Steel bar binding robot

Abstract

The steel bar binding robot comprises a base, and a steel bar binding machine is arranged at the top of the base; the first moving mechanism comprises two first moving devices arranged at the bottoms of the two ends of the base in the second direction correspondingly and used for driving the base to move in the first direction. The second moving mechanism comprises two second moving devices arranged at the bottoms of the two ends of the base in the first direction correspondingly and used for driving the base to move in the second direction. The first moving device and the second moving device are connected with a first supporting plate and a second supporting plate through a first lifting device and a second lifting device correspondingly, and when the base moves in the first direction, the second lifting device drives the second supporting plate to be away from the reinforcing mesh; when the base moves in the second direction, the first lifting device drives the first supporting plate to be away from the reinforcing mesh; the steel bars are bound through the steel bar binding machine, labor is saved, the working efficiency is improved, and the binding quality of the steel bars is improved.

Description

Technical Field

[0001] The invention relates to the technical field of building steel bar binding, and in particular to a steel bar binding robot. Background Art

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

[0003] Among them, manual binding has problems such as low binding efficiency, difficult to control binding quality, and long construction period. It not only requires high strength of labor, but also increases costs and has many disadvantages.

[0004] Mechanical binding uses a manually held rebar binding machine. This method solves the problems of binding efficiency and quality to a certain extent, but it still does not get rid of the need for a large amount of manpower.

[0005] It can be seen that providing a solution that can realize automatic binding of horizontal steel bars is an urgent problem to be solved in this field. Summary of the invention

[0006] In view of the above-mentioned defects or deficiencies in the prior art, it is desired to provide a steel bar tying robot.

[0007] The present invention provides a steel bar tying robot, which is used to walk on a steel bar mesh and tie steel bars. The steel bar tying robot comprises: A base, the top of which is provided with a steel bar binding machine; A first moving mechanism, which is used to drive the base to move along a first direction, the first moving mechanism includes two first moving devices, both of which extend along the first direction and are respectively arranged at the bottom of both ends of the base in the second direction; the first direction is perpendicular to the second direction; A second moving mechanism, which is used to drive the base to move along the second direction, the second moving mechanism includes two second moving devices, both of which extend along the second direction and are respectively arranged at the bottom of both ends of the base in the first direction; The first moving device and the second moving device are connected to a first supporting plate and a second supporting plate via a first lifting device and a second lifting device respectively; When the first moving mechanism drives the base to move along the first direction, the second lifting device drives the second support plate away from the steel mesh; when the second moving mechanism drives the base to move along the second direction, the first lifting device drives the first support plate away from the steel mesh.

[0008] According to the technical solution provided by the present invention, the first moving device includes two first mounting frames, the two first mounting frames are arranged along the first direction at the bottom of the base, and the two first mounting frames are both provided with a first rotating hole, and a first bearing is fixedly provided in the first rotating hole; The first moving device also includes a first ball screw, which extends along the first direction, and the two ends of the first ball screw are respectively fixedly connected to the two first bearing inner rings, and a first driving member is provided on one of the first mounting frames, and the first driving member has a first driving end, and the first driving end and the first ball screw are coaxially fixedly connected.

[0009] According to the technical solution provided by the present invention, a first screw nut is threadedly sleeved on the first ball screw, a first slider is arranged on the first screw nut, a first slide rail extending along the first direction is arranged at the bottom of the base, and the first slide rail is slidably arranged on the first slide rail.

[0010] According to the technical solution provided by the present invention, the second moving device includes two second mounting frames, the two second mounting frames are arranged along the second direction at the bottom of the base, and the two second mounting frames are both provided with a second rotating hole, and a second bearing is fixedly provided in the second rotating hole; The second moving device also includes a second ball screw, which extends along the second direction, and the two ends of the second ball screw are respectively fixedly connected to the two second bearing inner rings, and a second driving member is provided on one of the second mounting frames, and the second driving member has a second driving end, and the second driving end and the second ball screw are coaxially fixedly connected.

