Fully automatic batch grabbing and lashing system

Abstract

The present invention relates to the field of intelligent manufacturing technology in the construction industry, and provides a fully automatic batch grabbing and binding system, including a grabbing and binding assembly designed by modular integration of a gantry, a grabbing device, and a binding device. When working, at least two groups of the grabbing and binding assemblies drive a grabbing mechanical arm to move down to grab steel bars and place the steel bars at a designated position by controlling a first lifting device. After the longitudinal steel bars and transverse steel bars grabbed by the grabbing and binding assemblies are stacked into a grid-like skeleton, a second lifting device is controlled to drive the binding mechanical arm to move down to the cross position of the grid-like skeleton, and the binding mechanical arm uses a wire-spinning device to spin wire and bind the cross position. The fully automatic batch grabbing and binding system of the present invention greatly shortens the overall operation time of steel bar binding and improves construction efficiency by introducing a parallel working mode of multiple groups of gantries, and is particularly suitable for the high-strength requirements of steel bar binding in large-scale construction projects.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent manufacturing in the construction industry, and in particular to a full-automatic batch grabbing and binding system. Background Art

[0002] In the field of construction, steel bar tying is an important and tedious task. The traditional manual tying method is labor-intensive, inefficient, and difficult to ensure the quality of tying. In order to solve this problem, steel bar tying robots have appeared on the market. However, existing steel bar tying robots still have many problems in practical applications.

[0003] Existing steel bar tying robots usually use a single-point tying method, that is, the robot moves to the top of the intersection of the steel bars, and then controls the manipulator to tie the wire. This method can only tie one point at a time, and each tying takes several seconds, resulting in a long overall operation time. Especially in the steel bar tying of components such as floor slabs, there are dozens or hundreds of tying points, and the efficiency of the robot's single-point tying obviously cannot meet actual needs.

[0004] In addition, the existing steel bar tying robot's work scene arrangement is time-consuming and labor-intensive. Before tying, the steel bars need to be taken out one by one manually, and arranged according to the steel bar arrangement of the floor slab, and then manually fixed to provide a basic work scene for the tying robot. This process not only consumes a lot of manpower, but also the manual fixation and placement of the steel bars may result in errors, resulting in an unstable tying foundation and affecting the accuracy of the robot's tying.

[0005] More importantly, existing steel bar binding robots mostly use monocular cameras for image acquisition and analysis and positioning when identifying binding points. This method can only achieve single-point recognition, and the recognition speed is slow. If a binding point is missed, it is difficult for the robot to identify it, resulting in loose steel binding and safety hazards. Especially when dealing with non-planar mesh shapes such as trapezoidal steel mesh, due to the limitation of the camera's field of view, some binding points are likely to be blocked, resulting in the obscured binding points being unable to determine whether they have been tied, resulting in missed binding.

[0006] In summary, existing rebar tying robots have obvious deficiencies in tying efficiency, operation scene layout, and tying point identification. These problems not only affect the efficiency and accuracy of rebar tying, but may also bring safety hazards to construction. Therefore, a new rebar tying system is urgently needed to solve the above problems, improve the efficiency and accuracy of rebar tying, and ensure the quality and safety of construction. Summary of the invention

[0007] In view of this, the present invention proposes a fully automatic batch grabbing and binding system, which aims to solve technical problems such as low steel bar binding efficiency, poor precision, time-consuming scene arrangement, and incomplete binding point identification.

[0008] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0009] A fully automatic batch grabbing and lashing system, comprising a grabbing and lashing assembly, wherein the grabbing and lashing assembly comprises:

[0010] The gantry comprises a vertical beam, a first connecting cross beam and a moving assembly, wherein the first connecting cross beam is arranged on the vertical beam, and the moving assembly is arranged at the lower end of the vertical beam and can drive the gantry to move or lock;

[0011] A grabbing device, comprising a first lifting device and a grabbing mechanical arm, wherein the first lifting device is arranged on the first connecting beam and can drive the grabbing mechanical arm to move in a vertical direction;

[0012] A lashing device, comprising a second lifting device and a lashing mechanical arm, wherein the second lifting device is arranged on the first connecting crossbeam and can drive the lashing mechanical arm to move in a vertical direction;

[0013] At least two groups of grabbing and lashing assemblies are provided, and at least two groups of grabbing devices and one group of lashing devices are provided on the gantry of each group of grabbing and lashing assemblies;

[0014] During operation, at least two groups of the grabbing and binding components control the first lifting device to drive the grabbing mechanical arm to move downward to grab the steel bars and place the steel bars at the specified position. After the longitudinal and transverse steel bars grabbed by the grabbing and binding components are stacked into a grid-like skeleton, the second lifting device is controlled to drive the binding mechanical arm to move downward to the cross position of the grid-like skeleton, and the binding mechanical arm uses the wire-spinning device to spin wire and bind the cross position.

[0015] Furthermore, the grabbing robot arm includes a first connecting seat, a first swing arm, a first connecting arm and a clamping jaw assembly which are arranged in sequence, the first connecting seat is used to be detachably connected to the first lifting device, the first swing arm is hingedly connected to the first connecting seat and swings under the action of a first driving device, the end of the first swing arm away from the first connecting seat is connected to the first connecting arm, the first connecting arm and the first swing arm move as a whole, the clamping jaw assembly is arranged at the cantilever end of the first connecting arm away from the first connecting seat, and the clamping jaw assembly is clamped or released under the action of the second driving device.

