A smart rebar tying machine for robots

Abstract

This invention relates to the field of building automation equipment technology, specifically to an intelligent rebar tying machine for robots, comprising a gripper module and a tightening mechanism module. The gripper module includes a wire feeding mechanism unit and a guide rail unit, which can feed out and twist the wire to wrap around the rebar node and automatically cut the wire. The tightening mechanism module includes a planetary gear set unit and a lead screw unit, which can drive the wire gripper to move up and down, clamp and twist the wire. This invention has low production costs, and the wire feeding mechanism with a double gear structure avoids the problem of wire feeding failure. The wire feeding guide rail scheme with a single-sided hook can be adapted to rebar nodes of different diameters and distributions. It has a wide range of applications. Through various labor-saving mechanical structures, the required specifications of each power unit can be reduced, making it easier to miniaturize and better adapt to use with automatic robots or robotic arms.

Description

Technical Field

[0001] This invention relates to the field of building automation equipment technology, specifically to an intelligent rebar tying machine for robots. Background Technology

[0002] With the continuous development of infrastructure construction both domestically and internationally, the demand for construction is enormous, making the binding of rebar joints in reinforced concrete structures a tedious and repetitive task. Due to the complexity of the rebar mesh structure and the large number of joints, the binding process is extremely cumbersome. Although manual rebar binding offers high precision, its low efficiency, heavy workload, high cost, poor quality, and low safety factor cannot be ignored. Using handheld rebar binding machines requires frequent squatting and movement, which can lead to joint injuries for workers. Currently, especially in medium and large-scale underground construction projects, manual labor remains the primary binding method, resulting in high labor intensity, significant physical exertion, and low work efficiency. According to an analysis of Chinese construction projects under climate change risks, the frequency and intensity of global climate change are currently on the rise. When binding rebar in complex outdoor environments, workers are further affected by adverse weather conditions, further reducing binding efficiency. Research also indicates that manual rebar tying for the foundation slab accounts for approximately 30% of the overall foundation construction time, making it a significant time-consuming step in building construction. While some existing technologies utilize robots for rebar tying, the end effectors of commonly used rebar tying robots are typically modified from traditional tying guns, lacking intelligent tying guns for binding rebar of different diameters. With the rise of intelligent construction, China is gradually adopting intelligent robots to replace manual labor in building construction, significantly reducing labor costs, solving the problem of low tying efficiency, and improving operational safety. This signifies substantial progress in technological innovation and efficiency improvement within the construction industry.

[0003] To address the problems with rebar tying guns at the end effector of robots, existing patent literature has proposed some solutions. For example, Chinese patent application number 202111181697.3 discloses a portable rebar tying device, consisting of a base plate, a lifting component, a mounting platform, a tying component, and a feeding component. It can simultaneously tie the four corners of the stirrups, but this mechanism is relatively large and unsuitable for use at the end effector of robots. Another Chinese patent application number 202111181697.3 discloses a multifunctional rebar tying hook, including a hook body and a handle. It can be extended and connected to a conventional hook to adapt to tying operations in various environments, and a sickle-shaped metal hook can be integrated into a conventional single hook to improve the efficiency of removing tied wires. However, this tool has a single function and is not an automated device, making it difficult to design and improve for use at the end effector of robots. Chinese Patent Application No. 202110297770.7 discloses a handheld rebar tying tool, including a storage box, threads, a linkage mechanism for opening movement, a pushing mechanism, a sliding handle, and a screw hook unlocking mechanism. This tool reduces injury to the user during tying. However, its overall rebar tying mechanism is simple, making it difficult to tie rebars of different diameters and distributions at intersections. Chinese Patent Application No. 201811457811.9 discloses a rebar tying device for construction engineering, including a pull ring, wire, connecting plate, spring, tying hook, bracket, fixing block, fixing rod, protective plate, and fixing hole. This device solves the problem of lacking protective devices in existing rebar tying devices and has a reasonable structure. However, it requires manual operation by construction workers, has a low degree of automation, and is unlikely to be improved for use in automated construction sites.

