A self-propelled steel bar tying robot

Abstract

The application discloses a self-propelled steel bar binding robot, which comprises a mounting frame, a moving device and a binding mechanism, wherein the mounting frame is a U-shaped frame, which comprises a connecting arm and two mounting arms, the two mounting arms are respectively connected to the two ends of the connecting arm, and the connecting arm and the two mounting arms form a binding area in the middle; the moving device is arranged on the two mounting arms respectively and used for driving the self-propelled steel bar binding robot to move; and the binding mechanism is installed above the mounting frame, extends towards the lower part of the mounting frame and is inserted into the binding area. The moving device with multiple degrees of freedom is integrated on the two mounting arms, the structure and space of the mounting frame are effectively utilized, the structure is simple and compact, the overall volume is small, and thus the lightweight of the self-propelled steel bar binding robot is realized; and the self-propelled steel bar binding robot is convenient to move and high in efficiency, so that the application range of the self-propelled steel bar binding robot is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to a self-propelled steel bar binding robot. BACKGROUND

[0002] In the process of building construction, steel bar binding is a very important work. After the steel bars are bound together, the strength and stability of the concrete member can be effectively enhanced. Generally, construction personnel will bind the steel bars together according to the design drawings and construction specification requirements in a certain spacing and stacking manner, so as to form a steel bar grid or a steel bar cage, and then pour the concrete. Therefore, the quality and technical level of steel bar binding directly affect the safety and service life of the concrete structure. The main concerns during binding include binding position, binding quantity, binding spacing, binding method and binding tool, etc. The commonly used binding processes at present include end fixing method, cross binding method, steel bar perforation method, wire sleeve binding method and welding method, etc. These binding processes are mainly manual at present, but due to too many and too dense nodes on the steel bar surface, manual binding often has low efficiency, too much workload, and thus affects the binding quality, resulting in insufficient structural strength, or problems such as prolonged construction period and increased cost, causing waste of human and financial resources.

[0003] In order to solve the above problems, robots are used for binding in the prior art, which can effectively improve production efficiency, reduce workload, reduce worker fatigue, ensure binding precision and consistency, etc. However, the steel bar binding robot in the prior art requires high initial investment, is affected by the environment during binding, needs to be operated by professional personnel, has limited application scope, and needs manual assistance. For example, a self-propelled steel bar binding robot is disclosed in Chinese Patent No. 202110018810.X, which uses a wheel-track type walking device for movement. This way has problems of sliding and inaccurate positioning, and uses many non-standard parts, which is expensive. Chinese Patent No. 201910595973.7 discloses a walking type steel bar binding robot, which uses a leg type walking mechanism composed of four groups of connecting rods for movement. However, the speed is slow and the efficiency is low when moving a long distance. Chinese Patent No. 202110498477.7 discloses a dot matrix type steel bar binding system and working method of a multi-axis robot, which uses a mechanism similar to a gantry for binding, has high stability and high binding efficiency. However, the mechanism has a large volume, is difficult to install and disassemble, has limited use scenarios, and is difficult to apply to underground or large-scale engineering. SUMMARY

[0004] The technical problem to be solved by the present application is to overcome the defects of the prior art steel bar binding robot, such as large volume and clumsiness, and to provide a self-propelled steel bar binding robot.

[0005] The present application solves the above technical problems by the following technical scheme:

[0006] The self-propelled steel bar binding robot comprises a mounting frame, a moving device and a binding mechanism.

[0007] In the present application, the mounting frame is in a U shape, the moving device is arranged on the mounting arm, the binding mechanism is arranged above the mounting frame and extends into the middle opening position of the U-shaped mounting frame, which facilitates the steel bar binding work, thereby integrating the moving device with multiple degrees of freedom into the two mounting arms.

[0008] Preferably, the mounting arm comprises a top plate and a side plate, the connecting arm comprises a connecting plate, the top plate is connected perpendicularly to the side plate, and the connecting plate is connected to the end of the top plate and the side plate.

[0009] In the present application, the side of the mounting arm forms a mounting space, which facilitates the installation of the moving device and the binding mechanism, and the structure of the mounting arm is simple and compact, further improving the compactness of the structure of the self-propelled steel bar binding robot, and further realizing the lightweight, convenience of installation and movement.

[0010] Preferably, the moving device comprises a roller mechanism and a leg mechanism, the roller mechanism is arranged in the mounting space and is used to drive the self-propelled steel bar binding robot to move in a first direction, and the leg mechanism is arranged on the side of the side plate away from the mounting space and is used to drive the self-propelled steel bar binding robot to move in a second direction.