[0011] According to the technical solution provided by the present invention, a second screw nut is threadedly sleeved on the second ball screw, a second slider is arranged on the second screw nut, a second slide rail extending along the second direction is arranged at the bottom of the base, and the second slider is slidably arranged on the second slide rail.

[0012] According to the technical solution provided by the present invention, the first lifting device includes a first mounting plate, which is fixedly mounted on a side wall of the first screw nut away from the base, a first telescopic member is arranged in the middle of the side wall of the first mounting plate away from the first screw nut, and an end of the first telescopic member away from the first mounting plate has a first telescopic end, and the first telescopic end is fixedly connected to the first support plate; First telescopic sleeve rods are also provided on the side wall of the first mounting plate away from the first lead screw nut and located on both sides of the first telescopic member, respectively, for guiding the movement of the first support plate.

[0013] According to the technical solution provided by the present invention, the second lifting device includes a second mounting plate, which is fixedly mounted on the side wall of the second screw nut away from the base, and a second telescopic member is arranged in the middle of the side wall of the second mounting plate away from the second screw nut, and an end of the second telescopic member away from the second mounting plate has a second telescopic end, and the second telescopic end is fixedly connected to the second support plate; Second telescopic sleeve rods are also provided on the side wall of the second mounting plate away from the second lead screw nut and located on both sides of the second telescopic member, respectively, for guiding the movement of the second support plate.

[0014] According to the technical solution provided by the present invention, a mounting portion is rotatably connected to the top of the base through a rotating assembly, a mechanical arm is arranged on the top of the mounting portion, the steel bar binding machine is arranged on one end of the mechanical arm away from the mounting portion, and a battery is also arranged on the top of the mounting portion for powering the mechanical arm and the steel bar binding machine.

[0015] According to the technical solution provided by the present invention, a visual camera is also arranged on the top of the mounting portion, which is electrically connected to an external control device, and the robotic arm and the steel bar binding machine are both electrically connected to the external control device.

[0016] According to the technical solution provided by the present invention, both the first support plate and the second support plate are provided with magnetic suction parts for adsorbing to the steel mesh.

[0017] In summary, the technical solution of the present invention specifically discloses a steel bar binding robot, including a base, a first moving mechanism is arranged at the bottom of the base, which includes two first moving devices extending along the first direction, and the two first moving devices are respectively arranged at the bottom of the two ends of the base in the second direction, and are used to drive the base to move along the first direction; a second moving mechanism is also arranged at the bottom of the base, which includes two second moving devices extending along the second direction, and the two second moving devices are respectively arranged at the bottom of the two ends of the base in the first direction, and are used to drive the base to move along the second direction; the first moving device and the second moving device are respectively connected to the first support plate and the second support plate through the first lifting device and the second lifting device, when the first moving mechanism drives the base to move in the first direction, the second lifting device drives the second support plate away from the steel mesh; when the second moving mechanism drives the base to move in the second direction, the first lifting device drives the first support plate away from the steel mesh; By respectively keeping the second support plate and the first support plate away from the steel mesh, interference between the second support plate and the first support plate when the base moves can be avoided, thereby enabling the base to move on the steel mesh and the steel bars to be tied by a steel bar tying machine, thereby saving labor and improving work efficiency. Compared with traditional manual tying, which results in difficult-to-control tying quality, the tying quality of the steel bars is improved by the steel bar tying machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings: Figure 1 This is a side view of the steel bar tying robot.

[0019] Figure 2 A schematic diagram of the base structure.

[0020] Figure 3 This is a top view of the base.

