A double-wheel drive steel bar bundling robot

Abstract

The application belongs to the field of building construction and discloses a double-wheel driving steel bar bundling robot, which comprises a vehicle body, a double-wheel driving system, a momentum wheel balancing system, a mechanical arm system and a visual navigation system are arranged on the vehicle body; the double-wheel driving system comprises front and rear groove wheels arranged in front and back, and the front and rear groove wheels are matched with steel bars through annular wheel grooves; the momentum wheel balancing system realizes left and right balance of the robot; the mechanical arm system realizes bundling work on the steel bars; and the visual navigation system realizes real-time shooting of related conditions of the steel bar grid. The double-wheel driving system only needs one momentum wheel to ensure left and right balance of the robot, and front and back balance is provided by the front and rear groove wheels, so that energy consumption of the whole system is greatly reduced.

Description

Technical Field

[0001] This invention relates to the field of building construction, specifically to a dual-wheel drive rebar tying robot. Background Technology

[0002] Currently, there are numerous robots on the market, such as AGV transport robots and inspection robots. However, in the construction industry, facing complex terrain, especially large quantities of rebar mesh requiring automated binding, the effectiveness of these robots is quite limited. Although tracked robots exist for this work area, their large size in all directions, particularly when moving on rebar mesh, reduces their obstacle clearance. Furthermore, the size of rebar mesh varies depending on the construction requirements. When automating operations on larger rebar meshes, tracked robots frequently get stuck, significantly reducing their efficiency. Additionally, due to their inherent design, tracked robots often employ a single robotic arm, which is detrimental to improving work efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide a dual-wheel drive rebar tying robot to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A dual-wheel drive rebar tying robot includes a main body, on which a dual-wheel drive system, a momentum wheel balancing system, a robotic arm system, and a visual navigation system are mounted. The dual-wheel drive system includes a front grooved wheel and a rear grooved wheel, both of which engage with the rebar via annular grooves. The momentum wheel balancing system ensures the robot's left-right balance. The robotic arm system performs the tying of the rebar. The visual navigation system captures real-time images of the rebar mesh.

[0006] Furthermore, the momentum wheel balancing system includes a momentum wheel, a momentum wheel drive motor, a momentum wheel mounting bracket, a momentum wheel protective shell, and an attitude sensor. The momentum wheel mounting bracket is mounted on the vehicle body, and both the momentum wheel and the momentum wheel drive motor are mounted on the momentum wheel mounting bracket. The momentum wheel drive motor drives the momentum wheel to rotate.

[0007] Furthermore, the visual navigation system includes two sets of navigation cameras respectively located on the front and rear sides of the vehicle body.

[0008] Furthermore, robotic arm systems are symmetrically arranged on the left and right sides of the vehicle body.

[0009] Furthermore, the robotic arm system includes a joint assembly and a gripper manipulator. One end of the joint assembly is connected to the main body, and the other end is connected to the gripper manipulator. The gripper manipulator grips the steel bar, and the joint assembly enables the gripper manipulator to move and rotate along multiple axes.

[0010] Furthermore, the joint assembly includes a first shoulder joint, a second shoulder joint, an upper arm joint, an elbow joint, a forearm joint, a wrist joint, and an end joint. The first shoulder joint is connected to the vehicle body, and the end joint is connected to the gripper robot.

[0011] Furthermore, the robotic arm system also includes a positioning camera mounted on the gripper robotic arm.

[0012] Furthermore, when the robot needs to cross the reinforcing bars, the robotic arm systems on the left and right sides lift the main body of the vehicle and move it onto the adjacent reinforcing bars, and then lower the main body of the vehicle to complete the crossing operation.

[0013] Furthermore, the robot's working method includes: detecting and transmitting the current robot's posture information to the main control module by the posture sensor; if a tilt angle is detected, transmitting it to the momentum wheel balancing system and the robotic arm system.

[0014] Based on the attitude angle information, the momentum wheel drive motor drives the momentum wheel to rotate, while the robotic arm system located on the opposite side of the tilt angle slowly extends outward;

[0015] As the robot gradually regains its balance, the robotic arm system returns to a symmetrical position, and the momentum wheel's rotational speed gradually decreases.