[0011] In the scheme, the installation arm is arranged with the inside and the installation space, the roller mechanism moving in the first direction and the supporting leg mechanism moving in the second direction are integrated, the self-moving steel bar binding robot is convenient and fast to move, the structure correlation degree of the self-moving steel bar binding robot is high, the structure is compact, the parts of the installation frame and the space are effectively utilized, the self-moving steel bar binding robot is simple in structure and ingenious in arrangement.

[0012] Preferably, the roller mechanism comprises a plurality of moving assemblies and a plurality of distance adjusting assemblies, the moving assemblies and the distance adjusting assemblies are arranged in the installation space respectively, the distance adjusting assemblies are arranged along the second direction of the self-moving steel bar binding robot, and any one of the distance adjusting assemblies is connected to at least one of the moving assemblies.

[0013] Preferably, the distance adjusting assembly comprises a distance adjusting motor, a shaft coupling, a distance adjusting wheel, a synchronizer and at least two adjusting members, the distance adjusting motor is arranged on the installation arm, the output end of the distance adjusting motor is connected to the shaft coupling, the adjusting members are arranged on the two installation arms along the second direction respectively and are connected to the distance adjusting wheel respectively, the output end of the shaft coupling is connected to any one of the adjusting members, and the two adjusting members are connected through the synchronizer.

[0014] Preferably, the adjusting member comprises an adjusting rod and a slide rail, the input end of the adjusting rod is connected to the shaft coupling, the other end of the adjusting rod passes through the distance adjusting assembly and is connected to the distance adjusting wheel in a matched mode, the slide rail is arranged on the inner surface of the top plate and is arranged along the second direction, and the top of the distance adjusting assembly is clamped in the slide rail.

[0015] In the scheme, the wheel distance of the two side rollers of the roller mechanism can be adjusted according to the actual situation, the application range of the self-moving steel bar binding robot is increased, the distance adjusting assembly and the moving assembly are arranged in the installation space, the distance adjusting assembly is connected to the distance adjusting motor through the adjusting rod, the sliding track of the distance adjusting assembly is controlled through the slide rail, the installation space is effectively utilized, and the structure of the roller mechanism is stable, the distance adjusting is convenient, and the stability and safety are high.

[0016] Preferably, the roller mechanism comprises a first driving motor, a bearing member, a first transmission member, at least two belt wheel shafts and a plurality of rollers, the first driving motor is arranged on the connecting arm, the output end of the first driving motor is connected to the bearing member, the belt wheel shafts are arranged on the connecting arm along the second direction respectively and are connected to the plurality of rollers, and the output end of the bearing member is connected to the input end of the belt wheel shaft through the first transmission member.

[0017] Preferably, the first transmission member comprises a forward transmission member and a backward transmission member, one end of the forward transmission member is connected to the forward output end of the bearing member, the other end is connected to the pulley shaft of any one side, one end of the backward transmission member is connected to the backward output end of the bearing member, the other end is connected to the pulley shaft of the other side.

[0018] In the present scheme, the above structure is adopted, so that the roller mechanism rotates synchronously through the pulley shaft, and the forward and reverse movement of the mobile device can be realized through the simple setting of the bearing member and the transmission member, further making the structure of the self-propelled steel binding robot simple, compact, small and light, which is suitable for various working environments.

[0019] Preferably, the supporting leg mechanism comprises a second driving motor, a gear transmission shaft, at least two second transmission members and at least two supporting leg members, the second driving motor is arranged on the mounting frame, the output end of the second driving motor is connected to the gear transmission shaft, one end of the second transmission member is connected to the output end of the gear transmission shaft, the other end is connected to the supporting leg member, and the supporting leg members are symmetrically arranged on the side of the side plate away from the mounting space.

[0020] Preferably, the supporting leg member comprises a crank, a sliding rod, a guide part, a sliding groove and a supporting part, one end of the crank is connected to the output end of the second transmission member, the other end is connected to the sliding rod, the sliding rod extends to the bottom of the mounting frame along the height direction, the bottom end of the sliding rod is connected to the supporting part, one side of the guide part is sleeved on the sliding rod, the other side is clamped in the sliding groove, the sliding groove is arranged on the side plate along the second direction, so that the sliding rod moves up and down in the guide part along the height direction, and the guide part slides in the sliding groove along the second direction.

[0021] In the present scheme, the above structure is adopted, so that the second driving motor drives the gear transmission shaft to rotate, and the torque output by the second driving motor is transmitted to the crank through the second transmission member, and the rotation of the crank is converted into the up and down movement of the sliding rod along the height direction and the side movement of the guide part along the second direction through the setting of the sliding rod, the guide part, the sliding groove and the supporting part, thereby realizing the movement of the self-propelled steel binding robot to the second direction, and the structure of the supporting leg mechanism is simple and interlocking, which is arranged close to the inner side surface of the side plate, so that the supporting leg mechanism is small and efficient.

