Automatic grabbing and lashing robot and system

Abstract

The present invention relates to an automatic grabbing and binding robot and system. The automatic grabbing and binding robot and system can grab multiple steel bars at the same time and cross-place them to form a steel mesh through the arrangement of an elastic clamp, a grabbing mechanism, a tape mechanism, a binding mechanism and a pushing mechanism. The binding mechanism can ensure that the elastic clamp is firmly clamped at the intersection and fixes the intersection to ensure the firmness of the binding. At the same time, the binding mechanism can drive the pushing mechanism to move synchronously through a rope body to realize the automatic supply of the elastic clamp and improve the binding efficiency. The mechanical arm structure can drive the binding mechanism to move around it, which is convenient for quickly binding multiple steel bar intersections around it. The robot integrates grabbing and binding, which can greatly improve the construction efficiency when laying the steel mesh.

Description

Technical Field

[0001] The invention relates to the technical field of building construction engineering, and in particular to an automatic grabbing and binding robot and system. Background Art

[0002] With the rapid advancement of urbanization, the country needs to build more and more large buildings such as high-rise buildings, railways and nuclear power plants. When building large buildings, reinforced concrete structures are inevitably needed. Reinforced concrete structures, as the main framework of the building, can provide the main support for the building. Before forming a reinforced concrete structure, it is necessary to tie multiple steel bars into a steel frame to form a large area or large diameter steel mesh.

[0003] In the process of tying the steel bars piled together into the steel mesh required for the floor slab, it is necessary to go through the steps of grabbing and tying the steel bars, grabbing and tying new steel bars, fixing the original mesh, etc. In the prior art, a grabbing robot is first used to place and fix the steel bars to form a steel mesh, and then the tying robot moves to a tying point above the steel mesh, and controls the tying robot to perform wire tying at that point. The grabbing robot and the tying robot operate separately and independently. After the grabbing robot grabs the steel bars and places them at the corresponding position, the tying robot ties them. In this way, the grabbing robot needs to be moved away first, and then the tying robot is moved over for tying. Grabbing and tying are two systems that need to be controlled separately and use corresponding robotic arms separately. This is not only a waste of the cost of the robotic arms, but also the back-and-forth control of grabbing and tying also reduces efficiency.

[0004] In the prior art, the tying mechanism spits out a steel wire from the tying head, wraps the steel wire around the cross point of the steel bar through an arc-shaped stopper, then lifts and tightens it and rotates the steel wire several times, and cuts the steel wire after it is fixed, thus completing the tying. Some of these tying robots may have problems such as loose wire, entanglement, or loose tying during the tying process.

[0005] In view of the above, we provide an automatic grabbing and tying robot and system to solve the above problems. Summary of the invention

[0006] In view of the above situation, the present invention provides an automatic grabbing and tying robot and system, which can improve the tying efficiency and facilitate the rapid tying of multiple steel bar intersections. The robot integrates grabbing and tying, which can greatly improve the construction efficiency when laying steel mesh, and is more conducive to the use of grabbing and tying steel bars. A new tying method is provided, which uses an elastic clamp to directly clamp the steel bar intersection. The elastic clamp only needs to be pushed downward to clamp it on the steel bar intersection with its own elasticity.

[0007] An automatic grabbing and binding robot and system, comprising a mechanical arm structure and an operating box and an elastic clamp for binding steel bars, the operating box is fixedly connected to the bottom end of the mechanical arm structure, and also comprises a grabbing mechanism for grabbing steel bars and a storage mechanism for storing the elastic clamp, the grabbing mechanism is arranged inside the operating box and the storage mechanism is arranged on one side of the operating box, a cassette mechanism that can regularly arrange multiple elastic clamps is arranged inside the storage mechanism, and also comprises a tying mechanism for tying the elastic clamp and a pushing mechanism for pushing the cassette structure to move equidistantly, the tying mechanism is arranged inside the operating box and vertically penetrates inside the grabbing mechanism, a guide bar for limiting the moving direction of the cassette mechanism is fixedly connected to the middle part of the inner side wall of the operating box, the pushing mechanism is arranged on one end of the upper surface of the guide bar close to the storage mechanism and a rope body is arranged at the movable end of the pushing mechanism, the two ends of the rope body are respectively connected to the pushing mechanism and the tying mechanism, and also comprises a storage mechanism arranged on the side of the operating box away from the storage mechanism, the cassette mechanism is arranged inside the storage mechanism and penetrates through the guide bar and penetrates into the storage mechanism.

[0008] Preferably, the grabbing mechanism includes a first motor, a bidirectional screw rod, a limit rod and a grabbing plate, the number of the bidirectional screw rods is two and the two bidirectional screw rods are arranged parallel to each other and are in the same horizontal plane, the same end of the two bidirectional screw rods is fixedly connected to a pulley and the external transmission of the two pulleys is connected to a belt, the output end of the first motor is connected to the axis of one of the pulleys through a spline, the number of the limit rods is two and the two limit rods are vertically corresponding to the two bidirectional screw rods and the two are parallel to each other, the number of the grabbing plates is two and the two grabbing plates are connected to the two ends of the two bidirectional screw rods through threaded transmission and are laterally slidably connected to the two On the outside of the limit rod, the two grab plates are symmetrically arranged with the vertical center line of the bidirectional screw as the symmetry axis, and the two ends of the bidirectional screw are respectively provided with a fixing plate and a mounting plate, the fixing plate is fixedly connected to the inner wall of the operating box and the mounting plate is fixedly installed on the side of the operating box away from the fixing plate, the two bidirectional screws are rotatably connected between the fixing plate and the mounting plate, the two limit rods are fixedly connected to the bottom of the side of the fixing plate and the other end is fixedly installed on the side of the mounting plate by bolts, a protective box is fixedly installed on the side of the mounting plate away from the fixing plate and the first motor is fixedly installed inside the protective box, and the two pulleys and belts are arranged inside the protective box.

[0009] Preferably, the storage mechanism includes a storage box, a second motor, a rotating shaft, a storage tray and a storage box cover, the storage box is fixedly connected to the bottom of the side of the operating box and a through slot for passing the cassette mechanism is provided at the bottom end of the storage box interior close to the operating box, a rectangular slot for passing the cassette mechanism and an elastic snap ring is provided at a portion of the side of the operating box corresponding to the through slot, the rotating shaft is connected to the output end of the second motor by a key and is arranged at the center of a circle inside the storage box, the second motor is fixedly installed at the center of a circle on the back of the storage box, the storage tray is sleeved on the outside of the rotating shaft and is rotatably connected to the inside of the storage box, and the storage box cover is screwed to the front of the storage box.

