Intelligent steel bar binding device for track construction

Abstract

The invention provides an intelligent steel bar binding device for track construction, which belongs to the technical field of steel bar binding equipment and comprises a gantry crane, an intelligent bottom plate binding platform, an intelligent web binding platform and a gantry frame trolley. The gantry crane is provided with a trolley running track, the trolley is provided with paired driving wheels and driven wheels driven by servo motors, the driving wheels and the driven wheels are provided with guide structures, and an auxiliary clamping wheel type mechanism is arranged below the track; the trolley is provided with a mechanical locking device; the binding manipulator can move up and down, back and forth and left and right along the platform module, and can rotate with the Z axis as the axis, the central control system is utilized to control the binding manipulator to automatically complete steel bar regional binding, and the advantage of high-efficiency work of the steel bar binding robot can be brought into play; the method is of great significance to popularization of engineering application of the reinforcing steel bar binding robot in a construction site.

Description

Technical Field

[0001] The invention belongs to the technical field of steel bar binding, and relates to an intelligent steel bar binding device for track construction. Background Art

[0002] As one of the essential rigid processes in construction projects, the steel bar construction has a huge market size and is extremely important for the entire construction process. In steel bar construction, in order to prevent the steel bars from shifting when vibrating the concrete, which will lead to a decrease in the strength of the reinforced concrete, it is often necessary to tie the steel bar nodes. The steel bar tying robots currently used in the market can use mechanized automation to replace the steel bar tying process, which is highly repetitive and simple in process.

[0003] However, there are still many difficulties and shortcomings in the rebar tying robot, which limits its application in engineering. Unlike the traditional manual tying of rebar nodes, the process of the rebar tying robot working on the rebar mesh is usually carried out in a fixed route according to the written program. In view of the complex environment of the actual construction site where the rebar mesh is irregular in shape, there are many obstacles, and there are many emergencies, the traditional fixed route operation method limits the high-efficiency tying, so the advantage of the high-efficiency work of the rebar tying robot cannot be brought into play at present. Therefore, it is of great significance to study how to install and set up the rebar tying robot efficiently and with low consumption to realize the tying work, which is of great significance to promote the engineering application of the rebar tying robot in the construction site. Summary of the invention

[0004] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a track construction steel bar intelligent binding device, including: a gantry hanger, a bottom plate intelligent binding platform, a web plate intelligent binding platform, and a gantry frame trolley; A gantry frame trolley is arranged on the gantry crane, and the gantry frame trolley can move laterally along the trolley running track of the gantry crane, and a lashing platform is installed on the gantry frame trolley; There are three gantry frame trolleys, namely the left gantry frame trolley, the middle gantry frame trolley and the right gantry frame trolley; there are two types of lashing platforms, namely the bottom plate intelligent lashing platform and the web plate intelligent lashing platform; the bottom plate intelligent lashing platform is installed on the middle gantry frame trolley, the first web plate intelligent lashing platform is installed on the left gantry frame trolley, and the second web plate intelligent lashing platform is installed on the right gantry frame trolley.

[0005] Furthermore, the gantry hanger is provided with a trolley running track, the trolley is provided with a driving wheel and a driven wheel driven by a pair of servo motors, the driving wheel and the driven wheel are provided with a guide structure, an auxiliary clamping wheel mechanism is provided under the track; the trolley is provided with a mechanical locking device.

[0006] Furthermore, the gantry hanger adopts a frame structure, with a track at the bottom, a translational slider installed on the track, a pulley installed at the bottom of the translational slider, a driving mechanism is used to drive the translational slider to move laterally, and a motor is used to drive the lead screw to drive the translational slider to move; a hanger is set on the translational slider, and the hanger is in an inverted U shape as a whole, which is spliced ​​and installed with multiple horizontal bars, vertical bars, and oblique bars. A horizontal frame is set on the top of the hanger, and a trolley running track is set on the horizontal frame.