[0016] Furthermore, the clamp assembly includes a first clamp and a second clamp, the first clamp and the second clamp form a scissor-like clamping structure, and the second driving device is arranged on the first connecting arm, and the second driving device can drive the first clamp and / or the second clamp to move relative to each other for clamping or releasing.

[0017] Furthermore, the binding robot arm includes a second connecting seat, a second swing arm, a second connecting arm and a silk-spinning device which are arranged in sequence, the second connecting seat is used to be detachably connected to the second lifting device, the second swing arm is hingedly connected to the second connecting seat and swings under the action of a third driving device, the end of the second swing arm away from the second connecting seat is connected to the second connecting arm, the second connecting arm and the second swing arm move as a whole, the silk-spinning device is arranged at the cantilever end of the second connecting arm away from the second connecting seat, and the silk-spinning device spins silk towards the cross intersection of the grid-like skeleton under the action of a fourth driving device and binds and cuts it to form a binding cross.

[0018] Furthermore, the wire-spinning device includes a wire-binding installation assembly, a fourth connecting seat, and a positioning sleeve. The positioning sleeve is arranged on the fourth connecting seat and is located on one side of the wire-binding installation assembly. The fourth connecting seat is arranged on the third connecting seat and is rotated by the first transmission gear. The third connecting seat is fixedly arranged on the second connecting arm.

[0019] Furthermore, the gantry is provided with two groups of vertical beams, the two groups of vertical beams are respectively located at opposite ends of the first connecting beam, the first connecting beam can move up and down along the vertical beam, a base is provided at the lower end of the vertical beam, and the moving component is provided on the lower surface of the base.

[0020] Furthermore, the base includes a first supporting oblique beam, a second supporting oblique beam and a second connecting cross beam. The first supporting oblique beam and the second supporting oblique beam are arranged in an inclined state on opposite sides of the lower end of the vertical beam and form a triangular structure with the second connecting cross beam. The movable component is arranged on the lower surface of the second connecting cross beam.

[0021] Furthermore, 5 to 10 grabbing devices are arranged along the length direction of the first connecting beam, and 2 to 5 binding devices are arranged along the length direction of the first connecting beam.

[0022] Furthermore, the grabbing and lashing components are provided in 2 to 10 groups, and the gantries of the multiple groups of the grabbing and lashing components are arranged in parallel or in a vertical cross shape.

[0023] Further, its working method is as follows:

[0024] S1: Move a group of gantry frames for grabbing and binding components to the ground above where the longitudinal steel bars or transverse steel bars are placed;

[0025] S2: After controlling the first connecting beam to move down to a preset height, the corresponding grabbing mechanical arm on the first connecting beam is further controlled to move down to the location where the longitudinal steel bars or transverse steel bars are placed, and the gantry simultaneously grabs multiple longitudinal steel bars or transverse steel bars, and after grabbing the steel bars, controls the grabbing mechanical arm to clamp them with a gripping force;

[0026] S3: Control the first lifting device to drive the grabbing mechanical arm and the grabbed steel bar to move up to a preset position;

[0027] S4: The moving gantry drives the grabbed steel bars to the splicing and binding position, and controls the grabbing mechanical arm to move down to the designated position for clamping;

[0028] S5: moving another group of gantry frames of grabbing and binding components, grabbing a plurality of longitudinal steel bars or transverse steel bars arranged in a vertical cross shape with the steel bars grabbed in S4 and moving them to the splicing and binding position in step S4, so that the longitudinal steel bars and transverse steel bars grabbed in step S4 and step S5 are cross-stacked;

[0029] S6: Control the second lifting devices in the two groups of grabbing and tying assemblies to drive the tying mechanical arm to move downward, and direct the jet outlet of the wire-spinning device on the tying mechanical arm toward the cross intersection of the cross-stacked steel bars formed in step S5 to perform wire-spinning and tying;

[0030] S7: repeating steps S1 to S6 until the grabbed longitudinal steel bars and transverse steel bars form a steel bar frame assembly at the splicing and binding position, and performing preliminary binding on the steel bar frame assembly;

[0031] S8: Check whether the cross points in the steel frame assembly are tied. If so, proceed to S9. If not, repeat S8.

[0032] S9: After the binding is completed, the steel frame assembly that has completed the binding work is transported away, and the grabbing device and the binding device are reset.

[0033] Compared with the prior art, the fully automatic batch grabbing and lashing system of the present invention has the following advantages:

[0034] (1) The fully automatic batch grabbing and tying system of the present invention, by introducing a parallel working mode of multiple gantries, greatly shortens the overall operation time of steel bar tying and improves the construction efficiency. It is particularly suitable for large-scale construction projects with high-strength requirements for steel bar tying;

[0035] (2) The fully automatic batch grabbing and binding system described in the present invention is designed with a grabbing mechanical arm that continuously fixes the steel bars during the binding process, which effectively enhances the stability of the steel bars during the binding operation and reduces the deviation of the binding position caused by the shaking of the steel bars, thereby improving the binding accuracy and construction quality. No other positioning structure design is required, and it is suitable for various working environments at the construction site and for the grabbing, positioning and binding of scattered steel bars;

[0036] (3) The fully automatic batch grabbing and binding system described in the present invention realizes the full automation of the steel bar processing process by integrating the gantry, grabbing device and binding device, significantly improving the construction efficiency and quality. The gantry is used for precise positioning, combined with the flexible operation of lifting and mechanical arms, to efficiently complete the grabbing, handling and stacking of steel bars, which not only improves the operation accuracy, but also enhances the flexibility, ensuring the stable and reliable binding quality. Multiple groups of devices work in parallel, which greatly shortens the binding cycle, reduces the manpower demand and labor intensity, and effectively saves costs.

