Auxiliary robot for binding reinforcing steel bars of shear wall

Abstract

The invention discloses a shear wall steel bar binding auxiliary robot, and relates to the technical field of steel bar binding. The robot comprises a caterpillar band moving platform, a hydraulic lifting platform, a six-axis mechanical arm, a hydraulic clamping jaw, a hydraulic system and an electrical control system. The crawler moving platform comprises a rack, a crawler mechanism is arranged on the rack, a swing supporting leg is hinged to the rack, a hydraulic telescopic rod is arranged on the swing supporting leg, the hydraulic lifting platform comprises a fixed support, the fixed support is connected with a sliding support II, the sliding support II is connected with a sliding support I, and a mounting plate is arranged at the top of the sliding support I; the six-axis mechanical arm is connected with the mounting plate, the hydraulic clamping jaw is connected with the six-axis mechanical arm, the hydraulic clamping jaw is provided with two clamping jaws for clamping reinforcing steel bars, and the hydraulic system and the electrical control system control the crawler moving platform, the hydraulic lifting platform, the six-axis mechanical arm and the hydraulic clamping jaw to operate. The auxiliary robot for binding the shear wall reinforcing steel bars has the beneficial effects that manpower is saved, the construction efficiency is improved, and the construction quality is improved.

Description

Technical Field

[0001] The invention relates to the technical field of steel bar binding, and in particular to a shear wall steel bar binding auxiliary robot. Background Art

[0002] Shear walls are commonly used load-bearing walls in building structures to resist horizontal forces and bear gravity loads. At present, the shear wall reinforcement binding operation is mainly completed manually, and the vertical and transverse reinforcements are carried and placed in place by construction workers. In large-scale construction projects such as nuclear power construction, the amount of steel bars used is huge, and the diameter and length of a single steel bar are large, which requires a lot of manpower, low construction efficiency, and high labor costs. In addition, the transverse reinforcement located at high altitudes often requires construction workers to step on the pre-bound transverse reinforcement before it can be placed in place. This is an off-ground operation, which is easy to cause people to fall and injure, and there is a high operational risk. In addition, the location of the reinforcement is determined by visual inspection by construction workers, which is highly subjective. At the same time, the reinforcement lacks corresponding limiting structures, and it is very easy to shift when manually carried, and the binding quality is difficult to guarantee.

[0003] The patent with application number 202211468121.X involves "an auxiliary lifting equipment for steel bar installation and its auxiliary lifting method", including a crawler chassis, a control and transmission cab, a hydraulic motor, a wire rope winder and a telescopic crane arm. The operator controls the telescopic crane arm and the wire rope winder in the cab to lift the steel bars to the binding position. Although it can save manpower and improve construction efficiency, the wire rope is flexible. The steel bars are easy to shake during the lifting process, and there is a certain distance between the operator and the steel bar binding position. It is difficult to place the steel bars directly by visual inspection, and personnel assistance is still required to adjust the position of the steel bars.

[0004] Therefore, the prior art needs to be improved. Summary of the invention

[0005] The technical problem to be solved by the present invention is that the current shear wall reinforcement binding operation has problems such as large manpower demand, high labor cost, low construction efficiency, and difficulty in ensuring the binding quality in the steel bar handling and positioning link, and the existing steel bar binding auxiliary device generally has insufficient steel bar handling and positioning capabilities. The purpose is to provide a shear wall reinforcement binding auxiliary robot, which adopts corresponding technical means and has the beneficial effects of saving manpower, improving construction efficiency, and improving construction quality.

[0006] The present invention is achieved through the following technical solutions:

[0007] The present invention provides a shear wall reinforcement binding auxiliary robot, which comprises:

[0008] Crawler mobile platform: The crawler mobile platform includes a frame, the frame is provided with a walking crawler mechanism, the frame is hinged with a swing leg, and the swing leg is provided with a hydraulic telescopic rod supporting the ground.

