Communication type hands-free steel bar bundling machine and steel bar bundling automation equipment

Abstract

The present invention discloses a communication-type hands-free steel bar bundling machine and steel bar bundling automation equipment, wherein the communication-type hands-free steel bar bundling machine includes a casing, a main control unit, a motor, a wire feeding mechanism, a wire twisting mechanism and a cutting mechanism; wherein the casing is in the shape of a long strip without a hand-held portion, the motor is arranged inside the casing, and the wire feeding mechanism, the wire twisting mechanism and the cutting mechanism are all arranged from the inside of the casing along the length direction of the casing, so that the steel bar bundling machine is only longer in the length direction. The steel bar bundling machine of the present invention has a small structure volume and is suitable for steel bar bundling work in some relatively narrow areas where the plate surface steel bars and the vertical surface steel bars intersect, and in steel bar combination places where there are inner and outer steel bar meshes, thereby ensuring the quality of steel bar bundling in these special places. At the same time, the steel bar bundling automation equipment realized based on the steel bar bundling machine of the present invention can be applied to the automated bundling of various steel bar combinations, and has the advantages of high steel bar bundling efficiency and high quality.

Description

Technical Field

[0001] The invention relates to the field of steel bar bundling, and in particular to a communication type non-hand-held steel bar bundling machine and steel bar bundling automation equipment. Background Art

[0002] Prefabricated buildings are buildings that are manufactured in factories and then transported to construction sites, where they are assembled in reliable ways. They feature standardized design, factory production, prefabricated construction, integrated decoration, information management, and intelligent applications, and are a representative of modern industrialized production.

[0003] With the widespread promotion and gradual deepening of prefabricated buildings, there are further requirements for the intelligence of prefabricated building factories, and it is urgent to realize the automation of the production of prefabricated building accessories.

[0004] The accessories of prefabricated buildings are mainly reinforced concrete structures, among which steel bar binding is a crucial step in the actual production, and it is of great significance to realize the automation of steel bar binding. In recent years, electric handheld steel bar binding machines have been gradually recognized by steel bar binding workers due to their high efficiency and greatly reduced labor intensity. The trend of steel bar binding machines being used in steel bar binding is irreversible.

[0005] Although electric hand-held rebar tying machines are very advantageous for tying rebars, there are still many problems when applying them to automated equipment. One of them is that the size of the rebar tying machine is still relatively large, and the overall structural layout of the machine is not suitable for automation. In automated tying, the hand-held rebar tying machine is prone to touching the rebars. For example, in the tying of a combination of plate rebars and facade rebars, the hand-held rebar tying machine is prone to touching the rebars on the other side when tying the rebars on one side in the area where the plate rebars and facade rebars intersect, due to its size, especially the protruding structures such as the handle, which can easily cause accidents, or the large size of the rebar tying machine can cause problems such as the inability to tie local rebar nodes. Similarly, in the tying of a combination of rebars with inner and outer layers of steel mesh, the hand-held rebar tying machine on automated equipment cannot tie the inner layer of rebars. Summary of the invention

[0006] The first object of the present invention is to overcome the shortcomings and deficiencies of the prior art and to provide a communication-type, hands-free steel bar binding machine, which has the advantages of small size and great flexibility and can be applied to the automated binding of various steel bar combinations.

[0007] The second object of the present invention is to provide an automated steel bar bundling device.

[0008] The third object of the present invention is to provide a steel bar bundling method of an automated steel bar bundling device.

[0009] The first object of the present invention is achieved by the following technical solution: a communication type hands-free steel bar bundling machine, comprising a housing, a main control unit, a motor, a wire feeding mechanism, a wire twisting mechanism and a cutting mechanism;

[0010] The main control unit is connected to the motor and is used to drive the motor to rotate;

[0011] The motor is connected to the wire feeding mechanism, the wire twisting mechanism and the cutting mechanism to control the wire feeding mechanism, the wire twisting mechanism and the cutting mechanism to perform wire feeding, wire twisting and cutting operations respectively;

[0012] The housing is in the shape of an elongated strip without a hand-held portion;

[0013] The motor is arranged inside the casing and is used to drive the wire feeding mechanism, the wire twisting mechanism and the cutting mechanism to work;

[0014] The wire feeding mechanism is arranged along the length direction of the casing and the wire outlet extends out of the casing head, and is used to transmit the wire and wind the wire around the bundle;

[0015] The wire twisting mechanism is arranged along the length direction of the casing and the end thereof extends out of the casing head, and is used for twisting the binding wire wound on the bundle;

[0016] The cutting mechanism is arranged along the length direction of the casing and the cutting portion extends out of the casing head, and is used for cutting the binding wire after the binding wire is wound on the bundle.

[0017] Preferably, the main control unit is arranged inside or outside the casing;

[0018] When the main control unit is arranged outside the casing, the motor is connected to the main control unit via a line passing through the casing;

[0019] When the main control unit is arranged inside the casing, the wire feeding mechanism is arranged between the motor and the top inner wall of the casing, and the main control unit is arranged between the motor and the bottom inner wall of the casing.

[0020] Preferably, a communication interface is installed on the casing and / or a wireless communication module is arranged in the casing, and the main control unit is connected to the external control device by wire through the communication interface, or the main control unit is connected to the external control device wirelessly through the wireless communication module.

[0021] Furthermore, the communication interface on the housing is arranged at the rear or side of the housing;

[0022] A connection structure is arranged on the rear part or the side outer wall of the casing, and the casing is installed on the movable device through the connection structure.

[0023] The second object of the present invention is achieved by the following technical solution: an automated steel bar bundling device, comprising a host computer, a mechanical arm, and the communication-type hands-free steel bar bundling machine described in the first object of the present invention;

[0024] The host computer is a robot arm control system, or the host computer is connected to a control system of the robot arm, and is used to control the movement of the robot arm;

[0025] The host computer is connected to the main control unit of the steel bar bundling machine, and is used to send control instructions to the main control unit, drive the steel bar bundling machine to work through the main control unit, and receive information fed back by the main control unit;

[0026] The steel bar bundling machine is installed on a mechanical arm and is driven to move by the mechanical arm.

[0027] Preferably, it also includes a video scanning system or a sensor system connected to the host computer;

[0028] The video scanning system includes a camera and a digital signal processor, the camera is connected to the digital signal processor, and the digital signal processor is connected to a host computer; wherein:

[0029] The camera is installed at the front end of the mechanical arm or at the head of the steel bar bundling machine, and is used to capture image information of the steel bar bundling area and transmit the captured image information to the digital signal processor;

[0030] The digital signal processor is used to detect the target in the image information, that is, the steel bar bundling node, and feed back the target detection result to the host computer; it is used to determine the steel bar size information at the steel bar bundling node according to the target detected in the image information, and send the steel bar size information to the host computer;

[0031] The host computer is used to determine the horizontal position of the steel bar bundling node according to the position to which the robot arm moves when the digital signal processor detects the target from the image information;

[0032] The sensing system includes a positioning sensor connected to a host computer; the positioning sensor is installed at the front end of the mechanical arm or at the head of the steel bar bundling machine, and is used to find the steel bar bundling node and determine the position of the steel bar bundling node.

[0033] The third object of the present invention is achieved by the following technical solution: a steel bar bundling method implemented by the steel bar bundling automation equipment according to the second object of the present invention, comprising the steps of:

[0034] The upper computer controls the movement of the robotic arm so that the steel bar bundling machine on the robotic arm moves to the steel bar bundling node;

[0035] When the steel bar bundling machine reaches the steel bar bundling node position, the upper computer sends a control instruction to the main control unit, and the main control unit controls the bundling work of the steel bar bundling machine according to the received control instruction.