[0022] Preferably, the binding mechanism comprises a binding support, a second direction moving member, an inclined member and a binding gun, the binding support comprises three supporting legs, which are arranged above the connecting arm and the two mounting arms respectively, the second direction moving member is connected to the binding support, the inclined member is arranged on the second direction moving member, and the bottom of the inclined member is connected to the binding gun.

[0023] Preferably, the mounting arm comprises a top plate, the connecting arm comprises a connecting plate, and the three legs of the binding support are connected to the connecting plate and the two top plates respectively.

[0024] In the present scheme, the binding mechanism is erected at the top end of the mounting frame and extends downward from the opening position at the middle of the mounting frame to perform the binding work, effectively utilizing the structural features and advantages of the U-shaped mounting frame and maximizing the use of the space of the mounting frame, further making the self-propelled steel bar binding robot compact in structure, small in size and convenient to operate.

[0025] Preferably, the self-propelled steel bar binding robot comprises a position sensor and a control mechanism, the position sensor is arranged on the binding mechanism for scanning and marking the area to be bound, and the input end of the control mechanism is electrically connected to the position sensor and the output end is electrically connected to the moving device and the binding mechanism.

[0026] The positive progress effect of the present application is that:

[0027] The self-propelled steel bar binding robot sets the moving device on the mounting arm and the binding mechanism above the mounting frame and extends into the middle opening position of the U-shaped mounting frame, which facilitates the steel bar binding work, thereby integrating the moving device with multiple degrees of freedom onto the two mounting arms, and the binding part of the binding mechanism extends downward through the middle opening position of the U-shaped frame, thereby effectively utilizing the structure and space of the mounting frame, making the self-propelled steel bar binding robot simple and compact in structure, small in overall size, and further realizing the lightweight of the self-propelled steel bar binding robot. Moreover, the self-propelled steel bar binding robot is convenient to move and efficient, thereby effectively improving the application range of the self-propelled steel bar binding robot. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 FIG. 1 is a perspective view of the overall structure of the self-propelled steel bar binding robot according to the present application.

[0029] Figure 2 FIG. 3 is a bottom view of the overall structure of the self-propelled steel bar binding robot according to the present application.

[0030] Figure 3 FIG. 6 is a structural schematic view of the mounting frame, the roller mechanism and the supporting leg mechanism according to the present application.

[0031] Figure 4 FIG. 8 is a specific structural schematic view of the roller mechanism according to the present application.

[0032] Figure 5Structure diagram of flexible beam of roller mechanism in the embodiment of the present application.

[0033] Figure 6 Structure diagram of specific structure of tilting member in the embodiment of the present application.

[0034] Explanation of reference numerals:

