Reinforcing steel bar binding robot framework based on flexible cable drive system

Abstract

The invention belongs to the technical field of binding robots, and particularly relates to a reinforcing steel bar binding robot framework based on a flexible cable drive system, which comprises a bearing part, an X-axis transmission part, a Z-axis transmission part, a Y-axis transmission part and a cleaning mechanism, the bearing part comprises a bearing frame and a bearing beam; the X-axis transmission part comprises an X-axis sliding rail and an X-axis sliding block, the X-axis sliding rail is fixedly installed on the upper end face of the bearing frame, the X-axis sliding block is arranged on the outer wall of the X-axis sliding rail in a sliding mode, and the bottom of the bearing beam is fixedly connected with the top face of the X-axis sliding block; the Y-axis transmission part comprises a driving motor, a Y-axis sliding rail and a Y-axis sliding block, the Y-axis sliding block is installed on the outer wall of the Y-axis sliding rail in a sliding mode, the Y-axis sliding rail is fixedly installed at the upper end of the bearing beam, and the driving motor controls the Y-axis sliding block to slide through thread transmission; through the structural cooperation, the influence of operation space and terrain on construction can be reduced, meanwhile, compared with a trolley and an unmanned aerial vehicle, the operation time can be remarkably shortened, and then the binding efficiency is improved to adapt to large-scale application.

Description

Technical Field

[0001] The present invention belongs to the technical field of tying robots, and specifically relates to a steel bar tying robot architecture based on a flexible cable drive system. Background Art

[0002] Steel bar tying is an important link in construction. This process requires high-precision and high-strength work. In the past, it was mainly completed manually, which not only had a high labor intensity, but also had low efficiency and it was difficult to guarantee the precision. In order to improve the efficiency and quality of construction and reduce labor costs, steel bar tying robots have been applied.

[0003] The existing types of steel bar tying robots are trolley steel bar tying robots and unmanned aerial vehicle (UAV) steel bar tying robots. The trolley steel bar tying robot adopts the type of trolley plus robotic arm. The trolley moves on the steel bar working surface, and the steel bar tying head on the robotic arm is used to identify the steel bar intersection points and tie them. The UAV steel bar tying robot adopts the type of UAV plus steel bar tying head. The UAV takes pictures above the steel bar working surface and identifies the coordinates of the steel bar intersection points, and then flies to the corresponding coordinate points to use the steel bar tying head to tie the steel bars. These two technologies are easily restricted by the working space and terrain; the volumes of the trolley and the UAV are limited, and they cannot carry large-capacity batteries, so the working time is short; the steel bar tying efficiency of these two technologies is low and they cannot be applied on a large scale.

[0004] Therefore, the present invention adopts a flexible cable drive system as the movement mode of the robot, and designs a set of architectures for the robot to work. Summary of the Invention

[0005] In order to make up for the deficiencies of the prior art and solve at least one of the technical problems proposed in the background art.

[0006] The technical solution adopted by the present invention to solve its technical problems is as follows: A steel bar tying robot architecture based on a flexible cable drive system according to the present invention includes a bearing part, an X-axis transmission part, a Z-axis transmission part, a Y-axis transmission part and a cleaning mechanism.

[0007] The bearing part includes a bearing frame and a load-bearing beam.

[0008] The X-axis transmission part includes an X-axis slide rail and an X-axis slider. The X-axis slide rail is fixedly installed on the upper end surface of the bearing frame, the X-axis slider is slidably arranged on the outer wall of the X-axis slide rail, and the bottom of the load-bearing beam is fixedly connected to the top surface of the X-axis slider.

[0009] The Y-axis transmission part includes a driving motor, a Y-axis slide rail and a Y-axis slider. The Y-axis slider is slidably installed on the outer wall of the Y-axis slide rail, the Y-axis slide rail is fixedly installed on the upper end of the load-bearing beam, and the driving motor controls the sliding of the Y-axis slider through screw transmission.

[0010] The Z-axis transmission part includes a connecting plate, a lifting plate and a binding head. The lifting plate is connected to the Y-axis slider through the connecting plate. The lifting plate is internally provided with a telescopic rod, and the binding head is controlled to lift through the telescopic rod.

[0011] The cleaning mechanism includes a mounting sleeve and an elastic layer. The mounting sleeve is sleeved on the outer wall of the Y-axis slide rail and slides synchronously with the Y-axis slider. The elastic layer is arranged on the inner wall of the mounting sleeve, and the inner wall fits with the outer wall of the Y-axis slide rail.

[0012] Preferably, a support plate is fixedly installed on the side wall of the X-axis slider, a scraping frame is fixedly installed on the side wall of the support plate, and the height of the scraping frame is the same as that of the Y-axis slide rail.