[0036] Preferably, the method further includes the step of determining the location of the steel bar bundling node and the steel bar size information by a video scanning system, or further includes the step of finding the steel bar bundling node and determining the location of the steel bar bundling node by a sensor system;

[0037] The steps of determining the location of the steel bar bundling node and the steel bar size information through the video scanning system are as follows:

[0038] Step Sa, a camera in the video scanning system captures image information of the steel bar bundling area in real time, and transmits the captured image information to a digital signal processor;

[0039] Step Sb, the digital signal processor detects the target in each image information captured by the camera, the target being the steel bar bundling node; and feeds back the target detection result to the host computer, and the host computer controls the movement of the mechanical arm according to the above target detection result; the host computer determines the horizontal position of the steel bar bundling node according to the position to which the mechanical arm moves when the digital signal processor detects the target from the image information;

[0040] At the same time, the digital signal processor determines the steel bar size at the steel bar bundling node according to the pixel points of the target in the image information, and sends the steel bar size information to the host computer; the host computer calls the corresponding steel bar bundling mode according to the received steel bar size information, wherein the corresponding steel bar bundling mode corresponds to the corresponding wire length information of the wire feeding mechanism and the corresponding torque information of the wire twisting mechanism; the control instruction sent by the host computer to the main control unit includes the following data information: steel bar size information, wire length information of the wire feeding mechanism and torque information of the wire twisting mechanism;

[0041] The steps of finding the steel bar bundling node and determining the position of the steel bar bundling node by using the sensor system specifically include:

[0042] Step S1, in the horizontal direction, the host computer controls the mechanical arm to move along the first direction of the X-axis. During the movement of the mechanical arm, when the level signal sent to the host computer by the positioning sensor changes, the host computer controls the mechanical arm to stop moving, and determines that the X coordinate at this position is the X coordinate of the current steel bar bundling node; enter step S2;

[0043] Step S2, the host computer controls the robot arm to move along the second direction of the X-axis. During the movement of the robot arm, when the level signal sent by the positioning sensor to the host computer changes, the host computer controls the robot arm to stop moving and records the distance D moved by the robot arm along the second direction of the X-axis; proceed to step S3;

[0044] Step S3, the host computer controls the robot arm to move along the first direction of the Y axis. During the movement of the robot arm, when the level signal sent by the positioning sensor to the host computer changes, the host computer controls the robot arm to stop moving, and enters step S4;

[0045] Step S4, the host computer controls the mechanical arm to move a distance D along the first direction of the X-axis and then stop moving, and determines that the Y coordinate at this position is the Y coordinate of the current steel bar bundling node to be searched, and the current steel bar bundling node search is completed. When the next steel bar bundling node is to be searched, return to step S1;

[0046] Among them, after finding the current steel bar bundling node, the host computer controls the mechanical arm to move in the vertical direction, so that the steel bar bundling machine moves to the steel bar bundling node position;

[0047] The horizontal direction refers to the direction of the horizontal plane parallel to the steel bar bundling area, and the vertical direction refers to the direction perpendicular to the steel bar bundling area.

[0048] Furthermore, the digital signal processor of the video scanning system includes a wire-binding determination model;

[0049] After detecting the target in the image information, the digital signal processor extracts the features of the target image, and then inputs the features of the target image into the wire binding judgment model, and determines whether the corresponding steel bar binding node has a wire binding through the wire binding judgment model; if there is no wire binding, the upper computer sends a control instruction to the main control unit, and the main control unit controls the binding work of the steel bar binding node.

[0050] Preferably, the method further comprises the following steps:

[0051] After receiving the control command sent by the host computer, the main control unit analyzes the data information therein, and if the analyzed data is correct, it feeds back a correct response command to the host computer; if the analyzed data is wrong, it feeds back an error response command to the host computer;

[0052] After completing the binding work control of the steel bar binding machine, the main control unit sends a completion instruction to the host computer;

[0053] When a fault occurs during the bundling work of the steel bar bundling machine, the main control unit sends a fault command to the host computer and controls the steel bar bundling machine to stop bundling work;

[0054] When the host computer receives an error response from the main control unit, it repeats the last control instruction;

[0055] When the host computer receives the correct response sent by the main control unit, it waits for the main control unit to send a completion instruction. After receiving the completion instruction sent by the main control unit, it controls the steel bar bundling machine on the mechanical arm to move to the next steel bar bundling node and continue to perform the bundling work of the next steel bar bundling node;

[0056] After receiving the correct response sent by the main control unit, if the host computer does not receive the completion instruction sent by the main control unit but receives the fault instruction sent by the main control unit, the host computer controls the steel bar binding machine to stop the current binding work through the main control unit.

[0057] Compared with the prior art, the present invention has the following advantages and effects:

[0058] (1) The communication type non-hand-held steel bar bundling machine of the present invention comprises a housing, a main control unit, a motor, a wire feeding mechanism, a wire twisting mechanism and a cutting mechanism; wherein the housing is in the shape of a long strip without a hand-held part, the motor is arranged inside the housing, and the wire feeding mechanism, the wire twisting mechanism and the wire cutting mechanism are all arranged from the inside of the housing along the length direction of the housing, so that the steel bar bundling machine is only long in the length direction. As can be seen from the above, the structure of the long strip non-hand-held steel bar bundling machine of the present invention makes the volume relatively small, and the size is relatively long only in the length direction, so it is relatively flexible, and is suitable for steel bar bundling work in some relatively narrow areas where the plate surface steel bars and the vertical surface steel bars intersect, and in steel bar combination places where there are inner and outer steel meshes, thereby ensuring the quality of steel bar bundling in these special places.

[0059] (2) In the communication-type hand-free steel bar bundling machine of the present invention, the main control unit can be arranged inside or outside the casing of the steel bar bundling machine. When arranged inside the casing, the main control unit is arranged between the motor and the inner wall at the bottom of the casing. Such arrangement of the position of the main control unit can ensure the working stability of the main control unit to the greatest extent and make the volume of the casing smaller, thereby avoiding the situation in the prior art where the main control unit, i.e., the corresponding main control board, is arranged between the motor and the wire feeding track of the wire feeding mechanism, resulting in iron filings falling on the main control board during the wire feeding process to contaminate the main control board, thereby affecting the performance of the main control board.

[0060] (3) The communication type hands-free steel bar bundling machine of the present invention has a communication serial port, a communication parallel port and / or a wireless communication module installed on the casing. The main control unit communicates with the external control device through the communication serial port, the communication parallel port and / or the wireless communication module. The external control device sends a corresponding control signal to the main control unit through the communication serial port, the communication parallel port and / or the wireless communication module, so that the main control unit can realize the bundling work control of the steel bar bundling machine. At the same time, the main control unit can also feed back corresponding information such as fault information to the external control device, so that the external control device knows the working status of the steel bar bundling machine, thereby realizing automatic control of the communication type hands-free steel bar bundling machine.

[0061] (4) For the communication-type non-handheld steel bar bundling machine of the present invention, the communication serial port and the communication parallel port for connecting the main control unit with the external control device can be set at the rear or side of the casing. When set at the rear of the casing, it only makes the casing longer in the length direction without increasing the dimensions in other directions, which can effectively ensure the use of the steel bar bundling machine in some relatively narrow areas where the plate surface steel bars and the vertical surface steel bars intersect, and in places such as the steel bar combination field where the inner and outer steel meshes exist. In addition, a connecting structure is set at the rear or side outer wall of the casing, and is installed on a movable device through the connecting structure, so that the movable device, such as a mechanical arm, drives the movement of the steel bar bundling machine. When the connecting structure is also set at the rear of the casing, it has similar advantages to the setting of the communication serial port and the communication parallel port, and will not increase the dimensions in other directions except the length direction, thus ensuring the use of the steel bar bundling machine in some special places.

[0062] (5) The steel bar bundling automation equipment of the present invention comprises a host computer, a mechanical arm and a communication-type hands-free steel bar bundling machine of the present invention; wherein the hands-free steel bar bundling machine of the present invention is installed on the mechanical arm, and the host computer controls the movement of the mechanical arm, thereby driving the steel bar bundling machine to move, so that the steel bar bundling machine moves to the steel bar bundling node position, and after the steel bar bundling machine reaches the corresponding position, the host computer sends a control instruction to the main control unit of the steel bar bundling machine, and controls the bundling work of the steel bar bundling machine through the main control unit. Based on the host computer and the mechanical arm of the present invention, the steel bar bundling machine can realize the full automation of steel bar bundling work, and based on the structure of the steel bar bundling machine of the present invention, the equipment of the present invention can automatically control the steel bar bundling machine to perform steel bar bundling work in some relatively narrow areas where the plate surface steel bars and the facade steel bars intersect, and in the steel bar combination places where the inner layer and the outer layer steel bar mesh exist, so that the steel bar bundling automation equipment can be applied to the automatic bundling of various steel bar combinations, and has the advantages of high steel bar bundling efficiency and high quality.