[0037] (4) The fully automatic batch grabbing and binding system described in the present invention not only overcomes the shortcomings of low efficiency and unstable quality of traditional manual binding, but also promotes construction towards a more efficient and safer direction through the deep integration of intelligence and mechanization. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0039] Figure 1 It is a structural schematic diagram of the grabbing and binding assembly according to an embodiment of the present invention;

[0040] Figure 2 It is a schematic diagram of the side structure of the grabbing and tying assembly according to an embodiment of the present invention;

[0041] Figure 3 It is a structural schematic diagram of the fully automatic batch grabbing and lashing system according to an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the structure of the grabbing robot arm according to an embodiment of the present invention;

[0043] Figure 5 This is a schematic diagram of the structure of the grabbing robot arm according to the embodiment of the present invention from a second viewing angle;

[0044] Figure 6 This is a schematic diagram of the structure of the tying mechanical arm according to an embodiment of the present invention;

[0045] Figure 7 This is a schematic structural diagram of the tying mechanical arm according to an embodiment of the present invention from a second viewing angle;

[0046] Figure 8 for Figure 7 A partial enlarged structural diagram of the middle part;

[0047] Description of reference numerals:

[0048] 100-grabbing and binding assembly; 200-steel frame assembly; 201-longitudinal steel bar; 202-transverse steel bar; 1-gantry; 11-vertical beam; 12-first connecting beam; 13-moving assembly; 14-lifting shaft; 15-base; 151-first supporting inclined beam; 152-second supporting inclined beam; 153-second connecting beam; 2-grabbing device; 21-first lifting device; 22-grabbing mechanical arm; 221-first connecting seat; 222-first swing arm; 223-first connecting arm; 224-claw assembly; 2241-first clamp; 2242-second clamp; 225-first drive device; 226-second drive device; 3-binding device; 31-second lifting device; 32-binding mechanical arm; 321-second connecting seat; 322-second swing arm; 323-second connecting arm; 324-third drive device; 325-fourth drive device; 326-third connecting seat; 327-silk-spinning device; 3271-fourth connecting seat; 3272-positioning sleeve; 328-first transmission gear; 329-wire binding installation assembly. DETAILED DESCRIPTION

[0049] In order to make the technical means, objectives and effects of the present invention easy to understand, the embodiments of the present invention are described in detail below with reference to specific drawings.

[0050] It should be noted that all the terms used in the present invention for directional and positional indications, such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "inside", "outside", "top", "lower", "lateral", "longitudinal", "center", etc., are only used to explain the relative positional relationship and connection status between the components in a certain state (as shown in the accompanying drawings), and are only for the convenience of describing the present invention, rather than requiring the present invention to be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features.

[0051] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0053] like Figures 1 to 8 As shown, the present application discloses a fully automatic batch grabbing and lashing system, including a grabbing and lashing assembly 100, wherein the grabbing and lashing assembly 100 includes:

[0054] The gantry 1 comprises a vertical beam 11, a first connecting cross beam 12 and a moving assembly 13, wherein the first connecting cross beam 12 is arranged on the vertical beam 11, and the moving assembly 13 is arranged at the lower end of the vertical beam 11 and can drive the gantry 1 to move or lock;

[0055] The grabbing device 2 comprises a first lifting device 21 and a grabbing mechanical arm 22, wherein the first lifting device 21 is arranged on the first connecting beam 12 and can drive the grabbing mechanical arm 22 to move in a vertical direction;

[0056] The tying device 3 comprises a second lifting device 31 and a tying mechanical arm 32, wherein the second lifting device 31 is arranged on the first connecting beam 12 and can drive the tying mechanical arm 32 to move in a vertical direction;

[0057] The grabbing and lashing assemblies 100 are provided in at least two groups, and at least two groups of grabbing devices 2 and one group of lashing devices 3 are provided on the gantry 1 of each group of the grabbing and lashing assemblies 100;

[0058] During operation, at least two groups of the grabbing and binding components 100 control the first lifting device 21 to drive the grabbing robot arm 22 to move down to grab the steel bars and place the steel bars at the specified position. After the longitudinal steel bars 201 and the transverse steel bars 202 grabbed by the grabbing and binding components 100 are stacked into a grid-like skeleton, the second lifting device 31 is controlled to drive the binding robot arm 32 to move down to the cross position of the grid-like skeleton, and the binding robot arm 32 uses the silk-spinning device 327 to spin silk and bind the cross position.

[0059] When building the base surface at the construction site, the steel bars need to be stacked horizontally and vertically into a grid to form the skeleton of the building. After the steel bars are stacked into a grid, steel wire ropes need to be tied at the cross positions of the grid to fix the steel bars. Usually, the steel bar tying work on the construction site is done manually by workers, which has the disadvantages of difficulty in fixing the steel bars, large workload, and low efficiency. In addition, the steel bars used for tying are not fixed at the construction site, and even the stacked material area will have various scattered situations. Traditional mechanized means have great difficulty in identifying the specific locations of these scattered steel bars, which can easily lead to inaccurate grasping or omissions. Before tying, the steel bars need to be manually sorted and fixed. This process is not only time-consuming and labor-intensive, but also prone to human errors, such as uneven placement of steel bars and loose fixation, which further increases the difficulty and uncertainty of the tying work and affects the subsequent tying work.

