Box girder reinforcement framework intelligent binding robot and bundling method thereof

Abstract

The present application relates to a kind of box girder reinforcement framework intelligent binding robot and its bundling method, belong to intelligent manufacturing field.The load-bearing platform, mobile slide, steel material box, steel template, steel positioning device, small gantry, binding mechanism, industrial vision camera are included;Steel material box is used for the movement and placement of steel;Steel positioning device is provided on steel template, small gantry is set at the top of both sides mobile slide, and telescopic mechanical arm is installed on its crossbeam, and the cooperation of mechanical arm and slide table makes binding mechanism realize the movement of multiple degrees of freedom;Binding mechanism is arranged on small gantry, and is used for the binding of steel intersection;Industrial vision camera is installed on the side of binding mechanism, for visual positioning of robot.The present application realizes the automation and intelligentization of steel binding, greatly improves the efficiency of steel binding through intelligent control system, and improves the adaptability of steel binding to working environment.

Description

TECHNICAL FIELD

[0001] The present application relates to a box girder reinforcement framework intelligent binding robot and its bundling method, belonging to the technical field of intelligent manufacturing. BACKGROUND

[0002] One of the important ways to promote the upgrading and transformation of traditional manufacturing to digitization and intelligence is to integrate new generation information communication technology into advanced manufacturing technology, so as to achieve mutual promotion. The demand for various building processing substrates is very large. In order to meet the demand, the building enterprise must improve the production process, improve the production efficiency and reduce the production cost.

[0003] As an important step in large construction projects such as railways and bridges, the processing link of prefabricated box girder is particularly important. Each production unit attaches great importance to the production of steel box girder, and a lot of efforts have been invested in the research of production process and production technology. In the whole prefabrication process of box girder, steel binding is the longest and most complex process, and the construction quality of steel binding node is the most important in frame structure construction, which is related to the stress performance of the whole frame. Therefore, each enterprise is constantly promoting the research of steel binding technology, actively seeking fast binding scheme of steel framework, and investing a lot of manpower and financial resources to research intelligent steel binding equipment to meet the needs of the construction industry.

[0004] At present, the steel binding industry in China is facing two major problems: the binding efficiency is difficult to improve, and the labor burden of workers is heavy. Promoting the transition of traditional binding process to intelligence and automation can effectively solve the above problems. SUMMARY

[0005] In order to solve the above technical problems, the present application provides a box girder reinforcement framework intelligent binding robot to realize the automation and intelligence of steel mesh laying and binding, and the specific technical scheme is as follows:

[0006] A box girder reinforcement framework intelligent binding robot, comprising:

[0007] A bearing table provides a support surface and a working space for the whole robot;

[0008] A steel template is used for steel laying and positioning;

[0009] A steel positioner is arranged on the top surface of the steel template and used for positioning the steel position;

[0010] A moving slide table is arranged on the top surface of the bearing table and drives the steel template to move;

[0011] A longitudinal steel material box and a transverse steel material box are arranged above the moving slide table and used for laying the steel on the steel template;

[0012] A small gantry is arranged above the moving slide, used for supporting and moving the binding mechanism;

[0013] The binding mechanism is arranged on the telescopic arm of the small gantry, used for binding the steel bar intersection node;

[0014] An industrial vision camera is arranged on the side of the binding mechanism, used for visual identification and positioning;

[0015] The small gantry is located at the downstream end of the longitudinal steel bar material box and the transverse steel bar material box, and the steel bar template can move through under the small gantry, the longitudinal steel bar material box and the transverse steel bar material box.

[0016] Further, the moving slide includes two guide rails, which extend from one end to the other end in the longitudinal direction of the bearing table, and the steel bar template is mounted on the guide rails and can move along the guide rails.

[0017] Further, the steel bar template includes a bottom plate and a steel bar positioner arranged on the bottom plate, the steel bar positioner includes a plurality of transverse steel bar positioners and a plurality of longitudinal steel bar positioners, and every two transverse / longitudinal steel bar positioners form a row to form a transverse / longitudinal steel bar discharge limiting groove.

