Automatic binding machine for ground beam reinforcement and binding method thereof

Abstract

The application discloses a floor beam steel bar automatic binding machine and a binding method thereof. In the application, a three-dimensional moving mechanism drives a mounting rack to move, two extrusion mechanisms are arranged on the mounting rack, a shearing mechanism is arranged in front of the two extrusion mechanisms, a screwing mechanism is arranged below the shearing mechanism, and two guide assemblies are arranged in front of the screwing mechanism; two binding wires are conveyed to the two blades of corresponding shearing tongs of the shearing mechanism through the two extrusion mechanisms, enter arc-shaped guide rails one of the corresponding guide assemblies, are bent and guided in the arc-shaped guide rails one to enter arc-shaped guide rails two of the guide assemblies, are bent and guided in the arc-shaped guide rails one to return to the corresponding arc-shaped guide rails one, and are sheared by the shearing mechanism until a preset number of turns are wound on the cross rib, and the screwing mechanism screws the two binding wire turns wound on the cross rib. The application can replace manual work to realize the binding of the steel bar placed in the vertical direction, reduces the labor force, the binding mode is simple, and the binding efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of construction robot technology, specifically relating to an automatic rebar tying machine for ground beams and its tying method. Background Technology

[0002] Ground beam reinforcement is a core load-bearing component of ground ring beams and foundation beams. Its main function is to enhance the load-bearing capacity, crack resistance, and integrity of the ground beam, ensuring that it can effectively transfer the load of the superstructure to the foundation and resist stress in the underground environment. It is an indispensable part of the underground foundation structure of buildings. At present, ground beam reinforcement binding in my country mainly relies on manual labor, usually in harsh working environments with high dust, noise, and high temperatures. Extreme high temperatures and inadequate safety protection are common problems that make the binding workers face even higher workloads. At the same time, manual operation is inefficient and prone to problems such as uneven tension of binding wires and missed bindings. To improve binding efficiency and reduce the harm to workers from harsh working environments, fully automated rebar binding machines have been put into use. However, existing automatic rebar binding machines for ground beams mainly bind horizontally placed rebars, with few devices for binding vertically placed rebars. Binding vertically placed rebars is primarily done manually, especially for the binding of the vertical portions that are bound together with horizontal rebars. Construction units often require the use of a figure-eight crisscross binding method to improve binding effectiveness, while the remaining vertical portions are only bound using a fixed diagonal binding method. Since this process involves multiple operations, many of which are repetitive, manual operation is prone to errors and omissions, thus failing to meet the requirements of the construction party. This is particularly problematic for infrastructure projects with stringent construction standards, such as nuclear power plants and bridge construction, and can negatively impact subsequent operations such as cement pouring. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and to propose an automatic tying machine for ground beam reinforcement and its tying method.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] The present invention discloses an automatic rebar binding machine for ground beams, comprising a three-dimensional moving mechanism and a binding mechanism. The three-dimensional moving mechanism includes a frame, a moving chassis, a lifting mechanism, and a translation mechanism. The moving chassis drives the frame to move, the lifting mechanism is mounted on the frame and drives the translation mechanism to lift and lower, and a camera is fixed on the frame.

[0006] The binding mechanism includes a screwing mechanism, a guiding assembly, an extrusion mechanism, a shearing mechanism, and a mounting frame. The mounting frame is driven by a translation mechanism to move forward or backward along the frame, and a placement rod is fixed on the mounting frame. The extrusion mechanism includes a driving rubber wheel and a driven grooved wheel; the lower extrusion frame is fixed on the mounting frame, the driving rubber wheel and the lower extrusion frame form a rotating pair, and are driven to rotate by a drive motor; the upper extrusion frame is located above the driving rubber wheel and forms a sliding pair with the lower extrusion frame, and is driven to slide by a drive component; a driven grooved wheel is hinged on the upper extrusion frame, and there is a gap between the driven grooved wheel and the driving rubber wheel; the extrusion mechanism consists of two symmetrically spaced extrusion mechanisms; the shearing mechanism is located in front of the two extrusion mechanisms and includes a shearing frame and shearing clamps; the shearing frame is fixed on the mounting frame, and the shearing clamps consist of two clamping parts that are hinged and connected at the hinge by a torsion spring; the shearing clamps consist of two symmetrically spaced extrusion mechanisms, one clamping part of each shearing clamp is fixed on the shearing frame, and the other clamping part is driven to rotate by a drive component.

