Four-footed inchworm-like reinforcing steel bar binding robot

Abstract

The invention discloses a four-footed inchworm-like reinforcing steel bar binding robot, relates to the technical field of building robots, solves the problem that a reinforcing steel bar binding robot generally does not have obstacle crossing and climbing capabilities and is difficult to completely adapt to a complex environment of a construction site, and comprises four modular movement feet and four function integrated clamping feet, the front side and the rear side of the connecting plate are each provided with two modular movement feet, and each modular movement foot is provided with a function integration type clamping foot. The four modular motion feet are used for realizing the walking of the robot; the four function integrated clamping feet are used for grabbing and binding the steel bars; according to the robot, movement mechanisms such as four-footed biological walking and inchworm climbing and wriggling are integrated in the movement mode of the robot, the robot has the movement characteristics of obstacle crossing, plane steel bar rapid movement, vertical plane steel bar climbing and the like, the robot movement function and the steel bar binding function are integrated, and rapid movement of the robot and rapid binding of the steel bars are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of construction robots, and particularly relates to a quadruped inchworm-like steel bar binding robot. Background Art

[0002] Reinforced concrete structures are one of the most widely used structural forms in modern architecture. Steel bar binding is an important process in the construction of reinforced concrete structures, which has a great impact on the efficiency, quality and cost of engineering construction. At present, steel bar binding highly depends on manual work. The number of steel bar binding points is numerous (up to hundreds per square meter), and workers are in a "dangerous, complex, dirty and heavy" construction environment for a long time.

[0003] Using steel bar binding robots to replace manual work can effectively address the loss of practitioners and improve construction efficiency and safety. At present, large-scale steel bar binding robots based on gantry frames have been successfully applied to the steel bar binding of factory prefabricated components, and medium-sized steel bar binding robots based on wheeled and tracked types are suitable for the steel bar binding of plane structures such as large bridges. Taking the binding of the structural steel bars of the most common concrete floor slab as an example, the steel bar binding spacing is usually 100 mm. Special structures such as elevator pits and sump pits need to be considered, and right-angle and slope designs (45° - 90°) are required for the base. On-site steel bar binding needs to be carried out on various slope surfaces. The above-mentioned steel bar binding robots generally do not have the ability to cross obstacles and climb, and it is difficult to fully adapt to the complex environment of the construction site. Summary of the Invention

[0004] Aiming at the problem that the above-mentioned steel bar binding robots generally do not have the ability to cross obstacles and climb and it is difficult to fully adapt to the complex environment of the construction site, the purpose of the present invention is to provide a quadruped inchworm-like steel bar binding robot.

[0005] In order to achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0006] A quadruped inchworm-like steel bar binding robot, which includes: a connecting plate 11, four modular moving feet and four function-integrated clamping feet. Two modular moving feet are respectively installed on the front and rear sides of the connecting plate 11, and one function-integrated clamping foot is installed on each modular moving foot; the two modular moving feet located on the front side / rear side of the connecting plate 11 are symmetrically arranged left and right; the four modular moving feet are used to realize the walking of the robot; the four function-integrated clamping feet are used to grasp steel bars and bind the steel bars.

[0007] It further includes: a drive control box and a power supply. The drive control box is used to drive the four modular moving feet and the four function-integrated clamping feet to operate, and the power supply is used to supply power to the drive control box, the modular moving feet and the function-integrated clamping feet.

[0008] The above-mentioned quadruped inchworm-style steel bar binding robot, wherein each modular moving foot includes: a fourth driving device 10, an adapter plate 12, and a third driving device 9. The fourth driving device 10 is installed on the front side or the rear side of the connecting plate 11. The adapter plate 12 is installed at the driving end of the fourth driving device 10. The fourth driving device 10 is used to drive the adapter plate 12 to displace in a direction perpendicular to the connecting plate 11. The third driving device 9 is installed on the adapter plate 12, and the driving end of the third driving device 9 displaces in a direction parallel to the connecting plate 11.

[0009] The above-mentioned quadruped inchworm-style steel bar binding robot, wherein each modular moving foot further includes: a second driving device 8 and a telescopic assembly. The upper end of the telescopic assembly and the driving end of the third driving device 9 are connected through the second driving device 8. The second driving device 8 is used to drive the telescopic assembly to rotate around the driving end of the third driving device 9. The lower end of the telescopic assembly is connected to the function-integrated clamping foot.

