A steel bar mesh production and quality detection robot and a running method thereof

Abstract

The application relates to a reinforcing mesh production and quality detection robot and a running method thereof, the robot comprising a base, a machine body module, a motion module group for driving the base to move, an execution module group for producing reinforcing meshes, and a visual control module capable of identifying a motion route, reinforcing mesh positions and detecting reinforcing mesh quality; wherein the execution module group comprises two execution modules, each execution module comprising a reinforcing bar carrying mechanism for carrying reinforcing bars, a reinforcing bar binding mechanism for binding reinforcing bars, a sleeve mounting mechanism and an execution module switcher, the execution module being capable of realizing function conversion of the reinforcing bar carrying mechanism, the reinforcing bar binding mechanism and the sleeve mounting mechanism through the execution module switcher. Compared with the prior art, the application can complete full-process reinforcing mesh production through the execution module group and can complete accurate reinforcing mesh quality detection and reinforcing bar positioning through the visual control module, so that high-efficiency automatic production and quality detection of reinforcing meshes are realized.

Description

Technical Field

[0001] This invention relates to the field of construction equipment, and in particular to a robot for producing and inspecting steel mesh and its operating method. Background Technology

[0002] In civil engineering construction, the production and installation of reinforcing mesh is a crucial step. Traditional production methods rely heavily on manual labor, resulting in a large workload, long processing time, and significant challenges in quality control. Furthermore, manual quality inspection of large areas of reinforcing mesh is highly susceptible to defects. Failure to produce reinforcing mesh in a standardized and efficient manner directly reduces the overall structural strength. Therefore, developing a robot capable of automating and efficiently performing both reinforcing mesh production and quality inspection is of great significance.

[0003] The traditional method of producing steel mesh involves the steel bar manufacturer producing steel bars of the appropriate size, which are then transported to the construction site. On-site workers manually determine the position of the bars, place them, and tie them. Finally, the site supervisor is responsible for inspecting the quality of the steel mesh. In this method, the construction speed and accuracy of the steel mesh are entirely determined by on-site manual labor, resulting in inconsistent construction quality.

[0004] Traditional steel mesh production processes cannot simultaneously produce steel mesh and inspect the quality of previously produced mesh. To achieve simultaneous and efficient steel mesh production and quality inspection, additional equipment such as spirit levels and rebar tying machines is required. This method is significantly affected by subjective factors.

[0005] Chinese invention patent application number 202410073998.1 discloses a precast beam steel mesh forming process. Although the disclosed steel mesh forming process can achieve rapid production by combining positioning, welding, and material transfer, it can only be used in precast beams and cannot be used in fields such as pile caps and foundations where there is a higher demand for steel mesh. Furthermore, it cannot be used on construction sites and still cannot completely eliminate manual labor.

[0006] Chinese utility model patent application number 202323320068.1 discloses a longitudinal steel bar feeding device for a steel bar mesh welding machine. Although the disclosed steel bar mesh manufacturing process can produce multiple steel bar meshes simultaneously, it cannot perform quality inspection of the steel bar meshes or on-site installation of the steel bar meshes. The meshes still need to be transported to the site and placed manually. Summary of the Invention

[0007] The purpose of this invention is to provide a robot for the production and quality inspection of steel mesh and its operating method, which can realize the production and quality inspection of steel mesh and improve the production efficiency of steel mesh.

[0008] The objective of this invention can be achieved through the following technical solutions:

[0009] This invention provides an automated production and quality inspection robot for steel mesh, including a base, a body module mounted on the base, a motion module group for driving the base to move, an execution module group for producing steel mesh, and a vision control module capable of identifying the motion path, the position of the steel bars, and inspecting the quality of the steel mesh.

[0010] The execution module group includes two execution modules respectively located on both sides of the body module. Each execution module includes a rebar handling mechanism for handling rebar, a rebar binding mechanism for binding rebar, and an execution module switcher. The execution module realizes the functional conversion between the rebar handling mechanism and the rebar binding mechanism through the execution module switcher. The rebar handling mechanism and the rebar binding mechanism are respectively connected to the execution module switcher.

