A full-automatic steel bar bundling robot based on machine vision guidance

Abstract

A kind of full-automatic steel bar bundling robot based on machine vision guidance, including platform trolley, and fixedly arranged in platform trolley wire binding storage device, wire binding release device, wire binding buffer device, battery, control system, steel bar bundling device, steel bar bundling device is provided with steel bar bundling machine, camera;Full-automatic steel bar bundling robot works, platform trolley is along steel bar and walks, camera shoots steel mesh image and is handled by control system, judges the part that steel mesh needs to be bundled, steel bar bundling machine moves downward, and automatic bundling is carried out to the bundling part;The technical scheme of the present application, with the steel bar bundling machine of up and down activity arrangement, replace existing anthropomorphic robot, greatly reduce the development, manufacturing, use cost of steel bar bundling robot, improve the failure rate in the roadbed, tunnel, bridge and pile foundation engineering field construction site environment, to solve the technical problem of steel bar bundling robot in highway construction popularization and application.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building construction equipment, in particular to a full-automatic steel bar bundling robot based on machine vision guidance. BACKGROUND

[0002] In the construction of highways, in order to strengthen the structural strength and stability, steel bar mesh cages are often arranged in the concrete structures of roadbeds, tunnels, bridges and pile foundations, and the steel bars in the steel bar mesh cages need to be bundled with wire to avoid the displacement of the steel bars.

[0003] There are automatic steel bar bundling machines to replace manual bundling operations, which greatly improve the operation efficiency of steel bar bundling, but the use of automatic steel bar bundling machines still requires manual operation, so a large amount of labor is still needed; to solve the above problems, the self-propelled intelligent steel bar bundling robot developed by the Engineering Research Institute of China Construction Eighth Bureau adopts a six-degree-of-freedom ultra-lightweight, high-load humanoid robot arm on a self-propelled platform, which replaces manual operation, but the use of a six-degree-of-freedom ultra-lightweight, high-load humanoid robot arm greatly increases the manufacturing cost of the self-propelled intelligent steel bar bundling robot; at the same time, when the six-degree-of-freedom ultra-lightweight, high-load humanoid robot arm is applied to the harsh outdoor environment of the construction site of roadbeds, tunnels, bridges and pile foundations, it leads to a high incidence of failures, which accordingly increases the maintenance cost; in addition, when a six-degree-of-freedom robot arm is used, the spatial posture of the robot arm needs to be calculated and controlled, which accordingly increases the performance requirements and development difficulty of the control system; moreover, driving the six-degree-of-freedom robot arm consumes more electric energy, which shortens the endurance time of the self-propelled intelligent steel bar bundling robot under the premise of a certain energy storage capacity of the self-propelled intelligent steel bar bundling robot, and increases the number of times of charging, which accordingly increases the number of times of maintenance of the self-propelled intelligent steel bar bundling robot; due to the existence of the above problems of the self-propelled intelligent steel bar bundling robot, it brings difficulties to the popularization and application of the self-propelled intelligent steel bar bundling robot in the field construction site of roadbeds, tunnels, bridges and pile foundations. SUMMARY

[0004] In order to overcome the deficiencies in the background art, the present application discloses a full-automatic steel bar bundling robot based on machine vision guidance, which sets a steel bar bundling machine that moves up and down on a platform trolley, cancels the structural design of a six-degree-of-freedom ultra-lightweight, high-load humanoid robot arm, reduces the development, manufacturing and maintenance costs of the full-automatic steel bar bundling robot, improves the endurance time, and at the same time reduces the failure rate in harsh outdoor environments at construction sites, solving the technical problems existing in large-scale popularization and application.

[0005] In order to achieve the object of the present application, the present application adopts the following technical solutions: a full-automatic steel bar bundling robot based on machine vision guidance, comprising a platform trolley, a wire bundling storage device fixedly arranged on the upper portion of the platform trolley, a wire bundling releasing device, a wire bundling buffer device, a storage battery, a control system, and a steel bar bundling device arranged at one end of the platform trolley in the running direction of the platform trolley, wherein the steel bar bundling device is provided with a steel bar bundling machine and a camera; the wire stored in the wire bundling storage device is guided into the steel bar bundling machine through the wire bundling releasing device and the wire bundling buffer device; when the full-automatic steel bar bundling robot is working, the control system controls the platform trolley to run along the steel bar, the camera captures the steel mesh image, the control system processes the steel mesh image captured by the camera to determine the part of the steel mesh that needs to be bundled; the control system controls the platform trolley to stop and controls the steel bar bundling machine to move downward to automatically bundle the part that needs to be bundled using the wire.

[0006] Further, the lower portion of the platform trolley is provided with a running device and a translation device; the running device comprises a groove wheel and a flat wheel arranged coaxially and rotatably, wherein the width of the flat wheel is greater than that of the groove wheel, and the groove wheel and the flat wheel are driven to rotate by a hub motor; a steel bar groove is arranged on the outer circular surface of the groove wheel, and when the platform trolley runs on the steel mesh, the steel bar parallel to the running direction of the platform trolley is arranged in the steel bar groove of the groove wheel for guidance; the translation device comprises a translation mechanism and a lifting mechanism, the lifting mechanism drives the running device to move upward so that the groove wheel and the flat wheel are separated from the steel mesh, and the translation mechanism drives the running device to move horizontally perpendicular to the running direction of the platform trolley so that the steel bar groove of the groove wheel is arranged on the upper portion of another steel bar.

[0007] Further, the wire bundling storage device comprises a wire bundling storage rack, a wire bundling storage disc, and an electromagnetic brake, wherein the wire bundling storage rack is fixedly arranged on the upper portion of the platform trolley, the wire bundling storage disc is rotatably arranged in the wire bundling storage rack, and the electromagnetic brake is fixedly arranged on the side portion of the wire bundling storage rack; the wire is wound and stored in the wire bundling storage disc.

[0008] Further, the wire bundling releasing device is provided with a wire bundling releasing motor, a wire bundling releasing driving wheel, and a wire bundling releasing pressure wheel, wherein the wire bundling releasing driving wheel is fixedly connected with the driving shaft of the wire bundling releasing motor, the wire bundling releasing driving wheel and the wire bundling releasing pressure wheel are arranged in parallel and abut against each other; the wire is clamped between the wire bundling releasing driving wheel and the wire bundling releasing pressure wheel; when the wire of the wire bundling storage device is released, the wire bundling releasing motor drives the wire bundling releasing driving wheel to rotate, and the wire bundling releasing driving wheel and the wire bundling releasing pressure wheel pull the wire to release it.

