An intelligent steel bar binding device for track construction

Abstract

The present invention provides an intelligent steel bar binding device for track construction, belonging to the technical field of steel bar binding equipment, including: a gantry hanger, a bottom plate intelligent binding platform, a web intelligent binding platform, and a gantry frame trolley; the gantry hanger is provided with a trolley running track, the trolley is provided with driving wheels and driven wheels driven by servo motors, the driving wheels and the driven wheels are provided with guiding structures, and an auxiliary clamping wheel type mechanism is arranged below the track; the trolley is provided with a mechanical locking device; the bundling manipulator can move up and down, back and forth, and left and right along the platform module, and can rotate around the Z axis at the same time. The central control system is used to control the bundling manipulator to automatically complete the steel bar binding in different areas, which can give full play to the advantages of 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.

Description

Technical Field

[0001] The present 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 an essential rigid process in construction engineering, the steel bar project construction has a huge market scale and is extremely important for the entire construction engineering process. In the steel bar project construction, in order to prevent the reduction of the strength of reinforced concrete caused by the displacement of steel bars during the vibration of concrete, it is often necessary to bind the steel bar joints. At present, the steel bar binding robots on the market can use mechanization and automation to replace the operations of repetitive and simple processes such as steel bar binding.

[0003] However, there are still many difficulties and deficiencies in the current steel bar binding robots, which limit their application in engineering. Different from the traditional manual binding of steel bar joints, the process of the steel bar binding robot working on the steel bar mesh is usually to run along a fixed route according to the written program. For the complex environment of irregular steel bar mesh shapes, many obstacles and many emergencies at the actual construction site, the traditional fixed-route operation method limits the high-efficiency binding, so the advantages of the high-efficiency work of the steel bar binding robot cannot be exerted currently. Therefore, researching how to install and set up the steel bar binding robot efficiently and with low consumption to achieve the binding work is of great significance for promoting the engineering application of the steel bar binding robot at the construction site. Summary of the Invention

[0004] In order to solve the technical problems existing in the above background art, the present invention provides an intelligent steel bar binding device for track construction, including: a gantry hanger, a bottom plate intelligent binding platform, a web intelligent binding platform, and a gantry frame trolley;

[0005] A gantry frame trolley is arranged on the gantry hanger, and the gantry frame trolley can move horizontally along the trolley running track of the gantry hanger, and a binding platform is installed on the gantry frame trolley;

[0006] There are three gantry frame trolleys, which are the left gantry frame trolley, the middle gantry frame trolley and the right gantry frame trolley respectively; there are two types of binding platforms, which are the bottom plate intelligent binding platform and the web intelligent binding platform respectively; the bottom plate intelligent binding platform is installed on the middle gantry frame trolley, the first web intelligent binding platform is installed on the left gantry frame trolley, and the second web intelligent binding platform is installed on the right gantry frame trolley.

[0007] Furthermore, the gantry hanger is provided with a trolley running track, the trolley is provided with driving wheels and driven wheels driven by servo motors, the driving wheels and the driven wheels are provided with guiding structures, and an auxiliary clamping wheel mechanism is arranged below the track; the trolley is provided with a mechanical locking device.

[0008] Furthermore, the gantry crane is arranged in a frame structure, with tracks provided at the bottom. A translational slider is installed on the tracks, and pulleys are installed at the bottom of the translational slider. A driving mechanism is used to drive the translational slider to move horizontally, and a motor drives a lead screw to drive the translational slider to move. A crane is arranged on the translational slider. The overall shape of the crane is an inverted U shape, which is assembled and installed by a plurality of cross bars, vertical bars, and diagonal bars. A horizontal frame is provided at the top of the crane, and a trolley running track is provided on the horizontal frame.

[0009] Furthermore, the intelligent bottom plate tying platform is rigidly suspended by a first multi-stage hydraulic cylinder under the middle trolley of the gantry crane. The piston rod of the multi-stage cylinder extends to control the tying platform to be in a suitable tying position, and the stroke of the multi-stage cylinder is controlled to enable the tying platform to tie the bottom plate and top plate steel bars at a suitable height. The intelligent bottom plate tying platform includes a bottom plate frame, guide plates are arranged around the bottom plate frame, and a second platform module is provided at the bottom of the bottom plate frame. A second tying manipulator is installed on the second platform module.

