Novel steel bar binding robot

Abstract

The invention discloses a novel reinforcing steel bar binding robot, which belongs to the technical field of reinforcing steel bar mesh production, and comprises a mechanical arm, a wire guide mechanism arranged at one end of the mechanical arm, a wire feeding mechanism, a wire bending and breaking mechanism, a wire twisting mechanism and a reinforcing steel bar guide limiting mechanism, the wire guide mechanism comprises a first-class bearing roller and a second-class bearing roller; the wire feeding mechanism comprises an assembling frame and a concave wheel rotationally connected into the assembling frame. The wire bending and breaking mechanism comprises a wire bending block, an adjustable wheel rod arranged above the wire bending block and a first cutter connected to one end of the wire bending block in a sliding mode. The twisting mechanism comprises two clamping blocks at one ends of the racks and two penetrating openings formed in the outer wall of the rotating disc. The reinforcing steel bar guiding and limiting mechanism comprises four limiting concave plates arranged at the bottom of the base; different from a traditional manual binding operation mode, automatic binding operation of the reinforcing mesh is achieved, manpower is saved, the production efficiency is improved, and the reinforcing mesh binding device is suitable for large-scale reinforcing mesh machining.

Description

Technical Field

[0001] The present invention relates to the technical field of production of steel bar meshes, and particularly to a novel steel bar tying robot. Background Art

[0002] A steel bar mesh is a building material formed by cross-welding steel bars into a mesh structure, which is mainly used to enhance the strength and stability of concrete structures. It is very common in projects such as buildings, roads, tunnels, floors, and walls, and is an "invisible but important" structural framework.

[0003] The production process generally involves placing longitudinal and transverse steel bars on a fixed formwork or positioning device in a mesh arrangement, and manually tying and fixing the intersection points of the steel bars with tying wires (also called iron wires) by hand to keep them in the correct position and spacing before pouring concrete. However, this traditional manual tying operation form is time-consuming and inefficient, and the quality is unstable, which is not suitable for the production and processing of batch steel bar meshes.

[0004] Based on this, the present invention designs a novel steel bar tying robot to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a novel steel bar tying robot to solve the above technical problems.

[0006] To achieve the above purpose, the present invention provides the following technical solution: A novel steel bar tying robot, comprising: a robotic arm, a wire guiding mechanism, a wire feeding mechanism, a wire bending and cutting mechanism, a wire twisting mechanism, and a steel bar guiding and limiting mechanism provided at one end of the robotic arm; The wire guiding mechanism includes a guiding box, and a plurality of groups of first-class bearing rollers and second-class bearing rollers rotatably connected inside the guiding box; The wire feeding mechanism includes an assembly frame, a concave wheel rotatably connected inside the assembly frame, an adjustable pressure wheel provided above the concave wheel, a synchronous gear meshed with one end of the concave wheel, and a first drive motor drivingly connected to the synchronous gear; The wire bending and cutting mechanism includes a wire bending block, an adjustable wheel rod provided above the wire bending block, a first cutting knife slidably connected to one end of the wire bending block, and a lead screw motor drivingly connected to the first cutting knife; The wire twisting mechanism includes a base, a turntable rotatably connected to the base, two racks slidably connected to the top of the turntable, clamping blocks fixed to one end of the two racks, two through holes opened on the outer wall of the turntable, and a second drive motor driving the racks; The steel bar guiding and limiting mechanism includes four limiting concave plates provided at the bottom of the base, and the four limiting concave plates are symmetrically arranged in pairs and are all provided with concave openings of the same size.

[0007] Preferably, the wire-twisting mechanism further includes a top plate, a first gear, a transmission gear, a second gear, and a linkage gear that are respectively rotatably connected to the top plate, and the driving shaft of the second driving motor is drivingly connected to the first gear.

[0008] Preferably, the transmission gear meshes with the first gear and the second gear respectively, the second gear and the linkage gear are fixedly connected, and the linkage gear meshes with the two racks respectively.

[0009] Preferably, a C-shaped sliding opening is formed at the bottom of the turntable, a slider is fixed to the bottom of the linkage gear, and one end of the slider is slidably connected to the C-shaped sliding opening.

[0010] Preferably, an installation box is fixed to one end of the robotic arm, and the guiding box, the assembly frame, the first driving motor, the lead screw motor, the second driving motor, the top plate, and the base are all fixed to the installation box.

[0011] Preferably, the wire-bending and wire-breaking mechanism can also be replaced with a wire-bending block, a second cutting knife slidably connected to one end of the wire-bending block, a flat rod fixed to the outer wall of the assembly frame, and a cylinder fixed to the outer wall of the assembly frame. One end of the telescopic shaft of the cylinder is drivingly connected to the second cutting knife.