[0011] The motion module group, execution module group, and body module are all connected to the vision control module.

[0012] Preferably, the motion module group includes two motion modules respectively disposed on both sides of the base. The motion module includes a track, a transmission unit, a wheel set meshing with the track, and a first drive control unit connected to the execution module switcher. The first drive unit rotates the wheel set through the transmission unit, the wheel set drives the track to move, and the track drives the robot to move through the friction with the ground.

[0013] Preferably, the effective grounding length of the track needs to be greater than twice the spacing of the steel mesh to ensure that the robot can move stably even on steel mesh with holes.

[0014] Preferably, the rebar handling mechanism includes a second drive control unit connected to the execution module switch and a clamping unit. The second drive control unit drives the clamping unit to move to the target position and realizes the clamping and release of the rebar.

[0015] Preferably, the clamping unit includes a handling robotic arm, the end of which includes grippers for clamping or releasing the reinforcing bars.

[0016] Preferably, the rebar tying mechanism includes a third drive control unit connected to the execution module switch, a tying robotic arm, and a rebar tying gun head. The execution end of the tying robotic arm is connected to the rebar tying gun head via a connector. The third drive control unit drives the tying robotic arm to move to the position to be tying, and the rebar tying gun head performs rebar tying.

[0017] Preferably, the execution module further includes a sleeve installation mechanism, which includes a fourth drive control unit connected to the execution module switch, an installation robotic arm, and a rebar sleeve electric wrench. The execution end of the installation robotic arm is connected to the rebar sleeve electric wrench via a connector. The fourth drive control unit drives the installation robotic arm to move to the position where the sleeve needs to be installed, and the rebar sleeve electric wrench screws the rebar into the sleeve.

[0018] Preferably, the handling robotic arm, the binding robotic arm, and the installation robotic arm are all multi-joint robotic arms.

[0019] In this invention, the rebar tying mechanism, sleeve installation mechanism, and rebar handling mechanism can be combined and aligned with the construction site for construction by switching the execution module switcher.

[0020] Preferably, the body module includes a body, two execution modules are respectively arranged on both sides of the body, and a body rotation unit is provided at the bottom of the body. The body is connected to the base through the body rotation unit, and the body rotation unit drives the body to rotate within a 360° range.

[0021] Preferably, the two sides of the rotating body unit are respectively provided with counterweight units for stabilizing the robot's center of gravity. The counterweight unit includes a counterweight track on the base and a movable counterweight block that is slidably connected to the counterweight track.

[0022] Preferably, the vision control module includes a binocular camera and a control system, wherein the control system is connected to the motion module group, the execution module group, and the body module, respectively.

[0023] Preferably, both the binocular camera and the control system are mounted on the machine body.

[0024] Preferably, the binocular camera can identify obstacles in front and control the movement path of the base; the binocular camera can use an edge detection algorithm to identify the direction of the steel bars in front and determine the vertical spacing by calculating the coordinates of the steel bar observation points, and combine an outlier detection algorithm to detect the quality of the steel mesh.

[0025] Preferably, the binocular camera has a built-in ranging sensor.

[0026] Preferably, the counterweight unit is connected to the control system.

[0027] Preferably, a level is installed inside the body, which can measure the tilt of the robot's motion module group (level under normal operation, tilted when going uphill), collect data in real time, control the system to drive the displacement of the movable counterweight, thereby correcting the position of the geometric center point and ensuring the robot's balanced operation during movement.

[0028] like Figure 4As shown, the method for maintaining robot balance during movement in this invention is to keep the robot's center of gravity and geometric center as close as possible to each other. When the robot is in an unloaded state (without reinforcing steel bars), the movable counterweight is located at the front end of the counterweight track by default. The specific balance equation is as follows:

[0029] m0Y0cosθ+2m1Y1cosθ+m 20 Y2=0

[0030] In the above formula, m0 is the mass of the robot excluding the movable counterweight and the execution module group, m1 is the mass of a single movable counterweight, and m 20 Y0 is the mass of the execution module group, θ is the angle of deviation of the rotating unit of the robot from the center line of the lower motion module group (default is 0 here), Y0 is the distance of the robot's center of gravity (excluding the movable counterweights and the execution module group) from the robot's geometric center point, which can be determined during robot production, Y1 is the distance of the combined center of gravity of the left and right movable counterweights from the robot's geometric center, and Y2 is the distance of the execution module group's center of gravity from the robot's geometric center. Y1 is mainly adjusted during operation.