[0009] Further, the wire binding device comprises a wire binding rack, a wire binding optical shaft, a wire binding guide shaft, a floating release assembly, and a optical shaft driving motor. The wire binding optical shaft is rotatably arranged on the wire binding rack and fixedly connected with the output shaft of the optical shaft driving motor at one end. The wire binding guide shaft is fixedly arranged on the wire binding rack. The floating release assembly is movably arranged on the wire binding optical shaft and the wire binding guide shaft. When the optical shaft driving motor drives the wire binding optical shaft to rotate, the floating release assembly is floatingly connected with the wire binding optical shaft and has a tendency to move towards one end along the wire binding optical shaft. When the wire binding optical shaft stops rotating, the floating release assembly is locked with the wire binding optical shaft.

[0010] Further, the floating release assembly comprises a floating sleeve, a lock ring assembly, an end cover, a floating rack, and a wire floating guide wheel. The floating rack is fixedly arranged at one end of the floating sleeve. The lock ring assembly and the end cover are fixedly arranged at the other end of the floating sleeve. The wire floating guide wheel is rotatably arranged on the side surface of the floating rack. The floating sleeve is uniformly provided with a plurality of arc spiral grooves around the axis, and the arc spiral grooves are filled with lubricating oil.

[0011] Further, the lock ring assembly comprises a lock ring and a lock jaw. The lock ring is uniformly provided with a plurality of lock jaw grooves around the axis, and the lock jaw grooves are filled with lubricating oil. The lock jaw is rotatably arranged in the lock jaw groove, and a lock jaw spring is arranged between the lock jaw and the side wall of the lock jaw groove. The lock jaw oil wedge groove is arranged between the outer circular surface of the lock jaw and the wire binding optical shaft.

[0012] Preferably, an air spring is arranged between the floating release assembly and the wire binding rack.

[0013] Further, the steel bar binding device comprises a binding device base plate, a binding device lifting plate, a binding device lifting guide rod, a binding machine fixing sleeve, a steel bar binding machine, and a camera. The binding device lifting guide rod is fixedly arranged on the binding device base plate. The binding device lifting plate is movably connected with the binding device base plate through the binding device lifting guide rod. The binding machine fixing sleeve is fixedly arranged on the binding device lifting plate. The steel bar binding machine is fixedly arranged in the binding machine fixing sleeve. The camera is fixedly arranged on the binding device lifting plate.

[0014] Further, the binding device lifting plate is fixedly provided with a binding device lifting synchronous belt through a lifting synchronous belt fixing block. The binding device base plate is fixedly provided with a binding device lifting motor. The output shaft of the binding device lifting motor is fixedly provided with a binding lifting synchronous wheel. The binding lifting synchronous wheel is meshingly connected with the binding device lifting synchronous belt.

[0015] With the technical scheme as above, the application has the following beneficial effects: the full-automatic steel bar bundling robot based on machine vision guidance comprises a platform trolley, a large-capacity wire bundling storage device fixedly arranged on the upper portion of the platform trolley, a wire releasing device, a wire buffering device, a large-capacity battery, a control system, and a steel bar bundling device arranged at one end of the platform trolley in the walking direction; the steel bar bundling device is provided with a steel bar bundling machine and a camera; the wire stored in the wire bundling storage device is guided into the steel bar bundling machine through the wire releasing device and the wire buffering device; when the full-automatic steel bar bundling robot works, the control system controls the platform trolley to walk along the steel bar, the camera shoots the steel mesh image, the control system processes the steel mesh image shot by the camera to determine the bundling position of the steel mesh; the control system controls the platform trolley to stop and controls the steel bar bundling machine to move downward to automatically bundle the bundling position with the wire; in the technical scheme of the application, the steel bar bundling machine arranged in a simple up-down manner is used to replace the existing six-degree-of-freedom ultra-lightweight high-load humanoid robot arm, thereby greatly reducing the development, manufacturing and maintenance cost of the full-automatic steel bar bundling robot, reducing the power consumption, improving the failure rate in the roadbed, tunnel, bridge and pile foundation concrete engineering field construction site environment, and solving the technical problem of popularization and application of the full-automatic steel bar bundling robot in highway construction. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is an appearance schematic view of the full-automatic steel bar bundling robot based on machine vision guidance Figure 1 ;

[0017] Figure 2 It is an appearance schematic view of the full-automatic steel bar bundling robot based on machine vision guidance Figure 2 ;

[0018] Figure 3 It is an appearance schematic view of the full-automatic steel bar bundling robot based on machine vision guidance Figure 3 ;

[0019] Figure 4 It is an appearance schematic view of the full-automatic steel bar bundling robot based on machine vision guidance Figure 4 ;

[0020] Figure 5 It is an appearance schematic view of the platform trolley

[0021] Figure 6 It is an appearance schematic view of the walking device

[0022] Figure 7 It is an appearance schematic view of the translation device

[0023] Figure 8 It is an appearance schematic view of the wire bundling storage device

[0024] Figure 9 Schematic view of the appearance of the wire tying device

[0025] Figure 10 Schematic view of the appearance of the wire buffer device

[0026] Figure 11 Schematic view of the appearance of the floating release assembly

[0027] Figure 12 Schematic view of the exploded structure of the floating release assembly

[0028] Figure 13 Schematic view of the appearance of the floating sleeve

[0029] Figure 14 Schematic view of the cross-sectional structure of the floating release assembly Figure 1

[0030] Figure 15 Schematic view of the working principle of the floating sleeve

[0031] Figure 16 Schematic view of the appearance of the locking ring assembly

[0032] Figure 17 Schematic view of the cross-sectional structure of the floating release assembly Figure 2

[0033] Figure 18 Schematic view of the appearance of the steel bar tying device Figure 1

[0034] Schematic view of the appearance of the steel bar tying device Figure 19 Figure 2

[0035] Figure 20 Schematic view of the appearance of the wire buffer device of Example Two