[0010] Preferably, the tape mechanism comprises a tape having a plurality of slots equidistantly formed on its surface and a card block with a trapezoidal cross-section, the card blocks being fixedly connected to the middle of the lower surface of the tape and being in a plurality of numbers, the plurality of card blocks being evenly arranged at equal distances and each card block being sleeved with an elastic card ring on the outside, circular grooves being formed at the bottoms of both sides of the elastic card ring and arc-shaped baffles being fixedly connected on the sides where the two circular grooves are away from each other, the tops of the elastic card rings being provided with card holes with a trapezoidal cross-section and matching with the card blocks, the elastic card ring being sleeved on the outside of the card block through the card holes, the portion of the tape with elastic card rings equidistantly arranged being arranged in the storage box being rolled up into a spiral shape and wrapped around the inside of the storage disk, the open end of the tape passing through the through groove at the bottom of the storage box and the rectangular groove at the bottom of the operating box and passing through the guide strip, and being able to pass through the guide strip and into the storage mechanism.

[0011] Preferably, the binding mechanism includes a rotating plate, a limit block, a first electric push rod, a sleeve frame, a connecting rod, a lower pressure plate and a second electric push rod, the limit block is fixedly connected to the top of the rotating plate, the number of the first electric push rods is two and the two first electric push rods are vertically arranged and parallel to each other, the top ends of the two first electric push rods are horizontally slidably connected to the inside of the limit block, the outsides of the two first electric push rods are sleeved with sleeve frames, both ends of the side surface of the rotating plate are provided with limit grooves and the two sleeve frames are inserted into the corresponding limit grooves, the fixed rod body of the second electric push rod is fixedly connected to the top of the rotating plate away from the first electric push rod, and the lower pressure plate is fixedly connected to the bottom of the movable rod body of the second electric push rod The top and bottom ends of the lower pressure plate are rotatably connected with connecting rods on both sides, and the connecting rods on both sides are symmetrically arranged with the vertical center line of the lower pressure plate as the symmetry axis, and the ends of the connecting rods on both sides of the lower pressure plate away from the lower pressure plate are rotatably connected to the sides of the two sleeve frames respectively, the binding mechanism also includes a fixed frame, a first steering gear, a rotating block and a rotating rod, the fixed frame and the first steering gear are fixedly installed in the middle of the top wall of the operating box and the first steering gear is arranged inside the fixed frame, the rotating block is fixedly connected to the middle of the upper surface of the rotating plate and rotatably connected to the bottom of the fixed frame, the output end of the first steering gear is connected to the rotating block through a spline, the rotating rod is fixedly connected to the side of the rotating block and one end of the rope body is fixedly connected to the side of the rotating rod away from the rotating block.

[0012] Preferably, the two first electric push rods are respectively arranged on both sides of the middle part of the guide strip, and the movable rod bodies of the two first electric push rods are vertically corresponding to the circular grooves on both sides of the bottom of the elastic clamping ring thereunder, and the bottoms of the movable rod bodies of the two first electric push rods are fixedly connected with permanent magnets, and the bottoms of the movable rod bodies of the two first electric push rods can be respectively inserted into the circular grooves on both sides of the bottom of the elastic clamping ring.

[0013] Preferably, the pushing mechanism includes a tooth plate group, a rotating disk, a lifting plate and a first spring, a one-way linkage mechanism is connected between the rotating disk and the tooth plate group, which enables the rotating disk to drive the tooth plate group to rotate in one direction, and the one-way linkage mechanism includes a ratchet and a pawl, the tooth plate group is composed of two parallel tooth plates fixedly connected to each other, the ratchet is fixedly connected to the center of a circle on one side of the tooth plate group, a rotating rod bracket is fixedly connected to the side of the upper surface of the guide bar close to the storage structure, the tooth plate group, the ratchet and the rotating disk are all rotatably connected to the outside of the rotating rod bracket, and the rotating disk The pawl is sleeved on the outside of the ratchet, and the pawl is hinged on the inner surface of the rotating disk and is fixedly connected to a second spring on a side close to the inner surface of the rotating disk. The pawl can abut against the ratchet under the action of the second spring. The lifting plate is fixedly connected to one side of the outer surface of the rotating disk and the top of the first spring is fixedly connected to the lower surface of the lifting plate, the bottom end of the first spring is fixedly connected to the upper surface of the guide bar, the end of the rope body away from the rotating rod is fixedly connected to the lifting plate, and the tooth plate group is arranged above the cassette and its bottom end is clamped in the corresponding groove on the surface of the cassette.

[0014] Preferably, the storage mechanism includes a storage box, a third motor, a winding rod and a storage box cover, the storage box is fixedly connected to a side of the operating box away from the storage mechanism and a groove for inserting the cassette is provided at the bottom end of the storage box close to the operating box, the groove corresponds to the inside of the guide bar, and long grooves for inserting the starting end of the cassette are provided all around the winding rod, the winding rod is splined to the output end of the third motor and is arranged at the center of a circle inside the storage box, the third motor is fixedly installed at the center of a circle on the back of the storage box, and the storage box cover is spirally connected to the front of the storage box.

[0015] Preferably, a pulley frame is fixedly connected to the top of the inner wall of the operating box near the storage box side, and the outside of the pulley frame is rotatably connected to a pulley that can tighten the rope, and the middle part of the rope is overlapped on the pulley, and visual recognition components are fixedly installed on the bottom of the two inner walls of the operating box near the storage mechanism and the receiving mechanism, the binding mechanism is vertically penetrated through the middle part of the two bidirectional screw rods and the two grabbing plates, and the guide strip is arranged in the middle part below the two limit rods.

[0016] A steel bar automatic grabbing and binding system comprises any one of the automatic grabbing and binding robots described above, and also comprises a gantry and a mobile overhead crane for driving the automatic grabbing and binding robot to move laterally, the mobile overhead crane is arranged on the top of the gantry and can move laterally on the top thereof, the number of the gantries is at least two and each of the gantry is arranged parallel to each other, the number of the mobile overhead cranes on the top of the gantry is several and the bottom of each of the mobile overhead cranes is fixedly installed with an automatic grabbing and binding robot for grabbing and binding steel bars.