[0004] In summary, current rebar tying technology relies heavily on handheld tools, making it difficult to fully utilize in robotic end-effectors. Existing rebar tying methods typically involve tightening multiple turns of wire, resulting in material waste. The domestic construction industry lags significantly behind international counterparts in the intelligence and automation of rebar tying equipment. Improvements to rebar tying machines specifically designed for robotic end-effectors are primarily limited to simple modifications of handheld devices, with relatively little advancement in the underlying mechanisms. New research and innovation efforts should focus on improving the applicability of robotic end-effectors, reducing material waste, and achieving greater improvements in their underlying mechanisms to drive the level of intelligence and automation in the domestic construction industry. Summary of the Invention

[0005] The purpose of this invention is to provide a novel intelligent rebar tying machine specifically for robots, which addresses the shortcomings of existing rebar tying machines, enables the tying of rebars of different diameters and distribution patterns at intersections, and is applicable to the working end of mobile robots.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A robotic intelligent rebar tying machine includes a gripper module and a tightening mechanism module fixedly connected to each other. The gripper module includes a wire feeding mechanism unit, and a guide rail unit is provided in cooperation with the wire feeding mechanism unit. The wire feeding mechanism unit includes a pair of meshing wire feeding gears. The guide rail unit includes an internal guide rail that cooperates with the wire feeding gears. The inlet end of the internal guide rail is located directly below the wire feeding gears. A curved guide rail is fixedly connected to the end of the internal guide rail. The end of the curved guide rail is provided with a wire outlet located below the tightening mechanism module. A cutter is provided at the end of the internal guide rail. A wire gripper is connected to the end of the tightening mechanism module and is located vertically above the wire outlet.

[0008] Preferably, the wire feeding mechanism unit includes a wire feeding mechanism unit housing, and a wire feeding gear is disposed inside the wire feeding mechanism unit housing; a circular wire disc that meshes with the wire feeding gear is rotatably disposed inside the wire feeding mechanism housing, and an iron wire is wound on the circular wire disc; an iron wire guide groove is disposed inside the wire feeding mechanism unit housing, and a channel structure that is interference-fitted with the iron wire is disposed inside the iron wire guide groove; the inlet end of the iron wire guide groove is disposed on one side of the circular wire disc, and the outlet end is disposed directly above the intersection point of the driving gear and the driven gear.

[0009] Preferably, the driving gear and driven gear of the wire feeding gear have grooves for feeding wire on their sides facing each other, and the driving gear is connected to a motor unit; a gear rod is rotatably mounted on the housing of the wire feeding mechanism unit, the shaft of the gear rod is located in the middle section, and one end of the gear rod is rotatably connected to the driven gear through a shaft hole structure; a torsion spring is provided in cooperation with the free end of the gear rod, and the torsion spring is wound around a torsion spring shaft fixedly mounted inside the housing of the wire feeding mechanism unit; one end of the torsion spring is fixedly connected to the housing of the wire feeding mechanism unit, and the other end is in contact with the free end of the gear rod; the torsion spring and the driving gear are both located on the same side of the gear rod.

[0010] Preferably, both the internal guide rail and the curved guide rail are set on the inner guide rail plate, and a pair of double-sided guide rail plates are fixedly connected to both sides of the inner guide rail plate.

[0011] Preferably, the double-sided guide rail plates are provided with cavities that cooperate with the cutting blade, and the cutting blade is disposed in the cavity; one end of the cutting blade is rotatably connected to the inner guide rail plate, and the other end is provided with a sliding groove; the double-sided guide rail plates are provided with cutting blade pads, and the cutting blade pads cooperate with the cutting blade head to cut the iron wire; the motor unit includes a servo motor, and the free end of the servo motor's swing arm is provided with a connecting shaft, which is slidably connected to the sliding groove of the cutting blade, so that when the servo motor drives the swing arm to swing, it will drive the cutting blade to swing together.

[0012] Preferably, the tightening mechanism module includes a housing unit, inside which a planetary gear set unit is provided, and the output end of the planetary gear set unit is connected to a lead screw unit; at the end of the lead screw unit, a wire gripper that cooperates with the guide rail unit is provided.

[0013] Preferably, the planetary gear set includes a gear ring, a sun gear is disposed at the center of the gear ring, the sun gear is connected to the gear ring through multiple planet gears, and the multiple planet gears are connected through a planet carrier; the sun gear includes a pair of upper gears and lower gears connected by a shaft, the lower gears meshing with the planet gears as the sun gear; the output shaft of the drive motor is connected to a motor rod, and a gear that meshes with the upper gears is disposed on the motor rod.

[0014] Preferably, a planetary carrier retaining ring is integrally connected to the bottom of the gear ring, and the planetary carrier retaining ring has a regular polygonal shell structure; a telescopic motor is horizontally fixed inside the shell unit, and the output shaft of the telescopic motor is oriented towards the planetary carrier retaining ring; a blocking block is provided at the end of the output shaft of the telescopic motor, and the end face of the blocking block cooperates with the side of the planetary carrier retaining ring; a lead screw fixing rod is provided inside the planetary carrier retaining ring, and the lead screw fixing rod is fixedly connected to the top of the lead screw.