[0009] Hydraulic lifting platform: The hydraulic lifting platform includes a fixed bracket connected to the frame, the fixed bracket is connected to a sliding bracket II, the sliding bracket II is connected to a sliding bracket I, and a mounting plate is provided on the top of the sliding bracket I.

[0010] Six-axis mechanical arm and hydraulic clamp: the six-axis mechanical arm is connected to the mounting plate, the hydraulic clamp is connected to the six-axis mechanical arm, and the hydraulic clamp is provided with two clamping claws for clamping steel bars.

[0011] Hydraulic system and electrical control system: The hydraulic system and the electrical control system are both connected to the frame, and the hydraulic system and the electrical control system control the operation of the crawler mobile platform, the hydraulic lifting platform, the six-axis robotic arm and the hydraulic clamp.

[0012] Furthermore, in the present invention, the above-mentioned crawler mobile platform also includes a hydraulic motor connected to the frame, the hydraulic motor is transmission-connected to the crawler mechanism, and the hydraulic motor is controlled by the hydraulic system and the electrical control system.

[0013] Furthermore, in the present invention, the above-mentioned swing leg is provided with a latch connected to the frame to achieve locking.

[0014] Furthermore, in the present invention, the left and right sides of the above-mentioned fixed bracket are provided with sliding blocks II which are parallel to each other, the sliding bracket II is provided with a guide rail II, and the guide rail II and the sliding block II are in sliding connection.

[0015] Furthermore, in the present invention, the left and right sides of the above-mentioned sliding bracket II are provided with sliding blocks I which are parallel to each other, and the sliding bracket I is provided with a guide rail I, and the guide rail I and the sliding block I are in sliding connection.

[0016] Furthermore, in the present invention, a groove wheel is provided on the top of the side of the sliding bracket II, the frame is connected with a chain, and one end of the chain away from the groove wheel bypasses the groove wheel and is connected to the bottom of the sliding bracket I.

[0017] Furthermore, in the present invention, the frame is provided with a hydraulic cylinder I, and the telescopic end of the hydraulic cylinder I is connected to the sliding bracket II.

[0018] Furthermore, in the present invention, the above-mentioned sheave is symmetrically arranged front-to-back / left-to-right on the sliding bracket II, and the hydraulic cylinder I is symmetrically arranged left-to-right / front-to-back on the sliding bracket II.

[0019] Furthermore, in the present invention, the hydraulic clamp comprises a connecting bracket fixedly connected to the end of the six-axis robot arm, the connecting bracket is connected with a clamping claw and a hydraulic cylinder II, and the hydraulic cylinder II drives the clamping claw to clamp or release the steel bar.

[0020] Furthermore, in the present invention, the hydraulic system comprises a high-pressure oil pump, an oil tank, a valve group and a cooling fan installed on the frame.

[0021] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0022] (1) The present invention sets a hydraulic lifting platform between the crawler mobile platform and the six-axis mechanical arm, which can not only ensure the stability of the shear wall steel bar binding auxiliary robot during movement, but also expand the scope of the shear wall steel bar binding auxiliary robot's steel bar handling and positioning operations.

[0023] (2) The shear wall reinforcement binding auxiliary robot of the present invention can complete the tasks of reinforcement grabbing, reinforcement flipping, reinforcement transporting and reinforcement positioning, and can replace the manual work of reinforcement transporting and positioning in the shear wall reinforcement binding operation, thereby reducing labor costs and operation risks, and improving production efficiency and binding quality.

[0024] (3) The present invention can realize mobile operation at the construction site through a crawler mobile platform. The hydraulic clamp can stably clamp the steel bars and realize the horizontal and vertical flipping of the steel bars through a six-axis mechanical arm. It can be used for both horizontal steel bar binding operations and vertical steel bar and layer connection operations. It has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without creative work. In the drawings:

[0026] Figure 1 is a schematic diagram of the shear wall reinforcement binding auxiliary robot of the present invention;

[0027] Figure 2 is a schematic diagram of a crawler mobile platform of the present invention;

[0028] Figure 3 It is a schematic diagram of the crawler mobile chassis and the hydraulic lifting platform of the present invention;

[0029] Figure 4This is an operation diagram of the shear wall reinforcement binding auxiliary robot of the present invention assisting in connecting vertical reinforcements;

[0030] Figure 5 This is an operation diagram of the shear wall reinforcement binding auxiliary robot of the present invention assisting in connecting transverse reinforcements.