[0036] ​​​​In the figure: 1, platform trolley; 1.1, trolley frame; 1.2, walking device; 1.2.1, shaft seat; 1.2.2, wheel hub motor; 1.2.3, grooved wheel; 1.2.4, flat wheel; 1.3, translation device; 1.3.1, translation mechanism; 1.3.1.1, translation platform; 1.3.1.2, translation screw; 1.3.1.3, translation guide shaft; 1.3.1.4, translation screw nut; 1.3.1.5, translation guide sleeve; 1.3.1.6, translation motor; 1.3.1.7, translation synchronous belt; 1.3.1.8, screw support seat; 1.3.1.9, guide shaft support seat; 1.3.2, lifting mechanism; 1.3.2.1, translation support plate; 1.3.2.2, lifting screw; 1.3.2.3, lifting nut; 1.3.2.4, lifting motor; 1.3.2.5, lifting synchronous belt; 2, wire storage device; 2.1, wire storage rack; 2.2, wire storage disc; 2.3, electromagnetic brake; 3, wire release device; 3.1, wire release motor; 3.2, wire release driving wheel; 3.3, wire release pressure wheel; 3.4, wire guide wheel A; 3.5, release device support frame; 4, wire buffer device; 4.1, wire buffer rack; 4.2, wire buffer optical shaft; 4.3, wire buffer guide shaft; 4.4, floating release assembly; 4.4.1, floating sleeve; 4.4.1.1, arc spiral groove; 4.4.2, lock ring assembly; 4.4.2.1, lock ring; 4.4.2.1.1, lock jaw groove; 4.4.2.2, lock jaw; 4.4.2.3, lock jaw spring; 4.4.2.4, lock jaw oil wedge groove; 4.4.3, end cover; 4.4.4, floating frame; 4.4.5, wire floating guide wheel; 4.5, optical shaft driving motor; 4.6, gas spring; 5, steel bar bundling device; 5.1, bundling device base plate; 5.2, bundling device lifting plate; 5.2.1, bundling device lifting synchronous belt; 5.2.2, lifting synchronous belt fixing block; 5.2.3, bundling lifting synchronous wheel; 5.2.4, bundling device lifting motor; 5.3, bundling device lifting guide rod; 5.4, bundling machine fixing sleeve; 5.5, steel bar bundling machine; 5.6, wire guide wheel B; 5.7, wire guide wheel C; 5.8, camera; 6, battery; 7, control system; 8, wire. DETAILED DESCRIPTION

[0037] The present application can be explained in detail by the following examples, the purpose of which is to protect all technical improvements within the scope of the present application.

[0038] Example one, see the description of the accompanying Figures 1-4 :

[0039] The appearance schematic diagram of the full-automatic steel bar bundling robot guided by machine vision is shown from various perspectives; the full-automatic steel bar bundling robot guided by machine vision comprises a platform trolley 1, a bundling wire storage device 2, a bundling wire release device 3, a bundling wire buffer device 4, a steel bar bundling device 5, a battery 6 and a control system 7; a display screen and operation buttons are arranged on the control system 7; a large-capacity bundling wire 8 is stored in the bundling wire storage device 2; the platform trolley 1 is the basic platform of the full-automatic steel bar bundling robot, and drives the full-automatic steel bar bundling robot to walk and translate on the steel mesh; the bundling wire storage device 2, the bundling wire release device 3, the bundling wire buffer device 4, the battery 6 and the control system 7 are fixedly arranged on the upper portion of the platform trolley 1; the steel bar bundling device 5 is fixedly arranged at one end of the walking direction of the platform trolley 1, and a steel bar bundling machine 5.5 and a camera 5.8 are arranged on the steel bar bundling device 5; the bundling wire 8 stored in the bundling wire storage device 2 is introduced into the steel bar bundling machine 5.5 through the bundling wire release device 3 and the bundling wire buffer device 4; when the full-automatic steel bar bundling robot works, the battery 6 provides power, and the control system 7 controls the platform trolley 1, the bundling wire storage device 2, the bundling wire release device 3, the bundling wire buffer device 4 and the steel bar bundling device 5 to work coordinately, and the bundling wire 8 is used to complete the bundling of the steel mesh; in the full-automatic steel bar bundling robot guided by machine vision, the steel bar bundling device 5 replaces the existing six-degree-of-freedom ultralight and high-load humanoid robot arm, thereby greatly reducing the development, manufacturing and maintenance costs of the full-automatic steel bar bundling robot, reducing the energy consumption of the full-automatic steel bar bundling robot when working, improving the endurance time, and reducing the failure rate of the full-automatic steel bar bundling robot in the harsh outdoor environment of the construction site; when the full-automatic steel bar bundling robot works, the platform trolley 1 walks along the steel bars arranged on the upper portion of the steel mesh, the camera 5.8 shoots the image of the steel mesh, the control system 7 processes the image of the steel mesh shot by the camera 5.8, judges the bundling position of the steel mesh, then the control system 7 controls the platform trolley 1 to stop and controls the steel bar bundling machine 5.5 to move downward, and the bundling wire 8 is used to complete the automatic bundling of the bundling position;

[0040] Referring to the accompanying drawings of the specification Figure 5 , the appearance schematic diagram of the platform trolley 1 is shown; the platform trolley 1 comprises a trolley frame 1.1, a walking device 1.2 and a translating device 1.3; the trolley frame 1.1 is a frame structure welded by section steel; the walking device 1.2 and the translating device 1.3 are arranged on the lower portion of the trolley frame 1.1;

[0041] Referring to the accompanying drawings of the specification Figure 6, the walking device 1.2 comprises an axle seat 1.2.1, a wheel hub motor 1.2.2, a grooved wheel 1.2.3 and a flat wheel 1.2.4; the axle seat 1.2.1 is arranged at both ends, a vehicle axle is fixedly arranged between the axle seats 1.2.1, the grooved wheel 1.2.3, the wheel hub motor 1.2.2 and the flat wheel 1.2.4 are coaxially rotationally arranged on the vehicle axle, the grooved wheel 1.2.3 and the flat wheel 1.2.4 are rotationally connected with the vehicle axle through bearings, the grooved wheel 1.2.3 and the flat wheel 1.2.4 are fixedly connected on both sides of the wheel hub motor 1.2.2, the axle seat 1.2.1 is fixedly arranged at the lower part of the platform trolley 1 through bolts; the grooved wheel 1.2.3 is relatively narrow in width, and a steel bar groove is arranged on the outer cylindrical surface; the flat wheel 1.2.4 is much wider than the grooved wheel 1.2.3, and is in the shape of a long cylinder; when the wheel hub motor 1.2.2 rotates, the grooved wheel 1.2.3 and the flat wheel 1.2.4 are synchronously rotated to drive the platform trolley 1 to walk on the steel bar net; when the platform trolley 1 walks, the steel bar groove of the grooved wheel 1.2.3 is clamped on the steel bars arranged at the upper part of the steel bar net to play a guiding role, the flat wheel 1.2.4 falls on the steel bars arranged at the upper part of the steel bar net to play a role of keeping the platform trolley 1 balanced, and the relatively wide flat wheel 1.2.4 can walk on the steel bar net with different steel bar spacings;