[0035] Mounting frame 1

[0036] Top plate 11

[0037] Connecting plate 12

[0038] Outer connecting plate 121

[0039] Inner connecting plate 122

[0040] First side plate 13

[0041] Second side plate 14

[0042] First sealing plate 151

[0043] Second sealing plate 152

[0044] Reversing support 16

[0045] Distance adjusting support 17

[0046] Roller mechanism 2

[0047] First driving motor 21

[0048] Bearing member 22

[0049] Forward first transmission member 23

[0050] Rearward first transmission member 24

[0051] Front side pulley shaft 25

[0052] Rear side pulley shaft 26

[0053] Support leg mechanism 3

[0054] Support leg driving member 31

[0055] Second driving motor 311

[0056] Gear reduction member 312

[0057] Gear transmission shaft 313

[0058] Front side second transmission member 314

[0059] Rear side second transmission member 315

[0060] First support leg member 32

[0061] First crank 321

[0062] First sliding block 322

[0063] First sliding rod 323

[0064] First guide part 324

[0065] First sleeve body 325

[0066] First sliding groove 326

[0067] First support part 327

[0068] Second leg part 33

[0069] Second crank 331

[0070] Second sliding block 332

[0071] Second sliding rod 333

[0072] Second guide part 334

[0073] Second sleeve body 335

[0074] Second sliding groove 336

[0075] Second support part 337

[0076] Distance adjusting assembly 4

[0077] Distance adjusting motor 41

[0078] Coupler 42

[0079] Forward adjusting part 43

[0080] First adjusting rod 431

[0081] First fixed block 432

[0082] First guide rail sliding block 433

[0083] Backward adjusting part 44

[0084] Second adjusting rod 441

[0085] Second fixed block 442

[0086] Second guide rail sliding block 443

[0087] Synchronizing part 45

[0088] Moving assembly 5

[0089] First roller set 51

[0090] First positioning block 511

[0091] First flexible beam 512

[0092] Front side first transmission member 513

[0093] First roller support 514

[0094] First roller 515

[0095] Front side wheel shaft 516

[0096] First distance adjusting member 52

[0097] First distance adjusting positioning block 521

[0098] First distance adjusting flexible beam 522

[0099] First distance adjusting transmission member 523

[0100] First distance adjusting support 524

[0101] First distance adjusting roller 525

[0102] Second distance adjusting member 53

[0103] Second distance adjusting positioning block 531

[0104] Second distance adjusting flexible beam 532

[0105] Second distance adjusting transmission member 533

[0106] Second distance adjusting support 534

[0107] Second distance adjusting roller 535

[0108] Second roller set 54

[0109] Second positioning block 541

[0110] Second flexible beam 542

[0111] Rear side first transmission member 543

[0112] Second roller support 544

[0113] Second roller 545

[0114] Rear side wheel shaft 546

[0115] Binding mechanism 6

[0116] Binding support 61

[0117] Second direction moving member 62

[0118] Inclination member 63

[0119] Inclination binding frame 631

[0120] Binding vertical guide rod 632

[0121] Binding auxiliary spring 633

[0122] Stroke adjustment module 634

[0123] Stroke adjustment knob 6341

[0124] Stroke Adjustment Guide Rod 6342

[0125] Stroke adjustment knob 6343

[0126] Planar Cam 635

[0127] 636 Binding guide rollers

[0128] 637 lashing and securing bracket

[0129] Guide wheel mounting block 6371

[0130] Inclined support plate 6372

[0131] Attaching the gun guide 6373

[0132] 638 Strapping drive motor

[0133] 64-inch lash gun

[0134] Control mechanism 7

[0135] First position sensor 71

[0136] Second position sensor 72

[0137] 721 tethered depth camera Detailed Implementation

[0138] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments.

[0139] like Figures 1 to 6 As shown, this embodiment discloses a self-propelled rebar tying robot, which includes: a mounting frame 1, a moving device, and a tying mechanism 6. The mounting frame 1 is a U-shaped frame, which includes a connecting arm and two mounting arms. The two mounting arms are respectively connected to the two ends of the connecting arm, and a tying area is formed between the connecting arm and the two connecting arms. The moving device is respectively disposed on the two mounting arms and is used to drive the self-propelled rebar tying robot to move. The tying mechanism 6 is installed above the mounting frame 1, extends downward toward the mounting frame 1, and is inserted into the tying area.

[0140] like Figure 1As shown, by setting the U-shaped mounting frame 1 on the self-propelled steel bar binding robot, the moving device is set on the mounting arm, the binding mechanism 6 is set above the mounting frame 1 and extends into the middle opening position of the U-shaped mounting frame 1, which facilitates the steel bar binding work, so as to integrate the moving device with multiple degrees of freedom on the two mounting arms, at the same time, the binding part of the binding mechanism 6 extends downward through the middle opening position of the U-shaped frame, so as to effectively utilize the structure and space of the mounting frame 1, so that the self-propelled steel bar binding robot has simple and compact structure, small overall size, and further realizes the lightweight of the self-propelled steel bar binding robot. Moreover, the self-propelled steel bar binding robot is convenient to move and has high efficiency, so as to effectively improve the application range of the self-propelled steel bar binding robot.

[0141] Specifically, the mounting arm includes a top plate 11 and a side plate, and the connecting arm includes a connecting plate 12. In the embodiment, the side plate includes a first side plate 13, a second side plate 14, a first sealing plate 151 and a second sealing plate 152, and the connecting plate 12 includes an outer connecting plate 121 and an inner connecting plate 122. The top plate 11 is connected perpendicularly to the side plate, the outer connecting plate 121 is connected to the end of the top plate 11 and the side plate, and an installation space towards the outside of the mounting arm is formed between the top plate 11, the side plate and the outer connecting plate 121. The inner connecting plate 122 is arranged on the inner side of the U-shaped mounting frame 1 and is symmetrically arranged with the outer connecting plate 121. The first sealing plate 151 and the second sealing plate 152 are arranged on the side of the installation space away from the connecting plate 12, and are used to seal the outside of the installation space.

[0142] As shown, Figures 1 to 3 by setting the top plate 11, the connecting plate 12, the first side plate 13, the second side plate 14, the first sealing plate 151 and the second sealing plate 152 on the mounting frame 1, the side of the mounting arm forms an installation space, which facilitates the installation of the moving device and the binding mechanism 6. Moreover, the structure of the mounting arm is simple and compact, which further improves the compactness of the structure of the self-propelled steel bar binding robot, and further realizes the lightweight and the convenience of installation and movement.