[0012] Preferably, a connecting frame is fixed to the outer wall of the robotic arm, and a wire-winding wheel is rotatably connected to one end of the connecting frame. An inlet and an outlet are respectively formed on the outer wall of the guiding box. The inlet of the guiding box faces the wire-winding wheel, and a straight wire guide is arranged between the outlet of the guiding box and the assembly frame.

[0013] Preferably, both the first-class bearing rollers and the second-class bearing rollers have two symmetrical roller bodies, and the roller bodies of the first-class bearing rollers and the second-class bearing rollers are arranged vertically and horizontally in a cross manner.

[0014] Preferably, a connecting seat is fixed to the outer wall of the assembly frame, one end of the wheel rod is slidably connected to the connecting seat, a wheel seat is slidably connected to the outer wall of the assembly frame, and the pressing wheel is rotatably connected to the wheel seat.

[0015] Preferably, adjusting bolts are threadedly connected to both the assembly frame and the connecting seat. One end of the adjusting bolt of the assembly frame is rotatably connected to the wheel seat, and one end of the adjusting bolt of the connecting seat is rotatably connected to the wheel rod.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: Different from the traditional manual binding operation form, by the mutual cooperation of the wire guiding mechanism, the wire feeding mechanism, the wire bending and wire breaking mechanism, the wire twisting mechanism, and the steel bar guiding and limiting mechanism, the automatic binding operation of the steel bar mesh is realized, saving labor and improving production efficiency, and being suitable for large-scale processing of steel bar meshes. Description of the Drawings

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a schematic diagram of the overall structure of this embodiment; Figure 2 It is a schematic diagram highlighting the connection structure of the installation box; Figure 3 It is a schematic diagram highlighting the connection structure of the assembly frame; Figure 4 It is a schematic diagram highlighting the wire threading structure in the guiding box and the assembly frame; Figure 5 It is a schematic diagram highlighting the connection structure of the wire bending block; Figure 6 It is a schematic diagram highlighting the installation structure of the cam; Figure 7 It is a schematic diagram highlighting the connection structure of the top plate; Figure 8 It is a schematic diagram highlighting the top structure of the base; Figure 9 It is a schematic diagram highlighting the bottom structure of the base; Figure 10 It is a schematic diagram of the second type highlighting the wire bending and wire breaking mechanism.

[0019] In the drawings, the list of components represented by each reference numeral is as follows: 1. Robot arm; 2. Installation box; 3. Connecting frame; 4. Wire winding wheel; 5. Assembly frame; 6. Cam; 7. Wire bending block; 8. Connecting seat; 9. Wheel rod; 10. Lead screw motor; 11. First cutter; 12. Guiding box; 13. First type of bearing roller; 14. Second type of bearing roller; 15. Synchronous gear; 16. First driving motor; 17. Pressing wheel; 18. Second driving motor; 19. Top plate; 20. Base; 21. First gear; 22. Driving gear; 23. Second gear; 24. Linkage gear; 25. Turntable; 26. Rack; 27. Clamping block; 28. Through hole; 29. Limiting concave plate; 30. C-shaped sliding opening; 31. Slide block; 32. Wheel seat; 33. Second cutter; 34. Cylinder; 35. Flat rod. Detailed implementation manners