[0031] Markings and corresponding parts names in the attached drawings: 1- crawler mobile platform, 2- hydraulic lifting platform, 3- six-axis robotic arm, 4- hydraulic clamp, 5- hydraulic system, 6- electrical control system, 7- crawler mechanism, 8- frame, 9- hydraulic motor, 10- swing leg, 11- sliding bracket Ⅰ, 12- sliding bracket Ⅱ, 13- fixed bracket, 14- guide rail Ⅰ, 15- slider Ⅰ, 16- guide rail Ⅱ, 17- slider Ⅱ, 18- groove wheel, 19- chain, 20- hydraulic cylinder Ⅰ, 21- mounting plate, 22- rubber block, 23- connecting bracket, 24- clamping claw, 25- hydraulic cylinder Ⅱ, 26- high-pressure oil pump, 27- oil tank, 28- valve group, 29- cooling fan. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with the embodiments and drawings. The schematic implementation mode of the present invention and its description are only used to explain the present invention and are not intended to limit the present invention. The following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present invention.

[0033] It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In the description of the embodiments of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "setting", "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, and it can be the internal connection of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0034] Example 1

[0035] Combination Figures 1 to 5 As shown, a shear wall reinforcement binding auxiliary robot according to Example 1 of the present invention is shown, and the specific structure is described as follows.

[0036] Reference Figure 1 As shown, the shear wall reinforcement binding auxiliary robot of this embodiment 1 includes six parts: a crawler mobile platform 1, a hydraulic lifting platform 2, a six-axis robotic arm 3, a hydraulic clamp 4, a hydraulic system 5 and an electrical control system 6.

[0037] Furthermore, the crawler mobile platform 1 is mainly used to realize the walking function of the shear wall reinforcement binding auxiliary robot, and also provides an installation position for other components. Figure 1 and Figure 2 As shown, the crawler mobile platform 1 includes a frame 8, which is a built rectangular frame. The frame 8 is a hollow structure, which is convenient for the hydraulic lifting platform 2 to be embedded therein, thereby reducing the overall height of the shear wall steel bar binding auxiliary robot, thereby reducing the center of gravity position of the shear wall steel bar binding auxiliary robot, and improving the movement stability of the shear wall steel bar binding auxiliary robot.

[0038] Combination Figure 2 As shown, two crawler mechanisms 7 are respectively installed on both sides of the frame 8, and two hydraulic motors 9 are also respectively installed on both sides of the frame 8. The two hydraulic motors 9 are respectively connected to the two crawler mechanisms 7 in transmission, so that the hydraulic motors 9 drive the crawler mechanisms 7 to rotate, thereby realizing the walking of the crawler mobile platform 1.

[0039] In some implementations of this embodiment, Figure 1 and Figure 2 As shown, four swing legs 10 are respectively distributed at the four corners of the frame 8, and the swing legs 10 are connected to the frame 8 by hinges, and the swing legs 10 can rotate relative to the frame 8. A circle of positioning holes is set around the rotation center of the swing legs 10, and a positioning hole is set on the frame 8. After the positioning holes are aligned, a pin is inserted into the positioning hole to limit the position. In addition, a hydraulic telescopic rod is fixedly installed at the outer end of the swing leg 10, and the hydraulic telescopic rod can be vertically extended.