[0013] A transfer box is fixedly installed on the upper end surface of the mounting sleeve, and the inner cavity of the transfer box is communicated with the inner cavity of the mounting sleeve.

[0014] Exhaust holes for exhausting air are formed on the outer wall of the scraping frame.

[0015] Preferably, a storage cylinder is fixedly installed on the inner wall of the support plate. A control plug is elastically installed in the inner cavity of the storage cylinder. A control pipe is fixedly installed on the outer wall of the control plug. A contact pipe for pressing the control pipe is fixedly installed on the side wall of the transfer box.

[0016] Preferably, a transfer cylinder for air intake is fixedly installed on the outer wall of the storage cylinder; A choke ring is fixedly installed in the inner cavity of the control pipe. A tapered through hole is formed in the inner wall of the choke ring, and a tapered plug is arranged in the tapered through hole.

[0017] Preferably, a guide plate is fixedly installed on the inner wall of the control pipe. The guide plate is a mesh plate, and a connecting rod is slidably installed on the inner wall of the guide plate. One end of the connecting rod is connected to the side wall of the guide plate through an elastic member, and the other end of the connecting rod is fixedly connected to the outer wall of the tapered plug.

[0018] Preferably, a storage frame is fixedly installed on the inner wall of the support plate, and the storage frame is located directly below the scraping frame.

[0019] A sliding frame is slidably installed on the outer wall of the scraping frame. A guide plate is elastically installed on the bottom surface of the sliding frame, and the top of the guide plate fits with the bottom surface of the scraping frame.

[0020] Preferably, a cleaning piece is fixedly installed on the inner wall of the support plate. One end of the cleaning piece extends into the storage frame. The cleaning piece is made of an elastic material, and grooves for dirt to pass through are formed on the outer wall of the cleaning piece.

[0021] Preferably, a diversion plate is fixedly installed on the inner wall of the support plate. Diversion holes facing the cleaning piece are formed inside the diversion plate. A connector communicated with the diversion holes is arranged on the outer wall of the diversion plate, and the connector is connected to the transfer cylinder through a conduit.

[0022] The beneficial effects of the present invention are as follows: 1. The present invention controls the adjustment of the binding head along the X, Y, and Z axes by setting the X-axis slider, Y-axis slider, and the electric telescopic rod inside the lifting plate. During actual use, the position of the binding head is controlled according to requirements. A flexible cable drive system and a central control unit are also provided. The cable motion unit controls the movement of the carrying frame. The central control unit consists of an industrial computer, which has a processing program for the entire binding process built-in. It is connected to each unit wirelessly, receives information sent by other units, and issues instructions to the corresponding units after analysis to achieve the entire binding action, thereby reducing the impact of the working space and terrain on construction. At the same time, compared with a trolley and a drone, the operation time can be significantly improved, and thus the binding efficiency can be increased to adapt to large-scale applications; 2. The present invention controls the synchronous sliding of the elastic layer during the sliding of the installation sleeve by setting the installation sleeve and the elastic layer, thereby wiping the outer wall of the Y-axis slide rail to achieve the cleaning of the Y-axis slide rail. At the same time, a scraping frame is provided. Exhaust holes for exhausting gas are opened on the outer wall of the scraping frame. When the elastic layer moves to the exhaust holes, the elastic layer at this position is ventilated, and the gas discharged from the transfer box pushes the elastic layer to expand outward, so that the side wall of the exhaust hole scrapes the elastic layer. At the same time, the exhaust holes can also facilitate the gas to pass through the elastic layer and be discharged, promoting each other, and thus maintaining the cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below with reference to the accompanying drawings.

[0024] Figure 1 is a schematic structural diagram of the whole of the present invention; Figure 2 is an installation schematic diagram of the scraping frame in the present invention; Figure 3 is an installation schematic diagram of the elastic layer in the present invention; Figure 4 is a schematic diagram of the exhaust holes in the present invention; Figure 5 is an installation schematic diagram of the control plug in the present invention; Figure 6 is an installation schematic diagram of the conical plug in the present invention; Figure 7 is an installation schematic diagram of the guide plate in the present invention; Figure 8 is Figure 7 an enlarged view of the structure at A in Figure 9 is a flow chart of the binding in the present invention.

