Multi-stage cylinder piston rod type steel bar binding device

Abstract

The invention provides a multistage cylinder piston rod type reinforcing steel bar binding device, which belongs to the technical field of binding equipment and comprises a multistage hydraulic cylinder, the multistage hydraulic cylinder is rigidly suspended below a middle trolley of a gantry frame, and a piston rod of the multistage cylinder extends out to control a binding platform to be at a proper binding position; the stroke of the multi-stage cylinder is controlled to enable the binding platform to bind bottom plate and top plate reinforcing steel bars at a proper height; the bottom plate binding platform comprises a bottom plate frame, guide plates are arranged on the periphery of the bottom plate frame, a platform module is arranged at the bottom of the bottom plate frame, and a binding mechanical arm is installed on the platform module. The method is of great significance to popularization of engineering application of the reinforcing steel bar binding robot in a construction site.

Description

Technical Field

[0001] The present invention belongs to the technical field of steel bar binding equipment, and particularly relates to a multi-stage cylinder piston rod type steel bar binding device. Background Art

[0002] In the fields of nuclear power engineering and prefabrication of box girders for high-speed railways and highways, it is usually necessary to weld, cut, bind, etc. steel bars to fix them into the required structural shapes. Steel bar binding belongs to a category of steel bar processing, which is generally classified in the construction field. Commonly used methods include manual binding and hand-held steel bar binding machines. Although manual bundling of steel bars has high accuracy, the bundling efficiency is low, the task is heavy, and the bundling cost is high. Another hand-held steel bar binding machine requires frequent squatting and moving for a long time, which will cause great damage to the skeletal joints. Especially in the process of steel bar bundling in medium and large underground construction projects, manual labor is still mainly used, with high labor intensity, large physical consumption, and low work efficiency. According to the analysis of Chinese construction projects under climate change risks, the frequency and intensity of global climate change are currently on the rise. When workers carry out steel bar binding in complex outdoor environments, it affects the steel bar binding efficiency. Investigation and research found that manual binding of bottom slab steel bars takes about 30% of the total time in the overall foundation construction link. However, due to the geological characteristics of soft soil layers, the longer the foundation pit is exposed, the greater the soil property change, which seriously affects the overall quality of underground projects. At the same time, supporting facilities such as dormitories and diets for construction workers need to be considered in the early stage of construction. Based on this, steel bar processing robots have emerged. Steel bar processing robots are interdisciplinary subjects that combine the construction industry and the robotics field. The robot understands the steel bar processing environment and combines the steel bar processing drawings to fix steel bars of different lengths and shapes into a certain structural shape through welding, binding, cutting, etc. Currently, the ends of commonly used steel bar binding robots are all artificially modified from traditional binding guns, lacking a professional intelligent binding gun for binding steel bars of different diameters.

[0003] In response to the problems existing in steel bar binding robots, some solutions have also been proposed in existing patent documents. Chinese Patent with Application No. 202111181697.3 discloses a portable steel bar binding device, which consists of a base plate, a lifting group mechanism, an installation table, a binding group mechanism, and a feeding group mechanism, and can simultaneously bind the four corners of stirrups. However, the size of this mechanism is relatively large and not suitable for use at the end of a robot.

[0004] Chinese Patent with Application No. 202111181697.3 discloses a multi-functional steel bar binding hook, which includes a steel bar binding hook body and a handle. It can be lengthened and connected on a conventional binding hook to adapt to binding operations in various environments, and a sickle-shaped metal hook can be integrated on a conventional single hook to improve the efficiency of removing the already bound wire. However, this tool has a single function and does not belong to an automated device, making it difficult to design and improve for application at the end of a robot.

[0005] The Chinese patent with the application number 202110297770.7 discloses a handheld steel bar tying tool, including a material storage box, a screw thread, a linkage mechanism with a movable opening, a linkage mechanism with a movable opening, a pushing mechanism, a sliding handle, and a hook unlocking mechanism, which has the effect of reducing the damage to the human body during the tying process. However, the overall mechanism for tying steel bars is simple and it is difficult to achieve the tying of the intersection points of steel bars with different diameters and distribution methods.