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0021] Please refer to Figure 1-9 , the present invention provides a technical solution: a new type of steel bar binding robot, including: a robotic arm 1, a wire guiding mechanism, a wire feeding mechanism, a wire bending and cutting mechanism, a wire twisting mechanism, and a steel bar guiding and limiting mechanism arranged at one end of the robotic arm 1; The wire guiding mechanism includes a guiding box 12, and a plurality of groups of first-class bearing rollers 13 and second-class bearing rollers 14 rotatably connected inside the guiding box 12; The wire feeding mechanism includes an assembly frame 5, a concave wheel 6 rotatably connected inside the assembly frame 5, an adjustable pressing wheel 17 arranged above the concave wheel 6, a synchronous gear 15 meshed with one end of the concave wheel 6, and a first driving motor 16 drivingly connected to the synchronous gear 15; The wire bending and cutting mechanism includes a wire bending block 7, an adjustable wheel rod 9 arranged above the wire bending block 7, a first cutting knife 11 slidably connected to one end of the wire bending block 7, and a lead screw motor 10 drivingly connected to the first cutting knife 11; The wire twisting mechanism includes a base 20, a turntable 25 rotatably connected to the base 20, two racks 26 slidably connected to the top of the turntable 25, clamping blocks 27 fixed to one ends of the two racks 26, two through openings 28 opened on the outer wall of the turntable 25, and a second driving motor 18 driving the racks 26; The steel bar guiding and limiting mechanism includes four limiting concave plates 29 arranged at the bottom of the base 20, and the four limiting concave plates 29 are symmetrically arranged in pairs and are all provided with concave openings of the same size; The mechanism for installing the entire device by the robotic arm 1 is used for operation. The wire guiding mechanism uses a first type of bearing roller 13 and a second type of bearing roller 14 to cooperate with each other to clamp and convey the binding wire. In the wire feeding mechanism, a notch is provided on the outer wall of the cam 6 of the assembly frame 5 for placing the binding wire and pressing it firmly with the pressing wheel 17 for conveyance. The rotation of the cam 6 is directly controlled by the synchronous gear 15 of the first driving motor 16. A gear meshing with the synchronous gear 15 is provided at one end of the cam 6. The part of the wire bending block 7 in the wire bending and wire breaking mechanism that supports the binding wire is in a curved arc shape. The round wheel at one end of the matching rod 9 presses down on the binding wire, causing the binding wire to bend downward during conveyance and enter the wire twisting mechanism. In the wire twisting mechanism, the tooth surfaces of the two racks 26 of the turntable 25 face each other and slide parallelly, which can drive the clamping blocks 27 to approach and move away from each other. One end of the clamping block 27 is located in the through hole 28 provided on the turntable 25. An auxiliary block cooperating with the clamping block 27 can be further added at the through hole 28 according to the clamping situation and requirements to improve stability. The steel bar guiding and limiting mechanism stabilizes the crossed steel bars through the notches of the four limiting concave plates 29.

[0022] Please refer to Figure 10 A technical solution provided: The wire bending and wire breaking mechanism can also be replaced with one including a wire bending block 7, a second cutter 33 slidably connected to one end of the wire bending block 7, a flat rod 35 fixed to the outer wall of the assembly frame 5, and a cylinder 34 fixed to the outer wall of the assembly frame 5. One end of the telescopic shaft of the cylinder 34 is drivingly connected to the second cutter 33; It can be distinguished from the lead screw motor 10 and the rod 9. The cylinder 34 is selected to cooperate with the second cutter 33 for wire breaking operation, and the flat rod 35 is selected to cooperate with the wire bending block 7 for wire bending operation, increasing the assembly selectivity.

[0023] Please refer to Figure 7 and Figure 8 Further preferably, the wire twisting mechanism further includes a top plate 19, and a first gear 21, a transmission gear 22, a second gear 23, and a linkage gear 24 that are respectively rotatably connected to the top plate 19. One end of the drive shaft of the second driving motor 18 is drivingly connected to the first gear 21; In the wire twisting mechanism, the top plate 19 assists in the installation of the first gear 21, the transmission gear 22, the second gear 23, and the linkage gear 24. At the same time, the installed first gear 21 can be connected to the drive shaft of the second driving motor 18 to receive power.

[0024] Please refer to Figure 8 Further preferably, the transmission gear 22 meshes with the first gear 21 and the second gear 23 respectively. The second gear 23 and the linkage gear 24 are fixedly connected. The linkage gear 24 meshes with the two racks 26 respectively; The transmission gear 22 is used as an intermediate gear between the first gear 21 and the second gear 23 for transmission. When the second gear 23 rotates, the linkage gear 24 rotates synchronously, and the linkage gear 24 is used to drive the two racks 26 to move parallelly on both sides.

[0025] Please refer to Figure 8 and Figure 9 Further preferably, a C-shaped sliding opening 30 is formed at the bottom of the turntable 25, a slider 31 is fixed to the bottom of the linkage gear 24, and one end of the slider 31 is slidably connected to the C-shaped sliding opening 30; When the linkage gear 24 rotates, it will first drive the action of clamping the binding wire. When the clamping is completed, as the linkage gear 24 continues to rotate, the slider 31 drives the turntable 25 to rotate from one end to the other end of the C-shaped sliding opening 30 to perform the binding action.

[0026] Please refer to Figure 1 and Figure 2 Further preferably, an installation box 2 is fixed to one end of the robotic arm 1, and the guiding box 12, the assembly frame 5, the first drive motor 16, the lead screw motor 10, the second drive motor 18, the top plate 19, and the base 20 are all fixed to the installation box 2; The robotic arm 1 assembles each mechanism through the cooperation of the installation box 2 for supporting operations.