[0025] In the figure: 1, bearing frame; 2, X-axis slide rail; 3, X-axis slide block; 4, drive motor; 5, load-bearing beam; 6, Y-axis slide rail; 7, Y-axis slide block; 8, connecting plate; 9, lifting plate; 10, scraping frame; 11, storage cylinder; 12, tying head; 13, support plate; 14, control pipe; 15, adapter box; 16, mounting sleeve; 17, contact pipe; 18, exhaust hole; 19, elastic layer; 20, adapter cylinder; 21, control plug; 22, tapered plug; 23, connecting rod; 24, guide plate; 25, flow blocking ring; 26, sliding frame; 27, material guiding plate; 28, cleaning piece; 29, diversion plate; 30, adapter; 31, storage frame. Detailed implementation manners

[0026] In order to make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the present invention will be further described below in conjunction with specific implementation manners.

[0027] Example 1: As Figures 1 to 7 shown, an architecture of a steel bar tying robot based on a flexible cable drive system according to an embodiment of the present invention includes a bearing part, an X-axis transmission part, a Z-axis transmission part, a Y-axis transmission part and a cleaning mechanism.

[0028] The bearing part includes a bearing frame 1 and a load-bearing beam 5. The bearing frame 1 is connected to a truss (not shown in the figure) at the highest point of the working space through a flexible cable, and the bearing frame 1 is moved above the working area during the tying work.

[0029] The X-axis transmission part includes an X-axis slide rail 2 and an X-axis slide block 3. The X-axis slide rail 2 is fixedly installed on the upper end surface of the bearing frame 1, and the X-axis slide block 3 is slidably arranged on the outer wall of the X-axis slide rail 2. Among them, the X-axis slide block 3 can move along the outer wall of the X-axis slide rail 2. The power source for driving the X-axis slide block 3 to slide is a common servo motor (not shown in the figure), which is a common driving component and will not be elaborated here.

[0030] The bottom of the load-bearing beam 5 is fixedly connected to the top surface of the X-axis slide block 3, and the load-bearing beam 5 is controlled to slide above the X-axis slide rail 2 by sliding the X-axis slide block 3.

[0031] The Y-axis transmission part includes a drive motor 4, a Y-axis slide rail 6 and a Y-axis slide block 7. The Y-axis slide block 7 is slidably installed on the outer wall of the Y-axis slide rail 6. The Y-axis slide rail 6 is fixedly installed on the upper end of the load-bearing beam 5. The load-bearing beam 5 is used as the support of the Y-axis slide rail 6, and at the same time, the Y-axis slide block 7 can slide along the outer wall of the Y-axis slide rail 6.

[0032] The driving motor 4 controls the sliding of the Y-axis slider 7 through threaded transmission, wherein the driving motor 4 is arranged on the outer wall of the load-bearing beam 5, and a screw is fixedly installed on the output shaft of the driving motor 4. The screw passes through the Y-axis slider 7 and is connected to the Y-axis slider 7 through internal and external threads. The driving motor 4 controls the rotation of the screw, thereby controlling the Y-axis slider 7 to slide along the outer wall of the Y-axis slide rail 6.

[0033] The Z-axis transmission part includes a connecting plate 8, a lifting plate 9 and a binding head 12. The lifting plate 9 is connected to the Y-axis slider 7 through the connecting plate 8. One end of the connecting plate 8 is fixedly connected to the outer wall of the Y-axis slider 7, and the other end of the connecting plate 8 is connected to the lifting plate 9. Therefore, when the Y-axis slider 7 is slid, the lifting plate 9 is controlled to slide synchronously along the outer wall of the Y-axis slide rail 6.

[0034] The lifting plate 9 is equipped with a telescopic rod, which is a common electric telescopic rod. The lifting and lowering of the tying head 12 is controlled by the telescopic rod. The tying head 12 is connected to the movable end of the electric telescopic rod, thereby controlling the lifting and lowering adjustment of the tying head 12 in the vertical direction.

[0035] By setting the X-axis slider 3, the Y-axis slider 7 and the electric telescopic rod inside the lifting plate 9, the adjustment of the binding head 12 along the X-, Y- and Z-axis directions can be controlled, and the position of the binding head 12 can be controlled as required during actual use.

[0036] The present invention is a control architecture of a steel bar tying robot based on the movement of a flexible cable-driven system, and its working architecture includes a cable-driven motion unit, a visual recognition unit, an end tying unit, and a central control unit. In view of the fact that the product involved in the present invention may be difficult for non-industry professionals to understand, for ease of understanding, the actual situation of the robot is first described here in combination with the actual application scenario, and then the robot control architecture is described; it has been explained in the previous text that the present invention is designed for efficient and automated tying of steel bar networks, and the steel bar network is composed of many mutually perpendicular steel bars, and a large number of steel bar intersections are also formed. The purpose of the invention is to be able to quickly and automatically tie these intersections with steel wire. This requires that the opening of the steel bar tying gun has only a 1-2cm arc-shaped tying opening at the end that can extend into the steel bar intersection, and each steel bar intersection is tying steel bars. After roughly explaining the working scenario of the present invention, we will describe the working process of the present invention. In view of the fact that the steel bar tying network is arranged in a range of several meters by several meters or even larger, we divide such a large working area into many tying sub-areas. So what are the ways to make the entire robot move in such a large range? The most easily reminiscent one is a wheeled cart, but the wheeled cart has many problems of not adapting to the environment in actual construction scenarios. This is why the present invention introduces a cable-driven motion unit.

