A four-legged inchworm type steel bar tying robot

Abstract

The application discloses a four-legged inchworm type reinforcing steel bar binding robot, and relates to the technical field of building robots.The four-legged inchworm type reinforcing steel bar binding robot solves the problem that reinforcing steel bar binding robots generally do not have the obstacle crossing and climbing capabilities and are difficult to completely adapt to the complex environment of a construction site.The four-legged inchworm type reinforcing steel bar binding robot comprises four modular moving feet and four function integrated clamping feet, two modular moving feet are arranged on the front and rear sides of a connecting plate respectively, and one function integrated clamping foot is arranged on each modular moving foot.The four modular moving feet are used for realizing the walking of the robot, and the four function integrated clamping feet are used for gripping and binding reinforcing steel bars.In the application, the robot is combined with the walking and inchworm climbing and peristalsis movement mechanisms of four-legged animals, has the movement characteristics of obstacle crossing, fast movement of planar reinforcing steel bars and vertical surface reinforcing steel bar climbing, and integrates the movement of the robot and the function of binding reinforcing steel bars, so that the fast movement of the robot and the fast binding of reinforcing steel bars are realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of construction robots, and particularly relates to a four-legged inchworm type steel bar binding robot. BACKGROUND

[0002] Reinforced concrete structure is one of the most widely used structural forms in modern buildings. 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 is highly dependent on manual work, and there are a large number of steel bar binding points (up to hundreds per square meter), and workers are in a long-term "dangerous, busy, dirty and heavy" construction environment.

[0003] The use of steel bar binding robots to replace manual work can effectively deal with the loss of employees, improve construction efficiency and safety. At present, large steel bar binding robots based on gantry have been successfully applied to steel bar binding of factory prefabricated assembly components, and medium-sized steel bar binding robots based on wheeled and tracked types are suitable for steel bar binding of large bridge and other planar structures. Taking the construction of steel bars of the most common concrete bottom plate as a representative, the steel bar binding spacing is usually 100mm, special structures such as elevator pits and water collection pits need to be considered, and the base needs to be designed with right angles and slopes (45°-90°), and steel bar binding needs to be carried out on various slope surfaces. The above steel bar binding robots generally do not have obstacle crossing and climbing capabilities, and are difficult to fully adapt to the complex environment of the construction site. SUMMARY

[0004] In view of the above problems that the steel bar binding robots generally do not have obstacle crossing and climbing capabilities and are difficult to fully adapt to the complex environment of the construction site, the present application aims to provide a four-legged inchworm type steel bar binding robot.

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

[0006] A four-legged inchworm type steel bar binding robot, comprising: a connecting plate 11, four modular movement feet and four function integrated clamping feet, two modular movement feet are installed on the front and rear sides of the connecting plate 11 respectively, and one function integrated clamping foot is installed on each modular movement foot; the two modular movement feet on the front side / rear side of the connecting plate 11 are symmetrically arranged left and right; the four modular movement feet are used to realize the walking of the robot; and the four function integrated clamping feet are used to grip and bind steel bars.

[0007] Further comprising: a drive control box and a power supply, the drive control box is used to drive the four modular movement feet and the four function integrated clamping feet to run, and the power supply is used to supply power to the drive control box, the modular movement feet and the function integrated clamping feet.

[0008] The four-legged caterpillar type steel bar binding robot, wherein each modular moving foot comprises a fourth driving device 10, a connecting 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 connecting plate 12 is installed on the driving end of the fourth driving device 10, and the fourth driving device 10 is used to drive the connecting plate 12 to displace in a direction perpendicular to the connecting plate 11; the third driving device 9 is installed on the connecting plate 12, and the driving end of the third driving device 9 displaces in a direction parallel to the connecting plate 11.

[0009] The four-legged caterpillar type steel bar binding robot, wherein each modular moving foot further comprises 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, and the lower end of the telescopic assembly is connected with the function integrated clamping foot.