[0010] The above-mentioned quadruped inchworm-style steel bar binding robot, wherein the telescopic assembly includes: a first driving device 7 and a four-bar linkage mechanism 6. The first driving device 7 is rotatably installed at the driving end of the third driving device 9 through the second driving device 8. The four-bar linkage mechanism 6 includes: four connecting rods. The four connecting rods have the same length and enclose a parallelogram structure. The two connecting rods on the left are hinged to each other, and the two connecting rods on the right are hinged to each other. The upper ends of the two connecting rods on the upper side are both connected to the output end of the first driving device 7, and the lower ends of the two connecting rods on the lower side are both hinged to the upper end of the function-integrated clamping foot. The first driving device 7 is used to drive the two connecting rods on the upper side to perform synchronous opening and closing actions.

[0011] The above-mentioned quadruped inchworm-style steel bar binding robot, wherein each function-integrated clamping foot includes: a foot driving device, a main clamping foot 1, and a multi-bar linkage mechanism 4. The upper end of the foot driving device is connected to the lower end of the telescopic assembly. Four multi-bar linkage mechanisms 4 are equidistantly arranged around the outer periphery of the foot driving device. The four multi-bar linkage mechanisms 4 are all connected to the output end of the foot driving device. The lower end of each multi-bar linkage mechanism 4 is installed with a main clamping foot 1. The foot driving device is used to pull the four multi-bar linkage mechanisms 4 to perform the opening and closing actions of the four main clamping feet 1, so as to realize the grasping action of the steel bar.

[0012] The above-mentioned quadruped inchworm-style steel bar binding robot, wherein the multi-link mechanism 4 includes: a top link, a middle link, a connecting rotating shaft, a first bottom link, and a second bottom link. The upper end of the top link is hinged to the output end of the foot driving device. The middle part of the middle link and the outer wall of the foot driving device are rotationally connected through the connecting rotating shaft. The upper end of the middle link is hinged to the lower end of the top link. The upper ends of the first bottom link and the second bottom link are both hinged to the lower end of the middle link. The lower ends of the first bottom link and the second bottom link are respectively hinged to the inner and outer sides of the top of the active clamping foot 1. The foot driving device is used to push the top link downward, and then push the middle link to rotate around the connecting rotating shaft, so as to realize the opening and closing action of the active clamping foot 1.

[0013] The above-mentioned quadruped inchworm-style steel bar binding robot, wherein each functional integrated clamping foot further includes: a wire feeding and cutting mechanism 2 and a binding wire 5. The binding wire 5 is wound around the top side wall of the foot driving device. The wire feeding and cutting mechanism 2 is installed at the bottom of the foot driving device. The end of the binding wire 5 penetrates into the wire feeding and cutting mechanism 2. The wire feeding and cutting mechanism 2 is used to wind and cut the binding wire 5.

[0014] The above-mentioned quadruped inchworm-style steel bar binding robot, wherein each functional integrated clamping foot further includes: a wire rotating mechanism 3. The wire rotating mechanism 3 is installed at the bottom of the foot driving device. The wire rotating mechanism 3 is used to clamp and rotate the binding wire 5, so as to realize the binding of the steel bar. The positive effects of the present invention compared with the prior art due to the adoption of the above technologies are as follows:

[0015] (1) In the present invention, the robot integrates the walking of quadruped organisms, the climbing of inchworms, and the peristaltic movement mechanism in the motion mode. The "lifting - stepping" motion mode based on the quadruped inchworm-style steel bar binding robot is proposed to realize obstacle crossing and planar movement. The "clamping - stepping - clamping" motion mode is proposed to realize the climbing of steel bars on the vertical plane. The "clamping - stepping - binding" motion mode is proposed to realize the positioning of the functional integrated clamping foot and the binding of steel bars. It has motion characteristics such as obstacle crossing, rapid movement of planar steel bars, and climbing of steel bars on the vertical plane.

[0016] (2) In the present invention, in the motion tasks such as the rapid movement of planar steel bars and obstacle crossing, the bionic gait of quadruped organisms walking in the quadruped coordination "lifting - stepping" mode is adopted.

