Fabricated building steel bar bundling device and construction method thereof

Abstract

The invention relates to an assembly type building steel bar bundling device and a construction method thereof. The assembly type building steel bar bundling device comprises an outer support, an inner support, a transverse moving mechanism, a telescopic moving mechanism, a bundling mechanism and a positioning mechanism. A supporting rod is arranged at the bottom of the outer bracket; the telescopic moving mechanism comprises a fixed seat, folding legs, a driving cylinder and moving wheels; the binding mechanism comprises a lifting adjusting cylinder and a rebar binding machine, the lifting adjusting cylinder is arranged in the middle of the inner support, and the rebar binding machine is arranged at the bottom of the lifting adjusting cylinder. The positioning mechanism comprises a positioning frame, a sleeve, a swing shaft, a swing arm, a coil spring and a trigger; the positioning frame is fixed on the inner support, a sleeve is fixed at the bottom of the positioning frame, the swing shaft is arranged in the sleeve through a torsion spring, a limiting area is arranged on the sleeve, and the swing arm is arranged on the swing shaft and swings in the limiting area. The trigger is used for detecting the state of the swing arm and sending out a trigger signal when the swing arm is in the vertical state. A mechanical structure and simple electric control are combined, no complex freedom degree mechanical arm exists, and the manufacturing cost is low.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of steel bar bundling equipment, in particular to a prefabricated building steel bar bundling device and a construction method thereof. BACKGROUND

[0002] In the construction of highway subgrade, tunnel, bridge and pile foundation concrete engineering structures, steel mesh cage is a key component to ensure structural strength and stability, and steel bar bundling is the core process to ensure the stability of the steel mesh cage structure. At present, the steel bar bundling operation mode in the industry shows diversification characteristics, but all have significant limitations. Most construction sites still rely on manual assistance with ordinary tools or semi-automatic tools to complete the bundling, and the work efficiency is highly dependent on the proficiency of workers and the number of personnel, not only the labor cost is high, but also the operation quality is difficult to control uniformly. A small number of factories use welded steel mesh sheets to replace part of the bundling operation, but cannot solve the problem of truss bar bundling. In recent years, although automatic equipment has been applied, the problem is still serious. The joint-arm steel bar bundling robot adopted by some domestic enterprises has high degrees of freedom and adaptability, but its cost is high, the operation area is limited, and multiple steel bar bundling machines installed at the end cannot realize independent operation at multiple bundling points at the same time, and the efficiency improvement is limited.

[0003] In actual operation, when the steel bar bundling robot walks along the preset path (usually the vertical steel bar arrangement direction), it faces serious technical challenges, among which the difficulty in steel node recognition and low precision are the core problems that restrict the operation quality and efficiency, which are specifically manifested and caused as follows: 1. Difficulty in steel node recognition and low precision, resulting in positioning deviation In the prior art, the recognition of the cross intersection node by the steel bar bundling robot mainly relies on visual sensors or preset coordinate matching, but due to the complex construction site environment, the recognition accuracy is difficult to guarantee. On the one hand, the light conditions in the construction site are variable, strong light, shadow or dust will interfere with the image acquisition of the visual sensor, causing the steel edge features to be blurred, and the outline of the cross intersection node to be difficult to extract clearly; on the other hand, there are errors such as steel bending and deviation in the manufacturing process of the steel mesh cage, and the actual node position deviates from the preset coordinates of the design drawing, while the path planning of the robot is mostly based on the ideal model, lacking real-time dynamic calibration mechanism, so that the robot cannot accurately align the cross intersection node, resulting in deviation of the bundling position. 2. Large bundling deviation causes poor firmness Due to inaccurate node positioning, the wire cannot be precisely wound around the center area of the cross intersection, and in some bundling operations, the wire only winds around a single steel bar or deviates from the node core position, resulting in a significant decrease in the firmness of the steel bar connection. During concrete pouring and structure stress process, such deviations easily cause relative displacement of steel bars, affecting the stability of the overall structure, and even posing a safety hazard.