[0037] In order to facilitate the control of the movement of the bearing frame 1 and the tying head 12, a flexible cable drive system and a central control unit are also provided in this embodiment. The cable drive unit controls the movement of the bearing frame 1. The central control unit consists of an industrial computer (not shown in the figure) and has a processing program for the entire tying process built in. It is connected to each unit by wired or wireless means, receives information sent by other units, and issues instructions to the corresponding units after analysis to complete the entire tying operation.

[0038] The communication protocol of the flexible cable drive system creates an array of uint8_t type motor_error_reset[8] = {0xEB, 0x90, 0x00, 0x03, 0xFF, 0x00, 0x7D, 0x02}. When the industrial computer sends this array to the flexible cable drive system, it indicates that the motor is reset in an error state. After receiving the instruction from the industrial computer and performing the motor error reset, the flexible cable drive system sends a reply data frame to the industrial computer according to the communication protocol, and the industrial computer obtains the current state of the flexible cable drive system based on this.

[0039] The code for establishing a communication connection between the flexible cable drive system and the industrial computer is as follows: 1.int Frame_Generate(uint8_t* Control_Word, int Tlen, int Rlen){ 2. 3.int sockfd; 4.struct sockaddr_in server_addr; 5.char buffer[BUFFER_SIZE]; 6.socklen_t addrlen = sizeof(server_addr); 7. 8. / / Create a TCP socket 9.sockfd = socket(AF_INET, SOCK_STREAM, 0); 10.if (sockfd < 0){ 11.perror("socket creation failed"); 12.exit(EXIT_FAILURE); 13.} 14. 15. / / Set the server address 16.memset(&server_addr, 0, sizeof(server_addr)); 17. server_addr.sin_family = AF_INET; 18. server_addr.sin_port = htons(2001); 19. server_addr.sin_addr.s_addr = inet_addr("192.168.2.182"); 20. 21. / / Connect to the server 22. if (connect(sockfd, (struct sockaddr*)&server_addr, addrlen) < 0) { 23. perror("connect failed"); 24. close(sockfd); 25. exit(EXIT_FAILURE); 26.} 27. / / Send data 28. ssize_t send_len = write(sockfd, Control_Word, Tlen); 29. if (send_len < 0) { 30. perror("write failed"); 31. close(sockfd); 32. exit(EXIT_FAILURE); 33.} 34. 35. / / Receive data 36. ssize_t recv_len = read(sockfd, buffer, BUFFER_SIZE - 1); / / Leave one byte of space for '\0' 37. if (recv_len < 0) { 38. perror("read failed"); 39. close(sockfd); 40. exit(EXIT_FAILURE); 41.} 42. buffer[recv_len] = '\0'; / / Add string terminator 43. 44. / / Print the received data 45. for (int i = 0; i < Rlen; i++) 46. { 47. printf("Received byte %d: %x\n", i, buffer[i]); 48.} 49. 50. / / Close the socket 51. / / close(sockfd); 52. 53. return 0; 54.}

[0040] To obtain the video data of the construction site, it is necessary to set up a visual recognition unit. The role of the visual recognition unit in the architecture is to provide the precise coordinates of the steel bar intersections for the robot, which serves as the basis for the industrial control computer to control the movement of the linear module.

[0041] After being trained by the visual large model, the depth camera reads out the distance of the steel bar intersections relative to its own calibration points, and calculates the distances of each axis of the linear module movement through the following code and transmits them to the industrial control computer.