[0021] Numbers in the figure: 1. base; 2. rebar binding machine; 3. first moving device; 4. second moving device; 5. first support plate; 6. second support plate; 7. first mounting bracket; 8. mounting hole; 9. first driving member; 10. first slider; 11. first slide rail; 12. second mounting bracket; 13. visual camera; 14. second driving member; 15. second slider; 16. second slide rail; 17. first mounting plate; 18. first telescopic member; 19. first telescopic sleeve; 20. second mounting plate; 21. second telescopic member; 22. second telescopic sleeve; 23. mounting portion; 24. robotic arm; 25. battery. DETAILED DESCRIPTION

[0022] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It should also be noted that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0023] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0024] Please refer to Figures 1 to 3 As shown, the steel bar tying robot is used to walk on the steel bar mesh and tie the steel bars. Specifically, the steel bar tying robot includes: A base 1, a mounting portion 23 is provided on the top of the base 1, a mechanical arm 24 is provided on the top of the mounting portion 23, and a steel bar binding machine 2 is provided on the mechanical arm 24 for binding steel bars; The bottom of the base 1 is provided with a first moving mechanism and a second moving mechanism, which are used to drive the base 1 and the mounting portion 23 to move along a first direction and a second direction respectively; the first direction is Figure 3 The middle vertical direction, the second direction is Figure 3 In the horizontal direction, the first direction is perpendicular to the second direction.

[0025] The first moving mechanism includes two first moving devices 3, both of which extend along the first direction and are respectively arranged at the bottom of both ends of the base 1 in the second direction. Optionally, the two first moving devices 3 are arranged in a centrally symmetrical form with respect to the center of the base 1; Furthermore, the first moving device 3 includes two first mounting frames 7, which are arranged at the bottom of the base 1 along the first direction, and the two first mounting frames 7 are both provided with first rotating holes, and the first bearings are fixedly provided in the first rotating holes; Further, the first moving device 3 also includes a first ball screw, which extends along the first direction, and the two ends of the first ball screw are respectively fixedly connected to the two first bearing inner rings, and a first driving member 9 is provided on one of the first mounting frames 7, and the first driving member 9 has a first driving end, and the first driving end is coaxially fixedly connected to the first ball screw; the first driving member 9 can be a servo motor; Further, a first ball screw is threadedly sleeved with a first screw nut, a first slider 10 is arranged on the first screw nut, a first slide rail 11 extending along a first direction is arranged on the bottom of the base 1, and the first slider 10 is slidably arranged on the first slide rail 11; optionally, there are two first slide rails 11, and correspondingly there are two first sliders 10; Thus, by starting the first driving member 9, the first driving end rotates to drive the first ball screw to rotate, and under the condition that the first slider 10 is slidably arranged on the first slide rail 11, the rotation of the first screw nut is limited, so that the first screw nut can move along the first ball screw, driving the first slider 10 to slide on the first slide rail 11; Furthermore, the first moving device 3 is connected to the first support plate 5 via a first lifting device, so that when the first slider 10 moves, it can drive the first lifting device and the first support plate 5 to move together; the length direction of the first support plate 5 extends along the first direction.

[0026] The second moving device 4 includes two second mounting frames 12, which are arranged along the second direction at the bottom of the base 1, and the two second mounting frames 12 are both provided with second rotating holes, and the second bearings are fixedly provided in the second rotating holes; Further, the second moving device 4 also includes a second ball screw, which extends along the second direction, and the two ends of the second ball screw are respectively fixedly connected to the two second bearing inner rings, and a second driving member 14 is provided on one of the second mounting frames 12, and the second driving member 14 has a second driving end, and the second driving end is coaxially fixedly connected to the second ball screw; the second driving member 14 can be a servo motor; Further, a second ball screw is threadedly sleeved with a second screw nut, a second slider 15 is arranged on the second screw nut, a second slide rail 16 extending along the second direction is arranged on the bottom of the base 1, and the second slider 15 is slidably arranged on the second slide rail 16; optionally, there are two second slide rails 16, and correspondingly there are two second sliders 15; Thus, by starting the second driving member 14, the second driving end rotates to drive the second ball screw to rotate, and under the condition that the second slider 15 is slidably arranged on the second slide rail 16, the rotation of the second screw nut is limited, so that the second screw nut can move along the second ball screw, driving the second slider 15 to slide on the second slide rail 16; Furthermore, the second moving device 4 is connected to the second support plate 6 via a second lifting device, so that when the second slider 15 moves, it can drive the second lifting device and the second support plate 6 to move together; the length direction of the second support plate 6 extends along the second direction.