[0040] It should be noted that if Figure 3 As shown, when the shear wall reinforcement binding auxiliary robot performs the reinforcement handling and positioning operation, the four swing legs 10 are unfolded outward relative to the frame 8 and then locked by inserting a latch. The hydraulic telescopic rod of the swing leg 10 is extended and contacts the ground, raising the crawler mobile platform 1 and leaving the ground. The shear wall reinforcement binding auxiliary robot is in rigid contact with the ground through the swing legs 10, forming a larger support area to ensure the stability of the reinforcement handling and positioning process. Figure 1 As shown, after the shear wall reinforcement binding auxiliary robot completes the reinforcement binding operation in a certain area, the hydraulic telescopic rods of the four swing legs 10 are retracted, the crawler mobile platform 1 descends and is in full contact with the ground, and the four swing legs 10 are retracted inward relative to the frame 8, and then locked by inserting pins to ensure that the shear wall reinforcement binding auxiliary robot has better passing performance during movement at the construction site.

[0041] In some implementations of this embodiment, the hydraulic lifting platform 2 adopts a two-stage lifting structure, including a sliding bracket II 12 and a sliding bracket I 11. Without changing the lifting height, the initial height of the hydraulic lifting platform 2 can be further reduced, thereby lowering the center of gravity position and improving the movement stability of the shear wall reinforcement binding auxiliary robot.

[0042] Further, combined with Figure 1 and Figure 3 As shown, the fixed bracket 13 is hollow, and the sliding bracket II12 can be inserted into the fixed bracket 13. The fixed bracket 13 and the frame 8 are fixedly connected, and the connection method can be a combination of bolts and welding. Two sliders II17 are installed on the left and right sides of the inside of the fixed bracket 13, and two guide rails II16 are installed on the left and right sides of the outside of the sliding bracket II12. The guide rails II16 are parallel to each other. The sliders II17 and the guide rails II16 correspond one to one, and the sliders II17 can slide along the guide rails II16 to form a sliding connection.

[0043] Combination Figure 3 As shown, the interior of the sliding bracket II 12 is hollow, and the sliding bracket I 11 can be inserted into the sliding bracket II 12. Two sliders I 15 are installed on the left and right sides of the interior of the sliding bracket II 12, and two guide rails I 14 are installed on the left and right sides of the exterior of the sliding bracket I 11. The guide rails I 14 are parallel to each other. The sliders I 15 correspond to the guide rails I 14 one by one, and the sliders I 15 can slide along the guide rails I 14 to form a sliding connection.

[0044] In some implementations of this embodiment, Figure 1 and Figure 3 As shown, in order to realize the lifting and lowering movement of the sliding bracket II 12 and the sliding bracket I 11, a hydraulic cylinder I 20 is also installed. The bottom of the hydraulic cylinder I 20 is fixedly connected to the frame 8, the telescopic rod of the hydraulic cylinder I 20 is vertically arranged upward, and the telescopic rod is fixedly connected to the sliding bracket II 12. When the telescopic rod of the hydraulic cylinder I 20 is extended, the sliding bracket II 12 rises; when the telescopic rod of the hydraulic cylinder I 20 is shortened, the sliding bracket II 12 falls.

[0045] Further, such as Figure 3As shown, two sheaves 18 are installed on the top of the left side of the sliding bracket II 12, and the two sheaves 18 are coaxial; two sheaves 18 are installed on the top of the right side of the sliding bracket II 12, and the two sheaves 18 are coaxial. The ends of two chains 19 are fixedly connected to the left side of the frame 8, and the chains 19 respectively bypass the two sheaves 18 on the left side and extend into the interior of the sliding bracket II 12 and are fixedly connected to the left bottom of the sliding bracket I 11; similarly, the ends of two chains 19 are fixedly connected to the right side of the frame 8, and the chains 19 respectively bypass the two sheaves 18 on the right side and extend into the interior of the sliding bracket II 12 and are fixedly connected to the right bottom of the sliding bracket I 11.

[0046] In order to maintain force balance, two hydraulic cylinders I20 are respectively installed on the front and rear sides of the sliding bracket II12, and four groove wheels 18 and four chains 19 are respectively installed on the left and right sides of the sliding bracket II12 in groups of two. In other embodiments, the hydraulic cylinders I20 can also be installed on the left and right sides, and the groove wheels 18 and chains 19 can be installed on the front and rear sides respectively.

