gripping positioner of this scheme of adoption, can the greatly reduced stirrup 20 remove the degree of difficulty, improve steel reinforcement cage production efficiency, guarantee processingquality.

Referring to fig. 1, in order to enable the clamping jaw 12 to move rapidly and be positioned at each corner of the stirrup 20, in some embodiments, the clamping mechanism 10 further includes a fixing frame 13, the fixing frame 13 is a rectangular frame, and the four positioning assemblies 11 are respectively installed on four side plates of the fixing frame 13 in a one-to-one correspondence manner and are located on the same side surface. The holder 13 is connected to the displacement mechanism so that the gripper 10 can be moved in its entirety in the axial direction. The positioning assembly 11 further includes a first moving unit 116 and a second moving unit 117 connected to the first moving unit 116, the first moving unit 116 is configured to output a driving force in one of a horizontal direction and a vertical direction, the second moving unit 117 is configured to output a driving force in the other of the horizontal direction and the vertical direction, and the third driving member 115 is connected to the second moving unit 117; the first mobile unit 116 and the second mobile unit 117 can act sequentially or synchronously. So carry out successively or synchronous motion with the help of first mobile unit 116 and second mobile unit 117, can drive clamping jaw 12 and accurately fix a position rapidly and paste and tightly to 20 corner inboards of stirrup, make clamping jaw 12 can reliably catch on stirrup 20, and can walk according to multiple removal trails such as straight line, pitch arc at the removal in-process, do benefit to clamping jaw 12 and sparingly remove consuming time, do benefit to simultaneously and keep away the barrier, improve clamping jaw 12 positioning reliability.

It should be noted that, since the four positioning assemblies 11 are arranged in a cross shape in the preferred embodiment, when the first moving unit 116 or the second moving unit 117 having the same property are located at different orientations, there is a difference in the output power direction. For example, in the positioning assembly 11 in the vertical direction, the first moving unit 116 may output a driving force in the horizontal direction, and at this time, the second moving unit 117 may output a driving force in the vertical direction. However, in the positioning assembly 11 in the horizontal direction, the first moving unit 116 is also used, and the driving force in the vertical direction is output, and the moving force in the horizontal direction is output by the second moving unit 117.

It should be noted that, since the projection of the stirrup 20 located on the longitudinal bar 30 along the axial direction is located in the middle of the hollow cavity formed by the fixing frame 13, the clamping jaw 12 can be driven to move closer to or away from the stirrup 20 no matter whether the second moving unit 117 is located in the vertical direction or the horizontal direction.

In some embodiments, the first moving unit 116 includes a first guide rail disposed on the fixed frame 13, a first driving member 112 disposed on the fixed frame 13, a first transmission pair connected to the first driving member 112, and a sliding seat slidably disposed on the first guide rail and connected to the first transmission pair, and the second moving unit 117 is disposed on the sliding seat. In this way, the second moving unit 117 can quickly find the corner of the stirrup 20 with the clamping jaw 12 under the driving of the first moving unit 116, and the positioning efficiency is ensured. And the second moving unit 117 can slide back and forth in the vertical direction and the horizontal direction, so that the clamping jaw 12 has the capability of being suitable for stirrups 20 with different shapes.

Specifically, the first driving member 112 is a motor, and the first transmission pair is a screw nut pair. The screw rod is connected with a power shaft of the motor, and when the motor drives the screw rod to rotate, the nut can slide along the screw rod in a reciprocating mode, so that the purpose of driving the second moving unit 117 to slide in a reciprocating mode is achieved. The power transmission is stable, and the structure is simple. Of course, in other embodiments, the specific structure of the first moving unit 116 may also adopt other driving structures in the prior art, and the specific structure may be selected according to actual needs.

Furthermore, in some further embodiments, the second moving unit 117 comprises a second driving member 113 and a second guiding rail respectively disposed on the sliding base, a driving wheel connected to the second driving member 113, and a telescopic arm drivingly connected to the driving wheel, the telescopic arm is slidably disposed on the second guiding rail, and the telescopic arm is connected to the clamping jaw 12. So, through the rotation of second driving piece 113 drive wheel, the drive wheel can stretch out or withdraw with the help of the flexible arm of frictional force drive to drive clamping jaw 12 by flexible arm and finally fix a position and paste closely on the corner inner wall of stirrup 20, take place to deform and remove stirrup 20 for follow-up tractive stirrup 20 and provide reliable basis.

Particularly, the wheel face of drive wheel is equipped with first tooth structure, flexible arm is equipped with second tooth structure, first tooth structure with second tooth structure meshing transmission cooperation. It can be understood that, this moment the drive wheel constitutes the rack and pinion transmission with flexible arm and is vice, with the help of the tooth meshing transmission, can guarantee that power transmission is steady, and the load bearing capacity to clamping jaw 12 and indulge muscle 30 is strong, ensures that the displacement is reliable and accurate. Of course, in other embodiments, the specific structure of the second moving unit 117 may also adopt other driving structures in the prior art, such as a scissors mechanism, a lead screw slider mechanism, and the like, which can be selected according to actual needs.

