Automatic grabbing and lashing device

Abstract

The present invention relates to the field of intelligent manufacturing technology in the construction industry, and provides an automatic grabbing and binding device, including a grabbing and binding assembly, wherein the grabbing and binding assembly includes an integrated lifting device, a grabbing device, a grabbing and binding mechanical arm of the binding device, and a gantry. When working, at least two groups of the grabbing and binding assemblies drive the grabbing device to move down to grab steel bars and place the steel bars at a designated position by controlling the lifting device, and after the longitudinal steel bars and the transverse steel bars grabbed by the grabbing and binding assembly are stacked into a grid-like skeleton, the binding device is controlled to spin and bind the cross-intersection position of the grid-like skeleton. The present invention highly integrates the grabbing and binding functions of steel bars on a single mechanical arm, and realizes the automated processing of scattered steel bars through the precise coordination of the gantry and the moving assembly, significantly shortens the construction period, reduces the construction cost, can automatically adapt to steel bars in different stacking states, and enhances the adaptability of the construction environment and the flexibility of the system.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent manufacturing in the construction industry, and in particular to an automatic grabbing and binding device. Background Art

[0002] In modern building construction, the binding of steel bars is a key link in structural safety, and its efficiency and precision directly affect the overall quality and construction progress of the project. Traditional steel bar binding work mainly relies on manual operation, which is not only labor-intensive and inefficient, but also difficult to ensure the consistency and quality of binding, especially when facing large-scale and complex steel mesh structures, its disadvantages are more significant.

[0003] In order to meet these challenges, a variety of rebar tying robots have emerged in the market in recent years, aiming to improve tying efficiency and accuracy through automation. However, existing rebar tying robots still face many bottleneck problems in practical applications, which limits their further promotion and application.

[0004] First, existing steel bar tying robots generally adopt a single-point tying working mode, that is, the robot moves one by one to the intersection of the steel bars to perform tying operations. The significant disadvantage of this method is its low efficiency. Each tying operation takes from several seconds to tens of seconds. In large components such as floor slabs, there are many steel bar intersections, often dozens or hundreds. The single-point tying mode is difficult to meet the needs of fast construction. In addition, single-point tying may also lead to uneven distribution of tying points, affecting the overall mechanical properties of the structure.

[0005] Secondly, the scene layout of the existing rebar tying robot before operation is complex and time-consuming. Since the robot needs to operate on a relatively fixed platform, before the tying operation, the construction workers must first take out the steel bars one by one and arrange them in a specific arrangement, and then fix them manually or by other means. This process not only increases labor costs, but may also cause placement errors due to human factors, thereby affecting the accuracy and stability of the tying. What's more serious is that when faced with a complex and changing construction environment, this method of relying on manual layout of the work scene is often difficult to adapt to.

[0006] Furthermore, existing rebar tying robots also have obvious deficiencies in tying point recognition. Most robots use monocular cameras for image acquisition and analysis and positioning. Although this method can achieve basic tying point recognition functions, the recognition speed is slow and easily affected by environmental factors. Especially when dealing with non-planar meshes (such as trapezoidal steel meshes), due to the limited camera field of view and the complexity of steel bar arrangement, it is easy to miss or misidentify tying points, resulting in loose tying or even omissions, which brings safety hazards to the project.

[0007] In summary, existing rebar tying robots have obvious technical defects in tying efficiency, operation scene layout, and tying point identification. These problems not only limit the in-depth application and development of robot technology in the field of rebar tying, but also restrict the modernization process of construction. Therefore, there is an urgent need for a rebar tying system that can overcome the above defects and realize high efficiency, precision and high degree of automation to meet the urgent needs of modern construction. Summary of the invention

[0008] In view of this, the present invention proposes an automatic grabbing and binding device, which aims to solve the technical problems of existing steel bar binding robots such as low binding efficiency, poor precision, time-consuming scene layout, and incomplete binding point identification. Through the integration of multiple groups of gantries, grabbing devices and binding devices, the automation of the steel bar processing process is realized, the binding efficiency and precision are improved, and the construction quality and safety are ensured.

[0009] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0010] The automatic grabbing and lashing device comprises a grabbing and lashing assembly, wherein the grabbing and lashing assembly comprises:

[0011] 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;

[0012] A grabbing and tying mechanical arm is arranged on the first connecting crossbeam and is arranged in plurality along the length direction thereof, wherein the grabbing and tying mechanical arm comprises a lifting device, a grabbing device, and a tying device, wherein the lifting device is connected to the first connecting crossbeam and can control the grabbing device and the tying device to move up and down in the vertical direction;

[0013] At least two groups of grabbing and lashing components are provided, and at least two grabbing and lashing mechanical arms are provided on the gantry of each group of grabbing and lashing components;

[0014] During operation, at least two groups of the grabbing and binding components control the lifting device to drive the grabbing device to move down 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 binding device is controlled to spin and bind the cross-shaped positions of the grid-like skeleton.

[0015] Furthermore, the grasping device includes a first connecting seat, a first swing arm, a first connecting arm and a clamping claw assembly which are arranged in sequence, the first connecting seat is used to be detachably connected to the 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 claw assembly is arranged at the cantilever end of the first connecting arm away from the first connecting seat, and the clamping claw assembly is clamped or released under the action of a second driving device.

[0016] Furthermore, the binding device 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 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 and binds and cuts it off under the action of a fourth driving device.