[0018] Further, the longitudinal steel bar material box is arranged on a lead screw mechanism, the lead screw mechanism includes two parallel lead screws which cross above the bearing table, lead screw end seats at both ends of the lead screws, and lead screw balls which pass through the lead screws,

[0019] The two ends of the longitudinal steel bar material box are fixed with the lead screw balls at the corresponding ends, the lead screw end seats are arranged at the edge positions close to the bearing table, and one end of each lead screw is provided with a first motor which starts the rotation of the lead screw.

[0020] Further, the longitudinal steel bar material box is arc-shaped,

[0021] The longitudinal steel bar positioners are arranged at positions close to the two ends of the bottom plate, and the upper surfaces of the longitudinal steel bar positioners are provided with arc-shaped grooves.

[0022] Further, the bearing table is provided with a longitudinal lead screw which extends along the length thereof at the edge positions close to the two sides, the small gantry is provided with a gantry lead screw ball which is sleeved on the longitudinal lead screw below the small gantry, both ends of the longitudinal lead screw are provided with lead screw end seats, and the outer side of the lead screw end seat at any one end is provided with a second motor which connects the longitudinal lead screw and drives the rotation of the longitudinal lead screw.

[0023] Further, the binding mechanism is suspended below the small gantry through a telescopic arm, and the telescopic arm can walk along the cross beam of the small gantry through a walking mechanism;

[0024] The binding mechanism includes a wire winding reel, a first wire guide rail, a wire feeding gear set, a second wire guide rail, a third wire guide rail, a wire guide head, a mechanical clamp head and a wire tightening mechanism. The first wire guide rail is a cylinder or a rectangular body with a through hole in the center. The inlet end of the through hole is opposite to the pay-off end of the wire winding reel, and the outlet end is opposite to the middle of the wire feeding gear set. The wire feeding gear set includes two meshing and relatively rotating wire feeding gears. The circumference of the wire feeding gears is provided with a wire groove. The wire passes through the wire groove. The middle downstream side of the wire feeding gear set is opposite to the second wire guide rail. The wire outlet end of the second wire guide rail is provided with a wire guide head which is downwardly and arcuately bent. The wire tightening mechanism is arranged directly below the second wire guide rail. The wire tightening mechanism includes a hollow circular pipe arranged horizontally and a mechanical clamp head arranged at the center of the hollow circular pipe close to the end. The third wire guide rail is hollow and has a communication channel with the hollow circular pipe. The third wire guide rail is below the hollow circular pipe.

[0025] The power end of the mechanical clamp head is connected with a reduction gear. The reduction gear is connected with a driving gear. The driving gear is connected with a fourth motor.

[0026] Further, the binding mechanism further includes a fixed frame and a movable frame.

[0027] One of the wire feeding gears is a driving wire feeding gear, and the other is a driven wire feeding gear. The driving wire feeding gear is connected with a third motor. The two wire feeding gears are horizontally arranged and arranged in the movable frame. The movable frame includes parallel upper and lower plates. The two wire feeding gears are horizontally arranged between the upper and lower plates. The driven wire feeding gear is fixed at one end of the movable frame through a center bearing. The other end of the movable frame is provided with a spring. The upper and lower plates are provided with a moving channel close to the spring. The center shaft of the driving wire feeding gear is located in the moving channel. The free end of the spring abuts against the fixed frame.

[0028] The fixed frame penetrates through the moving channel. The first wire guide rail, the second wire guide rail, the third wire guide rail, the wire guide head, the mechanical clamp head and the wire tightening mechanism are fixed relative to the fixed frame.

[0029] Further, a cutting mechanism is arranged between the wire feeding gear set and the second wire guide rail. The cutting mechanism includes a cutting motor, a driving cutting gear, a driven cutting gear and a blade. The driving cutting gear is fixed on the output shaft of the cutting motor. The driving cutting gear and the driven cutting gear are meshingly connected. The blade is fixed on one side of the driven cutting gear. The driving of the driven cutting gear synchronously drives the blade to reciprocatingly move up and down. The blade is in contact with the wire inlet end of the second wire guide rail.

