A tying actuator and a tying device

Abstract

The present invention discloses a tying actuator and a tying device. The tying actuator comprises a moving assembly and at least two tying assemblies. The moving assembly is connected to at least part of the tying assemblies and drives the tying assemblies to move so that adjacent tying assemblies are relatively close to or far away from each other. The tying actuator provided by the present invention is provided with at least two tying assemblies, and the distance between adjacent tying assemblies is adjustable. Therefore, during use, at least two different tying positions of a product can be tyed at the same time. For the same product, the number of tying operations can be reduced, the efficiency of product tying can be improved, and the time occupied by tying can be shortened.

Description

Technical Field

[0001] The present invention relates to the technical field of tying equipment, and more specifically, to a tying actuator. In addition, the present invention also relates to a tying device including the tying actuator. Background Art

[0002] With the rapid development of industrial automation, automation has begun to emerge in various industries. For example, in the construction industry, modular production of PC components has begun to be realized. When producing PC component modules, it is necessary to build steel bars and use iron wire to fix the position of the steel bars to facilitate the subsequent pouring of cement to ensure the strength of the module.

[0003] At present, the main methods of steel bar binding in the market are manual work: one is to use cut wires to bind directly, and the other is to use a handheld binding machine. During the operation, the operator needs to bend over for a long time, which is labor-intensive, and can only bind one position at a time, so the binding efficiency is low.

[0004] In summary, how to improve the binding efficiency of products is a problem that needs to be urgently solved by technical personnel in this field. Summary of the invention

[0005] In view of this, an object of the present invention is to provide a tying actuator that can achieve tying of two or more tying positions at the same time, thereby improving tying efficiency.

[0006] Another object of the present invention is to provide a tying device comprising the tying actuator.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] A tying actuator comprises a moving assembly and at least two tying assemblies. The moving assembly is connected to at least part of the tying assemblies and drives the tying assemblies to move so that adjacent tying assemblies are relatively close to or far away from each other.

[0009] Preferably, the number of the tying assemblies is three, and the three tying assemblies are arranged in sequence in the transverse direction;

[0010] The moving assembly includes a distance adjusting assembly for driving the two tying assemblies at the end portions to be relatively close to or away from each other, and a lifting assembly for driving the tying assembly in the middle to be lifted and lowered vertically.

[0011] Preferably, the distance adjustment assembly comprises a fixed plate, a driving wheel and a driven wheel rotatably mounted on the fixed plate, a synchronous belt wound around the outer periphery of the driving wheel and the driven wheel, and a distance adjustment power member driving the driving wheel to rotate; the distance adjustment power member is mounted on the fixed plate;

[0012] One of the two binding assemblies located at the end is connected to the upper section of the synchronous belt, and the other is connected to the lower section of the synchronous belt.

[0013] Preferably, it also includes an upper slide rail and a lower slide rail arranged in parallel along the transmission direction of the synchronous belt, and the two binding assemblies located at the ends are each provided with an upper slider cooperating with the upper slide rail and a lower slider cooperating with the lower slide rail.

[0014] Preferably, a limiting member for limiting the relative movement distance of the two binding assemblies located at the end portions is protruded from the surface of the fixing plate toward the binding assembly.

[0015] Preferably, the lifting assembly comprises a lifting fixed plate, a lifting power member installed on the lifting fixed plate, and a lifting plate connected to the output end of the lifting power member;

[0016] The lifting and fixing plate is provided with a guide hole, and the lifting plate is provided with a vertical lifting optical axis that matches with the guide hole and passes through the guide hole;

[0017] The portion of the lifting optical axis extending out of the guide hole is provided with a lifting limit block for adjusting the lifting stroke;

[0018] The middle tying assembly is connected to the lifting plate.