[0042] 1. / / 8.919.52 2. chassis_ctrl::motionwt_dir(chassis_ctrl::motion &msg) { 3. int n = msg.p_index; 4. if (msg.p_index == 0) { / / 1 5. msg.dir_x = 1; msg.dir_y = 1; msg.dir_z = 1; / / Initialize to 1 6. / / msg.d_x = msg.data[0]; msg.d_y = msg.data[1]; msg.d_z = msg.data[2]; 7. msg.d_x = msg.data[0] + x_gap; msg.d_y = msg.data[1]; msg.d_z = 50; / / 80 8. return msg; 9.} else if (msg.p_index!= 0 && msg.data[4 * n] > msg.data[4 * (n - 1)] && msg.data[4 * n + 1] > msg.data[4 * n - 3]) { / / 2 10.msg.dir_x = msg.dir_y = msg.dir_z = 1; 11. / / msg.d_x = std::abs(msg.data[4*n] - msg.data[4*(n - 1)]); msg.d_y = std::abs(msg.data[4*n + 1] - msg.data[4*n - 3]); msg.d_z = std::abs(msg.data[4*n + 2]); 12.msg.d_x = std::abs(msg.data[4*n] - msg.data[4*(n - 1)]); msg.d_y = std::abs(msg.data[4*n + 1] - msg.data[4*n - 3]); msg.d_z = 50; 13.return msg; 14.} else if (msg.p_index!= 0 && msg.data[4*n] < msg.data[4*(n - 1)] && msg.data[4*n + 1] > msg.data[4*n - 3]) { / / 3 15.msg.dir_x = 0; msg.dir_y = msg.dir_z = 1; 16. / / msg.d_x = std::abs(msg.data[4*n] - msg.data[4*(n - 1)]); msg.d_y = std::abs(msg.data[4*n + 1] - msg.data[4*n - 3]); msg.d_z = std::abs(msg.data[4*n + 2]); 17.msg.d_x = std::abs(msg.data[4*n] - msg.data[4*(n - 1)]); msg.d_y = std::abs(msg.data[4*n + 1] - msg.data[4*n - 3]); msg.d_z = 50; 18.return msg; 19.} else if (msg.p_index!= 0 && msg.data[4*n] > msg.data[4*(n - 1)] && msg.data[4*n + 1] < msg.data[4*n - 3]) { / / 4 20.msg.dir_x = 1; msg.dir_y = 0; msg.dir_z = 1; 21. / / msg.d_x = std::abs(msg.data[4*n] - msg.data[4*(n - 1)]); msg.d_y = std::abs(msg.data[4*n + 1] - msg.data[4*n - 3]); msg.d_z = std::abs(msg.data[4*n + 2]); 22.msg.d_x = std::abs(msg.data[4*n] - msg.data[4*(n - 1)]); msg.d_y = std::abs(msg.data[4*n + 1] - msg.data[4*n - 3]); msg.d_z = 50; 23.return msg; 24.} else if (msg.p_index!= 0 && msg.data[4*n] < msg.data[4*(n - 1)] && msg.data[4*n + 1] < msg.data[4*n - 3]) { / / 9 msg.dir_x = msg.dir_y = 0; msg.dir_z = 1;。

[0043] Among them, the tying head 12 is used for tying steel bars and is the end tying unit. The role of the end tying unit in the structure is to move the tying head 12 above the intersection of the steel bars to be tied and send the tying head 12 to the position where tying can be completed to achieve the final tying.

[0044] The industrial control computer controls the linear motion through the servo control module by outputting pulses. The code for giving the control to invert the level of the industrial control computer and then output the pulse waveform is as follows: 1. / / Write the GPIO port level 2.static inline int8_t gpio_bit_write(uint16_t addr, uint8_t bit, uint8_t val) { 3.uint8_t read_value = 0; 4.if (val!= 0 && val!= 1) 5.return -1; 6.ioperm(addr, 2, 1); 7.read_value = inb(addr); 8.read_value = read_value & (~(1 << bit)); 9. read_value = read_value | (val << bit); 10. outb(read_value, addr); 11. ioperm(addr, 2, 0); 12. return 1; 13.} 14. 15. / / Toggle the level 16. static inline void gpio_toggle_bit(uint16_t addr, uint8_t bit) { 17. uint8_t value = gpio_bit_read(addr, bit); 18. if (value == 1) value = 0; 19. else value = 1; 20. gpio_bit_write(addr, bit, value); 21.}

[0045] After setting the relevant parameters for the servo, by controlling the number of pulses output from the industrial control computer to the servo, the precise linear motion of each axis of the module can be controlled. At the same time, in order to enable the linear module to reset to a fixed origin, an optoelectronic sensor is installed on the slide rail of the linear module. When the slider of the linear module slides to the position of the optoelectronic sensor, the sensor sends a stop signal to the input terminal of the servo to complete the reset of the linear module.

[0046] In view of the fact that if the binding head 12 is parallel to the steel bars forming the steel bar intersection point, the machine cannot bind normally. Therefore, a rotary motor is added above the binding head 12 to adjust the angle to ensure that the binding can be completed.