[0030] A bundling method realized by a box girder reinforcement framework intelligent binding robot includes the following steps:

[0031] Step one: the winding iron wire on the wire twisting reel is in a roll, one end of the iron wire is released, threaded into the first iron wire guide, straightened after passing through the first iron wire guide, further straightened and transmitted forward into the gear set,

[0032] Step two: the iron wire enters the second iron wire guide, the head of the iron wire touches the front iron wire guide head after coming out of the second iron wire guide, under the action of the arc-shaped iron wire guide head, the iron wire changes the straight path and bends downward, then moves downward to touch the underlying steel bar template, at this time the iron wire goes down from one side of the intersection of the transverse steel bar, the iron wire is changed in direction again, bends and moves upward, at this time the iron wire goes up from one side of the intersection of the transverse steel bar and enters the third iron wire guide, the iron wire continues to move upward into the wire tightening mechanism, passes through the center of the mechanical clamp head, moves to the top of the wire tightening mechanism and bends downward, passes through the center of the mechanical clamp head again, at this time the mechanical clamp head rotates and twists the iron wire several turns, then tightens at the intersection of the transverse steel bar and the longitudinal steel bar to form a binding structure;

[0033] Step three: the binding iron wire is cut off by the cutting mechanism, the cutting mechanism is driven by the cutting motor, the rotation of the gear is converted into the up-down reciprocating motion of the rack through the cooperation of the driving cutting gear and the driven cutting rack, the blade is installed at the end of the rack, the whole cutting mechanism is located between the wire feeding gear set and the second iron wire guide, and the blade is attached to the iron wire inlet end of the second iron wire guide;

[0034] Step four: the mechanical arm moves the binding mechanism to the above of the next intersection of the transverse steel bar and the longitudinal steel bar, and the steps one to three are repeated;

[0035] Step five: the binding of all intersections of the transverse steel bar and the longitudinal steel bar is completed in turn.

[0036] The beneficial effects of the present application are:

[0037] 1. At present, the automation degree of steel bar binding in China is low, and the labor intensity of workers is high, the present application makes up for the disadvantages brought by the extensive labor-intensive industry in China to a certain extent, and provides ideas and experience for realizing the automation and intelligentization of steel bar binding in the construction industry in China.

[0038] 2. The binding precision is guaranteed, and the binding quality is significantly improved, in order to prevent the robot from missing the steel bar binding node and improve the accuracy, the present application designs a steel bar template for placing the steel bar, through importing the template parameters, the binding robot can realize preliminary coordinate positioning of the binding node, then the industrial camera on the binding mechanism is used to rely on the visual system for secondary accurate positioning.

[0039] 3. High degree of automation, ensure production efficiency, the intelligent control system designed in the application can greatly reduce the labor time of workers, the addition of wireless communication equipment also realizes the simultaneous operation and monitoring of workers on multiple devices. On the basis of large-scale production, the use of automated equipment can greatly improve the production capacity of enterprises.

[0040] 4. The application improves the existing handheld steel bar binding device, optimizes the internal structure, so that it can adapt to automatic production, and has simple and feasible structure, convenient maintenance and high economy.

[0041] 5. The application uses a lead screw sliding table as a moving mechanism, which has high precision, fast acceleration response, short positioning time, strong dynamic performance and high rigidity. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 is the overall schematic diagram of the application,

[0043] Figure 2 is the schematic diagram of the binding mechanism of the application,

[0044] Figure 3 is the schematic diagram of the moving frame of the application,

[0045] Figure 4 is the schematic diagram of the steel bar formwork of the application,

[0046] Figure 5 is the schematic diagram of the cutting mechanism of the application,

[0047] Figure 6 is the schematic diagram of the wire feeding mechanism of the application.