[0007] Furthermore, the bottom plate binding platform is rigidly suspended by a first multi-stage hydraulic cylinder under the middle trolley of the gantry hanger. The multi-stage cylinder piston rod is extended to control the binding platform to a suitable binding position, and the multi-stage cylinder stroke is controlled to enable the binding platform to bind the bottom plate and top plate steel bars at a suitable height. The bottom plate binding platform includes a bottom plate frame, guide plates are arranged around the bottom plate frame, a second platform module is arranged at the bottom of the bottom plate frame, and a second binding robot is installed on the second platform module.

[0008] Furthermore, each side belly plate binding platform has a second multi-stage hydraulic cylinder suspended under the left and right trolleys of the gantry hanger. A rotation drive mechanism is arranged between the end of the piston rod of the second multi-stage hydraulic cylinder and the binding platform. The rotation drive mechanism is connected to the binding frame. The binding frame is provided with clamping limit frames at both ends and a binding robot located in the center. The first binding robot is installed on the lower surface of the binding frame through the first platform module. The first binding robot can move up and down, front and back, and left and right along the first platform module. Transverse guide rails and longitudinal guide rails are arranged on the first platform module, and the position adjustment of the first binding robot is realized by driving the screw by a motor.

[0009] Furthermore, the first binding robot includes a shell, a steel bar fixing piece is installed at the end of the shell, the steel bar fixing piece guides and fixes the steel bar binding process, a binding piece is installed in the steel bar fixing piece, the binding piece is connected to the motor inside the shell, the motor drives the binding piece to rotate, the binding piece has a built-in telescopic rod, so that the binding piece can perform telescopic movement, the binding piece is Z-shaped as a whole, and the steel bars are tied by rotating the binding piece; a configuration fixing portion is provided at one end of the steel bar fixed end, and a wedge-shaped fixing portion is provided at the other end, which can guide and fix the steel bar binding process.

[0010] The beneficial effects of the present invention are: The invention provides a steel bar intelligent binding device for track construction, comprising: a gantry hanger, a bottom plate intelligent binding platform, a web plate intelligent binding platform, and a gantry frame trolley; the gantry hanger is arranged with a trolley running track, the trolley is arranged with a driving wheel and a driven wheel driven by a pair of servo motors, the driving wheel and the driven wheel are provided with a guide structure, and an auxiliary clamping wheel mechanism is arranged under the track; the trolley is provided with a mechanical locking device; the binding manipulator can move up and down, front and back, left and right along the platform module, and can rotate 90 degrees with the Z axis as the axis, the visual recognition system camera can move forward and backward, left and right along the platform module, auxiliary positioning mechanisms are arranged around the binding platform to automatically adjust the longitudinal and transverse steel bars, and then the visual recognition system identifies the three-dimensional spatial coordinates of the intersection of the steel bars that need to be bound within the range of the auxiliary positioning mechanism, and the central control system controls the binding manipulator to automatically complete the steel bar binding in different areas, which can give full play to the advantage of the high-efficiency work of the steel bar binding robot and is of great significance for promoting the engineering application of the steel bar binding robot at the construction site.

[0011] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings in the specification, which constitute 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 improper limitations on the present invention.

[0013] Figure 1 It is a structural schematic diagram of an intelligent steel bar binding device for track construction of the present invention; Figure 2 This is a front view of an intelligent steel bar binding device for track construction according to the present invention; Figure 3 It is a structural schematic diagram of the web intelligent lashing platform of the present invention; Figure 4 It is a front view of the web intelligent lashing platform of the present invention; Figure 5 It is a structural schematic diagram of the bottom plate intelligent lashing platform of the present invention; Figure 6 It is a front view of the bottom plate intelligent lashing platform of the present invention; Figure 7 It is a structural schematic diagram of the first tying robot of the present invention; Among them: 1. Gantry hanger; 2. Bottom plate intelligent tying platform; 3. Web plate intelligent tying platform; 4. Gantry frame trolley; 21. Second multi-stage hydraulic cylinder; 22. Bottom plate frame; 23. Guide plate; 24. Second platform module; 25. Second tying manipulator; 31. First multi-stage hydraulic cylinder; 32. Rotary drive mechanism; 33. Suspension connecting plate; 34. Rotary guide mechanism; 35. Clamping limit frame; 36. First platform module; 37. Tying manipulator; 101. Shell; 102. Steel bar fixings; 103. Tying parts. DETAILED DESCRIPTION

[0014] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0015] It should be noted that the following detailed descriptions are all illustrative and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in this embodiment have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0016] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0017] In the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "vertical", "horizontal", "side", "bottom", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention, and do not specifically refer to any part or element in the present invention and should not be understood as limitations on the present invention.