[0007] The screwing mechanism includes a screw, a rotating housing, and grippers. A rotating bracket is fixed to a mounting frame. One end of the rotating bracket has an arc-shaped groove, and the other end has a through hole coaxially arranged with the arc-shaped groove. The horizontally positioned rotating housing passes through the arc-shaped groove and the through hole, forming a cylindrical pair with the through hole. One end of the rotating housing has a threaded hole, and the other end has a cylindrical hole coaxially arranged and communicating with the threaded hole, with through slots on both sides of the cylindrical hole. An integrally formed axially arranged protrusion is provided on the outer wall of the middle part of the rotating housing. The screw and the threaded hole form a threaded pair and are driven to rotate by a drive motor. The cylindrical push block and the cylindrical hole form a cylindrical pair. It is fixed to the screw; an integrally formed convex plate is provided on one side of the outer edge of the arc-shaped groove on the rotating bracket, and a ratchet plate is hinged on the other side of the outer edge of the arc-shaped groove. The ratchet plate and the rotating bracket are connected at the hinge by a torsion spring. The length of the convex plate is less than the length of the ratchet plate. The convex plate is located at the end of the arc-shaped groove near the through hole. Two symmetrically arranged grippers are hinged to the rotating housing at the two through slots respectively, and each gripper is connected to the corresponding rotating housing at the hinge by a torsion spring. An integrally formed protrusion is provided at one end of the gripper placed in the corresponding through slot. The protrusion contacts the end of the columnar push block. In the initial state, the convex strip is located between the convex plate and the ratchet plate.

[0008] The guiding components include an arc-shaped guide rail one and an arc-shaped guide rail two. The arc-shaped guide rail one is fixed on the shear frame, and the arc-shaped guide rail two is located below the arc-shaped guide rail one and fixed on the mounting frame. The front end of the arc-shaped guide rail one is positioned further back than the front end of the arc-shaped guide rail two, and the rear end of the arc-shaped guide rail one is positioned further forward than the rear end of the arc-shaped guide rail two. The guiding components are arranged symmetrically and at intervals. Both guiding components are located in front of the screwing mechanism, and the screwing mechanism is located between the arc-shaped guide rail one and the arc-shaped guide rail two.

[0009] Preferably, the driving component includes an adjusting stud and a connecting block. Two connecting blocks are fixed on the lower extrusion frame at a distance, and each connecting block has a threaded through hole. The adjusting stud is set as two parallel studs arranged at a distance. One end of each adjusting stud forms a rotating pair with the upper extrusion frame, and the other end forms a threaded pair with a threaded through hole.

[0010] Preferably, the extrusion mechanism further includes a lead wire block, a concave wire frame, and a lead wire tube; the lead wire tube and the lead wire block are both fixed on the lower extrusion frame and are located at both ends of the gap between the passive groove wheel and the driving rubber wheel, and the lead wire block has a lead wire hole, the inlet of the lead wire hole is aligned with the outlet of the lead wire tube; the concave wire frame is fixed on the mounting frame, and the concave wire frame has an arc-shaped lead wire groove, the inlet of the arc-shaped lead wire groove is aligned with the outlet of the lead wire hole.

[0011] More preferably, the wire hole is a tapered hole, the inlet area of ​​the wire hole is larger than the outlet area, and the inlet of the wire hole is closer to the gap between the passive groove wheel and the driving rubber wheel than the outlet.

[0012] Preferably, a slider is fixed on the upper extrusion frame, and a groove is provided on the lower extrusion frame, with the slider and the groove forming a sliding pair.

[0013] More preferably, one side of the concave wire frame is fixed to the mounting frame by a fixing bracket, and the other side is fixed with a baffle.

[0014] More preferably, a guide hole is provided between the blades of the two jaws of each cutter on the cutter frame, the inlet of each guide hole is aligned with the outlet of an arc-shaped wire groove, and the inlet of each arc-shaped guide rail is aligned with the outlet of a guide hole.

[0015] Preferably, the second driving component includes thin ropes, U-shaped grooved wheels, V-shaped grooved wheels, and a connecting shaft. One end of each of the two thin ropes is fixed to the handles of two clamps on the two shears that are not fixed to the shear frame. The other end of each rope passes over a U-shaped grooved wheel hinged on the shear frame and also passes over a V-shaped grooved wheel hinged on the mounting frame. Both ends are fixed to the connecting shaft, and the two U-shaped grooved wheels are arranged symmetrically. The connecting shaft and the mounting frame form a rotating pair and are driven to rotate by a third driving motor. The third driving motor does not have a brake function.

[0016] More preferably, a double-grooved wheel frame is fixed on the shearing frame, and the two U-shaped grooved wheels form a rotating pair with the double-grooved wheel frame.

[0017] The present invention discloses a binding method for an automatic ground beam reinforcement binding machine, as detailed below:

[0018] S1. Place two wire coils on the placement rod and pull out the wires from each wire coil so that each wire passes through a feed tube, the gap between the corresponding drive roller and the passive grooved roller, and the wire hole in sequence. Then, each drive unit drives the upper extrusion frame to move the passive grooved rollers a preset distance closer to the drive rollers, so that each passive grooved roller and the corresponding drive roller clamp each wire, thus adjusting the size of the gap between each drive roller and the corresponding passive grooved roller.