[0015] Preferably, a rotating shaft is movably connected to the end of the lead screw, and a rotating shaft sleeve is fitted on the outer side of the lead screw and the rotating shaft; a pair of lead screw clamps are fixedly installed on the inner side wall of the rotating shaft sleeve, and the threaded structure of the lead screw clamps and the lead screw mesh with each other; a wire claw is connected to the end of the rotating shaft, and the wire claw includes a pair of symmetrically arranged L-shaped claws, the middle section of each L-shaped claw is rotatably connected to both ends of the rotating shaft sleeve through a pair of symmetrical positioning rods, and the top end of each claw is rotatably connected to the rotating shaft through a rod.

[0016] Preferably, the side of the rotating shaft sleeve is provided with an outer groove along the length direction, and a limit reset block is provided in cooperation with the outer groove; the limit reset block has a dumbbell-shaped structure, and a compression spring is provided between its inner end and the inner wall of the outer shell unit; a contact switch is fixedly provided inside the outer shell unit, and a contact switch pressure plate is provided on the lead screw in cooperation.

[0017] The beneficial effects of this invention are as follows:

[0018] This invention uses a double-gear wire feeding scheme in the wire feeding mechanism unit. Compared with the traditional single-gear wire feeding, the double-gear wire feeding adopts a design with a fixed driving wheel and a movable driven wheel, which avoids problems such as failure to feed wire and deviation in wire feeding length due to excessive friction of the wire during the wire feeding process. The movable driven gear structure with pressure from the torsion spring is easy to disassemble, maintain and process, with low maintenance cost and conforms to green manufacturing.

[0019] This invention adopts a single-sided hook claw wire feeding guide structure, which can bind the intersection of steel bars with different diameters and distribution patterns. Unlike traditional steel bar binding guns, which are limited by the diameter limit of double-sided hook claw structures, this invention greatly expands the applicable working range.

[0020] This invention employs multiple labor-saving mechanical structures. The cutting blade uses a lever structure design, requiring only a small force applied by the servo motor to generate a large shearing force at the blade tip, easily and quickly cutting the wire. The sun gear of the planetary gear set uses a double gear structure with a single-stage transmission planetary gear, achieving a transmission efficiency of 97-99%. It also amplifies the output torque of the drive motor, making its output torque approximately 4.5 times the input torque, resulting in extremely high efficiency in tightening wire. Through these labor-saving mechanical structures, not only can the motor output power be amplified, but the size of the motor unit can also be minimized as much as possible while meeting usage requirements, making it easier to adapt and install on rebar tying robots.

[0021] This invention is highly applicable. The multiple mechanisms in the claw module and the tightening mechanism module work in a multi-level linkage and close cooperation. It can be installed at the end of a mobile robot or a mobile robotic arm. It has a high degree of automation and high work efficiency. The structure of this invention is reasonable and compact, the equipment occupies little space, the safety is high, the end effector is easy to replace, and the operation and maintenance are simple. It can overcome the defects of the prior art. Attached Figure Description

[0022] Figure 1 This is the front view of the present invention;

[0023] Figure 2 This is a schematic diagram of the internal structure of the claw module of the present invention;

[0024] Figure 3 This is a schematic diagram of the internal structure of the wire feeding mechanism unit of the present invention;

[0025] Figure 4 This is a schematic diagram of the internal structure of the guide rail unit of the present invention;

[0026] Figure 5 This is a schematic diagram of the working state structure of the guide rail unit cutting blade of the present invention;

[0027] Figure 6 This is a colored image of the guide rail unit of the present invention;

[0028] Figure 7 A partially transparent colored image of the guide rail unit of the present invention:

[0029] Figure 8 This is a schematic diagram of the motor unit structure of the present invention;

[0030] Figure 9 This is a schematic diagram of the internal structure of the tightening mechanism module of the present invention;

[0031] Figure 10 This is a schematic diagram of the internal structure of the planetary gear set unit of the present invention;

[0032] Figure 11This is a schematic diagram of the internal structure of the lead screw unit of the present invention;

[0033] Figure 12 This is a schematic diagram of the outer shell unit structure of the present invention;

[0034] Figure 13 This is a schematic diagram of the cooperation structure between the limit reset block and the lead screw unit of the present invention.