[0027] Please refer to Figure 1 , Figure 2 and Figure 4 Further preferably, a connecting frame 3 is fixed to the outer wall of the robotic arm 1, and a wire winding wheel 4 is rotatably connected to one end of the connecting frame 3. An inlet and an outlet are respectively formed on the outer wall of the guiding box 12. The inlet of the guiding box 12 faces the wire winding wheel 4, and a straight wire guiding pipe is provided between the outlet of the guiding box 12 and the assembly frame 5; The rotatable wire winding wheel 4 is used to wind the binding wire and convey the binding wire towards the inlet of the guiding box 12. The binding wire is stably and directionally conveyed through the guiding box 12 and then linearly conveyed to other mechanisms by the straight wire guiding pipe at the outlet.

[0028] Please refer to Figure 4 Further preferably, both the first type of bearing roller 13 and the second type of bearing roller 14 have two symmetrically arranged roller bodies, and the roller bodies of the first type of bearing roller 13 and the second type of bearing roller are arranged vertically and horizontally crosswise; The conveyed binding wire is conveyed between the two roller bodies of the first type of bearing roller 13 and the second type of bearing roller. Through the vertically and horizontally crosswise arrangement of the roller bodies, the conveyance of the binding wire is made more stable.

[0029] Please refer to Figures 3 to 6 Further preferably, a connecting seat 8 is fixed to the outer wall of the assembly frame 5, one end of the wheel rod 9 is slidably connected to the connecting seat 8, a wheel seat 32 is slidably connected to the outer wall of the assembly frame 5, and a pressing wheel 17 is rotatably connected to the wheel seat 32; The straight sliding of the wheel rod 9 is ensured through the connecting seat 8, while the straight sliding of the pressing wheel 17 is ensured through the wheel seat 32, increasing the adjustability.

[0030] Please refer to Figure 5 andFigure 6 Further preferably, both the assembly frame 5 and the connecting seat 8 are threadedly connected with adjusting bolts. One end of the adjusting bolt of the assembly frame 5 is rotatably connected to the wheel seat 32, and one end of the adjusting bolt of the connecting seat 8 is rotatably connected to the wheel rod 9; By rotating the adjusting bolt, the wheel seat 32 and the wheel rod 9 can be adjusted, and then the cam 6 of the adjusting wheel seat 32 and the round wheel of the wheel rod 9 can be adjusted.

[0031] The specific application is as follows: In the process of steel bar binding, four limiting concave plates 29 in the steel bar guiding and limiting mechanism are used to pre-limit the intersecting steel bars, so that the intersection points are stably located at the binding positions for binding. Multiple groups of first-class bearing rollers 13 and second-class bearing rollers 14 in the wire guiding box 12 of the wire guiding mechanism are used to initially direct and convey the binding wire. The notch of the cam 6 in the wire feeding mechanism is used to receive the binding wire and cooperate with the pressing wheel 17 to press the binding wire firmly for further conveying. When the conveyed binding wire reaches the wire bending and cutting mechanism, the arc-shaped wire bending block 7 is used to cooperate with the round wheel at one end of the wheel rod 9 or one end of the flat rod to press and bend the conveyed binding wire for continuous conveying, so that the bent binding wire enters the wire twisting mechanism, passes through one through hole 28 of the turntable 25 and passes under the intersection point of the steel bars, and then re-enters from the other through hole 28. At this time, the second driving motor 18 drives the linkage gear 24 to rotate, driving the two racks 26, so that the clamping blocks 27 at one end of the two racks 26 move near the through hole 28 to clamp the passing bent wire in cooperation with the through hole 28. At the same time, the first cutting knife 11 in the wire bending and cutting mechanism is driven by the lead screw motor 10, or the second cutting knife 33 is driven by the cylinder 34 to directly cut out the clamped part of the binding wire. At the same time, through the cooperation of the C-shaped sliding port 30 and the slider 31 of the linkage gear 24, the turntable 25 is further driven to rotate, so that the cut part of the binding wire is rotated by the turntable 25 to perform rapid steel bar binding operations.

[0032] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "bottom", "one end", "top", "the other end", "upper", "one side", "top", "inner", "front part", "both ends", etc. is 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 should not be construed as a limitation of the present invention.