[0019] Preferably, the number of the tying assemblies is at least three, and at least three tying assemblies are arranged in sequence in the transverse direction;

[0020] The moving assembly includes at least three moving parts connected to the binding assemblies in a one-to-one correspondence, and the moving parts each include a lateral moving part that drives the binding assembly to move laterally and a vertical moving part that drives the binding assembly to move vertically.

[0021] Preferably, it also includes a camera fixing plate, a shooting device mounted on the camera fixing plate, and a light source assembly connected to the camera fixing plate and having an adjustable vertical mounting position relative to the camera fixing plate;

[0022] The camera fixing plate is connected to the moving component.

[0023] Preferably, the camera fixing plate is provided with a slotted through hole and a locking component;

[0024] The light source assembly comprises an annular light source and a light source fixing ring for mounting the annular light source, wherein the light source fixing ring is provided with a vertical adjustment column passing through the slotted through hole;

[0025] The locking component is used to lock and fix the adjusting column.

[0026] A binding device comprises a manipulator and any one of the above-mentioned binding actuators, wherein the binding actuator is installed at the end of the manipulator.

[0027] In the process of using the binding actuator provided by the present invention, it is first necessary to move the binding actuator to a position close to the product to be bound, and then adjust the distance between adjacent binding components so that at least two binding components correspond to different binding positions respectively, and then control the binding components to bind the binding positions corresponding to them in the product, so that at least two binding positions can be bound at the same time.

[0028] Compared with the prior art, the binding actuator provided by the present invention is provided with at least two binding components, and the distance between adjacent binding components is adjustable. Therefore, during use, at least two different binding positions of the product can be bound at the same time. For the same product, the number of binding operations can be reduced, the efficiency of product binding is improved, and the time occupied by binding is shortened.

[0029] In addition, the present invention also provides a tying device including the tying actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0031] Figure 1 A structural schematic diagram of a specific embodiment of the lashing actuator provided by the present invention;

[0032] Figure 2 for Figure 1 A structural schematic diagram of the middle lashing actuator from another angle;

[0033] Figure 3 for Figure 1 A front view schematic diagram of the middle lashing actuator;

[0034] Figure 4 for Figure 1 A top view of the middle lashing actuator;

[0035] Figure 5 for Figure 1 The left side schematic diagram of the middle lashing actuator;

[0036] Figure 6 for Figure 3A schematic diagram showing the second lashing assembly in a raised state;

[0037] Figure 7 is a schematic diagram of the structure of the distance adjustment component;

[0038] Figure 8 It is an axonometric view of the lifting assembly;

[0039] Fig. 9 for Figure 8 Front view of the middle lifting assembly;

[0040] Fig.10 A schematic diagram of the structure of the visual component.

[0041] Figure 1-10 middle:

[0042] 1 is a fixed plate, 2 is a lifting component, 2-1 is a lifting cylinder, 2-2 is a lifting fixed plate, 2-3 is a lifting plate, 2-4 is a lifting optical axis, 2-5 is a lifting limit block, 2-6 is a cylinder connecting block, 2-7 is a second binding component fixing plate, 2-8 is a reinforcing rib, 2-9 is a second binding component connecting plate, 2-10 is a lifting component reinforcing rib, 3 is a distance adjustment component, 3-1 is a motor reducer component, 3-2 is a synchronous belt, 3-3 is a limiter, 3-4 is a driven shaft, 3-5 is a driven wheel, 3-6 is a tensioning plate, 3-7 is a synchronous belt connecting metal part, 3-8 is a synchronous belt connecting Block, 3-9 is the driving wheel, 4-1 is the upper slide rail fixing plate, 4-2 is the upper slide rail, 4-3 is the slide rail, 4-4 is the lower slide rail fixing plate, 4-5 is the lower slider, 4-6 is the upper slider, 4-7 is the slide rail connecting plate, 5 is the first binding component, 6 is the second binding component, 7 is the third binding component, 8 is the visual component, 8-1 is the camera fixing plate, 8-2 is the camera, 8-3 is the lens, 8-4 is the camera connecting sheet metal, 8-5 is the light source fixing ring, 8-6 is the ring light source, 8-7 is the adjustment column, 8-8 is the light source fixing block, 8-9 is the slotted through hole, and 9 is the binding component connecting reinforcement rib. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] The core of the present invention is to provide a tying actuator, which can achieve tying of two or more tying positions at the same time, thereby improving tying efficiency. Another core of the present invention is to provide a tying device including the tying actuator.

