A smart rebar tying robot that can move on a rebar mesh

Abstract

This invention discloses an intelligent rebar tying robot capable of moving on a rebar mesh. It includes a base, a walking mechanism, a lifting mechanism, a horizontal translation mechanism, and a tying mechanism. The walking mechanism is mounted on the base and can drive the base to move along a first direction on the rebar mesh. The horizontal translation mechanism is mounted on the base, and the lifting mechanism is mounted on the horizontal translation mechanism. The horizontal translation mechanism cooperates with the lifting mechanism to drive the base to move along a second direction on the rebar mesh. The tying mechanism is mounted on the base. This robot has a simple structure, reliable operation, autonomous movement, and can automatically identify the tying position and perform tying operations, thereby automating the tying process.

Description

Technical Field

[0001] This invention relates to the field of robotics and rebar tying technology, specifically to an intelligent rebar tying robot capable of moving on a rebar mesh. Background Technology

[0002] Currently, on construction sites, it is still necessary to tie the horizontal reinforcing bars in reinforced concrete structures. This work mainly relies on manual tying and mechanical tying.

[0003] Manual tying has problems such as low tying efficiency, difficulty in controlling tying quality, and long construction period. It not only requires high strength of laborers, but also increases costs and has many drawbacks.

[0004] Mechanical binding, on the other hand, uses a handheld rebar binding machine. This method solves the problems of binding efficiency and binding quality to some extent, but it still does not eliminate the need for a large number of manual laborers.

[0005] Therefore, providing a solution that enables automatic tying of horizontal reinforcing bars is a problem that urgently needs to be solved in this field. Summary of the Invention

[0006] To address the problems existing in the current horizontal rebar tying work based on manual and mechanical tying, the purpose of this invention is to provide an intelligent rebar tying robot that can move on the rebar mesh to automatically tie horizontal rebar, reduce labor costs in the rebar tying process, and at the same time ensure the advantages of quality and efficiency.

[0007] To achieve the above objectives, the present invention provides an intelligent rebar tying robot capable of moving on a rebar mesh, comprising a base, a walking mechanism, a lifting mechanism, a horizontal translation mechanism, and a tying mechanism. The walking mechanism is mounted on the base and can drive the base to move along a first direction on the rebar mesh.

[0008] The horizontal translation mechanism is mounted on the base, and the lifting mechanism is mounted on the horizontal translation mechanism; the horizontal translation mechanism cooperates with the lifting mechanism to drive the base to move along the second direction on the steel mesh; the binding mechanism is mounted on the base.

[0009] Furthermore, the lifting mechanism can drive the horizontal translation mechanism and the base to lift as a whole, and cause the walking mechanism to detach from the steel mesh. The horizontal translation mechanism can drive the base and the walking mechanism on it to move horizontally as a whole.

[0010] In a preferred embodiment of the present invention, the traveling mechanism consists of a front axle and a rear axle, with forward wheels mounted on both sides of the front and rear axles respectively; bearings are mounted on the front and rear axles, and the bearings are connected together by bearing seats and a base; pulleys are correspondingly mounted on the front and rear axles; the front and rear axles are connected together by belts on the pulleys, and tensioning pulleys are mounted on the bearing seats of the front and rear axles for tensioning the belts; the rear axle is connected to the forward motor through a gear set, and the forward motor is mounted on the base through a bracket.

[0011] In a preferred embodiment of the present invention, the horizontal translation mechanism is mounted on the base via a horizontal guide rail slider. The guide rail is mounted on the base, the slider is mounted on the translation base, a translation motor is mounted on the translation base, and a gear C is mounted on the output shaft of the translation motor. Gear C meshes with gear D for transmission. Gear D is fixed to the translation base via a shaft. Another gear C is mounted coaxially with gear D, and this gear C meshes with a horizontal rack.

[0012] In a preferred embodiment of the present invention, the lifting mechanism is mounted on the lifting base via a vertical guide rail slider. The lifting base is vertically mounted to the translation base. A slider is mounted on the lifting base, and a guide rail is mounted on the lifting legs. The lifting motor is mounted on the translation base via a bracket. A gear E is mounted on the output shaft of the lifting motor. Gear E meshes with gear F for transmission. Gear F is mounted on the lifting shaft. Two gears E are mounted on the left and right sides of the lifting shaft, respectively. Gear E meshes with two lifting racks, respectively. The two lifting racks are mounted on the left and right lifting legs, respectively. Support frames are mounted at the bottom of the left and right lifting legs.