[0048] In the figure: 1-bearings, 2-small gantry, 3-horizontal steel bar material box, 4-binding mechanism, 5-vertical steel bar material box, 51-screw end seat, 52-screw, 53-screw ball, 6-moving sliding table, 61-guide rail, 7-steel bar formwork, 8-telescopic arm, 9-industrial vision camera, 10-steel bar positioner, 11-wire twisting winch, 12-third motor, 13-wire guide head, 14-reduction gear, 15-fourth motor, 16-first wire guide rail, 17-wire feeding gear set, 18-wire tightening mechanism, 19-third wire guide rail, 20-second wire guide rail, 21-mechanical clamp head, 22-hollow circular pipe, 23-wire groove, 24-driving wire feeding gear, 25-following wire feeding gear, 26-movable frame, 261-upper plate, 262-lower plate, 263-moving channel, 27-vertical steel bar positioning block, 28-horizontal steel bar positioning block, 29-bottom plate, 31-spring, 33-cutting motor, 34-driving cutting gear, 35-following cutting rack, 36-blade. EMBODIMENT

[0049] The application will be described in further detail below with reference to the drawings. The drawings are simplified schematic diagrams and only show the basic structure of the application in a schematic manner, and thus only show the components relevant to the application.

[0050] As shown in the drawings, the box girder reinforcement cage intelligent binding robot of the application comprises: Figure 1

[0051] The load-bearing platform 1 provides a support surface and a working space for the entire robot. The bottom of the load-bearing platform 1 can be provided with support legs to stand on the ground and provide a certain operating height. All other devices are arranged above the load-bearing platform 1.

[0052] The reinforcement template 7 is used for positioning the reinforcement. The reinforcement positioner 10 is arranged on the top surface of the reinforcement template 7 and is used for positioning the position of the reinforcement. The reinforcement template 7 comprises a bottom plate 29 and a reinforcement positioner 10 arranged on the bottom plate 29. The reinforcement positioner 10 comprises a plurality of transverse reinforcement positioning blocks 28 and a plurality of longitudinal reinforcement positioning blocks 27. Every two transverse / longitudinal reinforcement positioning blocks form a row to form a transverse / longitudinal reinforcement row limiting groove. When used, the transverse reinforcement and the longitudinal reinforcement are respectively placed and fixed in the transverse / longitudinal reinforcement row limiting groove. When binding, the reinforcement can maintain a stable relative position and will not deviate, thereby ensuring that the box girder reinforcement cage after binding and forming meets the specifications.

[0053] In order to realize the movement of each part in the mechanism to realize the corresponding function, a plurality of movement mechanisms are arranged, specifically:

[0054] The moving slide table 6 is arranged on the top surface of the load-bearing platform 1 and drives the movement of the reinforcement template 7. The moving slide table 6 comprises two guide rails 61. The guide rails 61 extend from one end to the other end in the longitudinal direction of the load-bearing platform 1. The reinforcement template 7 is arranged on the guide rails 61 and can move along the guide rails 61. The driving mode can be various, and an embodiment is given as follows. For example, a belt drive, a gear drive, a belt transmission, a belt pulley arranged at both ends of the moving slide table 6, a motor driving one of the belt pulleys, the reinforcement template 7 fixedly connected with the belt, the belt pulley driven to rotate by the motor, the belt driven to move, and the reinforcement template 7 driven to move synchronously. Or the belt pulley is replaced by a gear, and the belt is replaced by a chain. Or the moving slide table 6 is provided with a rack and a guide rail parallel to the rack. The bottom of the moving slide table 6 is provided with a gear engaged with the rack. The gear is provided with a driving motor. The motor drives the gear to rotate, and then the rack is displaced, thereby driving the movement of the reinforcement template 7.

[0055] ​The longitudinal steel material box 5 and the transverse steel material box 3 are arranged above the moving slide 6 and are used to cross the steel bars to the steel bar template 7. The transverse steel material box 3 is horizontally arranged on the bearing table 1 and is in a fixed state. When the steel bar template 7 passes below the transverse steel material box 3, each transverse steel bar discharge limiting groove is vertically below the transverse steel material box 3, and the transverse steel material box 3 puts the transverse steel bars into the corresponding transverse steel bar discharge limiting groove.

