A tying device and automatic tying robot

Abstract

The present application provides a binding device and an automatic binding robot, comprising: an operating arm, a wire feeding mechanism, a wire bending mechanism and a twisting mechanism; the wire feeding mechanism is arranged on the operating arm, and the wire feeding mechanism is used to feed the wire to the wire bending mechanism; the wire bending mechanism is arranged at the front end of the operating arm, and the wire bending mechanism comprises: a guide jaw, a first guide member and a first driving assembly; the guide jaw is fixedly connected to the operating arm, the first guide member is movably connected to the operating arm, the first driving assembly is arranged on the operating arm, the first driving assembly is connected to the first guide member, and is used to drive the first guide member to surround the intersection of the steel bars to form a closed guiding loop with the guide jaw, and the closed guiding loop is used to guide the wire to form a binding ring at the intersection of the steel bars; the twisting mechanism is arranged on the operating arm and is adjacent to the wire bending mechanism; the twisting mechanism is used to twist the two ends of the binding ring to bind the intersection of the steel bars.

Description

Technical Field

[0001] The present application relates to the technical field of construction equipment, and in particular to a tying device and an automatic tying robot. Background Art

[0002] In the construction industry, steel bars, steel bars or steel plates are usually used as components to disperse stress in concrete. Usually, multiple steel bars are tied or tied into a frame structure, and the frame structure is poured into concrete, so as to enhance the tensile or compressive strength of reinforced concrete. When tying or tying the steel bars, it is usually necessary to bend the wire into a tying ring, and put the tying ring on the cross connection of the steel bars, and use a vise or a tying device to turn the opening of the wire into a tying head. The method of twisting with a vise is inefficient and labor-intensive.

[0003] An automatic binding device has appeared in the related technology, which usually includes a wire feeding mechanism, a wire bending mechanism, a shearing mechanism and a twisting mechanism; the wire feeding mechanism sends the wire to the wire bending mechanism, and the wire bending mechanism twists the end of the wire into a binding ring; then, it is twisted by the twisting mechanism so that the two ends of the wire can be twisted together to form a complete binding ring, thereby realizing the binding of the steel bars.

[0004] However, the wire-bending mechanism in the related art needs to be surrounded at the intersection of the steel bars, and therefore is usually an open structure, which results in incomplete guidance when the end of the wire is bent into a binding ring, causing the end of the wire to easily hit the steel bars and deviate, which makes it easy for binding errors or unsuccessful binding to occur. Summary of the invention

[0005] The present application provides a binding device and an automatic binding robot to solve the problem in the related art that when binding steel bars, the ends of the binding wires are easily offset or hit on the steel bars, which easily leads to binding errors or unsuccessful binding.

[0006] According to a first aspect of the present application, there is provided a binding device, comprising: an operating arm, a wire feeding mechanism, a wire bending mechanism and a twisting mechanism;

[0007] The wire feeding mechanism is arranged on the operating arm, and is used for feeding the tied wire to the wire bending mechanism;

[0008] The wire-bending mechanism is arranged at the front end of the operating arm, and the wire-bending mechanism comprises: a guide jaw, a first guide member and a first driving assembly; the guide jaw is fixedly connected to the operating arm, the first guide member is movably connected to the operating arm, the first driving assembly is arranged on the operating arm, the first driving assembly is connected to the first guide member, and is used to drive the first guide member to surround the intersection of the steel bars to form a closed guide loop with the guide jaw, and the closed guide loop is used to guide the wire to form a binding ring at the intersection of the steel bars;

[0009] The screwing mechanism is arranged on the operating arm and is adjacent to the screw twisting mechanism; the screwing mechanism is used to screw the two ends of the binding ring to bind the intersection of the steel bars.

[0010] In a possible design, a receiving space is provided on the operating arm; the first driving assembly is also used to drive the first guide member to be received in the receiving space, so as to open the closed guide loop.

[0011] In a possible design, the first guide member includes a plurality of guide blocks connected to each other in rotation in sequence, and the cross-section of the guide blocks is fan-shaped; the plurality of guide blocks are spliced ​​into the arc-shaped first guide member, and form the closed guide loop with the guide jaws.

[0012] In a possible design, a first connecting member is provided between two adjacent guide blocks, and the first connecting member is located on the side of the guide block close to the intersection of the steel bars; when the first guide member and the guide jaw form the closed guide loop, the first connecting member is used to pull the guide block so that the relative surfaces of the adjacent guide blocks abut against each other.