[0017] Preferably, the elastic snap ring in the present invention at least comprises an annular portion with an opening and a push pin portion connected at both ends of the annular portion opening, the push pin portion extends toward the outside of the two ends of the annular portion opening, and the push pin portion is used to set the circular groove and the arc-shaped retaining strip. As another embodiment, the elastic snap ring comprises an annular portion with an opening, an inclined portion and a push pin portion, the two ends of the annular portion opening are connected to the inclined portion inclined toward the outside, the free end of the inclined portion is connected to the push pin portion extending outward, the push pin portion is horizontally arranged, and the push pin portion is used to set the circular groove and the arc-shaped retaining strip. As a match with the permanent magnet, the bottom wall of the circular groove of at least the push pin portion of the elastic snap ring is made of ferromagnetic material.

[0018] The above technical solution has the following beneficial effects:

[0019] The automatic grabbing and binding robot and system are provided with elastic clamps, grabbing mechanisms, cassette mechanisms, binding mechanisms and pushing mechanisms. Multiple grabbing mechanisms can grab multiple steel bars at the same time and cross them to form a steel mesh. The binding mechanism can remove the elastic clamps on the cassette mechanism and press them down to the intersection of the steel bars after rotating them at a certain angle, so that the elastic clamps can be quickly fixed at the intersection of the steel bars. At the same time, when the binding mechanism presses down the elastic clamps, the bottom of the elastic clamps will be spread to both sides to avoid the elastic clamps being stuck at the top of the intersection of the steel bars and causing inadequate binding. Pressing down can make the elastic clamps press on the intersection of the steel bars, and can make the two steel bars set at right angles at the intersection of the steel bars press each other, ensuring that the elastic clamps can be firmly clamped at the intersection and fix the intersection, ensuring the firmness of the binding; and every time the binding mechanism drives the elastic clamp to swing the angle, it can drive the pushing mechanism to move synchronously through the rope body and send the cassette mechanism outward, thereby realizing the automatic supply of the elastic clamps and improving the binding efficiency. The mechanical arm structure can drive the binding mechanism to move around it, which is convenient for rapid binding of multiple steel bar intersections around it. The robot integrates grabbing and binding. After the steel bar binding work is completed, the gantry can also be controlled to do other grabbing operations, with multiple uses.

[0020] The present invention proposes a new binding mechanism, which uses an elastic clamp (made of elastic steel sheet) instead of steel wire. When binding, the elastic clamp is pushed out by a pushing mechanism and stuck on the cross point, and fixed under the elastic action of the elastic clamp itself. The elastic clamp can be made into a straight shape, and it can be pushed out and stuck on the cross point. The present invention combines the grabbing and binding into one, and the two share a mobile overhead crane and mechanical arm structure, which saves costs. After the grabbing mechanism puts the steel bars in place and loosens them, the binding work can be carried out, which saves the positioning and moving time and improves the construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall structure of the automatic grabbing and tying robot of the present invention;

[0022] Figure 2 For the present invention Figure 1 Schematic diagram of the splitting;

[0023] Figure 3 It is a schematic diagram of the grabbing mechanism of the present invention;

[0024] Figure 4 This is a schematic diagram of the disassembly of the grabbing mechanism of the present invention;

[0025] Figure 5 It is a schematic diagram of the binding mechanism and the pushing mechanism of the present invention;

[0026] Figure 6 This is a schematic diagram of the splitting of the binding mechanism of the present invention;

[0027] Figure 7 It is a schematic diagram of the rotating plate of the present invention;

[0028] Figure 8 This is a schematic diagram of the electric push rod of the present invention;

[0029] Fig. 9 It is a schematic diagram of the disassembly of the sleeve frame, the connecting rod and the lower pressure plate of the present invention;

[0030] Fig.10 It is a schematic diagram of the storage mechanism of the present invention;

[0031] Fig.11 This is a schematic diagram of the disassembly of the storage mechanism of the present invention;

[0032] Fig.12 It is a schematic diagram of the storage state of the cassette mechanism in the storage mechanism of the present invention;

[0033] Fig.13 It is a schematic diagram of the driving mechanism of the present invention;

[0034] Fig.14 It is a schematic diagram of the guide strip of the present invention;

[0035] Fig.15 This is a schematic diagram of the disassembly of the driving mechanism of the present invention;

[0036] Fig.16 It is a schematic diagram of the elastic clamp ring of the present invention;

[0037] Fig.17 It is a cross-sectional schematic diagram of the cassette mechanism of the present invention;

[0038] Fig.18 It is a schematic diagram of a clamping block and a clamping hole of the cassette mechanism of the present invention;

[0039] Fig.19 This is a schematic diagram of the automatic steel bar grabbing and binding system of the present invention;

[0040] Fig. 20It is a schematic diagram of the elastic clamp of the present invention being tied to the intersection of steel bars.

[0041] In the figure: 1, operating box; 2, elastic snap ring; 201, circular groove; 202, arc-shaped baffle; 203, clamping hole; 3, guide strip; 4, rope body; 5, first motor; 6, bidirectional screw rod; 7, limit rod; 8, grab plate, clamping claw 801, horizontal plate part 802, vertical plate part 803; 9, pulley; 10, belt; 11, fixing plate; 12, mounting plate; 13, protection box; 14, storage box; 15, second motor; 16, rotating shaft; 17, storage tray; 18, storage box cover; 19, cassette; 20, clamp block; 21, rotating plate; 22, limit block; 23. First electric push rod; 24. Sleeve frame; 25. Connecting rod; 26. Lower pressure plate; 27. Second electric push rod; 28. Fixed frame; 29. ​​First servo; 30. Rotating block; 31. Rotating rod; 32. Gear set; 33. Ratchet; 34. Rotating disk; 35. Paw; 36. Lifting plate; 37. First spring; 38. Rotating rod bracket; 39. Second spring; 40. Storage box; 41. Third motor; 42. Winding rod; 43. Storage box cover; 44. Pulley frame; 45. Pulley; 46. Visual identification component; 47. Gantry; 48. Mobile overhead crane. DETAILED DESCRIPTION

[0042] The above and other technical contents, features and effects of the present invention are described in detail below with reference to the attached Figures 1 to 20 It can be clearly presented in the detailed description of the embodiments that the structural contents mentioned in the following embodiments are all referenced to the drawings in the specification.