[0063] (6) The steel bar bundling automation equipment of the present invention includes a video scanning system, through which the position of the steel bar bundling node can be scanned and the steel bar size information at the steel bar bundling node can be obtained, so that the host computer can realize the accurate positioning of the steel bar bundling node. And the host computer can further call the bundling mode for each bundling according to the steel bar size information. Therefore, based on the host computer and the video scanning system, the present invention can control the steel bar bundling machine to realize different steel bar bundling modes, so that the same steel bar bundling machine can be suitable for bundling steel bars of different sizes, and the bundling effect of the steel bar bundling machine can reach the best state.

[0064] In addition, the steel bar bundling automation equipment of the present invention may also include a sensor system, through which the steel bar bundling nodes can be found and the positions of the steel bar bundling nodes can be determined, thereby achieving accurate positioning of the steel bar bundling nodes.

[0065] (7) The automatic steel bar bundling equipment of the present invention can enable the main control unit to control the work of the steel bar bundling machine by sending control instructions to the host computer, wherein the main control unit first performs data analysis for the received control instructions, and in the case of data analysis errors, the host computer repeatedly sends the control instructions to ensure that the main control unit can obtain correct data from the control instructions, thereby controlling the steel bar bundling machine to perform accurate steel bar bundling work. After the main control unit completes the steel bar bundling work and detects a fault, it respectively feeds back the completion instruction and the fault signal to the host computer, and the host computer can determine whether to execute the bundling work of the next steel bar bundling node according to the above instructions or signals, which has the advantages of high automation and ability to ensure the stability of steel bar bundling. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 It is a front view of the communication type hands-free steel bar binding machine of the present invention.

[0067] Figure 2 It is a top view of the communication type hands-free steel bar binding machine of the present invention.

[0068] Figures 3a to 3c The present invention is a diagram showing the internal structure of a casing of a communication-type hands-free steel bar bundling machine.

[0069] Figure 4a and 4b The invention discloses a schematic diagram of the installation of a communication interface on a communication-type hands-free steel bar binding machine.

[0070] Figure 5a and 5b The invention discloses a schematic diagram of the installation of a connection structure on a communication-type hands-free steel bar binding machine.

[0071] Figures 6a to 6b It is a partial structural schematic diagram of the communication type hands-free steel bar binding machine of the present invention.

[0072] Figure 6c It is a schematic diagram of the communication type hands-free steel bar binding machine of the present invention when cutting the binding wire.

[0073] Figures 6d to 6h It is a structural schematic diagram of a wire twisting mechanism in a communication-type hands-free steel bar bundling machine of the present invention.

[0074] Figure 6i It is an exploded view of the wire twisting mechanism in the invented communication-type hands-free steel bar binding machine.

[0075] Figures 6j to 6m It is a schematic diagram of the wire feeding structure in the communication type hands-free steel bar bundling machine of the present invention.

[0076] Figure 6n and6o This is a schematic diagram of the installation of the power input gear, three buffer wheels and output wheel in the communication type non-hand-held steel bar bundling machine of the present invention.

[0077] Figure 7a and 7b It is a structural principle diagram of the steel bar bundling automation equipment of the present invention.

[0078] Figure 8 It is a communication flow chart of the steel bar bundling automation equipment of the present invention. DETAILED DESCRIPTION

[0079] The present invention is further described in detail below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0080] Example 1

[0081] The present embodiment discloses a communication-type hands-free steel bar bundling machine, which is compact and applicable to the automated bundling of various steel bar combinations. In addition, the hands-free steel bar bundling machine of the present embodiment solves the connection, fixation and communication problems of the steel bar bundling machine applied to automated equipment, thereby better combining the steel bar bundling machine with the automated equipment and achieving synchronization.

[0082] In this embodiment, if Figure 1 , 2 As shown in 3a to 3c, the communication type non-hand-held steel bar binding machine includes a housing 1, a main control unit 81, a motor 2, a wire feeding mechanism 3, a wire twisting mechanism 6 and a cutting mechanism 4, wherein:

[0083] The main control unit is connected to the motor to drive the motor to rotate;

[0084] The motor 2 is connected to the wire feeding mechanism 3, the wire twisting mechanism 6 and the cutting mechanism 4 through the transmission system 5, and controls the wire feeding mechanism, the wire twisting mechanism and the cutting mechanism to perform wire feeding, wire twisting and cutting respectively.

[0085] In this embodiment, the housing is in the shape of a long strip without a handle. Figure 1 In the main view of the steel bar bundling machine, the upper, lower, left, right, front and rear of the steel bar bundling machine are respectively referred to as the top, bottom, tail, head, front side and rear side of the steel bar bundling machine.

[0086] The motor is arranged inside the casing and is used to drive the wire feeding mechanism, the wire twisting mechanism and the cutting mechanism.

[0087] The wire feeding mechanism is arranged along the length direction of the casing and the wire outlet extends out of the casing head, and is used to transmit the wire tie and wind the wire tie around the bundle. In the present embodiment, the wire reel providing the wire tie for the wire feeding mechanism can be arranged outside the casing.

[0088] The wire twisting mechanism is arranged along the length direction of the casing and the end thereof extends out of the casing head, and is used for twisting the binding wire wound on the bundle.

[0089] The cutting mechanism is arranged along the length direction of the casing and the cutting portion extends out of the casing head, and is used for cutting the binding wire after the binding wire is wound on the bundle.

[0090] In this embodiment, the housing is long and narrow, and its length direction is the direction of maximum dimension, that is, the length of the housing is greater than the width and height of the housing. Figures 3a to 3c As shown, the torsion wire mechanism, wire feeding mechanism and cutting mechanism are all arranged along the length direction of the casing, and the maximum dimension direction of the casing, i.e., the length direction, is in the same direction as the rotation axis of the torsion wire mechanism, i.e., the maximum dimension of the casing is not limited to be absolutely consistent with the rotation axis of the torsion wire mechanism, as long as the maximum dimension of the casing is arranged in the direction of the rotation axis of the torsion wire mechanism. The cross-sectional dimension of the casing intersecting with the rotation axis of the torsion wire mechanism is designed to be the maximum dimension of the non-outer shape, thereby avoiding the casing and the surrounding steel bars from touching when the steel bar bundling machine is used. The long strip-shaped steel bar bundling machine structure without a hand-held part of this embodiment makes the volume relatively small, and is only relatively long in the length direction, so it is relatively flexible, and is suitable for steel bar bundling work in some relatively narrow areas where the plate surface steel bars and the facade steel bars intersect, and in places where there are steel bars with inner and outer steel mesh combinations, thereby ensuring the quality of steel bar bundling in these special places.

[0091] In this embodiment, the main control unit is arranged inside or outside the casing.

[0092] When the main control unit is arranged outside the casing, the motor is connected to the main control unit through a line passing through the casing, and the main control unit can be placed in a box outside the casing to protect the main control unit.

[0093] When the main control unit is arranged inside the casing, the wire feeding mechanism is arranged between the motor and the top inner wall of the casing, and the main control unit is arranged between the motor and the bottom inner wall of the casing.

[0094] In this embodiment, a communication interface 82 is installed on the housing and / or a wireless communication module is provided in the housing, and the main control unit communicates with the external control device through the communication interface or the wireless communication module. In this embodiment, the steel bar bundling machine can send corresponding control instructions to the main control unit by the external control device, driving the main control unit to control the bundling work of the steel bar bundling machine. Among them:

[0095] The above-mentioned communication interface can be a communication serial port, a communication parallel port, a CAN bus, etc. When the main control unit is connected to an external control device through the communication interface on the casing, the main control unit can also be powered by an external power supply through the communication interface. The above-mentioned communication serial port can be an RS485 serial port, etc.