[0027] The first lifting device includes a first mounting plate 17, which is fixedly mounted on the side wall of the first screw nut away from the base 1, and a first telescopic member 18 is arranged in the middle of the side wall of the first mounting plate 17 away from the first screw nut. The first telescopic member 18 extends along the third direction, and the end of the first telescopic member 18 away from the first mounting plate 17 has a first telescopic end, and the first telescopic end is fixedly connected to the first support plate 5; the third direction is Figure 2 The middle arrow indicates a direction, and the third direction is perpendicular to the first direction and perpendicular to the second direction; the first telescopic member 18 may be a hydraulic cylinder; Thus, by starting the first telescopic member 18, the first telescopic end moves along the third direction, thereby driving the first support plate 5 to move along the third direction; Furthermore, first telescopic sleeves 19 are respectively provided on both sides of the first telescopic member 18 in the first direction on the side wall of the first mounting plate 17 away from the first screw nut, and the first telescopic sleeve 19 includes a first sleeve, which is fixedly connected to the first mounting plate 17, and a first slide rod is slidably sleeved in the first sleeve, and one end of the first slide rod away from the first mounting plate 17 is fixedly connected to the first support plate 5. When the first telescopic member 18 drives the first support plate 5 to move, the movement of the first support plate 5 can be guided by the two first telescopic sleeves 19, and the stability of the first support plate 5 during movement can be ensured.

[0028] The second lifting device includes a second mounting plate 20, which is fixedly mounted on the side wall of the second lead screw nut away from the base 1, and a second telescopic member 21 is arranged in the middle of the side wall of the second mounting plate 20 away from the second lead screw nut, and the second telescopic member 21 extends along the third direction, and the second telescopic member 21 has a second telescopic end at one end away from the second mounting plate 20, and the second telescopic end is fixedly connected to the second support plate 6; the second telescopic member 21 can be a hydraulic cylinder; Thus, by starting the second telescopic member 21, the second telescopic end moves along the third direction, thereby driving the second support plate 6 to move along the third direction; Furthermore, second telescopic sleeve rods 22 are respectively provided on both sides of the second telescopic member 21 in the second direction on the side wall of the second mounting plate 20 away from the second screw nut, and the second telescopic sleeve rod 22 includes a second sleeve, which is fixedly connected to the second mounting plate 20, and a second slide rod is slidably sleeved in the second sleeve, and one end of the second slide rod away from the second mounting plate 20 is fixedly connected to the second support plate 6. When the second telescopic member 21 drives the second support plate 6 to move, the movement of the second support plate 6 can be guided by the two second telescopic sleeve rods 22, and the stability of the second support plate 6 during movement can be ensured.

[0029] The top of the base 1 is rotatably connected with a mounting portion 23 through a rotating assembly, a mounting hole 8 is provided at the center of the base 1, a rotating shaft is fixedly provided in the mounting hole 8, a third driving member is provided at the bottom of the mounting portion 23, the third driving member has a third driving end, and the third driving end is coaxially fixedly connected with the top of the rotating shaft; Thus, by starting the third driving member, the third driving end rotates, and since the rotating shaft is fixedly arranged in the mounting hole 8, the mounting portion 23 rotates; optionally, the third driving member is a servo motor.

[0030] It should be noted that a battery 25 is also provided on the top of the mounting portion 23, which is used to power the mechanical arm 24 and the steel bar binding machine 2; It should be noted that a visual camera 13 is also provided on the top of the mounting portion 23, which is electrically connected to the external control device, and the robotic arm 24 and the steel bar binding machine 2 are electrically connected to the external control device, and the first driving member 9, the second driving member 14, the third driving member, the first telescopic member 18 and the second telescopic member 21 are electrically connected to the external control device.