[0010] Furthermore, each of the intelligent web tying platforms is suspended by a second multi-stage hydraulic cylinder under the left and right trolleys of the gantry crane. A rotary drive mechanism is arranged between the end of the piston rod of the second multi-stage hydraulic cylinder and the tying platform. The rotary drive mechanism is connected to a tying frame. Pressing and limiting frames are provided at both ends and a bundling manipulator is provided in the center on the tying frame. The first bundling manipulator is installed on the lower surface of the tying frame through a first platform module. The first tying manipulator can move up, down, forward, backward, left, and right along the first platform module. Horizontal rails and vertical rails are provided on the first platform module, and the position adjustment of the first tying manipulator is realized by driving a screw through a motor.

[0011] Furthermore, the first tying manipulator includes a housing. A steel bar fixing member is installed at the end of the housing. The steel bar fixing member guides and fixes the steel bar tying process. A tying member is installed inside the steel bar fixing member. The tying member is connected to a motor inside the housing. The motor drives the tying member to rotate. An expansion link is arranged inside the tying member, enabling the tying member to perform telescopic movement. The overall shape of the tying member is Z-shaped, and the steel bar is tied by rotating the tying member. One end of the steel bar fixing member is provided with a configuration fixing portion, and the other end is provided with a wedge-shaped mouth fixing portion, which can guide and fix the steel bar tying process.

[0012] The beneficial effects of the present invention are:

[0013] The present invention provides an intelligent steel bar binding device for track construction, comprising: a gantry crane, a bottom plate intelligent binding platform, a web intelligent binding platform, and a gantry frame trolley; the gantry crane is provided with a trolley running track, the trolley is provided with driving wheels and driven wheels driven by servo motors, the driving wheels and the driven wheels are provided with guiding structures, and an auxiliary clamping wheel mechanism is arranged below the track; the trolley is provided with a mechanical locking device; the bundling manipulator can move up and down, back and forth, and left and right along the platform module, and can rotate 90 degrees around the Z axis at the same time. The camera of the visual recognition system can move back and forth and 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. Then, the visual recognition system identifies the three-dimensional space coordinates of the steel bar intersection points that need to be bound within the range of the auxiliary positioning mechanism, and the central control system controls the bundling manipulator to automatically complete the regional binding of the steel bars, which can give full play to the advantages of 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.

[0014] Advantages of additional aspects of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The specification drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0016] Figure 1 is a schematic structural diagram of an intelligent steel bar binding device for track construction of the present invention;

[0017] Figure 2 is a front view of an intelligent steel bar binding device for track construction of the present invention;

[0018] Figure 3 is a schematic structural diagram of the web intelligent binding platform of the present invention;

[0019] Figure 4 is a front view of the web intelligent binding platform of the present invention;

[0020] Figure 5 is a schematic structural diagram of the bottom plate intelligent binding platform of the present invention;

[0021] Figure 6 is a front view of the bottom plate intelligent binding platform of the present invention;

[0022] Figure 7 is a schematic structural diagram of the first bundling manipulator of the present invention;

[0023] Wherein: 1. Gantry lifting frame; 2. Intelligent bottom plate binding platform; 3. Intelligent web plate binding platform; 4. Gantry frame trolley; 21. Second multi-stage hydraulic cylinder; 22. Bottom plate frame; 23. Guide plate; 24. Second platform module; 25. Second binding manipulator; 31. First multi-stage hydraulic cylinder; 32. Rotary drive mechanism; 33. Suspension connecting plate; 34. Rotary guide mechanism; 35. Pressing limit frame; 36. First platform module; 37. First binding manipulator; 101. Housing; 102. Steel bar fixing piece; 103. Binding piece. Detailed implementation mode

[0024] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0025] It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in this embodiment have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0026] It should be noted that the terms used herein are only for describing specific implementation modes and are not intended to limit the exemplary implementation modes of 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 "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0027] In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only relationship terms determined for the convenience of describing the structural relationship of each component or element of the present invention and do not specifically refer to any component or element of the present invention. It should not be construed as a limitation to the present invention.

[0028] In the present invention, terms such as "fixed connection", "connected", "connected" should be understood in a broad sense, which may mean a fixed connection, an integral connection or a detachable connection; it may be directly connected or indirectly connected through an intermediate medium. For relevant scientific research or technical personnel in this field, the specific meaning of the above terms in the present invention can be determined according to specific circumstances and should not be construed as a limitation to the present invention.