[0018] In the present invention, terms such as "fixed connection", "connected", "connection", etc. should be understood in a broad sense, indicating that it can be fixedly connected, integrally connected or detachably connected; it can be directly connected or indirectly connected through an intermediate medium. Relevant scientific research or technical personnel in this field can determine the specific meanings of the above terms in the present invention according to specific circumstances, and they should not be understood as limiting the present invention.

[0019] Embodiment 1, as Figure 1 As shown, this embodiment provides a track construction steel bar intelligent binding device, including: a gantry hanger 1, a bottom plate intelligent binding platform 2, a web plate intelligent binding platform 3, and a gantry frame trolley 4; The gantry hanger 1 is provided with a frame structure, a track is provided at the bottom, a translational slider is installed on the track, a pulley is installed at the bottom of the translational slider, and a driving mechanism is used to drive the translational slider to move horizontally. For example, the driving mechanism can adopt a traction machine, and the traction machine is used to pull the translational slider. The driving mechanism can also adopt a motor, and the motor drives the lead screw to drive the translational slider to move; a hanger is provided on the translational slider, and the hanger is in an inverted U shape as a whole, which is formed by splicing and installing a plurality of horizontal bars, vertical bars, and oblique bars. A horizontal frame is provided on the top of the hanger, and a trolley running track is provided on the horizontal frame; A gantry frame trolley 4 is arranged on the gantry hanger 1, and the gantry frame trolley 4 can move laterally along the trolley running track of the gantry hanger 1, and a lashing platform is installed on the gantry frame trolley 4; specifically, three gantry frame trolleys 4 are arranged, namely, a left gantry frame trolley, a middle gantry frame trolley and a right gantry frame trolley; two types of lashing platforms are arranged, namely, a bottom plate intelligent lashing platform 2 and a web plate intelligent lashing platform 3; a bottom plate intelligent lashing platform 2 is installed on the middle gantry frame trolley, a first web plate intelligent lashing platform is installed on the left gantry frame trolley, and a second web plate intelligent lashing platform is installed on the right gantry frame trolley; The gantry hanger 1 is provided with a trolley running track, and the trolley is provided with a driving wheel and a driven wheel driven by a pair of servo motors. The driving wheel and the driven wheel are provided with a guide structure, and the guide structure is a raised structure that can cooperate with the groove of the track. An auxiliary clamping wheel mechanism is provided under the track, and the auxiliary clamping wheel mechanism adopts a clamping wheel arranged at the end of the mounting rod, and the clamping wheel is used to cooperate with the driven wheel to achieve overall stable operation; the trolley is provided with a mechanical locking device, and the mechanical locking device adopts a parking lock, including a screw, a nut, a motor, a wedge and a locking claw. The nut is installed on the screw, and a wedge is arranged on the nut. The locking claw is fixedly installed on the wedge, and the screw is driven to rotate by the motor. When the screw rotates, the wedge can move along the axial direction of the screw with the nut, driving the locking claw to approach or move away from the locking wheel to achieve parking lock or release.

[0020] Auxiliary positioning mechanisms are set up around the binding platform. The auxiliary positioning mechanisms include cameras. The cameras are used to take images of the binding platform at regular intervals. The captured images are compared with the stored standard images to determine whether the angles meet the requirements, thereby adjusting the longitudinal and transverse steel bars. Then the visual recognition system identifies the three-dimensional spatial coordinates of the intersection points of the steel bars that need to be bound within the range of the auxiliary positioning mechanism. The central control system controls the binding robot to automatically complete the binding of the steel bars in different areas.