[0042] Referring to the drawings accompanying the specification Figure 7, the translation device 1.3 includes translation mechanism 1.3.1, lifting mechanism 1.3.2; translation mechanism 1.3.1 includes translation platform 1.3.1.1, the translation platform 1.3.1.1 is flat, the upper middle is fixedly provided with translation screw nut 1.3.1.4, the translation screw nut 1.3.1.4 is engagedly provided with translation screw 1.3.1.2, the translation screw 1.3.1.2 both ends are connected with screw support seat 1.3.1.8 through bearing, the translation screw 1.3.1.2 is fixedly provided with synchronous wheel near one end screw support seat 1.3.1.8; The lower part of trolley frame 1.1 is fixedly provided with translation motor 1.3.1.6, the output shaft of translation motor 1.3.1.6 is also fixedly provided with synchronous wheel, the synchronous wheel of translation screw 1.3.1.2 is drivenly connected with the synchronous wheel of translation motor 1.3.1.6 through translation synchronous belt 1.3.1.7; The upper part of translation platform 1.3.1.1 is fixedly provided with translation guide sleeve 1.3.1.5, the translation guide sleeve 1.3.1.5 is slidably provided with translation guide shaft 1.3.1.3, and the both ends of the translation guide shaft 1.3.1.3 are fixedly provided with guide shaft support seat 1.3.1.9; Screw support seat 1.3.1.8 and guide shaft support seat 1.3.1.9 are fixedly provided on the lower part of trolley frame 1.1 through bolts; Lifting mechanism 1.3.2 includes two translation support plates 1.3.2.1, and the upper part of the translation support plate 1.3.2.1 is fixedly provided with two lifting screws 1.3.2.2; the two lifting screws 1.3.2.2 are arranged on the upper part of translation platform 1.3.1.1 through the through hole on the translation platform 1.3.1.1; The upper part of translation platform 1.3.1.1 is rotatably provided with lifting nut 1.3.2.3, the outer circular face of lifting nut 1.3.2.3 is provided with synchronous teeth, and lifting nut 1.3.2.3 is engagedly connected with lifting screw 1.3.2.2; The upper part of translation platform 1.3.1.1 is also provided with lifting motor 1.3.2.4, the output shaft of lifting motor 1.3.2.4 is fixedly provided with synchronous wheel, and the synchronous wheel of lifting motor 1.3.2.4 is drivenly connected with lifting nut 1.3.2.3 through lifting synchronous belt 1.3.2.5; When platform trolley 1 needs to be translated on the reinforcement mesh, firstly, lifting motor 1.3.2.4 is counterclockwise rotated, lifting nut 1.3.2.3 is driven to rotate counterclockwise through lifting synchronous belt 1.3.2.5, lifting screw 1.3.2.2 drives translation support plate 1.3.2.1 to descend, after translation support plate 1.3.2.1 contacts with the reinforcement mesh, trolley frame 1.1 is lifted, so that groove wheel 1.2.3 and flat wheel 1.2.4 are separated from the reinforcement mesh; Lifting motor 1.3.2.4 stops rotating, translation motor 1.3.1.6 is counterclockwise rotated, translation screw 1.3.1.2 is driven to rotate counterclockwise through translation synchronous belt 1.3.1.7 and synchronous wheel, and then translation screw 1.3.1.2 is translated to right under the action of translation screw nut 1.3.1.4, and translation screw 1.3.1.2 is translated to right through screw support seat 1.3.1.8 drive the trolley frame 1.1 as a whole to the right to translate; during the translation of the trolley frame 1.1 as a whole, the camera 5.8 shoots images and transmits them to the control system 7 for processing to determine whether the trolley frame 1.1 has been translated to the right position (i.e. whether the reinforcement slot of the groove wheel 1.2.3 is aligned with the new reinforcement); when it is determined that the trolley frame 1.1 has been translated to the right position, the translation motor 1.3.1.6 stops rotating, the lifting motor 1.3.2.4 rotates clockwise, the trolley frame 1.1 descends until the groove wheel 1.2.3 and the flat wheel 1.2.4 are in contact with the reinforcement mesh again, so that the reinforcement slot of the groove wheel 1.2.3 is arranged on the upper part of another reinforcement, thereby realizing the horizontal movement of the platform trolley 1 perpendicular to the walking direction; when the platform trolley 1 completes the translation, the translation motor 1.3.1.6 rotates clockwise to drive the translation support plate 1.3.2.1 to return to the original position.

[0043] Referring to the drawings accompanying the specification Figure 8 The wire tying storage device 2 includes a wire tying storage rack 2.1, a wire tying storage disc 2.2, and an electromagnetic brake 2.3. The wire tying storage rack 2.1 is fixedly arranged on the upper part of the platform trolley 1, the wire tying storage disc 2.2 is rotatably arranged on the wire tying storage rack 2.1, and the electromagnetic brake 2.3 is fixedly arranged on the side of the wire tying storage rack 2.1. A large amount of wire ties 8 are wound and stored in the wire tying storage disc 2.2. The electromagnetic brake 2.3 is provided with a brake shaft and a brake spring. When the electromagnetic brake 2.3 is not powered, the brake shaft is abutted against the outer surface of the wire tying storage disc 2.2 under the action of the brake spring, thereby providing a braking force for the wire tying storage disc 2.2 to prevent the wire tying storage disc 2.2 from rotating;

[0044] Referring to the drawings accompanying the specification Figure 9The wire releasing device 3 comprises a wire releasing motor 3.1, a wire releasing driving wheel 3.2, a wire releasing pressure wheel 3.3, a wire guide wheel A 3.4, and a releasing device support frame 3.5 fixedly arranged on the upper portion of the platform trolley 1. The wire releasing motor 3.1 is fixedly arranged on the releasing device support frame 3.5, the wire releasing driving wheel 3.2 is fixedly connected with the driving shaft of the wire releasing motor 3.1, the wire releasing pressure wheel 3.3 is rotationally arranged on the releasing device support frame 3.5 and arranged in parallel with the wire releasing driving wheel 3.2 and in mutual resistance, and the wire guide wheel A 3.4 is rotationally arranged on the releasing device support frame 3.5. In order to adapt to wires 8 of different diameters, the outer surface of the wire releasing pressure wheel 3.3 is fixedly provided with a polyurethane elastic ring, which can be replaced when the polyurethane elastic ring is worn out or the traction force is insufficient. In order to prevent the wire 8 from being pulled out from between the wire releasing driving wheel 3.2 and the wire releasing pressure wheel 3.3, the wire releasing driving wheel 3.2 is further provided with a flange at both ends. The wire 8 coming out of the wire storage disc 2.2 is clamped between the wire releasing driving wheel 3.2 and the wire releasing pressure wheel 3.3. When the wire in the wire storage device 2 is released, the wire releasing motor 3.1 drives the wire releasing driving wheel 3.2 to rotate, and the wire releasing driving wheel 3.2 and the wire releasing pressure wheel 3.3 pull the wire 8 to release it. It is to be noted that in order to reduce the frequency of replacing the wire storage disc 2.2 during the working process of the full-automatic steel bar bundling robot, the wire storage disc 2.2 is designed with large capacity. However, the large-capacity wire storage disc 2.2 brings two problems. Firstly, the wire storage disc 2.2 has large weight and thus large rotational inertia. When the steel bar bundling machine 5.5 is working, the speed of releasing the wire is extremely fast. If the wire storage disc 2.2 with large rotational inertia is directly pulled, the wire storage disc 2.2 will rotate slowly due to the large rotational inertia, which will further cause the wire 8 to slip in the steel bar bundling machine 5.5 and result in insufficient length of the released wire 8. Secondly, when the wire storage disc 2.2 rotates, it will take a long time to stop due to the large rotational inertia, which will result in too much wire 8 released from the wire storage disc 2.2 and thus cause the problem of disordered wire. When the wire releasing device 3 driven by the stepping motor is independently arranged, the wire releasing device 3 can release the wire 8 stored in the wire storage disc 2.2 in advance, thereby solving the first problem caused by the large-capacity wire storage disc 2.2.