[0047] As Figure 9 shown, the industrial control computer sends instructions to the flexible cable drive system through a pre-agreed communication protocol to drive the robot to move to the working area. After the flexible cable drive system completes the movement, it sends status information to the industrial control computer. After the industrial control computer receives the information that the flexible cable drive system has completed the movement, it obtains the position coordinates of the steel bar intersection point from the depth camera and converts them into the distances of linear motion along the Z, Y, and Z axes, and controls the linear module to move the corresponding distances. At the same time, in view of the fact that the binding head may not be at a suitable angle, the rotary motor is adjusted before work to make the binding gun in the most suitable position for binding, and the binding is completed. And so on. After completing the binding of all points in the working area where the cable-driven robot moves, the industrial control computer controls the linear module to reset, and the flexible cable drive system is lifted to enter the next working area.

[0048] The cleaning mechanism includes an installation sleeve 16 and an elastic layer 19. The installation sleeve 16 is sleeved on the outer wall of the Y-axis slide rail 6 and slides synchronously with the Y-axis slider 7. During the process of sliding the Y-axis slider 7, the installation sleeve 16 is controlled to slide synchronously.

[0049] The elastic layer 19 is arranged on the inner wall of the installation sleeve 16, and the inner wall fits against the outer wall of the Y-axis slide rail 6. Among them, the elastic layer 19 is made of breathable sponge. During the sliding process of the installation sleeve 16, the elastic layer 19 is controlled to slide synchronously, thereby wiping the outer wall of the Y-axis slide rail 6, realizing the cleaning of the Y-axis slide rail 6, and maintaining the stability of adjustment when adjusting the position.

[0050] A support plate 13 is fixedly installed on the side wall of the X-axis slider 3. The support plate 13 is of an L-shaped structure. A scraping frame 10 is fixedly installed on the side wall of the support plate 13. The height of the scraping frame 10 is the same as that of the Y-axis slide rail 6. During the reset process of the Y-axis slider 7, the installation sleeve 16 is separated from the Y-axis slide rail 6, and then the installation sleeve 16 is inserted into the scraping frame 10. During the insertion process of the installation sleeve 16 into the scraping frame 10, the dirt attached to the outer wall of the elastic layer 19 is scraped off by the outer wall of the scraping frame 10, thereby realizing the self-cleaning of the elastic layer 19. During actual use, the cleaning quality of the Y-axis slide rail 6 is ensured as much as possible.

[0051] A transfer box 15 is fixedly installed on the upper end surface of the installation sleeve 16. The inner cavity of the transfer box 15 is interconnected with the inner cavity of the installation sleeve 16. There is a cavity inside the transfer box 15. By introducing an external object into the transfer box 15 and then discharging it from the installation sleeve 16, it blows from the inside to one side of the elastic layer 19 to wipe the Y-axis slide rail 6, realizing the backflushing cleaning of the elastic layer 19 and further improving the cleaning quality of the elastic layer 19.

[0052] Exhaust holes 18 for exhausting gas are opened on the outer wall of the scraping frame 10. When the elastic layer 19 moves to the position of the exhaust holes 18, the elastic layer 19 here is ventilated, and the gas discharged from the transfer box 15 pushes the elastic layer 19 to expand outwards, so that the side wall of the exhaust holes 18 scrapes the elastic layer 19. At the same time, the exhaust holes 18 can also facilitate the gas to penetrate through the elastic layer 19 and then be discharged, promoting each other.

[0053] An air storage cylinder 11 is fixedly installed on the inner wall of the support plate 13. The air storage cylinder 11 is used to store air inside. A control plug 21 is elastically installed in the inner cavity of the air storage cylinder 11. The outer wall of the control plug 21 slides and fits with the inner wall of the air storage cylinder 11. A spring is arranged on the outer wall of the control plug 21, and the other end of the spring is connected to the inner wall of the air storage cylinder 11. After sliding the control plug 21, the control plug 21 is driven to reset by the elastic force of the spring.

[0054] A control pipe 14 is fixedly installed on the outer wall of the control plug 21, and a contact pipe 17 for pressing against the control pipe 14 is fixedly installed on the side wall of the adapter box 15. The side wall of the adapter box 15 is connected to the outer wall of the Y-axis slider 7 through a connecting rod. During the reset process of the Y-axis slider 7, the adapter box 15 is pushed to slide until the contact pipe 17 fits with the control pipe 14. At this time, the inner cavity of the adapter box 15 is communicated with the inner cavity of the storage cylinder 11. Continuing to slide the Y-axis slider 7 to push the control plug 21 to slide through the control pipe 14, the air inside the storage cylinder 11 is compressed, so that the air enters the inner cavity of the adapter box 15 and is discharged, realizing the recoil cleaning of the elastic layer 19.