[0033] In the present invention, unless otherwise clearly specified or limited, the terms "mounted", "installed", "connected", "fixed", "swiveling connection", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components. Unless otherwise clearly defined, for those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A new type of steel bar binding robot, characterized in that, Including: A robotic arm (1), a wire guiding mechanism, a wire feeding mechanism, a wire bending and cutting mechanism, a wire twisting mechanism, and a steel bar guiding and limiting mechanism arranged at one end of the robotic arm (1); The wire guiding mechanism includes a guiding box (12), and a plurality of groups of first type bearing rollers (13) and second type bearing rollers (14) rotatably connected inside the guiding box (12); The wire feeding mechanism includes an assembly frame (5), a cam (6) rotatably connected inside the assembly frame (5), an adjustable pressing wheel (17) arranged above the cam (6), a synchronous gear (15) meshingly connected to one end of the cam (6), and a first driving motor (16) drivingly connected to the synchronous gear (15); The wire bending and cutting mechanism includes a wire bending block (7), an adjustable wheel rod (9) arranged above the wire bending block (7), a first cutting knife (11) slidably connected to one end of the wire bending block (7), and a lead screw motor (10) drivingly connected to the first cutting knife (11); The wire twisting mechanism includes a base (20), a turntable (25) rotatably connected to the base (20), two racks (26) slidably connected to the top of the turntable (25), clamping blocks (27) fixed to one end of the two racks (26), two through openings (28) opened on the outer wall of the turntable (25), and a second driving motor (18) driving the racks (26); The steel bar guiding and limiting mechanism includes four limiting concave plates (29) arranged at the bottom of the base (20), and the four limiting concave plates (29) are symmetrically arranged in pairs and are all provided with concave openings of the same size.

2. The novel steel bar binding robot according to claim 1, characterized in that: The wire twisting mechanism further includes a top plate (19), and a first gear (21), a driving gear (22), a second gear (23), and a linkage gear (24) respectively rotatably connected to the top plate (19), and the driving shaft of the second driving motor (18) is drivingly connected to the first gear (21).

3. The novel steel bar binding robot according to claim 2, wherein: The driving gear (22) meshes with the first gear (21) and the second gear (23) respectively, the second gear (23) and the linkage gear (24) are fixedly connected, and the linkage gear (24) meshes with the two racks (26) respectively.

4. A novel steel bar binding robot according to claim 2, characterized in that: A C-shaped sliding opening (30) is opened at the bottom of the turntable (25), a slider (31) is fixed to the bottom of the linkage gear (24), and one end of the slider (31) is slidably connected inside the C-shaped sliding opening (30).

5. The novel steel bar binding robot according to claim 2, characterized in that: An installation box (2) is fixed to one end of the robotic arm (1), and the guiding box (12), the assembly frame (5), the first driving motor (16), the lead screw motor (10), the second driving motor (18), the top plate (19), and the base (20) are all fixed to the installation box (2).

6. The novel steel bar binding robot according to claim 1, characterized in that: The wire bending and cutting mechanism can also be replaced with including a wire bending block (7), a second cutting knife (33) slidably connected to one end of the wire bending block (7), a flat rod (35) fixed to the outer wall of the assembly frame (5), and a cylinder (34) fixed to the outer wall of the assembly frame (5), and one end of the telescopic shaft of the cylinder (34) is drivingly connected to the second cutting knife (33).

7. A novel steel bar binding robot according to claim 1, characterized in that: A connecting frame (3) is fixed to the outer wall of the robotic arm (1), and a wire winding wheel (4) is rotatably connected to one end of the connecting frame (3). An inlet and an outlet are respectively formed in the outer wall of the guiding box (12). The inlet of the guiding box (12) is arranged towards the wire winding wheel (4), and a straight wire guide is arranged between the outlet of the guiding box (12) and the assembly frame (5).

8. A novel steel bar binding robot according to claim 1, characterized in that: Both the first type of bearing roller (13) and the second type of bearing roller (14) have two symmetrical roller bodies, and the roller bodies of the first type of bearing roller (13) and the second type of bearing roller (14) are arranged vertically and horizontally in a crosswise manner.

9. A novel steel bar binding robot according to claim 1, characterized in that: A connecting seat (8) is fixed to the outer wall of the assembly frame (5). One end of the wheel rod (9) is slidably connected to the connecting seat (8). A wheel seat (32) is slidably connected to the outer wall of the assembly frame (5). The pressing wheel (17) is rotatably connected to the wheel seat (32).

10. A novel steel bar binding robot according to claim 8, characterized in that: Adjusting bolts are threadedly connected to both the assembly frame (5) and the connecting seat (8). One end of the adjusting bolt of the assembly frame (5) is rotatably connected to the wheel seat (32), and one end of the adjusting bolt of the connecting seat (8) is rotatably connected to the wheel rod (9).

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