[0056] The longitudinal steel material box 5 is in a movable state, the longitudinal steel material box 5 is arranged on a lead screw mechanism, the lead screw mechanism includes two parallel lead screws 52 horizontally arranged above the bearing table, lead screw end seats 51 at both ends of the lead screws 52, and lead screw balls 53 penetrating through the lead screws 52, both ends of the longitudinal steel material box 5 are fixed with the corresponding lead screw balls 53, the lead screw end seats 51 are arranged at the edge positions of the bearing table 1, one end of each lead screw 52 is provided with a first motor, the first motor drives the lead screw 52 to rotate, thereby driving the longitudinal steel material box 5 to move along the lead screw 52. When the steel bar template 7 is vertically below the longitudinal steel material box 5, the longitudinal steel material box 5 moves in turn through the longitudinal steel bar discharge limiting grooves on the steel bar template 7, and the steel bars are prepared to be positioned and put into the longitudinal steel bar discharge limiting grooves.

[0057] The longitudinal steel material box 5 is arc-shaped, the longitudinal steel positioning blocks 27 are arranged at the positions close to both ends of the bottom plate 29, and the upper surfaces of the longitudinal steel positioning blocks 27 are provided with arc-shaped grooves. The arc-shaped steel bars are clamped in the arc-shaped grooves, so that the positions are stable during the binding process, a plurality of rows of arc-shaped steel bars and a plurality of rows of straight steel bars are crossed, and the box girder steel bar framework is formed after being fixed and bound.

[0058] The small gantry 2 is arranged above the moving slide 6 and is used to support and move the binding mechanism 4; the industrial vision camera 9 is arranged on the small gantry 2 and is arranged on the side of the binding mechanism 4 and is used for visual identification and positioning. The small gantry 2 is located at the downstream end of the longitudinal steel material box 5 and the transverse steel material box 3, and the steel bar template 7 can move through below the small gantry 2, the longitudinal steel material box 5 and the transverse steel material box 3.

[0059] The mechanism for realizing that the small gantry 2 can move longitudinally along the bearing table is that the bearing table 1 is provided with longitudinal lead screws extending along the length thereof at the positions close to both side edges, the small gantry 2 is provided with gantry lead screw balls sleeved on the longitudinal lead screws below, both ends of the longitudinal lead screws are provided with lead screw end seats, and the outer side of the lead screw end seat at any one end is provided with a second motor connected with the longitudinal lead screw, and the second motor drives the longitudinal lead screw to rotate.

[0060] The binding mechanism 4 is the core mechanism of the mechanism, which embodies the highest unique mechanism design unit of artificial intelligence automation. The binding mechanism 4 is arranged on the telescopic arm of the small gantry 2 and is used for binding the steel bar intersection node. The telescopic arm 8 is provided with an industrial vision camera 9 near the lower end side, which is used for video recording, focusing and positioning during the whole working process. The specific structure is as follows:

[0061] The binding mechanism 4 is suspended below the small gantry 2 through the telescopic arm 8. The telescopic arm 8 can walk along the beam of the small gantry 2 through the walking mechanism.

[0062] The binding mechanism 4 includes a wire winding winch 11, a first wire guide rail 16, a wire feeding gear set 17, a second wire guide rail 20, a third wire guide rail 19, a wire guide head 13, a mechanical clamp head 21 and a wire tightening mechanism 18. The first wire guide rail 16 is a cylinder or a rectangular body with a through hole in the center. The inlet end of the through hole is opposite to the pay-off end of the wire winding winch 11, and the outlet end is opposite to the middle of the wire feeding gear set. The wire feeding gear set 17 includes two meshing and relatively rotating wire feeding gears. The circumferential surface of the wire feeding gear is provided with a wire groove 23. The wire passes through the wire groove 23. The middle downstream side of the wire feeding gear set is opposite to the second wire guide rail 20. The wire outlet end of the second wire guide rail 20 is provided with a downward arc-shaped wire guide head 13. The wire tightening mechanism 18 is arranged directly below the second wire guide rail 20. The wire tightening mechanism 18 includes a hollow circular tube 22 arranged horizontally and a mechanical clamp head 21 arranged near the end of the hollow circular tube 22. The third wire guide rail 19 is hollow and has a communication channel with the hollow circular tube 22. The third wire guide rail 19 is located below the hollow circular tube 22.

[0063] The power end of the mechanical clamp head 21 is connected with a speed reducer 14. The speed reducer 14 is connected with a driving gear. The driving gear is connected with a fourth motor 15.