[0045] Please refer to Figures 1 to 10 .

[0046] This specific embodiment provides a tying actuator, including a moving assembly and at least two tying assemblies. The moving assembly is connected to at least part of the tying assemblies and drives the tying assemblies to move so that adjacent tying assemblies are relatively close to or far away from each other.

[0047] The binding actuator provided in this specific embodiment can be installed on a robot during use, and be driven to move or rotate by the robot; it can also be installed on a three-axis manipulator, or a multi-axis manipulator, etc., depending on the actual situation.

[0048] The lashing assembly needs to be a structure capable of completing lashing. It can be an improved structure based on an existing lashing machine, or it can be a completely new structure for lashing, which is determined based on actual conditions.

[0049] The product to be tied can be steel bars or other products that can be tied; the number of tying components can be two or more, and the tying components can be arranged sequentially in the same direction or in different directions, depending on the placement of the products during actual use.

[0050] The moving component drives at least one of all the binding components to move to adjust the distance between it and the adjacent binding components. It can also drive multiple binding components to move at the same time to adjust the spacing between adjacent binding components so that multiple binding components can correspond to the binding positions one by one, so as to complete the binding of multiple binding positions at the same time, which is determined according to actual conditions.

[0051] In the process of using the binding actuator provided by this specific embodiment, it is first necessary to move the binding actuator to a position close to the product to be bound, and then adjust the distance between adjacent binding components so that at least two binding components correspond to different binding positions respectively, and then control the binding components to bind the binding positions corresponding to them in the product, so that products at at least two binding positions can be bound at the same time.

[0052] Compared with the prior art, the binding actuator provided in this specific embodiment is provided with at least two binding components, and the distance between adjacent binding components is adjustable. Therefore, during use, at least two different binding positions of the product can be bound at the same time. For the same product, the number of binding operations can be reduced, the efficiency of product binding can be improved, and the time occupied by binding can be shortened.

[0053] Based on the above embodiment, the number of tying assemblies can be set to three, and the three tying assemblies are arranged in sequence along the horizontal direction; the moving assembly includes a distance adjustment assembly 3 that drives the two tying assemblies at the ends to be relatively close or away from each other, and a lifting assembly 2 that drives the middle tying assembly to rise and fall vertically.

[0054] The distance adjustment component 3 can drive only one of the two tying components at the end to move so that the two are relatively close to or far away from each other, or it can drive the two tying components at the end to move simultaneously so that the two are relatively close to or far away from each other.

[0055] The lifting component 2 can drive the binding component located in the middle to rise and fall. When the spacing of the binding positions that need to be bound matches the distance between the two binding components located at the ends, the binding component located in the middle can be moved upwards by the lifting component 2, so that the two binding components located at the ends can work at the same time to complete the binding, and the binding component located in the middle will not work; when the spacing of the binding positions that need to be bound is small and matches the spacing between the binding component located in the middle and the binding components at both ends, the binding component located in the middle can be moved downwards to the binding height by the lifting component 2, so that the three binding components can work at the same time.

[0056] The distance adjustment assembly 3 includes a fixed plate 1, a driving wheel 3-9 and a driven wheel 3-5 rotatably mounted on the fixed plate 1, a synchronous belt 3-2 wound around the outer periphery of the driving wheel 3-9 and the driven wheel 3-5, and a distance adjustment power member that drives the driving wheel 3-9 to rotate; the distance adjustment power member is installed on the fixed plate 1; one of the two binding assemblies located at the end is connected to the upper section of the synchronous belt 3-2, and the other is connected to the lower section of the synchronous belt 3-2.