[0017] Furthermore, the wire-spinning device includes a fourth connecting seat, a positioning sleeve and a wire-binding installation assembly, 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 can rotate 360° relative to the third connecting seat through the first transmission gear, and the third connecting seat is fixedly arranged on the second connecting arm.

[0018] Furthermore, 4 to 12 grabbing and binding mechanical arms are arranged along the length direction of the first connecting crossbeam, and the grabbing device and the binding device in each of the grabbing and binding mechanical arms can be interchanged in left and right positions on the corresponding lifting device.

[0019] 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.

[0020] Further, its working method is as follows:

[0021] S1: Move a group of gantry frames for grabbing and binding components to the ground above where the longitudinal or transverse steel bars are placed;

[0022] S2: After controlling the first connecting beam to move down to a preset height, the corresponding grabbing device 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 grabs multiple longitudinal steel bars or transverse steel bars at the same time. After grabbing the steel bars, the grabbing device is controlled to clamp them with a gripping force;

[0023] S3: Control the lifting device to drive the grabbing device and the grabbed steel bar to move up to a preset position;

[0024] S4: The moving gantry drives the grabbed steel bars to the splicing and binding position, and controls the grabbing device and the binding device to move down to the designated position for clamping;

[0025] 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;

[0026] S6: Control the binding devices in the two groups of grabbing and binding assemblies to align with the cross intersection of the cross-stacked steel bars, and direct the jet ports of the wire-spinning devices on the binding devices to perform wire-spinning and binding at the cross intersection;

[0027] 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;

[0028] S8: Check whether the cross points in the steel frame assembly are tied. If so, proceed to S9. If not, repeat S8.

[0029] S9: After the binding is completed, the steel frame components that have completed the binding work are transported away, and the grabbing and binding mechanical arm is reset.

[0030] Furthermore, in step S1, two groups of grabbing and binding assemblies are set to perform mobile grabbing, and the gantries of the two groups of grabbing and binding assemblies are arranged in a front-to-back shape, and the two gantries are arranged at a distance of at least half of the longitudinal steel bar or the transverse steel bar, and the grabbing and binding mechanical arms in the front and rear groups of grabbing and binding assemblies are arranged in a front-to-back corresponding shape.

[0031] Furthermore, the automatic grabbing and tying device further includes a panoramic scanning device, the panoramic scanning device includes a panoramic industrial camera, the panoramic industrial camera is arranged on a gantry, and the panoramic industrial camera can move along the partially tied steel bar frame assembly with the gantry to identify the steel bar tying information of the entire scene of the steel bar frame assembly. In step S8, the following specific steps are included:

[0032] S81: Work scene image acquisition and panoramic image stitching;

[0033] S82: performing Yolov8-based binding point target detection according to the obtained panoramic image, detecting the bound and unbound intersections, and marking the unbound intersections;

[0034] S83: The detected image results are transmitted to the execution terminal, which drives the lifting device of the grabbing binding assembly, moves the binding device to the unbound position, and automatically binds the unbound marked points until all the unbound intersection points marked in S82 are bound.

[0035] Furthermore, when performing panoramic image stitching, step S81 includes the following steps:

[0036] S811: Image preprocessing improves image quality and reduces noise and redundant information;

[0037] S812: Implement ORB feature point detection to obtain significant feature points of the image, match feature points between images, calculate a transformation matrix based on the obtained feature point pairs, map the image to another image based on the transformation matrix to achieve alignment, stitch together the same overlapping areas in the images, use an image fusion algorithm to perform a smooth transition between the two images, and achieve seamless stitching;

[0038] S813: Global optimization processing, optimizing the visual effect of the visual image, image cropping and zooming operations, and obtaining a complete panoramic view of the working scene;

[0039] S814: Save the panoramic image dataset.

[0040] Compared with the prior art, the automatic grabbing and lashing device of the present invention has the following advantages:

[0041] (1) The automatic grabbing and binding device described in the present invention integrates the grabbing and binding functions of steel bars into a single robotic arm through modular design and intelligent control, and realizes the automated processing of scattered steel bars through the precise coordination of the gantry and the mobile components, so that the system can process multiple steel bars at the same time, reducing the equipment switching time and manpower requirements, significantly shortening the construction period and reducing construction costs. At the same time, it can automatically adapt to steel bars in different stacking states and can operate accurately without manual sorting, thereby enhancing the adaptability of the construction environment and the flexibility of the system.

[0042] (2) The automatic grabbing and binding device described in the present invention plays an auxiliary positioning role during the binding process. The grabbing device can continuously and stably fix the steel bars, effectively preventing the steel bars from shaking and ensuring the accuracy of the binding position. Its flexible adaptability enables the device to easily handle the grabbing and binding of various scattered steel bars at the construction site, thereby enhancing the flexibility and reliability of the construction.

[0043] (3) The automatic grabbing and binding device described in the present invention eliminates the design of the positioning device, has an ingenious design, a compact structure, is easy to maintain and operate, reduces the difficulty of use and the failure rate, and enhances the flexibility and safety of the construction site.

[0044] (4) The automatic grabbing and binding device described in the present invention, through the application of panoramic industrial cameras, realizes comprehensive and all-round monitoring of the binding status of complex steel frame components, effectively avoiding possible omissions and misjudgments in manual inspections. Combined with the precise recognition capability of the Yolov8 algorithm, the system can quickly and accurately locate the intersections of unbound steel bars, greatly reducing the time cost of manual search and confirmation, and realizing fast and efficient binding of unbound nodes, reducing the labor intensity of workers, and significantly improving the quality and consistency of binding operations.