[0035] In the diagram: 1. Claw module; 2. Tightening mechanism module; 3. Wire feeding mechanism unit; 4. Guide rail unit; 5. Motor unit; 6. Wire feeding mechanism unit housing; 7. Gear moving rod; 8. Driven gear; 9. Torsion spring; 10. Circular wire disc; 11. Inner guide rail plate; 12. Double-sided guide rail plate; 13. Wire outlet; 14. Wire guide block; 15. Cutting blade pad; 16. Bending guide rail; 17. Cutting blade; 18. Wire; 19. Internal guide rail; 20. Main gear drive motor; 21. Servo motor; 22. Planetary gear set unit; 23. Lead screw unit; 24. Housing unit; 25. 26. Lead screw retaining sleeve; 27. Drive motor; 28. Planetary gear set; 29. ​​Telescopic motor; 30. Blocking block; 31. Compression spring; 32. Snap ring; 33. Planetary carrier retaining ring; 34. Lead screw fixing rod; 35. Motor rod; 36. Lead screw; 37. Contact switch pressure plate; 38. Contact switch; 39. Limit reset block; 40. Spring; 41. Rotating shaft; 42. Positioning rod; 43. Inserting rod; 44. Wire claw; 45. Radial positioning ring; 46. Lead screw retaining block; 47. Rotating shaft bushing; 48. Retaining ring; 49. Left outer shell; 50. Right outer shell; 51. Rotating shaft bushing groove. Detailed Implementation

[0036] The following is a further explanation of the present invention in conjunction with specific embodiments, such as... Figure 1 As shown, this embodiment is an intelligent rebar tying machine for robots, which can be installed at the working end of a mobile robot or a mobile robotic arm to perform wire tying work on the intersection nodes of rebar mesh; it mainly includes two parts: a claw module 1 for storing and conveying wire, and a tightening mechanism module 2 for tightening wire.

[0037] like Figure 2 As shown, the claw module 1 mainly includes two parts: a wire feeding mechanism unit 3 for storing and conveying iron wire, and a guide rail unit 4 set at the bottom of the wire feeding mechanism unit 3. The guide rail unit 4 is used to twist the shape of the iron wire so that it can be tied to the rebar node. A motor unit 5 is set on the back of the wire feeding mechanism unit 3 and the guide rail unit 4 to provide working power for the above two units.

[0038] The internal structure of wire feeding mechanism unit 3 is as follows: Figure 3As shown, the device includes a wire feeding mechanism unit housing 6, with a circular wire spool 11 on one side of its top. The circular wire spool 11 stores the wire 19 used for binding reinforcing bars. The wire 19 is coiled inside the circular wire spool 11 and can be removed by rotating it. The wire feeding mechanism unit housing 6 has a wire guide groove structure with a channel inside that engages with the wire 19, allowing the wire 19 to pass through. The inlet end of the wire guide groove engages with the circular wire spool 11. The wire 19 fed from the circular wire disc 11 can enter the wire guide groove from the inlet end; the wire feeding gear structure is set below the circular wire disc 11. The wire feeding gear includes a pair of gears, namely the driving gear 9 and the driven gear 8. The outlet end of the wire guide groove is engaged with the wire feeding gear. The outlet end is set directly above the intersection of the driving gear 9 and the driven gear 8, so that the wire 19 output from the circular wire disc 11 can be guided by the wire guide groove and fed downward from directly above the wire feeding gear.

[0039] The driving gear 9 is located on the inner side of the housing 6 of the wire feeding mechanism unit and is installed in conjunction with the motor unit 5. It can rotate actively under the action of the motor unit 5. The driven gear 8 is rotatably mounted on the end of a gear rod 7. The middle section of the gear rod 7 is rotatably mounted on the housing 6 of the wire feeding mechanism unit, allowing it to rotate around a pivot axis. A torsion spring 10 is provided on one side of the other end of the gear rod 7. The torsion spring 10 is fixedly mounted on the housing 6 of the wire feeding mechanism unit via a torsion spring shaft, and one end of the spring is fixedly connected to the housing 6 of the wire feeding mechanism unit via a fixing structure. It is in contact with the free end of the gear movable rod 7; the torsion spring 10 and the driving gear 9 are located on the right side of the gear movable rod 7, so that when the gear movable rod 7 is pushed by the torsion spring 10 and rotates counterclockwise, the driven gear 8 will be pressed to the right and firmly meshed with the driving gear 9; the driving gear 9 and the driven gear 8 are both provided with grooves on their sides to cooperate with the wire 19, which can clamp the wire 19 and allow it to pass through. When the driving gear 9 rotates counterclockwise, the wire 19 will be pulled out from the circular wire disc 11 by the friction of the grooves on both sides and conveyed downward to the guide rail unit 4.