[0010] The four-legged caterpillar type steel bar binding robot, wherein the telescopic assembly comprises a first driving device 7 and a four-bar linkage mechanism 6, the first driving device 7 is rotatably installed on the driving end of the third driving device 9 through the second driving device 8; the four-bar linkage mechanism 6 comprises four connecting rods, the four connecting rods are of the same length and are combined to form a parallelogram structure, the two connecting rods on the left side are hingedly connected with each other, the two connecting rods on the right side are hingedly connected with each other, the upper ends of the two connecting rods on the upper side are connected with the output end of the first driving device 7, and the lower ends of the two connecting rods on the lower side are hingedly connected with the upper ends of the function integrated clamping foot; the first driving device 7 is used to drive the two connecting rods on the upper side to realize synchronous opening and closing actions.

[0011] The four-legged caterpillar type steel bar binding robot, wherein each function integrated clamping foot comprises a foot driving device, a main clamping foot 1 and a multi-link mechanism 4, the upper end of the foot driving device is connected with the lower end of the telescopic assembly, four multi-link mechanisms 4 are arranged at equal intervals around the outer periphery of the foot driving device, the four multi-link mechanisms 4 are connected with the output end of the foot driving device, and the lower end of each multi-link mechanism 4 is provided with a main clamping foot 1; the foot driving device is used to pull the four multi-link mechanisms 4 to realize the opening and closing actions of the four main clamping feet 1, so as to realize the gripping action on the steel bars.

[0012] The four-legged inchworm type steel bar binding robot, wherein the multi-link mechanism 4 comprises: a top link, a middle link, a connecting pivot, 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 rotationally connected to the outer wall of the foot driving device through the connecting pivot, 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, and 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, and the foot driving device is used to push the top link downward and then push the middle link to rotate around the connecting pivot, thereby realizing the opening and closing action of the active clamping foot 1.

[0013] The four-legged inchworm type steel bar binding robot, wherein each function integrated clamping foot further comprises: a wire feeding mechanism 2 and a binding wire 5, the top end side wall of the foot driving device is wound with the binding wire 5, the bottom of the foot driving device is provided with the wire feeding mechanism 2, and the end of the binding wire 5 penetrates into the wire feeding mechanism 2, and the wire feeding mechanism 2 is used to wind and cut the binding wire 5.

[0014] The four-legged inchworm type steel bar binding robot, wherein each function integrated clamping foot further comprises: a wire rotating mechanism 3, the bottom of the foot driving device is provided with the wire rotating mechanism 3, and the wire rotating mechanism 3 is used to clamp and rotate the binding wire 5, thereby realizing the binding of the steel bar. The application has the following positive effects compared with the prior art due to the adoption of the above technology:

[0015] (1) In the application, the robot combines the walking of four-legged animals with the inchworm climbing and peristaltic motion mechanism in the motion mode, and respectively proposes a “lifting-step” motion mode based on the four-legged inchworm type steel bar binding robot to realize obstacle crossing and plane movement, proposes a “clamping-step-clamping” motion mode to realize vertical plane steel bar climbing, and proposes a “clamping-step-binding” motion mode to realize the positioning of the function integrated clamping foot and the binding of the steel bar, so as to have the motion characteristics of obstacle crossing, plane steel bar fast movement and vertical plane steel bar climbing.

[0016] (2) In the application, the robot adopts the four-legged animal walking bionic gait of the four-legged coordinated “lifting-step” mode in the motion tasks of plane steel bar fast movement and obstacle crossing.

[0017] (3) In the application, the robot adopts the inchworm climbing bionic gait of the “clamping-step-clamping” mode in the motion task of vertical plane steel bar climbing.

[0018] (4) In this invention, the robot integrates the movement foot and the binding device, and proposes an innovative configuration of a functionally integrated clamping foot, which realizes the integration of movement foot and binding device. At the same time, the degree of freedom is reasonably allocated through configuration innovation, and the same drive mechanism takes into account both robot movement and rebar binding function integration.

[0019] (5) In this invention, the robot is based on the proposed functional integrated clamping foot configuration and has a inchworm-like "clamping-stepping-binding" mode to realize the robot's rapid movement and rapid binding of steel bars. Attached Figure Description

[0020] Figure 1 This is a structural schematic diagram of a quadrupedal inchworm-like rebar binding robot according to the present invention.

[0021] Figure 2 This is a schematic diagram of the functionally integrated clamping foot of a quadrupedal inchworm-like rebar tying robot according to the present invention.

[0022] Figure 3 This is a schematic diagram of the foot-landing and binding action of a quadrupedal inchworm-like rebar binding robot according to the present invention.