[0013] In a preferred embodiment of the present invention, the binding mechanism mainly includes a robotic arm, with a vision sensor installed at the end of the robotic arm to detect the position of the binding point. A rebar binding machine is also installed at the end. After the robotic arm delivers the binding machine to the binding point, it controls the binding machine to complete the automatic binding work through a signal.

[0014] The present invention provides an intelligent rebar tying robot that can move on a rebar mesh. The robot has a simple structure, reliable operation, and can move autonomously. It can also automatically identify the tying position and perform tying operations, thereby automating the tying process. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0016] Figure 1 This is an example diagram illustrating the working state of the intelligent rebar tying robot in an embodiment of the present invention;

[0017] Figure 2 This is a bottom example diagram of the intelligent rebar tying robot in an embodiment of the present invention;

[0018] Figure 3 This is a schematic diagram of the walking mechanism of the intelligent rebar tying robot in an example of the present invention;

[0019] Figure 4 This is a schematic diagram of the horizontal translation mechanism of the intelligent rebar tying robot in an example of the present invention;

[0020] Figure 5 This is a first-view structural example of the lifting mechanism of the intelligent rebar tying robot in an embodiment of the present invention;

[0021] Figure 6 This is a second-view structural example of the lifting mechanism of the intelligent rebar tying robot in an embodiment of the present invention.

[0022] Explanation of reference numerals in the attached drawings: 1-Reinforcing mesh; 2-Robotic arm; 3-Vision sensor; 4-Reinforcing bar tying machine; 5-Base; 6-Walking mechanism; 7-Horizontal translation mechanism; 8-Lifting mechanism; 9-Forward wheel A; 10-Rear axle; 11-Front axle; 12-Forward motor; 13-Bracket; 14-Gear A; 15-Gear B; 16-Belt; 17-Pulley; 18-Forward wheel B; 19-Bearing seat; 20-Tension wheel; 21-Bearing; 22-Translation motor; 23-Gear C; 24-Gear D; 25-Horizontal rack; 26-Horizontal guide rail; 27-Horizontal slider; 28-Translation base; 29-Lifting motor; 30-Bracket; 31-Gear E; 32-Gear F; 33-Lifting shaft; 34-Lifting rack; 35-Lifting base; 36-Lifting slider; 37-Lifting guide rail; 38-Lifting outrigger; 39-Support frame. Detailed Implementation

[0023] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below with reference to specific illustrations.

[0024] To reduce labor costs in the rebar tying process while ensuring quality and efficiency, this invention constructs an intelligent rebar tying robot that can move on the rebar mesh based on robotics and vision technology. The robot has a simple structure, reliable operation, can move autonomously, and can automatically identify the tying position and perform the tying operation, thereby automating the tying process.

[0025] See Figure 1 and Figure 2 The present invention provides an intelligent rebar binding robot that moves on a rebar mesh, comprising a base 5, a walking mechanism 6, a lifting mechanism 8, a horizontal translation mechanism 7, and a binding mechanism.

[0026] The base 5 serves as a basic component, used to mount the walking mechanism 6, the horizontal translation mechanism 7, the lifting mechanism 8, and the binding mechanism. The base 5 can be constructed from various bases, but is not limited to these.

[0027] Furthermore, the walking mechanism 6 is mounted on the base 5, which can drive the entire base 5 to move along the first direction on the steel mesh 1.

[0028] Correspondingly, a horizontal translation mechanism 7 is mounted on the base 5, and a lifting mechanism 8 is mounted on the horizontal translation mechanism 7; simultaneously, the horizontal translation mechanism 7 and the lifting mechanism 8 cooperate to drive the base 5 to move along the second direction on the steel mesh 1. Here, the first direction and the second direction are perpendicular to each other.

[0029] Specifically, when the horizontal translation mechanism 7 and the lifting mechanism 8 work together to move the base 5 along the second direction on the steel mesh 1, the lifting mechanism 8, initially in its initial state, first moves up and down, extending towards the steel mesh 1 until it touches it. The lifting mechanism 8 then moves further, causing the horizontal translation mechanism 7 and the base 5 to rise as a whole, and causing the traveling mechanism 6 on the base 5 to detach from the steel mesh 1. Next, the horizontal translation mechanism 7 moves the base 5 and its traveling mechanism 6 horizontally along the second direction. Upon reaching the desired position, the lifting mechanism 8 moves the horizontal translation mechanism 7 and the base 5 downwards, causing the traveling mechanism 6 on the base 5 to contact the steel mesh 1. The lifting mechanism 8 then moves further away from the steel mesh 1. Finally, the horizontal translation mechanism 7 moves the lifting mechanism 8 horizontally back to its initial position.

[0030] The binding mechanism is mounted on the base 5 and is used to complete the binding position identification and rebar binding operation.