[0016] The robot's balance can be guaranteed simply by ensuring that the angular acceleration of the momentum wheel driven by the momentum wheel drive motor satisfies the following equation:

[0017]

[0018] In the formula, m1 represents the mass of the robotic arm system, m2 represents the mass of the momentum wheel, R represents the radius of the momentum wheel, θ2 represents the angle of gravity acting on the left robotic arm after force decomposition, θ1 represents the angle of gravity acting on the right robotic arm after force decomposition, g represents the acceleration due to gravity, L represents the distance between the center of mass of the robotic arm system and the support point between the robot and the steel mesh, ΔL represents the elongation of the robotic arm system, Δω represents the time-varying change of angular velocity, and Δt represents the time-varying change.

[0019] Furthermore, the robot's working method also includes: when the positioning camera of the robotic arm system detects the target point that needs to be tied, the robotic arm system no longer responds to the posture angle information. At this time, the robotic arm system performs the tying operation on the intersection of the steel bars through the information of the positioning camera.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1) The dual-wheel drive system only requires one momentum wheel to ensure the robot's left-right balance, while the front-back balance is provided by the front and rear grooved wheels, which greatly reduces the energy consumption of the entire system;

[0022] 2) The dual-wheel drive system ensures that the robot can walk on a single steel bar regardless of the size of the steel mesh. This system design greatly reduces the probability of the robot getting stuck in the steel mesh.

[0023] 3) This invention can achieve self-stabilization of the robot on the steel mesh, giving the robot strong stability on the steel mesh;

[0024] 4) The left-right symmetrical robotic arm design has the property of functional reuse. When no entanglement point is found, the extension and retraction of the left-right symmetrical robotic arm can be controlled and its own gravity can be used to help complete the balance. This design further reduces energy consumption and increases the robot's endurance.

[0025] 5) In addition, the symmetrical dual robotic arms use action and reaction forces to support the robot body and help the robot cross the steel bars. This invention maximizes the use of the robotic arm functions and greatly simplifies the structure of the robot.

[0026] 6) The design of the dual-wheel drive system significantly reduces the rigid lateral dimension of the robot. Due to the front and rear dual-groove design, the lateral dimension is minimized, and the lateral dimension can be further reduced by retracting the robotic arm, which greatly increases the robot's passability when encountering obstacles. Attached Figure Description

[0027] Figure 1 An isometric view of a dual-wheel drive rebar tying robot;

[0028] Figure 2 A front view of a dual-wheel drive rebar tying robot;

[0029] Figure 3 This is a bottom view of a dual-wheel drive rebar tying robot;

[0030] Figure 4 An isometric view of the robotic arm system in a dual-wheel drive rebar tying robot;

[0031] Figure 5 A front view of a dual-wheel drive rebar tying robot on a rebar mesh;

[0032] Figure 6 This is a schematic diagram of the tilting force on a dual-wheel drive rebar tying robot;

[0033] Figure 7 A schematic diagram of the forces acting on a robotic arm system when it extends outward to maintain balance.

[0034] Figure 8 A simplified diagram of the momentum wheel balancing system;

[0035] Figure 9 This is a schematic diagram of the force analysis of the momentum wheel equilibrium system;

[0036] Figure 10 This is a schematic diagram of a dual-wheel drive rebar tying robot crossing obstacles.

[0037] Figure 11 A schematic diagram of the forces acting on a dual-wheel drive rebar tying robot as it crosses rebar;

[0038] Figure 12 This is a schematic diagram of a dual-wheel drive rebar tying robot when it crosses rebar laterally.

[0039] Figure 13 This is a schematic diagram of the workflow of a dual-wheel drive rebar tying robot.

[0040] In the diagram: 1. Body body; 2. Wheel connecting frame; 3. Front wheel; 4. Rear wheel; 5. Hub motor; 6. Momentum wheel; 7. Momentum wheel protective shell; 8. Power module; 9. Visual navigation camera; 10. Positioning camera; 11. First shoulder joint; 12. Gripper manipulator; 13. Forearm joint; 14. Upper arm joint; 15. Second shoulder joint; 16. Spring; 17. Elbow joint; 18. Cover plate; 19. Wrist joint; 20. Momentum wheel drive motor; 21. Momentum wheel mounting bracket; 22. End joint. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Please see Figures 1-13 A dual-wheel drive rebar tying robot includes a main body 1 (body 2) and a main control module and a power module 8. The main body 2 is equipped with a dual-wheel drive system, a momentum wheel balancing system, a robotic arm system, and a visual navigation system. The dual-wheel drive system includes a front grooved wheel 3 and a rear grooved wheel 4, both of which engage with the rebar via annular grooves. The momentum wheel balancing system ensures the robot's left-right balance. The robotic arm system performs the rebar tying operation. The visual navigation system captures real-time images of the rebar mesh.