[0019] S2. The camera identifies the position of a vertical bar in the ground beam reinforcement. The moving chassis drives the frame to move the lifting mechanism, translation mechanism, and binding mechanism to the position of the vertical bar, so that the vertical bar is directly in front of the position between the two guide components. Then, the camera identifies the intersection position of the vertical bar with the corresponding horizontal bars. The lifting mechanism drives the translation mechanism and binding mechanism to lift and lower, so that a horizontal bar is directly in front of the position between the arc guide rail one and arc guide rail two of each guide component. Then, the translation mechanism drives the mounting frame to move the entire binding mechanism forward, so that the horizontal bar is within the space enclosed by the arc guide rail one and arc guide rail two in each guide component.

[0020] S3. The controller controls each drive motor to drive each drive roller to rotate. Each drive roller and the corresponding passive grooved roller clamp each binding wire and feeds it forward. At the same time, each binding wire drives each binding wire coil to rotate and release the binding wire. Each binding wire fed forward passes through the corresponding wire hole and is initially bent by the shape of each arc-shaped wire groove. The initially bent binding wire passes through the corresponding guide hole and enters each arc-shaped guide rail 1. It is bent again by the shape of each arc-shaped guide rail 1. After being bent again, the binding wire is guided by each arc-shaped guide rail 1 and enters each arc-shaped guide rail 2. It is further bent by the shape of each arc-shaped guide rail 2. After being further bent, the binding wire is guided by each arc-shaped guide rail 2 and then winds back into each arc-shaped guide rail 1. As each drive roller rotates, each binding wire winds around the horizontal rib until two binding wires have wound a preset number of turns on the horizontal rib.

[0021] S4. Drive component two drives each cutting clamp to cut each binding wire, so that the two sections of binding wire wrapped around the horizontal rib form two binding wire loops; drive component two stops working, and the two clamps not fixed to the cutting clamp frame rotate back to their original positions under the restoring force of the corresponding torsion spring one.

[0022] S5. The controller controls the drive motor to drive the screw to rotate forward. At the same time, the convex plate abuts against the convex strip, preventing the rotating housing from rotating forward. This causes the screw to drive the rotating housing to move forward horizontally. The columnar push block pushes the two convex blocks, which in turn causes the two grippers to gradually close until the convex strip and the convex plate disengage. At this point, the two grippers clamp the two wire loops wound on the crossbeam. As the screw continues to rotate forward, it drives the rotating housing and the two grippers to rotate forward together. The rotating grippers cause the two wire loops to twist together, binding the vertical rib and the horizontal rib together. The rotating housing rotates forward. When the convex rib passes the ratchet plate, it pushes the ratchet plate to rotate upward. When the convex rib loses contact with the ratchet plate, the second torsion spring drives the ratchet plate to rotate downward back to its original position. Then, the controller controls the second drive motor to drive the screw to reverse, while the ratchet plate abuts against the convex rib, preventing the rotating housing from reversing. This causes the screw to drive the rotating housing to move backward. Under the restoring force of the corresponding third torsion spring, the two grippers gradually open, loosening the two twisted wire loops until the rotating housing returns to its original position. Then, the translation mechanism drives the mounting frame to move the entire binding mechanism backward back to its original position, completing the binding of the vertical rib and the horizontal rib.

[0023] The present invention has the following beneficial effects:

[0024] This invention can replace manual labor in tying vertically placed rebars, filling the gap in existing automated machines for tying vertically placed rebars, reducing labor costs, and simplifying the tying method while improving efficiency. Specifically, this invention uses a camera to identify the positions of vertical rebars and the horizontal rebars intersecting them. A three-dimensional moving mechanism drives the tying mechanism to move, positioning the vertical rebars between two guide components and the horizontal rebars within the space enclosed by arc-shaped guide rails one and two in each guide component. Then, each drive motor drives each drive wheel to rotate, moving the two binding wires clamped by the drive wheels and corresponding passive grooved wheels forward and pulling out a portion of the binding wire from each wire roll. The forward-moving binding wires sequentially pass through the corresponding wire holes, arc-shaped wire grooves, and guide holes into the corresponding arc-shaped guide rail one, and then... Due to the shape and guiding function of the first arc-shaped guide rail, each binding wire bends and enters the corresponding second arc-shaped guide rail. After passing through the shape and guiding function of the second arc-shaped guide rail, each binding wire bends further and wraps back into the first arc-shaped guide rail, so that the two binding wires are wrapped around the horizontal rib. Until the two binding wires have been wrapped around the horizontal rib a preset number of times, the second drive unit drives two shears to cut the two binding wires, so that the two sections of binding wire wrapped around the horizontal rib form two binding wire loops. The second drive motor drives the screw to rotate forward. Due to the limiting of the convex strip on the rotating housing by the convex plate, the rotating housing moves forward and pushes the two grippers to close until the convex strip and the convex plate are no longer in contact. The two grippers clamp the two binding wire loops. As the screw continues to rotate forward, the screw drives the rotating housing and the two grippers to rotate forward together, so that the two binding wire loops twist together, binding the vertical rib and the horizontal rib together. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the binding mechanism structure after removing one extrusion mechanism in this invention;

[0027] Figure 3 This is a partial structural schematic diagram of the extrusion mechanism in this invention;

[0028] Figure 4 This is a schematic diagram of the shearing mechanism in this invention;

[0029] Figure 5 This is a partial cross-sectional view of the screwing mechanism in this invention;

[0030] Figure 6 This is a schematic diagram of the screwing mechanism in this invention. Detailed Implementation

[0031] The present invention will now be further described with reference to the accompanying drawings.