[0045] (5) The automatic grabbing and binding device described in the present invention not only overcomes the disadvantages 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

[0046] 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:

[0047] Figure 1 This is a schematic diagram of the structure of the automatic grabbing and lashing device according to an embodiment of the present invention;

[0048] Figure 2 It is a structural schematic diagram of a cross node of a steel bar frame assembly bound by a grabbing and binding assembly according to an embodiment of the present invention;

[0049] Figure 3 It is a schematic diagram of the side structure of the grabbing and tying mechanical arm according to an embodiment of the present invention;

[0050] Figure 4 It is a schematic diagram of the side structure of the grabbing and tying mechanical arm according to an embodiment of the present invention;

[0051] Figure 5 It is a schematic diagram of the side structure of the automatic grabbing and tying device according to an embodiment of the present invention;

[0052] Figure 6 It is a schematic diagram of the structure of the grabbing device according to an embodiment of the present invention;

[0053] Figure 7 It is a structural schematic diagram of the second viewing angle of the grasping device according to an embodiment of the present invention;

[0054] Figure 8 It is a structural schematic diagram of the binding device according to an embodiment of the present invention;

[0055] Fig. 9 This is a schematic structural diagram of the binding device according to an embodiment of the present invention from a second viewing angle;

[0056] Fig.10 for Fig. 9 A partial enlarged structural diagram of the middle part;

[0057] Fig.11 It is a structural schematic diagram of the automatic grabbing and tying device according to an embodiment of the present invention, wherein the grabbing device and the tying device cooperate to position and tie;

[0058] Fig.12 It is a structural schematic diagram of the grabbing device and the grabbing device cooperating for grabbing and positioning in the automatic grabbing and tying device according to an embodiment of the present invention;

[0059] Fig.13 It is a structural schematic diagram of the tying device and the tying device cooperating for tying in the automatic grabbing tying device according to an embodiment of the present invention;

[0060] Fig.14 A schematic diagram of the distribution of binding points of a steel bar frame assembly according to an embodiment of the present invention;

[0061] Fig.15 A simplified diagram of an environment in which a panoramic industrial camera is arranged on a gantry for panoramic image detection according to an embodiment of the present invention;

[0062] Fig.16 This is a simplified diagram of the stitching image of the automatic grabbing and tying device according to the embodiment of the present invention using an industrial camera looking down;

[0063] Description of reference numerals:

[0064] 100-grabbing and binding assembly; 200-steel frame assembly; 201-longitudinal steel bar; 202-transverse steel bar; 300-panoramic scanning device; 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 and binding mechanical arm; 3-lifting device; 4-grabbing device; 41-first connecting seat; 42-first swing arm; 43-first connecting arm; 44-claw assembly; 441-first claw; 442-second claw; 45 -First driving device; 46-second driving device; 5-binding device; 51-second connecting seat; 52-second swing arm; 53-second connecting arm; 54-third driving device; 55-fourth driving device; 56-third connecting seat; 57-silk-spinning device; 571-fourth connecting seat; 572-positioning sleeve; 573-wire binding installation assembly; 574-first transmission gear; 6-panoramic industrial camera; 61-first camera view image; 62-second camera view image; 63-third camera view image; 64-fourth camera view image; 65-view image overlapping area; 7-binding cross byte. DETAILED DESCRIPTION

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] like Figures 1 to 16 As shown, the present application discloses an automatic grabbing and lashing device, including a grabbing and lashing assembly 100, wherein the grabbing and lashing assembly 100 includes:

[0070] 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;

[0071] The grabbing and tying mechanical arm 2 is arranged on the first connecting crossbeam 12 and is arranged in a plurality along the length direction thereof. The grabbing and tying mechanical arm 2 comprises a lifting device 3, a grabbing device 4, and a tying device 5. The lifting device 3 is connected to the first connecting crossbeam 12 and can control the grabbing device 4 and the tying device 5 to move up and down in the vertical direction.

[0072] The grabbing and lashing components 100 are provided in at least two groups, and at least two grabbing and lashing mechanical arms 2 are provided on the gantry 1 of each group of the grabbing and lashing components 100;

[0073] During operation, at least two groups of the grabbing and binding components 100 control the lifting device 3 to drive the grabbing device 4 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 binding device 5 is controlled to spin and bind the cross-shaped positions of the grid-like skeleton.

[0074] 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.