[0045] Referring to the drawings Figure 10, the wire storage device 4 comprises a wire storage frame 4.1, a wire storage light shaft 4.2, a wire storage guide shaft 4.3, a floating release assembly 4.4, and a light shaft driving motor 4.5; the wire storage frame 4.1 is fixedly arranged on the upper portion of the platform trolley 1; the wire storage light shaft 4.2 is rotatably arranged on the wire storage frame 4.1, and one end of the wire storage light shaft 4.2 is fixedly connected with the output shaft of the light shaft driving motor 4.5; the wire storage guide shaft 4.3 is fixedly arranged on the wire storage frame 4.1; the floating release assembly 4.4 is arranged on the wire storage light shaft 4.2 and the wire storage guide shaft 4.3 and is movable along the wire storage light shaft 4.2 and the wire storage guide shaft 4.3; when the light shaft driving motor 4.5 drives the wire storage light shaft 4.2 to rotate, the floating release assembly 4.4 is floatingly connected with the wire storage light shaft 4.2 and has a moving trend of moving to one end along the wire storage light shaft 4.2; the moving trend drives the floating release assembly 4.4 to move along the wire storage light shaft 4.2 and store the wire 8 released from the wire storage disc 2.2, and the moving trend provides appropriate tension for the wire 8; when the wire storage light shaft 4.2 stops rotating, the position between the floating release assembly 4.4 and the wire storage light shaft 4.2 is locked to prevent the floating release assembly 4.4 from moving at will and causing the problem of wire disorder; the wire storage device 4 is arranged between the wire release device 3 and the steel bar bundling device 5, and has two functions: 1. the wire storage device 4 is used for temporarily storing the wire 8 released from the wire storage disc 2.2 to avoid the problem of wire disorder and solve the second problem caused by the large-capacity wire storage disc 2.2; 2. the wire storage device 4 needs to provide appropriate tension for the wire 8 to prevent the problem of insufficient wire release length caused by excessive tension of the wire 8 when the steel bar bundling machine 5.5 is working; five proximity switches are arranged on the wire storage frame 4.1, and the five proximity switches are triggered in sequence when the floating release assembly 4.4 moves along the wire storage light shaft 4.2 and gradually moves away from the light shaft driving motor 4.5; the rotating speed of the wire release motor 3.1 in the wire release device 3 gradually decreases correspondingly, and the wire release motor 3.1 stops rotating when the last proximity switch is triggered; at this time, the electromagnetic brake 2.3 in the wire storage device 2 is powered off to provide braking force for the wire storage disc 2.2 rotating at low speed and avoid the wire storage disc 2.2 from releasing too much wire 8;

[0046] Referring to the drawings accompanying the specification Figure 11 、 12 Further, the floating release assembly 4.4 comprises a floating sleeve 4.4.1, a lock ring assembly 4.4.2, an end cover 4.4.3, a floating frame 4.4.4, and a wire floating guide wheel 4.4.5; the floating frame 4.4.4 is fixedly arranged at one end of the floating sleeve 4.4.1; the lock ring assembly 4.4.2 and the end cover 4.4.3 are fixedly arranged at the other end of the floating sleeve 4.4.1; the end cover 4.4.3 and the floating frame 4.4.4 are both provided with sealing rings; and the wire floating guide wheel 4.4.5 is rotatably arranged on the side surface of the floating frame 4.4.4;Figure 13 、 14 , the floating sleeve 4.4.1 is uniformly provided with eight arc cross-section spiral grooves 4.4.1.1 around its axis, and the arc spiral grooves 4.4.1.1 are filled with lubricating oil; the working principle of the floating sleeve 4.4.1 is described in the description accompanying drawings Figure 15 When the wire binding buffer optical axis 4.2 rotates, it drives the surface layer of the lubricating oil filled in the arc spiral groove 4.4.1.1 to flow in the direction of rotation of the wire binding buffer optical axis 4.2. After the flowing lubricating oil is blocked by the side wall of the arc spiral groove 4.4.1.1, the radial force Fy driving the floating sleeve 4.4.1 to rotate and the axial force Fx driving the floating sleeve 4.4.1 to move along the wire binding buffer optical axis 4.2 are generated. The size of the radial force Fy and the axial force Fx can be adjusted by controlling the rotation speed of the wire binding buffer optical axis 4.2. The radial force Fy is overcome by the wire binding buffer guide shaft 4.3, and the axial force Fx drives the floating sleeve 4.4.1 to move along the wire binding buffer optical axis 4.2. When the wire releasing device 3 releases the wire 8, the floating sleeve 4.4.1 moves in one direction along the wire binding buffer optical axis 4.2 under the action of the axial force Fx, and stores the wire 8 released by the wire releasing device 3. When the steel bar binding machine 5.5 works, the wire 8 pulls the floating sleeve 4.4.1 to overcome the axial force Fx and moves in the other direction, and releases the wire 8 to the steel bar binding machine 5.5. The wire releasing device 3 releases the wire 8 to the wire buffer device 4, and the wire buffer device 4 releases the wire 8 to the steel bar binding machine 5.5 can be carried out at the same time (or not at the same time) and do not interfere with each other, which can not only realize the temporary storage of the wire 8 released from the wire storage disc 2.2 and avoid the occurrence of messy wire, but also realize that the wire 8 has appropriate tension and avoid that the wire 8 has insufficient release length when the steel bar binding machine 5.5 works due to too large tension of the wire 8;