[0013] In a possible design, the first connecting member includes a magnetic member, and the magnetic member is arranged on the opposite surface of the adjacent guide block;

[0014] or,

[0015] The first connecting member includes a steel wire rope; a connecting hole is provided on the inner side of the guide block, and the steel wire rope passes through the connecting hole on each of the guide blocks in sequence and is fixed on the operating arm.

[0016] In a possible design, a second guide member is provided in the accommodating space, and a guide column is provided on a side wall of the guide block; when the first guide member is received in the accommodating space, the guide column slides along the second guide member.

[0017] In one possible design, the first driving component includes: a guide rod, a first driving member and a second connecting member; the guide rod is arranged on the operating arm, the first driving member is movably arranged on the guide rod, the second connecting member is located between the first driving member and the first guide member, and the second connecting member is used to connect the first driving member and the first guide member.

[0018] In a possible design, the binding device also includes: a second drive assembly, which is located at the rear end of the operating arm and fixedly connected to the operating arm; the second drive assembly is used to drive the operating arm to approach or move away from the steel bar intersection.

[0019] In a possible design, the binding device further includes: a wire storage mechanism, the wire storage mechanism is located on a side of the second drive assembly away from the operating arm and is fixedly connected to the second drive assembly, the wire storage mechanism is used to store the binding wire, and the wire storage capacity of the wire storage mechanism is 5-15 kg;

[0020] In a possible design, the binding device further includes: a visual detection mechanism, which is connected to a side of the wire storage mechanism facing away from the second drive assembly, and is used to identify the intersection of the steel bars.

[0021] According to a second aspect of the present application, there is provided an automatic tying robot, comprising a tying device provided by any possible design method according to the first aspect of the present application.

[0022] The embodiment of the present application arranges a wire bending mechanism on the operating arm, and arranges the wire bending mechanism to include two parts, wherein a guide jaw is fixed on the operating arm; a first guide member is movably connected to the operating arm through a first drive assembly; in this way, when it is necessary to tie the intersection of the steel bars, the first guide member can be driven by the first drive assembly to surround the outside of the intersection of the steel bars, and form a closed guide loop with the guide jaws, and the wire will be bent into a binding ring in the closed guide loop; because the guide loop is a closed guide loop, the wire will not deviate or hit the steel bars, so a complete binding ring can be formed better; the success rate and quality of binding the intersection of the steel bars can be improved.

[0023] The structure of the present application as well as its other objectives and beneficial effects will be described in detail in conjunction with the accompanying drawings to ensure that the description of the preferred embodiments is more obvious and understandable. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0025] Figure 1 It is a schematic diagram of the overall structure of the binding device provided in the embodiment of the present application;

[0026] Figure 2 is a schematic diagram of the explosion structure of the lashing device provided in an embodiment of the present application;

[0027] Figure 3 It is a partial structural schematic diagram of a wire bending mechanism in a binding device provided in an embodiment of the present application;

[0028] Figure 4 It is a partial structural diagram of the wire bending mechanism in the binding device provided in the embodiment of the present application from another perspective;

[0029] Figure 5 yes Figure 4 A partial enlarged view of point A in the middle;

[0030] Figure 6 It is a schematic diagram of the internal structure of the operating arm in the lashing device provided in an embodiment of the present application;

[0031] Figure 7 is a schematic diagram of the internal structure of the operating arm in the lashing device provided in an embodiment of the present application from another perspective;

[0032] Figure 8 yes Figure 7 A magnified partial view of point B in the middle.

[0033] Description of reference numerals:

[0034] 1- Lashing device;

[0035] 10-operating arm; 20-wire feeding mechanism; 30-wire bending mechanism; 40-screwing mechanism; 50-second driving assembly; 60-wire storage mechanism;

[0036] 11-accommodating space; 12-second guide member; 21-conical gear; 22-wire feeding roller; 31-guide jaw; 32-first guide member; 33-first drive assembly; 41-third drive member; 42-screwing shaft; 43-screwing head; 61-wire winding reel; 62-wire limiting member; 63-handle; 64-locking member;

[0037] 121 - second guide groove; 112 - wire feeding channel; 321 - guide block; 322 - first guide groove; 323 - guide column; 331 - guide rod; 332 - first driving member; 333 - second connecting member;