[0043] Continue reading Figure 3 In one embodiment of the present invention, the momentum wheel balancing system includes a momentum wheel 6, a momentum wheel drive motor 20, a momentum wheel mounting bracket 21, a momentum wheel protective shell 7, and an attitude sensor. The momentum wheel mounting bracket 21 is mounted on the vehicle body 1, and both the momentum wheel 6 and the momentum wheel drive motor 20 are mounted on the momentum wheel mounting bracket 21. The momentum wheel drive motor 20 drives the momentum wheel 6 to rotate. The attitude sensor is integrated with the momentum wheel drive motor 20.

[0044] Continue reading Figure 1 In one embodiment of the present invention, the visual navigation system includes two navigation cameras 9 respectively disposed on the front and rear sides of the vehicle body 1.

[0045] Continue reading Figure 1 In one embodiment of the present invention, a robotic arm system is symmetrically arranged on the left and right sides of the vehicle body. The robotic arm system includes a joint assembly, a gripper robot 12, and a positioning camera 10 mounted on the gripper robot 12. One end of the joint assembly is connected to the vehicle body, and the other end is connected to the gripper robot. The gripper robot grasps steel bars, and the joint assembly enables multi-axis movement and rotation of the gripper robot. The joint assembly includes a first shoulder joint 11, a second shoulder joint 15, an upper arm joint 14, an elbow joint 17, a forearm joint 13, a wrist joint 19, and an end joint 22. The first shoulder joint 11 is connected to the vehicle body 1, and the end joint 22 is connected to the gripper robot 12.

[0046] Each of the above joints is driven by its own motor to achieve joint rotation.

[0047] The main control module is provided on the vehicle body 1 of the present invention. The main control module is electrically connected to the dual-wheel drive system, the momentum wheel balancing system, the robotic arm system and the visual navigation system.

[0048] The robot's dual-wheel drive system drives the robot to move on the steel mesh. The front grooved wheel 3 and the rear grooved wheel 4 are both grooved wheels driven by motors. The grooves of the wheels fit perfectly into the steel bars. This design ensures that the robot body always moves on a single steel bar.

[0049] During the robot's movement, the two navigation cameras 9 at the front and rear of the visual navigation system provide the robot with coordinate information and are used to identify whether there are obstacles in front of it.

[0050] Once the navigation camera 9 detects an obstacle ahead, it will send feedback to the momentum wheel balancing system and the robotic arm system.

[0051] The robotic arm system controls the retraction of the left and right robotic arms to reduce the robot's lateral size, ensuring that the robot can pass through obstacles smoothly.

[0052] like Figure 10As shown, when the robot detects an obstacle in front of it, because the robot body adopts a two-wheel mechanism and its lateral dimension is relatively narrow, mainly due to the large space occupied by the robotic arm, it can actively retract the robotic arm to pass through the obstacle.

[0053] During normal movement, the robot's left-right balance is primarily achieved by the momentum wheel balancing system. Additionally, due to its symmetrical dual-arm design, the two arms can also assist in balancing in the left-right direction by extending or shortening their length, thereby reducing the overall system's energy consumption. The specific principle is as follows:

[0054] When a robot tends to tip over to one side during movement, the force analysis of the entire robot can be simplified to... Figure 6 At the same moment, the mass of the robotic arm system is m1, and the distance from the center of mass of the mechanical wall system to the support point between the robot and the steel mesh is L. Therefore, the torque of the entire robot is not balanced at this time, and the magnitude of the torque is:

[0055] M total =m1g·(cosθ1-cosθ2)·L (1)

[0056] In the formula M total θ1 represents the torque acting on the robot at that moment, θ2 represents the angle of gravity acting on the left robotic arm after force decomposition, and θ1 represents the angle of gravity acting on the right robotic arm after force decomposition.

[0057] It is clear that θ2 is greater than θ1, therefore there is a clockwise torque that causes the robot to tilt to the right.

[0058] At this point, the attitude sensor transmits the current attitude angle information to the robotic arm system, which then drives the forearm joint 13 and upper arm joint 14 on the opposite side of the tilting direction to extend outwards. A simplified schematic diagram is shown below. Figure 7 As shown:

[0059] At this point, it can be observed that the lever arm on the side opposite to the tilting direction has increased. The magnitude of the torque acting on the entire robot system at this time is shown below:

[0060] M total =m1g·(cosθ1-cosθ2)·L-m1g·cosθ2ΔL (2)

[0061] In the formula, ΔL represents the extension of the robotic arm system. Obviously, θ1 < θ2 < π. Therefore, when the robotic arm extends in the opposite direction of the tilting, it cancels out part of the torque that causes the robot to tip over. This reduces the working pressure on the momentum-based equilibrium system.