[0075] The present application discloses an automatic grabbing and binding device, which integrates the grabbing and binding functions into a single grabbing and binding mechanical arm 2. Through highly modular design and intelligent control, it significantly improves construction efficiency and flexibility. When in use, after the system is started, the gantry 1 is driven by the moving component 13 to accurately move to the top of the steel bars to be grabbed. The moving component 13 ensures that the gantry 1 can stably and accurately reach the specified position through preset path planning or real-time sensor feedback, or in combination with workers' pushing, etc.; after the gantry is positioned, the multiple grabbing and binding mechanical arms 2 located on the first connecting beam 12 are immediately started, and the lifting device 3 inside the mechanical arm descends according to the control command, driving the grabbing device 4 to contact and clamp the steel bars. The grabbing device 4 adopts a high-precision clamping mechanism to ensure that even in the face of scattered steel bars, it can Accurate grasping is achieved to avoid omission or misgrabbing; after grasping the steel bar, the lifting device 3 drives the grasping device 4 and the steel bar to rise to a safe height, and then the gantry moves to the steel bar placement station through the moving component 13. During this process, multiple groups of grasping and binding components 100 work together to grasp the longitudinal steel bar 201 and the transverse steel bar 202 respectively, and accurately stack them at the designated position to form a grid-like skeleton; the binding device 5 has been lowered to the cross intersection position under the action of the lifting device 3, and the binding device 5 has a built-in wire-spinning device 57, which realizes automatic binding of the steel bar intersection by accurately controlling the wire-spinning amount and position. After the binding is completed, the binding device 5 rises and resets to prepare for the next operation. During the whole process, the grasping and binding mechanical arm 2 can continuously complete multiple steps such as grasping, handling, stacking, and positioning binding without changing tools or adjusting positions, which greatly shortens the operation cycle and improves construction efficiency. At the same time, the parallel operation capability of multiple groups of grasping and binding components 100 enables the system to process multiple steel bars at the same time, further improving the overall work efficiency. In the example of the present application, the lifting device 3 can simultaneously drive the grasping device 4 and the binding device 5 to move up and down as a whole, and can also independently drive the two to move up and down separately.

[0076] The automatic grabbing and binding device disclosed in the present application, through modular design and intelligent control, highly integrates the grabbing and binding functions of steel bars on a single robotic arm, and realizes the automated processing of scattered steel bars through the precise coordination of the gantry and the mobile components, so that the system can process multiple steel bars at the same time, reducing equipment switching time and manpower requirements, significantly shortening the construction period, and reducing construction costs. At the same time, it can automatically adapt to steel bars in different stacking states and can perform accurate operations without manual sorting, thereby enhancing the adaptability of the construction environment and the flexibility of the system.

[0077] As a preferred example of the present application, the gripping device 4 includes a first connecting seat 41, a first swing arm 42, a first connecting arm 43 and a clamping jaw assembly 44, which are arranged in sequence. The first connecting seat 41 is used to be detachably connected to the lifting device 3. The first swing arm 42 is hingedly connected to the first connecting seat 41 and swings under the action of the first driving device 45. The end of the first swing arm 42 away from the first connecting seat 41 is connected to the first connecting arm 43. The first connecting arm 43 and the first swing arm 42 move as a whole. The clamping jaw assembly 44 is arranged at the cantilever end of the first connecting arm 43 away from the first connecting seat 41. The clamping jaw assembly 44 is clamped or released under the action of the second driving device 46. As an example of the present application, the clamping jaw assembly 44 includes a first clamping jaw 441 and a second clamping jaw 442. The first clamping jaw 441 and the second clamping jaw 442 form a scissor-shaped clamping structure. The second driving device 46 is arranged on the first connecting arm 43. The second driving device 46 can drive the first clamping jaw 441 and / or the second clamping jaw 442 to move relative to each other for clamping or releasing. The scissor-shaped clamping structure is driven by a driving device to clamp or loosen. In the prior art, there are many ways to achieve this, such as through a slider, a screw connecting rod, a tension spring, etc. The specific structure of the drive will not be described in detail in this application.

[0078] This setting discloses a specific structure of a gripping device 4, which realizes precise gripping through a multi-stage connection and driving mechanism. Starting from the top, the gripping device 4 is first detachably connected to the lifting device 3 through a first connecting seat 41 to realize position adjustment in the vertical direction; then, the first swing arm 42 is hinged to the first connecting seat 41, and is driven by a first driving device 45, so that the first swing arm 42 swings flexibly along the hinge axis to adjust the gripping direction; the first connecting arm 43 is fixedly connected to the first swing arm 42, and moves synchronously with it to further transmit and adjust the gripping posture; finally, the clamping jaw assembly 44 is arranged at the far end of the first connecting arm 43, and through the action of the second driving device 46, the first clamping jaw 441 and the second clamping jaw 442 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 device 4 can flexibly adapt to the grasping needs in different scenarios, realize the multi-dimensional movement of the grasping device 4 in space, expand the grasping range and angle, and greatly broaden the breadth and accuracy of the grasping operation.

[0079] As a preferred example of the present application, the binding device 5 includes a second connecting seat 51, a second swing arm 52, a second connecting arm 53 and a silk-spinning device 57 which are arranged in sequence. The second connecting seat 51 is used to be detachably connected to the lifting device 3. The second swing arm 52 is hingedly connected to the second connecting seat 51 and swings under the action of a third driving device 54. The end of the second swing arm 52 away from the second connecting seat 51 is connected to the second connecting arm 53. The second connecting arm 53 and the second swing arm 52 move as a whole. The silk-spinning device 57 is arranged at the cantilever end of the second connecting arm 53 away from the second connecting seat 51. Under the action of the fourth driving device 55, the silk-spinning device 57 spins silk toward the cross intersection of the grid-like skeleton and binds and cuts it off to form a binding cross 7.

[0080] This setting discloses a specific structure of a binding device 5, whose overall design concept and layout are similar to those of the grasping device 4. Through the collaborative work of modular components, an efficient binding operation of the grid-like skeleton is realized. When performing the binding operation, first, the binding device 5 is lowered to an appropriate binding height by the lifting device 3; then, the second swing arm 52 and the second connecting arm 53 are driven to swing to a predetermined position by the third driving device 54; finally, the fourth driving device 55 is started to make the silk-spinning device 57 spit out silk threads to the cross intersection of the grid-like skeleton and complete the binding and cutting operation. 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 52 and the second connecting arm 53 ensures the smoothness and accuracy of the binding action, so that the silk-spinning device 57 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.