[0047] Combination Figure 3 As shown, when the telescopic rods of the hydraulic cylinders Ⅰ20 on both sides of the sliding bracket Ⅱ12 extend upward, the sliding bracket Ⅱ12 and the sheave 18 move upward. Under the action of the movement of the sheave 18, the length of the chain 19 between the sheave 18 and the sliding bracket Ⅰ11 decreases, and the sliding bracket Ⅰ11 is pulled by the chain 19, driving the mounting plate 21 and the six-axis robot 3 to move upward relative to the sliding bracket Ⅱ12 under the constraints of the slider Ⅰ15 and the guide rail Ⅰ14. The theoretical lifting height is twice the extension length of the push rod of the hydraulic cylinder Ⅰ20. When the telescopic rods of the hydraulic cylinders Ⅰ20 on both sides of the sliding bracket Ⅱ12 retract downward, the sliding bracket Ⅱ12 and the sheave 18 move downward. Under the action of the movement of the sheave 18, the length of the chain 19 between the sheave 18 and the sliding bracket Ⅰ11 increases, and the sliding bracket Ⅰ11 is pulled by the chain 19, driving the mounting plate 21 and the six-axis robot 3 to move downward relative to the sliding bracket Ⅱ12 under the constraints of the slider Ⅰ15 and the guide rail Ⅰ14. Theoretically, the descending height is twice the retracted length of the push rod of the hydraulic cylinder Ⅰ20.

[0048] When the shear wall reinforcement binding auxiliary robot moves, the hydraulic lifting platform 2 drops to the lowest position to lower the center of gravity of the robot, thereby ensuring the stability of the robot during movement. In addition, the sliding bracket Ⅰ11 and the sliding bracket Ⅱ12, and the sliding bracket Ⅱ12 and the fixed bracket 13 are all connected by sliding through four guide rails Ⅰ14 or guide rails Ⅱ16 and sliders Ⅰ15 or sliders Ⅱ17, which can ensure the rigidity of the hydraulic lifting platform 2 during the lifting process and ensure that it has a high lifting accuracy.

[0049] It should be noted that, combined with Figure 3As shown, the mounting plate 21 is fixedly mounted on the top of the sliding bracket Ⅰ11, and four rubber blocks 22 are installed around the bottom surface thereof to prevent the mounting plate 21 from directly and rigidly contacting the top of the fixed bracket 13 and generating impact vibration when it descends to the lowest position.

[0050] Combination Figure 1 As shown, in some implementations of this embodiment, the six-axis robotic arm 3 is fixedly mounted on the mounting plate 21 of the hydraulic lifting platform 2, and the servo motor drives each joint to move, driving the hydraulic clamp 4 installed on the top to move to the specified position, so as to grab the steel bars to be tied, flip the steel bars horizontally or vertically, transport the steel bars over a large range, and accurately position them.

[0051] Further, such as Figure 1 As shown, the hydraulic clamp 4 includes a connecting bracket 23, a clamping claw 24 and a hydraulic cylinder II 25. The connecting bracket 23 is fixedly connected to the end of the six-axis robot arm 3. Two groups of clamping claws 24 are respectively installed at both ends of the connecting bracket 23. The clamping claws 24 are driven by two hydraulic cylinders II 25 to clamp or release the steel bars.

[0052] Combination Figure 1 As shown, the hydraulic system 5 includes a high-pressure oil pump 26, an oil tank 27, a valve group 28 and a cooling fan 29; the high-pressure oil pump 26 is installed above the oil tank 27, and is used to pressurize the hydraulic oil stored in the oil tank 27; the valve group 28 is connected to the hydraulic motor 9 of the crawler mobile platform 1, the hydraulic cylinder I 20 of the hydraulic lifting platform 2 and the hydraulic cylinder II 25 of the hydraulic clamp 4 through a high-pressure oil pipe to provide the high-pressure oil required for driving; the cooling fan 29 is used to cool the hydraulic oil returning to the oil tank 27.