[0031] like Figure 5 As shown, the distances L1 and L2 from the center point of the binocular camera to the parallel reinforcing bars in front can be measured using the range sensor built into the binocular camera. Simultaneously, the heights H1 from the center point of the binocular camera to the upper surface of the lower motion module assembly and the height of the motion module assembly are known. Given the radius R of the reinforcing bars, the spacing D of the reinforcing bars can be calculated using the following formula:

[0032]

[0033] For abnormal situations such as the sleeve not being installed, the following steps can be taken to detect the abnormality:

[0034] (1) Take pictures of the steel mesh in front of the camera with a binocular camera, and then use OpenCV built-in functions to convert the steel mesh pictures to grayscale;

[0035] (2) Apply Gaussian filtering to the image to remove image noise and avoid misidentifying noise as steel bar edges during edge detection;

[0036] (3) Use grayscale threshold to perform preliminary screening of sleeves and steel wires. The specific principle is that the steel bars are black and red, which have a relatively obvious grayscale difference from the silver-white sleeves and steel wires used. The position of the sleeve and steel wire binding node can be determined by threshold screening.

[0037] (4) By reverse-engineering the node position, extract the image near the original image at that position and perform 3*3 convolution to obtain the three-dimensional matrix of each small image;

[0038] In this invention, when performing outlier detection on the matrix for the presence or absence of sleeves and the presence or absence of wire bindings, images with neither are considered to be abnormal.

[0039] This invention also provides a method for operating a robot for automatic production and quality inspection of steel mesh, comprising the following steps:

[0040] S1: Based on the vision control module, the distance to the positioning marker or the steel bar in front is determined, and the base is moved to the determined position where the steel bar will be placed or the operation will be carried out through the motion module group;

[0041] S2: The rebar handling mechanism, rebar binding mechanism, and sleeve installation mechanism are switched through the execution module switcher to produce rebar mesh;

[0042] S3: Inspect the production quality of the steel mesh through the vision control module.

[0043] This invention provides an automated production and quality inspection robot for steel mesh. By integrating advanced motion module groups, body modules, steel bar binding mechanisms, sleeve installation mechanisms, steel bar handling mechanisms, and vision control modules, it achieves automated production and quality inspection of steel mesh, improving construction efficiency and safety. It can also realize image acquisition and uploading of areas with defects in the steel mesh during the production process, facilitating subsequent repair.

[0044] The motion module assembly in this invention mimics the track design of a tank, possessing strong ground adaptability. Through the cooperation of the tracks, transmission unit, and wheel assembly, the motion module assembly enables the robot to operate stably on a steel mesh. The total length of the tracks can be adjusted according to the actual working environment, and the effective ground contact length of the tracks must be greater than twice the spacing of the steel mesh to ensure stable movement even on steel meshes with gaps.

[0045] The execution module group in this invention includes a rebar handling mechanism, a rebar tying mechanism, a sleeve installation mechanism, and an execution module switcher. The rebar handling mechanism is responsible for transporting the rebars to the designated location at specified intervals; the rebar tying mechanism ties the rebar joints; the sleeve installation mechanism connects the rebars through sleeve installation; and the execution module switcher is used to switch between different execution modules and adjust the construction angle to complete the installation task.

[0046] The vision control module in this invention includes a binocular camera and a control system. Simulating human vision, a binocular camera is placed at the front of the robot to ensure imaging accuracy. Based on known camera parameters between the two cameras, the height and distance of the target in front are determined by combining their images. Image processing algorithms are used to calculate the spacing based on the coordinates of the rebar observation points, and edge detection algorithms are used to identify the direction of the rebar. The spacing value is obtained by projecting the spacing perpendicular to the direction. Furthermore, the images captured by the binocular camera are segmented and trained using an outlier detection algorithm to identify areas of abnormal rebar mesh, enabling quality inspection during production.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] (1) This invention designs an automatic production and quality inspection robot for steel mesh by integrating a body module, a motion module group, an execution module group and a vision control module, which can improve the production efficiency and quality of steel mesh.