[0064] The binding mechanism 4 further includes a fixed frame and a movable frame 26.

[0065] One of the wire feeding gears is a driving wire feeding gear 24, and the other is a driven wire feeding gear 25. The driving wire feeding gear 24 is connected with a third motor 12. The two wire feeding gears are horizontally arranged in the movable frame 26. The movable frame 26 includes parallel upper and lower plates 261 and 262. The two wire feeding gears are horizontally arranged between the upper and lower plates 261 and 262. The driven wire feeding gear 25 is fixed at one end of the movable frame 26 through a center bearing. The other end of the movable frame 26 is provided with a spring 31. The upper and lower plates 261 and 262 are provided with a moving channel 263 near the side of the spring. The center shaft of the driving wire feeding gear 24 is located in the moving channel 263. The free end of the spring 31 abuts against the fixed frame.

[0066] The fixed frame passes through the movable channel 263 , and the first wire guide rail 16 , the second wire guide rail 20 , the third wire guide rail 19 , the wire guide head 13 , the mechanical clamp head 21 and the wire tightening mechanism 18 are all fixed relative to the fixed frame.

[0067] When in use, a rolled wire is wound on the wire-tying winch 11, one end of the wire is released, and it passes through the first wire guide rail 16. After being straightened by the first wire guide rail 16, it enters the gear set, is further straightened, and is transmitted forward, and then enters the second wire guide rail 20. After the wire head comes out of the second wire guide rail 20, it hits the wire guide head 13 at the front end. Under the action of the arc-shaped wire guide head 13, the wire changes its straight path, bends downward, and continues to move downward until it hits the steel bar template 7 below. At this time, the wire The wire goes down from one side of the intersection of the transverse reinforcement, and the wire is redirected again, bent and moved upward. At this time, the wire goes up from one side of the intersection of the transverse reinforcement and enters the third wire guide rail 19. The wire continues to move upward and enters the wire tightening mechanism 18, passes through the center of the mechanical clamp head 21, moves to the top of the wire tightening mechanism 18, bends downward, and passes through the center of the mechanical clamp head 21 again. At this time, the mechanical clamp head 21 rotates, twists the wire several times, and tightens it at the intersection of the transverse reinforcement and the longitudinal reinforcement to form a bundle structure. The bundled wire is then cut off by a cutting mechanism. The cutting mechanism is driven by a cutting motor 33, and the active cutting gear 34 is matched with a driven cutting rack 35 to convert the rotation of the active cutting gear 34 into an up and down reciprocating motion of the driven cutting rack 35. The end of the driven cutting rack 35 is equipped with a blade 36. The entire cutting mechanism is located between the wire feeding gear assembly 17 and the second wire guide rail 20, and the blade 36 is in contact with the wire inlet end of the second wire guide rail.

[0068] Then, the binding mechanism 4 is moved to the next intersection of the steel bar and the longitudinal steel bar by the mechanical arm to start working.

[0069] With the above-described preferred embodiments of the present invention as a guide, and with reference to the above description, relevant personnel are fully capable of making various changes and modifications without departing from the technical scope of this invention. The technical scope of this invention is not limited to the contents of the specification and must be determined according to the scope of the claims.

Claims

1. An intelligent tying robot for box girder reinforcement frames, characterized by: include: A load-bearing platform (1) provides a support surface and working space for the entire robot; Steel bar template (7), used for placing and positioning steel bars; A steel bar locator (10) is provided on the top surface of the steel bar template (7) and is used to locate the position of the steel bar; A movable slide (6) is provided on the top surface of the load-bearing platform (1) to drive the steel bar template (7) to move; A longitudinal steel bar material box (5) and a transverse steel bar material box (3) are arranged above the movable slide (6) and are used to place the steel bars crosswise on the steel bar template (7); A small gantry (2) is provided above the movable slide (6) and is used to support and move the lashing mechanism (4); A binding mechanism (4) is provided on the telescopic arm of the small gantry (2) and is used for binding the cross nodes of the steel bars; an industrial visual camera (9) is provided on the side of the binding mechanism (4) and is used for visual recognition and positioning; The small gantry (2) is located at the downstream end of the longitudinal steel bar material box (5) and the transverse steel bar material box (3), and the steel bar template (7) can move and pass under the small gantry (2), the longitudinal steel bar material box (5) and the transverse steel bar material box (3); The steel bar template (7) includes a base plate (29) and a steel bar positioner (10) arranged on the base plate (29), the steel bar positioner (10) including a plurality of transverse steel bar positioning blocks (28) and a plurality of longitudinal steel bar positioning blocks (27), and every two transverse / longitudinal steel bar positioning blocks form a row to form a transverse / longitudinal steel bar arrangement limiting groove; The longitudinal steel bar material box (5) is arc-shaped, and the longitudinal steel bar positioning blocks (27) are arranged at positions close to both ends of the bottom plate (29), and arc-shaped grooves are provided on the upper surfaces of the longitudinal steel bar positioning blocks (27).