[0038] 121a-Guide portion. Specific embodiments

[0039] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0040] In the description of the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0041] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0042] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0043] In the description of this application, it should be understood that the terms "inside", "outside", "upper", "bottom", "front", "back" and the like indicate directions or positional relationships (if any) based on the attached Figure 1The orientation or positional relationship shown is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0044] In the construction industry, steel bars, steel bars or steel plates are usually used as components to disperse stress in concrete. Usually, multiple steel bars are tied or tied into a frame structure, and the frame structure is poured into concrete, so as to enhance the tensile or compressive strength of reinforced concrete. When tying or tying the steel bars, it is usually necessary to bend the wire into a tying ring, and put the tying ring on the cross connection of the steel bars, and use a vise or a tying device to turn the opening of the wire into a tying head. The method of twisting with a vise is inefficient and labor-intensive.

[0045] An automatic binding device has appeared in the related technology, which usually includes a wire feeding mechanism, a wire bending mechanism, a shearing mechanism and a twisting mechanism; the wire feeding mechanism sends the wire to the wire bending mechanism, and the wire bending mechanism twists the end of the wire into a binding ring; then, it is twisted by the twisting mechanism so that the two ends of the wire can be twisted together to form a complete binding ring, thereby realizing the binding of the steel bars.

[0046] However, the wire-bending mechanism in the related art needs to be surrounded at the intersection of the steel bars, and therefore is usually an open structure, which results in incomplete guidance when the end of the wire is bent into a binding ring, causing the end of the wire to easily hit the steel bars and deviate, which makes it easy for binding errors or unsuccessful binding to occur.

[0047] In view of this, according to the first aspect of the embodiment of the present application, a binding device is provided, the main idea is that the wire-bending mechanism is set to include two parts, one of which is fixed; the other part is movable, and the movable part, driven by the driving component, surrounds the intersection of the steel bars from the intersection point and forms a closed guide loop with the fixed part; in this way, the wire is guided along the closed guide loop from the wire feeding mechanism to form a complete binding ring, and after being twisted by the twisting mechanism, the intersection of the steel bars can be better bound; because the wire-bending mechanism guiding the wire can form a closed loop; therefore, the wire can be better guided, and the wire will not hit the steel bars and will not be offset. It can improve the binding efficiency and success rate of the intersection of the steel bars. The quality of the steel bar frame after binding is stable.

[0048] Figure 1 is a schematic diagram of the overall structure of the binding device provided in the embodiment of the present application, Figure 2 is a schematic diagram of the exploded structure of the lashing device provided in the embodiment of the present application, Figure 3 is a partial structural diagram of a wire twisting mechanism in a binding device provided in an embodiment of the present application, Figure 4is a partial structural diagram of the wire twisting mechanism in the binding device provided in the embodiment of the present application from another perspective, Figure 5 yes Figure 4 A partial enlarged view of the center A. Figure 6 is a schematic diagram of the internal structure of the operating arm in the lashing device provided in an embodiment of the present application, Figure 7 is a schematic diagram of the internal structure of the operating arm in the lashing device provided in an embodiment of the present application from another perspective, Figure 8 yes Figure 7 A magnified partial view of point B in the middle.

[0049] Reference Figure 1-Figure 8 As shown, a binding device 1 provided in an embodiment of the present application includes: an operating arm 10, a wire feeding mechanism 20, a wire twisting mechanism 30 and a twisting mechanism 40.

[0050] Specifically, in the embodiment of the present application, the operating arm 10 may be a part of a mechanical arm, which may be made of profiled steel. The operating arm 10 may be mainly used to provide a mounting position for other components. Therefore, a plurality of mounting screw holes may be provided on the operating arm 10; other components may be mounted on the operating arm 10 by means of screws, screws or screws. Of course, in some possible implementations, other components may also be welded to the operating arm 10, which is not limited in the embodiment of the present application.

[0051] It is understandable that, in specific use, the operating arm 10 can be used as an extension component and can be extended to the intersection of the steel bars, so that it is convenient to tie the intersection of the steel bars.

[0052] In some possible implementations, the operating arm 10 in the embodiment of the present application can also be connected to the mechanical arm of an industrial robot. For example, a quick-change connection mechanism is provided at the rear end of the operating arm 10, and the quick-change female disk of the quick-change connection mechanism is connected to the male disk of the flange at the end of the industrial robot; specifically, it can be connected to the industrial robot by starting adsorption and release.