[0023] Figure 4 This is a schematic diagram of the working face switching of a quadrupedal inchworm-type rebar binding robot according to the present invention.

[0024] Figure 5 This is a schematic diagram of the obstacle-crossing step one of the four-legged inchworm-type rebar-tying robot of the present invention.

[0025] Figure 6 This is a schematic diagram of the obstacle-crossing step two of the four-legged inchworm-type rebar-tying robot of the present invention.

[0026] Figure 7 This is a schematic diagram of the obstacle-crossing step three of a quadruped inchworm-type rebar-tying robot according to the present invention.

[0027] Figure 8 This is a schematic diagram of the rebar binding and wire feeding process of a quadruped inchworm-type rebar binding robot according to the present invention.

[0028] Figure 9 This is a schematic diagram of the rebar binding and wire breaking process of a quadruped inchworm-like rebar binding robot according to the present invention.

[0029] Figure 10 This is a schematic diagram of the rebar binding and tightening process of a quadrupedal inchworm-type rebar binding robot according to the present invention.

[0030] In the attached diagram: 1. Active clamping foot; 2. Wire cutting mechanism; 3. Wire twisting mechanism; 4. Multi-link mechanism; 5. Binding wire; 6. Four-bar linkage; 7. First drive device; 8. Second drive device; 9. Third drive device; 10. Fourth drive device; 11. Connecting plate; 12. Adapter plate. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

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

[0033] As a preferred embodiment, the functionally integrated clamping foot consists of an active clamping foot 1, a wire cutting mechanism 2, a wire twisting mechanism 3, a multi-link mechanism 4, and a binding wire 5.

[0034] As a preferred embodiment, the modular motion foot consists of a four-bar linkage 6, a frameless torque motor, and a voice coil motor.

[0035] Furthermore, in a preferred embodiment, the robot integrates the walking of quadrupedal organisms with the climbing and peristaltic movements of inchworms in its motion mode. It proposes a "lifting-stepping" motion mode based on a quadrupedal inchworm-like rebar binding robot to achieve obstacle crossing and planar movement, a "clamping-stepping-clamping" motion mode to achieve vertical rebar climbing, and a "clamping-stepping-binding" motion mode to achieve functionally integrated clamping foot positioning and rebar binding.

[0036] Furthermore, in a preferred embodiment, the robot employs a quadrupedal biomimetic gait with a coordinated "lift-step" pattern during tasks such as rapid movement of planar reinforcing bars and obstacle crossing. During obstacle crossing, two functionally integrated clamping feet at the robot's rear end are energized to clamp the reinforcing bar. Two first-drive devices at the front end drive a four-bar linkage to retract, thereby lifting the two functionally integrated clamping feet at the robot's front end. Two third-drive devices at the robot's front end extend, causing the two front-end functionally integrated clamping feet to cross the obstacle. After crossing the obstacle, the two first-drive devices at the robot's front end drive two four-bar linkages to extend, thereby causing the functionally integrated clamping feet to fall and clamp the reinforcing bar. This "lift-step" movement pattern is achieved based on the above process.

[0037] Furthermore, in a preferred embodiment, the robot employs a inchworm-like climbing gait of "clamping-stepping-clamping" during its vertical rebar climbing task. During the vertical rebar climbing process, two functionally integrated clamping feet located at the robot's rear end are energized to clamp the rebar. Two first drive devices at the robot's front end drive a four-bar linkage to retract, thereby lifting the two functionally integrated clamping feet at the robot's front end. Two third drive devices at the robot's front end extend, causing the two front-end functionally integrated clamping feet to step forward. Finally, the two first drive devices at the robot's front end drive two four-bar linkages to extend, causing the functionally integrated clamping feet to fall and clamp the rebar. This "clamping-stepping-clamping" movement mode is achieved based on the above process.

[0038] Furthermore, in a preferred embodiment, the robot integrates the motion foot with the binding device, proposing an innovative configuration of a functionally integrated clamping foot. A single integrated clamping foot combines the clamping function of the clamping foot with the binding function of the rebar binding actuator. At the same time, the degrees of freedom are reasonably allocated through the configuration innovation. Each modular motion foot has three linear and one rotational degrees of freedom. The first drive device, the second drive device, the third drive device, the fourth drive device, and the four-bar linkage combine the robot's motion function with the positioning function of the functionally integrated clamping foot.