[0049] (2) In this invention, the quick conversion of handling, binding and sleeve installation functions can be realized by the execution module switcher. No manual intervention is required and a single robot can complete the entire process of steel mesh production, thus improving production efficiency.

[0050] (3) The present invention can identify the position of steel bars and obstacles in real time through the setting of the vision control module, autonomously plan the movement path, reduce the time of invalid operation, and identify the steel mesh area with abnormality by using the outlier detection algorithm, so as to realize quality inspection at the same time as production.

[0051] (4) By setting the body rotation unit and the counterweight track, the center of gravity can be adjusted in coordination to ensure the stability of the robot during movement and operation, and avoid the positioning error of the steel bar caused by tilting.

[0052] (5) By setting up a tracked motion module, the robot can adapt to complex ground such as mud and gravel on construction sites and flexibly adjust the working angle by rotating the body 360°. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of the structure of the present invention;

[0054] Figure 2 This is a magnified view of a partial detail of the present invention;

[0055] Figure 3 This is a schematic diagram of the structure of the machine body of the present invention during rotation;

[0056] Figure 4 This is a schematic diagram of the balance calculation of the present invention;

[0057] Figure 5 This is a schematic diagram illustrating the quality inspection calculations performed according to the present invention.

[0058] Figure 6 This is a flowchart illustrating the operation of the present invention;

[0059] In the diagram, 1-base; 2-rebar handling mechanism; 21-handling robotic arm; 22-gripper; 3-rebar binding mechanism; 31-binding robotic arm; 32-rebar binding gun head; 4-execution module switcher; 5-motion module; 51-track; 52-wheel set; 6-body; 7-body rotation unit; 8-counterweight unit; 81-counterweight track; 82-movable counterweight; 9-sleeve installation mechanism; 91-installation robotic arm; 92-rebar sleeve electric wrench; 10-binocular camera; 11-control system. Detailed Implementation

[0060] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are based on the technical solution of the present invention and provide detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0061] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0062] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0063] Unless otherwise specified, the functional components or structures in the following embodiments or examples are conventional components or structures used in the art to achieve the corresponding functions.

[0064] Example 1

[0065] A robot for automatic production and quality inspection of steel mesh includes a base 1, a body module, a motion module group, an execution module group, and a vision control module.

[0066] The body module is mounted on the base 1. The motion module group includes two motion modules 5 respectively located on both sides of the base 1, responsible for driving the base 1 to move. The execution module group undertakes the production task of the reinforcing mesh and includes two execution modules located on both sides of the body module. Each execution module includes a reinforcing bar handling mechanism 2 for transporting reinforcing bars, a reinforcing bar binding mechanism 3 for binding reinforcing bars, and an execution module switcher 4. The reinforcing bar handling mechanism 2 and the reinforcing bar binding mechanism 3 are both connected to the execution module switcher 4, and the execution modules switch functions through the execution module switcher 4. The vision control module is connected to the motion module group, the execution module group, and the body module respectively, and can identify the movement path, the position of the reinforcing bars, and detect the quality of the reinforcing mesh.

[0067] Example 2

[0068] A robot for automated production and quality inspection of steel mesh, such as Figure 1-3 As shown, it includes a base 1 and a body module mounted on the base 1.

[0069] The body module includes a body 6, and a body rotation unit 7 is installed at the bottom of the body 6. The body 6 is connected to the base 1 through the body rotation unit 7. The body rotation unit 7 can drive the body 6 to rotate within a 360° range, thereby expanding the robot's working area.

[0070] An execution module is provided on both sides of the body 6. Each execution module includes a rebar handling mechanism 2 for handling rebars, a rebar binding mechanism 3 for binding rebars, and a sleeve installation mechanism 9. The rebar handling mechanism 2, the rebar binding mechanism 3, and the sleeve installation mechanism 9 are respectively connected to the execution module switcher 4; the execution module realizes the function switching between the rebar handling mechanism 2, the rebar binding mechanism 3, and the sleeve installation mechanism 9 through the execution module switcher 4.