[0043] Embodiment 1: This embodiment provides an automatic grabbing and tying robot, as shown in the attached Figure 1-18As shown, it includes a mechanical arm structure and an operating box 1 and an elastic clamp 2 for tying steel bars. The mechanical arm structure is an existing well-known technology, which can realize the rotation and swinging functions of the mechanical arm end structure, and will not be elaborated here. The operating box 1 is fixedly connected to the bottom end of the mechanical arm structure, and also includes a grasping mechanism for grasping steel bars and a storage mechanism for storing the elastic clamp 2. The grasping mechanism is arranged inside the operating box 1 and the storage mechanism is arranged on one side of the operating box 1. The grasping mechanism includes a first motor 5, a bidirectional screw rod 6, a limit rod 7 and a grasping plate 8. The number of the bidirectional screw rods 6 is two and the two bidirectional screw rods 6 are arranged parallel to each other and are in the same horizontal plane. The threads at both ends of the bidirectional screw rods 6 are arranged in opposite directions. One end is fixedly connected with a pulley 9 and the external transmission of the two pulleys 9 is connected with a belt 10. The output end of the first motor 5 is connected to the axis of one of the pulleys 9 through a spline. There are two limit rods 7 and the two limit rods 7 are vertically corresponding to the two bidirectional screw rods 6 respectively and the two are parallel to each other. There are two grab plates 8 and the two grab plates 8 are connected to the two ends of the two bidirectional screw rods 6 through threaded transmission and are laterally slidably connected to the outside of the two limit rods 7. The two grab plates 8 are symmetrically arranged with the vertical midline of the bidirectional screw rods 6 as the symmetry axis. A fixing plate 11 and a mounting plate 12 are respectively arranged at both ends of the bidirectional screw rods 6. The fixing plate 11 is fixedly connected to the inner wall of the operating box 1 and the mounting plate 12 is fixedly installed on the operating box 1 is on the side away from the fixed plate 11, the two bidirectional screw rods 6 are rotatably connected between the fixed plate 11 and the mounting plate 12, the two limit rods 7 are fixedly connected to the bottom of the side of the fixed plate 11 and the other end is fixedly installed on the side of the mounting plate 12 by bolts, the side of the mounting plate 12 away from the fixed plate 11 is fixedly installed with a protective box 13 and the first motor 5 is fixedly installed inside the protective box 13, and the two pulleys 9 and the belt 10 are arranged inside the protective box 13; the first motor 5 drives one of the pulleys 9 to rotate, and can drive the bidirectional screw rods 6 on both sides to rotate synchronously through the belt 10, so that the grab plates 8 on both sides of the bidirectional screw rods 6 can be synchronously approached or moved away from each other, so as to realize the function of clamping and releasing; and the bottom of the grab plates 8 on both sides The two grab plates 8 are arranged at right angles, and even if the clamping claws at the bottom of the two grab plates 8 fit together, a certain distance is left between the two grab plates 8, and the minimum distance between the middle parts of the two grab plates 8 is also greater than the width of the binding mechanism, which can ensure that the binding mechanism in the middle will not be affected when the steel bars are grabbed by the grabbing mechanism; as an embodiment of the grab plate 8, the grab plate 8 is composed of an L-shaped plate and clamping claws 801 at the ends of the transverse plate part of the L-shaped plate, and the transverse plate parts 802 of the two L-shaped plates extend toward each other, so that even if the two clamping claws 801 fit together, because the transverse plate 802 parts of the L-shaped plate abut against each other, the vertical plate parts 803 of the two L-shaped plates still have a certain distance, which will not affect the binding mechanism therein.The multiple elastic snap rings 2 on the cassette 19 are inserted into the operating box 1 from the rectangular groove on the side of the operating box 1 close to the storage box 14, and the clamping claw part at the bottom of the grab plate 8 is extended below the bottom opening of the operating box 1. At the same time, the cassette 19 is inserted into the guide bar 3 and the guide bar 3 is arranged below the two limit rods 7. Therefore, the guide bar 3 and the elastic snap rings 2 arranged below it are inserted between the vertical plate parts 803 of the L-shaped plates on both sides and are higher than the horizontal plate parts 802 of the L-shaped plates on both sides. The width of the cassette 19 and the elastic snap ring 2 are both smaller than the width of the rotating plate 21, so the elastic snap ring 2 will not affect the opening and closing of the grab plates 8 on both sides. Of course, when the blocking and binding action is in progress, the two grab plates can be set to an open state. The lower end of the grab plate 8 extends downward from the lower part of the operating box 1 to grab the steel bars. The bottom of the operating box 1 is open, and the clamping claw at the lower end of the grab plate extends from the opening, and the elastic snap ring is also pushed out from the opening.

[0044] The storage mechanism includes a storage box 14, a second motor 15, a rotating shaft 16, a storage tray 17 and a storage box cover 18. The storage box 14 is fixedly connected to the bottom of the side of the operating box 1 and a through slot for passing the cassette mechanism is opened at the bottom end of the storage box 14 near the side of the operating box 1. A rectangular slot for passing the cassette mechanism and the elastic snap ring 2 is opened at the position corresponding to the through slot on the side of the operating box 1. The rotating shaft 16 is connected to the output end of the second motor 15 by a key and is penetrated at the center of the circle inside the storage box 14. The second motor 15 is fixedly installed at the center of the circle on the back of the storage box 14. The storage tray 17 is sleeved on the outside of the rotating shaft 16 and is rotatably connected to the inside of the storage box 14. The storage box cover 18 is spirally connected to the front side of the storage box 14, and the unused cassette structure can be rolled up in the storage tray 17, and the elastic clamping ring 2 is ensured to be under the cassette mechanism when the cassette mechanism is pushed outward. The overall movement of the cassette mechanism is mainly through the pushing mechanism to push it outward, and it can also cooperate with the second motor 15. The second motor 15 drives the rotating shaft 16 to drive the storage tray 17 to rotate, so as to transport the cassette mechanism to the operating box 1 at equal intervals. The movement can ensure the smooth delivery of the cassette mechanism; the second motor 15 is a preferred embodiment. In specific use, the second motor 15 can also be omitted, and the cassette mechanism can be pushed outward only by the pushing mechanism.