[0031] The intelligent rebar tying robot thus formed achieves automatic movement on the rebar mesh 1 through the cooperation of the walking mechanism 6, the lifting mechanism 8 and the horizontal translation mechanism 7; completes the autonomous movement of the tying node; and at the tying node, the tying mechanism automatically identifies the tying position and performs the tying operation.

[0032] When this intelligent rebar tying robot is in use, after the previous node is tied, it moves along the first direction on the rebar mesh 1 to reach the next tying position via the walking mechanism 6.

[0033] Once all nodes in the row are completed, the lifting mechanism extends and abuts against the steel mesh 1, simultaneously detaching the entire base and walking mechanism from the steel mesh. Then, the horizontal translation mechanism activates, pushing the entire base horizontally to the corresponding position in the second direction. The lifting mechanism then retracts, and the walking mechanism re-engages the steel mesh. During this process, corresponding sensors can detect whether the walking mechanism has correctly landed on the steel mesh. The lifting mechanism then retracts back to its initial position, and the horizontal mechanism also moves to its initial position, thus achieving horizontal movement of the entire robot. This cycle repeats until all nodes are secured.

[0034] The following examples further illustrate the intelligent rebar tying robot solution provided by this invention.

[0035] Combination Figure 1 , Figure 2 and Figure 3 It can be seen that the base 5 in this intelligent rebar tying robot is composed of a corresponding base plate, which facilitates the installation and fixing of other components.

[0036] The walking mechanism 6 of this intelligent rebar tying robot is mounted on the base 5. The walking mechanism 6 consists of two parts: a front axle 11 and a rear axle 10. A forward wheel A9 is mounted on the left side of the front axle 11, and a forward wheel B18 is mounted on the right side. A bearing 21 is mounted on the left side of the front axle 11, and the bearing 21 is connected to the base 5 through a bearing seat 19. A pulley 17 is also mounted on the right side of the front axle 11. The same applies to the rear axle 10, which will not be described in detail here.

[0037] Meanwhile, the front axle 11 and the rear axle 10 are connected together by a belt 16 on the pulley 17. A tensioning wheel 20 is installed on the bearing housing 19 of the front and rear axles to tension the belt 16. A gear B15 is also installed on the rear axle 10. The gear B15 meshes with the gear A14 for transmission. The gear A14 is installed on the shaft of the forward motor 12. The forward motor 12 is installed on the base 5 through the bracket 13.

[0038] In the walking mechanism 6 thus formed, the forward motor drives the rear axle and forward wheels to rotate through gear reduction. At the same time, the rear axle drives the front axle and forward wheels to move forward synchronously through the belt pulley. One forward motor completes the drive of four forward wheels.

[0039] Furthermore, in this walking mechanism 6, the width of the side guard of the left forward wheel A is basically the same as the size of the steel bar, which is used for the forward positioning of the entire robot, while the width of the side guard of the right forward wheel B is much larger than that of the steel bar, mainly serving a supporting function.

[0040] Combination Figure 1 , Figure 2 and Figure 4 As can be seen, the horizontal translation mechanism 7 in this intelligent rebar tying robot is mounted on the base 5 via a horizontal guide rail slider. The guide rail 26 is mounted on the base 5, and the slider 27 is mounted on the translation base 28. A translation motor 22 is mounted on the translation base 28. A gear C23 is mounted on the output shaft of the translation motor 22. Gear C23 meshes with gear D24 for transmission. Gear D24 is fixed to the translation base 28 via a shaft. Another gear C23 is mounted coaxially with gear D24. This gear C23 meshes with a horizontal rack 25, thereby realizing the horizontal translation movement of the mechanism.

[0041] Combination Figure 1 , Figure 2 , Figure 5 and Figure 6 As can be seen, the lifting mechanism 8 in this intelligent rebar tying robot is mounted on the lifting base 35 via vertical guide rail sliders on the left and right sides. The lifting base 35 is vertically mounted to the translation base 28. A slider 36 is mounted on the lifting base 35. The guide rail 37 is mounted on the lifting legs 38. The lifting motor 29 is mounted on the translation base 28 via a bracket 30. A gear E31 is mounted on the output shaft of the lifting motor 29. The gear E31 meshes with the gear F32 for transmission. The gear F32 is mounted on the lifting shaft 33. Two gears E31 are mounted on the left and right sides of the lifting shaft 33, respectively. The gears E31 mesh with two lifting racks 34, respectively. The two lifting racks 34 are mounted on the left and right lifting legs 38, respectively. Support frames 39 are mounted at the bottom of the left and right lifting legs 38.