[0071] In this embodiment, the rebar handling mechanism 2 consists of a second drive control unit and a clamping unit. The clamping unit includes a handling robotic arm 21 and a gripper 22, with the gripper 22 located at the end of the handling robotic arm 21. The second drive control unit is connected to the execution module switcher 4 and can drive the clamping unit to move to the target position to realize the clamping and releasing of the rebar.

[0072] In this embodiment, the rebar tying mechanism 3 consists of a third drive control unit, a tying robotic arm 31, and a rebar tying gun head 32. The third drive control unit is connected to the execution module switcher 4. The execution end of the tying robotic arm 31 and the rebar tying gun head 32 are connected through a connector. The third drive control unit drives the tying robotic arm 31 to move to the position where tying is required, and the rebar tying gun head 32 performs rebar tying.

[0073] In this embodiment, the sleeve installation mechanism 9 consists of a fourth drive control unit, an installation robotic arm 91, and a rebar sleeve electric wrench 92. The fourth drive control unit is connected to the execution module switcher 4. The execution end of the installation robotic arm 91 is connected to the rebar sleeve electric wrench 92 through a connector. The fourth drive control unit drives the installation robotic arm 91 to move to the position where the sleeve needs to be installed, and the rebar sleeve electric wrench 92 screws the rebar into the sleeve.

[0074] Motion modules 5 for driving the base 1 to move are respectively provided on both sides of the base 1. Each motion module 5 includes a track 51, a transmission unit, a wheel set 52 that meshes with the track 51, and a first drive control unit. The first drive control unit is connected to the execution module switch 4. The first drive unit makes the wheel set 52 rotate through the transmission unit. The wheel set 52 drives the track 51 to move. The track 51 drives the base 1 to move through the friction with the ground. This design ensures the stability and mobility of the robot on complex terrain.

[0075] Example 3

[0076] A robot for automatic production and quality inspection of steel mesh, based on embodiment 2, has counterweight units 8 on both sides of the rotating unit 7 of the robot body for stabilizing the robot's center of gravity. The counterweight unit 8 includes a counterweight track 81 and a movable counterweight block 82 slidably connected to the counterweight track 81. Both the counterweight track 81 and the movable counterweight block 82 are mounted on the base 1.

[0077] The body 1 is also equipped with a vision control module. The vision control module consists of a binocular camera 10 and a control system 11. The control system 11 is connected to the motion module 5, the execution module, the body module, and the counterweight unit 8, and can control the motion module 5, the execution module, the body module, and the counterweight unit 8 to perform their respective functions. The binocular camera 10 can identify obstacles in front and control the movement path of the base 1. It can use an edge detection algorithm to identify the direction of the steel bars in front and determine the vertical spacing by calculating the coordinates of the steel bar observation points, and combine an outlier detection algorithm to detect the quality of the steel mesh.

[0078] The operation method of the automatic steel mesh production and quality inspection robot provided in this embodiment is as follows: Figure 6 As shown, the main steps include:

[0079] (1) Determine the distance to the positioning marker or the steel bar in front based on the vision control module;

[0080] (2) Drive the base 1 to the position where the steel bars are to be placed or the operation is to be performed by the motion module 5;

[0081] (3) The rebar handling mechanism 2, rebar binding mechanism 3, and sleeve installation mechanism 9 are switched by the execution module switcher 4 to produce rebar mesh;

[0082] (4) Check the production quality of the steel mesh through the vision control module.

[0083] The above description of the embodiments is provided to enable those skilled in the art to understand and use the invention. It will be apparent to those skilled in the art that various modifications can be made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present invention is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the invention should be within the protection scope of the present invention.