[0031] It should be noted that both the first support plate 5 and the second support plate 6 are provided with magnetic suction parts for adsorbing the steel mesh. Optionally, the magnetic suction parts are electromagnets, which are electrically connected to an external control device.

[0032] Working principle: the steel bar tying robot is placed on the steel bar mesh, and the mechanical arm 24 and the steel bar tying machine 2 are controlled by an external control device to realize the tying of the steel bars. When the steel bar tying robot needs to move in the first direction, the magnetic suction parts of the two second support plates 6 are controlled to be powered off, and the two second telescopic parts 21 are used to drive the two second support plates 6 away from the steel bar mesh along the third direction. At this time, the two first support plates 5 are still adsorbed on the steel bar mesh, and the first driving part 9 is started to rotate the first ball screw. Since the first support plate 5 is adsorbed on the steel bar mesh, and the first support plate 5 is connected to the first slider 10 through the first lifting device, The first slider 10 remains stationary, while the base 1 and the mounting portion 23 can move in the first direction. When moving to the specified position, the two second support plates 6 are moved close to the steel mesh in the third direction and adsorb the steel mesh. Then, the magnetic suction parts of the two first support plates 5 are controlled to be powered off, and the first support plates 5 are driven away from the steel mesh in the third direction by the first telescopic member 18. The first driving member 9 is started again to rotate the first ball screw, so that the first support plate 5, the first lifting device and the first slider 10 can move in the first direction until they move to the specified position. This reciprocating process enables the steel bar tying robot to move in the first direction on the steel mesh. When the steel bar tying robot needs to move in the second direction, the operation method is similar to that of moving in the first direction. First, the first support plate 5 is moved away from the steel bar mesh, and the second moving mechanism drives the base 1 to move in the second direction until it reaches the specified position. Then, the magnetic suction part of the first support plate 5 adsorbs the steel bar mesh, so that the second support plate 6 is moved away from the steel bar mesh. The second moving mechanism drives the second support plate 6 to move again until it reaches the specified position. This reciprocating process enables the steel bar tying robot to move in the second direction on the steel bar mesh. During the movement, the real-time image fed back by the visual camera 13 can be used to operate the mechanical arm 24 and the steel bar tying machine 2 through an external control device to tie the steel bars. By starting the third driving member, the mounting portion 23 can be rotated around the rotating axis to adjust the direction of the mechanical arm 24 and the steel bar tying machine 2, so that the steel meshes in different directions can be tied.

[0033] The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present invention is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) to form a technical solution.

Claims

1. Rebar tying robot, It is characterized in that It is used to walk on the steel bar mesh and tie the steel bars. The steel bar tying robot includes: A base (1) having a steel bar binding machine (2) disposed on the top thereof; a first moving mechanism, used for driving the base (1) to move along a first direction, the first moving mechanism comprising two first moving devices (3), the two first moving devices (3) both extending along the first direction and respectively arranged at the bottom of both ends of the base (1) in a second direction; the first direction is perpendicular to the second direction; A second moving mechanism, used for driving the base (1) to move along the second direction, the second moving mechanism comprising two second moving devices (4), the two second moving devices (4) both extending along the second direction and respectively arranged at the bottom of both ends of the base (1) in the first direction; The first moving device (3) and the second moving device (4) are connected to a first supporting plate (5) and a second supporting plate (6) respectively via a first lifting device and a second lifting device; When the first moving mechanism drives the base (1) to move along the first direction, the second lifting device drives the second support plate (6) away from the steel mesh; when the second moving mechanism drives the base (1) to move along the second direction, the first lifting device drives the first support plate (5) away from the steel mesh.