[0057] like Figure 7 As shown, the adjustable distance power part is a motor reducer assembly 3-1, the output end of the motor reducer assembly 3-1 is connected to the driving wheel 3-9, driving the driving wheel 3-9 to rotate, the driven wheel 3-5 is installed on the driven shaft 3-4, the driven shaft 3-4 is connected to the tensioning plate 3-6, and the distance between the driven shaft 3-4 and the central axis of the driving wheel 3-9 can be adjusted by adjusting the position of the tensioning plate 3-6, so as to tension the synchronous belt 3-2. Of course, the adjustable distance power part can also be other power parts, which are determined according to the actual situation and will not be described in detail here.

[0058] Among them, the upper section of the synchronous belt 3-2 refers to the Figure 7 In the shown state, the central axis of the driving wheel 3-9 and the central axis of the driven wheel 3-5 are located in the same horizontal plane, the upper section of the synchronous belt 3-2 is located at the upper part of this horizontal plane, and the lower section of the synchronous belt 3-2 is located at the lower part of this horizontal plane.

[0059] To facilitate the connection of the binding assembly to the synchronous belt 3-2, a synchronous belt connecting metal part 3-7 can be installed on the synchronous belt 3-2, and the synchronous belt connecting block 3-8 is connected to the synchronous belt connecting metal part 3-7, one side of the slide rail connecting plate 4-7 is connected to the synchronous belt connecting block 3-8, and the other side is connected to the binding assembly, and a binding assembly connecting reinforcement rib 9 is provided.

[0060] During the installation process, the connection method between the first binding component 5 and the synchronous belt 3-2 and the connection method between the third binding component 7 and the synchronous belt 3-2 are the same. Since one of the first binding component 5 and the third binding component 7 is connected to the upper section of the synchronous belt 3-2 and the other is connected to the lower section of the synchronous belt 3-2, during the transmission of the synchronous belt 3-2, the first binding component 5 and the third binding component 7 will be driven to move so that the two are relatively close or relatively far away.

[0061] A limiting member 3 - 3 is provided on the surface of the fixing plate 1 protruding toward the binding assembly and used for limiting the relative movement distance of the two binding assemblies located at the end portions.

[0062] like Figure 1 As shown, the fixing plate 1 is provided with four limit members 3-3, and the limit members 3-3 are cylindrical structures protruding from the surface of the fixing plate 1, and the limit members 3-3 are provided on both sides of the moving range of the first binding assembly 5 and the third binding assembly 7 to limit the spacing range of the first binding assembly 5 and the third binding assembly 7.

[0063] Preferably, the limit member 3-3 is made of a material with a lower hardness than the slide rail connecting plate 4-7 to avoid damage to the slide rail connecting plate 4-7 during the limit collision, but the hardness of the two cannot differ too much, or an anti-collision buffer structure can also be set on the surface of the limit member 3-3.

[0064] The binding actuator also includes an upper slide rail 4-2 and a lower slide rail 4-3 arranged parallel to the transmission direction of the synchronous belt 3-2. The two binding components located at the ends are each provided with an upper slider 4-6 cooperating with the upper slide rail 4-2 and a lower slider 4-5 cooperating with the lower slide rail 4-3.

[0065] The upper slide rail 4-2 is fixedly mounted on the upper slide rail fixing plate 4-1, and the lower slide rail 4-3 is fixedly mounted on the lower slide rail fixing plate 4-4. The upper slide rail fixing plate 4-1 and the lower slide rail fixing plate 4-4 are both fixedly mounted on the fixing plate 1, and the upper slide rail 4-2 is located at the upper part of the synchronous belt 3-2, and the lower slide rail 4-3 is located at the lower part of the synchronous belt 3-2. The upper slide rail 4-2 is provided with at least two upper sliders 4-6, and the lower slide rail 4-3 is provided with at least two lower sliders 4-5. The same slide rail connecting plate 4-7 is connected to at least one upper slider 4-6 and at least one lower slider 4-5. Figure 1As shown, the left side slide rail connecting plate 4-7 is connected to the left upper slider 4-6 and the left lower slider 4-5, the right side slide rail connecting plate 4-7 is connected to the right upper slider 4-6 and the right lower slider 4-5, the first binding assembly 5 is connected to the left side slide rail connecting plate 4-7, and the third binding assembly 7 is connected to the right side slide rail connecting plate 4-7.