Claims

1. A robot for automatic production and quality inspection of steel mesh, characterized in that, Includes a base (1), a body module mounted on the base (1), a motion module group for driving the base (1) to move, an execution module group for producing steel mesh, and a vision control module capable of identifying the motion path, steel bar position and detecting the quality of the steel mesh; The execution module group includes two execution modules respectively set on both sides of the body module. The execution module includes a steel bar handling mechanism (2) for handling steel bars, a steel bar binding mechanism (3) for binding steel bars, and an execution module switcher (4). The execution module realizes the function conversion between the steel bar handling mechanism (2) and the steel bar binding mechanism (3) through the execution module switcher (4). The steel bar handling mechanism (2) and the steel bar binding mechanism (3) are respectively connected to the execution module switcher (4). The motion module group, execution module group, and body module are all connected to the vision control module; The execution module also includes a sleeve installation mechanism (9), which includes a fourth drive control unit connected to the execution module switch (4), an installation robotic arm (91), and a rebar sleeve electric wrench (92). The execution end of the installation robotic arm (91) is connected to the rebar sleeve electric wrench (92) via a connector. The fourth drive control unit drives the installation robotic arm (91) to move to the position where the sleeve needs to be installed, and the rebar sleeve electric wrench (92) screws the rebar into the sleeve. The vision control module includes a binocular camera (10) and a control system (11). The control system (11) is connected to the motion module group, the execution module group, and the body module, respectively. The binocular camera (10) can identify obstacles in front and control the movement path of the base (1). The binocular camera (10) can use an edge detection algorithm to identify the direction of the steel bars in front and determine the vertical spacing by calculating the coordinates of the steel bar observation points, and combine an outlier detection algorithm to detect the quality of the steel mesh.

2. The automatic production and quality inspection robot for steel mesh according to claim 1, characterized in that, The motion module group includes two motion modules (5) respectively set on both sides of the base (1). The motion module (5) includes a track (51), a transmission unit, a wheel set (52) meshing with the track (51), and a first drive control unit connected to the execution module switch (4). The first drive control unit makes the wheel set (52) rotate through the transmission unit. The wheel set (52) drives the track (51) to move. The track (51) drives the base (1) to move through friction with the ground.

3. The automatic production and quality inspection robot for steel mesh according to claim 1, characterized in that, The rebar handling mechanism (2) includes a second drive control unit and a clamping unit connected to the execution module switcher (4). The second drive control unit drives the clamping unit to move to the target position and realizes the clamping and release of the rebar.

4. The automatic production and quality inspection robot for steel mesh according to claim 3, characterized in that, The clamping unit includes a handling robotic arm (21), the end of which is provided with a gripper (22) for clamping or releasing the reinforcing bar.

5. The automatic production and quality inspection robot for steel mesh according to claim 1, characterized in that, The rebar tying mechanism (3) includes a third drive control unit connected to the execution module switcher (4), a tying robotic arm (31), and a rebar tying gun head (32). The execution end of the tying robotic arm (31) is connected to the rebar tying gun head (32) through a connector. The third drive control unit drives the tying robotic arm (31) to move to the position to be tied, and the rebar tying gun head (32) performs rebar tying.

6. The automatic production and quality inspection robot for reinforcing steel mesh according to claim 1, characterized in that, The body module includes a body (6), two execution modules are respectively set on both sides of the body (6), and a body rotation unit (7) is set at the bottom of the body (6). The body (6) is connected to the base (1) through the body rotation unit (7). The body rotation unit (7) drives the body (6) to rotate within a 360° range.

7. The automatic production and quality inspection robot for reinforcing steel mesh according to claim 6, characterized in that, The rotating unit (7) of the robot body is provided with counterweight units (8) on both sides for stabilizing the center of gravity of the robot. The counterweight unit (8) includes a counterweight track (81) set on the base (1) and a movable counterweight (82) slidably connected to the counterweight track (81).

8. A method for operating a robot for automatic production and quality inspection of reinforcing mesh as described in any one of claims 1-7, characterized in that, Includes the following steps: S1: Based on the vision control module, determine the distance to the positioning marker or the steel bar in front, and drive the base (1) to move to the position where the steel bar is to be placed or the operation is to be performed through the motion module group; S2: The rebar handling mechanism (2), rebar binding mechanism (3), and sleeve installation mechanism (9) are converted into functions by executing the module switcher (4) to produce rebar mesh; S3: Inspect the production quality of the steel mesh through the vision control module.

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