[0045] A cassette mechanism in which a plurality of elastic snap rings 2 are regularly arranged is provided inside the storage mechanism, the cassette mechanism comprises a cassette 19 with a plurality of slots equidistantly provided on the surface and a card block 20 with a trapezoidal cross section, the card block 20 is fixedly connected to the middle part of the lower surface of the cassette 19 and is arranged in a plurality of numbers along the length direction of the cassette 19, the plurality of card blocks 20 are evenly arranged equidistantly and the outside of each card block 20 is sleeved with an elastic snap ring 2, circular grooves 201 are provided at the bottoms of both sides of the elastic snap ring 2 and arc-shaped retaining strips 202 are fixedly connected on the sides where the two circular grooves 201 are away from each other, the arc-shaped retaining strips 202 can prevent the movable end of the first electric push rod 23 from escaping from the circular groove 201 when it is opened to both sides, a card hole 203 with a trapezoidal cross section and adapted to the card block 20 is provided on the top of the elastic snap ring 2, the card block 20 The card block 20 and the card hole 203 are both structures that are narrow at the top and wide at the bottom. The card block 20 is made of plastic and can be deformed when subjected to force. The elastic card ring 2 is made of metal and can be adsorbed by a magnet. Each card block 20 is clamped with an elastic card ring 2 on the outside. Each elastic card ring 2 is arranged in parallel. The elastic card ring 2 is sleeved on the outside of the card block 20 through the card hole 203. The card belt 19 with elastic card rings 2 arranged equidistantly is arranged in the storage box 14. The part is rolled up into a spiral shape and wound around the inside of the storage tray 17. The open end of the card belt 19 passes through the through groove at the bottom of the storage box 14 and the rectangular groove at the bottom of the operation box 1 and passes through the guide strip 3, and can pass through the guide strip 3 and pass into the storage mechanism. The vertical section of the card block and the card hole is a structure that is narrow at the top and wide at the bottom, while the cross section of the card block 20 and the card hole 203 is a polygonal shape, which can be a quadrilateral, to prevent the card ring and the card hole from rotating relative to each other.

[0046] The tying mechanism also includes a tying mechanism for tying the elastic clasp 2 and a pushing mechanism for pushing the cassette structure to move equidistantly. The tying mechanism is arranged inside the operating box 1 and vertically penetrates inside the grabbing mechanism. The tying mechanism vertically penetrates the middle part of the two bidirectional screw rods 6 and the two grabbing plates 8. The tying mechanism includes a rotating plate 21, a limit block 22, a first electric push rod 23, a sleeve frame 24, a connecting rod 25, a lower pressure plate 26 and a second electric push rod 27. The limit block 22 is fixedly connected to the top of the rotating plate 21. The number of the first electric push rods 23 is two and the two first electric push rods 23 are both vertically arranged and parallel to each other. The top ends of the two first electric push rods 23 are both horizontally slidably connected to the inside of the limit block 22. The outsides of the two first electric push rods 23 are sleeved with sleeve racks 24. Both ends of the side of the rotating plate 21 are provided with limit grooves and the two sleeve racks 24 are both inserted into the corresponding limit grooves. The setting of the limit block 22 and the limit groove can limit the two first electric push rods 23. To ensure that the width of its lateral displacement is within an appropriate range, the fixed rod body part of the second electric push rod 27 is fixedly connected to the top of the rotating plate 21 on the side away from the first electric push rod 23, and the lower pressure plate 26 is fixedly connected to the bottom of the movable rod body of the second electric push rod 27. Both sides of the top and bottom ends of the lower pressure plate 26 are rotatably connected with connecting rods 25, and the connecting rods 25 on both sides are symmetrically arranged with the vertical midline of the lower pressure plate 26 as the symmetry axis. The ends of the connecting rods 25 on both sides of the lower pressure plate 26 away from the lower pressure plate 26 are rotatably connected to the sides of the two sleeve frames 24 respectively. The movable end of the second electric push rod 27 pushes outward to drive the connecting rods 25 on both sides to move through the lower pressure plate 26, thereby driving the sleeve frames 24 and the first electric push rod 23 on both sides to move away from each other through the connecting rods 25, thereby changing the spacing between the two first electric push rods 23 and always making the two first electric push rods 23 in a parallel state; the two first electric push rods 23 correspond to each other in the initial state. The circular grooves 201 on both sides of the corresponding elastic clamping ring 2 below them correspond to each other.

[0047] The tying mechanism also includes a fixed frame 28, a first steering gear 29, a rotating block 30 and a rotating rod 31. The fixed frame 28 and the first steering gear 29 are both fixedly installed in the middle of the top wall of the operating box 1 and the first steering gear 29 is arranged inside the fixed frame 28. The rotating block 30 is fixedly connected to the middle of the upper surface of the rotating plate 21 and is rotatably connected to the bottom of the fixed frame 28. The fixed frame 28 can support the rotating plate 21 and its overall structure. The output end of the first steering gear 29 is connected to the rotating block 30 through a spline. The rotating rod 31 is fixedly connected to the side of the rotating block 30 and one end of the rope body 4 is fixedly connected to the side of the rotating rod 31 away from the rotating block 30. The first steering gear 29 can drive the rotating plate 21 to rotate. The movable block 30 and the overall structure below it rotate to achieve the effect of adjusting the angle of the rotating plate 21. The two first electric push rods 23 are respectively arranged on both sides of the middle part of the guide bar 3. The movable rod bodies of the two first electric push rods 23 are respectively vertically corresponding to the circular grooves 201 on both sides of the bottom of the elastic retaining ring 2 below them, and the bottoms of the movable rod bodies of the two first electric push rods 23 are fixedly connected with permanent magnets. The bottoms of the movable rod bodies of the two first electric push rods 23 can be respectively inserted into the circular grooves 201 on both sides of the bottom of the elastic retaining ring 2. The circular groove can be chamfered on the top edge thereof, so that the movable rod body part of the first electric push rod can be more smoothly inserted into the circular grooves 201 on both sides of the elastic retaining ring.