[0021] Each side web tying platform has a second multi-stage hydraulic cylinder 21 suspended under the left and right trolleys of the gantry hanger 1. A rotating drive mechanism 32 is arranged between the piston rod end of the second multi-stage hydraulic cylinder 21 and the tying platform. The rotating drive mechanism 32 is connected to the tying frame. The tying frame is provided with clamping limit frames 35 at both ends and a tying robot located in the center. The first tying robot is installed on the lower surface of the tying frame through the first platform module 36. The first tying robot 37 can move up and down, front and back, and left and right along the first platform module 36. The first platform module 36 is provided with transverse guide rails and longitudinal guide rails, and the position adjustment of the first tying robot 37 is realized by driving the screw drive driven by a motor. The first binding robot 37 includes a shell 101, and a steel bar fixing part 102 is installed at the end of the shell 101. The steel bar fixing part 102 guides and fixes the steel bar binding process. A binding part 103 is installed in the steel bar fixing part 102. The binding part 103 is connected to the motor inside the shell 101. The motor drives the binding part 103 to rotate. The binding part 103 has a built-in telescopic rod, which can make the binding part 103 perform telescopic movement. The binding part 103 is Z-shaped as a whole, and the steel bars are tied by rotating the binding part 103; a configuration fixing part is set at one end of the steel bar fixed end, and a wedge-shaped fixing part is set at the other end, which can guide and fix the steel bar binding process.

[0022] The rotation drive mechanism 32 includes a first motor and a first rotating table. The first motor is connected to the first rotating table through a reducer for rotational motion. Two parallel rotation guide mechanisms 34 are arranged between the side belly plate binding platform and the suspension connecting plate 33. The parallel rotation guide mechanism 34 includes a parallel connecting rod, a second motor and a second rotating table. The second motor is connected to the second rotating table through a reducer for rotational motion. The parallel connecting rods are arranged on both sides of the upper surface of the suspension connecting plate 33 to ensure the stability of the suspension connecting plate 33. The parallel connecting rods are two hinged connecting rods, which can adjust their own angles as the second rotating table rotates. The rotary guide mechanism 34 is internally provided with an electromagnetic locking device, which includes a first electromagnetic suction cup, a sliding disk, a rotating disk, a connecting shaft connecting the first electromagnetic suction cup and the sliding disk, and a second electromagnetic suction cup. When the first electromagnetic suction cup and the second electromagnetic suction cup have no adsorption force, the sliding disk and the rotating disk can be locked with each other. When the second electromagnetic suction cup has an adsorption force, the rotating disk or the first electromagnetic suction cup is adsorbed by the second electromagnetic suction cup, so that the sliding disk and the rotating disk are further locked; when the first electromagnetic suction cup has an adsorption force, the sliding disk can be adsorbed to the first contact surface of the first electromagnetic suction cup to loosen the sliding disk and the rotating disk, so that the two rotating parts can be tightly locked.

[0023] The bottom plate tying platform is rigidly suspended by the first multi-stage hydraulic cylinder 31 under the middle trolley of the gantry hanger 1. The multi-stage cylinder piston rod is extended to control the tying platform to a suitable tying position, and the multi-stage cylinder stroke is controlled to make the tying platform at a suitable height to tie the bottom plate and top plate steel bars; the bottom plate tying platform includes a bottom plate frame 22, guide plates 23 are arranged around the bottom plate frame 22, a second platform module 24 is arranged at the bottom of the bottom plate frame 22, and a second tying manipulator 3725 is installed on the second platform module 24; the second platform module 24 is consistent with the first platform module 36 in structure, and the second tying manipulator 3725 is consistent with the first tying manipulator 37 in structure.