[0032] like Figure 1 As shown, the present invention discloses an automatic rebar tying machine for ground beams, comprising a three-dimensional moving mechanism 1 and a tying mechanism 2. The three-dimensional moving mechanism includes a frame, a moving chassis, a lifting mechanism, and a translating mechanism. The moving chassis drives the frame to move, and the lifting mechanism is mounted on the frame to drive the translating mechanism to move up and down. A camera (not shown in the figure) is fixed on the frame and is used to identify the positions of the vertical and horizontal rebars in the ground beam.

[0033] like Figure 2 As shown, the binding mechanism 2 includes a twisting mechanism 2-1, a guiding assembly 2-2, an extrusion mechanism 2-3, a shearing mechanism 2-4, and a mounting frame 2-5. The mounting frame 2-5 is driven by a translation mechanism to move forward or backward along the frame, and a placement rod 2-6 is fixed on the mounting frame 2-5 for placing the binding wire roll. Figure 3As shown, the extrusion mechanism 2-3 includes a lower extruder 2-3-1, a drive roller 2-3-2, a wire block 2-3-3, a concave wire frame 2-3-5, an upper extruder 2-3-8, a driven grooved wheel 2-3-10, and a feed tube 2-3-11. The lower extruder 2-3-1 is fixed to the mounting frame 2-5. The drive roller 2-3-2 and the lower extruder 2-3-1 form a rotating pair and are driven to rotate by a drive motor. The upper extruder 2-3-8 is located above the drive roller 2-3-2 and forms a sliding pair with the lower extruder 2-3-1, and is driven to slide by a drive component. The driven grooved wheel 2-3-10 is hinged to the upper extruder 2-3-8. A gap exists between the driving rubber wheels 2-3-2. The upper extrusion frame is driven by a driving component to move the driven grooved wheel, allowing adjustment of the gap between the driving rubber wheels and the driven grooved wheel. The feed tube 2-3-11 and the lead block 2-3-3 are both fixed to the lower extrusion frame 2-3-1, located at opposite ends of the gap between the driven grooved wheel 2-3-10 and the driving rubber wheel 2-3-2. The lead block 2-3-3 has a lead hole, with its inlet aligned with the outlet of the feed tube 2-3-11. The concave wire holder 2-3-5 is fixed to the mounting frame 2-5, and it has an arc-shaped lead groove, with its inlet aligned with the outlet of the lead hole. The extrusion mechanism 2-3 consists of two symmetrically spaced components.

[0034] like Figure 4 As shown, the shearing mechanism 2-4 is located in front of the two extrusion mechanisms 2-3, and includes a shearing frame 2-4-1, shearing clamps 2-4-2, and a second driving component. The shearing frame 2-4-1 is fixed to the mounting bracket 2-5. The shearing clamps 2-4-2 consist of two hinged clamps arranged crosswise, with the hinges connected by a torsion spring. The shearing clamps 2-4-2 are arranged symmetrically and at intervals, with one clamp of each shearing clamp 2-4-2 fixed to the shearing frame 2-4-1. A guide hole is provided on the shearing frame 2-4-1 between the blades of the two clamps of each shearing clamp 2-4-2, and the entrance of each guide hole is aligned with the outlet of an arc-shaped wire groove. The second driving component includes a thin rope. 2-4-3, U-shaped grooved wheel 2-4-5, V-shaped grooved wheel 2-4-6, and connecting shaft 2-4-9. One end of each of the two thin ropes 2-4-3 is fixed to the handles of the two clamps on the two shearing clamps 2-4-2 that are not fixed to the shearing clamp frame 2-4-1. The other ends of each rope pass over a U-shaped grooved wheel 2-4-5 hinged on the shearing clamp frame 2-4-1 and also pass over a V-shaped grooved wheel 2-4-6 hinged on the mounting frame 2-5. Both ropes are fixed to the connecting shaft 2-4-9. The two U-shaped grooved wheels 2-4-5 are arranged symmetrically. The connecting shaft 2-4-9 and the mounting frame 2-5 form a rotating pair and are driven to rotate by the drive motor 2-4-7. The drive motor 2-4-7 does not have a brake function.