[0055] A transfer cylinder 20 for air intake is fixedly installed on the outer wall of the storage cylinder 11, and a one-way valve for controlling the discharge of the gas inside the storage cylinder 11 is arranged inside the transfer cylinder 20.

[0056] A flow resistance ring 25 is fixedly installed in the inner cavity of the control pipe 14. A tapered through hole is opened on the inner wall of the flow resistance ring 25, and a tapered plug 22 is arranged in the tapered through hole. The tapered plug 22 has a tendency to fit with the flow resistance ring 25 in real time, so as to control that the gas inside the storage cylinder 11 can only be discharged through the control pipe 14.

[0057] During the process of reciprocatingly sliding the control plug 21, the outside air enters the inner cavity of the storage cylinder 11 through the transfer cylinder 20 and is discharged through the control pipe 14.

[0058] A guide plate 24 is fixedly installed on the inner wall of the control pipe 14. The guide plate 24 is a mesh plate to facilitate the passage of gas.

[0059] A connecting rod 23 is slidably installed on the inner wall of the guide plate 24. One end of the connecting rod 23 is connected to the side wall of the guide plate 24 through an elastic member, and the other end of the connecting rod 23 is fixedly connected to the outer wall of the tapered plug 22. The connecting rod 23 provides support for the tapered plug 22, so that the tapered plug 22 has a tendency to fit with the flow resistance ring 25 in real time.

[0060] Embodiment 2: As Figures 7 to 8 shown, compared with Embodiment 1, another implementation manner of the present invention is: A storage frame 31 is fixedly installed on the inner wall of the support plate 13. The storage frame 31 is located directly below the scraping frame 10, and the dirt scraped by the scraping frame 10 falls into the storage frame 31 and is collected through the storage frame 31.

[0061] A sliding frame 26 is slidably installed on the outer wall of the scraping frame 10. A sliding groove is arranged on the side wall of the scraping frame 10, and the sliding frame 26 is slidably connected to the scraping frame 10 through the sliding groove.

[0062] The bottom surface of the sliding frame 26 is elastically installed with a material guiding plate 27. The top of the material guiding plate 27 is attached to the bottom surface of the scraping frame 10. During the reset process of the Y-axis slider 7, the sliding frame 26 is pressed by the mounting sleeve 16 to control the material guiding plate 27 to slide along the bottom of the scraping frame 10, so as to facilitate the dirt to fall into the interior of the storage frame 31.

[0063] For the convenience of reuse, magnets that attract each other are arranged inside the mounting sleeve 16 and the sliding frame 26. During the reverse sliding process of the mounting sleeve 16, the sliding of the sliding frame 26 is controlled by magnetic force until the sliding frame 26 slides to the end of the sliding groove and stops sliding, so as to facilitate pushing the sliding frame 26 to slide again.

[0064] A cleaning piece 28 is fixedly installed on the inner wall of the support plate 13. One end of the cleaning piece 28 extends into the interior of the storage frame 31. The cleaning piece 28 is made of an elastic material, and grooves for the dirt to pass through are formed on the outer wall of the cleaning piece 28. The cleaning piece 28 is a rubber strip. When the sliding frame 26 slides in the reverse direction, the dirt on the outer wall of the material guiding plate 27 is swept away by the cleaning piece 28, further improving the collection efficiency.

[0065] A diversion plate 29 is fixedly installed on the inner wall of the support plate 13. Diversion holes facing the cleaning piece 28 are formed inside the diversion plate 29. By connecting the diversion holes with the negative pressure chamber and cooperating with the cleaning piece 28 to sweep the material guiding plate 27, the cleaning effect of the material guiding plate 27 is further improved.

[0066] A connector 30 communicating with the diversion holes is arranged on the outer wall of the diversion plate 29. The connector 30 is connected to the adapter cylinder 20 through a conduit. When the spring pushes the control plug 21 to reset, negative pressure is generated in the storage cylinder 11, and then an inward suction force is generated at the diversion holes to assist in cleaning the material guiding plate 27.

[0067] The above front, back, left, right, up, and down are all based on the Figure 1 description in the accompanying drawings of the specification. Taking the perspective of the person observing as the standard, the side of the device facing the observer is defined as the front, and the left side of the observer is defined as the left, and so on.

[0068] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the protection scope of the present invention.