[0060] The present application aims at the cumbersome and inefficient problem of steel bar binding in construction, and proposes a fully automatic batch grabbing and binding system, which realizes the automatic grabbing, handling, stacking and binding of scattered steel bars by integrating a gantry 1, a grabbing device 2 and a binding device 3. The gantry 1 is a movable core support structure, and the moving component 13, the lifting device (the first lifting device 21, the second lifting device 31) and the mechanical arm (grabbing mechanical arm 22, binding mechanical arm 32) on it work together, and the gantry 1 is moved to the ground above the steel bars through the moving component 13, and the first connecting beam 12 is controlled to move downward, and then the first lifting device 21 is continued to control the grabbing mechanical arm 22 to move down to the steel bar placement. At least two grabbing devices 2 on the front and rear two groups of gantry 1 grab and clamp the steel bars, raise the grabbing mechanical arm 22 to the highest position, and then move the two gantry 1 to the steel bar placement station, and place the steel bars at the designated position, so as to achieve accurate positioning and grabbing of the steel bars, and then transport them to the designated position and stack them into a grid-like skeleton. The binding device 3 completes the binding operation at the cross points of the grid-like skeleton through the wire-spinning device according to the moving position of the gantry 1, thus realizing the full automation of steel bar binding. The fully automatic batch grabbing and binding system described in this application, through innovative mechanical design and intelligent control strategy, streamlines and standardizes the complex steel bar binding operation, and through the integration of mechanical and intelligent technologies, greatly improves the construction efficiency and quality, and solves the problems of low steel bar binding efficiency, high labor intensity, and unstable binding quality in traditional construction.

[0061] The fully automatic batch grabbing and binding system described in the present application can simultaneously realize the grabbing and binding of multiple steel bars, greatly improving the construction efficiency, significantly shortening the binding cycle, and at the same time solving the problem of grabbing scattered steel bars. It can automatically adapt to steel bars in different stacking states, thereby improving the flexibility and adaptability of construction.

[0062] As a preferred example of the present application, the grabbing robot arm 22 includes a first connecting seat 221, a first swing arm 222, a first connecting arm 223 and a clamping jaw assembly 224 which are arranged in sequence, the first connecting seat 221 is used to be detachably connected to the first lifting device 21, the first swing arm 222 is hingedly connected to the first connecting seat 221 and swings under the action of a first driving device 225, the end of the first swing arm 222 away from the first connecting seat 221 is connected to the first connecting arm 223, the first connecting arm 223 and the first swing arm 222 move as a whole, the clamping jaw assembly 224 is arranged at the cantilever end of the first connecting arm 223 away from the first connecting seat 221, and the clamping jaw assembly 224 is clamped or released under the action of the second driving device 226. As an example of the present application, the clamping jaw assembly 224 includes a first clamping jaw 2241 and a second clamping jaw 2242, wherein the first clamping jaw 2241 and the second clamping jaw 2242 form a scissor-like clamping structure, and the second driving device 226 is disposed on the first connecting arm 223, and the second driving device 226 can drive the first clamping jaw 2241 and / or the second clamping jaw 2242 to move relative to each other for clamping or loosening. There are many ways to drive the scissor-like clamping structure to clamp or loosen by a driving device in the prior art, such as by a slider, a lead screw connecting rod, a tension spring, etc., and the specific structure of the driving device will not be described in detail in the present application.

[0063] This setting discloses a specific grasping robot arm 22 structure, which realizes precise grasping through multi-stage connection and driving mechanism. Starting from the top, the grasping robot arm 22 is first detachably connected to the first lifting device 21 through the first connecting seat 221 to realize position adjustment in the vertical direction; then, the first swing arm 222 is hinged to the first connecting seat 221, and is driven by the first driving device 225, so that the first swing arm 222 swings flexibly along the hinge axis to adjust the grasping direction; the first connecting arm 223 is fixedly connected to the first swing arm 222, and moves synchronously with it to further transmit and adjust the grasping posture; finally, the clamping jaw assembly 224 is arranged at the far end of the first connecting arm 223, and through the action of the second driving device 226, the first clamping jaw 2241 and the second clamping jaw 2242 are driven to form a scissor-like clamping structure to realize precise clamping and release of the target steel bar. The whole process combines the three main actions of lifting, swinging and clamping, which work together to ensure that the grasping robot arm 22 can flexibly adapt to the grasping needs in different scenarios, realize the multi-dimensional movement of the grasping robot arm 22 in space, expand the grasping range and angle, and greatly broaden the breadth and accuracy of the grasping operation.

[0064] As a preferred example of the present application, the binding robot arm 32 includes a second connecting seat 321, a second swing arm 322, a second connecting arm 323 and a silk-spinning device 327 which are arranged in sequence, the second connecting seat 321 is used to be detachably connected to the second lifting device 31, the second swing arm 322 is hingedly connected to the second connecting seat 321 and swings under the action of a third driving device 324, the end of the second swing arm 322 away from the second connecting seat 321 is connected to the second connecting arm 323, the second connecting arm 323 and the second swing arm 322 move as a whole, the silk-spinning device 327 is arranged at the cantilever end of the second connecting arm 323 away from the second connecting seat 321, and the silk-spinning device 327 spins silk towards the cross intersection of the grid-like skeleton under the action of the fourth driving device 325 and binds and cuts it to form a binding cross.