[0017] (3) In the present invention, in the motion task of climbing steel bars on the vertical plane, the bionic gait of inchworm climbing in the "clamping - stepping - clamping" mode is adopted.

[0018] (4) In the present invention, the robot integrates the moving foot and the tying device, proposes an innovative configuration of a functional integrated clamping foot, realizes the integration of the moving foot and the tying device, and reasonably distributes the degrees of freedom through configuration innovation. The same driving mechanism takes into account the integration of the robot movement and the steel bar tying function.

[0019] (5) In the present invention, based on the proposed configuration of the functional integrated clamping foot, the robot has a "clamping - stepping - tying" mode imitating the peristalsis of inchworms to achieve the rapid movement of the robot and the rapid tying of steel bars. Description of the Drawings

[0020] Figure 1 It is a schematic structural diagram of a four - legged inchworm - like steel bar tying robot of the present invention.

[0021] Figure 2 It is a schematic structural diagram of the functional integrated clamping foot of a four - legged inchworm - like steel bar tying robot of the present invention.

[0022] Figure 3 It is a schematic diagram of the movement landing - tying action of a four - legged inchworm - like steel bar tying robot of the present invention.

[0023] Figure 4 It is a schematic diagram of the working surface switching of a four - legged inchworm - like steel bar tying robot of the present invention.

[0024] Figure 5 It is a schematic diagram of the first step of obstacle crossing of a four - legged inchworm - like steel bar tying robot of the present invention.

[0025] Figure 6 It is a schematic diagram of the second step of obstacle crossing of a four - legged inchworm - like steel bar tying robot of the present invention.

[0026] Figure 7 It is a schematic diagram of the third step of obstacle crossing of a four - legged inchworm - like steel bar tying robot of the present invention.

[0027] Figure 8 It is a schematic diagram of steel bar tying - wire feeding of a four - legged inchworm - like steel bar tying robot of the present invention.

[0028] Figure 9 It is a schematic diagram of steel bar tying - wire cutting of a four - legged inchworm - like steel bar tying robot of the present invention.

[0029] Figure 10 It is a schematic diagram of steel bar tying - wire tightening of a four - legged inchworm - like steel bar tying robot of the present invention.

[0030] In the accompanying drawings: 1. Active clamping foot; 2. Wire feeding and cutting mechanism; 3. Wire winding mechanism; 4. Multi-link mechanism; 5. Binding wire; 6. Four-link mechanism; 7. First driving device; 8. Second driving device; 9. Third driving device; 10. Fourth driving device; 11. Connecting plate; 12. Adapter plate. Detailed implementation mode

[0031] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but it is not limited to the present invention.

[0032] Please refer to Figures 1 to 10 As shown, a quadrupedal inchworm-like steel bar binding robot is shown, which includes: a function-integrated clamping foot, a modular moving foot, a drive control box, and a power supply.

[0033] Preferably, the function-integrated clamping foot is composed of an active clamping foot 1, a wire feeding and cutting mechanism 2, a wire winding mechanism 3, a multi-link mechanism 4, and a binding wire 5.

[0034] Preferably, the modular moving foot is composed of a four-link mechanism 6, a frameless torque motor, and a voice coil motor.

[0035] Furthermore, in a preferred embodiment, the robot integrates the movement mechanisms of quadrupedal biological walking, inchworm climbing, peristalsis, etc. in the movement mode. The "lifting - stepping" movement mode based on the quadrupedal inchworm-like steel bar binding robot is proposed to achieve obstacle crossing and planar movement, the "clamping - stepping - clamping" movement mode is proposed to achieve vertical steel bar climbing, and the "clamping - stepping - binding" movement mode is proposed to achieve the positioning of the function-integrated clamping foot and the binding of steel bars.

[0036] Furthermore, in a preferred embodiment, in the movement tasks such as rapid planar movement of steel bars and obstacle crossing, the robot adopts the bionic gait of quadrupedal biological walking in the four-legged coordinated "lifting - stepping" mode. During the obstacle crossing process, the two function-integrated clamping feet at the rear end of the robot are energized to clamp the steel bar tightly. The two first driving devices at the front end drive the four-link mechanism to contract, thereby driving the two function-integrated clamping feet at the front end of the robot to lift. The two third driving devices at the front end of the robot extend to drive the two function-integrated clamping feet at the front end to cross the obstacle. After crossing the obstacle, the two first driving devices at the front end of the robot drive the two four-link mechanisms to extend, thereby driving the function-integrated clamping feet to fall and clamp the steel bar tightly. The above process realizes the "lifting - stepping" movement mode.