[0004] 3. Excessive consumables, low recognition efficiency and time-consuming To make up for the lack of recognition accuracy, some robots use the strategy of "expanding the bundling range" to cover the possible node area by increasing the amount of wire used, resulting in a significant increase in the consumption of wire and other consumables. At the same time, the low-precision recognition system needs multiple repeated scans and comparisons to determine the node position, prolonging the recognition time of a single node and reducing the overall operation efficiency. Especially in domestic construction sites where there is no unified standard for steel bar spacing, non-standard spacing further reduces the matching degree of the robot's preset path and the actual node distribution, resulting in frequent misjudgment and omission during the recognition process, which requires multiple rework adjustments, further exacerbating the time-consuming problem. 4. Insufficient adaptability exacerbates technical bottlenecks Existing wheeled robots are limited by fixed spacing recognition algorithms and cannot handle non-standard steel bar spacing in domestic construction sites. Although articulated robots have some flexibility, the complex spatial pose calculation and control requirements slow down their response speed when dealing with dense nodes or irregular steel bar arrangements, and interference occurs when multiple bundling machines work together, making it difficult to achieve efficient parallel operation. In addition, in harsh outdoor environments, the failure rate of high-precision sensors increases, further weakening the stability and sustainability of node recognition. In summary, the technical defects of existing steel bar bundling robots in the node recognition and positioning process have become a key bottleneck restricting their application in large-scale projects such as highway construction. Therefore, it is necessary to research a prefabricated building steel bar bundling device and its construction method. SUMMARY

[0005] Therefore, the purpose of the present application is to provide a prefabricated building steel bar bundling device and its construction method, which effectively solves the problems of difficult steel bar node recognition and low accuracy when the existing steel bar bundling robot walks along the preset path, resulting in large positioning deviation, poor bundling firmness, and excessive consumables, low recognition efficiency and time-consuming. At the same time, its adaptability is insufficient, making it difficult to cope with complex construction environments and non-standard steel bar spacing, which restricts its promotion in engineering.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a prefabricated building rebar binding device, comprising an outer support, an inner support, a transverse movement mechanism, a telescopic moving mechanism, a binding mechanism, and a positioning mechanism; the bottom of the outer support is provided with a support rod, and a track is provided inside it; the transverse movement mechanism includes a transverse movement seat, a rack, a gear, and a transverse movement motor; the transverse movement seat is adapted to slide within the track, and the inner support is fixed on the transverse movement seat; the rack is fixed on the transverse movement seat, and the transverse movement motor is fixed on the outer support, its rotating shaft being connected to the gear transmission, and the gear meshing with the rack; The telescopic moving mechanism includes a fixed base, a folding leg, a drive cylinder, and a moving wheel; the fixed base is fixed on the inner support, the folding leg is set on the fixed base, and a drive cylinder capable of driving the folding leg to unfold or fold is set on the folding leg; the moving wheel is set at the bottom of the folding leg, and the moving direction of the moving wheel is perpendicular to the rack arrangement direction. The binding mechanism includes a lifting adjustment cylinder and a rebar binding machine. The lifting adjustment cylinder is located in the middle of the inner support, and the rebar binding machine is located at its bottom. The positioning mechanism includes a positioning frame, a sleeve, a swing shaft, a swing arm, a coil spring, and a trigger. The positioning frame is fixed on the inner support and is located in front of the rebar tying machine. A sleeve is fixed at the bottom of the positioning frame. The swing shaft is installed inside the sleeve via a torsion spring. A limit zone is provided on the sleeve. The swing arm is installed on the swing shaft and swings within the limit zone. The trigger is used to detect the state of the swing arm and sends a trigger signal when the swing arm is in a vertical state.

[0007] Furthermore, it also includes a control system, which includes a controller. The controller receives the trigger signal and controls the moving wheels to stop. At the same time, it drives the lifting adjustment cylinder to descend to a specified height and starts the rebar tying machine. After the tying is completed, it drives the lifting adjustment cylinder to reset in the opposite direction, and the moving wheels continue to travel according to the set path.

[0008] Furthermore, the outer support includes an L-shaped segment and an arc-shaped segment. A support rod is provided at the bottom of the L-shaped segment, and the two L-shaped segments are connected by an arc-shaped segment to form the foundation of the outer frame. The track is set on the inner side of the L-shaped segment.

[0009] Furthermore, a reinforcing frame is provided within the arc-shaped segment, and a binocular camera is mounted on the reinforcing frame.