[0040] The structure of guide rail unit 4 is as follows Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, it is located at the bottom of the wire feeding mechanism unit 3; the overall structure of the guide rail unit 4 is as follows. Figure 12As shown, the system includes an inner guide plate 12, on which an internal guide rail 20 for accommodating and conveying an iron wire 19 is cut and installed, and a curved guide rail 17 connected to the end of the internal guide rail 20; a pair of double-sided guide plates 13 are fixedly installed on the front and rear sides of the inner guide plate 12, surrounding the internal guide rail 20 and the curved guide rail 17 within the double-sided guide plate 13, leaving only the inlet end and the wire outlet 14 to communicate with the outside; the curved guide rail 17 has an arc-shaped structure, and when the iron wire 19 passes through the curved guide rail 17, it will be bent and deformed into an arc shape, and then sent out of the guide rail unit 4 through the wire outlet 14; as the iron wire 19 passes through the curved guide rail 17, it will be bent and deformed into an arc shape, and then sent out of the guide rail unit 4 through the wire outlet 14; as the iron wire 19 passes through the curved guide rail 17, it will be conveyed to the inside of the guide rail unit 4. As wire 19 continues to be fed outward, it gradually wraps around the rebar node. A cavity is provided on the right side of the double-sided guide plate 13, and a cutting blade 18 is provided in the cavity. The bottom end of the cutting blade 18 is rotatably connected to the inner guide plate 12, allowing it to rotate around the bottom connection end. A blade head is provided at the bottom end of the cutting blade 18, facing the inner guide rail 20. On the other side of the inner guide rail 20, a cutting blade pad 16 that cooperates with the blade head is provided on the double-sided guide plate 13. The cutting blade pad 16 can be used to withstand the shearing force generated by the blade head and avoid damage to the guide rail. When the cutting blade pad 16 is worn, it is only necessary to replace the cutting blade pad 16.

[0041] like Figure 8 As shown, the motor unit 5 includes a main gear drive motor 21 and a servo motor 22. The output shaft of the main gear drive motor 21 is fitted with the drive gear 9 to drive the drive gear 9. The servo motor 22 is fitted with the cutter 18 to drive the cutter 18. Figure 4 As shown, the top of the cutting blade 18 is provided with a through groove, and the free end of the servo motor 22's swing arm is provided with a slider structure that mates with the through groove, allowing it to be installed within the through groove; when the servo motor 22's swing arm rotates, it will cause the top of the cutting blade 18 to swing along with it, as shown. Figure 5 As shown, when the swing arm swings to the high point on the left, it will push the cutter head to move to the left and enter the inner guide rail 20 to cut the wire 19 inside the inner guide rail 20.

[0042] like Figure 8 As shown, four locking blocks are evenly arranged on the back of the circular wire spool 11, and a contact switch that cooperates with the locking blocks is arranged on the back of the outer shell 6 of the wire feeding mechanism unit. When the circular wire spool 11 rotates and the locking blocks pass the contact switch, the contact switch is triggered to perform a count. Every four triggers of the contact switch indicate that the circular wire spool 11 has completed one revolution. By calculating the number of triggers of the contact switch, the number of revolutions of the circular wire spool 11 can be recorded, and the length of the wire 19 being fed can be calculated.

[0043] The structure of the tightening mechanism module 2 is as follows: Figure 9As shown, it includes a housing unit 25; the housing unit 25 is fixedly connected to the housing 6 of the wire feeding mechanism unit, and the claw module 1 and the tightening mechanism module 2 are connected together; a planetary gear set unit 23 is provided at the top of the housing unit 25, a lead screw unit 24 is connected below the planetary gear set unit 23, and a wire claw 44 is installed at the bottom of the lead screw unit 24 to clamp the cut wire 19.

[0044] The internal structure of planetary gear set unit 23 is as follows: Figure 10 As shown, it mainly includes a planetary gear set 28; the planetary gear set 28 includes a sun gear located at the center, a gear ring located on the outer side, and three planet gears that mesh with both the sun gear and the planet carrier; the planet gears are rotatably mounted via the planet carrier at the bottom, and the planet carrier is connected to the lead screw 36 in the lead screw unit 24 via a lead screw fixing rod 34; a planet carrier retaining ring 33 is fitted on the outer side of the planet carrier, and the planet carrier retaining ring 33 is integrally connected with the gear ring; a retaining spring 32 is provided on the inner side of the planet carrier retaining ring 33, and the retaining spring 32 connects the lead screw 36 and the planet carrier retaining ring 33; a compression spring 31 is fitted on the lead screw 36, and under the action of the compression spring 31, the lead screw unit 24 and the planetary gear set 28 are kept in close contact, preventing the lead screw unit 24 from falling off during rotation.