[0096] When the main control unit is connected to an external control device via a wireless communication module, the power line of the main control unit can pass through the housing and be connected to an external power supply for power supply. The wireless communication module can be a Bluetooth module, a Wifi module, a 2.4G frequency communication module, a 2G communication module, a 3G communication module, a 4G communication module, a 5G communication module, a 315 frequency communication module, a 433 frequency communication module, a Zigbee communication module, etc. The wireless communication method is not limited to the above-mentioned communication methods. Other wireless communication technologies that are not listed or will emerge in the future can all be applied to this solution and are also within the protection scope of the present invention.

[0097] In this embodiment, if Figure 1 , 4a As shown in 4b, the communication interface on the casing can be set at the rear, bottom or side of the casing; when the communication interface is set at the rear of the casing, it only makes the casing longer in the length direction without increasing the dimensions of the casing in other directions, ensuring that the casing has no particularly protruding structure in the non-maximum dimension direction, and can effectively ensure the use of the steel bar bundling machine in some relatively narrow areas where the plate surface steel bars and the facade steel bars intersect, and in steel bar combination fields where there are inner and outer steel meshes.

[0098] It should be noted here that the communication interface of the steel bar tying machine is not restricted by shape and communication type. It is optimal if it is arranged in the direction of the maximum dimension of the casing and does not increase the external dimensions of the cross section of the rotating axis of the torsion wire mechanism of the steel bar tying machine.

[0099] like Figure 5a and 5b As shown, a connection structure 83 is provided on the rear or side outer wall of the casing, and the movable device, such as a mechanical arm, is installed through the connection structure 83, so that the movable device, such as a mechanical arm, drives the movement of the steel bar binding machine. When the connection structure is also provided at the rear of the casing, the dimensions in directions other than the length direction will not be increased, ensuring that the casing has no particularly protruding structures in the non-maximum dimension direction, and ensuring the use of the steel bar binding machine in some special places. In this embodiment, the connection structure 83 can be a threaded hole provided on the outer wall of the casing, etc.

[0100] In this embodiment, the structures of the wire feeding mechanism, the wire twisting mechanism, and the cutting mechanism of the steel bar bundling machine can be as follows:

[0101] like Figures 6a to 6iAs shown, the wire twisting mechanism 6 includes a rotating rod 7 that drives the wire twisting mechanism 6 to twist the wire, a chuck 8, an anti-slip mechanism 9, a sleeve 10 and a spring 11. The rotating rod 7 has a threaded section 12. The chuck 8 includes a chuck body 13 and a wire twisting claw 14. One end of the chuck body 13 has a countersink, and the other end is hinged to the wire twisting claw 14. The spring 11 is sleeved on the front end of the rotating rod 7. The front end of the rotating rod 7 extends into the countersink of the chuck body 13 and is connected to the spring 11 in the countersink through the anti-slip mechanism 9. Figure 6f It is a cross-sectional view of the twisted wire structure.

[0102] The outer surface of the sleeve 10 is provided with a transmission toothed belt, which includes a long tooth 16 and seven short teeth 17. The inner surface of the sleeve 10 is provided with a threaded tooth 18 that cooperates with the threaded section 12 on the rotating rod 7. The rotating rod 7 and the chuck body 13 are respectively connected to the sleeve 10, and the twisting claw 14 is also hinged at the end of the sleeve 10.

[0103] like Figure 6g As shown, a lower ratchet-type wide limiting piece 19 and an upper ratchet-type narrow limiting piece 20 are provided at the position of the housing 1 corresponding to the transmission toothed belt.

[0104] When the torsion claw 14 is tightened, the upper ratchet-type narrow limit plate 20 limits the long teeth 16 from rotating upward, and the threaded section 12 of the rotating rod 7 pushes the lower long teeth 16 to slide outward along the upper ratchet-type narrow limit plate 20; Figure 6e Shown is a schematic diagram of the tightening state of the wire twisting claws of the wire twisting mechanism.

[0105] When the twisting claw 14 is in the process of being tightened and opened, the lower ratchet-type wide limit piece 19 limits the long teeth 16 or the short teeth 17 from rotating from top to bottom, and the threaded section 12 of the rotating rod 7 pulls the lower long teeth 16 or the short teeth 17 to slide inward along the lower ratchet-type wide limit piece 19; Figure 6d The figure shows the open state of the twisting claw of the twisting mechanism. When the twisting claw 14 is in the open state, the lower ratchet-type wide limit piece 19 limits the long tooth 16 from rotating from top to bottom.

[0106] In order to reduce the manufacturing difficulty and manufacturing cost of the sleeve 10, as Figure 6f and 6i As shown, the sleeve 10 includes an inner cylinder 21 and an outer cylinder 22. The inner cylinder 21 is fixedly sleeved in the outer cylinder 22 and the inner cylinder 21 and the outer cylinder 22 are fixed together by radial connecting bolts. An embedding hole 23 is opened on the wall surface of the inner cylinder 21 at a position corresponding to the threaded section 12 of the rotating rod 7. The screw thread 18 is a screw thread block, which is embedded in the embedding hole 23. The transmission toothed belt is arranged on the outer surface of the outer cylinder 22.

[0107] like Figures 6a to 6cAs shown, the cutting mechanism 4 includes a knife body 61 with a wire feeding groove 62, a cutter slide groove 64 provided on the knife body 61 and located at the wire outlet of the wire feeding groove 62, a slider cutter 65 arranged in the cutter slide groove 64 and capable of sliding along the cutter slide groove 64, and a transmission part 75 capable of moving relative to the slider cutter 65;

[0108] The slider cutter 65 has a first position (corresponding to the position where the slider cutter 65 cuts the wire 63) in the cutter slot 64. Figure 6c The position of the slider cutter 65) and the second position for resetting the slider cutter 65 (corresponding to Figure 6a The transmission part 75 is used to apply a driving force to the slider cutter 65, and the slider cutter 65 switches between the first position and the second position after receiving the driving force. In this embodiment, the transmission part 75 can move upward and downward. The transmission part 75 moves downward to drive the slider cutter 65 to move to the first position, and the downward movement of the slider cutter 65 cuts off the wire 63 sent from the wire feeding groove 62. After the wire 63 is cut off, the transmission part 75 moves upward to drive the slider cutter 65 to move upward quickly, so as to drive the slider cutter 65 to move upward to the second position.

[0109] like Figure 6a and Figure 6c As shown, the inner cylinder 21 includes a cam 25 and a spring 68, the middle of the lever 66 is hinged, one end of the lever 66 is the transmission part 75, and the other end is the trigger end 69, one end of the spring 68 abuts against the upper part of the trigger end 69, one end of the spring 68 is fixed, and the lower part of the trigger end 69 contacts the outer contour of the cam 25, as shown in FIG. Figure 6f As shown, the raised end of the cam 25 forms a vertical drop 26 with the cam base circle at the highest position. Figure 6c As shown, when the cam 25 rotates and the raised end of the cam 25 contacts the trigger end 69, the trigger end 69 is gradually lifted, the spring 68 contracts, and the transmission part 75 at the other end of the lever 66 moves downward in an arc shape, and the slider cutter 65 cuts the wire. When the trigger end 69 contacts the highest end of the raised end of the cam 25, due to the vertical drop 26 and the push of the spring 68, the trigger end 69 of the lever 66 is pressed down, and at the same time, the transmission part 75 at the other end of the lever quickly moves upward.

[0110] like Figure 6i As shown, the anti-slip mechanism 9 in the twisting wire mechanism includes an anti-slip block 27, an anti-slip hole 28 is opened on the chuck body 13, and an anti-slip convex ring 29 protrudes at the end of the rotating rod 7. The anti-slip block 27 is embedded in the anti-slip hole 28 and then stuck at the rear part of the anti-slip convex ring 29 to prevent the rotating rod 7 from loosening from the countersunk hole of the chuck body 13.