[0047] Referring to the description accompanying drawings Figure 16 、 17, the lock ring assembly 4.4.2 includes a lock ring 4.4.2.1, a lock jaw 4.4.2.2, a lock jaw spring 4.4.2.3, the lock ring 4.4.2.1 is uniformly provided with three lock jaw grooves 4.4.2.1.1 around its axis, one end of the lock jaw groove 4.4.2.1.1 is an inner circular surface, and the lock jaw groove 4.4.2.1.1 is filled with lubricating oil; the lock jaw 4.4.2.2 is a circular arc plate, one end of which is provided with an outer circular surface; the lock jaw 4.4.2.2 is arranged in the lock jaw groove 4.4.2.1.1, and the outer circular surface of the lock jaw 4.4.2.2 and the inner circular surface of the lock jaw groove 4.4.2.1.1 cooperate with each other, so that the lock jaw 4.4.2.2 can rotate in the lock jaw groove 4.4.2.1.1; the lock jaw spring 4.4.2.3 is arranged between the lock jaw 4.4.2.2 and the side wall of the lock jaw groove 4.4.2.1.1, under the condition that the wire binding buffer optical shaft 4.2 does not rotate, the lock jaw spring 4.4.2.3 drives the movable end of the lock jaw 4.4.2.2 to abut against the outer circular surface of the wire binding buffer optical shaft 4.2, so that the position between the floating release assembly 4.4 and the wire binding buffer optical shaft 4.2 is locked; the lock jaw oil wedge groove 4.4.2.4 is further arranged between the lock jaw 4.4.2.2 and the outer circular surface of the wire binding buffer optical shaft 4.2, when the wire binding buffer optical shaft 4.2 rotates counterclockwise, the pressure of the lubricating oil in the lock jaw oil wedge groove 4.4.2.4 increases, pushes the lock jaw 4.4.2.2 to overcome the force of the lock jaw spring 4.4.2.3 and rotates, so that the abutment between the driving lock jaw 4.4.2.2 and the wire binding buffer optical shaft 4.2 is separated, and the position locking between the floating release assembly 4.4 and the wire binding buffer optical shaft 4.2 is released; after the wire binding buffer optical shaft 4.2 stops rotating, the pressure of the lubricating oil in the lock jaw oil wedge groove 4.4.2.4 disappears, the driving lock jaw 4.4.2.2 abuts against the wire binding buffer optical shaft 4.2 again under the action of the lock jaw spring 4.4.2.3, so that the floating release assembly 4.4 and the wire binding buffer optical shaft 4.2 are locked again at a new position;

[0048] Referring to the drawings accompanying the specification Figure 18 , the steel bar binding device 5 includes a binding device base plate 5.1, a binding device lifting plate 5.2, a binding device lifting guide rod 5.3, a binding machine fixing sleeve 5.4, a steel bar binding machine 5.5, and a camera 5.8, the binding device base plate 5.1 is fixedly arranged at one end of the platform trolley 1 in the traveling direction; the binding device lifting guide rod 5.3 is fixedly arranged on the binding device base plate 5.1 through a fixing seat, the binding device lifting plate 5.2 is provided with a guide sleeve, and the binding device lifting plate 5.2 is movably connected with the binding device base plate 5.1 through cooperation of the guide sleeve and the binding device lifting guide rod 5.3; the binding machine fixing sleeve 5.4 is fixedly arranged on the binding device lifting plate 5.2, and the steel bar binding machine 5.5 is fixedly arranged in the binding machine fixing sleeve 5.4; the camera 5.8 is fixedly arranged on the binding device lifting plate 5.2 and located at the side of the steel bar binding machine 5.5; Figure 19, the bundling device lifting plate 5.2 is fixedly provided with a bundling device lifting synchronous belt 5.2.1 through a lifting synchronous belt fixing block 5.2.2; the bundling device base plate 5.1 is fixedly provided with a bundling device lifting motor 5.2.4, and a bundling lifting synchronous wheel 5.2.3 is fixedly arranged on an output shaft of the bundling device lifting motor 5.2.4; the bundling lifting synchronous wheel 5.2.3 is meshingly connected with the bundling device lifting synchronous belt 5.2.1; when the bundling device lifting motor 5.2.4 rotates, the bundling lifting synchronous wheel 5.2.3 meshes with the bundling device lifting synchronous belt 5.2.1, drives the bundling device lifting plate 5.2 to move up and down, and further drives the steel bar bundling machine 5.5 to move up and down; the bundling device base plate 5.1 is further rotatably provided with a wire guide B 5.6 and a wire guide C 5.7;

[0049] In the machine vision guiding-based full-automatic steel bar bundling robot, the transmission mechanism as far as possible adopts synchronous belt and synchronous wheel instead of gear transmission, and lubrication is not needed between the two, thereby reducing the maintenance and maintenance workload of the full-automatic steel bar bundling robot, and preventing particles from adhering between the synchronous belt and the synchronous wheel due to lubricating oil when the full-automatic steel bar bundling robot is applied to a harsh environment on a construction site, and causing rapid wear of the synchronous belt or the synchronous wheel; in addition, the surface of the synchronous wheel is subjected to hardening treatment, so that even if particles enter between the synchronous belt and the synchronous wheel, the particles will be extruded and embedded in the synchronous belt, avoiding rapid wear of the synchronous wheel, and thereby improving the service life of the full-automatic steel bar bundling robot in a harsh environment.

[0050] When the machine vision guiding-based full-automatic steel bar bundling robot is used, the following operations are first performed:

[0051] S1, pre-work inspection: check the battery 6 power and the wire storage amount in the wire storage disc 2.2;

[0052] S2, set the wire: pull out the wire 8 of the wire storage disc 2.2, pass through the wire release driving wheel 3.2 and the wire release pressure wheel 3.3, and then pass through the wire floating guide wheel 4.4.5, the wire guide A 3.4, the wire guide B 5.6, and the wire guide C 5.7 in sequence, and finally enter the steel bar bundling machine 5.5;

[0053] S3, set the working parameters: input the working parameters of the full-automatic steel bar bundling robot through the display screen and buttons of the control system 7, and the working parameters include the initial position of the full-automatic steel bar bundling robot on the steel mesh, the walking speed, the number of bundling points in the walking direction, the number of translations, the maximum rotating speed of the wire release motor 3.1, the rotating speed of the optical axis driving motor 4.5, the wire release length for one bundling, the bundling force, etc.