[0039] Furthermore, in a preferred embodiment, the robot, based on the proposed functionally integrated clamping foot configuration, employs a inchworm-like "clamping-stepping-binding" mode to achieve rapid rebar binding. Inspired by the inchworm's movement in nature, during the rebar binding process, the two functionally integrated clamping feet at the rear of the robot are energized to clamp the rebar, while the two modular motion feet at the front drive the functionally integrated clamping feet to position themselves at the target rebar binding node. During this process, the third and fourth driving devices respectively achieve positioning in two planes of linear freedom, and the first driving device drives the four-bar linkage to achieve vertical positioning. Based on the above process, the "clamping-stepping-binding" motion mode is realized.

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

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

[0042] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention.

[0043] In addition to the above, the present invention also has the following embodiments:

[0044] In a further embodiment of the present invention, the robot's movement method refers to Figure 2 As shown, both the fourth drive device 10 and the third drive device 9 use voice coil motors, which are used to drive the components to move in a linear 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, releasing the grip on the rebar. Simultaneously, the telescopic component of the functional integrated clamping foot retracts, completely detaching the functional integrated clamping foot from the rebar. Subsequently, the fourth drive device 10 and the third drive device 9, which drive the functional integrated clamping foot, can respectively perform actions to grip rebars at other locations, achieving walking kinetic energy. Other functional integrated clamping feet can respectively achieve walking actions according to the above actions.

[0045] In a further embodiment of the present invention, Figure 2 The diagram illustrates the robot's movement, including the landing and binding action. When the integrated clamping foot moves to the next rebar binding point, the telescopic component of the integrated clamping foot extends until it contacts the rebar binding point. Then, the active clamping foot 1 of the integrated clamping foot closes and grips the rebar binding point. Subsequently, the wire breaking mechanism 2 binds the rebar binding point and the binding wire 5 is tightened by 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 motion feet and four functionally integrated clamping feet, and the power supply is used to supply power to the drive control box, the modular motion feet, and the functionally integrated clamping feet. The assembly design of the drive control box and the power supply can be designed according to the actual application. Preferably, such as... Figure 1 As shown, the power supply is located on the front and / or 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 rotatably mounted on the driving end of the third driving device 9 via the second driving device 8, and the second driving device 8 enables the robot to walk diagonally, climb slopes, and overcome obstacles. Figure 3 As shown.

[0048] In a further embodiment of the present invention, the robot's obstacle crossing is as follows: Figures 4 to 6 As 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 functionally integrated clamping foot. The robot's obstacle-crossing function is achieved by the contraction of the telescopic component in conjunction with the movement of the third driving device 9. In this application, the telescopic component includes: a first driving device 7 and a four-bar linkage 6. The first driving device 7 uses gear meshing transmission to enable the two upper links of the four-bar linkage 6 to synchronously open and close. The gear meshing transmission structure is as follows: Figures 1 to 6As shown.

[0049] In a further embodiment of the present invention, the multi-link mechanism 4 is as follows: Figures 7 to 9 As shown, the foot drive device uses a drive motor, which synchronously pulls four multi-link mechanisms 4 to realize the synchronous opening and closing of four active clamping feet 1, thereby achieving the gripping of the rebar binding point.

[0050] In a further embodiment of the present invention, the wire-breaking mechanism 2 is as follows: Figure 7 and Figure 8 As shown, it includes: a wire feeding motor, a wire feeding guide rail, and a cutting mechanism. A wire feeding guide rail is installed at the bottom of the foot drive device. The wire feeding guide rail has a circular arc structure and is located inside an active clamping foot 1. The binding wire 5 enters the wire feeding guide rail after passing through the wire feeding motor. Under the action of the circular 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 rebar binding point in a circular arc shape. The wire feeding motor is used to lead out the binding wire 5. A cutting structure for cutting the binding wire 5 is installed on the inner side of each wire feeding guide rail. When the rebar binding point is wound with a sufficient number of turns of binding wire 5, the cutting structure cuts the binding wire 5.

[0051] In a further embodiment of the present invention, each wire feeding guide is hinged to the inner side of an active clamping foot 1 via a connecting rod, and the active clamping foot 1 drives the wire feeding guide to rotate synchronously.