[0006] The Chinese patent with the application number 202011289099.3 discloses an automatic steel bar tying platform for bridge hollow piers. The tying body is composed of a fixed seat, a movable seat, a telescopic group mechanism, a first rotation driving mechanism, a hoisting group mechanism, a guiding seat, guiding claws, and a cutting group mechanism, for the automatic tying between several steel bars. This equipment is large in size and high in power consumption, which is not conducive to on-site tying of steel bars. The Chinese patent with the application number 201811457811.9 discloses a steel bar tying device for building engineering, including a pull ring, a wire, a connecting plate, a spring, a tying hook, a bracket, a fixing block, a fixing rod, a protective plate, and fixing holes, which solves the problem that the original steel bar tying device for building engineering lacks a protective device and has a reasonable structure. However, this device needs to be manually operated by construction workers and has a low degree of automation, and it is unlikely to be improved for on-site building automation.

[0007] In the prior art, it is mainly handheld tools and equipment, which are difficult to be applied to the end of a robot. Moreover, tightening and tying are carried out through multiple turns of wire, which greatly wastes materials. For the special steel bar tying machine at the end of a robot, currently, it is only simply improved on the handheld device without improvement in the mechanism principle. The steel bar tying gun equipment in domestic buildings lags far behind foreign countries in terms of intelligence and automation. Summary of the Invention

[0008] In view of the problems in the prior art, the technical solution adopted in this application is as follows: A multi-stage cylinder piston rod type steel bar tying device, including: a multi-stage hydraulic cylinder, which is rigidly suspended under the middle trolley of the gantry frame. The piston rod of the multi-stage cylinder extends to control the tying platform to a suitable tying position, and the stroke of the multi-stage cylinder is controlled to make the tying platform at a suitable height for tying the bottom plate and top plate steel bars; The bottom plate tying platform includes a bottom plate frame, guide plates are arranged around the bottom plate frame, a platform module is arranged at the bottom of the bottom plate frame, and a tying manipulator is installed on the platform module.

[0009] Further, a rotary drive mechanism is provided between the end of the piston rod of the multi-stage hydraulic cylinder and the binding platform. The rotary drive mechanism is connected to the binding frame. Positioning mechanisms are arranged at both ends and a bundling manipulator is arranged at the center on the binding frame. The first bundling manipulator is installed on the lower surface of the binding frame through a platform module. The binding manipulator can move up and down, forward and backward, and left and right along the platform module. Transverse guide rails and longitudinal guide rails are arranged on the platform module, and the position adjustment of the binding manipulator is realized by driving a screw through a motor.

[0010] Further, the binding manipulator includes a housing. A steel bar fixing mechanism is installed at the end of the housing. The steel bar fixing mechanism guides and fixes the steel bar binding process. A binding mechanism is installed inside the steel bar fixing mechanism. The binding mechanism is connected to a motor inside the housing, and the motor drives the binding mechanism to rotate.

[0011] Further, a telescopic rod is built into the binding mechanism, enabling the binding mechanism to perform telescopic movement. The binding mechanism is integrally Z-shaped, and the steel bar is bound by rotating the binding mechanism; one end of the steel bar fixing mechanism is provided with a configuration fixing part, and the other end is provided with a wedge-shaped opening fixing part, which can guide and fix the steel bar binding process.