[0065] This setting discloses a specific structure of a tying robot arm 32, whose overall design concept and layout are similar to those of the grabbing robot arm 22. Through the collaborative work of modular components, efficient tying operations on the grid-like skeleton are realized. When performing tying operations, first, the tying robot arm 32 is lowered to an appropriate tying height by the second lifting device 31; then, the third driving device 324 is used to drive the second swing arm 322 and the second connecting arm 323 to swing to a predetermined position; finally, the fourth driving device 325 is started to make the silk-spinning device 327 spit out silk threads to the cross intersection of the grid-like skeleton and complete the tying and cutting operations. The whole process has a high degree of automation, which can effectively improve production efficiency and product quality. By adopting a modular design concept, the components are tightly connected and easy to disassemble and assemble, which not only simplifies the installation and maintenance process, but also improves the flexibility and adaptability of the equipment, and can meet the operation requirements in different scenarios. In addition, the coordinated movement of the second swing arm 322 and the second connecting arm 323 ensures the smoothness and accuracy of the binding action, so that the silk-spinning device 327 can be accurately positioned at the cross intersection of the grid-like skeleton for binding operations, effectively avoiding the misalignment and missing binding problems that may occur in traditional manual binding, reducing manual labor intensity, ensuring the stability and consistency of the binding process, avoiding errors caused by human factors, improving production efficiency and product quality, reducing costs for enterprises, and enhancing market competitiveness.

[0066] As a preferred example of the present application, the wire-spinning device 327 includes a wire-binding installation assembly 329, a fourth connecting seat 3271, and a positioning sleeve 3272. The positioning sleeve 3272 is arranged on the fourth connecting seat 3271 and is located on one side of the wire-binding installation assembly 329. The fourth connecting seat 3271 is arranged on the third connecting seat 326 and is rotated by the first transmission gear 328. The third connecting seat 326 is fixedly arranged on the second connecting arm 323. When in use, the binding wire installation assembly 329 is used to accommodate and install the binding wire coil, and the end of the binding wire coil is arranged along the fourth connecting seat 3271 and the positioning sleeve 3272. When the fourth driving device 325 is working, it can spit the binding wire coil of the binding wire installation assembly 329 outward along the outer end and drive the fourth connecting seat 3271 and the positioning sleeve 3272 to rotate through the first transmission gear 328, so that the binding wire is wound and tied at the cross intersection formed by the longitudinal steel bar 201 and the transverse steel bar 202, and then tightened and cut, thereby realizing fast and reliable binding of the cross intersection.

[0067] This setting realizes the automatic spinning and precise positioning of the binding wire through the spinning device 327 with integrated structural design, eliminating the tedious steps of manually holding the binding wire, greatly reducing the labor intensity and improving the working efficiency; secondly, the clever cooperation between the positioning sleeve 3272 and the fourth connecting seat 3271 ensures that the binding wire can be accurately wound on the intersection of the steel bars, and the tightness of the binding is further enhanced through the rotation mechanism, making the binding effect more reliable; in addition, the device also has high flexibility and adaptability, and can be used for the binding of steel bars of different specifications and layouts, improving the versatility and convenience of construction. Through the optimized design of the spinning device 327, the automatic spinning and positioning winding of the binding wire are realized, which not only simplifies the steel bar binding operation process, but also significantly improves the automation and efficiency of the steel bar binding operation.

[0068] As a preferred example of the present application, the gantry 1 has two groups of vertical beams 11, and the two groups of vertical beams 11 are respectively located at the opposite ends of the first connecting beam 12, and the first connecting beam 12 can move up and down along the vertical beam 11. A base 15 is provided at the lower end of the vertical beam 11, and the moving assembly 13 is provided on the lower surface of the base 15. As a specific example of the present application, a downwardly bent lifting shaft 14 is provided at the opposite ends of the first connecting beam 12, and the lifting shaft 14 is sleeved on the vertical beam 11 and can move up and down along the vertical direction, so as to adjust the height of the first connecting beam 12 in the vertical direction. The base 15 includes a first supporting oblique beam 151, a second supporting oblique beam 152 and a second connecting beam 153, and the first supporting oblique beam 151 and the second supporting oblique beam 152 are arranged in an inclined shape at the opposite sides of the lower end of the vertical beam 11 and form a triangular structure with the second connecting beam 153, and the moving assembly 13 is provided on the lower surface of the second connecting beam 153.

[0069] This setting discloses a gantry 1 structure. Through the ingenious design of the lifting shaft 14, the user can easily adjust the height of the first connecting beam 12 to adapt to the working environment with different height requirements, greatly improving work efficiency and flexibility; and the base 15 is designed as a triangular stable structure, which not only ensures the stability and reliability of the gantry 1 during use and prevents deformation due to external forces, but also further enhances the bearing capacity of the overall structure and extends the service life of the equipment. In addition, the moving component 13 integrated under the base 15 realizes the rapid movement and precise positioning of the gantry 1, simplifies the complex process of equipment installation and adjustment, and facilitates users to adjust the use position of the grabbing and binding component 100.

[0070] As a preferred example of the present application, the second connecting beam 153 is perpendicular to the plane where the vertical beam 11 and the first connecting beam 12 are located, and the moving assembly 13 on each of the second connecting beams 153 includes at least two rollers, one of which is a universal roller. This setting enhances the mobility and stability of the gantry 1 through the ingenious combination of the second connecting beam 153 and the moving assembly 13, and also ensures high-precision positioning of the steel bars during the grabbing, handling, positioning and binding process, effectively avoiding errors and delays that may occur in traditional methods. At the same time, the introduction of universal rollers allows the gantry 1 to be at ease in complex and changeable construction environments, and improves the reliability and safety of the overall operation.