[0053] In this way, the operating arm 10 can be conveniently connected to the industrial robot, so that the entire steel bar binding can be performed by the robot, freeing up production labor and improving binding efficiency.

[0054] The wire feeding mechanism 20 is disposed on the operating arm 10 , and is used to feed the tied wire to the wire bending mechanism 30 .

[0055] Specifically, refer to Figure 7 Figure 8As shown, in the embodiment of the present application, the wire feeding mechanism 20 may include a bevel gear 21 and a wire feeding roller 22. A wire feeding channel 112 is provided in the operating arm 10; the wire feeding roller 22 may be provided near the wire feeding channel 112 and abut against the wire in the wire feeding channel 112.

[0056] It is understandable that the bevel gear 21 can be connected to the output shaft of the driving motor, for example, through a coupling. A wire feeding roller 22 can be set on the bevel gear 21; the cylindrical surfaces of the two wire feeding rollers 22 are opposite, and the wire bundle passes between the two wire feeding rollers 22. In this way, when one of the wire feeding rollers 22 is driven by the driving motor to rotate, the wire bundle abutting against the cylindrical surface of the wire feeding roller 22 can be delivered to the wire bending mechanism 30.

[0057] The wire-bending mechanism 30 is arranged at the front end of the operating arm 10. It can be understood that the front end of the operating arm 10 can refer to an end close to the intersection of the steel bars. The wire-bending mechanism 30 includes: a guide jaw 31, a first guide member 32 and a first drive assembly 33; the guide jaw 31 is fixedly connected to the operating arm 10, the first guide member 32 is movably connected to the operating arm 10, the first drive assembly 33 is arranged on the operating arm 10, the first drive assembly 33 is connected to the first guide member 32, and is used to drive the first guide member 32 to surround the intersection of the steel bars to form a closed guide loop with the guide jaw 31, and the closed guide loop is used to guide the wire to form a binding ring at the intersection of the steel bars.

[0058] Optional, see Figure 1 As shown, the guide jaw 31 can be a guide slot with a curved arc, which is connected to the wire feeding channel 112. The wire is fed from the wire feeding channel 112 into the guide slot of the guide jaw 31. Since the guide jaw 31 has a certain curvature, the end of the wire will gradually bend into an arc along the curvature.

[0059] Optionally, in the embodiment of the present application, the first guide member 32 may be as follows: Figure 1 The chain guide groove shown in the figure, after being sent out of the front end of the operating arm 10 by the first driving component 33, is naturally bent into an arc-shaped groove, so that it cooperates with the arc-shaped guide jaws 31 to form a closed guide loop and surround the intersection of the steel bars; the end of the binding wire will extend from the guide jaws 31 and bend along the extension direction of the first guide member 32, thereby forming a binding ring surrounding the intersection of the steel bars.

[0060] When the first driving assembly 33 pulls the chain guide groove back to the first operating arm 10, the chain guide groove will be straightened and separated from the guide jaw 31, so that it can be easily moved from one steel bar intersection to the next steel bar intersection to continue binding without affecting the movement of the operating arm.

[0061] Optionally, in the embodiment of the present application, the first guide member 32 may also be a guide groove that is an arc (e.g., semicircular) as a whole; the rear end of the first guide member 32 may be hinged to the operating arm 10. At this time, the first driving assembly 33 may drive the first guide member 32 to rotate around the operating arm 10.

[0062] Specifically, when the steel bar intersection needs to be tied, the first driving assembly 33 can drive the first guide member 32 to rotate around the front end of the operating arm 10 (for example, Figure 1 The first driving assembly 33 can drive the first guide member 32 to rotate around the front end of the operating arm 10 (for example, the first driving assembly 33 can rotate clockwise in the middle) and surround the outer periphery of the intersection of the steel bars, thereby forming a closed guide loop with the guide jaw 31; when the operating arm 10 needs to be moved, the first driving assembly 33 can drive the first guide member 32 to rotate around the front end of the operating arm 10 (for example, Figure 1 The operating arm 10 may be rotated counterclockwise in the middle) to leave the intersection of the steel bars, so that the operating arm 10 can be easily moved away from the intersection of the steel bars without affecting the movement of the operating arm 10.