[0111] like Figures 6j to 6mAs shown, the wire feeding mechanism 3 includes a wire feeding transmission mechanism, which includes two wire feeding wheels 40, a one-way bearing 44 and a wire feeding power input gear 36. The two wire feeding wheels 40 are meshed with each other, and the tooth surfaces of the two wire feeding wheels 40 are correspondingly provided with wire feeding grooves 41. The wire feeding power input gear 36 is connected to one of the wire feeding wheels 40 through the one-way bearing 44. The wire feeding power input gear 36 is a bevel gear. The motor 2 is connected to the power input gear 31, and the output wheel 33 is connected to the bevel gear. The wire feeding mechanism 3 also includes a clutch device for separating or meshing the two wire feeding wheels 40 and a wire feeding frame. The clutch device includes a clutch drive frame 50, a drive frame reset spring 51, a connecting shaft 52 and a fixing block 53. The clutch drive frame 50 includes an upper drive plate 54, a lower drive plate 55 and a connecting plate 56 connecting the upper drive plate 54 and the lower drive plate 55. The upper drive plate 54 and the lower drive plate 55 are provided with connecting grooves 57 respectively. The connecting shaft 52 passes through the two connecting grooves 57. The two ends of the connecting shaft 52 extend out of the upper drive plate 54 and the lower drive plate 55 respectively. The middle part of the connecting shaft 52 is connected between the upper drive plate 54 and the lower drive plate 55 and is connected to the one-way bearing 4. The wire feeding wheel 40 connected to the connecting shaft 52 is connected to the middle part of the connecting shaft 52, and the other wire feeding wheel 40 is connected between the upper driving plate 54 and the lower driving plate 55. The upper end of the connecting shaft 52 is rotatably connected to the wire feeding frame, and the lower end is connected to the one-way bearing 44. The fixing block 53 extends into the connecting groove 57 and is connected to one end of the driving frame reset spring 51. The other end of the driving frame reset spring 51 is connected to the connecting plate 56. The fixing block 53 is fixed to the wire feeding frame. A driving pressing block 58 is provided on the housing 1, and the driving pressing block 58 is connected to the connecting plate 56.

[0112] When a new wire is loaded and wire feeding begins, the driving button 58 is pressed, and the driving button 58 drives the wire feeding wheel 40 connected between the upper driving plate 54 and the lower driving plate 55 to move, so that it is separated from the wire feeding wheel 40 connected to the connecting shaft 52, and the driving frame reset spring 51 contracts, and a larger wire feeding gap is formed between the two wire feeding wheels 40, so that the newly loaded wire can pass smoothly. When the wire passes through the wire feeding gap, the pressing of the driving button 58 can be stopped. At this time, under the action of the driving frame reset spring 51, the clutch driving frame 50 is reset, and the two wire feeding wheels 40 are meshed to position the wire in the wire feeding groove 41 for wire feeding. The wire feeding mechanism 3 also includes a lower wire collecting nozzle 46 and a C-shaped head 47, and the lower wire collecting nozzle 46 is hinged to the lower part of the C-shaped head 47.

[0113] Figure 6n and 6oAs shown, in order to achieve that a motor 2 of the steel bar bundling machine drives the wire twisting mechanism 6 and the wire feeding mechanism 3 at the same time, and starts twisting the wire immediately after completing the wire feeding, so that the entire working process is carried out continuously and accurately, and the work between them is not affected, the transmission system 5 in the steel bar bundling machine includes a buffer mechanism 30 and a power input gear 31, and a first arc-shaped buffer chute 32 is provided on one side surface of the power input gear 31. The buffer mechanism 30 includes an output wheel 33 and a buffer wheel 37. The first buffer chute drives the first transmission block through the buffer wheel. Specifically, a first The transmission block 34 has a second transmission block 38 protruding from one side of the buffer wheel 37, and has an arc-shaped second buffer groove 39 on the other side. The second transmission block 38 is connected to the first buffer groove 32, and the first transmission block 34 is connected to the second buffer groove 39; the sum of the arcs of the first buffer groove 32 and the second buffer groove 39 is equal to or greater than the angle required for the rotating rod 7 to rotate the torsion claw 14 from clamping to opening; the rotating rod 7 is transmission-connected to the power input gear 31, and the rotating rod 7 is also connected to the center holes of the buffer wheel 37 and the output wheel 33 through a bearing 35.

[0114] In order to increase the buffering amount to meet higher requirements, there can be three buffer wheels, which are stacked together, wherein the second transmission block of the buffer wheel of the rear stage is connected to the second buffer chute of the previous stage, and the sum of the curvatures of the first buffer chute and the three second buffer chute is equal to or greater than the angle required for the rotating rod 7 to rotate the twisting claw 14 from clamping to opening.

[0115] The specific process of wire feeding, wire twisting and cutting of the above-mentioned hand-free steel bar tying machine is as follows:

[0116] Spinning process:

[0117] When the motor rotates in the positive direction, it drives the power input gear to rotate. At this time, the buffer wheel is in a triggered state, that is, the second transmission block is at the terminal end of the first buffer chute, the second transmission block of the buffer wheel of the rear stage is at the terminal end of the second buffer chute of the previous stage, and the first transmission block is at the terminal end of the second buffer chute. Therefore, the power of the power input gear is directly transmitted to the output wheel, and the output wheel drives the wire feeding mechanism to spin wire. At this time, the wire twisting claw of the wire twisting mechanism is in an open state, so the lower ratchet-type wide limit plate restricts the long teeth from rotating from top to bottom, and the wire twisting mechanism does not rotate or slide. Specifically, although the rotating rod is also connected to the power input gear and rotates therewith, its direction of rotation is opposite to that of the thread, that is, the entrance end of the thread segment slips between the screw tooth, and the thread segment cannot cooperate with the screw tooth. Therefore, the wire twisting mechanism does not rotate or slide axially.

[0118] Wire twisting process:

[0119] When the wire is spun to a set length, the motor stops rotating forward and starts to reverse to twist the wire. When the motor reverses, it drives the power input gear to rotate in the opposite direction. At this time, the buffer wheel is in a buffer state, that is, the first buffer chute rotates. When the second transmission block of the first-stage buffer wheel slides in the first buffer chute and returns to the starting end of the first buffer chute, the second transmission block of the first-stage buffer wheel is driven by the starting end of the first buffer chute. At this time, the first-stage buffer wheel is driven to rotate, and the second transmission block of the second-stage buffer wheel slides in the second buffer chute of the first-stage buffer wheel. When the second transmission block of the second-stage buffer wheel returns to the starting end of the second buffer chute of the first-stage buffer wheel, the second-stage buffer wheel is driven, and the second transmission block of the third-stage buffer wheel slides in the second buffer chute of the second-stage buffer wheel. When the second transmission block of the third-stage buffer wheel returns to the starting end of the second buffer chute of the second-stage buffer wheel, the third-stage buffer wheel is driven, and the first transmission block slides in the second buffer chute of the third-stage buffer wheel. When the first transmission block returns to the starting end of the second buffer chute of the third-stage buffer wheel, power is transmitted to the output wheel; When the buffer wheel is in the buffer state, the rotating rod is driven in the opposite direction, that is, the wire twisting claw is clamped, and the upper ratchet-type narrow limiting piece limits the long teeth to rotate from bottom to top, and at the same time, the threaded section of the rotating rod pushes the lower long teeth to slide outward along the upper ratchet-type narrow limiting piece; specifically, the threaded section of the rotating rod cooperates with the screw teeth, and since the upper ratchet-type narrow limiting piece limits the long teeth to rotate from bottom to top, the threaded section of the rotating rod can only move forward through the screw teeth to push the sleeve, while the chuck and the rotating rod remain in position, so that the wire twisting claw holds the wire, and when the wire twisting claw holds the wire The long teeth disengage from the upper ratchet-type narrow limit plate, and the wire twisting mechanism rotates to twist the wire. Since the number of twisting turns is determined according to the actual situation, that is, the number of twisting turns is uncertain, a one-way bearing is provided on the wire feeding transmission mechanism of the wire feeding mechanism. Therefore, even if the buffering state of the buffer wheel has ended at this time, when the power is transmitted from the output wheel to the wire feeding power input gear, the one-way bearing slips and the two wire feeding wheels do not rotate. Therefore, when the wire twisting mechanism is twisting the wire, the wire feeding mechanism does not feed the wire; so that one motor drives the wire twisting mechanism and the wire feeding mechanism at the same time, and they do not affect each other.