[0071] As a preferred example of the present application, 5 to 10 grabbing devices 2 are provided along the length direction of the first connecting beam 12, and 2 to 5 tying devices 3 are provided along the length direction of the first connecting beam 12. As an example of the present application, at least one grabbing device 2 is provided between two tying devices 3. As a specific example of the present application, four grabbing devices 2 are provided, and two tying devices 3 are provided. The grabbing devices 2 are No. 1, No. 3, No. 4, and No. 6 from left to right, and the tying devices 3 are No. 2 and No. 5 from left to right.

[0072] This setting enables the system to handle multiple steel bars for grasping, positioning or binding at the same time through the distributed layout of the grasping device 2 and the binding device 3 along the crossbeam, greatly shortening the processing time of grasping or binding a single steel bar, and significantly improving the overall operating efficiency. In addition, this modular and adjustable design also gives the system a high degree of flexibility and adaptability, and can easily cope with the processing requirements of steel bars of different sizes, shapes and weights and different positions. It can ensure that while the steel bars are effectively grasped, binding or other subsequent processing steps can be carried out in time, avoiding process congestion or waiting, and providing strong support for a variety of application scenarios. As a specific example of the present application, the first lifting device 21 and the second lifting device 31 adopt the same lifting structure, such as a cylinder, a slider, a screw and other lifting structures, which simplifies the design and manufacturing costs and improves the stability and reliability of the overall system.

[0073] As a preferred example of the present application, the grabbing and binding components 100 are arranged in 2 to 10 groups, and the gantries 1 of the multiple groups of grabbing and binding components 100 are arranged in parallel or vertically crossed. Preferably, the grabbing and binding components 100 are arranged in 4 to 6 groups, and multiple grabbing and binding components 100 work together to achieve the grabbing, positioning and binding of the longitudinal steel bars 201 and the transverse steel bars 202. The fully automatic batch grabbing and binding system described in the present application is provided with multiple groups of grabbing and binding components 100, and when in use, they are arranged in parallel or vertically crossed on the construction site to adapt to the diverse working spaces on the construction site. Each group of gantry 1 is equipped with a grabbing mechanical arm 22 and a binding mechanical arm 32 to work in coordination. When working, the grabbing mechanical arms 22 of different grabbing and binding assemblies 100 first accurately grab the longitudinal steel bars 201 and the transverse steel bars 202, and keep the steel bars stably clamped during the binding process without loosening, ensuring the accuracy of the steel bar position; then, the binding mechanical arm 32, with the auxiliary fixation of the grabbing mechanical arm 22, quickly finds the cross point where the steel bars cross and performs the binding operation. This way of multiple groups of equipment working in parallel significantly improves the efficiency and accuracy of steel bar binding, and realizes an efficient and accurate steel bar binding process.

[0074] Compared with the traditional single-point robot lashing device, the fully automatic batch grabbing and lashing system described in this application has the following beneficial effects:

[0075] By introducing multiple groups of gantries 1 working in parallel, the overall operation time of steel bar binding is greatly shortened, and the construction efficiency is improved. It is especially suitable for the high-strength requirements of steel bar binding in large-scale construction projects. The design of the grabbing robot arm 22 to continuously fix the steel bars during the binding process effectively enhances the stability of the steel bars during the binding operation, reduces the deviation of the binding position caused by the shaking of the steel bars, thereby improving the binding accuracy and construction quality. No other positioning structure design is required, and it is suitable for various working environments on the construction site and the grasping, positioning and binding of scattered steel bars. The entire system does not require any human participation from grabbing and binding to moving finished products. Through the automated and intelligent binding process, it reduces the dependence on skilled workers, can allocate human resources more flexibly, and reduces the pressure caused by rising labor costs, which helps to improve the economic benefits of the project. The fully automatic batch grabbing and binding system described in this application has the following working method:

[0076] S1: Move a gantry 1 of a group of grabbing and binding components 100 to the top of the ground where the longitudinal steel bars 201 or the transverse steel bars 202 are placed;

[0077] S2: After controlling the first connecting beam 12 to move down to a preset height, the corresponding grabbing mechanical arm 22 on the first connecting beam 12 is further controlled to move down to the location where the longitudinal steel bars 201 or the transverse steel bars 202 are placed, and the gantry 1 grabs multiple longitudinal steel bars 201 or transverse steel bars 202 at the same time. After grabbing the steel bars, the grabbing mechanical arm 22 is controlled to clamp them with a gripping force;

[0078] S3: Control the first lifting device 21 to drive the grabbing mechanical arm 22 and the grabbed steel bar to move up to a preset position;

[0079] S4: The gantry 1 is moved to drive the grabbed steel bars to the splicing and binding position, and the grabbing mechanical arm 22 is controlled to move down to the designated position for clamping;

[0080] S5: Move another group of gantry frames 1 of the grabbing and binding components 100, grab a plurality of longitudinal steel bars 201 or transverse steel bars 202 arranged in a vertical cross shape with the steel bars grabbed in S4, and move them to the splicing and binding position in step S4, so that the longitudinal steel bars 201 and transverse steel bars 202 grabbed in step S4 and step S5 are cross-stacked;

[0081] S6: Control the second lifting devices 31 in the two groups of grabbing and tying assemblies 100 to drive the tying mechanical arm 32 to move downward, and direct the jet port of the spinning device 327 on the tying mechanical arm 32 toward the cross intersection of the cross-stacked steel bars formed in step S5 to perform spinning and tying;

[0082] S7: repeating steps S1 to S6 until the grabbed longitudinal steel bars 201 and transverse steel bars 202 form a steel bar frame assembly 200 at the splicing and binding position, and performing preliminary binding on the steel bar frame assembly 200;

[0083] S8: Check whether the cross points in the steel bar frame assembly 200 are tied, if yes, go to S9, if not, repeat S8;

[0084] S9: After the binding is completed, the steel frame assembly 200 that has completed the binding work is transported away, and the grabbing device 2 and the binding device 3 are reset.