[0066] The lifting assembly 2 includes a lifting fixed plate 2-2, a lifting power member installed on the lifting fixed plate 2-2, and a lifting plate 2-3 connected to the output end of the lifting power member; the lifting fixed plate 2-2 is provided with a guide hole, and the lifting plate 2-3 is provided with a vertical lifting optical axis 2-4 that cooperates with the guide hole and passes through the guide hole; the part of the lifting optical axis 2-4 extending out of the guide hole is provided with a lifting limit block 2-5 whose size is larger than the size of the guide hole; the middle binding assembly is connected to the lifting plate 2-3.

[0067] like Figure 8 , Fig. 9 As shown, the lifting power part can be set as a lifting cylinder 2-1. Of course, the lifting power part can also be a motor, electric cylinder or other structures that meet the requirements. The lifting cylinder 2-1 is fixed to the lifting fixed plate 2-2. The telescopic end of the lifting cylinder 2-1 is connected to the lifting plate 2-3 through the cylinder connecting block 2-6. The lifting fixed plate 2-2 is fixedly connected to the fixed plate 1, and a lifting component reinforcement rib 2-10 is provided at the connection between the lifting fixed plate 2-2 and the fixed plate 1. A lifting optical axis 2-4 is vertically provided on the upper surface of the lifting plate 2-3. The lifting optical axis 2-4 is provided through the guide hole on the lifting fixed plate 2-2. In the process of lifting the lifting plate 2-3 up and down, the lifting optical axis 2-4 slides along the guide hole, which can limit the lifting direction of the lifting plate 2-3. The number of lifting optical axes 2-4 can be set to only one, or two or more can be set, which is determined according to the actual situation. The lifting optical axis 2-4 is provided with a lifting limit block 2-5. By adjusting the height at which the lifting limit block 2-5 is installed on the lifting optical axis 2-4, the lifting range of the lifting plate 2-3 can be adjusted, thereby adjusting the lifting stroke of the second lashing assembly 6. The lower part of the lifting plate 2-3 is provided with a second lashing assembly fixing plate 2-7, a reinforcing rib 2-8 connected to the second lashing assembly fixing plate 2-7, and a second lashing assembly connecting plate 2-9, and the second lashing assembly 6 is installed on the second lashing assembly connecting plate 2-9.

[0068] It should be noted that the reinforcing rib 2-8 connected to the second binding assembly fixing plate 2-7 can be only one or multiple; the number of the second binding assembly connecting plates 2-9 can be only one or multiple; it depends on the actual situation.

[0069] In this specific embodiment, the first tying assembly 5 and the third tying assembly 7 at both ends can be relatively close to or away from each other driven by the distance adjustment assembly 3, and the tying assembly in the middle can be raised and lowered in the vertical direction.

[0070] For example, based on the above embodiment, the spacing between the first tying assembly 5 and the third tying assembly 7 is 200mm to 400mm, and the spacing between the tying positions is 100mm to 200mm. The first tying assembly 5, the second tying assembly 6 and the third tying assembly 7 can be used simultaneously to complete the tying of three nodes at the same time. The three nodes can be located on the same product or on different products. In another specific embodiment, the spacing between the first tying assembly 5 and the third tying assembly 7 is 200mm to 400mm, and the spacing between the tying positions is 200mm to 400mm. During operation, the lifting assembly 2 can drive the second tying assembly 6 to rise. At this time, the first tying assembly 5 and the third tying assembly 7 complete the tying at the same time, and the second tying assembly 6 does not participate in the tying work.