[0063] The screwing mechanism 40 is disposed on the operating arm 10 and is adjacent to the wire twisting mechanism 30 ; the screwing mechanism 40 is used to screw the two ends of the binding ring formed by the binding wire to bind the intersection of the steel bars.

[0064] Specifically, refer to Figure 6 and Figure 7 As shown, in the embodiment of the present application, the screwing mechanism 40 may include a third driving member 41 , a screwing shaft 42 connected to the output shaft of the third driving member 41 , and a screwing head 43 disposed at the end of the screwing shaft 42 .

[0065] It can be understood that, in the embodiment of the present application, the third driving member 41 can be a unidirectional rotating motor or a bidirectional rotating motor, such as a servo motor, a synchronous motor or a stepping motor.

[0066] The output shaft of the third driving member 41 and the screw shaft 42 can be connected via a coupling or a reducer.

[0067] It can be understood that in the embodiment of the present application, the screwing head 43 can adopt a screwing head in the related art, such as a jaw formed by two oppositely arranged clamps, so that the end of the wire tie can be clamped.

[0068] In the embodiment of the present application, a wire bending mechanism 30 is provided on the operating arm 10, and the wire bending mechanism 30 is provided to include two parts, wherein the guide jaws 31 are fixed on the operating arm 10; the first guide member 32 is movably connected to the operating arm 10 through the first drive assembly 33; in this way, when it is necessary to tie the intersection of the steel bars, the first guide member 32 can be driven by the first drive assembly 33 to surround the outside of the intersection of the steel bars, and form a closed guide loop with the guide jaws 31, and the wire will be bent into a binding ring in the closed guide loop; because the guide loop is a closed guide loop, the wire will not be offset or hit on the steel bars, so that a complete binding ring can be formed better; the success rate and quality of binding of the steel bar intersections can be improved.

[0069] Optional, see Figure 1 As shown, a receiving space 11 is provided on the operating arm 10; the first driving assembly 33 is also used to drive the first guide member 32 to be received in the receiving space 11, so as to open a closed guide loop.

[0070] Specifically, in the embodiment of the present application, the accommodating space 11 may be formed by the space between two oppositely disposed steel sections. In other words, in the embodiment of the present application, the operating arm 10 may be two oppositely disposed steel sections.

[0071] In the embodiment of the present application, the first guide member 32 is accommodated in the accommodation space 11, so that when the operating arm 10 is moved from one steel bar intersection to another steel bar intersection, the first guide member 32 will not affect the movement of the operating arm 10. In other words, the movement displacement of the operating arm 10 can be saved, which can save energy and improve work efficiency.

[0072] Optional, see Figure 1-Figure 5 As shown, in the embodiment of the present application, the first guide member 32 includes a plurality of guide blocks 321 rotatably connected in sequence, and the cross-section of the guide block 321 is fan-shaped; the plurality of guide blocks 321 are spliced ​​into an arc-shaped first guide member 32 and form a closed guide loop with the guide jaw 31.

[0073] It should be noted that, in the embodiment of the present application, a first guide groove 322 may be provided on the inner side of the guide block 321 , so that a plurality of first guide grooves 322 are connected to each other and cooperate with the guide jaw 31 to form a closed guide loop.

[0074] It should be noted that since the first guide member 32 needs to surround the outer periphery of the intersection of the steel bars, that is, it will form an arc structure and guide the end of the wire tie. Therefore, there must be no obstruction on the inner side of the guide block 321 (the side close to the intersection of the steel bars). In the embodiment of the present application, the connecting shaft of adjacent guide blocks 321 is set on the outer side of the guide block 321 (that is, the side away from the intersection of the steel bars); in this way, the mutual rotation of the adjacent guide blocks 321 can be guaranteed, and at the same time, no obstruction is caused to the wire tie.

[0075] Optionally, the guide jaw 31 may be a jaw that is greater than or equal to a quarter arc; Figure 1 As shown, after the multiple guide blocks 321 are pushed out of the front end of the operating arm 10 by the first driving assembly 33 , they can directly form a quarter arc under the action of gravity, thereby forming a closed guide loop with the guide jaws 31 .

[0076] In some possible embodiments, it is generally desired that the curvature of the guide jaw 31 fixedly connected to the operating arm 10 is not too large, so that the operating arm 10 can be easily moved from one steel bar intersection to another steel bar intersection. Therefore, the curvature of the guide jaw 31 may be less than a quarter of a circle; in this case, the first guide member 32 needs to be pushed out of the front end of the operating arm 10 to form an arc larger than a quarter of a circle.