[0048] When it is necessary to tie the intersection of the steel bars below, the position of the tying mechanism can be adjusted by the mechanical arm structure so that it is just above the intersection. Then, the control unit controls the movable ends of the first electric push rods 23 on both sides to extend downward synchronously and be inserted into the corresponding circular grooves 201 and continue to press down. Under the action of external force, the elastic clamping ring 2 can be separated from the clamping block 20, and the permanent magnet at the movable end of the first electric push rod 23 can be adsorbed in the circular groove 201 to ensure that the elastic clamping ring 2 does not fall off. Then, the movable end of the second electric push rod 27 is controlled to press down so that the first electric push rods 23 on both sides are separated from each other. The movable end can bring the bottom of the elastic clamp 2 to stretch to both sides, so that the elastic clamp 2 can be sleeved on the intersection of the steel bars. Then the first steering gear 29 drives the rotating block 30 and the overall structure below it to rotate counterclockwise by 45 degrees, which can make the elastic clamp 2 that has been stretched below rotate counterclockwise by 45 degrees, so that it can correspond to the oblique gap part of the intersection of the steel bars. Then the first electric push rods 23 on both sides are controlled to continue to move downward, so that the elastic clamp 2 can be wrapped around the outside of the intersection of the steel bars. At the same time, when the first electric push rod 23 drives the elastic clamp 2 to press down to the bottom, it can also press the steel bars staggered up and down, so that it can be accurately tied at the intersection of the steel bars. Fig. 20As shown; when the elastic clamp 2 is wrapped around the outside of the steel bar intersection, the movable end of the second electric push rod 27 is controlled to be retracted so that the first electric push rods 23 on both sides return to the initial spacing. At this time, the elastic clamp 2 can be completely tied to the steel bar intersection, and then the movable rod bodies of the first electric push rods 23 on both sides are retracted upward. Since the elastic clamp 2 has been clamped outside the steel bar intersection, the permanent magnet at the movable end of the first electric push rod 23 will be disengaged from the circular groove 201 of the elastic clamp 2, thereby completing the binding of the steel bar intersection. After the movable rod bodies of the first electric push rods 23 on both sides are retracted, the first servo engine 29 is re-controlled to drive the rotating plate 21 to rotate forty-five degrees clockwise to reset it, so as to facilitate the above-mentioned operation steps for the next elastic clamp 2.

[0049] A guide bar 3 for limiting the moving direction of the cassette mechanism is fixedly connected to the middle part of the inner wall of the operating box 1. The guide bar 3 is arranged in the middle part below the two limit rods 7. The pushing mechanism is arranged on the upper surface of the guide bar 3 near one end of the storage mechanism and a rope body 4 is arranged at the movable end of the pushing mechanism. The two ends of the rope body 4 are respectively connected to the pushing mechanism and the binding mechanism. The pushing mechanism includes a tooth plate group 32, a ratchet 33, a rotating disk 34, a pawl 35, a lifting plate 36 and a first spring 37. The tooth plate group 32 is composed of two parallel tooth plates fixedly connected to each other. The ratchet 33 is fixedly connected at the center of one side of the tooth plate group 32. A rotating rod bracket 38 is fixedly connected to the side of the upper surface of the guide bar 3 near the storage structure. The tooth plate group 32, the ratchet 33 and the rotating disk 34 are all rotatably connected to the rotating disk. The outside of the rod bracket 38, the rotating disk 34 is sleeved on the outside of the ratchet 33, the pawl 35 is hinged on the inner surface of the rotating disk 34 and is fixedly connected to a second spring 39 on one side close to the inner surface of the rotating disk 34. The pawl 35 can abut against the ratchet 33 under the action of the second spring 39, the lifting plate 36 is fixedly connected to one side of the outer surface of the rotating disk 34 and the top of the first spring 37 is fixedly connected to the lower surface of the lifting plate 36, the bottom end of the first spring 37 is fixedly connected to the upper surface of the guide bar 3, and the end of the rope body 4 away from the rotating rod 31 is fixedly connected to the lifting plate 36, and the top of the inner wall of the operating box 1 close to the storage box 14 is fixedly connected with a pulley frame 44, and the outside of the pulley frame 44 is rotatably connected with a pulley 45 that can tighten the rope body 4, and the middle part of the rope body 4 is mounted on the It is connected to the pulley 45, which can tighten the rope body 4 without affecting the activity of the grabbing mechanism. The tooth group 32 is arranged above the cassette 19 and its bottom end is clamped in the corresponding groove on the surface of the cassette 19. When the first steering engine 29 drives the rotating block 30 and the rotating plate 21 to rotate counterclockwise by forty-five degrees, the rotating rod 31 also rotates synchronously, and the rope body 4 is connected to the end of the rotating rod 31, so the rotating rod 31 can pull the rope body 4 to move the bottom of the rope body 4 upward, so the rope body 4 can pull up the lifting plate 36 to rotate the rotating disk 34 counterclockwise by a certain angle, and the pawl 35 in the rotating disk 34 can drive the ratchet 33 and the tooth group 32 to rotate counterclockwise by a certain angle, and the tooth group 32 can push the cassette 19 to move to one side of the storage mechanism through the groove on the cassette 19. The first servo 29 drives the rotating block 30 and the rotating plate 21 to rotate forty-five degrees clockwise to reset them, and the rotating rod 31 rotates synchronously, so that the lifting plate 36 and the rotating disk 34 will return to their original positions under the pulling force of the first spring 37, while the pawl 35 will not affect the ratchet 33 and return to its original position, and will always be tightly pressed against the ratchet 33 under the action of the second spring 39. This structure is the same as the principle of the one-way gear, and can realize the effect of pushing the cassette 19 forward without retracting it, so that the next elastic snap ring 2 will be automatically added after the previous elastic snap ring 2 is used, thereby realizing the purpose of automatic feeding.