[0062] Because robotic arms have a limited extension length, momentum wheel balancing systems are often needed to maintain the robot's balance.

[0063] When the robot is working normally, the momentum wheel balancing system controls the rotational speed of the momentum wheel based on the pose angle information fed back by the attitude sensor. A simplified diagram of the momentum wheel balancing system acting on the robot is shown below. Figure 8 As shown:

[0064] Assuming the entire momentum wheel equilibrium system is a rigid body of uniform mass, and the momentum wheel rotates at a speed of... With radius R and mass m2, the net external force on the momentum wheel equilibrium system passes through the center of rotation of the momentum wheel, so the net external torque is 0, which conforms to the law of conservation of angular momentum.

[0065] To bring the robot back to equilibrium, the momentum wheel balancing system needs to provide an additional torque, the magnitude of which is equal to the torque adjusted by the robotic arm, as described in equation (2). This additional torque is provided by the momentum wheel balancing system.

[0066] The momentum wheel balancing system is fixedly mounted to the entire robot via the momentum wheel mounting bracket 8. Therefore, the additional torque generated by the momentum wheel 6 is transmitted to the robot. The force analysis of the momentum wheel balancing system is as follows: Figure 9 As shown.

[0067] The system's moment of inertia is as follows:

[0068]

[0069]

[0070] In the formula, J represents the moment of inertia of the momentum wheel balance system. L represents the angular velocity of the momentum wheel. z m2 represents the angular momentum of the momentum wheel equilibrium system, and m2 represents the mass of the momentum wheel.

[0071] Since the momentum wheel balance system satisfies the conservation of angular momentum, an angular momentum equal in magnitude and opposite in direction to momentum wheel 6 should be generated at this time.

[0072] In order for the robot to return to its equilibrium position, the momentum wheel drive motor 20, controlling the momentum wheel 6, needs to satisfy the following relationship:

[0073]

[0074] In the formula M additional Δω represents the additional torque required to bring the robot back to its equilibrium position, Δω represents the time-varying change in angular velocity, and Δt represents the time-varying change.

[0075] Combining the above equations, we get:

[0076]

[0077] As can be seen from the above formula, the tilting torque of the robot is significantly reduced after the assistance of the robotic arm system, and the additional torque required by the momentum wheel balancing system is also reduced, thereby reducing energy consumption.

[0078] According to the above formula, the robot's balance can be guaranteed simply by ensuring that the angular acceleration of the momentum wheel 6 driven by the momentum wheel drive motor 20 satisfies the above formula.

[0079] Furthermore, it can be seen that the extension ΔL of the robotic arm can help the robot maintain its balance and can effectively reduce the rotational speed of the momentum wheel to maintain the robot's balance.

[0080] Once the positioning camera 10 of the robotic arm system identifies the intersection point where rebar tying is required, the robotic arm system no longer responds to the pose angle information from the attitude sensor, but instead performs the rebar tying operation. The robot's balance is maintained by the momentum wheel balancing system. At this time, the momentum wheel drive motor 20 needs to drive the momentum wheel 6 to satisfy the following relationship.

[0081]

[0082] As shown in the above equation, in order to ensure the robot's balance, the momentum wheel drive motor 20 needs to provide the momentum wheel 6 with a larger angular acceleration. Compared with equation (6), the obvious intervention of the robotic arm system will greatly reduce the energy consumption of the momentum wheel balancing system.

[0083] The robotic arm system performs rebar tying based on information from positioning camera 10. After completion, it repeats the above actions to perform rebar tying at the next intersection.

[0084] When the robot needs to move from one steel bar to another, it uses its robotic arms again. The symmetrical robotic arms grip the steel bars and use action and reaction forces to lift the robot up.

[0085] Assuming the robot's total weight is M, and the robot's center of gravity is equidistant from the two robotic arms, then the forces acting on the two symmetrical robotic arms are:

[0086]

[0087] F z1 and F z2 These represent the supporting forces experienced by the left and right robotic arm systems after they clamp the intersection of the reinforcing bars.

[0088] When the two robotic arms clamp the steel bar, the momentum wheel balancing system can be completely shut down, and the robot's balance is ensured by the robotic arms.