[0045] The sun gear of the planetary gear set 28 has a double gear structure, meaning that an upper gear is mounted on the shaft of the sun gear. The upper gear meshes with a gear fixedly mounted on the motor rod 35. The motor rod 35 is connected to the output shaft of the drive motor 27, allowing the output of the drive motor 27 to be transmitted to the sun gear of the planetary gear set 28 via the motor rod 35 and the upper gear, thereby driving the entire planetary gear set 28 to move. On the side of the planetary carrier retaining ring 33, a blocking block 30 is mounted perpendicularly to its central axis. The blocking block 30 is controlled by a telescopic motor 29 and can telescopically extend and retract in the horizontal direction. The horizontal cross-section of the planetary carrier retaining ring 33 is a regular octagon, and each side of it can engage with the blocking block 30. When the blocking block 30 engages with the side of the planetary carrier retaining ring 33 under the push of the telescopic motor 29, it can prevent the planetary carrier retaining ring 33 from rotating, thereby preventing the rotation of the gear ring of the planetary gear set 28.

[0046] The structure of lead screw unit 24 is as follows Figure 11As shown, the bottom section of the lead screw 36 is provided with a threaded section, and the end is movably connected to a rotating shaft 41; a rotating shaft sleeve 47 is sleeved on the outside of the threaded section of the lead screw 36 and the rotating shaft 41, and a radial positioning ring 45 is sleeved on the outside of the rotating shaft sleeve 47; a pair of lead screw blocks 46 are provided on the side wall of the rotating shaft sleeve 47, and the lead screw blocks 46 are fixed by the lead screw block fixing sleeve 26 to prevent them from falling off; the inner side of the lead screw blocks 46 is threaded with the lead screw 36, and when the lead screw 36 rotates, it will push the lead screw blocks 46, thereby driving the rotating shaft sleeve 47 to move up and down, converting the rotation of the lead screw 36 into the up and down movement of the rotating shaft sleeve 47.

[0047] The wire gripper 44 includes a pair of symmetrically arranged L-shaped claws, each with a positioning hole in its middle section and at its top. A rod 43 is located at the end of the rotating shaft 41, and a pair of positioning rods 42 are located at the end of the rotating shaft sleeve 47. The rod 43 passes through the positioning holes at the top of the two L-shaped claws, and the pair of positioning rods 42 pass through the positioning holes in the middle section of the two L-shaped claws, respectively. The wire gripper 44 is then mounted on the end of the lead screw unit 24. When the rotating shaft sleeve 47 moves downwards, since the position of the rod 43 (i.e., the rotating shaft 41) remains unchanged, the positioning rods 42 in the middle section move downwards, causing the wire gripper 44 to close inwards and clamp the wire 19.

[0048] A cavity is provided inside the housing unit 25, and a contact switch 38 is installed in the cavity; a contact switch pressure plate 37 is provided on the lead screw 36 in cooperation with the contact switch 38, and the contact switch pressure plate 37 is positioned above the contact switch 38, with the two being fitted with a clearance.

[0049] like Figure 13 As shown, a rotary shaft sleeve groove 51 is provided on the side of the rotary shaft sleeve 47, and a limit reset block 39 is provided in cooperation with the rotary shaft sleeve groove 51. The limit reset block 39 is installed on the outer shell unit 25 and passes through the outer shell unit 25. A hemispherical protruding arc block is provided on the inner side of the outer shell unit 25. A circular limit plate is provided on the edge of the protruding arc block. A compression spring 40 is provided between the limit plate and the inner side of the outer shell unit 25. When no outward pulling force is applied to the limit reset block 39, the spring 40 will press the protruding arc block into the rotary shaft sleeve groove 51, restricting the rotation of the rotary shaft sleeve 47. When the rotation is restricted, the wire claw 44 and the rotary shaft sleeve 51 cannot rotate, but can only move up and down. When the rotation is unrestricted, they can rotate together with the rotation of the lead screw 36.

[0050] like Figure 12As shown, the outer casing unit 25 mainly includes a pair of symmetrically arranged left outer casing 49 and right outer casing 50, which are used to install the tightening mechanism module 2 and are fixedly connected to the wire feeding mechanism unit casing 6 in the claw module 1; the top of the outer casing unit 25 is provided with six double-sided positioning holes for installing the binding and fixing plate.