[0050] It also includes a storage mechanism arranged on the side of the operation box 1 away from the storage mechanism, the cassette mechanism is arranged inside the storage mechanism and passes through the guide strip 3 and penetrates into the interior of the storage mechanism, the storage mechanism includes a storage box 40, a third motor 41, a winding rod 42 and a storage box cover 43, the storage box 40 is fixedly connected to the side of the operation box 1 away from the storage mechanism, and the bottom end of the storage box 40 is close to the side of the operation box 1. A through groove for passing the cassette 19 is opened, and the through groove corresponds to the inside of the guide strip 3. The winding rod 42 is surrounded by long grooves for plugging the starting end of the cassette 19, and the winding rod 42 is connected to the output end of the third motor 41 through a spline and is arranged at the center of the circle inside the storage box 40. The third motor 41 is fixedly installed at the center of the circle on the back of the storage box 40, and the storage box cover 43 is spirally connected to the front of the storage box 40. Before running the robot, the operator can first load the cassette mechanism filled with elastic clamps 2 into the storage box 14, and then pass the open end of the cassette 19 through the through groove and the rectangular groove and into the guide bar 3. There is a blank part at a certain distance at the starting end of the cassette 19. The operator can pass the blank part through the guide bar 3 and insert it into the storage box 40, and at the same time, insert the end of the cassette 19 that passes through the storage box 40 into the long groove on the winding rod 42, so that the third motor 41 can drive the winding rod 42 to rotate and reel in the subsequent cassette 19.

[0051] A visual recognition component 46 is fixedly installed at the bottom of the two inner walls of the operating box 1 near the storage mechanism and the receiving mechanism. The visual recognition component 46 is a visual element such as a camera. The mechanical arm structure, the first motor 5, the second motor 15, the first electric push rod 23, the second electric push rod 27, the first servo 29, the third motor 41 and the visual recognition component 46 are all connected to the control unit. The control unit can observe, analyze and locate the bottom of the operating box 1 through the visual recognition component 46, which is convenient for accurate alignment with the intersection of the steel bars, and the activity stroke data of the first electric push rod 23 and the second electric push rod 27 can be set in advance to ensure that the movable rod body of the first electric push rod 23 reaches a specific position and the second electric push rod 27 starts to move, thereby ensuring that the elastic clamp 2 can be pressed down, stretched and tied smoothly.

[0052] Embodiment 2: This embodiment provides a steel bar automatic grabbing and tying system, as shown in the attached Fig.19As shown, it includes an automatic grabbing and tying robot in the above-mentioned embodiment, and also includes a gantry 47 and a mobile crane 48 for driving the automatic grabbing and tying robot to move horizontally. The mobile crane 48 is arranged on the top of the gantry 47 and can move horizontally on the top of the gantry 47. The number of gantries 47 is at least two and each gantry 47 is arranged parallel to each other. The number of mobile cranes 48 on the top of the gantry 47 is several and the bottom of each mobile crane 48 is fixedly installed with an automatic grabbing and tying robot for grabbing and tying steel bars. The gantry 47 and the mobile crane 48 are matching structures And they are all existing publicly known technologies, so they will not be elaborated in detail here. Construction workers can install multiple parallel corresponding gantries 47 at the locations where steel bar construction is required. The mobile overhead crane 48 corresponding to the gantry 47 drives the automatic grabbing and binding robot below it to move synchronously. The grabbing plate 8 can steadily grab the steel bars and move them to the required designated position. Then, multiple automatic grabbing and binding robots above the steel bars can be used to bind multiple steel bar intersections at the same time, and the mechanical arm structure can rotate 360 ​​degrees, and can bind the intersections around it, greatly improving the steel bar binding efficiency.

[0053] The above description is only for illustrating the present invention. It should be understood that the present invention is not limited to the above embodiments, and various variations that conform to the concept of the present invention are within the protection scope of the present invention.

Claims

1. Automatic grabbing and lashing robot, characterized in that: It comprises a mechanical arm structure, an operating box (1), and an elastic clamp (2) for tying steel bars, wherein the operating box (1) is fixedly connected to the bottom end of the mechanical arm structure; the elastic clamp (2) is used to clamp the intersection of the steel bars; It also comprises a gripping mechanism for gripping steel bars and a storage mechanism for storing elastic clips (2), the gripping mechanism being arranged inside the operating box (1) and the storage mechanism being arranged on one side of the operating box (1), the storage mechanism being arranged inside a clipping mechanism capable of regularly arranging a plurality of elastic clips (2); It also includes a binding mechanism for pushing out the elastic clamp (2) to clamp it on the intersection of the steel bars and a pushing mechanism for pushing the clamping mechanism to move equidistantly to feed the material. The binding mechanism is arranged inside the operating box (1) and vertically penetrates inside the grabbing mechanism. A guide bar (3) for limiting the moving direction of the clamping mechanism is fixedly connected to the middle of the inner side wall of the operating box (1). The pushing mechanism is arranged on the upper surface of the guide bar (3) at one end close to the storage mechanism and a rope body (4) is arranged at the movable end of the pushing mechanism. The two ends of the rope body (4) are respectively connected to the pushing mechanism and the binding mechanism. It also includes a storage mechanism arranged on a side of the operating box (1) away from the storage mechanism, and the cassette mechanism is arranged inside the storage mechanism and passes through the guide strip (3) and into the interior of the storage mechanism.

2. The automatic grabbing and tying robot according to claim 1, characterized in that: The grabbing mechanism comprises a first motor (5), a bidirectional screw rod (6), a limit rod (7) and a grabbing plate (8); the number of the bidirectional screw rods (6) is two and the two bidirectional screw rods (6) are arranged parallel to each other and are in the same horizontal plane; the same end of the two bidirectional screw rods (6) is fixedly connected to a pulley (9) and the external transmission of the two pulleys (9) is connected to a belt (10); the output end of the first motor (5) is connected to the axis of one of the pulleys (9) through a spline; the number of the limit rods (7) is two and the two limit rods (7) are respectively vertically corresponding to the two bidirectional screw rods (6) and the two are parallel to each other; the number of the grabbing plates (8) is two and the two grabbing plates (8) are connected to the two ends of the two bidirectional screw rods (6) through threaded transmission and are laterally slidably connected to the outside of the two limit rods (7); the two grabbing plates (8) are symmetrically arranged with the vertical midline of the bidirectional screw rod (6) as the symmetry axis.

3. The automatic grabbing and lashing robot according to claim 1, characterized in that: The storage mechanism comprises a storage box (14), a rotating shaft (16), a storage tray (17) and a storage box cover (18); the storage box (14) is fixedly connected to the bottom of the side of the operating box (1); a through slot for passing a cassette mechanism is provided at the bottom end of the storage box (14) near the operating box (1); a rectangular slot for passing a cassette mechanism and an elastic snap ring (2) is provided at a portion of the side of the operating box (1) corresponding to the through slot; the storage tray (17) is sleeved on the outside of the rotating shaft (16) and rotatably connected to the inside of the storage box (14); and the storage box cover (18) is connected to the front of the storage box (14).