[0077] In the embodiment of the present application, a first connecting member (not shown in the figure) is provided between two adjacent guide blocks 321, and the first connecting member is located on the side of the guide block 321 close to the intersection of the steel bars; when the first guide member 32 and the guide jaw 31 form a closed guide loop, the first connecting member is used to pull the guide block 321 so that the opposite surfaces of the adjacent guide blocks 321 abut against each other.

[0078] In this way, the first connecting piece is provided to pull the guide block 321, and the opposite surfaces of adjacent guide blocks 321 are made to abut against each other; so that there will be no gap between the guide blocks 321, and the ends of the binding wires will not be blocked, so that the binding wires can be effectively guided and the success rate of binding the intersection points of the steel bars is improved.

[0079] Optionally, the second connecting member includes a magnetic member, and the magnetic member is arranged on opposite surfaces of adjacent guide blocks 321 .

[0080] Specifically, in the embodiment of the present application, a notch can be provided on the opposite surface of the guide block 321, and a magnetic member (such as a magnet) can be embedded in the notch. It can be understood that in the embodiment of the present application, a magnet can be provided on one guide block 321, and an iron block can be provided on another adjacent guide block 321, so that the magnet and the iron block attract each other, and the opposite surfaces of the adjacent guide blocks 321 can be tightly attached together.

[0081] In some possible embodiments, a magnet may also be provided on another adjacent guide block 321 , with opposite poles of the two magnets facing each other.

[0082] In a specific example, the first connecting member includes a steel wire rope; a connecting hole is provided on the inner side of the guide block 321 , and the steel wire rope passes through each connecting hole on the guide block 321 in turn and is fixed on the operating arm 10 .

[0083] In this way, when the first guide member 32 is pushed out of the front end of the operating arm 10 , the wire rope will tighten the inner side of the first guide member 32 , so that the opposite surfaces of adjacent guide blocks 321 can abut against each other.

[0084] In another specific example, the first connecting member may also be a tension spring disposed inside the guide block 321, and the two ends of the tension spring are respectively connected to two adjacent guide blocks 321. In this way, the tension spring will always provide a pulling force to the inner sides of the two adjacent guide blocks 321, so that when the first guide member 32 is pushed out of the front end of the operating arm 10, the opposite surfaces of the adjacent guide blocks 321 can abut against each other.

[0085] Optional, see Figure 1 , Figure 3 and Figure 4 As shown, in the embodiment of the present application, a second guide member 12 is provided in the accommodating space 11 , and a guide column 323 is provided on the side wall of the guide block 321 ; when the first guide member 32 is received in the accommodating space 11 , the guide column 323 slides along the second guide member 12 .

[0086] Specifically, the second guide member 12 may be two opposite fixing plates arranged on the inner side wall of the accommodating space 11 ; a second guide groove 121 is formed on the fixing plate; and the guide column 323 may slide along the second guide groove 121 .

[0087] In this way, when the first guide member 32 is driven by the first driving assembly 332 to be accommodated in the accommodating space, the second guide member 12 can guide and limit the first guide member 32, so that the first guide member 32 is straightened and confined in the accommodating space, which can effectively reduce the space occupied by the operating arm 10.

[0088] In some possible ways, refer to Figure 5 As shown, in the embodiment of the present application, a guide portion 121a is provided at the front end of the second guide groove 121, and the size of the guide portion 121a is larger than the diameter of the guide column 323; in this way, it can ensure that the guide column 323 can smoothly enter the second guide groove 121.

[0089] Further, see Figure 2As shown, the first driving assembly 33 includes: a guide rod 331, a first driving member 332 and a second connecting member 333; the guide rod 331 is arranged on the operating arm 10, the first driving member 332 is movably arranged on the guide rod 331, the second connecting member 333 is located between the first driving member 332 and the first guide member 32, and the second connecting member 333 is used to connect the first driving member 332 and the first guide member 32.

[0090] Specifically, in the embodiment of the present application, the first driving member 332 may be a linear cylinder, which slides on the guide rod 331 , thereby driving the first guide member 32 through the second connecting member 333 .