[0035] like Figure 5and Figure 6 As shown, the screwing mechanism 2-1 is located below the shearing mechanism 2-4 and the two extrusion mechanisms 2-3, and includes a rotating bracket 2-1-1, a screw 2-1-5, a rotating housing 2-1-3, a ratchet plate 2-1-7, a columnar push block 2-1-4, and a gripper 2-1-2. The rotating bracket 2-1-1 is fixed on the mounting bracket 2-5. One end of the rotating bracket 2-1-1 has an arc-shaped groove, and the other end has a through hole coaxially arranged with the arc-shaped groove. The horizontally positioned rotating housing 2-1-3 passes through the arc-shaped groove and the through hole, forming a cylindrical pair with the through hole. One end of the rotating housing 2-1-3 has a threaded hole, and the other end has a cylindrical hole coaxially arranged and connected with the threaded hole, with through slots on both sides of the cylindrical hole. The outer wall of the middle part of the rotating housing 2-1-3 has an integrally formed axially arranged protrusion 2-1-11. The screw 2-1-5 forms a threaded pair with the threaded hole and is driven to rotate by the drive motor 2-1-9. The columnar pusher block 2-1-4 forms a cylindrical pair with the cylindrical hole and is fixed to the screw 2-1-5. The rotating bracket 2-1-1 has a section on the outer edge of one side of the arc-shaped groove. An integrally formed protruding plate 2-1-6 is provided at the location. A ratchet plate 2-1-7 is hinged to the outer edge of the other side of the arc-shaped groove. The ratchet plate 2-1-7 and the rotating bracket 2-1-1 are connected at the hinge by a torsion spring. The length of the protruding plate 2-1-6 is less than the length of the ratchet plate 2-1-7. The protruding plate 2-1-6 is located at the end of the arc-shaped groove near the through hole. Two symmetrically arranged grippers 2-1-2 are hinged to the rotating housing 2-1-3 at the two through slots. Each gripper 2-1-2 is connected to the corresponding rotating housing 2-1-3 at the hinge by a torsion spring. An integrally formed protrusion is provided at the end of the gripper 2-1-2 placed in the corresponding through slot. The protrusion contacts the end of the columnar push block 2-1-4 near the threaded hole. In the initial state, the protruding strip 2-1-11 is located between the protruding plate 2-1-6 and the ratchet plate 2-1-7.

[0036] The guide assembly 2-2 includes an arc-shaped guide rail one and an arc-shaped guide rail two. The arc-shaped guide rail one is fixed on the shearing frame 2-4-1, and the arc-shaped guide rail two is located below the arc-shaped guide rail one and fixed on the mounting frame 2-5. The front end of the arc-shaped guide rail one is positioned further back than the front end of the arc-shaped guide rail two, and the rear end of the arc-shaped guide rail one is positioned further forward than the rear end of the arc-shaped guide rail two. This allows the binding wire to enter the arc-shaped guide rail two after being guided by the arc-shaped guide rail one, and to re-enter the arc-shaped guide rail one after being guided by the arc-shaped guide rail two. The guide assemblies 2-2 are arranged symmetrically and at intervals. Both guide assemblies 2-2 are located in front of the screwing mechanism 2-1, and the screwing mechanism 2-1 is located between the arc-shaped guide rail one and the arc-shaped guide rail two. The inlet of each arc-shaped guide rail one is aligned with the outlet of a guide hole.

[0037] In a preferred embodiment, the drive component includes an adjusting stud (not shown in the figure) and a connecting block 2-3-7. Two connecting blocks 2-3-7 are fixed on the lower extruder 2-3-1 at a distance. Each connecting block 2-3-7 has a threaded through hole. The adjusting stud is arranged in parallel and at a distance. One end of each adjusting stud forms a rotating pair with the upper extruder 2-3-8, and the other end forms a threaded pair with a threaded through hole.

[0038] In a preferred embodiment, the wire hole is a tapered hole, the inlet area of ​​the wire hole is larger than the outlet area, and the inlet of the wire hole is closer than the outlet to the gap between the passive groove wheel 2-3-10 and the driving rubber wheel 2-3-2.

[0039] In a preferred embodiment, a slider 2-3-9 is fixed on the upper extruder 2-3-8, and a groove is provided on the lower extruder 2-3-1. The slider 2-3-9 and the groove form a sliding pair.

[0040] In a preferred embodiment, one side of the concave wire holder 2-3-5 is fixed to the mounting bracket 2-5 by a fixing bracket 2-3-4, and the other side is fixed with a baffle 2-3-6. The baffle 2-3-6 and the fixing bracket 2-3-4 serve to restrict the left and right movement of the wire.

[0041] In a preferred embodiment, a double-grooved wheel frame 2-4-4 is fixed on the shearing frame 2-4-1, and the two U-shaped grooved wheels 2-4-5 form a rotating pair with the double-grooved wheel frame 2-4-4.

[0042] In a preferred embodiment, a single grooved wheel frame 2-4-8 is fixed on the mounting bracket 2-5, and the V-groove wheel 2-4-6 and the single grooved wheel frame 2-4-8 form a rotating pair.

[0043] In a preferred embodiment, the housing of the second drive motor 2-1-9 is fixed to the mounting bracket 2-5 by the motor bracket 2-1-8, and the output shaft of the second drive motor 2-1-9 is connected to the screw 2-1-5 by the coupling 2-1-10.

[0044] Among them, drive motor 2-1-9, drive motor 3-4-7 and each drive motor 1 are all controlled by the controller, and the camera's signal output terminal is connected to the controller.