2. The steel bar tying robot according to claim 1, It is characterized in that The first moving device (3) comprises two first mounting frames (7), the two first mounting frames (7) being arranged in parallel along the first direction at the bottom of the base (1), the two first mounting frames (7) each having a first rotation hole extending therethrough, and a first bearing being fixedly disposed in the first rotation hole; The first moving device (3) further comprises a first ball screw, the first ball screw extending along the first direction, and the two ends of the first ball screw being fixedly connected to the two first bearing inner rings respectively, and a first driving member (9) is provided on one of the first mounting frames (7), the first driving member (9) having a first driving end, and the first driving end being coaxially fixedly connected to the first ball screw.

3. The steel bar tying robot according to claim 2, It is characterized in that A first lead screw nut is threadedly sleeved on the first ball screw, a first slider (10) is arranged on the first lead screw nut, a first slide rail (11) extending along the first direction is arranged at the bottom of the base (1), and the first slider (10) is slidably arranged on the first slide rail (11).

4. The steel bar tying robot according to claim 1, It is characterized in that The second moving device (4) comprises two second mounting frames (12), the two second mounting frames (12) being arranged in parallel along the second direction at the bottom of the base (1), the two second mounting frames (12) each having a second rotation hole extending therethrough, and a second bearing being fixedly disposed in the second rotation hole; The second moving device (4) further comprises a second ball screw, the second ball screw extending along the second direction, and the two ends of the second ball screw being fixedly connected to the two second bearing inner rings respectively, and a second driving member (14) is provided on one of the second mounting frames (12), the second driving member (14) having a second driving end, and the second driving end and the second ball screw being coaxially fixedly connected.

5. The steel bar tying robot according to claim 4, It is characterized in that A second lead screw nut is threadedly sleeved on the second ball screw, a second slider (15) is arranged on the second lead screw nut, a second slide rail (16) extending along the second direction is arranged at the bottom of the base (1), and the second slider (15) is slidably arranged on the second slide rail (16).

6. The steel bar tying robot according to claim 3, It is characterized in that The first lifting device comprises a first mounting plate (17), which is fixedly mounted on a side wall of the first screw nut away from the base (1); a first telescopic member (18) is arranged at a middle portion of the side wall of the first mounting plate (17) away from the first screw nut, and an end of the first telescopic member (18) away from the first mounting plate (17) has a first telescopic end, and the first telescopic end is fixedly connected to the first support plate (5); First telescopic sleeve rods (19) are also provided on the side wall of the first mounting plate (17) away from the first lead screw nut and on both sides of the first telescopic member (18), respectively, for guiding the movement of the first support plate (5).

7. The steel bar tying robot according to claim 5, It is characterized in that The second lifting device comprises a second mounting plate (20), which is fixedly mounted on a side wall of the second screw nut away from the base (1); a second telescopic member (21) is arranged in the middle of the side wall of the second mounting plate (20) away from the second screw nut, and an end of the second telescopic member (21) away from the second mounting plate (20) has a second telescopic end, and the second telescopic end is fixedly connected to the second support plate (6); Second telescopic sleeve rods (22) are also provided on the side wall of the second mounting plate (20) away from the second lead screw nut and on both sides of the second telescopic member (21), respectively, for guiding the movement of the second support plate (6).

8. The steel bar tying robot according to claim 1, It is characterized in that The top of the base (1) is rotatably connected to a mounting portion (23) via a rotating assembly, a mechanical arm (24) is arranged on the top of the mounting portion (23), the steel bar binding machine (2) is arranged at one end of the mechanical arm (24) away from the mounting portion (23), and a battery (25) is also arranged on the top of the mounting portion (23) for supplying power to the mechanical arm (24) and the steel bar binding machine (2).

9. The steel bar tying robot according to claim 8, It is characterized in that A visual camera (13) is also provided on the top of the mounting portion (23), which is electrically connected to an external control device, and the mechanical arm (24) and the steel bar binding machine (2) are both electrically connected to the external control device.

10. The steel bar tying robot according to claim 1, It is characterized in that The first support plate (5) and the second support plate (6) are both provided with magnetic suction parts for adsorbing the steel mesh to each other.

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