[0051] In actual use, this embodiment can be installed on the working end of a mobile robot or a mobile robotic arm through the reserved mounting holes on the outer shell unit 25. Before working, the wire 19 is first coiled in the circular wire spool 11 for later use. After inserting the end of the wire 19 into the groove between the wire feeding gears and clamping it, the robot or robotic arm can be started to begin the binding work.

[0052] After the robot or robotic arm moves to the work area, the initial position of the single-sided hook structure of the gripper module 1 is located at the center between the four rebar intersections. After finding a suitable working angle, the robot drives the robot to move diagonally downwards to each of the four rebar intersections and hooks the intersections. Even if the rebar intersections are distributed differently, the robot can move to allow the binding machine to find a suitable angle to set the hook position. After setting the position, the wire feeding step is started. The main gear drive motor 21 drives the active gear 9 to rotate, conveying the wire 19 held between the active gear 9 and the driven gear 8 downwards to the guide rail unit 4. The wire 19 passes through the internal guide rail 20 and the curved guide rail 17 in the guide rail unit 4. When passing through the curved guide rail 17, the wire 19 is bent into an arc shape. As the wire 19 continues to be fed, the arc-shaped wire 19 will wrap around the rebar node, realizing the wire winding step.

[0053] At this time, the drive motor 27 rotates forward, driving the planetary gear set 28 to rotate, which in turn drives the lead screw 36 to rotate, causing the tightening mechanism module 2 to move downward, while the wire claw 44 gradually closes; during this process, the telescopic motor 29 drives the blocking block 30 to move, preventing the planetary carrier retaining ring 33 from rotating, while the end of the limit reset block 39 is stuck in the sliding groove 51 of the rotating shaft sleeve, preventing the rotating shaft sleeve 47 from rotating, at which time the rotating shaft 41 remains stationary; as the tightening mechanism module 2 gradually moves downward, the contact switch pressure plate 37 contacts the contact switch 38, and the contact switch 38 sends a signal to the servo motor 22; after receiving the signal, the servo motor 22 starts to work, driving the cutting blade 18 to work and cut the wire 19, completing the wire cutting step, at which point the wire is completely wrapped around the intersection of the steel bars.

[0054] As the tightening mechanism module 2 continues to move downward, the wire gripper 44 gradually clamps it in sync, ensuring that it can precisely grip the just-cut wire 19. At this time, the drive limit reset block 39 retracts outward, disengaging from the rotating shaft sleeve groove 51. The rotating shaft sleeve 47 then rotates along with the lead screw 36, thereby driving the wire gripper 44 to rotate as well. As the wire gripper 44 clamps the wire 19 and rotates, the wire is gradually tightened, completing the wire twisting step. During this stage, the planetary carrier retaining ring 33 is blocked and fixed, while the rotating shaft 41 rotates around its axis, but its vertical position remains unchanged.

[0055] Subsequently, the telescopic motor 29 retracts the blocking block 30, at which point the planetary carrier retaining ring 33 is released, the planetary gear set 28 rotates, and the drive motor 27 idles to prevent the planetary gear set 28 from jamming and being damaged. At this time, the wire gripper 44 remains closed. Finally, the telescopic motor 29 extends the blocking block 30, again obstructing and fixing the planetary carrier retaining ring 33. At the same time, the drive motor 27 reverses and reduces its speed, causing the tightening mechanism module 2 to move upward. Simultaneously, the wire gripper 44 releases, and the limit reset block 39 returns to its initial position and engages with the rotating shaft sleeve groove 51, preventing the rotating shaft sleeve 47 from rotating until the tightening mechanism module 2 returns to its initial position, completing the reset step and completing one rebar cross node binding operation. After the robot or robotic arm is repositioned, the binding operation can be repeated.