[0120] When the wire twisting mechanism rotates to twist the wire, the cam on the sleeve also rotates accordingly, and the trigger end of the lever slides along the cam to the highest point, and the transmission part of the lever drives the sliding cutter to move downward, and the cutting is completed when the trigger end reaches the highest point; the cam continues to rotate, and because the highest point has a vertical drop surface, when the trigger end of the lever reaches the highest point, the trigger end of the lever suddenly falls quickly under the action of the pressure spring, so that the slider cutter is quickly lifted and reset to avoid the slider cutter blocking the wire outlet when the wire is fed again.

[0121] Reset process:

[0122] When the wire twisting is completed, the motor will immediately change from reverse to forward rotation. At this time, the wire twisting claws change from being tightly clamped to being opened, and the lower ratchet-type wide limiting piece limits the long teeth or short teeth from rotating from top to bottom. At the same time, the threaded section of the rotating rod pulls the lower long teeth or short teeth to slide inward along the lower ratchet-type wide limiting piece; specifically, the motor rotates in the positive direction, and the threaded section of the rotating rod rotates out of the screw thread, thereby opening the wire twisting claws. Since the lower ratchet-type wide limiting piece limits the long teeth or short teeth from rotating from top to bottom, the threaded section of the rotating rod pulls the lower long teeth or short teeth to slide inward along the lower ratchet-type wide limiting piece. At this time, if the short tooth slides inward along the lower ratchet-type wide limiting plate, since the pulling stroke of the threaded section is greater than the sliding stroke of the short tooth along the lower ratchet-type wide limiting plate but shorter than the sliding stroke of the long tooth along the lower ratchet-type wide limiting plate, when the short tooth slides inward to the end, the short tooth will break away from the lower ratchet-type wide limiting plate. At this time, the wire twisting mechanism rotates until the long tooth contacts the lower ratchet-type wide limiting plate. The advantage of this is that it can ensure that the two opened twisting claws are in a set position, so that the twisting claws can accurately and smoothly hold the wire and tighten it every time.

[0123] Until the thread segment is completely screwed out of the screw thread, the long teeth are stuck on the lower ratchet-type wide limit plate, and the sleeve stops sliding inward. At this time, although the rotating rod is also connected to the power input gear and rotates with it, its direction is opposite to the direction of the thread, that is, the entrance end of the thread segment slips with the screw thread, and the thread segment cannot cooperate with the screw thread, so the wire twisting mechanism does not rotate or slide axially. At this time, the trigger end of the lever is in front of the vertical drop surface, and the cutting edge of the cutter is above the wire outlet, ensuring that the wire feeding process is smooth and not blocked.

[0124] When the wire twisting claws are changed from being clamped to being opened, the buffer wheel is reset from the buffer state to the trigger state. This process is opposite to the working process of the buffer state and will not be described here. It should be noted that the sum of the arcs of the first buffer chute and the three second buffer chute is equal to or greater than the angle of rotation of the rotating rod to make the wire twisting claws rotate from being clamped to being opened. This ensures that the wire feeding mechanism can feed the wire after the wire twisting claws are fully opened, ensuring that the wire twisting is stable and continuous to avoid damage. When one bundling is completed, the next bundling can be carried out immediately.

[0125] The above is one of the structures and constructions of the wire feeding structure, wire twisting structure and cutting mechanism of the communication type hands-free steel bar tying machine in this embodiment. However, the structures of the wire feeding mechanism, wire twisting mechanism and cutting mechanism in this embodiment are not limited to the above structures. In this embodiment, the mechanisms of the steel bar tying machine in the prior art that realize the corresponding wire feeding, wire twisting and cutting functions can also be used as the wire feeding mechanism, wire twisting mechanism and cutting mechanism of the communication type hands-free steel bar tying machine in this embodiment.

[0126] In this embodiment, the main control unit of the steel bar binding machine may be an MCU.

[0127] Example 2

[0128] This embodiment discloses an automated steel bar bundling device, comprising a host computer, a robotic arm, and the communication-type hands-free steel bar bundling machine described in Embodiment 1.

[0129] In this embodiment, the host computer is a control system of the robotic arm, or the host computer is connected to the control system of the robotic arm, and is used to control the movement of the robotic arm. In this embodiment, the host computer can be a device directly used as a control system in the robotic arm, or it can be a device outside the robotic arm. In the latter case, the host computer is connected to the control system of the robotic arm, and the control system of the robotic arm controls the movement of the robotic arm according to the signal received from the host computer.

[0130] The host computer is connected to the main control unit of the steel bar bundling machine, and is used to send control instructions to the main control unit, drive the steel bar bundling machine through the main control unit, and receive information fed back by the main control unit; in this embodiment, Figure 7a and 7b As shown, the host computer is connected to the main control unit by wired or wireless means. When the wired means is adopted, the host computer is connected to the host computer by cable through the communication interface on the steel bar binding machine. When the wireless means is adopted, both the main control unit and the host computer are connected with a wireless communication module, and the two realize wireless connection through the wireless communication module.

[0131] The steel bar bundling machine is installed on a mechanical arm, which drives it to move.

[0132] In this embodiment, the host computer is also connected to a video scanning system or a sensor system.

[0133] The video scanning system includes a camera and a digital signal processor DSP. The camera is connected to the digital signal processor, and the digital signal processor is connected to a host computer. Among them:

[0134] The camera is installed at the front end of the mechanical arm or at the head of the steel bar bundling machine, and is used to capture image information of the steel bar bundling area and transmit the captured image information to the digital signal processor; in this embodiment, the camera can be a digital industrial camera.

[0135] A digital signal processor is used to process the image transmitted by the camera, detect the target in the image information, that is, the steel bar bundling node, and feed back the target detection result to the host computer; it is used to determine the steel bar size information at the steel bar bundling node according to the target detected in the image information, and send the steel bar size information to the host computer;

[0136] The host computer is used to determine the horizontal position of the steel bar bundling node according to the position to which the robot arm moves when the digital signal processor detects the target from the image information; at the same time, the host computer can call the corresponding steel bar bundling mode according to the steel bar size information fed back by the digital signal processor, thereby sending the corresponding control command to the main control unit of the steel bar bundling machine, so that the main control unit of the steel bar bundling machine controls the wire output length and torque of the wire feeding mechanism, thereby realizing the steel bar bundling work of the corresponding steel bar bundling node.

[0137] The sensing system includes a positioning sensor, which is connected to the host computer; the positioning sensor is installed at the front end of the mechanical arm or at the head of the steel bar bundling machine, and is used to find the steel bar bundling node and determine the position of the steel bar bundling node. In this embodiment, the positioning sensor can be an infrared sensor, a metal sensing sensor, etc. When the positioning sensor is an infrared sensor, a reflective object is set under the steel bar bundling area; wherein the infrared sensor is a reflective sensor, which uses a reflective light source to reflect infrared signals to the sensor, and the infrared sensor output pin has two states, one state is a high level, and the other state is a low level, that is, if a reflective object reflects infrared light back to the sensor, the sensor output pin level will change from a high level to a low level, or from a low level to a high level.

[0138] In this embodiment, the host computer may be a PLC, and the main control unit may be an MCU.

[0139] In this embodiment, considering the continuity of the use of automated equipment, the binding wire used by the steel bar bundling machine will be a large roll of wire, so the steel bar bundling machine without a handheld part has a wire ring bin-free structure, that is, the wire roll is arranged outside the casing.

[0140] Example 3

[0141] This embodiment discloses a steel bar bundling method implemented by the steel bar bundling automation equipment shown in Example 2, comprising the steps of:

[0142] 1) The host computer controls the movement of the robotic arm so that the steel bar bundling machine on the robotic arm moves to the steel bar bundling node;

[0143] 2) When the steel bar bundling machine reaches the steel bar bundling node position, the upper computer sends a control instruction to the main control unit, and the main control unit controls the bundling work of the steel bar bundling machine according to the received control instruction. In this embodiment, after receiving the control instruction sent by the upper computer, the main control unit controls the motor to work, so as to control the wire feeding mechanism, the cutting mechanism and the wire twisting mechanism to work respectively, realize the process of wire feeding, cutting and twisting, and thus realize the steel bar bundling.