[0089] Suppose the robot needs to step onto the steel bar on the left. The left robotic arm gradually retracts and bends, while the right robotic arm gradually extends. A simplified force analysis diagram is shown below. Figure 11 As shown, a force analysis is then performed on the robot.

[0090] At this point, the robot needs to satisfy force balance and torque balance. The force balance is as follows:

[0091] F z1 +F z2 =Mg (9)

[0092] The torque balance is as follows:

[0093]

[0094] L1 represents the distance between the support point where the left or right robotic arm clamps the steel bar and the midpoint between the support points of the left and right robotic arms, which remains constant during the robot's lateral movement. The distance between the robot's center of gravity and the aforementioned midpoint changes during lateral movement. The robot does not move forward or backward during lateral movement and experiences no forward or backward acceleration. During left and right lateral movements, the speed is slower, and the robotic arm system has already gripped the intersection of the reinforcing bars; the resulting acceleration at this time has no impact on the robot's balance and can be ignored in calculations.

[0095] Combining equations (9) and (10), the force situation of the robotic arm when crossing the reinforcing bars can be obtained as follows:

[0096]

[0097] When crossing to the right, the situation is the same as analyzed above; at this time, the left robotic arm gradually extends while the right robotic arm gradually retracts and bends. See details for further information. Figure 12 .

[0098] Once the robot has moved to the designated location, it is lowered onto the steel mesh.

[0099] When the robot's robotic arm system's positioning camera detects a target point that needs to be secured, the symmetrical robotic arms no longer assist in balancing.

[0100] The robotic arm system uploads the pixel coordinates of the identified entanglement points to the robot's main control module to begin coordinate transformation.

[0101] The pixel coordinates located by the robotic arm system are then converted to the world coordinate system of the robot.

[0102] Assuming the pixel coordinates of the rebar intersection point are (u, v), and the camera intrinsic parameter matrix is ​​K, then the formula for transforming to the camera coordinate system is:

[0103]

[0104] In the formula, X C and Y C These represent the coordinates of the rebar intersection points in the camera coordinate system.

[0105] Then transform the camera coordinate system to the robot's world coordinate system, Z. c At the camera's height:

[0106]

[0107] In the formula, X W and Y W and Z W These represent the coordinates of the rebar intersections in the robot's world coordinate system.

[0108] Where T is the transformation matrix, which can be obtained from the previous calibration.

[0109] After obtaining the coordinate data of the strapping point relative to the robot, the robotic arm first returns to the previously calibrated position. Then, the robotic arm drives the gripper arm 12 to the coordinate position (X... W ,Y W Z W Then, the bundling operation is carried out.

[0110] After bundling is completed, repeat the above process to continue the work.

[0111] Taking the robot's leftward lateral movement as an example:

[0112] The first shoulder joint 11 and the second shoulder joint 15 on both sides of the robot are rotated to the designated positions, and the shoulder joints as a whole present a "shrugging" posture relative to the robot. The upper arm joint 14 and the elbow joint 17 are at a certain joint angle with the shoulder joints, and the forearm joint 13 and the wrist joint 19 are in an "outward" state. According to the image displayed by the positioning camera 10, the end joint 22 of the robotic arm rotates the gripper robotic hand 12 to above the rebar. When the gripper robotic hand 12 reaches the designated position above the rebar, it controls the robot to grip the rebar on the left and right sides.

[0113] When the gripper robot 12 clamps the rebar, it provides feedback and coordinates the multi-degree-of-freedom flexible robotic arm to lift the robot body. At this time, the first shoulder joint 11 and the second shoulder joint 15 rotate to the designated position, and the shoulder joints as a whole present a "flat shoulder" posture relative to the robot. The upper arm joint 14 and the elbow joint 17 are perpendicular to the ground, while the forearm joint 13 and the wrist joint 19 are still in an "outward" state. The end joint 22 of the robotic arm rotates at a certain angle so that the gripper robot 12 is perpendicular to the clamped rebar.

[0114] When the robotic arm system lifts the robot body to its highest point, the robot receives feedback. At this time, the robot determines the target rebar to be moved to the left based on the field of view of the visual navigation camera 9. The robot's left robotic arm rotates the second shoulder joint 15, forearm joint 13 and wrist joint 19 inward, so that the left multi-degree-of-freedom flexible robotic arm is in a "shrugging" posture. The right elbow joint 17 and upper arm joint 14 turn outward to the right, so that the right multi-degree-of-freedom flexible robotic arm is in a "straightened" state, thereby moving the robot body to the left and moving it directly above the target rebar.