[0037] Further, in a preferred embodiment, the robot adopts a bionic gait of inchworm climbing in the task of climbing vertical steel bars, which is a "clamping - stepping - clamping" mode. During the process of climbing vertical steel bars, the two function - integrated clamping feet at the rear end of the robot are electrified to clamp the steel bars tightly. The two first driving devices at the front end drive the four - link mechanism to contract, thereby driving the two function - integrated clamping feet at the front end of the robot to lift. The two third driving devices at the front end of the robot extend to drive the two function - integrated clamping feet at the front end to step forward. The two first driving devices at the front end of the robot drive the two four - link mechanisms to extend, thereby driving the function - integrated clamping feet to fall and clamp the steel bars tightly. Based on the above process, the "clamping - stepping - clamping" motion mode is realized.

[0038] Further, in a preferred embodiment, the robot integrates the moving feet with the tying device, and proposes an innovative configuration of a function - integrated clamping foot. A single integrated clamping foot takes into account both the clamping function of the clamping foot and the tying function of the steel bar tying actuator. At the same time, through configuration innovation, the degrees of freedom are reasonably allocated. Each modular moving foot has three linear and one rotational degree of freedom. The first driving device, the second driving device, the third driving device, the fourth driving device and the four - link mechanism take into account both the motion function of the robot and the positioning function of the function - integrated clamping foot.

[0039] Further, in a preferred embodiment, based on the proposed configuration of the function - integrated clamping foot, the robot has an inchworm - like wriggling "clamping - stepping - tying" mode to achieve rapid steel bar tying. Inspired by the wriggling of inchworms in nature, during the process of the robot tying steel bars, the two function - integrated clamping feet at the rear end of the robot are electrified to clamp the steel bars tightly. The two modular moving feet at the front end drive the function - integrated clamping feet to be positioned at the target steel bar tying node. During this process, the third driving device and the fourth driving device respectively achieve the positioning of the linear degrees of freedom in two planes, and the first driving device drives the four - link mechanism to achieve the positioning in the vertical direction. Based on the above process, the "clamping - stepping - tying" motion mode is realized.

[0040] Further, in a preferred embodiment, both the first driving device 7 and the second driving device 8 adopt frameless torque motors, and other types of motors and driving mechanisms can also be used to achieve the same function.

[0041] Further, in a preferred embodiment, both the fourth driving device 10 and the third driving device 9 adopt voice - coil motors, and other types of motors and driving mechanisms can also be used to achieve the same function.

[0042] The above are only preferred embodiments of the present invention, and do not limit the implementation manners and protection scope of the present invention accordingly.

[0043] The present invention also has the following implementation manners on the above basis:

[0044] In a further embodiment of the present invention, the moving mode of the robot is referred to Figure 2 As shown, both the fourth driving device 10 and the third driving device 9 are selected as voice coil motors, and the voice coil motor is used to drive the component to displace in a straight line direction; taking the walking action of a single functional integrated clamping foot as an example, before displacement, the active clamping foot 1 of the functional integrated clamping foot opens to cancel the grasping of the steel bar, and at the same time, the telescopic component of the functional integrated clamping foot contracts, so that the functional integrated clamping foot completely disengages from the steel bar. Subsequently, the fourth driving device 10 and the third driving device 9 used to drive the functional integrated clamping foot can respectively perform actions to grasp the steel bars at other positions and realize the walking kinetic energy. Other functional integrated clamping feet can respectively realize the walking action according to the above actions.

[0045] In a further embodiment of the present invention, Figure 2 It is a schematic diagram of the movement and foot - binding action of the robot. When the functional integrated clamping foot moves to the next steel bar binding point, the telescopic component of the functional integrated clamping foot extends until it contacts the steel bar binding point, then the active clamping foot 1 of the functional integrated clamping foot closes and tightly holds the steel bar binding point. Subsequently, the wire feeding and cutting mechanism 2 binds the steel bar binding point and tightens the binding wire 5 through the wire twisting mechanism 3.