[0029] Embodiment 1, as Figure 1 shown, this embodiment provides an intelligent steel bar binding device for track construction, including: gantry lifting frame 1, intelligent bottom plate binding platform 2, intelligent web plate binding platform 3, and gantry frame trolley 4;

[0030] The gantry hanger 1 is set up with a frame structure. There are tracks at the bottom, and translational sliders are installed on the tracks. Pulleys are installed at the bottom of the translational sliders. A driving mechanism is used to drive the translational sliders to move horizontally. For example, the driving mechanism can adopt a tractor to pull the translational sliders, or the driving mechanism can also adopt a motor to drive a lead screw to drive the translational sliders to move; a hanger is set on the translational slider. The hanger is in an inverted U shape as a whole and is assembled and installed by multiple cross bars, vertical bars, and diagonal bars. A transverse frame is set at the top of the hanger, and a trolley running track is set on the transverse frame;

[0031] A gantry frame trolley 4 is set on the gantry hanger 1. The gantry frame trolley 4 can move horizontally along the trolley running track of the gantry hanger 1. A tying platform is installed on the gantry frame trolley 4; specifically, there are three gantry frame trolleys 4, namely the left gantry frame trolley, the middle gantry frame trolley, and the right gantry frame trolley; there are two types of tying platforms, namely the bottom plate intelligent tying platform 2 and the web intelligent tying platform 3; the bottom plate intelligent tying platform 2 is installed on the middle gantry frame trolley, the first web intelligent tying platform is installed on the left gantry frame trolley, and the second web intelligent tying platform is installed on the right gantry frame trolley;

[0032] The gantry hanger 1 is provided with a trolley running track. The trolley is provided with driving wheels and driven wheels driven by servo motors. The driving wheels and the driven wheels are provided with a guiding structure. The guiding structure is a convex structure that can cooperate with the groove of the track. An auxiliary clamping wheel mechanism is provided below the track. The auxiliary clamping wheel mechanism adopts a clamping wheel arranged at the end of the mounting rod. The clamping wheel is used to cooperate with the driven wheel to achieve stable overall operation; the trolley is provided with a mechanical locking device. The mechanical locking device adopts a parking lock, including a screw, a nut, a motor, a wedge block, and a locking claw. The nut is installed on the screw. A wedge block is arranged on the nut. The wedge block is fixedly installed with the locking claw. The screw is rotated by the motor. When the screw rotates, the wedge block can move axially along the screw together with the nut, driving the locking claw to approach or move away from the locking wheel so as to achieve parking locking or release.

[0033] An auxiliary positioning mechanism is provided around the tying platform. The auxiliary positioning mechanism includes a camera. The camera is used to take pictures of the tying platform regularly. The taken pictures are compared with the stored standard pictures to judge whether the angle meets the requirements, so as to adjust the longitudinal and transverse steel bars. Then, the visual recognition system recognizes the three-dimensional space coordinates of the steel bar intersection points that need to be tied within the range of the auxiliary positioning mechanism, and the central control system controls the bundling manipulator to automatically complete the regional tying of the steel bars.

[0034] Each of the web intelligent tying platforms 3 is suspended under the left and right trolleys of the gantry hanger 1 by a second multi-stage hydraulic cylinder 21. A rotary drive mechanism 32 is provided between the end of the piston rod of the second multi-stage hydraulic cylinder 21 and the tying platform. The rotary drive mechanism 32 is connected to the tying frame. On the tying frame, there are pressing and limiting frames 35 located at both ends and a bundling manipulator located at the center. The first bundling manipulator is installed on the lower surface of the tying frame through the first platform module 36. The first tying manipulator 37 can move up and down, back and forth, and left and right along the first platform module 36. The first platform module 36 is provided with transverse rails and longitudinal rails, and the position of the first tying manipulator 37 is adjusted by driving the screw through a motor. Among them, the first tying manipulator 37 includes a housing 101. A steel bar fixing member 102 is installed at the end of the housing 101. The steel bar fixing member 102 guides and fixes the steel bar during the tying process. A tying member 103 is installed inside the steel bar fixing member 102. The tying member 103 is connected to the motor inside the housing 101. The motor drives the tying member 103 to rotate. The tying member 103 is internally provided with a telescopic rod, which enables the tying member 103 to perform telescopic movement. The tying member 103 is integrally Z-shaped, and the steel bar is tied by rotating the tying member 103; one end of the steel bar fixing member 102 is provided with a configuration fixing portion, and the other end is provided with a wedge-shaped mouth fixing portion, which can guide and fix the steel bar during the tying process.