[0081] As a preferred example of the present application, the wire-spinning device 57 includes a fourth connection seat 571, a positioning sleeve 572 and a wire-binding installation assembly 573. The positioning sleeve 572 is arranged on the fourth connection seat 571 and is located on one side of the wire-binding installation assembly 573. The fourth connection seat 571 is arranged on the third connection seat 56 and is rotated by the first transmission gear 58. The third connection seat 56 is fixedly arranged on the second connection arm 53. When in use, the wire-binding installation assembly 573 is used to accommodate and install the binding wire coil. The end of the binding wire coil is arranged along the fourth connection seat 571 and the positioning sleeve 572. When the fourth driving device 55 is working, the binding wire coil of the wire-binding installation assembly 573 can be spun outward along the outer end and the fourth connection seat 571 and the positioning sleeve 572 are driven to rotate by the first transmission gear 58, so that the binding wire is wound and tied at the cross point 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 point.

[0082] This setting realizes the automatic spinning and precise positioning of the binding wire through the spinning device 57 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 572 and the fourth connecting seat 571 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 57, 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] As a preferred example of the present application, 4 to 12 grabbing and binding robot arms 2 are arranged along the length direction of the first connecting beam 12, and the grabbing device 4 and the binding device 5 in each grabbing and binding robot arm 2 can be interchanged in the left and right positions on the corresponding lifting device 3. In the example of the present application, the grabbing device 4 and the binding device 5 are integrated into a lifting device 3, the grabbing device 4 is used to grab the steel bars scattered aside, and the binding device 5 is used to bind the cross intersections. Compared with the state in which the grabbing device 4 and the binding device 5 are arranged separately, the grabbing device 4 and the binding device 5 are lowered at the same time. In the binding state, the grabbing device 4 can assist in fixing the steel bars, and the binding device 5 only needs to be positioned front and back, and does not need to be positioned in height, which eliminates part of the positioning work of the binding device 5. As a specific example of the present application, five grabbing and binding robot arms 2 are arranged, such as Figure 1 As shown, the grabbing and binding robot arms 2 are respectively at position 1, position 2, position 3, position 4, and position 5 from left to right.

[0087] This setting is integrated into a modular grabbing and tying mechanical arm 2 by cleverly integrating the grabbing device 4 and the tying device 5 on the liftable lifting device 3, and flexibly arranging multiple such grabbing and tying mechanical arms 2 along the first connecting crossbeam 12, so that the grabbing and tying of multiple steel bars can be carried out in parallel, significantly reducing the processing time of each steel bar, and the overall operation process becomes smoother and more efficient. In addition, by simply adjusting or exchanging the positions of the grabbing device 4 and the tying device 5 on the grabbing and tying mechanical arm 2, it is easy to adapt to different construction needs, regardless of the size, weight or position of the steel bar, it can ensure accurate operation, simplify the operation process, and reduce the skill requirements for the operator, making the entire steel bar tying operation more intelligent and convenient. In the example of this application, the lifting device 3 adopts a unified structure, such as a cylinder or a screw, which not only simplifies the design and manufacture of the grabbing and tying mechanical arm 2, but also ensures the coordination and consistency of the actions of each grabbing and tying mechanical arm 2, enhances the stability and reliability of the entire system, improves work efficiency, and reduces work costs.

[0088] 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 cross-shaped. 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 automatic grabbing and binding device 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 cross-shaped 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 and binding mechanical arm 2 with an integrated grabbing device 4 and a binding device 5 to work in coordination. When working, the multiple grabbing devices 4 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 device 5, with the auxiliary fixation of the grabbing device 4, 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.

[0089] The present application discloses an automatic grabbing and lashing device, which has the following beneficial effects compared with the traditional single-point robot lashing device:

[0090] (1) The automatic grabbing and tying device of the present application combines the grabbing and tying functions into one through an integrated design, significantly improving the construction efficiency. The coordinated work of multiple gantries and grabbing and tying mechanical arms realizes the rapid and accurate grabbing and tying of steel bars, greatly shortening the operation cycle. It is particularly suitable for large-scale, high-intensity construction projects, effectively improving the overall construction efficiency.

[0091] (2) The automatic grabbing and binding device of the present application can continuously and stably fix the steel bars during the binding process, effectively preventing the steel bars from shaking and ensuring the accuracy of the binding position. This design not only improves the accuracy of the binding, but also reduces the rework caused by position deviation, thereby improving the construction quality. At the same time, its flexible adaptability enables the device to easily handle the grabbing and binding of various scattered steel bars at the construction site, enhancing the flexibility and reliability of the construction.

[0092] (3) The automatic grabbing and binding device of the present application realizes the full automation and intelligence of steel bar binding, completely liberating manpower. From grabbing and binding the steel bars to moving the finished products, the entire process does not require human intervention, reducing the dependence on skilled workers and saving labor costs.