With continued reference to fig. 2, 4-6, in some embodiments, the clamping jaw 12 includes a first claw 121 and a second claw 122, the first claw 121 and the second claw 122 are spaced apart from each other and arranged side by side, and a relief cavity 123 is formed between the first claw 121 and the second claw 122. When the hoop 20 is pulled to move, the first claw hook 121 and the second claw hook 122 can simultaneously hook and buckle the inner wall of the hoop 20, and at this time, the longitudinal rib 30 extends into the avoiding concave cavity 123, so that the interference between the clamping jaw 12 and the longitudinal rib 30 can be avoided. In addition, when the stirrup 20 is moved to the connection processing position, the clamping jaw 12 is rotated to adjust the posture, so that the first claw hook 121 and the second claw hook 122 can hook and buckle the longitudinal bar 30, and the stirrup 20 is clamped in the avoiding cavity 123, so that the subsequent connection processing (such as welding or binding) of the stirrup 20 and the longitudinal bar 30 can be performed.

It should be noted that, in order to ensure reliable pulling movement of the stirrup 20 and secure positioning and clamping between the stirrup 20 and the longitudinal bar 30, the first claw hook 121 and the second claw hook 122 are both provided with hook grooves 124. The hook slot 124 can reliably limit the degree of freedom of the stirrup 20 and the longitudinal bar 30, and prevent the occurrence of unexpected movement from influencing the normal processing of the reinforcement cage.

In some embodiments, the positioning assembly 11 includes a holder 111 and a first driving member 112 disposed on the holder 111, the clamping jaw 12 further includes a jaw body connected to the first jaw 121 and the second jaw 122, the first driving member 112 is connected to the jaw body, and the first driving member 112 is configured to output a rotational power. The holder 111 is used for bearing and fixing the first driving member 112 and the clamping jaw 12. The claw main body is connected with the first driving piece 112, so that when the stirrup 20 is pulled and moved to the connection processing position, the first driving piece 112 can drive the clamping jaw 12 to integrally rotate by 90 degrees, so that the clamping jaw 12 is switched to enter a clamping and positioning state, the clamping and positioning of the longitudinal bar 30 and the stirrup 20 are firm, and the subsequent welding or binding quality is ensured.

Alternatively, the first drive member 112 may be, but is not limited to, a rotary electric motor, a rotary air cylinder, or the like.

Further, in some embodiments, the positioning assembly 11 further includes a second driving member 113 and a pressing arm 114, the second driving member 113 is disposed on the holder 111 and connected to the pressing arm 114, and the second driving member 113 is configured to drive the pressing arm 114 to move toward or away from the stirrup 20. After the clamping jaw 12 positions and clamps the stirrup 20 and the longitudinal bar 30 at the connection processing position, the second driving member 113 immediately drives the pressing arm 114 to extend out to press the stirrup 20 on the surface of the longitudinal bar 30, so that the degree of freedom of the longitudinal bar 30 and the stirrup 20 is well limited, and the processing quality of a welding gun or a binding gun and the connection position precision of the stirrup 20 and the longitudinal bar 30 are ensured.

Alternatively, the second driving member 113 is a telescopic cylinder, a linear motor, an oil cylinder, an electric push rod, or the like. The pressing arm 114 is formed into an L-shaped plate, and the turning part adopts a cambered surface transition, so that the stirrup 20 can be reliably pressed on the surface of the longitudinal bar 30, and the stirrup can be prevented from being broken due to a counterforce.

In order to ensure the stable compression of the stirrup 20, the pressing arm 114 is provided with a pressing groove 114 a. The stirrup 20 is held in the pressing groove 114a, so that the lateral deviation and release caused by the pressing force can be effectively avoided. Specifically, the indent 114a and the hook groove 124 are both V-shaped, U-shaped, etc. to adapt to the clamping and positioning requirements of the stirrups 20 and the longitudinal bars 30 with various diameters.

Further, in some embodiments, the first claw hook 121 and the second claw hook 122 are provided with a first clearance recess 125. The first clearance recess 125 prevents the pressing arm 114 from colliding and interfering with the chuck jaws 12 when extended.

In addition, the first claw hook 121 and the second claw hook 122 are each further provided with a second clearance recess 126 disposed opposite to the first clearance recess 125. The provision of the second clearance recess 126 prevents the clamping jaw 12 from colliding and interfering with the longitudinal rib 30 when the clamping jaw is in the connection processing position and the entire 90-degree rotation is performed.

Preferably, the pressing arm 114 is located at a central position between the first claw hook 121 and the second claw hook 122. So can guarantee to press arm 114 and clamping jaw 12 cooperation centre gripping location to indulge muscle 30 and stirrup 20 time, stirrup 20 atress is even and can not take place to warp or sunken deformation, guarantees stirrup 20 and indulges muscle 30 connection quality and steel reinforcement cage's final shaping quality.

On the basis of any of the above embodiments, the positioning assembly 11 further includes a third driving member 115 for outputting a rotational power, and the third driving member 115 is connected to the holder 111. Specifically, the third driving member 115 is a rotary cylinder, and is mounted at the end of the telescopic arm, and the piston rod thereof is connected to the holder 111. The third driving member 115 can drive the clamping jaw 12 and the pressing arm 114 to integrally rotate, so that the other connecting points of the stirrups 20 and the longitudinal bars 30 at the four corners can be positioned and clamped, and the machining requirements can be met.

As shown in fig. 8, in summary, the working steps of the clamping and positioning method of the clamping and positioning device in any of the above embodiments can be briefly described as follows:

s100: a plurality of clamping jaws 12 are arranged around the periphery of a stirrup 20 at intervals, and the clamping jaws 12 are hooked on the inner side of the stirrup 20 at the same time.

S200: each positioning assembly 11 drives the corresponding clamping jaw 12 to move so as to force the stirrup 20 to expand and deform to be separated from the longitudinal rib 30.

S300: the shifting mechanism drives the clamping mechanism 10 to move, and the stirrups 20 are moved from the centralized placing position to the connecting and processing position.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.