[0045] The present invention discloses a binding method for an automatic ground beam reinforcement binding machine, as detailed below:

[0046] S1. Place two wire coils on the placement rod 2-6 and pull out the wires from each wire coil so that each wire passes through a feed tube 2-3-11, the gap between the corresponding drive roller and the passive grooved roller, and the wire hole. Then, each drive unit drives the upper extrusion frame to move the passive grooved rollers a preset distance closer to the drive roller 2-3-2, so that each passive grooved roller and the corresponding drive roller clamp each wire, thus adjusting the size of the gap between each drive roller and the corresponding passive grooved roller.

[0047] S2. The camera identifies the position of a vertical bar in the ground beam reinforcement. The moving chassis drive frame moves the lifting mechanism, translation mechanism, and binding mechanism 2 to the position of the vertical bar, so that the vertical bar is directly in front of the position between the two guide components 2-2. Then the camera identifies the intersection position of the vertical bar with the corresponding horizontal bars. The lifting mechanism drives the translation mechanism and binding mechanism 2 to lift and lower, so that a horizontal bar is directly in front of the position between the arc guide rail one and the arc guide rail two of each guide component 2-2. Then the translation mechanism drives the mounting frame 2-5 to move the entire binding mechanism 2 forward, so that the horizontal bar is located within the space enclosed by the arc guide rail one and the arc guide rail two in each guide component 2-2.

[0048] S3. The controller controls each drive motor to drive each drive roller 2-3-2 to rotate. Each drive roller 2-3-2 and the corresponding passive groove roller 2-3-10 clamp each binding wire and feed it forward. At the same time, each binding wire drives each binding wire coil to rotate and release the binding wire. Each binding wire fed forward passes through the corresponding wire hole and is initially bent by the shape of each arc wire groove. The initially bent binding wire passes through the corresponding guide hole and enters each arc guide rail 1. It is bent again by the shape of each arc guide rail 1. After being bent again, the binding wire is guided by each arc guide rail 1 and enters each arc guide rail 2. It is further bent by the shape of each arc guide rail 2. After being further bent, the binding wire is guided by each arc guide rail 2 and then winds back into each arc guide rail 1. As each drive roller 2-3-2 rotates, each binding wire winds around the horizontal rib until two binding wires have wound a preset number of turns on the horizontal rib.

[0049] S4. Drive component two drives each cutting clamp 2-4-2 to cut each binding wire, so that the two sections of binding wire wrapped around the horizontal rib form two binding wire loops; drive component two stops working, and the two clamps not fixed on the cutting clamp frame 2-4-1 rotate back to their original positions under the restoring force of the corresponding torsion spring one.

[0050] S5. The controller controls the drive motor 2-1-9 to drive the screw 2-1-5 to rotate forward (from the ratchet plate 2-1-7 towards the convex plate 2-1-6). Simultaneously, the convex plate 2-1-6 abuts against the convex strip 2-1-11, preventing the rotating housing 2-1-3 from rotating forward. This causes the screw 2-1-5 to move the rotating housing 2-1-3 forward. The columnar pusher block 2-1-4 pushes the two protrusions, causing the two grippers 2-1-2 to gradually close until the convex strip 2-1-11 disengages from the convex plate 2-1-6. At this point, the two grippers 2-1-2 clamp the two wire loops wound on the crossbeam. As the screw 2-1-5 continues to rotate forward, it drives the rotating housing 2-1-3 and the two grippers 2-1-2 to rotate forward together. The rotating grippers 2-1-2 twist the two wire loops together, binding the vertical rib and the horizontal rib together, thus achieving the binding of the vertical rib and the horizontal rib. When the transverse rib is tied and the housing 2-1-3 rotates clockwise, each time the convex rib 2-1-11 passes the ratchet plate 2-1-7, the convex rib 2-1-11 pushes the ratchet plate 2-1-7 to rotate upward. When the convex rib 2-1-11 disengages from the ratchet plate 2-1-7, the torsion spring 2-1-1 drives the ratchet plate 2-1-7 to rotate downward back to its original position. Then, the controller controls the drive motor 2-1-9 to drive the screw 2-1-5 to rotate in reverse, while the ratchet plate 2-1-7 abuts against the convex rib. Strip 2-1-11 prevents the rotating housing 2-1-3 from reversing, causing the screw 2-1-5 to drive the rotating housing 2-1-3 to move backward. Under the restoring force of the corresponding torsion spring 3, the two grippers 2-1-2 gradually open, loosening the two twisted wire loops until the rotating housing 2-1-3 returns to its original position. Then, the translation mechanism drives the mounting bracket 2-5 to move the entire binding mechanism 2 backward to its original position, completing the binding of the vertical rib and the horizontal rib.