[0054] S4, performing initialization: performing the full-automatic steel bar bundling robot initialization program: the steel bar bundling machine 5.5 returns to the initial position, the translation device 1.3 returns to the initial position, the electromagnetic brake 2.3 is powered on, the optical shaft driving motor 4.5 starts to rotate, the wire bundling release motor 3.1 starts to rotate, the wire storage disc 2.2 releases the wire 8, the floating release assembly 4.4 moves to the middle position of the wire buffer rack 4.1, the initialization is completed, the control system 7 cuts off the power, and the full-automatic steel bar bundling robot enters the standby state;

[0055] The full-automatic steel bar bundling robot in the standby state is transported to the initial position on the reinforcement mesh (the initial position is consistent with the initial position set by the working parameters), the steel bar groove of the groove wheel 1.2.3 is clamped on the first steel bar to be bundled in the reinforcement mesh, and then the full-automatic steel bar bundling robot is started. The steel bar mesh automatic bundling operation is performed under the control of the control system 7; the wheel hub motor 1.2.2 rotates to drive the full-automatic steel bar bundling robot to walk along the first steel bar; the camera 5.8 captures the image of the reinforcement mesh, and the control system 7 processes the image of the reinforcement mesh captured by the camera 5.8 in real time. When it is judged that the reinforcement mesh needs to be bundled and is aligned with the steel bar bundling machine 5.5, the platform trolley 1 stops, the steel bar bundling machine 5.5 moves downward, and the wire 8 is used to complete automatic bundling of the bundling part; after the bundling is completed, the steel bar bundling machine 5.5 returns to the original position, and the full-automatic steel bar bundling robot continues to walk along the first steel bar until all the bundling points on the first steel bar are completed.

[0056] When all the bundling points on the first steel bar are completed, the full-automatic steel bar bundling robot translation program on the reinforcement mesh is executed; first, the translation support plate 1.3.2.1 is lowered, the trolley frame 1.1 is lifted, the groove wheel 1.2.3 and the flat wheel 1.2.4 are separated from the reinforcement mesh, and then the trolley frame 1.1 is translated as a whole. During the translation of the trolley frame 1.1, the camera 5.8 transmits the image to the control system 7 for real-time processing to determine whether the steel bar groove of the groove wheel 1.2.3 is aligned with the new steel bar. When it is judged that the trolley frame 1.1 is translated to the position and then lowered, the groove wheel 1.2.3 and the flat wheel 1.2.4 re-contact the reinforcement mesh, the steel bar groove of the groove wheel 1.2.3 is clamped on the new steel bar, and the full-automatic steel bar bundling robot translation program is completed.

[0057] When the automatic steel bar bundling robot translation program is completed, the second steel bar bundling operation is started; during the execution of the second steel bar bundling operation, the walking direction of the automatic steel bar bundling robot is opposite to that of the first steel bar bundling operation; after the second steel bar bundling operation is completed, the full-automatic steel bar bundling robot translation program on the reinforcement mesh is executed again.

[0058] Repeat the above process until the completion of all set on the reinforcement mesh bundling point bundling work; supplementary explanation is: using the full automatic steel bar bundling robot based on machine vision guidance, steel bar net bundling work, located in the full automatic steel bar bundling robot tail (away from the steel bar bundling 5.5 one end) will have several rows of bundling point can not complete automatic bundling, need to use artificial automatic bundling machine or hand complete bundling.

[0059] Referring to the description attached Figure 3 : based on machine vision guidance full automatic steel bar bundling robot operation, wire release motor 3.1 in wire release device 3 rotates, drive wire release drive wheel 3.2, wire release pressure roller 3.3 traction wire 8 from wire storage disc 2.2 in advance release; Floating release assembly 4.4 moves left along the wire buffer optical axis 4.2, and the wire 8 released in advance is buffered in the wire buffer device 4; When the steel bar bundling machine 5.5 works, the wire 8 is quickly pulled into the steel bar bundling machine 5.5, at this time the wire 8 will pull the floating release assembly 4.4 along the wire buffer optical axis 4.2 to move right, and the buffered wire 8 is released to the steel bar bundling machine 5.5; Through the left and right floating movement of floating release assembly 4.4 along the follow-up release optical axis 4.2, the continuous operation of wire release device 3 and the intermittent operation of steel bar bundling machine 5.5 can be coordinated.

[0060] When the full automatic steel bar bundling robot translates on the reinforcement mesh, the steel bar bundling machine 5.5 temporarily stops working, but the wire release device 3 still works continuously, so the floating release assembly 4.4 continues to move left along the wire buffer optical axis 4.2, which will trigger the proximity switch away from the optical axis drive motor 4.5 in turn, and the rotating speed of the wire release motor 3.1 gradually decreases, until the last proximity switch is triggered, the wire release motor 3.1 stops rotating, at this time the electromagnetic brake 2.3 in the wire storage device 2 is de-energized, providing braking force for the low speed rotating wire storage disc 2.2, avoiding the problem of disorder of wire 8 released by wire storage disc 2.2.

[0061] When the automatic steel bar bundling robot works, the control system 7 cuts off the power supply, at this time the electromagnetic brake 2.3 provides braking for the wire storage disc 2.2 to prevent it from rotating, and the locking ring assembly 4.4.2 keeps the position between the floating release assembly 4.4 and the wire buffer optical axis 4.2 locked.

[0062] Example two, referring to the description attached Figure 20 :

[0063] In this embodiment, the air spring 4.6 is arranged between the floating release assembly 4.4 and the lashing wire buffer rack 4.1, and the floating release assembly 4.4 has a movement tendency along the lashing wire buffer optical axis 4.2 through the air spring 4.6, drives the floating release assembly 4.4 to move along the lashing wire buffer optical axis 4.2, stores the lashing wire 8 released from the lashing wire storage disc 2.2, and on the other hand, the movement tendency provides appropriate tension for the lashing wire 8; the structure of the release assembly 4.4 can be greatly simplified by using this structure, and the optical axis driving motor 4.5 is also omitted; when this structure is used, the tension of the lashing wire 8 is completely determined by the parameters of the air spring 4.6, and cannot be adjusted in the working field; at the same time, due to the stroke limitation of the air spring 4.6, the length of the lashing wire 8 temporarily stored in the lashing wire buffer device 4 is reduced by about half, which will cause the maximum rotation speed of the lashing wire release motor 3.1 to increase, and therefore the abrasion of the polyurethane elastic ring on the outer surface of the lashing wire release pressure roller 3.3 will be accelerated.

[0064] The part of the application not described in detail is the prior art.

[0065] It should be understood by those skilled in the art that those skilled in the art can make changes in combination with the prior art and the above embodiments, and such changes do not affect the essential content of the application, and will not be described here.