[0012] Compared with the prior art, the advantages and positive effects of the present invention are as follows: The present invention provides a multi-stage cylinder piston rod type steel bar binding device, including: a multi-stage hydraulic cylinder, which is rigidly suspended under the middle trolley of the gantry frame. The piston rod of the multi-stage cylinder extends to control the binding platform to a suitable binding position, and the stroke of the multi-stage cylinder is controlled to enable the binding platform to perform the binding of bottom and top steel bars at a suitable height. It can automatically complete the binding of steel bars in different areas, and can give full play to the advantages of high-efficiency work of the steel bar binding robot, which is of great significance for promoting the engineering application of the steel bar binding robot at the construction site. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0014] Figure 1 It is a schematic structural diagram of a multi-stage cylinder piston rod type steel bar binding device of the present invention; Figure 2 It is a top view of a multi-stage cylinder piston rod type steel bar binding device of the present invention; Figure 3 It is a front view of a multi-stage cylinder piston rod type steel bar binding device of the present invention; Figure 4Side view of a multi-stage cylinder piston rod type steel bar binding device of the present invention; Figure 5 Partial enlarged view of a multi-stage cylinder piston rod type steel bar binding device of the present invention; Figure 6 Structural schematic diagram of the auxiliary clamping mechanism of the present invention Figure 7 Front view of the auxiliary clamping mechanism of the present invention; In each of the above figures, 1, multi-stage hydraulic cylinder; 2, bottom plate frame; 3, guide plate; 4, platform module; 5, binding manipulator; 31, first multi-stage hydraulic cylinder; 32, rotary drive mechanism; 33, suspension connecting plate; 34, rotary guide mechanism; 35, pressing and limiting frame; 36, first platform module; 37, binding manipulator. Specific implementation mode

[0015] In order to be able to more clearly understand the above objects, features and advantages of the present invention, the present invention will be further described below with reference to the drawings and embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0016] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the present invention is not limited by the specific embodiments disclosed in the following specification.

[0017] Embodiment 1, as Figures 1 to 4 shown, the present application provides a multi-stage cylinder piston rod type steel bar binding device, including: a multi-stage hydraulic cylinder 1, the multi-stage hydraulic cylinder 1 is rigidly suspended under the middle trolley of the gantry frame, the multi-stage cylinder piston rod extends to control the binding platform to a suitable binding position, and the stroke of the multi-stage cylinder is controlled to make the binding platform at a suitable height for binding the bottom plate and top plate steel bars; the bottom plate binding platform includes a bottom plate frame 2, guide plates 3 are arranged around the bottom plate frame 2, a platform module 4 is arranged at the bottom of the bottom plate frame 2, and a binding manipulator 5 is installed on the platform module 4; A rotary drive mechanism is provided between the end of the piston rod of the multi-stage hydraulic cylinder 1 and the binding platform. The rotary drive mechanism is connected to the binding frame. Positioning mechanisms are provided at both ends and a bundling manipulator is provided at the center on the binding frame. The first bundling manipulator is installed on the lower surface of the binding frame through the platform module 4. The binding manipulator 5 can move up and down, back and forth, and left and right along the platform module 4. Transverse rails and longitudinal rails are provided on the platform module 4, and the position adjustment of the binding manipulator 5 is realized by driving the screw through a motor. The binding manipulator 5 includes a housing. A steel bar fixing mechanism is installed at the end of the housing. The steel bar fixing mechanism guides and fixes the steel bar binding process. A binding mechanism is installed inside the steel bar fixing mechanism. The binding mechanism is connected to the motor inside the housing. The motor drives the binding mechanism to rotate. The binding mechanism is internally provided with a telescopic rod, which can make the binding mechanism perform telescopic movement. The binding mechanism is integrally Z-shaped, and the steel bar is bound by the rotation of the binding mechanism; a configuration fixing part is provided at one end of the steel bar fixing mechanism, and a wedge-shaped opening fixing part is provided at the other end, which can guide and fix the steel bar binding process.

[0018] A rotary drive mechanism is provided between the end of the multi-stage piston rod of the multi-stage hydraulic cylinder 1 and the binding platform. Two parallel rotary guiding mechanisms are provided between the platform and the suspension connecting plate. An electromagnetic locking device is provided inside the rotary guiding mechanism. When rotating before binding starts, the drive mechanism drives the platform to rotate, and the guiding electromagnetic locking mechanism is in a released state. After the platform rotates in place, the drive mechanism stops running, and the electromagnetic locking device is in a locked state, controlling the rotation angle of the platform to ensure that the plane of the binding platform is parallel to the steel bar intersection plane. At the same time, the trolley is driven by a servo motor to move to a suitable position, and the multi-stage cylinder piston rod extends or retracts to control the binding platform to be at a suitable height above the vertical direction of the steel bar intersection plane for steel bar binding. Auxiliary clamping mechanisms are provided on both sides of the binding platform. The auxiliary clamping mechanism includes two clamping group mechanisms. The clamping group mechanism includes a motor and a screw. The motor drives the screw to rotate. Clamping sliders are installed on the screw. The two clamping sliders move relatively to perform a clamping operation to position the steel bars in a row at a suitable position on the side web where the second-layer longitudinal bars are laid out. The foregoing procedure is repeated for the second-layer steel bar binding. After the binding is completed, the electromagnetic locking device first enters the released state, and then the rotary drive mechanism drives the web binding platform to rotate to a suitable angle. At the same time, the multi-stage cylinder piston rod retracts to make the binding platform in a suitable position for steel bar binding.