[0053] Combination Figure 1 As shown, the electric control system 6 is integrated into the electric control box 7 and is equipped with a teaching pendant. The operator can use the teaching pendant to realize the movement control of the robot and input the steel bar handling and positioning parameters through the teaching pendant. Figure 4 and Figure 5 As shown, the robot automatically controls the movement of each hydraulic drive component and motor of the robot according to the control instructions to achieve steel bar grabbing, steel bar flipping, steel bar transporting and steel bar positioning.

[0054] In summary, the present invention provides a shear wall steel bar binding auxiliary robot, which includes a crawler mobile platform 1: the crawler mobile platform 1 includes a frame 8, the frame 8 is provided with a walking crawler mechanism 7, the frame 8 is hinged with a swing leg 10, and the swing leg 10 is provided with a hydraulic telescopic rod supporting the ground, a hydraulic lifting platform 2: the hydraulic lifting platform 2 includes a fixed bracket 13 connected to the frame 8, the fixed bracket 13 is connected to a sliding bracket II 12, the sliding bracket II 12 is connected to a sliding bracket I 11, and the top of the sliding bracket I 11 is provided with a mounting plate 21, a six-axis mechanical arm 3 and a hydraulic clamp 4: the six-axis mechanical arm 3 is connected to the mounting plate 21, the hydraulic clamp 4 is connected to the six-axis mechanical arm 3, and the hydraulic clamp 4 is provided with two clamping claws 24 for clamping steel bars, a hydraulic system 5 and an electrical control system 6: the hydraulic system 5 and the electrical control system 6 are both connected to the frame 8, and the hydraulic system 5 and the electrical control system 6 control the operation of the crawler mobile platform 1, the hydraulic lifting platform 2, the six-axis mechanical arm 3 and the hydraulic clamp 4. The crawler mobile platform 1 also includes a hydraulic motor 9 connected to the frame 8, the hydraulic motor 9 is in transmission connection with the crawler mechanism 7, and the hydraulic motor 9 is controlled by the hydraulic system 5 and the electrical control system 6. The swing leg 10 is provided with a latch connected to the frame 8 to achieve locking. The left and right sides of the fixed bracket 13 are provided with sliders II17 parallel to each other, and the sliding bracket II12 is provided with a guide rail II16, and the guide rail II16 and the slider II17 form a sliding connection. The left and right sides of the sliding bracket II12 are provided with sliders I15 parallel to each other, and the sliding bracket I11 is provided with a guide rail I14, and the guide rail I14 and the slider I15 form a sliding connection. The top of the side of the sliding bracket II12 is provided with a groove wheel 18, and the frame 8 is connected with a chain 19, and the end of the chain 19 away from the groove wheel 18 is connected to the bottom of the sliding bracket I11 after bypassing the groove wheel 18. The frame 8 is provided with a hydraulic cylinder I20, and the telescopic end of the hydraulic cylinder I20 is connected to the sliding bracket II12. The sheave 18 is symmetrically arranged on the front and rear sides of the sliding bracket II 12, and the hydraulic cylinder I 20 is symmetrically arranged on the left and right sides of the sliding bracket II 12. The hydraulic clamp 4 includes a connecting bracket 23 fixedly connected to the end of the six-axis robot arm 3, and the connecting bracket 23 is connected to a clamping claw 24 and a hydraulic cylinder II 25. The hydraulic cylinder II 25 drives the clamping claw 24 to clamp or release the steel bar. The hydraulic system 5 includes a high-pressure oil pump 26, an oil tank 27, a valve group 28 and a cooling fan 29 installed on the frame 8.

[0055] Therefore, the shear wall reinforcement binding auxiliary robot of the present invention has the beneficial effects of saving manpower, improving construction efficiency, and improving construction quality.