[0144] In an embodiment, when the steel bar bundling automation equipment includes a video scanning system or a sensor system, it also includes a step of determining the steel bar bundling node position and steel bar size information through the video scanning system, or it also includes a step of finding the steel bar bundling node and determining the steel bar bundling node position through the sensor system;

[0145] The steps of determining the location of the steel bar bundling node and the steel bar size information through the video scanning system are as follows:

[0146] Step Sa, a camera in the video scanning system captures image information of the steel bar bundling area in real time, and transmits the captured image information to a digital signal processor;

[0147] Step Sb, the digital signal processor detects the target in each image information captured by the camera, the target is the steel bar bundling node; and feeds back the target detection result to the host computer, and the host computer controls the movement of the robot arm according to the above target detection result; the details are as follows:

[0148] When no target is detected in the image information, the digital signal processor feeds back a signal to the host computer, which controls the robotic arm to move to the next position in the horizontal direction until the digital signal processor detects the target from the image information captured by the camera. The host computer controls the robotic arm to stop horizontal movement, and determines that the position is the horizontal position of the steel bar bundling node. Then the host computer controls the robotic arm to move in the vertical direction, so that the steel bar bundling machine moves to the steel bar bundling node position. In this embodiment, during the horizontal movement of the robotic arm, the distance between the camera and the steel bar bundling area is fixed. Therefore, each time the horizontal position of the steel bar bundling node is determined, the host computer controls the robotic arm to move downward a fixed distance.

[0149] Therefore, the host computer determines the horizontal position of the steel bar bundling node according to the position to which the robotic arm moves when the digital signal processor detects the target from the image information. That is, when the digital signal processor detects the target from the image currently acquired by the camera, the host computer controls the robotic arm to stop moving and determines the current position of the robotic arm as the horizontal position of the steel bar bundling node.

[0150] Sc. The digital signal processor determines the steel bar size at the steel bar bundling node according to the pixel points of the target in the image information, and sends the steel bar size information to the host computer. In this embodiment, the actual length and width of each pixel in the image captured by the camera can be determined according to the vertical distance between the camera and the steel bar bundling area when the camera captures the image. After detecting the target in the image information, the steel bar size at the steel bar bundling node can be determined according to the number of pixels occupied by the target. After the host computer receives the steel bar size information, it can call the corresponding steel bar bundling mode according to the received steel bar size information, wherein the corresponding steel bar bundling mode corresponds to the corresponding wire length information of the wire feeding mechanism and the corresponding torque information of the wire twisting mechanism.

[0151] In this embodiment, a wire-binding determination model may be provided in the digital signal processor of the video scanning system. In the above steps, after detecting the target in the image information, the digital signal processor extracts the features of the target image, and then inputs the features of the target image into the wire-binding determination model, and determines whether the corresponding steel bar binding node has a wire-binding through the wire-binding determination model; if there is no wire-binding, the host computer sends a control instruction to the main control unit, and the main control unit controls the binding work of the steel bar binding node.

[0152] The process of obtaining the wire-binding determination model can be as follows:

[0153] Acquire multiple image information of steel bar bundling nodes without wire tying and multiple image information of steel bar bundling nodes with wire tying as training samples;

[0154] Detect the target of each training sample and extract the features of the target;

[0155] A neural network is constructed, and the target features of the training samples extracted above are used as inputs of the neural network. The neural network is trained to obtain a wire binding determination model.

[0156] The steps of finding the steel bar bundling node and determining the position of the steel bar bundling node by using the sensor system specifically include:

[0157] Step S1, in the horizontal direction, the host computer controls the robotic arm to move along the first direction of the X-axis. During the movement of the robotic arm, when the level signal sent by the positioning sensor to the host computer changes, the host computer controls the robotic arm to stop moving, and determines that the X coordinate at this position is the X coordinate of the current steel bar bundling node; enter step S2.

[0158] Step S2, the host computer controls the robotic arm to move along the second direction of the X-axis. During the movement of the robotic arm, when the level signal sent by the positioning sensor to the host computer changes, the host computer controls the robotic arm to stop moving and records the distance D moved by the robotic arm along the second direction of the X-axis; enter step S3.

[0159] In this step, the host computer can control the robotic arm to move a distance of 10 to 20 cm along the second direction of the X-axis to ensure that the positioning sensor changes from detecting the steel bars to not detecting the steel bars.

[0160] Step S3, the host computer controls the robotic arm to move along the first direction of the Y-axis. During the movement of the robotic arm, when the level signal sent by the positioning sensor to the host computer changes, the host computer controls the robotic arm to stop moving and enters step S4.

[0161] Step S4, the host computer controls the robotic arm to move a distance D in the first direction of the X-axis and then stop moving, and determines that the Y coordinate at this position is the Y coordinate of the current steel bar bundling node to be searched. The search for the current steel bar bundling node is completed, and when the next steel bar bundling node is to be searched, return to step S1.

[0162] Among them, after finding the current steel bar bundling node, the host computer controls the mechanical arm to move in the vertical direction, so that the steel bar bundling machine moves to the steel bar bundling node position.

[0163] In this embodiment, the horizontal direction refers to the direction of the horizontal plane parallel to the steel bar bundling area, and the vertical direction refers to the direction perpendicular to the steel bar bundling area. The X-axis can be the horizontal axis or the vertical axis of the horizontal plane, and the corresponding Y-axis can be the vertical axis or the horizontal axis of the horizontal plane.

[0164] In this embodiment, based on the video scanning system, the control instructions sent by the host computer to the main control unit include the following data information: steel bar size information, wire length information of the wire feeding mechanism and torque information of the wire twisting mechanism. The corresponding data packets are shown in Table 1, wherein the header of the data packet is 8 bits, for example, it can be: 0xFA; the steel bar size information is 8 bits; the wire length and torque information are 8 bits, wherein the upper 4 bits are the wire length information, and the lower 4 bits are the torque information, wherein the size of the upper 4 bits of data reflects the wire length level, and the size of the lower 4 bits of data reflects the torque level; the end of the data packet is an 8-bit check code.

[0165] Table 1

[0166] Baotou Rebar size information High wire length + low torque XOR check code 0xFA 0x00-0xFF 0x00-0xFF 0x00-0xFF

[0167] In this embodiment, the video scanning system scans the steel bar bundling nodes, and can obtain image information of the steel bar bundling nodes, and determine the steel bar size information according to the image information of the steel bar bundling nodes; the video scanning system sends the obtained steel bar bundling node position information and steel bar size information to the host computer; the host computer calls the corresponding steel bar bundling mode according to the received steel bar size information, wherein different steel bar bundling modes correspond to different wire length information and torque information. When sending the control instruction, the host computer sends the steel bar size information and the wire length information and torque information in the called steel bar bundling mode to the main control unit of the steel bar bundling machine in the form of the data packet in Table 1 above, and the main control unit controls the wire length of the wire feeding mechanism and the torque of the torque mechanism according to the above information.

[0168] In this embodiment, when the host computer controls the main control unit of the steel bar bundling machine to realize the steel bar bundling control, the communication process between the two is as follows: Figure 8 As shown:

[0169] (1) The host computer sends a control command to the main control unit to start the bundling control of the main control unit, wherein the control command data packet is shown in Table 2 below:

[0170] Table 2

[0171] Baotou Rebar size information High wire length + low torque XOR check code 0xFA 0x01 0x12 0xE9

[0172] (2) After receiving the control command sent by the host computer, the main control unit parses the data information therein.

[0173] When the parsed data is correct, the correct response command is fed back to the host computer, and the bundling work of the steel bar bundling machine is controlled according to the control command. After the bundling work is completed, the completion command is sent to the host computer.

[0174] In case of data parsing errors, the error response command is fed back to the host computer.