[0019] Each of the auxiliary clamping mechanisms has a first multi-stage hydraulic cylinder 31 suspended under the left and right trolleys of the gantry hanger. A rotary drive mechanism 32 is provided between the end of the piston rod of the first multi-stage hydraulic cylinder 31 and the lashing platform. The rotary drive mechanism 32 is connected to the lashing frame. On the lashing frame, there are compression limit frames 35 located at both ends and a bundling manipulator located at the center. The first bundling manipulator is installed on the lower surface of the lashing frame through a first platform module 36. The first lashing manipulator 37 can move up and down, back and forth, and left and right along the first platform module 36. The first platform module 36 is provided with a transverse guide rail and a longitudinal guide rail, and the position of the first lashing manipulator 37 is adjusted by driving a screw through a motor.

[0020] The above are only the preferred embodiments of the present invention, and do not limit the present invention in other forms. Any person skilled in the art may use the disclosed technical content to make changes or modifications into equivalent embodiments with equivalent changes and apply them to other fields. However, as long as it does not depart from the technical solution content of the present invention, any simple modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. A multi-stage cylinder piston rod type steel bar binding device, characterized in that, Comprising: A multi-stage hydraulic cylinder (1), which is rigidly suspended under the intermediate carriage of the gantry frame. The piston rod of the multi-stage hydraulic cylinder (1) extends to control the lashing platform to a suitable lashing position, and the stroke of the multi-stage cylinder is controlled so that the lashing platform is at a suitable height for binding the bottom and top reinforcement bars. The bottom lashing platform includes a bottom frame (2), guide plates (3) are arranged around the bottom frame (2), a platform module (4) is arranged at the bottom of the bottom frame (2), and a lashing manipulator (5) is installed on the platform module (4).

2. The multi-stage cylinder piston rod type steel bar binding device according to claim 1, characterized in that A rotary drive mechanism is provided between the end of the piston rod of the multi-stage hydraulic cylinder (1) and the lashing platform. The rotary drive mechanism is connected to the lashing frame. Positioning mechanisms are arranged at both ends and a bundling manipulator is arranged at the center on the lashing frame. The first bundling manipulator is installed on the lower surface of the lashing frame through the platform module (4). The lashing manipulator (5) can move up and down, back and forth, and left and right along the platform module (4). Transverse and longitudinal guide rails are arranged on the platform module (4), and the position adjustment of the lashing manipulator (5) is realized by driving a screw through a motor.

3. A multi-stage cylinder piston rod type steel bar binding device according to claim 1, characterized in that, The lashing manipulator (5) includes a housing, and a steel bar fixing mechanism is installed at the end of the housing. The steel bar fixing mechanism guides and fixes the steel bar binding process. A binding mechanism is installed inside the steel bar fixing mechanism, and the binding mechanism is connected to a motor inside the housing, and the motor drives the binding mechanism to rotate.

4. The multi-stage cylinder piston rod type steel bar binding device according to claim 3, characterized in that, The binding mechanism is internally provided with a telescopic rod, so that the binding mechanism performs telescopic movement. The binding mechanism is integrally in a Z shape, and the steel bars are bound by rotating the binding mechanism; one end of the steel bar fixing mechanism is provided with a configuration fixing part, and the other end is provided with a wedge-shaped mouth fixing part, which can guide and fix the steel bar binding process.

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