[0093] The automatic grabbing and lashing device described in this application works as follows:

[0094] 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;

[0095] S2: After controlling the first connecting beam 12 to move down to a preset height, the corresponding grabbing device 4 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, and controls the gripping force of the grabbing device 4 to clamp the steel bars after grabbing them;

[0096] S3: Control the lifting device 3 to drive the grabbing device 4 and the grabbed steel bar to move up to a preset position;

[0097] S4: The gantry 1 is moved to drive the grabbed steel bars to the splicing and binding position, and the grabbing device 4 and the binding device 5 are controlled to move down to the designated position for clamping;

[0098] S5: Move the gantry 1 of another group of 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;

[0099] S6: Control the binding devices 5 in the two groups of grabbing and binding assemblies 100 to align with the cross intersection of the cross-stacked steel bars, and use the jet ports of the wire-spinning devices 57 on the binding devices 5 to spin wire and bind at the cross intersection;

[0100] 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;

[0101] S8: Check whether the cross points in the steel bar frame assembly 200 are tied, if yes, go to S9, if not, repeat S8;

[0102] S9: After the binding is completed, the steel frame assembly 200 that has completed the binding work is transported away, and the grabbing and binding mechanical arm 2 is reset.

[0103] The present application discloses an automatic grabbing and tying device, which is operated by 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 the grabbing device 4 and the tying device 5 are adjusted to move downward by the lifting device 3. Through the precise control of the grabbing device 4, multiple longitudinal steel bars 201 or transverse steel bars 202 are grabbed at the same time; then, the lifting device 3 is used to lift the initially grabbed steel bars to a preset height and move them to the splicing and tying area of ​​the steel bar frame; in this area, the grabbing device 4 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-cross steel bar layout; finally, the tying device 5 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.

[0104] The automatic grabbing and tying device described in the present application realizes the automatic batch grabbing and tying of steel bars, greatly improves the construction efficiency, reduces the manual operation cost, and is particularly suitable for the heavy task of tying steel bars in large-scale construction projects, significantly accelerating the construction progress. In addition, the grabbing device 4 plays an auxiliary positioning role when the tying device 5 is operating, preventing the displacement or loosening of the steel bars in subsequent construction, improving the quality of the project, canceling the design of the positioning device, and having a clever design, compact structure, easy maintenance and operation, reducing the difficulty of use and the failure rate, and enhancing the flexibility and safety of the construction site.

[0105] As a preferred example of the present application, in step S1, two groups of grabbing and binding assemblies 100 are set to perform mobile grabbing, and the gantries 1 of the two groups of grabbing and binding assemblies 100 are arranged in a front-to-back shape, and the two gantries 1 are arranged at a distance of at least half of the longitudinal steel bar 201 or the transverse steel bar 202, and the grabbing and binding mechanical arms 2 in the front and rear groups of the grabbing and binding assemblies 100 are arranged in a front-to-back corresponding shape.

[0106] By setting up two groups of grabbing and binding components 100 to work in parallel, the initial grabbing and positioning of the steel bars are carried out. The grabbing and binding mechanical arms 2 arranged correspondingly in the front and rear ensure high accuracy and flexibility of the operation, and can adapt to the steel bar binding needs of different specifications and layouts, thereby improving the adaptability and flexibility of the construction, and at the same time doubling the efficiency of steel bar binding, effectively shortening the construction period, and reducing the time cost of the project.

[0107] As a preferred example of the present application, in step S5, the steel bars grabbed by another group of grabbing and tying assemblies 100 are placed at the position corresponding to the tying device 5 in the grabbing and tying assembly 100 in step S4. This setting enables the steel bars grabbed in step S5 to cross with the previously grabbed steel bars and then be reliably tied by the tying device 5, thereby achieving reliable fixing of the steel bars grabbed by the two groups of grabbing and tying assemblies 100, simplifying the complex process of traditional manual or single equipment operation, and greatly improving the accuracy and efficiency of tying.

[0108] As a preferred example of the present application, the grabbing and binding assembly 100 is communicatively connected with a mobile platform, and the mobile platform receives input construction drawings through human-computer interaction. The control unit obtains the size and shape of the longitudinal steel bars 201 and the transverse steel bars 202 to be constructed and the spacing between the longitudinal steel bars 201 and the transverse steel bars 202, and then adjusts the specific positions of grabbing the longitudinal steel bars 201 and the transverse steel bars 202 for placement and splicing in step S4 and step S5. This part of the content can be implemented in combination with the relevant content of the prior art, and is not the focus of protection of this application, so it will not be elaborated here.

[0109] As a preferred example of the present application, the automatic grabbing and tying device also includes a panoramic scanning device 300, and the panoramic scanning device 300 includes a panoramic industrial camera 6, and the panoramic industrial camera 6 is arranged on the gantry 1. The panoramic industrial camera 6 can move along the partially tied steel frame assembly 200 with the gantry 1, identify the steel bar tying information of the entire scene of the steel frame assembly 200, integrate the detection method of image stitching and convolutional neural network, identify the untied feature information, and tie the untied cross nodes by moving the grabbing and tying assembly 100. In the example of the present application, the movement of the gantry 1 of the grabbing and tying assembly 100 can be pushed by people, or it can be made into an automatic mobile chassis, combined with the panoramic industrial camera 6 and the depth camera to move the relevant positions, so as to realize the adaptive positioning of the grabbing and tying assembly 100 for grabbing and tying.

[0110] Specifically, in step S8, the following specific steps are included:

[0111] S81: Work scene image acquisition and panoramic image stitching;

[0112] The panoramic industrial camera 6 moves along the partially tied steel frame assembly 200 through the gantry 1 to obtain a video stream of the working scene, obtains a clear scene video frame image based on the video stream, and saves the clear and complete image for subsequent panoramic image fusion and stitching.