[0024] Intelligent steel bar binding process: After the steel bars are laid, the gantry hanger 1 hangs the steel bar binding platform to the designated position (the gantry hanger 1 is driven by a motor to move forward and backward along the track, and a hydraulic track clamp is set to ensure the stability of the gantry hanger 1 after it stops running). The binding manipulator can move up and down, forward and backward, and left and right along the platform module, and can rotate 90 degrees with the Z axis as the axis. The camera of the visual recognition system is installed on the platform module and can move forward and backward, left and right along the platform module to identify the three-dimensional spatial coordinates of the intersection of the steel bars to be bound and the diameter of the cross steel bars. The central control system controls the binding manipulator to automatically complete the binding of the steel bars in different areas (the binding manipulator 37 requires a DC power supply and an automatic binding start signal). The central control system can use EtherCAT industrial field bus control technology to control the servo drive and IO slave station. When the second layer of steel bars is bound, auxiliary positioning mechanisms are set around the binding platform to automatically adjust the longitudinal and transverse steel bars. Then the visual recognition system identifies the three-dimensional spatial coordinates of the intersection of the steel bars to be bound within the range of the auxiliary positioning mechanism, and the central control system controls the binding manipulator to automatically complete the binding of the steel bars in different areas.

[0025] The bottom plate tying platform is rigidly suspended by the first multi-stage hydraulic cylinder 31 under the middle trolley of the gantry hanger 1. The guide mechanism is evenly arranged around the platform. The multi-stage cylinder piston rod is extended to control the tying platform to a suitable tying position. The multi-stage cylinder stroke is controlled to enable the tying platform to perform bottom plate and top plate steel bar tying at a suitable height.

[0026] There are two side web binding platforms on the left and right, each with a second multi-stage hydraulic cylinder 21 suspended under the left and right trolleys of the gantry hanger 1. A rotating drive mechanism 32 is arranged between the end of the multi-stage cylinder piston rod and the binding platform, and two parallel rotating guide mechanisms 34 are arranged between the platform and the suspension connecting plate 33. An electromagnetic locking device is arranged in the rotating guide mechanism 34. When rotating before starting to bind, the driving mechanism drives the platform to rotate, and the guide electromagnetic locking mechanism is in a released state. After the platform rotates into place, the driving mechanism stops running, and the electromagnetic locking device is in a locked state to control the rotation angle of the platform to ensure that the binding platform plane is parallel to the cross plane of the side web reinforcement. At the same time, the left and right trolleys are driven by the servo motor to move to the appropriate position, and the multi-stage cylinder piston rod is extended or retracted to control the binding platform to be located at a suitable height above the vertical direction of the cross plane of the side web reinforcement for binding the side web reinforcement. Auxiliary clamping mechanisms for side reinforcement are arranged on both sides of the binding platform. The auxiliary clamping mechanisms include two clamping components. The clamping components include a motor and a screw. The motor drives the screw to rotate. A clamping slider is installed on the screw. The two clamping sliders move relative to each other to perform the clamping operation. The side reinforcements are positioned in rows at appropriate positions of the side webs where the second layer of longitudinal reinforcements are laid out. The aforementioned procedures are repeated to perform the binding of the second layer of reinforcements on the side webs. After the binding is completed, the electromagnetic locking device first enters the release state, and then the rotating drive mechanism 32 drives the web binding platform to rotate to a suitable angle. At the same time, the multi-stage cylinder piston rod retracts, so that the web intelligent binding platform 3 is in a suitable position to bind the two wing plates and the top plate reinforcement.

[0027] Gantry hanger 1 is provided with a trolley running track. The trolley is provided with a pair of driving wheels and driven wheels driven by a servo motor. The driving wheels and driven wheels are provided with guide structures to ensure that the trolley cannot deviate from the track. An auxiliary clamping wheel mechanism is provided under the track to ensure that the trolley cannot deviate from the track sliding surface when running. The trolley is provided with a mechanical locking device to ensure that the trolley is fixed in a suitable position when it stops running.