[0046] In a further embodiment of the present invention, the drive control box is used to drive the four modular moving feet and the four functional integrated clamping feet to operate, and the power supply is used to supply power to the drive control box, the modular moving feet and the functional integrated clamping feet. The assembly design of the drive control box and the power supply can be designed according to actual applications. Preferably, as Figure 1 shown, the power supply is arranged on the front side and / or the rear side of the connecting plate 11 and is connected to the connecting plate 11, and the drive control box is installed on the upper part of the power supply.

[0047] In a further embodiment of the present invention, the first driving device 7 is rotationally installed at the driving end of the third driving device 9 through the second driving device 8, and the functions of the robot for oblique walking, climbing slopes and crossing obstacles are realized through the second driving device 8, as Figure 3 shown.

[0048] In a further embodiment of the present invention, the obstacle crossing of the robot is as Figures 4 to 6 shown. The upper end of the telescopic component and the driving end of the third driving device 9 are connected through the second driving device 8, and the lower end of the telescopic component is connected to the functional integrated clamping foot. By the contraction of the telescopic component and the cooperation of the third driving device 9, the obstacle crossing function of the robot is realized; in this application, the telescopic component includes: the first driving device 7 and the four - link mechanism 6. The first driving device 7 drives through gear meshing, so that the two linkages on the upper side of the four - link mechanism 6 realize synchronous opening and closing actions. The gear meshing transmission structure is as Figures 1 to 6as shown

[0049] In a further embodiment of the present invention, the multi-link mechanism 4 is as Figures 7 to 9 shown. The foot driving device selects a driving motor, and by synchronously pulling the four multi-link mechanisms 4, the synchronous opening and closing actions of the four active clamping feet 1 are realized, and the grasping of the steel bar binding point is achieved.

[0050] In a further embodiment of the present invention, the wire feeding and cutting mechanism 2 is as Figure 7 and Figure 8 shown, and includes: a wire feeding motor, a wire feeding guide rail and a shearing mechanism. A wire feeding guide rail is installed at the bottom of the foot driving device. The wire feeding guide rail is of an arc structure and is located inside one of the active clamping feet 1. The binding wire 5 passes through the wire feeding motor and then enters the wire feeding guide rail. Under the action of the arc structure of the wire feeding guide rail, the binding wire 5 led out from the end of the wire feeding guide rail is wound around the steel bar binding point in an arc shape. The wire feeding motor is used to lead out the binding wire 5. A shearing structure for shearing the binding wire 5 is installed inside each wire feeding guide rail. When the steel bar binding point is wound with enough turns of the binding wire 5, the shearing structure cuts off the binding wire 5.

[0051] In a further embodiment of the present invention, each wire feeding guide rail is hinged to the inside of one active clamping foot 1 through a connecting rod, and the wire feeding guide rail is driven to rotate synchronously by the active clamping foot 1.

[0052] In a further embodiment of the present invention, the wire winding mechanism 3 includes: a wire winding motor and a jaw. The jaw can be an electric jaw or can be driven to close by other driving devices. The jaw is used to clamp the cut binding wire, and then the wire winding motor is used to drive the jaw to rotate to realize the binding function of the binding wire, as Figure 9 shown.

[0053] In a further embodiment of the present invention, the wire feeding and cutting mechanism 2 and the wire winding mechanism 3 are improvements based on the existing binding mechanism, and reference can be made to the authorized patent CN201810581689X, a steel bar binding machine.

[0054] The above are only preferred embodiments of the present invention, and thus do not limit the implementation manners and protection scope of the present invention. For those skilled in the art, it should be able to realize that all equivalent replacements and obvious changes made by using the specification and illustrated content of the present invention should be included in the protection scope of the present invention.

Claims

1. A quadrupedal inchworm-style steel bar binding robot, characterized in that include: A connecting plate (11), four modular motion feet and four function-integrated clamping feet, two modular motion feet are respectively installed on the front and rear sides of the connecting plate (11), and each modular motion foot is installed on a function-integrated clamping foot; the two modular motion feet located on the front and rear sides of the connecting plate (11) are symmetrically arranged on the left and right; the four modular motion feet are used to realize the walking of the robot; and the four function-integrated clamping feet are used to grasp steel bars and tie the steel bars.