Claims

1. An automatic rebar tying machine for ground beams, comprising a three-dimensional moving mechanism and a tying mechanism, wherein the three-dimensional moving mechanism includes a lifting mechanism and a translation mechanism, a moving chassis drives the frame to move, the lifting mechanism is mounted on the frame and drives the translation mechanism to lift and lower, characterized in that: A camera is fixed on the frame; the binding mechanism includes a screwing mechanism, a guiding component, an extrusion mechanism, and a shearing mechanism; the mounting frame is driven by a translation mechanism to move forward or backward along the frame, and a placement rod is fixed on the mounting frame; the extrusion mechanism includes a driving rubber wheel and a passive grooved wheel; the lower extrusion frame is fixed on the mounting frame, the driving rubber wheel and the lower extrusion frame form a rotating pair, and are driven to rotate by a drive motor; the upper extrusion frame is located above the driving rubber wheel and forms a sliding pair with the lower extrusion frame, and is driven to slide by a drive component. A driven grooved wheel is hinged to the upper extrusion frame, and there is a gap between the driven grooved wheel and the driving rubber wheel; the extrusion mechanism is configured as two symmetrically spaced extrusion mechanisms; the shearing mechanism is located in front of the two extrusion mechanisms and includes a shearing frame and shearing clamps; the shearing frame is fixed to the mounting frame, and the shearing clamps are composed of two clamping parts that are hinged and connected at the hinge by a torsion spring; the shearing clamps are configured as two symmetrically spaced extrusion mechanisms, one clamping part of each shearing clamp is fixed to the shearing frame, and the other clamping part is driven to rotate by a driving component. The screwing mechanism includes a screw, a rotating housing, and grippers. A rotating bracket is fixed to a mounting frame. One end of the rotating bracket has an arc-shaped groove, and the other end has a through hole coaxially arranged with the arc-shaped groove. The horizontally positioned rotating housing passes through the arc-shaped groove and the through hole, forming a cylindrical pair with the through hole. One end of the rotating housing has a threaded hole, and the other end has a cylindrical hole coaxially arranged and communicating with the threaded hole, with through slots on both sides of the cylindrical hole. An integrally formed axially arranged protrusion is provided on the outer wall of the middle part of the rotating housing. The screw and the threaded hole form a threaded pair and are driven to rotate by a drive motor. The cylindrical push block and the cylindrical hole form a cylindrical pair. It is fixed to the screw; an integrally formed convex plate is provided on one side of the outer edge of the arc-shaped groove on the rotating bracket, and a ratchet plate is hinged on the other side of the outer edge of the arc-shaped groove. The ratchet plate and the rotating bracket are connected at the hinge by a torsion spring. The length of the convex plate is less than the length of the ratchet plate. The convex plate is located at the end of the arc-shaped groove near the through hole; two symmetrically arranged jaws are hinged to the rotating housing at the two through slots respectively, and each jaw is connected to the corresponding rotating housing at the hinge by a torsion spring; an integrally formed protrusion is provided at one end of the jaw placed in the corresponding through slot, and the protrusion contacts the end of the columnar push block; in the initial state, the convex strip is located between the convex plate and the ratchet plate; The guiding components include an arc-shaped guide rail one and an arc-shaped guide rail two. The arc-shaped guide rail one is fixed on the shear frame, and the arc-shaped guide rail two is located below the arc-shaped guide rail one and fixed on the mounting frame. The front end of the arc-shaped guide rail one is positioned further back than the front end of the arc-shaped guide rail two, and the rear end of the arc-shaped guide rail one is positioned further forward than the rear end of the arc-shaped guide rail two. The guiding components are arranged symmetrically and at intervals. Both guiding components are located in front of the screwing mechanism, and the screwing mechanism is located between the arc-shaped guide rail one and the arc-shaped guide rail two.

2. The automatic rebar tying machine for ground beams according to claim 1, characterized in that: The drive component includes an adjusting stud and a connecting block. Two connecting blocks are fixed on the lower extrusion frame at a distance. Each connecting block has a threaded through hole. The adjusting stud is set as two parallel studs at a distance. One end of each adjusting stud forms a rotating pair with the upper extrusion frame, and the other end forms a threaded pair with a threaded through hole.

3. The automatic rebar tying machine for ground beams according to claim 1, characterized in that: The extrusion mechanism further includes a wire block, a concave wire frame, and a wire feed tube; the wire feed tube and the wire block are both fixed on the lower extrusion frame and are located at both ends of the gap between the passive groove wheel and the driving rubber wheel, respectively. The wire block has a wire hole, and the inlet of the wire hole is aligned with the outlet of the wire feed tube. The concave wire frame is fixed on the mounting frame, and the concave wire frame has an arc-shaped wire groove, and the inlet of the arc-shaped wire groove is aligned with the outlet of the wire hole.

4. The automatic rebar tying machine for ground beams according to claim 3, characterized in that: The wire hole is a tapered hole, with the inlet area of ​​the wire hole being larger than the outlet area, and the inlet of the wire hole being closer to the gap between the passive groove wheel and the driving rubber wheel than the outlet.

5. The automatic rebar tying machine for ground beams according to claim 1, characterized in that: The upper extrusion frame is fixed with a slider, and the lower extrusion frame is provided with a sliding groove. The slider and the sliding groove form a sliding pair.

6. The automatic rebar tying machine for ground beams according to claim 3, characterized in that: One side of the concave wire frame is fixed to the mounting frame by a fixing bracket, and the other side is fixed with a baffle.