[0071] On the basis of the above embodiment, the number of the binding assemblies can be at least three, and at least three binding assemblies are arranged in sequence along the horizontal direction; the moving assembly includes at least three moving parts connected to the binding assemblies one by one, and the moving parts include a horizontal moving part that drives the binding assembly to move horizontally and a vertical moving part that drives the binding assembly to move vertically.

[0072] The binding actuator in this specific embodiment can be applied to the situation where products are placed irregularly. The moving part drives the corresponding binding components to move, so that the moving part moves the binding components to the corresponding binding positions, and then multiple binding components are bound at the same time.

[0073] On the basis of the above embodiment, the binding actuator may further include a visual component 8, which includes a camera fixing plate 8-1, a shooting device installed on the camera fixing plate 8-1, and a light source component connected to the camera fixing plate 8-1 and with an adjustable vertical installation position relative to the camera fixing plate 8-1; the camera fixing plate 8-1 is connected to the moving component so as to be driven to move by the moving component.

[0074] The camera fixing plate 8-1 is provided with a slotted through hole 8-9 and a locking component for adjusting the opening size of the slotted through hole 8-9; the light source assembly includes an annular light source 8-6 and a light source fixing ring 8-5 for installing the annular light source 8-6, and the light source fixing ring 8-5 is provided with a vertical adjustment column 8-7 that passes through the slotted through hole 8-9.

[0075] like Fig.10As shown, the visual component 8 is connected to the moving component through the camera connecting sheet metal 8-4, and can be connected to the lifting and fixing plate 2-2 of the lifting component 2. The camera fixing plate 8-1 is connected to the camera connecting sheet metal 8-4. The camera 8-2 is installed on the camera fixing plate 8-1, and the lens 8-3 of the camera 8-2 is set downward. The light source fixing ring 8-5 is installed with a ring light source 8-6. The upper surface of the light source fixing ring 8-5 is provided with an adjusting column 8-7. The camera fixing plate 8-1 is provided with a light source fixing block 8-8. The light source fixing block 8-8 is provided with a slotted through hole 8-9. The adjusting column 8-7 is inserted into the slotted through hole 8-9. A threaded hole can be provided at the slot of the slotted through hole 8-9, and a locking bolt can be connected in cooperation. By screwing the locking bolt, the width of the slot of the slotted through hole 8-9 can be adjusted to lock or loosen the adjusting column 8-7, and the installation height of the light source fixing ring 8-5 is adjusted, thereby adjusting the distance between the light source and the lens.

[0076] In addition to the annular light source, other types of light sources may also be provided, depending on actual conditions.

[0077] The setting of the visual component 8 can enable the binding actuator to take pictures of the products to be bound during use, and transmit the shooting results to the relevant control system. The control system obtains the binding position according to the shooting results, and controls the corresponding binding component to move to the corresponding binding position; especially when the products to be bound are placed irregularly, the binding position can be obtained more accurately.

[0078] In addition to the above-mentioned tying actuator, the present invention also provides a tying device including a manipulator and the tying actuator disclosed in the above-mentioned embodiment. The structures of other parts of the tying device can refer to the prior art and will not be described in detail herein. The manipulator can be a three-axis manipulator or a six-axis manipulator, etc., which is determined according to the actual situation.

[0079] The manipulator in the above embodiment may also be a robot.

[0080] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. Any combination of all embodiments provided by the present invention is within the protection scope of this invention and will not be described in detail here.