[0113] S82: performing Yolov8-based binding point target detection according to the obtained panoramic image, detecting the bound and unbound intersections, and marking the unbound intersections;

[0114] Since convolutional neural networks have achieved optimized detection results in the field of detection and recognition, they are used in many recognition fields; this operation detection process uses the excellent Yolov8 target detection algorithm framework for detection. Due to the trapezoidal steel bars, training data set images of different scales were collected, 1500 high-level bundled and unbundled images and 1500 low-level image data sets were collected, and the data sets were divided into 70% training sets, 15% validation sets and 15% test sets. The test achieved a detection accuracy that was basically the same as the original model, and achieved good detection results.

[0115] S83: The detected image results are transmitted to the execution terminal, which drives the lifting device 3 to grab the binding assembly 100, moves the binding device 5 to the unbound position, and automatically binds the unbound marked points until all the unbound intersection points marked in S82 are bound.

[0116] The present application discloses a method for verifying whether the cross intersections in a steel bar frame assembly 200 are tied. Through the application of panoramic industrial cameras, comprehensive and no-dead-angle monitoring of the binding status of complex steel bar frame assemblies is achieved, effectively avoiding possible omissions and misjudgments in manual inspections. Combined with the precise recognition capabilities of the Yolov8 algorithm, the system can quickly and accurately locate untied steel bar intersections, greatly reducing the time cost of manual search and confirmation, achieving fast and efficient binding of untied nodes, reducing the labor intensity of workers, and significantly improving the quality and consistency of binding operations.

[0117] As a preferred example of the present application, when performing panoramic image stitching, the following steps are included:

[0118] S811: Image preprocessing improves image quality and reduces noise and redundant information;

[0119] S812: Implement ORB feature point detection to obtain significant feature points of the image, match feature points between images, calculate a transformation matrix based on the obtained feature point pairs, map the image to another image based on the transformation matrix to achieve alignment, stitch together the same overlapping areas in the images, use an image fusion algorithm to perform a smooth transition between the two images, and achieve seamless stitching;

[0120] S813: Global optimization processing, optimizing the visual effect of the visual image, image cropping and zooming operations, and obtaining a complete panoramic view of the working scene;

[0121] S814: Save the panoramic image dataset.

[0122] This setting discloses a specific panoramic image stitching process. First, the input image set is preprocessed, and advanced image enhancement technology is used to remove noise, adjust contrast, etc. to improve image quality and reduce interference in subsequent processing, laying a solid foundation for subsequent feature point detection and matching, and reducing stitching errors caused by poor image quality; then, the ORB (Oriented FAST and Rotated BRIEF) feature point detection algorithm is used to reduce the computational complexity and improve the stitching speed while ensuring the speed and accuracy of feature point detection, quickly and accurately identify significant feature points in the image, and use these feature points to achieve accurate matching between images; using the matched feature point pairs, the transformation matrix is ​​calculated to accurately map images from different perspectives to the same coordinate system to achieve image alignment and preliminary stitching; the stitching process is as follows: Fig.16 As shown, the panoramic industrial camera 6 acquires four view images during the movement of the gantry 1, namely the first camera view image 61, the second camera view image 62, the third camera view image 63 and the fourth camera view image 64, and forms a view image overlap area 65 between two adjacent view images. In the stitching process, special attention is paid to processing the overlapping area between images. Through an efficient image fusion algorithm, the stitching edge is smoothly transitioned to achieve seamless connection, effectively solving the common problems of ghosting and misalignment in traditional stitching methods, making the stitched panoramic image more natural and smooth. Finally, global optimization processing is performed, including image cropping, scaling and other operations, to further enhance the visual effect, ensuring that the final generated panoramic image is both complete and beautiful, and meets the visual needs in different application scenarios.

[0123] The automatic grabbing and tying device disclosed in the present application integrates a grabbing device and a tying device into a mechanical arm through modular design and intelligent control, and combines the precise positioning of the gantry with the flexible operation of the mechanical arm to achieve full process automation from steel bar grabbing to precise tying, greatly improving the construction efficiency and tying quality, greatly improving the automation level of steel bar grabbing and tying processing, and effectively solving the problems of low efficiency, large workload, and easy errors in traditional manual tying. The automatic grabbing and tying device described in the present application, through the perfect combination of intelligence and mechanization, not only solves many drawbacks of traditional manual tying, but also promotes technological progress and industrial upgrading in the construction industry, and injects new vitality and impetus into the rapid development of the modern construction industry.

[0124] 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. Automatic grabbing and lashing device, characterized in that: 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 and lashing mechanical arm (2) is arranged on the first connecting crossbeam (12) and is arranged in plurality along the length direction thereof, the grabbing and lashing mechanical arm (2) comprising a lifting device (3), a grabbing device (4), and a lashing device (5), the lifting device (3) being connected to the first connecting crossbeam (12) and being capable of controlling the grabbing device (4) and the lashing device (5) to move up and down in a vertical direction; At least two groups of the grabbing and lashing assemblies (100) are provided, and at least two grabbing and lashing mechanical arms (2) are provided on the gantry (1) of each group of the grabbing and lashing assemblies (100); When in operation, at least two groups of the grabbing and binding assemblies (100) drive the grabbing device (4) to move downward to grab the steel bars and place the steel bars at a designated position by controlling the lifting device (3). After the longitudinal steel bars (201) and transverse steel bars (202) grabbed by the grabbing and binding assemblies (100) are stacked into a grid-like frame, the binding device (5) is controlled to spin and bind the cross positions of the grid-like frame.