[0085] The present application discloses a fully automatic batch grabbing and tying system, which works in coordination with at least two groups of grabbing and tying components 100. First, the gantry 1 of at least one group of grabbing and tying components 100 is accurately moved to the position above the steel bar placement, and through the precise control of the grabbing mechanical arm 22, multiple longitudinal steel bars 201 or transverse steel bars 202 are grabbed at the same time; then, the steel bars that are initially grabbed are lifted to a preset height by the first lifting device 21, and moved to the splicing and tying area of ​​the steel bar frame; in this area, the grabbing mechanical arm 22 is accurately positioned again to prepare for the cross stacking of the steel bars; at the same time, the gantry 1 of another group of grabbing and tying components 100 repeats this process, grabs the steel bars that cross the former vertically, and forms a cross-crossed steel bar layout; finally, the tying mechanical arm 32 automatically performs wire-spinning and tying at the intersection to achieve a firm connection of the steel bars. The whole process is repeated until a complete steel bar frame assembly is formed, and it is confirmed through verification that all intersections have been tied. As a preferred example of the present application, the verification in step S8 can be carried out by manual detection or intelligent scanning detection. The intelligent scanning detection is implemented in combination with the camera recognition technology in the prior art. There are many related records in the prior art, which will not be elaborated here.

[0086] The fully automatic batch grabbing and binding system described in the present application significantly reduces labor intensity and improves construction efficiency and accuracy through automated grabbing and binding operations. It also utilizes the coordination of the gantry 1 and the grabbing and binding components to achieve batch processing, speed up construction progress, ensure the firmness of the steel bar connection, enhance overall stability and carrying capacity, and has flexibility and scalability to meet different construction needs.

[0087] The fully automatic batch grabbing and binding system described in this application realizes the comprehensive automation of the steel bar processing process by integrating the gantry 1, the grabbing device 2 and the binding device 3, significantly improving the construction efficiency and quality. The gantry 1 is used for precise positioning, combined with the flexible operation of lifting and mechanical arms, to efficiently complete the grabbing, handling and stacking of steel bars, which not only improves the operation accuracy, but also enhances the flexibility. Multiple groups of devices work in parallel, which greatly shortens the binding cycle, reduces manpower requirements and labor intensity, and effectively saves costs. The fully automatic batch grabbing and binding system described in this application not only overcomes the drawbacks of low efficiency and unstable quality of traditional manual binding, but also promotes construction to a more efficient and safer direction through the deep integration of intelligence and mechanization, and provides a solid technical guarantee for the rapid development of the modern construction industry.

[0088] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. Fully automatic batch grabbing and lashing system, characterized by: The invention comprises a grabbing and lashing assembly (100), wherein the grabbing and lashing assembly (100) comprises: A gantry (1) comprising a vertical beam (11), a first connecting cross beam (12) and a moving assembly (13), wherein the first connecting cross beam (12) is arranged on the vertical beam (11), and the moving assembly (13) is arranged at the lower end of the vertical beam (11) and can drive the gantry (1) to move or lock; A grabbing device (2), comprising a first lifting device (21) and a grabbing mechanical arm (22), wherein the first lifting device (21) is arranged on the first connecting crossbeam (12) and can drive the grabbing mechanical arm (22) to move in a vertical direction; A lashing device (3), comprising a second lifting device (31) and a lashing mechanical arm (32), wherein the second lifting device (31) is arranged on the first connecting crossbeam (12) and can drive the lashing mechanical arm (32) to move in a vertical direction; The grabbing and lashing assemblies (100) are provided in at least two groups, and at least two groups of grabbing devices (2) and one group of lashing devices (3) are provided on the gantry (1) of each group of the grabbing and lashing assemblies (100); When working, at least two groups of the grabbing and binding assemblies (100) drive the grabbing mechanical arm (22) to move downward to grab the steel bars and place the steel bars at a designated position by controlling the first lifting device (21). After the longitudinal steel bars (201) and the transverse steel bars (202) grabbed by the grabbing and binding assemblies (100) are stacked into a grid-like frame, the second lifting device (31) is controlled to drive the binding mechanical arm (32) to move downward to a cross position of the grid-like frame, and the binding mechanical arm (32) uses a wire-spinning device (327) to spin wire at the cross position for binding.

2. The fully automatic batch grabbing and lashing system according to claim 1 is characterized in that: The grabbing mechanical arm (22) comprises a first connecting seat (221), a first swing arm (222), a first connecting arm (223) and a clamping claw assembly (224) which are arranged in sequence, wherein the first connecting seat (221) is used for being detachably connected to the first lifting device (21), the first swing arm (222) is hingedly connected to the first connecting seat (221) and swings under the action of a first driving device (225), the end of the first swing arm (222) away from the first connecting seat (221) is connected to the first connecting arm (223), the first connecting arm (223) and the first swing arm (222) move together as a whole, and the clamping claw assembly (224) is arranged at the cantilever end of the first connecting arm (223) away from the first connecting seat (221), and the clamping claw assembly (224) is clamped or released under the action of a second driving device (226).