[0143] Specifically, the moving device includes a roller mechanism 2 and a supporting leg mechanism 3. The roller mechanism 2 is arranged in the installation space and is used to drive the self-propelled steel bar binding robot to move in a first direction. The supporting leg mechanism 3 is arranged on the side of the side plate away from the installation space and is used to drive the self-propelled steel bar binding robot to move in a second direction. The first direction and the second direction are both parallel to the horizontal direction and perpendicular to each other.

[0144] By setting the roller mechanism 2 in the installation space and the leg mechanism 3 on the side of the side plate away from the installation space, the roller mechanism 2 moving in the first direction and the leg mechanism 3 moving in the second direction are integrated by the inner side of the installation arm and the installation space, which not only ensures the convenient and fast movement of the self-propelled steel binding robot, but also makes the structure of the self-propelled steel binding robot highly related and compact, effectively utilizes the structures and space of the mounting frame 1, and makes the structure of the self-propelled steel binding robot simple and ingenious.

[0145] Specifically, as shown in Figures 1 to 5 , the roller mechanism 2 comprises a plurality of moving assemblies 5 and a plurality of distance adjusting assemblies 4, the moving assemblies 5 and the distance adjusting assemblies 4 are arranged in the installation space, the distance adjusting assemblies 4 are arranged in the second direction, and any one distance adjusting assembly 4 is connected to at least one moving assembly 5.

[0146] Specifically, the distance adjusting assembly 4 comprises a distance adjusting motor 41, a shaft coupling 42, a distance adjusting wheel, a synchronization part 45, a forward adjusting part 43 and a rearward adjusting part 44, the distance adjusting motor 41 is arranged on the installation arm, the output end of the distance adjusting motor 41 is connected to the shaft coupling 42, the forward adjusting part 43 and the rearward adjusting part 44 are arranged on the two installation arms in the second direction and are connected to the distance adjusting wheel respectively, the output end of the shaft coupling 42 is connected to any one adjusting part, and the two adjusting parts are connected through the synchronization part 45.

[0147] Specifically, the forward adjusting part 43 comprises a first adjusting rod 431 and a sliding rail, the input end of the adjusting rod is connected to the shaft coupling 42, the other end passes through the distance adjusting assembly 4 and is connected to the distance adjusting wheel in cooperation, the sliding rail is arranged on the inner surface of the top plate 11 and is arranged in the second direction, and the top of the distance adjusting assembly 4 is clamped in the sliding rail.

[0148] As shown in Figures 1 to 4 , the distance adjusting motor 41 is arranged on the distance adjusting support 17, the output end of the distance adjusting motor 41 is connected to the shaft coupling 42, as shown in Figure 4 , the first adjusting rod 431 passes through the first fixed block 432, the side surface of the first fixed block 432 is connected to the first distance adjusting flexible beam 522 of the distance adjusting assembly 4, the top of the first distance adjusting flexible beam 522 is provided with a first distance adjusting positioning block 521 and a first guide rail sliding block 433, the upper side of the first guide rail sliding block 433 is connected to the sliding rail in cooperation and slides in the sliding rail, so that the distance between the two sides of the roller of the roller mechanism 2 can be adjusted according to the actual situation, thereby increasing the application range of the self-propelled steel binding robot, and the distance adjusting assembly 4 and the moving assembly 5 are arranged in the installation space, the distance adjusting assembly 4 is connected to the distance adjusting motor 41 through the adjusting rod, and the sliding track of the distance adjusting assembly 4 is controlled through the sliding rail, which not only effectively utilizes the installation space, but also further makes the structure of the roller mechanism 2 stable, convenient to adjust, high in stability and safety.

[0149] As shown in Figure 3 , a rear adjusting member 44 is arranged on the other side of the self-propelled steel bar tying robot, which includes a second adjusting rod 441, a second fixing block 442 and a second guide rail sliding block 443, and a second pitch adjusting flexible beam 532, a second pitch adjusting positioning block 531 and a second guide rail sliding block 443, and the structure thereof is symmetrical to the forward adjusting member 43, and thus will not be described herein.

[0150] Specifically, as shown in Figures 1 to 4 , the roller mechanism 2 includes a first driving motor 21, a bearing member 22, a forward first transmission member 23, a rear first transmission member 24, a front side pulley shaft 25, a rear side pulley shaft 26, a first roller 515 and a second roller 545, the first driving motor 21 is arranged on the reversing support 16, the output end of the first driving motor 21 is connected to the bearing member 22, the front side pulley shaft 25 and the rear side pulley shaft 26 are arranged on the mounting arm along the second direction respectively, and are connected to the first roller 515, the second roller 545 and the pitch adjusting wheel, and the output end of the bearing member 22 is connected to the input end of the pulley shaft through the first transmission member.

[0151] Specifically, the first roller 515 is fixed through the first roller 515 support 514 and the front side wheel shaft 516, and the second roller 545 is fixed through the second roller 545 support 544 and the rear side wheel shaft 546.