[0052] In a further embodiment of the present invention, the wire-spinning mechanism 3 includes: a wire-spinning motor and a gripper. The gripper can be an electric gripper or driven to close by other driving devices. The gripper is used to hold the cut binding wire, and then the wire-spinning motor drives the gripper to rotate, thereby realizing the binding function of the binding wire. Figure 9 As shown.

[0053] In a further embodiment of the present invention, the wire cutting mechanism 2 and the wire twisting mechanism 3 are improvements based on the existing binding mechanism, as can be found in the authorized patent CN201810581689X, a rebar binding machine.

[0054] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should recognize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A quadrupedal inchworm-style rebar tying robot, characterized by, The utility model relates to a kind of robot, including: A connecting plate (11), four modular motion feet and four function integrated clamping feet, two modular motion feet are installed on the front and rear sides of connecting plate (11) respectively, one function integrated clamping foot is installed on each modular motion foot;Two modular motion feet located on the front side / rear side of connecting plate (11) are symmetrically arranged left and right;Four modular motion feet are used to realize the walking of robot;Four function integrated clamping feet are used to grasp and tie steel bars; Each modular motion foot includes: a fourth drive device (10), an adapter plate (12) and a third drive device (9), fourth drive device (10) is installed on the front side or rear side of connecting plate (11), adapter plate (12) is installed on the drive end of fourth drive device (10), and the fourth drive device (10) is used to drive adapter plate (12) to displace in the direction perpendicular to connecting plate (11);Third drive device (9) is installed on adapter plate (12), and the drive end of third drive device (9) displaces in the direction parallel to connecting plate (11). Each modular motion foot further includes: a second drive device (8) and a telescopic assembly, the upper end of telescopic assembly and the drive end of third drive device (9) are connected through second drive device (8), and the second drive device (8) is used to drive telescopic assembly to rotate around the drive end of third drive device (9), and the lower end of telescopic assembly is connected with function integrated clamping foot.

2. The quadruped inchworm-style rebar tying robot of claim 1, wherein, The telescopic assembly includes: a first drive device (7) and a four-bar linkage mechanism (6), and the first drive device (7) is rotatably installed on the drive end of third drive device (9) through the second drive device (8);The four-bar linkage mechanism (6) includes: four links, the four links are the same in length and form a parallelogram structure, the two links on the left side are hinged to each other, the two links on the right side are hinged to each other, the upper ends of the two links on the upper side are connected with the output end of the first drive device (7), and the lower ends of the two links on the lower side are hinged to the upper ends of the function integrated clamping foot;The first drive device (7) is used to drive the two links on the upper side to realize synchronous opening and closing action.

3. The quadrupedal inchworm-style rebar tying robot of claim 1, wherein, Each function integrated clamping foot includes: foot drive device, active clamping foot (1) and multi-link mechanism (4), the upper end of foot drive device is connected with the lower end of telescopic assembly, four multi-link mechanisms (4) are arranged at equal intervals around the outer periphery of foot drive device, the four multi-link mechanisms (4) are connected with the output end of foot drive device, and the lower end of each multi-link mechanism (4) is provided with an active clamping foot (1), and the foot drive 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 grasping action of steel bars.

4. The quadruped inchworm-style rebar tying robot of claim 3, wherein, The multi-link mechanism (4) comprises 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 rotationally 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, and 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), and the foot driving device is used for pushing the top link downward and then pushing the middle link to rotate around the connecting rotating shaft, thereby realizing the opening and closing action of the active clamping foot (1).

5. The quadruped inchworm style rebar tying robot of claim 3, wherein, Each functional integrated clamping foot further comprises a broken wire feeding mechanism (2) and a binding wire (5), the top end side wall of the foot driving device is wound with the binding wire (5), the bottom of the foot driving device is provided with the broken wire feeding mechanism (2), and the end of the binding wire (5) penetrates into the broken wire feeding mechanism (2), and the broken wire feeding mechanism (2) is used for winding and shearing the binding wire (5).

6. The quadruped inchworm-style rebar tying robot of claim 5, wherein, Each functional integrated clamping foot further comprises a wire rotating mechanism (3), the bottom of the foot driving device is provided with the wire rotating mechanism (3), and the wire rotating mechanism (3) is used for clamping and rotating the binding wire (5), thereby realizing the binding of the steel bar.

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