[0056] The above description is merely a further explanation of the present invention in conjunction with specific embodiments. All descriptions made do not imply any limitation on the scope of protection of the present invention. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A robotic intelligent rebar tying machine, comprising a gripper module and a tightening mechanism module fixedly connected to each other, characterized in that: The gripper module includes a wire feeding mechanism unit, and a guide rail unit is provided in cooperation with the wire feeding mechanism unit. The wire feeding mechanism unit includes a pair of meshing wire feeding gears. The guide rail unit includes an internal guide rail, the inlet end of which is located directly below the wire feeding gears. A curved guide rail is fixedly connected to the end of the internal guide rail, and a wire outlet is located at the end of the curved guide rail below the tightening mechanism module. A cutting blade is provided at the end of the internal guide rail. A wire gripper is connected to the end of the tightening mechanism module, and the wire gripper is positioned vertically above the wire outlet. Directly above; the wire feeding mechanism unit includes a wire feeding mechanism unit housing, and the wire feeding gear is disposed inside the wire feeding mechanism unit housing; a circular wire disc that rotatably engages with the wire feeding gear is disposed inside the wire feeding mechanism unit housing, and an iron wire is wound on the circular wire disc; an iron wire guide groove is provided inside the wire feeding mechanism unit housing, and a channel structure that is interference-fitted with the iron wire is provided inside the iron wire guide groove; the inlet end of the iron wire guide groove is located on one side of the circular wire disc, and the outlet end is located directly above the wire feeding gear; the driving gear and driven gear of the wire feeding gear... The side has grooves for feeding wire, and the drive gear is connected to a motor unit. A gear rod is rotatably mounted on the outer shell of the wire feeding mechanism unit, with its shaft located in the middle section. One end of the gear rod is rotatably connected to the driven gear via a shaft hole structure, and the other end is equipped with a torsion spring wound around a torsion spring shaft. One end of the torsion spring is fixedly connected to the outer shell of the wire feeding mechanism unit, and the other end contacts and engages with the free end of the gear rod. The torsion spring and the drive gear are both located on the same side of the gear rod. The tightening... The mechanism module includes a housing unit, inside which is a planetary gear set unit. The output end of the planetary gear set unit is connected to a lead screw unit. At the end of the lead screw unit, a wire gripper that cooperates with the guide rail unit is provided. The planetary gear set unit includes a gear ring, with a sun gear located at the center of the gear ring. The sun gear is connected to the gear ring through multiple planet gears, which are connected by a planet carrier. The sun gear includes a pair of upper gears and lower gears connected by a shaft, with the lower gear meshing with the planetary gears as the sun gear. The output shaft of the drive motor is connected to a motor rod, and the motor rod is equipped with a gear that meshes with the upper gear.

2. The intelligent rebar tying machine for robots according to claim 1, characterized in that: Both the internal guide rail and the curved guide rail are set on the inner guide rail plate, and a pair of double-sided guide rail plates are fixedly connected to the two sides of the inner guide rail plate.

3. The intelligent rebar tying machine for robots according to claim 2, characterized in that: The double-sided guide rail plate is provided with a cavity that cooperates with the cutting blade, and the cutting blade is disposed in the cavity; one end of the cutting blade is rotatably connected to the inner guide rail plate, and the other end is provided with a sliding groove; the double-sided guide rail plate is provided with a cutting blade pad, and the cutting blade pad cooperates with the cutting blade head to cut the iron wire.

4. The intelligent rebar tying machine for robots according to claim 1, characterized in that: The bottom of the gear ring is integrally connected to a planetary carrier retaining ring, which is a regular polygonal shell structure. A telescopic motor is horizontally fixed inside the shell unit, and the output shaft of the telescopic motor faces the planetary carrier retaining ring. A blocking block is provided at the end of the output shaft of the telescopic motor, and the end face of the blocking block mates with the side of the planetary carrier retaining ring. A lead screw fixing rod is provided inside the planetary carrier retaining ring, and the lead screw fixing rod is fixedly connected to the top of the lead screw of the lead screw unit.

5. The intelligent rebar tying machine for robots according to claim 4, characterized in that: The end of the lead screw is movably connected to a rotating shaft, and a rotating shaft sleeve is fitted around the outer side of the lead screw and the rotating shaft. A pair of lead screw clamps are fixedly installed on the inner side wall of the rotating shaft sleeve, and the lead screw clamps and the threaded structure of the lead screw mesh with each other. The end of the rotating shaft is connected to a wire claw, which includes a pair of symmetrically arranged L-shaped claws. The middle section of each L-shaped claw is rotatably connected to both ends of the rotating shaft sleeve through a pair of symmetrical positioning rods, and the top end is rotatably connected to the rotating shaft through a plug rod.

6. The intelligent rebar tying machine for robots according to claim 5, characterized in that: The side of the rotating shaft sleeve is provided with an outer sliding groove along the length direction, and a limit reset block is provided in cooperation with the outer sliding groove; the limit reset block has a dumbbell-shaped structure, and a compression spring is provided between its inner end and the inner wall of the outer shell unit; a contact switch is fixedly provided inside the outer shell unit, and a contact switch pressure plate is provided on the lead screw in cooperation.

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