[0081] The above is a detailed introduction to the tying actuator and tying device provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, the present invention can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A lashing actuator, characterized in that: It comprises a moving component and at least two tying components, wherein the moving component is connected to at least part of the tying components and drives the tying components to move so that adjacent tying components are relatively close to or far away from each other; The number of the tying assemblies is three, and the three tying assemblies are arranged in sequence in the transverse direction; The moving assembly comprises a distance adjustment assembly (3) for driving the two lashing assemblies at the ends to move relatively closer or farther away, and a lifting assembly (2) for driving the lashing assembly in the middle to move vertically upward and downward; The lifting assembly (2) comprises a lifting fixed plate (2-2), a lifting power component installed on the lifting fixed plate (2-2), and a lifting plate (2-3) connected to the output end of the lifting power component; The lifting and fixing plate (2-2) is provided with a guide hole, and the lifting plate (2-3) is provided with a vertical lifting optical axis (2-4) that matches the guide hole and passes through the guide hole; The portion of the lifting optical axis (2-4) extending out of the guide hole is provided with a lifting limit block (2-5) for adjusting the lifting stroke; the height at which the lifting limit block (2-5) is installed on the lifting optical axis (2-4) is adjusted to adjust the lifting range of the lifting plate (2-3); The middle lashing assembly is connected to the lifting plate (2-3); A second lashing assembly fixing plate (2-7), a reinforcing rib (2-8) connected to the second lashing assembly fixing plate (2-7), and a second lashing assembly connecting plate (2-9) are provided at the lower part of the lifting plate (2-3), and the lashing assembly in the middle is mounted on the second lashing assembly connecting plate (2-9).

2. The lashing actuator according to claim 1, characterized in that: The distance adjustment assembly (3) comprises a fixed plate (1), a driving wheel (3-9) and a driven wheel (3-5) rotatably mounted on the fixed plate (1), a synchronous belt (3-2) wound around the outer periphery of the driving wheel (3-9) and the driven wheel (3-5), and a distance adjustment power member driving the driving wheel (3-9) to rotate; the distance adjustment power member is mounted on the fixed plate (1); One of the two binding assemblies located at the end is connected to the upper section of the synchronous belt (3-2), and the other is connected to the lower section of the synchronous belt (3-2).

3. The lashing actuator according to claim 2, characterized in that: It also includes an upper slide rail (4-2) and a lower slide rail (4-3) arranged in parallel along the transmission direction of the synchronous belt (3-2), and the two binding assemblies located at the ends are each provided with an upper slider (4-6) cooperating with the upper slide rail (4-2) and a lower slider (4-5) cooperating with the lower slide rail (4-3).

4. The lashing actuator according to claim 2, characterized in that: A limiting member (3-3) is provided on the surface of the fixing plate (1) protruding toward the binding assembly and used for limiting the relative movement distance of the two binding assemblies located at the end portions.

5. The lashing actuator according to claim 1, characterized in that: The number of the tying assemblies is at least three, and at least three tying assemblies are arranged in sequence in the transverse direction; The moving assembly includes at least three moving parts connected to the binding assemblies in a one-to-one correspondence, and the moving parts each include a lateral moving part that drives the binding assembly to move laterally and a vertical moving part that drives the binding assembly to move vertically.

6. The lashing actuator according to any one of claims 1 to 5, characterized in that: It also comprises a camera fixing plate (8-1), a shooting device mounted on the camera fixing plate (8-1), and a light source assembly connected to the camera fixing plate (8-1) and having an adjustable vertical mounting position relative to the camera fixing plate (8-1); The camera fixing plate (8-1) is connected to the moving component.

7. The lashing actuator according to claim 6, characterized in that: The camera fixing plate (8-1) is provided with a slotted through hole (8-9) and a locking component; The light source assembly comprises an annular light source (8-6) and a light source fixing ring (8-5) for mounting the annular light source (8-6); the light source fixing ring (8-5) is provided with a vertical adjustment column (8-7) passing through the slotted through hole (8-9); The locking component is used to lock and fix the adjusting column (8-7).

8. A lashing device, characterized in that: It comprises a manipulator and the tying actuator according to any one of claims 1 to 7, wherein the tying actuator is installed at the end of the manipulator.

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