[0152] Specifically, as shown in Figure 2 , the first transmission member includes the forward first transmission member 23 and the rear first transmission member 24, one end of the forward first transmission member 23 is connected to the forward output end of the bearing member 22, and the other end is connected to the front side pulley shaft 25, one end of the rear first transmission member 24 is connected to the rear output end of the bearing member 22, and the other end is connected to the rear side pulley shaft 26 on the other side.

[0153] As shown in Figure 4 , the front side pulley shaft 25 is connected to the rear adjusting member 44, and is driven to rotate by the output of the first driving motor 21, the front side first transmission member 513 and the first pitch adjusting transmission member 523 are both connected to the front side pulley shaft 25, and the other ends are respectively connected to the first roller 515 and the front side wheel shaft 516 of the first pitch adjusting wheel 525, so as to transmit the output power of the front side pulley shaft 25 to the first roller 515 and the first pitch adjusting wheel 525.

[0154] Similarly, as shown in Figures 1 to 3 , the rear side pulley shaft 26, the rear first transmission member 24, the second pitch adjusting transmission member 533, the rear side first transmission member 543, the second roller 545, the second pitch adjusting wheel 535 and the rear side wheel shaft 546 are arranged on the rear side of the self-propelled steel bar tying robot, and the structure thereof is symmetrical to the structure described above, and thus will not be described herein.

[0155] Through the setting of the roller mechanism 2, the roller mechanism 2 is realized synchronous rotation through the pulley shaft, and through the simple bearing piece 22 and the setting of the transmission part, the forward and reverse movement of the mobile device can be realized, further making the structure of the self-propelled steel bar binding robot simple, compact, small and light, suitable for various working environments.

[0156] Specifically, as shown in Figures 1 to 3 the supporting leg mechanism 3 includes a supporting leg driving part 31, the supporting leg driving part 31 includes a second driving motor 311, a gear reduction part 312, a gear transmission shaft 313, a front second transmission part 314, a rear second transmission part 315, a first supporting leg part 32 and a second supporting leg part 33, the second driving motor 311 is arranged on the outer connecting plate 12, the output end is connected to the gear transmission shaft 313 through the gear reduction part 312, one end of the front second transmission part 314 is connected to the output end of the gear transmission shaft 313, the other end is connected to the first supporting leg part 32, one end of the rear second transmission part 315 supporting leg part is connected to the output end of the gear transmission shaft 313, the other end is connected to the second supporting leg part 33, the first supporting leg part 32 and the second supporting leg part 33 are respectively arranged symmetrically on the side of the side plate away from the mounting space.

[0157] Specifically, the first supporting leg part 32 includes a first crank 321, a first sliding block 322, a first sliding rod 323, a first guide part 324, a first sleeve 325, a first sliding groove 326 and a first supporting part 327, one end of the first crank 321 is connected to the output end of the front second transmission part 314, the other end is connected to the first sliding rod 323 through the first sliding block 322, the inside of the first crank 321 and the first sliding block 322 is provided with a bearing, which is fastened by a thrust ball bearing and a shaft, and a circlip is installed at both ends. The first sliding rod 323 extends to the bottom of the mounting frame 1 along the height direction, the top end of the first sliding rod 323 is connected to the first sliding block 322, and the bottom end is connected to the first supporting part 327, one side of the first guide part 324 is sleeved on the first sliding rod 323 through the first sleeve 325, the other side is clamped in the first sliding groove 326, the first sliding groove 326 is arranged on the first side plate 13 along the second direction, so that the first sliding rod 323 moves up and down along the height direction in the first guide part 324, and the first guide part 324 slides along the first sliding groove 326 along the second direction.

[0158] On the other side of the self-propelled steel bar binding robot, a second supporting leg part 33 is arranged, which includes a second crank 331, a second sliding block 332, a second sliding rod 333, a second guide part 334, a second sleeve 335, a second sliding groove 336 and a second supporting part 337, which are symmetrical to the first supporting leg part 32, so no further description is made.

[0159] As shown in Figures 1 to 3 The leg supporting mechanism 3 is arranged such that the second driving motor 311 drives the gear transmission shaft 313 to rotate and transmits the torque output by the second driving motor 311 to the crank through the second transmission member, and the rotation of the crank is converted into the up-down movement of the sliding rod along the height direction and the side movement of the guide part in the second direction through the arrangement of the sliding rod, the guide part, the sliding groove and the support part, thereby realizing the movement of the self-propelled steel bar binding robot in the second direction. The leg supporting mechanism 3 has a simple structure, is closely arranged on the inner side of the side plate, has a small volume and is highly efficient.