4. The automatic grabbing and lashing robot according to claim 1, characterized in that: The card belt mechanism comprises a card belt (19) having a plurality of card slots equidistantly formed on its surface and a card block (20) having a trapezoidal cross section, wherein the card blocks (20) are fixedly connected to the middle of the lower surface of the card belt (19) and are in a plurality of numbers, the plurality of card blocks (20) are evenly arranged at an equal distance and each card block (20) is sleeved with an elastic card ring (2) on its exterior, the bottom of both sides of the elastic card ring (2) are provided with circular grooves (201) and the two circular grooves (201) are fixedly connected to arc-shaped retaining strips (202) on the sides away from each other. The elastic snap ring (2) has a trapezoidal cross-section and a clamping hole (203) adapted to the clamping block (20) at its top. The elastic snap ring (2) is sleeved on the outside of the clamping block (20) through the clamping hole (203). A clamping belt (19) with elastic snap rings (2) arranged at equal intervals is arranged in the storage mechanism. The free end of the clamping belt (19) passes through a through groove at the bottom of the storage mechanism and a rectangular groove at the bottom of the operation box (1) and is passed through the guide bar (3). The free end of the clamping belt (19) passes through the guide bar (3) and is passed into the storage mechanism.

5. The automatic grabbing and lashing robot according to claim 4, characterized in that: The binding mechanism comprises a rotating plate (21), a limit block (22), a first electric push rod (23), a sleeve frame (24), a connecting rod (25), a lower pressure plate (26) and a second electric push rod (27); the limit block (22) is fixedly connected to the top of the rotating plate (21); there are two first electric push rods (23) and the two first electric push rods (23) are vertically arranged and parallel to each other; the top ends of the two first electric push rods (23) are horizontally slidably connected to the inside of the limit block (22); the outsides of the two first electric push rods (23) are sleeved with the sleeve frame (24); and both ends of the side surface of the rotating plate (21) are provided with The two sleeve frames (24) are both inserted into the corresponding limiting grooves, the fixed rod body portion of the second electric push rod (27) is fixedly connected to the top of the rotating plate (21) away from the first electric push rod (23), the lower pressure plate (26) is fixedly connected to the bottom of the movable rod body of the second electric push rod (27), both sides of the top and bottom ends of the lower pressure plate (26) are rotatably connected to connecting rods (25), and the connecting rods (25) on both sides are symmetrically arranged with the vertical center line of the lower pressure plate (26) as the symmetry axis, and the ends of the connecting rods (25) on both sides of the lower pressure plate (26) away from the lower pressure plate (26) are respectively rotatably connected to the sides of the two sleeve frames (24).

6. The automatic grabbing and lashing robot according to claim 5, characterized in that: The lashing mechanism further comprises a fixed frame (28), a first steering gear (29), a rotating block (30) and a rotating rod (31); the fixed frame (28) and the first steering gear (29) are both fixedly mounted at the middle of the inner top wall of the operating box (1), and the first steering gear (29) is arranged inside the fixed frame (28); the rotating block (30) is fixedly connected to the middle of the upper surface of the rotating plate (21) and is rotatably connected to the bottom of the fixed frame (28); the output end of the first steering gear (29) is connected to the rotating block (30) via a spline; the rotating rod (31) is fixedly connected to a side of the rotating block (30); and one end of the rope body (4) is fixedly connected to a side of the rotating rod (31) away from the rotating block (30).

7. The automatic grabbing and tying robot according to claim 5, characterized in that: The two first electric push rods (23) are respectively arranged on both sides of the middle of the guide bar (3); the movable rod bodies of the two first electric push rods (23) are respectively vertically corresponding to the circular grooves (201) on both sides of the bottom of the elastic clamping ring (2) below them; the bottoms of the movable rod bodies of the two first electric push rods (23) are fixedly connected with permanent magnets; and the bottoms of the movable rod bodies of the two first electric push rods (23) can be respectively inserted into the circular grooves (201) on both sides of the bottom of the elastic clamping ring (2).

8. The automatic grabbing and lashing robot according to claim 6, characterized in that: The pushing mechanism comprises a toothed plate group (32), a rotating disk (34), a lifting plate (36) and a first spring (37); a one-way linkage mechanism is connected between the rotating disk and the toothed plate group so that the rotating disk can drive the toothed plate group to rotate in one direction; the toothed plate group (32) is composed of two parallel toothed plates fixedly connected to each other; a rotating rod bracket (38) is fixedly connected to a side of the upper surface of the guide bar (3) close to the storage mechanism; the toothed plate group (32) and the rotating disk (34) are both rotatably connected to the rotating rod bracket (3 8), the lifting plate (36) is fixedly connected to one side of the outer surface of the rotating disk (34) and the top end of the first spring (37) is fixedly connected to the lower surface of the lifting plate (36), the bottom end of the first spring (37) is fixedly connected to the upper surface of the guide bar (3), the end of the rope body (4) away from the rotating rod (31) is fixedly connected to the lifting plate (36), and the tooth plate group (32) is arranged above the card belt (19) and the bottom end thereof is clamped in the corresponding card groove on the surface of the card belt (19).

9. The automatic grabbing and lashing robot according to claim 2, characterized in that: A pulley frame (44) is fixedly connected to the top of the inner wall of the operating box (1) near the storage box (14), and a pulley (45) for tightening the rope (4) is rotatably connected to the outside of the pulley frame (44). The middle part of the rope (4) is overlapped on the pulley (45), and the binding mechanism is vertically inserted in the middle part of the two bidirectional screw rods (6) and the two grab plates (8). The guide strip (3) is arranged in the middle part below the two limit rods (7).

10. Automatic grabbing and lashing system, characterized in that: The invention comprises an automatic grabbing and tying robot as claimed in any one of claims 1 to 9, and further comprises a gantry (47) and a mobile crane (48) for driving the automatic grabbing and tying robot to move laterally, wherein the mobile crane (48) is arranged on the top of the gantry (47) and can move laterally on the top thereof, the number of the gantries (47) is at least two and each of the gantry (47) is arranged parallel to each other, the number of the mobile cranes (48) on the top of the gantry (47) is several and the bottom of each of the mobile cranes (48) is fixedly mounted with an automatic grabbing and tying robot for grabbing and tying steel bars.

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