[0069] The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. A steel bar tying robot architecture based on a flexible cable drive system, characterized in that: It includes a bearing part, an X-axis transmission part, a Z-axis transmission part, a Y-axis transmission part and a cleaning mechanism; The bearing part comprises a bearing frame (1) and a load-bearing beam (5); The X-axis transmission part comprises an X-axis slide rail (2) and an X-axis slider (3), wherein the X-axis slide rail (2) is fixedly mounted on the upper end surface of the bearing frame (1), and the X-axis slider (3) is slidably arranged on the outer wall of the X-axis slide rail (2), and the bottom of the load-bearing beam (5) is fixedly connected to the top surface of the X-axis slider (3); The Y-axis transmission part comprises a driving motor (4), a Y-axis slide rail (6) and a Y-axis slider (7); the Y-axis slider (7) is slidably mounted on the outer wall of the Y-axis slide rail (6); the Y-axis slide rail (6) is fixedly mounted on the upper end of the load-bearing beam (5); and the driving motor (4) controls the sliding of the Y-axis slider (7) through threaded transmission; The Z-axis transmission part comprises a connecting plate (8), a lifting plate (9) and a lashing head (12); the lifting plate (9) is connected to the Y-axis slider (7) via the connecting plate (8); a telescopic rod is built into the lifting plate (9), and the lifting and lowering of the lashing head (12) is controlled by the telescopic rod; The cleaning mechanism comprises a mounting sleeve (16) and an elastic layer (19); the mounting sleeve (16) is sleeved on the outer wall of the Y-axis slide rail (6) and slides synchronously with the Y-axis slider (7); the elastic layer (19) is arranged on the inner wall of the mounting sleeve (16), and the inner wall is in contact with the outer wall of the Y-axis slide rail (6).

2. According to claim 1, a steel bar tying robot architecture based on a flexible cable drive system is characterized in that: A support plate (13) is fixedly mounted on the side wall of the X-axis slide block (3), a scraper frame (10) is fixedly mounted on the side wall of the support plate (13), and the height of the scraper frame (10) is the same as the height of the Y-axis slide rail (6); An adapter box (15) is fixedly mounted on the upper end surface of the mounting sleeve (16), and the inner cavity of the adapter box (15) is communicated with the inner cavity of the mounting sleeve (16); An exhaust hole (18) for exhausting air is provided on the outer wall of the scraping frame (10).

3. According to claim 2, a steel bar tying robot architecture based on a flexible cable drive system is characterized in that: A storage cylinder (11) is fixedly mounted on the inner wall of the support plate (13), a control plug (21) is elastically mounted on the inner cavity of the storage cylinder (11), a control tube (14) is fixedly mounted on the outer wall of the control plug (21), and a contact tube (17) for pressing the control tube (14) is fixedly mounted on the side wall of the adapter box (15).

4. The steel bar tying robot architecture based on the flexible cable drive system according to claim 3 is characterized in that: An adapter cylinder (20) for air intake is fixedly mounted on the outer wall of the storage cylinder (11); A flow-blocking ring (25) is fixedly mounted in the inner cavity of the control tube (14); a conical through hole is formed on the inner wall of the flow-blocking ring (25); and a conical plug (22) is arranged in the conical through hole.

5. The steel bar tying robot architecture based on a flexible cable drive system according to claim 4, characterized in that: A guide plate (24) is fixedly mounted on the inner wall of the control tube (14), the guide plate (24) being a mesh plate, and a connecting rod (23) is slidably mounted on the inner wall of the guide plate (24), one end of the connecting rod (23) being connected to the side wall of the guide plate (24) via an elastic member, and the other end of the connecting rod (23) being fixedly connected to the outer wall of the conical plug (22).

6. The steel bar tying robot architecture based on a flexible cable drive system according to claim 5, characterized in that: A storage frame (31) is fixedly mounted on the inner wall of the support plate (13), and the storage frame (31) is located directly below the scraping frame (10); A sliding frame (26) is slidably mounted on the outer wall of the scraping frame (10), a material guide plate (27) is elastically mounted on the bottom surface of the sliding frame (26), and the top of the material guide plate (27) is in contact with the bottom surface of the scraping frame (10).

7. The steel bar tying robot architecture based on a flexible cable drive system according to claim 6, characterized in that: A cleaning sheet (28) is fixedly mounted on the inner wall of the support plate (13), one end of the cleaning sheet (28) extends into the interior of the storage frame (31), the cleaning sheet (28) is made of elastic material, and a groove is provided on the outer wall of the cleaning sheet (28) for dirt to pass through.

8. The steel bar tying robot architecture based on a flexible cable drive system according to claim 7, characterized in that: A guide plate (29) is fixedly mounted on the inner wall of the support plate (13); a guide hole facing the cleaning sheet (28) is provided inside the guide plate (29); an adapter (30) communicating with the guide hole is provided on the outer wall of the guide plate (29); the adapter (30) is connected to the adapter tube (20) via a conduit.

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