[0042] Furthermore, the support frame 39 here preferably adopts a square steel frame structure, which can stably abut against the steel mesh 1.

[0043] Combination Figure 1 It can be seen that the binding mechanism in this intelligent rebar binding robot is installed on the base 5. The binding mechanism mainly includes three components: robotic arm 2, vision sensor 3, and rebar binding machine 4.

[0044] The robotic arm 2 is mounted on the base 5, and a vision sensor 3 is installed at its end to detect the position of the binding point; a rebar binding machine 4 is also installed at the end of the robotic arm 2.

[0045] The binding mechanism thus formed first uses a vision sensor 3 to identify the corresponding binding position, then the robotic arm 2 delivers the rebar binding machine 4 to the binding point, and finally, the signal controls the rebar binding machine 4 to complete the automatic binding work. Due to the long reach of the robotic arm, it can bind all nodes at the corresponding side position of the robot.

[0046] The intelligent rebar tying robot described in this example automatically identifies the tying position on the rebar mesh 1 and performs the tying operation. After the node at the current position is tied, the walking mechanism will move forward to the next tying position. When all nodes in the column are completed, the lifting mechanism will extend its outriggers, and the square steel frame will press down smoothly on the rebar, while simultaneously lifting the entire chassis and wheels off the rebar.

[0047] Then, the horizontal translation mechanism is activated, and after deceleration by the motor and gears, it pushes the entire chassis in the opposite direction to move to the corresponding position on the right.

[0048] Then, the lifting mechanism retracts, and the wheels will re-contact the steel bars. During this process, photoelectric sensors can be installed at the wheel positions to detect whether the wheels have correctly landed on the steel bars.

[0049] Then, the lifting mechanism continues to retract to the initial position, and the horizontal mechanism also moves to the initial position, thereby realizing the horizontal movement of the entire robot. This process is repeated to complete the binding work of all nodes.

[0050] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent rebar tying robot capable of moving on a rebar mesh, characterized in that, It includes a base, a walking mechanism, a lifting mechanism, a horizontal translation mechanism, and a binding mechanism. The walking mechanism is mounted on the base and can drive the base to move along a first direction on the steel mesh. The horizontal translation mechanism is mounted on the base. The horizontal translation mechanism is mounted on the base via a horizontal guide rail slider. The guide rail is mounted on the base, and the slider is mounted on the translation base. A translation motor is mounted on the translation base. Gear C is mounted on the output shaft of the translation motor. Gear C meshes with gear D for transmission. Gear D is fixed to the translation base via a shaft. Another gear C is mounted coaxially with gear D, and this gear C meshes with a horizontal rack. The lifting mechanism is mounted on the horizontal translation mechanism. The horizontal translation mechanism cooperates with the lifting mechanism to drive the base to move along the second direction on the reinforcing mesh. The binding mechanism is mounted on the base. The lifting mechanism can drive the horizontal translation mechanism and the base to lift as a whole, and cause the walking mechanism to detach from the steel mesh. The horizontal translation mechanism can drive the base and the walking mechanism on it to move horizontally as a whole. The lifting mechanism is installed on the lifting base via a vertical guide rail slider. The lifting base and the translation base are installed perpendicularly. The slider is installed on the lifting base. The guide rail is installed on the lifting legs. The lifting motor is installed on the translation base via a bracket. Gear E is installed on the output shaft of the lifting motor. Gear E meshes with gear F for transmission. Gear F is installed on the lifting shaft. Two gears E are installed on the left and right sides of the lifting shaft respectively. Gear E meshes with two lifting racks respectively. The two lifting racks are installed on the left and right lifting legs respectively. Support frames are installed at the bottom of the left and right lifting legs.

2. The intelligent rebar tying robot according to claim 1, characterized in that, The traveling mechanism consists of a front axle and a rear axle. A forward wheel is installed on each side of the front axle and the rear axle. Bearings are installed on the front axle and the rear axle, and the bearings are connected together by bearing seats and a base. Pulleys are installed on the front axle and the rear axle respectively. The front axle and the rear axle are connected together by a belt on the pulleys. Tensioning wheels are installed on the bearing seats of the front axle and the rear axle to tension the belt. The rear axle is connected to the forward motor through a gear set, and the forward motor is mounted on the base through a bracket.

3. The intelligent rebar tying robot according to claim 1, characterized in that, The binding mechanism mainly includes a robotic arm with a vision sensor installed at the end of the robotic arm to detect the position of the binding point. A rebar binding machine is also installed at the end of the robotic arm. After the robotic arm delivers the binding machine to the binding point, it controls the binding machine to complete the automatic binding work through a signal.

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