[0056] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A shear wall reinforcement tying auxiliary robot, characterized in that: include, Crawler mobile platform (1): The crawler mobile platform (1) comprises a frame (8), the frame (8) is provided with a walking crawler mechanism (7), the frame (8) is hinged with a swing leg (10), and the swing leg (10) is provided with a hydraulic telescopic rod supporting the ground. Hydraulic lifting platform (2): The hydraulic lifting platform (2) comprises a fixed bracket (13) connected to the frame (8), the fixed bracket (13) is connected to a sliding bracket II (12), the sliding bracket II (12) is connected to a sliding bracket I (11), and a mounting plate (21) is provided on the top of the sliding bracket I (11). Six-axis mechanical arm (3) and hydraulic clamp (4): the six-axis mechanical arm (3) is connected to the mounting plate (21), the hydraulic clamp (4) is connected to the six-axis mechanical arm (3), and the hydraulic clamp (4) is provided with two clamping claws (24) for clamping steel bars. Hydraulic system (5) and electrical control system (6): the hydraulic system (5) and the electrical control system (6) are both connected to the frame (8), and the hydraulic system (5) and the electrical control system (6) control the operation of the crawler mobile platform (1), the hydraulic lifting platform (2), the six-axis mechanical arm (3) and the hydraulic clamp (4).

2. The shear wall reinforcement binding auxiliary robot according to claim 1 is characterized in that: The crawler mobile platform (1) also includes a hydraulic motor (9) connected to the frame (8), the hydraulic motor (9) is transmission-connected to the crawler mechanism (7), and the hydraulic motor (9) is controlled by the hydraulic system (5) and the electrical control system (6).

3. The shear wall reinforcement binding auxiliary robot according to claim 1 is characterized in that: The swing leg (10) is provided with a latch connected to the frame (8) to achieve locking.

4. The shear wall reinforcement binding auxiliary robot according to claim 1 is characterized in that: The fixed bracket (13) is provided with sliding blocks II (17) parallel to each other on the left and right sides, and the sliding bracket II (12) is provided with a guide rail II (16), and the guide rail II (16) and the sliding block II (17) are slidably connected.

5. The shear wall reinforcement binding auxiliary robot according to claim 4 is characterized in that: The left and right sides of the sliding bracket II (12) are provided with sliding blocks I (15) parallel to each other, and the sliding bracket I (11) is provided with a guide rail I (14), and the guide rail I (14) and the sliding block I (15) are slidably connected.

6. The shear wall reinforcement binding auxiliary robot according to claim 5 is characterized in that: A groove wheel (18) is arranged on the top of the side of the sliding bracket II (12), and the frame (8) is connected with a chain (19). An end of the chain (19) away from the groove wheel (18) passes around the groove wheel (18) and is connected to the bottom of the sliding bracket I (11).

7. The shear wall reinforcement binding auxiliary robot according to claim 6, characterized in that: The frame (8) is provided with a hydraulic cylinder I (20), and the telescopic end of the hydraulic cylinder I (20) is connected to the sliding bracket II (12).

8. The shear wall reinforcement binding auxiliary robot according to claim 7, characterized in that: The groove wheel (18) is arranged symmetrically in front and back / left and right of the sliding bracket II (12), and the hydraulic cylinder I (20) is arranged symmetrically in left and right / front and back of the sliding bracket II (12).

9. The shear wall reinforcement binding auxiliary robot according to any one of claims 1 to 8, characterized in that: The hydraulic clamp (4) comprises a connecting bracket (23) fixedly connected to the end of the six-axis mechanical arm (3), the connecting bracket (23) being connected to a clamping claw (24) and a hydraulic cylinder II (25), and the hydraulic cylinder II (25) driving the clamping claw (24) to clamp or release a steel bar.

10. The shear wall reinforcement binding auxiliary robot according to any one of claims 1 to 8, characterized in that: The hydraulic system (5) comprises a high-pressure oil pump (26), an oil tank (27), a valve group (28) and a cooling fan (29) installed on the frame (8).

Images