[0035] The rotary 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 rotary motion. Two parallel rotary guiding mechanisms 34 are provided between the web intelligent tying platform 3 and the suspension connecting plate 33. The parallel rotary guiding mechanism 34 includes parallel connecting rods, a second motor, and a second rotating table. The second motor is connected to the second rotating table through a reducer for rotary 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 and can adjust their own angles as the second rotating table rotates. An electromagnetic locking device is provided inside the rotary guiding mechanism 34. The electromagnetic locking device includes a first electromagnetic chuck, a sliding disk, a rotating disk, a connecting shaft connecting the first electromagnetic chuck and the sliding disk, and a second electromagnetic chuck. When there is no adsorption force on both the first electromagnetic chuck and the second electromagnetic chuck, the sliding disk and the rotating disk can be locked to each other. When there is an adsorption force on the second electromagnetic chuck, the rotating disk or the first electromagnetic chuck is adsorbed by the second electromagnetic chuck, so that the sliding disk and the rotating disk are further locked; when there is an adsorption force on the first electromagnetic chuck, the sliding disk can be adsorbed to the first contact surface of the first electromagnetic chuck to loosen the sliding disk and the rotating disk, and two rotating parts can be tightly locked.

[0036] The intelligent bottom plate tying platform 2 is rigidly suspended by the first multi-stage hydraulic cylinder 31 under the middle trolley of the gantry crane 1. The piston rod of the multi-stage cylinder extends to control the tying platform to the appropriate tying position, and the stroke of the multi-stage cylinder is controlled to make the tying platform at an appropriate height for tying the bottom plate and top plate steel bars. The intelligent bottom plate tying platform 2 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 25 is installed on the second platform module 24. The second platform module 24 has the same structure as the first platform module 36, and the second tying manipulator 25 has the same structure as the first tying manipulator 37.

[0037] Intelligent steel bar tying process: After the steel bars are placed, the gantry crane 1 hangs the steel bar tying platform to the designated position (the gantry crane 1 is driven by a motor to run back and forth along the track, and at the same time, a hydraulic rail clamp is provided to ensure the stability of the gantry crane 1 after it stops running). The bundling manipulator can move up and down, back and forth, and left and right along the platform module, and can rotate 90 degrees around the Z axis. The camera of the visual recognition system is installed on the platform module and can move back and forth and left and right along the platform module to identify the three-dimensional space coordinates of the steel bar intersection points to be tied and the diameters of the intersecting steel bars. The central control system controls the bundling manipulator to automatically complete the regional tying of the steel bars (the tying manipulator 37 requires a DC power supply and an automatic tying start signal). The central control system can adopt EtherCAT industrial field bus control technology to control the servo drive and IO slave stations. When tying the second layer of steel bars, auxiliary positioning mechanisms are arranged around the tying platform to automatically align the longitudinal and transverse steel bars, and then the visual recognition system identifies the three-dimensional space coordinates of the steel bar intersection points to be tied within the range of the auxiliary positioning mechanism. The central control system controls the bundling manipulator to automatically complete the regional tying of the steel bars.

[0038] The intelligent bottom plate tying platform 2 is rigidly suspended by the first multi-stage hydraulic cylinder 31 under the middle trolley of the gantry crane 1. Guide mechanisms are evenly arranged around the platform. The piston rod of the multi-stage cylinder extends to control the tying platform to the appropriate tying position, and the stroke of the multi-stage cylinder is controlled to make the tying platform at an appropriate height for tying the bottom plate and top plate steel bars.

[0039] There are two intelligent web binding platforms 3, one on the left and one on the right. Each has a second multi-stage hydraulic cylinder 21 suspended under the left and right trolleys of the gantry hanger 1. A rotary drive mechanism 32 is provided between the end of the multi-stage cylinder piston rod and the binding platform. Two parallel rotary guiding mechanisms 34 are provided between the platform and the suspension connecting plate 33. An electromagnetic locking device is provided inside the rotary guiding mechanism 34. When rotating before starting binding, the drive mechanism drives the platform to rotate, and the guiding electromagnetic locking mechanism is in the released state. After the platform rotates to the in-place position, the drive mechanism stops running, and the electromagnetic locking device is in the locked state, controlling the rotation angle of the platform to ensure that the plane of the binding platform is parallel to the intersection plane of the side web steel bars. At the same time, the left and right trolleys are driven by servo motors to move to appropriate positions, the multi-stage cylinder piston rod extends or retracts, and the binding platform is controlled to be at an appropriate height above the vertical direction of the intersection plane of the side web steel bars to perform side web steel bar binding. Side vertical bar auxiliary clamping mechanisms are provided on both sides of the binding platform. The auxiliary clamping mechanism includes two clamping assemblies. Each clamping assembly includes a motor and a screw. The motor drives the screw to rotate, and a clamping slider is installed on the screw. The two clamping sliders move relatively to perform the clamping operation, positioning the side vertical bars in rows at appropriate positions on the side web where the second layer of longitudinal bars are laid out. Repeat the foregoing procedure to perform side web second layer steel bar binding. After binding is completed, the electromagnetic locking device first enters the released state, and then the rotary drive mechanism 32 drives the web binding platform to rotate to an appropriate angle. At the same time, the multi-stage cylinder piston rod retracts, so that the intelligent web binding platform 3 is in an appropriate position to perform wing plate and top plate steel bar binding.