[0091] It should be noted that in some specific examples, in order to increase the bonding ability between steel bars and concrete or cement, some steel bars have ribs (e.g., grade 2 steel or grade 3 steel, etc.), which are also commonly called threaded steel bars. The ribs on the steel bars support the wire ties, which may cause the wire ties to hang on the ribs and fail to tie the intersection of the steel bars tightly.

[0092] For example, in order to prevent the binding wire from being hung on the ribs, the binding device 1 provided in the embodiment of the present application also includes: a second driving component 50, the second driving component 50 is located at the rear end of the operating arm 10 and is fixedly connected to the operating arm 10; the second driving component 50 is used to drive the operating arm 10 to approach or move away from the intersection of the steel bars.

[0093] Optionally, the second driving assembly 50 may be a three-axis cylinder, a telescopic cylinder or a piston cylinder, etc.; the output end of the second driving assembly 50 is fixedly connected to the rear end of the operating arm.

[0094] In this way, after the screwing head 43 of the screwing mechanism 40 clamps the end of the wire tie, the second drive assembly 50 can pull the entire operating arm 10 to move in a direction away from the intersection of the steel bars, so that the binding ring can be tightened, that is, the wire tie hung on the rib can be pulled into the groove between the ribs, thereby improving the tightness of the binding and improving the binding quality of the steel bar frame.

[0095] Further, see Figure 1 and Figure 2 As shown, the binding device 1 further includes: a wire storage mechanism 60, which is located on a side of the second drive assembly 50 away from the operating arm 10 and is fixedly connected to the second drive assembly 50, and is used to store binding wires.

[0096] Specifically, refer to Figure 1 As shown, in the embodiment of the present application, the wire storage mechanism 60 includes a wire tie reel 61, and both ends of the wire tie reel 61 may have flanges, which can limit the wire tie on the wire tie reel 61. It can be understood that the wire tie can be wound on the wire tie reel 61.

[0097] As mentioned above, because the binding device 1 provided in the embodiment of the present application can be installed on a robotic arm for use; therefore, compared with a handheld binding device, the capacity of the wire reel 61 can be appropriately expanded; in the embodiment of the present application, the capacity of the wire reel 61 can be set to 5-15kg.

[0098] In some possible examples, taking 8 working hours per day as an example, the capacity of the wire reel 61 may be set to 10 kg.

[0099] In this way, the number of times the wire binding reel 61 is replaced can be reduced, thereby improving the efficiency of binding the steel bars.

[0100] Continue to refer to Figure 1 As shown, in some possible ways, the wire storage mechanism 60 may further include a wire limiting member 62, a handle 63 and a locking member 64. One end of the wire limiting member 62 may be rotatably connected to the external frame, and the wire limiting member 62 may be an arc-shaped structure adapted to the wire reel 61; the handle 63 is fixedly connected to the other end of the wire limiting member 62. After the wire reel 61 is replaced, the wire limiting member 62 may be rotated by the handle 63 and surrounded by the outer periphery of the wire reel 61, and then the handle 63 may be locked by the locking member 64, thereby limiting the wire.

[0101] It is understandable that, in some specific examples, the wire storage mechanism 60 may not be arranged on the binding device 1, but may be placed as a separate wire storage device at the construction site or near the steel frame.

[0102] In one possible embodiment, in order to improve the accuracy of the tying robot in tying the intersections of the steel bars, the tying device 1 provided in the embodiment of the present application also includes: a visual detection mechanism (not shown in the figure), the visual detection mechanism is connected to the side of the wire storage mechanism 60 away from the second drive assembly 50, and the visual detection mechanism is used to identify the intersections of the steel bars.

[0103] Specifically, in the embodiment of the present application, the visual detection mechanism can be a binocular visual detection mechanism, and the binocular visual detection mechanism can be connected to the controller of the industrial robot by electrical signals, wherein the controller of the industrial robot can be a central processing unit (CPU), a microcontroller unit (MCU) or a single-chip microcomputer, etc.

[0104] In a specific implementation, the binocular vision detection mechanism transmits the image of the identified steel bar intersection to the controller of the industrial robot. The controller of the industrial robot analyzes the image, outputs a control signal based on the analysis result, controls the operating arm 10 to move to the steel bar intersection, and binds the steel bar intersection. Among them, the controller's analysis of the image can be specifically referred to the introduction of the binocular vision recognition system in the relevant technology, and will not be repeated in the embodiments of the present application.