2. The quadruped inchworm-style steel bar binding robot according to claim 1, wherein Each modular sports foot comprises: a fourth drive device (10), an adapter plate (12) and a third drive device (9), wherein the fourth drive device (10) is mounted on the front side or the rear side of the connecting plate (11), the adapter plate (12) is mounted on the driving end of the fourth drive device (10), and the fourth drive device (10) is used to drive the adapter plate (12) to move in a direction perpendicular to the connecting plate (11); the third drive device (9) is mounted on the adapter plate (12), and the driving end of the third drive device (9) moves in a direction parallel to the connecting plate (11).

3. The quadruped inchworm-style steel bar binding robot according to claim 2, characterized in that, Each modular sports foot further comprises: a second drive device (8) and a telescopic assembly, wherein the upper end of the telescopic assembly and the driving end of the third drive device (9) are connected via the second drive device (8), the second drive device (8) is used to drive the telescopic assembly to rotate around the driving end of the third drive device (9), and the lower end of the telescopic assembly is connected to the functional integrated clamping foot.

4. The quadruped inchworm - type steel bar binding robot according to claim 3, characterized in that, The telescopic assembly comprises: a first drive device (7) and a four-bar linkage (6), wherein the first drive device (7) is rotatably mounted on the drive end of the third drive device (9) via the second drive device (8); the four-bar linkage (6) comprises: four links, the four links having the same length and forming a parallelogram structure, the two links on the left side being hinged to each other, the two links on the right side being hinged to each other, the upper ends of the two links on the upper side being connected to the output end of the first drive device (7), and the lower ends of the two links on the lower side being hinged to the upper end of the functionally integrated clamping foot; the first drive device (7) is used to drive the two links on the upper side to achieve synchronous opening and closing movements.

5. The quadruped inchworm - type steel bar binding robot according to claim 3, wherein Each functional integrated clamping foot comprises: a foot driving device, an active clamping foot (1) and a multi-link mechanism (4); the upper end of the foot driving device is connected to the lower end of the telescopic assembly; four multi-link mechanisms (4) are arranged at equal intervals around the periphery of the foot driving device; the four multi-link mechanisms (4) are all connected to the output end of the foot driving device; an active clamping foot (1) is installed at the lower end of each multi-link mechanism (4); the foot driving device is used to pull the four multi-link mechanisms (4) to realize the opening and closing action of the four active clamping feet (1), thereby realizing the gripping action of the steel bar.

6. The quadrupedal inchworm-style steel bar binding robot according to claim 5, wherein The multi-link mechanism (4) includes: a top link, a middle link, a connecting rotating shaft, a first bottom link, and a second bottom link. The upper end of the top link is hinged to the output end of the foot driving device. The middle part of the middle link is rotatably connected to the outer wall of the foot driving device through the connecting rotating shaft. The upper end of the middle link is hinged to the lower end of the top link. The upper ends of the first bottom link and the second bottom link are both hinged to the lower end of the middle link. The lower ends of the first bottom link and the second bottom link are respectively hinged to the inner and outer sides of the top of the active clamping foot (1). The foot driving device is used to push the top link downward, thereby driving the middle link to rotate around the connecting rotating shaft, and further realizing the opening and closing actions of the active clamping foot (1).

7. The quadruped inchworm - type steel bar binding robot according to claim 5, characterized in that, Each functional integrated clamping foot further includes: a wire feeding and cutting mechanism (2) and a binding wire (5). The binding wire (5) is wound around the top side wall of the foot driving device. The wire feeding and cutting mechanism (2) is installed at the bottom of the foot driving device. The end of the binding wire (5) penetrates into the wire feeding and cutting mechanism (2), and the wire feeding and cutting mechanism (2) is used to wind and cut the binding wire (5).

8. The quadruped inchworm-style steel bar binding robot according to claim 7, wherein Each functional integrated clamping foot further includes: a wire rotating mechanism (3). The wire rotating mechanism (3) is installed at the bottom of the foot driving device. The wire rotating mechanism (3) is used to clamp and rotate the binding wire (5), thereby realizing the binding of the steel bars.

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