3. The fully automatic batch grabbing and lashing system according to claim 2 is characterized in that: The clamping jaw assembly (224) comprises a first clamping jaw (2241) and a second clamping jaw (2242), wherein the first clamping jaw (2241) and the second clamping jaw (2242) form a scissor-like clamping structure, and the second driving device (226) is arranged on the first connecting arm (223), and the second driving device (226) can drive the first clamping jaw (2241) and / or the second clamping jaw (2242) to move relative to each other for clamping or releasing.

4. The fully automatic batch grabbing and lashing system according to any one of claims 1 to 3, characterized in that: The binding mechanical arm (32) comprises a second connection seat (321), a second swing arm (322), a second connection arm (323) and a spinning device (327) which are arranged in sequence. The second connection seat (321) is used for being detachably connected to the second lifting device (31). The second swing arm (322) is hingedly connected to the second connection seat (321) and swings under the action of a third driving device (324). An end of the second swing arm (322) away from the second connection seat (321) is connected to the second connection arm (323). The second connection arm (323) and the second swing arm (322) move together as a whole. The spinning device (327) is arranged at a cantilever end of the second connection arm (323) away from the second connection seat (321). Under the action of a fourth driving device (325), the spinning device (327) spins silk at a cross point of the grid-shaped skeleton and binds and cuts it.

5. The fully automatic batch grabbing and lashing system according to claim 4 is characterized in that: The wire-spinning device (327) comprises a wire-binding installation assembly (329), a fourth connecting seat (3271), and a positioning sleeve (3272); the positioning sleeve (3272) is arranged on the fourth connecting seat (3271) and is located on one side of the wire-binding installation assembly (329); the fourth connecting seat (3271) is arranged on the third connecting seat (326) and is rotatably arranged via a first transmission gear (328); and the third connecting seat (326) is fixedly arranged on the second connecting arm (323).

6. The fully automatic batch grabbing and lashing system according to claim 5 is characterized in that: The gantry (1) is provided with two groups of vertical beams (11), the two groups of vertical beams (11) are respectively located at opposite ends of the first connecting cross beam (12), the first connecting cross beam (12) is capable of moving up and down along the vertical beam (11), a base (15) is provided at the lower end of the vertical beam (11), and the moving component (13) is provided on the lower surface of the base (15).

7. The fully automatic batch grabbing and lashing system according to claim 6 is characterized in that: The base (15) comprises a first supporting inclined beam (151), a second supporting inclined beam (152) and a second connecting cross beam (153); the first supporting inclined beam (151) and the second supporting inclined beam (152) are arranged in an inclined manner on opposite sides of the lower end of the vertical beam (11) and form a triangular structure with the second connecting cross beam (153); and the moving component (13) is arranged on the lower surface of the second connecting cross beam (153).

8. The fully automatic batch grabbing and lashing system according to claim 7 is characterized in that: Five to ten of the grabbing devices (2) are arranged along the length direction of the first connecting crossbeam (12), and two to five of the binding devices (3) are arranged along the length direction of the first connecting crossbeam (12).

9. The fully automatic batch grabbing and lashing system according to claim 8 is characterized in that: The grabbing and lashing assemblies (100) are provided in 2 to 10 groups, and the gantries (1) of the multiple groups of the grabbing and lashing assemblies (100) are arranged in parallel or in a vertical cross shape.

10. The fully automatic batch grabbing and lashing system according to claim 9 is characterized in that: Here’s how it works: S1: moving a gantry (1) of a group of grabbing and binding components (100) to above the ground where the longitudinal steel bars (201) or the transverse steel bars (202) are placed; S2: After controlling the first connecting crossbeam (12) to move downward to a preset height, the corresponding grabbing mechanical arm (22) on the first connecting crossbeam (12) is further controlled to move downward to the location where the longitudinal steel bars (201) or the transverse steel bars (202) are placed, and the gantry (1) simultaneously grabs a plurality of longitudinal steel bars (201) or transverse steel bars (202), and after grabbing the steel bars, the grabbing mechanical arm (22) is controlled to clamp them with a gripping force; S3: controlling the first lifting device (21) to drive the grabbing mechanical arm (22) and the grabbed steel bar to move upward to a preset position; S4: moving the gantry (1) to drive the grabbed steel bars to the splicing and binding position, and controlling the grabbing mechanical arm (22) to move down to the designated position for clamping; S5: moving the gantry (1) of another group of grabbing and binding components (100), grabbing a plurality of longitudinal steel bars (201) or transverse steel bars (202) arranged in a vertical cross pattern with the steel bars grabbed in S4, and moving them to the splicing and binding position in step S4, so that the longitudinal steel bars (201) and transverse steel bars (202) grabbed in steps S4 and S5 are cross-stacked; S6: controlling the second lifting devices (31) in the two groups of grabbing and tying components (100) to drive the tying mechanical arm (32) to move downward, and directing the jetting port of the wire-spinning device (327) on the tying mechanical arm (32) toward the cross intersection of the cross-stacked steel bars formed in step S5 to perform wire-spinning and tying; S7: repeating steps S1 to S6 until the grabbed longitudinal steel bars (201) and transverse steel bars (202) form a steel bar frame assembly (200) at the splicing and binding position, and performing preliminary binding on the steel bar frame assembly (200); S8: Check whether the cross points in the steel bar frame assembly (200) are tied, if yes, proceed to S9, if no, repeat S8; S9: After the binding is completed, the steel frame assembly (200) that has completed the binding work is transported away, and the grabbing device (2) and the binding device (3) are reset.

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