[0175] In this embodiment, the correct response instruction fed back by the main control unit to the host computer can be shown in Table 3:

[0176] Table 3

[0177] Baotou Correct information XOR check code 0xAF 0x00 0xAF

[0178] In this embodiment, the error response instruction fed back by the main control unit to the host computer may be as shown in Table 4:

[0179] Table 4

[0180] Baotou error message XOR check code 0xAF 0x01 0xAE

[0181] In this embodiment, the completion instruction sent by the main control unit may be as shown in Table 5:

[0182] Table 5

[0183] Baotou Completion signal XOR check code 0xFB 0x00 0xFB

[0184] (3) When the host computer receives an error response from the main control unit, it repeats the previous control instruction and returns to step (2);

[0185] After receiving the correct response command sent by the main control unit, the upper computer waits for the main control unit to send a completion command; after receiving the completion command sent by the main control unit, the upper computer controls the steel bar bundling machine on the robotic arm to move to the next steel bar bundling node and continue to perform the bundling work of the next steel bar bundling node.

[0186] After receiving the correct response sent by the main control unit, if the host computer does not receive the completion instruction sent by the main control unit but receives the fault instruction sent by the main control unit, the host computer controls the steel bar binding machine to stop the current binding work through the main control unit.

[0187] In this embodiment, the fault instruction sent by the main control unit may be as follows:

[0188] Baotou Fault signal XOR check code 0xFB 0x01 0xFA

[0189] In this embodiment, the main control unit collects the current value of the motor in the steel bar bundling machine, and can determine whether a fault occurs based on the collected current value. For example, for the corresponding model of motor used in the steel bar bundling machine, when the main control unit detects that the motor current exceeds 6A for 15ms, it can be determined that the motor has a fault and send a fault command to the host computer.

[0190] Generally, there are three Hall elements inside a brushless motor. The main control unit can determine the number of revolutions and the rotation speed of the motor based on the high and low level signals sent by the Hall elements. In this embodiment, the main control unit can determine whether the motor rotation is normal based on the signal sent by the Hall element. When it is detected that the level signal sent by the Hall element changes too slowly, it can be determined that there is an abnormality in the motor rotation, thereby determining that the motor has a fault, and at this time a fault command is sent to the host computer.

[0191] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A steel bar bundling method implemented by a steel bar bundling automation device, It is characterized in that The steel bar bundling automation equipment includes a host computer, a mechanical arm and a communication type hand-free steel bar bundling machine. The communication type hand-free steel bar bundling machine includes a housing, a main control unit, a motor, a wire feeding mechanism, a wire twisting mechanism and a cutting mechanism. The main control unit is connected to the motor to drive the motor to rotate; The motor is connected to the wire feeding mechanism, the wire twisting mechanism and the cutting mechanism through the transmission system, and controls the wire feeding mechanism, the wire twisting mechanism and the cutting mechanism to perform wire feeding, wire twisting and cutting respectively; The housing is long and has no handle. The motor is arranged inside the casing and is used to drive the wire feeding mechanism, the wire twisting mechanism and the cutting mechanism to work; The wire feeding mechanism is arranged along the length direction of the casing and the wire outlet extends out of the casing head, and is used to transmit the wire and wind the wire around the bundle; The wire twisting mechanism is arranged along the length direction of the casing and the end thereof extends out of the casing head, and is used for twisting the binding wire wound on the bundle; The cutting mechanism is arranged along the length direction of the casing and the cutting part extends out of the casing head, and is used to cut the binding wire after the binding wire is wound on the bundle; The host computer is a control system of the robotic arm, or the host computer is connected to the control system of the robotic arm, and is used to control the movements of the robotic arm; The upper computer is connected to the main control unit of the steel bar bundling machine, and is used to send control instructions to the main control unit, drive the steel bar bundling machine through the main control unit, and receive feedback information from the main control unit; The steel bar bundling machine is installed on a mechanical arm, which drives it to move; The steel bar bundling automation equipment also includes a video scanning system connected to the host computer; The video scanning system includes a camera and a digital signal processor, the camera is connected to the digital signal processor, and the digital signal processor is connected to a host computer; wherein: A camera is installed at the front end of the mechanical arm or at the head of the steel bar bundling machine, and is used to capture image information of the steel bar bundling area and transmit the captured image information to the digital signal processor; A digital signal processor is used to detect the target in the image information, that is, the steel bar bundling node, and feed back the target detection result to the host computer; it is used to determine the steel bar size information at the steel bar bundling node according to the target detected in the image information, and send the steel bar size information to the host computer; The host computer is used to determine the horizontal position of the steel bar bundling node according to the position to which the robot arm moves when the digital signal processor detects the target from the image information; The steel bar bundling method comprises the following steps: The upper computer controls the movement of the robotic arm so that the steel bar bundling machine on the robotic arm moves to the steel bar bundling node; When the steel bar bundling machine reaches the steel bar bundling node position, the upper computer sends a control instruction to the main control unit, and the main control unit controls the bundling work of the steel bar bundling machine according to the received control instruction; The steel bar bundling method also includes the step of determining the steel bar bundling node position and steel bar size information by a video scanning system; The steps of determining the location of the steel bar bundling node and the steel bar size information through the video scanning system are as follows: Step Sa, a camera in the video scanning system captures image information of the steel bar bundling area in real time, and transmits the captured image information to a digital signal processor; Step Sb, the digital signal processor detects the target in each image information captured by the camera, the target being the steel bar bundling node; and feeds back the target detection result to the host computer, and the host computer controls the movement of the mechanical arm according to the above target detection result; the host computer determines the horizontal position of the steel bar bundling node according to the position to which the mechanical arm moves when the digital signal processor detects the target from the image information; At the same time, the digital signal processor determines the steel bar size at the steel bar bundling node according to the pixel points of the target in the image information, and sends the steel bar size information to the host computer; the host computer calls the corresponding steel bar bundling mode according to the received steel bar size information, wherein the corresponding steel bar bundling mode corresponds to the corresponding wire length information of the wire feeding mechanism and the corresponding torque information of the wire twisting mechanism; the control instruction sent by the host computer to the main control unit includes the following data information: the wire length information of the wire feeding mechanism and the torque information of the wire twisting mechanism.

2. The steel bar bundling method according to claim 1, It is characterized in that The main control unit is arranged inside or outside the casing; When the main control unit is arranged outside the casing, the motor is connected to the main control unit via a line passing through the casing; When the main control unit is arranged inside the casing, the wire feeding mechanism is arranged between the motor and the top inner wall of the casing, and the main control unit is arranged between the motor and the bottom inner wall of the casing.

3. The steel bar bundling method according to claim 1, It is characterized in that A communication interface is installed on the casing and / or a wireless communication module is arranged in the casing. The main control unit is connected to the external control device by wire through the communication interface, or the main control unit is connected to the external control device wirelessly through the wireless communication module.

4. The steel bar bundling method according to claim 3, It is characterized in that The communication interface on the casing is arranged at the rear or side of the casing; A connection structure is arranged on the rear part or the side outer wall of the casing, and the casing is installed on the movable device through the connection structure.

5. The steel bar bundling method according to claim 1, It is characterized in that The digital signal processor of the video scanning system includes a wire binding determination model; After detecting the target in the image information, the digital signal processor extracts the features of the target image, and then inputs the features of the target image into the wire binding judgment model, and determines whether the corresponding steel bar binding node has a wire binding through the wire binding judgment model; if there is no wire binding, the upper computer sends a control instruction to the main control unit, and the main control unit controls the binding work of the steel bar binding node.

6. The steel bar bundling method according to claim 1, It is characterized in that The following steps are also included: After receiving the control command sent by the host computer, the main control unit analyzes the data information therein, and if the analyzed data is correct, it feeds back a correct response command to the host computer; if the analyzed data is wrong, it feeds back an error response command to the host computer; After completing the binding work control of the steel bar binding machine, the main control unit sends a completion instruction to the host computer; When a fault occurs during the bundling work of the steel bar bundling machine, the main control unit sends a fault command to the host computer and controls the steel bar bundling machine to stop bundling work; When the host computer receives an error response from the main control unit, it repeats the last control instruction; When the host computer receives the correct response sent by the main control unit, it waits for the main control unit to send a completion instruction. After receiving the completion instruction sent by the main control unit, it controls the steel bar bundling machine on the mechanical arm to move to the next steel bar bundling node and continue to perform the bundling work of the next steel bar bundling node; After receiving the correct response sent by the main control unit, if the host computer does not receive the completion instruction sent by the main control unit but receives the fault instruction sent by the main control unit, the host computer controls the steel bar binding machine to stop the current binding work through the main control unit.

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