2. The automatic grabbing and lashing device according to claim 1 is characterized in that: The gripping device (4) comprises a first connecting seat (41), a first swing arm (42), a first connecting arm (43) and a clamping claw assembly (44) which are arranged in sequence. The first connecting seat (41) is used for being detachably connected to the lifting device (3). The first swing arm (42) is hingedly connected to the first connecting seat (41) and swings under the action of a first driving device (45). An end of the first swing arm (42) away from the first connecting seat (41) is connected to the first connecting arm (43). The first connecting arm (43) and the first swing arm (42) move together as a whole. The clamping claw assembly (44) is arranged at a cantilever end of the first connecting arm (43) away from the first connecting seat (41). The clamping claw assembly (44) is clamped or released under the action of a second driving device (46).

3. The automatic grabbing and lashing device according to claim 1 or 2, characterized in that: The binding device (5) comprises a second connecting seat (51), a second swing arm (52), a second connecting arm (53) and a spinning device (57) which are arranged in sequence. The second connecting seat (51) is used for being detachably connected to the lifting device (3). The second swing arm (52) is hingedly connected to the second connecting seat (51) and swings under the action of a third driving device (54). An end of the second swing arm (52) away from the second connecting seat (51) is connected to the second connecting arm (53). The second connecting arm (53) and the second swing arm (52) move together as a whole. The spinning device (57) is arranged at a cantilever end of the second connecting arm (53) away from the second connecting seat (51). Under the action of a fourth driving device (55), the spinning device (57) spins silk at a cross point of the grid-like skeleton and binds and cuts it.

4. The automatic grabbing and lashing device according to claim 3 is characterized in that: The wire-spinning device (57) comprises a fourth connecting seat (571), a positioning sleeve (572) and a wire-binding installation assembly (573); the positioning sleeve (572) is arranged on the fourth connecting seat (571) and is located on one side of the wire-binding installation assembly (573); the fourth connecting seat (571) can rotate 360 ​​degrees relative to the third connecting seat (56) via a first transmission gear (58); and the third connecting seat (56) is fixedly arranged on the second connecting arm (53).

5. The automatic grabbing and lashing device according to claim 4 is characterized in that: The grabbing and tying mechanical arms (2) are arranged in 4 to 12 numbers along the length direction of the first connecting crossbeam (12), and the grabbing device (4) and the tying device (5) in each of the grabbing and tying mechanical arms (2) are interchangeable in left and right positions on the corresponding lifting device (3).

6. The automatic grabbing and lashing device according to claim 5, 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.

7. The automatic grabbing and lashing device according to claim 6, 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 grasping device (4) 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) grasps a plurality of longitudinal steel bars (201) or transverse steel bars (202) at the same time, and controls the grasping force of the grasping device (4) to clamp the steel bars after grasping them; S3: Controlling the lifting device (3) to drive the grabbing device (4) 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 device (4) and the binding device (5) to move down to the designated position for clamping; S5: moving the gantry (1) of another group of grabbing and binding components (100) to 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 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 binding devices (5) in the two groups of grabbing and binding assemblies (100) to align with the cross intersection of the cross-stacked steel bars, and directing the ejection ports of the wire-spinning devices (57) on the binding devices (5) to spin wire at the cross intersection to bind; 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 and binding mechanical arm (2) is reset.

8. The automatic grabbing and lashing device according to claim 7, characterized in that: In step S1, two groups of grabbing and binding assemblies (100) are arranged to perform mobile grabbing, the gantries (1) of the two groups of grabbing and binding assemblies (100) are arranged in a front-to-back manner, and the two gantries (1) are arranged at a spacing of at least half of the longitudinal steel bar (201) or the transverse steel bar (202), and the grabbing and binding mechanical arms (2) in the front and rear groups of the grabbing and binding assemblies (100) are arranged in a front-to-back manner.

9. The automatic grabbing and lashing device according to claim 8, characterized in that: The automatic grabbing and tying device further comprises a panoramic scanning device (300), wherein the panoramic scanning device (300) comprises a panoramic industrial camera (6), wherein the panoramic industrial camera (6) is arranged on the gantry (1), and wherein the panoramic industrial camera (6) can move along the partially tied steel bar frame assembly (200) along with the gantry (1), and identify steel bar tying information of the entire scene of the steel bar frame assembly (200). Step S8 comprises the following specific steps: S81: Work scene image acquisition and panoramic image stitching; S82: performing Yolov8-based binding point target detection according to the obtained panoramic image, detecting the bound and unbound intersections, and marking the unbound intersections; S83: The detected image result is transmitted to the execution terminal, and the execution terminal drives the lifting device (3) of the grabbing binding assembly (100), moves the binding device (5) to the unbound position, and automatically binds the unbound marked points until all the unbound intersections marked in S82 are bound.

10. The automatic grabbing and lashing device according to claim 9, characterized in that: When performing panoramic image stitching, step S81 includes the following steps: S811: Image preprocessing improves image quality and reduces noise and redundant information; S812: Implement ORB feature point detection to obtain significant feature points of the image, match feature points between images, calculate a transformation matrix based on the obtained feature point pairs, map the image to another image based on the transformation matrix to achieve alignment, stitch together the same overlapping areas in the images, use an image fusion algorithm to perform a smooth transition between the two images, and achieve seamless stitching; S813: Global optimization processing, optimizing the visual effect of the visual image, image cropping and zooming operations, and obtaining a complete panoramic view of the working scene; S814: Save the panoramic image dataset.

Images