2. The intelligent box girder reinforcement skeleton tying robot according to claim 1 is characterized in that: The movable slide (6) comprises two guide rails (61), wherein the guide rails (61) extend from one end to the other end of the load-bearing platform (1) in the longitudinal direction, and the steel bar template (7) rides on the guide rails (61) and can move along the guide rails (61).

3. The intelligent box girder reinforcement skeleton tying robot according to claim 1 is characterized in that: The longitudinal steel bar material box (5) is arranged on a screw mechanism, and the screw mechanism includes two parallel screw rods (52) spanning above the bearing platform, and screw rod end seats (51) at both ends of the screw rods (52) and screw rod balls (53) passing through the screw rods (52); the two ends of the longitudinal steel bar material box (5) are respectively fixed to the screw rod balls (53) at the corresponding ends, the screw rod end seats (51) are arranged near the edge of the bearing platform (1), and a first motor is arranged at one end of each screw rod (52), and the first motor starts the screw rod (52) to rotate.

4. The intelligent box girder reinforcement skeleton tying robot according to claim 1 is characterized in that: The load-bearing platform (1) is provided with longitudinal screw rods extending along its length near the edges of both sides, and a gantry screw rod ball is provided below the small gantry (2) and is sleeved on the longitudinal screw rods. Both ends of the longitudinal screw rods are provided with screw rod end seats, and a second motor connected to the longitudinal screw rod is provided on the outer side of the screw rod end seat at either end, and the second motor drives the longitudinal screw rod to rotate.

5. The intelligent box girder reinforcement skeleton tying robot according to claim 1 is characterized in that: The lashing mechanism (4) is suspended below the small gantry (2) via a telescopic arm (8), and the telescopic arm (8) is driven by a screw slide on a crossbeam of the small gantry to move forward and backward along the crossbeam of the small gantry (2); The binding mechanism (4) includes a wire binding capstan (11), a first wire guide rail (16), a wire feeding gear set (17), a cutting mechanism (37), a second wire guide rail (20), a third wire guide rail (19), a wire guide head (13), a mechanical clamp head (21) and a wire tightening mechanism (18). The first wire guide rail (16) is a cylinder or a rectangular body with a through hole in the center. The inlet end of the through hole faces the wire-releasing end of the wire binding capstan (11), and the outlet end faces the middle of the wire feeding gear set. The wire feeding gear set (17) includes two meshing wire feeding gears that rotate relative to each other. The circumferential surface of the wire feeding gear is provided with a wire groove, and the wire passes through the wire groove. The cutting mechanism (37) is located between the wire feeding gear set (17) and the second wire guide rail (20), and includes a motor and a pair of gears and a gear that mesh with each other. The blade is installed at the end of the rack, the middle downstream side of the wire feeding gear group (17) is opposite to the second wire guide rail (20), the wire outlet end of the second wire guide rail (20) is provided with a wire guide head (13) bent in a downward arc, the wire tightening mechanism (18) is arranged directly below the second wire guide rail (20), the wire tightening mechanism (18) includes a horizontally arranged hollow circular tube (22) and a mechanical clamp head (21) arranged near the end of the center of the hollow circular tube (22), the interior of the third wire guide rail (19) is hollow and there is a connecting channel between the third wire guide rail (19) and the hollow circular tube (22), and the third wire guide rail (19) is located below the hollow circular tube (22); the power end of the mechanical clamp head (21) is connected to the reduction gear, the reduction gear is meshed with the driving gear, and the driving gear is connected to the fourth motor (15).