[0160] Specifically, the binding mechanism 6 comprises a binding support 61, a second direction moving member 62, an inclined member 63 and a binding gun 64. The binding support 61 comprises three legs arranged above the connecting arm and the two mounting arms. The second direction moving member 62 is connected to the binding support 61. The inclined member 63 is arranged on the second direction moving member 62, and the bottom of the inclined member 63 is connected to the binding gun 64.

[0161] Specifically, the three legs of the binding support 61 are respectively connected to the outer connecting plate 121 and the two side top plates 11.

[0162] As shown in Figure 1 The binding mechanism 6 is arranged on the top end of the mounting frame 1 and extends downward from the opening position in the middle of the mounting frame 1, thereby performing the binding work and effectively utilizing the structural features and advantages of the U-shaped mounting frame 1 and maximizing the use of the space of the mounting frame 1, further making the structure of the self-propelled steel bar binding robot compact, small in volume and convenient to operate.

[0163] Specifically, as shown in Figure 6As shown, the tilting member 63 includes a tilting binding frame 631, a binding vertical guide rod 632, a binding auxiliary spring 633, a stroke adjustment module 634, a planar cam 635, a binding guide wheel 636, a binding fixing frame 637, and a binding drive motor 638. The tilting binding frame 631 is installed on the slider of the second direction moving member 62, so that it moves horizontally. The binding vertical guide rod 632 is installed at the middle part of the tilting binding frame 631, for lifting the position of the binding gun 64 when moving. The binding auxiliary spring 633 is sleeved at the lower end of the binding vertical guide rod 632. The binding fixing frame 637 is installed at the end of the binding vertical guide rod 632, which includes a guide wheel mounting block 6371, a tilting support plate 6372, and a binding gun guide sleeve 6373. The stroke adjustment module 634 is installed on one side of the tilting binding frame 631, which includes a stroke adjustment upper knob 6341, a stroke adjustment guide rod 6342, and a stroke adjustment lower knob 6343, for adjusting the compression amount of the binding auxiliary spring 633, thereby providing a binding auxiliary force. The planar cam 635 includes four reciprocating periods, for controlling the four movement stages of the downward movement, stopping, binding, and recovery of the binding gun 64. The binding guide wheel 636 is installed on the guide wheel mounting block 6371, and cooperates with the planar cam 635 to complete the periodic movement. The binding drive motor 638 is used to drive the planar cam 635 to perform periodic movement, so that the binding gun 64 performs tilting downward movement to complete binding.

[0164] In particular, the self-propelled steel bar binding robot comprises a first position sensor 71, a second position sensor 72, and a control mechanism 7. The second position sensor 72 comprises a binding depth camera 721 arranged on the binding mechanism 6, for scanning and marking the area to be bound. The input end of the control mechanism 7 is electrically connected to the position sensor, and the output end is electrically connected to the moving device and the binding mechanism 6.

[0165] In use, first, the self-propelled steel bar binding robot is carried to the steel mesh surface, the first roller 515 group 51, the first distance adjusting member 52, the second distance adjusting member 53, and the second roller 545 group 54 are aligned on the steel mesh surface, then the button of the second position sensor 72 is started, the distance adjusting assembly 4 adjusts the first roller 515 group 51, the first distance adjusting member 52, the second distance adjusting member 53, and the second roller 545 to the standard steel bar spacing, and makes the wheels fit the steel bars, and starts the program. The binding depth camera 721 scans the two-dimensional code of the mesh surface to be calibrated as the starting position, and starts to bind the first point by walking forward. The binding process is performed by the first position sensor 71 and the second position sensor 72 of the control mechanism 7 for human-machine obstacle avoidance and safety identification.

[0166] Although the specific embodiments of the present application have been described above, it is understood by those skilled in the art that the present application is only illustrated by way of example, and the scope of protection of the present application is defined by the appended claims. Those skilled in the art can make various changes or modifications to the embodiments without departing from the principles and essence of the present application, and such changes and modifications fall within the scope of protection of the present application.