[0105] This can accurately identify the intersection points of the steel bars and improve the efficiency of binding the steel bar frame.

[0106] According to a second aspect of the present application, there is provided an automatic tying robot, comprising the tying device 1 provided in any optional embodiment of the first aspect of the present application.

[0107] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A lashing device, It is characterized in that include: An operating arm (10), a wire feeding mechanism (20), a wire twisting mechanism (30) and a screwing mechanism (40); The wire feeding mechanism (20) is arranged on the operating arm (10), and the wire feeding mechanism (20) is used to feed the wire to the wire bending mechanism (30), and the wire feeding mechanism (20) comprises a bevel gear (21) and a wire feeding roller (22); The wire-bending mechanism (30) is arranged at the front end of the operating arm (10), and comprises: a guide jaw (31), a first guide member (32) and a first drive assembly (33); the guide jaw (31) is fixedly connected to the operating arm (10), the first guide member (32) is movably connected to the operating arm (10), the first drive assembly (33) is arranged on the operating arm (10), the first drive assembly (33) is connected to the first guide member (32), and is used to drive the first guide member (32) to surround the intersection of the steel bars to form a closed guide loop with the guide jaw (31), and the closed guide loop is used to guide the wire tie to form a binding ring at the intersection of the steel bars; The screwing mechanism (40) is arranged on the operating arm (10) and is adjacent to the thread twisting mechanism (30); the screwing mechanism (40) is used to screw the two ends of the binding ring to bind the steel bar intersection; The operating arm (10) is provided with a receiving space (11); the first driving assembly (33) is also used to drive the first guide member (32) to be received in the receiving space (11) so as to open the closed guide loop; The first guide member (32) comprises a plurality of guide blocks (321) which are rotatably connected in sequence, and the cross section of the guide block (321) is fan-shaped; the plurality of guide blocks (321) are spliced ​​into the arc-shaped first guide member (32), and form the closed guide loop with the guide jaw (31); A second guide member (111) is provided in the accommodating space (11), and a guide column (322) is provided on the side wall of the guide block (321); when the first guide member (32) is accommodated in the accommodating space (11), the guide column (322) slides along the second guide member (111).

2. The lashing device according to claim 1, It is characterized in that A first connecting member is provided between two adjacent guide blocks (321), and the first connecting member is located on a side of the guide block (321) close to the intersection of the steel bars; when the first guide block (32) and the guide jaws (31) form the closed guide loop, the first connecting member is used to pull the guide block (321) so that the opposite surfaces of adjacent guide blocks (321) abut against each other.

3. The lashing device according to claim 2, It is characterized in that The first connecting member comprises a magnetic member, and the magnetic member is arranged on an opposite surface of an adjacent guide block (321); or, The first connecting member comprises a steel wire rope; a connecting hole is provided on the inner side of the guide block (321); the steel wire rope passes through the connecting hole on each of the guide blocks (321) in sequence and is fixed to the operating arm (10).

4. The lashing device according to claim 1, It is characterized in that The first driving assembly (33) comprises: a guide rod (331), a first driving member (332) and a second connecting member (333); the guide rod (331) is arranged on the operating arm (10); the first driving member (332) is movably arranged on the guide rod (331); the second connecting member (333) is located between the first driving member (332) and the first guiding member (32); and the second connecting member (333) is used to connect the first driving member (332) and the first guiding member (32).

5. The lashing device according to any one of claims 1 to 4, It is characterized in that The binding device further comprises: a second driving assembly (50), the second driving assembly (50) being located at the rear end of the operating arm (10) and being fixedly connected to the operating arm (10); the second driving assembly (50) being used to drive the operating arm (10) to approach or move away from the steel bar intersection.

6. The lashing device according to claim 5, It is characterized in that The binding device further comprises: a wire storage mechanism (60), the wire storage mechanism (60) being located on a side of the second driving assembly (50) away from the operating arm (10) and being fixedly connected to the second driving assembly (50), the wire storage mechanism (60) being used to store the binding wire, and the wire storage capacity of the wire storage mechanism (60) being 5-15 kg; and / or, The binding device further comprises: a visual detection mechanism, the visual detection mechanism being connected to a side of the wire storage mechanism (60) facing away from the second drive assembly (50), the visual detection mechanism being used to identify the steel bar intersection.

7. An automatic lashing robot, It is characterized in that Comprising the tying device (1) according to any one of claims 1 to 6.

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