[0028] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent steel bar binding device for track construction, characterized in that: include: Gantry hanger (1), bottom plate intelligent lashing platform (2), web plate intelligent lashing platform (3), gantry frame trolley (4); A gantry frame trolley (4) is arranged on the gantry hanger (1), and the gantry frame trolley (4) can move laterally along the trolley running track of the gantry hanger (1), and a lashing platform is installed on the gantry frame trolley (4); There are three gantry frame trolleys (4), namely, a left gantry frame trolley, a middle gantry frame trolley and a right gantry frame trolley; there are two types of lashing platforms, namely, a bottom plate intelligent lashing platform (2) and a web plate intelligent lashing platform (3); the middle gantry frame trolley is equipped with a bottom plate intelligent lashing platform (2), the left gantry frame trolley is equipped with a first web plate intelligent lashing platform, and the right gantry frame trolley is equipped with a second web plate intelligent lashing platform.

2. The intelligent steel bar binding device for track construction according to claim 1, characterized in that: The gantry hanger (1) is provided with a trolley running track, the trolley is provided with a driving wheel and a driven wheel driven by a pair of servo motors, the driving wheel and the driven wheel are provided with a guide structure, an auxiliary clamping wheel mechanism is provided under the track; and the trolley is provided with a mechanical locking device.

3. The intelligent steel bar binding device for track construction according to claim 1, characterized in that: The gantry hanger (1) adopts a frame structure, a track is arranged at the bottom, a translational slider is installed on the track, a pulley is installed at the bottom of the translational slider, a driving mechanism is used to drive the translational slider to move horizontally, and a motor is used to drive a lead screw to drive the translational slider to move; a hanger is arranged on the translational slider, the hanger is in an inverted U shape as a whole, and is formed by splicing and installing a plurality of horizontal bars, vertical bars, and oblique bars; a horizontal frame is arranged on the top of the hanger, and a trolley running track is arranged on the horizontal frame.

4. The intelligent steel bar binding device for track construction according to claim 1, characterized in that: The bottom plate tying platform is rigidly suspended by a first multi-stage hydraulic cylinder (31) below the middle trolley of the gantry hanger (1); the piston rod of the multi-stage cylinder is extended to control the tying platform to a suitable tying position; the stroke of the multi-stage cylinder is controlled so that the tying platform is at a suitable height to perform tying of bottom plate and top plate steel bars; the bottom plate tying platform comprises a bottom plate frame (22); guide plates (23) are arranged around the bottom plate frame (22); a second platform module (24) is arranged at the bottom of the bottom plate frame (22); and a second tying manipulator (37) (25) is installed on the second platform module (24).

5. The intelligent steel bar binding device for track construction according to claim 1, characterized in that: Each side web lashing platform has a second multi-stage hydraulic cylinder (21) suspended below the left and right trolleys of the gantry hanger (1); a rotary drive mechanism (32) is provided between the piston rod end of the second multi-stage hydraulic cylinder (21) and the lashing platform; the rotary drive mechanism (32) is connected to the lashing frame; the lashing frame is provided with a clamping limit frame (35) at both ends and a lashing manipulator at the center; the first lashing manipulator is mounted on the lower surface of the lashing frame through a first platform module (36); the first lashing manipulator (37) can move up and down, forward and backward, and left and right along the first platform module (36); a transverse guide rail and a longitudinal guide rail are provided on the first platform module (36); and the position adjustment of the first lashing manipulator (37) is realized by driving a screw driven by a motor.

6. The intelligent steel bar binding device for track construction as claimed in claim 5, characterized in that: The first binding manipulator (37) comprises a shell (101), a steel bar fixing piece (102) is installed at the end of the shell (101), the steel bar fixing piece (102) guides and fixes the steel bar binding process, a binding piece (103) is installed in the steel bar fixing piece (102), the binding piece (103) is connected to a motor inside the shell (101), the motor drives the binding piece (103) to rotate, the binding piece (103) has a built-in telescopic rod, so that the binding piece (103) performs telescopic movement, the binding piece (103) is in a Z shape as a whole, and the steel bars are bound by rotating the binding piece (103); a configuration fixing portion is provided at one end of the steel bar fixing end, and a wedge-shaped fixing portion is provided at the other end, so that the steel bar binding process can be guided and fixed.

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