Claims

1. A self-propelled steel bar tying robot characterized by comprising: The self-propelled steel bar tying robot comprises: a mounting frame, which is a U-shaped frame and comprises a connecting arm and two mounting arms, the two mounting arms being respectively connected to the two ends of the connecting arm, and the connecting arm and the two mounting arms forming a tying area in the middle; a moving device, which is arranged on the two mounting arms respectively and used to drive the self-propelled steel bar tying robot to move; and a tying mechanism, which is installed above the mounting frame, extends towards the lower part of the mounting frame, and is inserted into the tying area; the mounting arm comprises a top plate and a side plate, the connecting arm comprises a connecting plate, the top plate is connected to the side plate perpendicularly, and the connecting plate is connected to the end of the top plate and the side plate, and an installation space towards the outside of the mounting arm is formed between the top plate, the side plate and the connecting plate; the tying mechanism comprises a tying support, a second direction moving element, an inclining element and a tying gun, the tying support comprises three supporting legs, the three supporting legs are arranged above the connecting arm and the two mounting arms respectively, the second direction moving element is connected to the tying support, the inclining element is arranged on the second direction moving element, and the bottom of the inclining element is connected to the tying gun; the inclining element comprises an inclining tying frame, a tying vertical guide rod, a tying auxiliary spring, a stroke adjustment module, a planar cam, a tying guide wheel, a tying fixing frame and a tying driving motor; the inclining tying frame is installed on the sliding block of the second direction moving element, so that the inclining tying frame moves horizontally; the tying vertical guide rod is installed in the middle of the inclining tying frame and used to lift the position of the tying gun when moving; the tying auxiliary spring is sleeved on the lower end of the tying vertical guide rod; the tying fixing frame is installed at the end of the tying vertical guide rod; the stroke adjustment module is installed on one side of the inclining tying frame, the stroke adjustment module comprises a stroke adjustment upper knob, a stroke adjustment guide rod and a stroke adjustment lower knob, and is used to adjust the compression amount of the tying auxiliary spring, so as to provide a tying auxiliary force; the planar cam comprises four reciprocating periods and is used to control the four movement stages of the tying gun, i.e., downward movement, stopping, tying and recovery; the tying guide wheel is installed on the tying fixing frame and cooperates with the planar cam to complete periodical movement; and the tying driving motor is used to drive the planar cam to move periodically, so that the tying gun moves downward obliquely to complete tying.

2. The self-propelled steel bar tying robot according to claim 1, wherein the moving device comprises a roller mechanism and a supporting leg mechanism, the roller mechanism is arranged in the installation space and used to drive the self-propelled steel bar tying robot to move in a first direction, and the supporting leg mechanism is arranged on the side of the side plate away from the installation space and used to drive the self-propelled steel bar tying robot to move in a second direction; the first direction and the second direction are both parallel to the horizontal direction and perpendicular to each other.

3. The self-propelled steel bar tying robot according to claim 2, wherein The roller mechanism comprises a plurality of moving assemblies and a plurality of distance adjusting assemblies, the moving assemblies and the distance adjusting assemblies are arranged in the installation space respectively, the distance adjusting assemblies are arranged along the second direction of the self-propelled steel bar binding robot, and any one of the distance adjusting assemblies is connected to at least one of the moving assemblies.

4. The self-propelled steel bar tying robot according to claim 2, wherein The roller mechanism comprises a first driving motor, a bearing member, a first transmission member, at least two belt wheel shafts and a plurality of rollers, the first driving motor is arranged on the connecting arm, the output end of the first driving motor is connected to the bearing member, the belt wheel shafts are arranged on the connecting arm along the second direction respectively and connected to the rollers, and the output end of the bearing member is connected to the input end of the belt wheel shafts through the first transmission member.

5. The self-propelled steel bar tying robot according to claim 2, wherein The supporting leg mechanism comprises a second driving motor, a gear transmission shaft, at least two second transmission members and at least two supporting leg members, the second driving motor is arranged on the mounting frame, the output end of the second driving motor is connected to the gear transmission shaft, one end of the second transmission member is connected to the output end of the gear transmission shaft, the other end of the second transmission member is connected to the supporting leg member, and the supporting leg members are symmetrically arranged on the side of the side plate away from the installation space.

6. A self-propelled steel bar tying robot according to claim 5, wherein The supporting leg member comprises a crank, a sliding rod, a guide part, a sliding groove and a supporting part, one end of the crank is connected to the output end of the second transmission member, the other end of the crank is connected to the sliding rod, the sliding rod extends to the bottom of the mounting frame along the height direction, the bottom end of the sliding rod is connected to the supporting part, one side of the guide part is sleeved on the sliding rod, the other side of the guide part is clamped in the sliding groove, the sliding groove is arranged on the side plate along the second direction, so that the sliding rod moves up and down in the guide part along the height direction, and the guide part slides in the sliding groove along the second direction.

7. The self-propelled steel bar tying robot according to claim 1, wherein The mounting arm comprises a top plate, the connecting arm comprises a connecting plate, and the three supporting legs of the binding support are connected to the connecting plate and the two top plates respectively.

8. The self-propelled steel bar tying robot according to claim 1, wherein The self-propelled steel bar binding robot comprises a position sensor and a control mechanism, the position sensor is arranged on the binding mechanism and used for scanning and marking a binding area, the input end of the control mechanism is electrically connected to the position sensor, and the output end of the control mechanism is electrically connected to the moving device and the binding mechanism.

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