[0115] Once the robot body moves directly above the target rebar for left lateral movement and stabilizes its posture, the left forearm joint 13 is controlled to rotate outward, causing the robot to fall onto the target rebar. When the robot body is stably upright on the rebar, the gripper manipulator 12 releases the gripper, and the robot returns to its working state. The same procedure applies to right lateral movement.

[0116] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A dual-wheel drive rebar tying robot, characterized in that, The robot includes a body body (1), on which a dual-wheel drive system, a momentum wheel balancing system, a robotic arm system, and a visual navigation system are installed. The dual-wheel drive system includes a front grooved wheel (3) and a rear grooved wheel (4) arranged at the front and rear, respectively. Both the front grooved wheel (3) and the rear grooved wheel (4) are engaged with the reinforcing bars through annular grooves. The momentum wheel balancing system enables the robot to maintain left and right balance. The robotic arm system is symmetrically arranged on the left and right sides of the body body, and the robotic arm system performs the work of binding the reinforcing bars. The visual navigation system captures real-time images of the reinforcing bar mesh. The momentum wheel balancing system includes a momentum wheel (6), a momentum wheel drive motor (20), a momentum wheel mounting bracket (21), a momentum wheel protective shell (7), and an attitude sensor. The momentum wheel mounting bracket (21) is mounted on the vehicle body (1), and the momentum wheel (6) and the momentum wheel drive motor (20) are both mounted on the momentum wheel mounting bracket (21). The momentum wheel drive motor (20) drives the momentum wheel (6) to rotate. When the robot needs to cross the steel bars, the robotic arm systems on the left and right sides lift the main body (1) of the robot and move it to the adjacent steel bars, and then lower the main body (1) of the robot to complete the crossing operation.

2. The dual-wheel drive rebar tying robot according to claim 1, characterized in that, The visual navigation system includes two sets of navigation cameras (9) respectively located on the front and rear sides of the vehicle body (1).

3. The dual-wheel drive rebar tying robot according to claim 1, characterized in that, The robotic arm system includes a joint assembly and a gripper manipulator (12). One end of the joint assembly is connected to the vehicle body (1), and the other end is connected to the gripper manipulator (12). The gripper manipulator (12) grips steel bars, and the joint assembly enables multi-axis movement and rotation of the gripper manipulator.

4. The dual-wheel drive rebar tying robot according to claim 3, characterized in that, The joint assembly includes a first shoulder joint (11), a second shoulder joint (15), an upper arm joint (14), an elbow joint (17), a forearm joint (13), a wrist joint (19), and an end joint (22). The first shoulder joint (11) is connected to the vehicle body (1), and the end joint (22) is connected to the gripper manipulator (12).

5. A dual-wheel drive rebar tying robot according to claim 3, characterized in that, The robotic arm system also includes a positioning camera (10) mounted on the gripper manipulator (12).

6. The dual-wheel drive rebar tying robot according to claim 1, characterized in that, The robot's working method includes: the attitude sensor detects and transmits the current robot's attitude information to the main control module; if a tilt angle is detected, it is transmitted to the momentum wheel balancing system and the robotic arm system. Based on the attitude angle information, the momentum wheel drive motor (20) drives the momentum wheel (6) to rotate, while the robotic arm system located on the opposite side of the tilt angle slowly extends outward; As the robot gradually reaches equilibrium, the robotic arm system returns to a symmetrical position, and the speed of the momentum wheel (6) gradually decreases. The robot's balance can be guaranteed simply by ensuring that the angular acceleration of the momentum wheel (6) driven by the momentum wheel drive motor (20) satisfies the following equation: ， In the formula, m1 represents the mass of the robotic arm system, m2 represents the mass of the momentum wheel, R represents the radius of the momentum wheel, θ2 represents the angle of gravity acting on the left robotic arm after force decomposition, θ1 represents the angle of gravity acting on the right robotic arm after force decomposition, g represents the acceleration due to gravity, L represents the distance between the center of mass of the robotic arm system and the support point between the robot and the steel mesh, ΔL represents the elongation of the robotic arm system, Δω represents the instantaneous change in angular velocity, and Δt represents the change in time.

7. A dual-wheel drive rebar tying robot according to claim 6, characterized in that, The robot's working method also includes: when the positioning camera (10) of the robotic arm system detects the target point that needs to be tied, the robotic arm system no longer responds to the posture angle information. At this time, the robotic arm system uses the information from the positioning camera to tie the steel bar intersection.

Images