7. The automatic rebar tying machine for ground beams according to claim 3, characterized in that: The shearing frame has guide holes between the blades of the two jaws of each shearing clamp. The entrance of each guide hole is aligned with the exit of an arc-shaped wire groove, and the entrance of each arc-shaped guide rail is aligned with the exit of a guide hole.

8. The automatic rebar tying machine for ground beams according to claim 1, characterized in that: The second driving component includes thin ropes, U-shaped grooved wheels, V-shaped grooved wheels, and connecting shafts. One end of each of the two thin ropes is fixed to the handles of two jaws on the two shearing pliers that are not fixed to the shearing pliers frame. The other end of each rope passes over a U-shaped grooved wheel hinged to the shearing pliers frame and also passes over a V-shaped grooved wheel hinged to the mounting frame. Both ends are fixed to the connecting shafts, and the two U-shaped grooved wheels are arranged symmetrically. The connecting shaft and the mounting frame form a rotating pair and are driven to rotate by a third driving motor. The third driving motor does not have a brake function.

9. An automatic rebar tying machine for ground beams according to claim 8, characterized in that: The shear frame is fixed with a double grooved wheel frame, and the two U-shaped grooved wheels form a rotating pair with the double grooved wheel frame.

10. The binding method of an automatic ground beam reinforcement binding machine according to claim 7, characterized in that: Specifically as follows: S1. Place two wire coils on the placement rod and pull out the wires from each wire coil so that each wire passes through a feed tube, the gap between the corresponding drive roller and the passive grooved roller, and the wire hole in sequence. Then, each drive unit drives the upper extrusion frame to move the passive grooved rollers a preset distance closer to the drive rollers, so that each passive grooved roller and the corresponding drive roller clamp each wire, thus completing the adjustment of the gap between each drive roller and the corresponding passive grooved roller. S2. The camera identifies the position of a vertical bar in the ground beam reinforcement. The moving chassis drives the frame to move the lifting mechanism, translation mechanism and binding mechanism to the position of the vertical bar, so that the vertical bar is directly in front of the position between the two guide components. Then the camera identifies the intersection position of the vertical bar with the corresponding horizontal bars. The lifting mechanism drives the translation mechanism and binding mechanism to lift and lower, so that a horizontal bar is directly in front of the position between the arc guide rail one and arc guide rail two of each guide component. Then the translation mechanism drives the mounting frame to move the entire binding mechanism forward, so that the horizontal bar is within the space enclosed by the arc guide rail one and arc guide rail two in each guide component. S3. The controller controls each drive motor to drive each drive wheel to rotate. Each drive wheel and the corresponding passive groove wheel clamp each tie wire and feed it forward. At the same time, each tie wire drives each tie wire coil to rotate and release the tie wire. Each tie wire fed forward passes through the corresponding wire hole and is initially bent by the shape of each arc wire groove. The initially bent tie wire passes through the corresponding guide hole and enters each arc guide rail 1. It is bent again by the shape of each arc guide rail 1. After being bent again, each tie wire is guided by each arc guide rail 1 and enters each arc guide rail 2. It is further bent by the shape of each arc guide rail 2. After being further bent, each tie wire is guided by each arc guide rail 2 and then winds back into each arc guide rail 1. As each drive wheel rotates, each tie wire winds around the horizontal rib until two tie wires have wound a preset number of turns on the horizontal rib. S4. Drive component two drives each cutting pliers to cut each binding wire, so that the two sections of binding wire wrapped around the horizontal rib form two binding wire loops; drive component two stops working, and the two pliers not fixed to the cutting pliers frame rotate back to their original positions under the restoring force of the corresponding torsion spring one. S5. The controller controls the drive motor to drive the screw to rotate forward. At the same time, the convex plate abuts against the convex strip, preventing the rotating housing from rotating forward. This causes the screw to drive the rotating housing to move forward horizontally. The columnar push block pushes the two convex blocks, which in turn causes the two grippers to gradually close until the convex strip and the convex plate disengage. At this point, the two grippers clamp the two wire loops wound on the crossbeam. As the screw continues to rotate forward, it drives the rotating housing and the two grippers to rotate forward together. The rotating grippers cause the two wire loops to twist together, binding the vertical rib and the horizontal rib together. The rotating housing rotates forward. When the convex rib passes the ratchet plate, it pushes the ratchet plate to rotate upward. When the convex rib loses contact with the ratchet plate, the second torsion spring drives the ratchet plate to rotate downward back to its original position. Then, the controller controls the second drive motor to drive the screw to reverse, while the ratchet plate abuts against the convex rib, preventing the rotating housing from reversing. This causes the screw to drive the rotating housing to move backward. Under the restoring force of the corresponding third torsion spring, the two grippers gradually open, loosening the two twisted wire loops until the rotating housing returns to its original position. Then, the translation mechanism drives the mounting frame to move the entire binding mechanism backward back to its original position, completing the binding of the vertical rib and the horizontal rib.

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