[0066] It should be understood that the present application is not limited to the specific embodiments described above, and the structures and construction methods not fully described should be understood as being implemented in the ordinary way in the art; any person skilled in the art can make many possible changes and modifications to the present application or modify it as an equivalent embodiment without departing from the scope of the present application, which does not affect the essential content of the present application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application, without departing from the scope of the present application, still belongs to the protection scope of the present application.

Claims

1. A fully automated rebar tying robot based on machine vision guidance, characterized in that: The system includes a platform trolley (1), a wire storage device (2), a wire release device (3), a wire buffer device (4), a battery (6), a control system (7), and a rebar binding device (5) located at one end of the platform trolley (1) in the direction of travel. The rebar binding device (5) is equipped with a rebar binding machine (5.5) and a camera (5.8). The wire (8) stored in the wire storage device (2) is introduced into the rebar binding machine (5.5) through the wire release device (3) and the wire buffer device (4). When the fully automatic rebar binding robot is working, the control system (7) controls the platform trolley (1) to walk along the rebar, the camera (5.8) captures images of the rebar mesh, the control system (7) processes the images of the rebar mesh captured by the camera (5.8) and determines the parts of the rebar mesh that need to be bound. The control system (7) controls the platform trolley (1) to stop and controls the rebar binding machine (5.5) to move downwards, and uses the wire (8) to automatically bind the parts that need to be bound. The wire binding buffer device (4) includes a wire binding buffer frame (4.1), a wire binding buffer optical axis (4.2), a wire binding buffer guide shaft (4.3), a floating release assembly (4.4), and an optical axis drive motor (4.5). The wire binding buffer optical axis (4.2) is rotatably mounted on the wire binding buffer frame (4.1), and one end is fixedly connected to the output shaft of the optical axis drive motor (4.5). The wire binding buffer guide shaft (4.3) is fixedly mounted on the wire binding buffer frame (4.1), and the floating release assembly (4.4) is... The active components are set on the wire wicking buffer optical axis (4.2) and the wire wicking buffer guide shaft (4.3); when the optical axis drive motor (4.5) drives the wire wicking buffer optical axis (4.2) to rotate, the floating release component (4.4) is floatingly connected to the wire wicking buffer optical axis (4.2) and has a tendency to move along the wire wicking buffer optical axis (4.2) to one end; when the wire wicking buffer optical axis (4.2) stops rotating, the floating release component (4.4) remains locked to the wire wicking buffer optical axis (4.2); The floating release assembly (4.4) includes a floating sleeve (4.4.1), a locking ring assembly (4.4.2), an end cap (4.4.3), a floating frame (4.4.4), and a wire binding floating guide wheel (4.4.5). The floating frame (4.4.4) is fixedly disposed at one end of the floating sleeve (4.4.1), and the locking ring assembly (4.4.2) and the end cap (4.4.3) are fixedly disposed at the other end of the floating sleeve (4.4.1). The wire binding floating guide wheel (4.4.5) is rotatably disposed on the side of the floating frame (4.4.4). The floating sleeve (4.4.1) is provided with several arc-shaped spiral grooves (4.4.1.1) evenly distributed around its axis, and the arc-shaped spiral grooves (4.4.1.1) are filled with lubricating oil. The locking ring assembly (4.4.2) includes a locking ring (4.4.2.1) and locking claws (4.4.2.2). The locking ring (4.4.2.1) has several locking claw grooves (4.4.2.1.1) evenly distributed around its axis. The locking claw grooves (4.4.2.1.1) are filled with lubricating oil. The locking claws (4.4.2.2) are rotatably mounted in the locking claw grooves (4.4.2.1.1). In 4.4.2.1.1), a locking claw spring (4.4.2.3) is provided between the locking claw (4.4.2.2) and the side wall of the locking claw groove (4.4.2.1.1); a locking claw oil wedge groove (4.4.2.4) is provided between the locking claw (4.4.2.2) and the outer circular surface of the wire wicking buffer optical axis (4.2).

2. The fully automated rebar tying robot based on machine vision guidance according to claim 1, characterized in that: The platform trolley (1) is equipped with a walking device (1.2) and a translation device (1.3) at its lower part; the walking device (1.2) drives the platform trolley (1) to walk on the steel mesh; the translation device (1.3) drives the platform trolley (1) to move laterally on the steel mesh.

3. The fully automated rebar tying robot based on machine vision guidance according to claim 1, characterized in that: The wire storage device (2) includes a wire storage rack (2.1), a wire storage tray (2.2), and an electromagnetic brake (2.3). The wire storage rack (2.1) is fixedly installed on the upper part of the platform trolley (1), the wire storage tray (2.2) is rotatably installed on the wire storage rack (2.1), and the electromagnetic brake (2.3) is fixedly installed on the side of the wire storage rack (2.1). The wire storage tray (2.2) contains wire (8) wound and stored.

4. The fully automated rebar tying robot based on machine vision guidance according to claim 1, characterized in that: The wire release device (3) is equipped with a wire release motor (3.1), a wire release drive wheel (3.2), and a wire release pressure wheel (3.3). The wire release drive wheel (3.2) is fixedly connected to the drive shaft of the wire release motor (3.1). The wire release drive wheel (3.2) and the wire release pressure wheel (3.3) are arranged in parallel and abut against each other. The wire (8) is clamped between the wire release drive wheel (3.2) and the wire release pressure wheel (3.3). When the wire is released from the wire storage device (2), the wire release motor (3.1) drives the wire release drive wheel (3.2) to rotate, and the wire release drive wheel (3.2) and the wire release pressure wheel (3.3) pull the wire (8) to release.

5. The fully automated rebar tying robot based on machine vision guidance according to claim 1, characterized in that: A gas spring is provided between the floating release assembly (4.4) and the wire ties buffer (4.1).

6. The fully automated rebar tying robot based on machine vision guidance according to claim 1, characterized in that: The rebar tying device (5) includes a tying device base plate (5.1), a tying device lifting plate (5.2), a rebar tying machine (5.5), and a camera (5.8); the tying device lifting plate (5.2) is movably connected to the tying device base plate (5.1); the rebar tying machine (5.5) and the camera (5.8) are fixedly installed on the tying device lifting plate (5.2).

7. The fully automated rebar tying robot based on machine vision guidance according to claim 6, characterized in that: A strapping device lifting timing belt (5.2.1) is fixedly installed on the lifting plate (5.2) of the strapping device via a lifting timing belt fixing block (5.2.2); a strapping device lifting motor (5.2.4) is fixedly installed on the base plate (5.1) of the strapping device; a strapping device lifting timing wheel (5.2.3) is fixedly installed on the output shaft of the strapping device lifting motor (5.2.4); the strapping device lifting timing wheel (5.2.3) is meshed with the strapping device lifting timing belt (5.2.1).

Images