6. The intelligent box girder reinforcement skeleton tying robot according to claim 5 is characterized in that: The binding mechanism (4) further comprises a fixed frame and a movable frame (26); one of the wire feeding gear sets (17) is an active wire feeding gear (24) and the other is a driven wire feeding gear (25); the active wire feeding gear (24) is connected to the third motor (12); the two wire feeding gears are placed horizontally and arranged in the movable frame (26); the movable frame (26) comprises a parallel upper plate (261) and a lower plate (262); the two wire feeding gears are placed horizontally between the upper plate and the lower plate; the driven wire feeding gear (25) is fixed to the movable frame (26) through a central bearing 6), a spring (31) is provided on the inner side of the other end of the movable frame (26), a movable channel (263) is opened on the side of the upper plate and the lower plate close to the spring, the central axis of the active wire feeding gear (24) is located in the movable channel (263), the free end of the spring (31) abuts against the fixed frame, and the fixed frame passes through the movable channel (263), and the first wire guide rail (16), the second wire guide rail (20), the third wire guide rail (19), the wire guide head (13), the mechanical clamp head (21) and the wire tightening mechanism (18) are all fixed relative to the fixed frame.

7. The intelligent box girder reinforcement skeleton tying robot according to claim 5 is characterized in that: A cutting mechanism is provided between the wire feeding gear set (17) and the second wire guide rail (20), and the cutting mechanism comprises a cutting motor (33), an active cutting gear (34), a driven cutting rack (35) and a blade (36). The active cutting gear (34) is fixed on the output shaft of the cutting motor (33), the active cutting gear (34) and the driven cutting rack (35) are meshed and connected, and the blade (36) is fixed on one side of the driven cutting rack (35), and drives the driven cutting rack (35) to synchronize the blade (36) to reciprocate horizontally, and the blade (36) is in contact with the wire inlet end of the second wire guide rail.

8. A bundling method implemented by the intelligent bundling robot for box girder reinforcement frames according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step 1: A rolled wire is wound on the wire-binding capstan (11), one end of the wire is released, and the wire is passed through the first wire guide rail (16). After being straightened by the first wire guide rail (16), the wire enters the gear set, is further straightened, and is transmitted forward; Step 2: The iron wire enters the second iron wire guide rail (20), and after the iron wire head comes out of the second iron wire guide rail (20), it hits the iron wire guide head (13) at the front end. Under the action of the arc-shaped iron wire guide head (13), the iron wire changes its straight path, bends downward, and continues to move downward until it hits the steel bar template (7) below. At this time, the iron wire goes down from one side of the intersection of the transverse steel bars. The iron wire is changed in direction again, bends and moves upward. At this time, the iron wire goes up from one side of the intersection of the transverse steel bars and enters the third iron wire guide rail (19). The iron wire continues to move upward and enters the tightening mechanism (18), passes through the center of the mechanical clamp head (21), moves to the top of the tightening mechanism (18), bends downward, and passes through the center of the mechanical clamp head (21) again. At this time, the mechanical clamp head (21) rotates, twists the iron wire several times, and tightens it at the intersection of the transverse steel bars and the longitudinal steel bars to form a binding structure. Step 3: The cutting mechanism cuts off the bundled wires. Under the drive of the cutting motor (33), the cutting mechanism converts the rotational motion of the gear into the up and down reciprocating motion of the rack through the cooperation of the active cutting gear (34) and the driven cutting rack (35). A blade (36) is installed at the end of the rack. The entire cutting mechanism is located between the wire feeding gear set (17) and the second wire guide rail (20). The blade (36) is in contact with the wire inlet end of the second wire guide rail. Step 4: The robotic arm moves the binding mechanism (4) to the intersection of the next transverse reinforcement and the longitudinal reinforcement, and repeats steps 1 to 3; Step 5: Complete the bundling of all intersections of transverse and longitudinal reinforcements in sequence.

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