[0040] The gantry hanger 1 is provided with trolley running tracks. The trolley is provided with driving wheels and driven wheels driven by paired servo motors. The driving wheels and driven wheels are provided with guiding structures to ensure that the trolley cannot deviate from the track during operation. An auxiliary clamping wheel type mechanism is provided under the track to ensure that the trolley cannot slide off the track running surface during operation. The trolley is provided with a mechanical locking device to ensure that the trolley is fixed at an appropriate position when it stops running.

[0041] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An intelligent steel bar binding device for track construction, characterized in that, Including: Gantry lifting frame (1), bottom plate intelligent binding platform (2), web intelligent binding platform (3), gantry frame trolley (4); A gantry frame trolley (4) is arranged on the gantry lifting frame (1). The gantry frame trolley (4) can move horizontally along the trolley running track of the gantry lifting frame (1), and a binding platform is installed on the gantry frame trolley (4); There are three gantry frame trolleys (4), namely the left gantry frame trolley, the middle gantry frame trolley and the right gantry frame trolley; there are two types of binding platforms, namely the bottom plate intelligent binding platform (2) and the web intelligent binding platform (3); the bottom plate intelligent binding platform (2) is installed on the middle gantry frame trolley, the first web intelligent binding platform is installed on the left gantry frame trolley, and the second web intelligent binding platform is installed on the right gantry frame trolley; The bottom plate intelligent binding platform (2) is rigidly suspended under the middle trolley of the gantry lifting frame (1) by the first multi-stage hydraulic cylinder (31). The piston rod of the multi-stage cylinder extends to control the binding platform at a suitable binding position, and the stroke of the multi-stage cylinder is controlled to make the binding platform at a suitable height for binding the bottom plate and top plate steel bars; the bottom plate intelligent binding platform (2) 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 binding manipulator (25) is installed on the second platform module (24); Each of the web intelligent binding platforms (3) is suspended under the left and right trolleys of the gantry lifting frame (1) by a second multi-stage hydraulic cylinder (21). A rotary drive mechanism (32) is arranged between the piston rod end of the second multi-stage hydraulic cylinder (21) and the binding platform. The rotary drive mechanism (32) is connected to the binding frame. Pressing and limiting frames (35) are arranged at both ends and a bundling manipulator is arranged in the center on the binding frame. The first bundling manipulator is installed on the lower surface of the binding frame through the first platform module (36). The first binding manipulator (37) can move up, down, forward, backward, left and right along the first platform module (36). Transverse rails and longitudinal rails are arranged on the first platform module (36), and the position of the first binding manipulator (37) is adjusted by driving the screw through a motor.

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

3. The intelligent steel bar binding device for track construction according to claim 1, wherein, The gantry lifting frame (1) is arranged in 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. The translational slider is driven to move horizontally by a driving mechanism, and the translational slider is driven to move by driving a lead screw with a motor; a lifting frame is arranged on the translational slider. The lifting frame is integrally in an inverted U shape and is assembled and installed by a plurality of cross bars, vertical bars and diagonal bars. A transverse frame is arranged at the top of the lifting frame, and a trolley running track is arranged on the transverse frame.

4. The intelligent steel bar binding device for track construction according to claim 1, characterized in that, The first tying manipulator (37) includes a housing (101). A steel bar fixing member (102) is installed at the end of the housing (101). The steel bar fixing member (102) guides and fixes the steel bar tying process. A tying member (103) is installed inside the steel bar fixing member (102). The tying member (103) is connected to a motor inside the housing (101). The motor drives the tying member (103) to rotate. The tying member (103) is internally provided with a telescopic rod, enabling the tying member (103) to perform telescopic movement. The tying member (103) is integrally Z-shaped, and the rotation of the tying member (103) is used to tie the steel bar; one end of the steel bar fixing member (102) is provided with a configuration fixing portion, and the other end is provided with a wedge-shaped opening fixing portion, which can guide and fix the steel bar tying process.

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