[0010] Furthermore, the track is provided with a sliding cavity and a moving cavity. The transverse seat is slidably disposed in the sliding cavity and has rollers on both sides thereon. The rollers are correspondingly disposed in the moving cavity. A drive hole is provided at the bottom of the sliding cavity. The gear is configured on both sides of the drive hole via a bracket and meshes with the rack in the sliding cavity via the drive hole.

[0011] Furthermore, the sleeve includes a central cylinder 55 and side cylinders, with side cylinders provided on both sides of the central cylinder. The swing shaft is rotatably disposed within the central cylinder and the side cylinders, and a coil spring is disposed within the side cylinders and connected to the swing shaft. A limit hole is provided at the bottom of the central cylinder, and the swing arm is fixed to the swing shaft through the limit hole.

[0012] Furthermore, the trigger is an angle measuring instrument, which is connected to the pendulum shaft and measures the swing angle of the pendulum shaft.

[0013] Furthermore, the trigger includes a trigger head, a trigger rod, a spring, a trigger plate, and a trigger seat; the trigger head is disposed on the swing shaft, the trigger rod is slidably fitted inside the central cylinder by the spring, a trigger seat is disposed on the outside of the central cylinder, one end of the trigger rod is located in the gap between the swing shaft and the central cylinder, and a trigger plate is disposed on the other end of the trigger rod, the trigger plate corresponding to the trigger seat.

[0014] Furthermore, the folding leg includes a first leg and a second leg; the first leg and the second leg are hinged together, the first leg is hinged to the bottom of the fixed base, and the bottom of the second leg is provided with an electrically driven moving wheel; a drive cylinder is hinged between the first leg and the second leg.

[0015] A prefabricated building rebar tying device and its construction method, applied to the aforementioned prefabricated building rebar tying device, includes the following steps: Step 1: Path Recognition The steel reinforcement mesh is scanned to obtain the arrangement of the steel reinforcement. A point cloud model of the steel reinforcement mesh is generated through a stereo matching algorithm. The point cloud model is then imported into the path planning module of the control system. The system automatically generates the foundation walking path based on the distribution pattern of the steel reinforcement intersection nodes. Step 2: Place the prefabricated building rebar tying device on the tied rebar, ensuring that the support rod of the outer support is stably supported at the edge of the rebar mesh, and the inner support is in the initial working position. Step 3: The folding legs unfold, allowing the moving wheels to rest on the reinforcing mesh. The moving wheels then move forward along the planned path. When the trigger detects that the swing arm is in a vertical position, it indicates that the equipment has reached the rebar intersection position. The control system immediately stops the moving wheels and simultaneously drives the lifting adjustment cylinder to descend, sending the rebar tying machine to the distance to the rebar intersection. The lifting adjustment cylinder stops moving, and the rebar tying machine starts working to tie the rebars at the intersection. Step four: After the binding is completed, the lifting adjustment cylinder resets, raising the rebar binding machine to the initial height; the moving wheel continues to move forward, and the swing arm is pushed away after contacting the rebar, passing over the rebar, and then quickly reset under the action of the coil spring; as the moving wheel continues to move forward, at the next rebar intersection, the swing arm is blocked by the rebar again until it is in a vertical state; after the controller receives this status signal, it repeats the operations of steps three and four to bind the subsequent rebar intersections in sequence; Step 5: After the reinforcing bars on a straight path are tied up, the folding leg retracts under the action of the drive cylinder, causing the moving wheel to detach from the surface of the reinforcing bar. The outer support sits on the reinforcing bar with the support rod, while the inner support is suspended inside the outer support. At this time, the lateral movement motor starts, driving the gear to rotate. The gear meshes with the rack and pinion, causing the inner support to move to the corresponding point on one side. The moving distance is determined according to the width of the planned path. Subsequently, the folding leg extends, pushing the outer support upward and suspending it in the air. The gear rotates in the opposite direction, causing the outer support to return to the position corresponding to the inner support, completing the lateral movement and preparing for walking along the next straight path.

[0016] The beneficial effects of the above technical solution are as follows: In view of the problems existing in the node recognition, adaptability and cost of the existing rebar tying robots, the present invention aims to achieve efficient, accurate and low-cost automated tying of rebar mesh, and proposes a prefabricated building rebar tying device that integrates mechanical structure and simple electrical control. The core idea is to organically combine external supports, internal supports, lateral movement mechanisms, telescopic movement mechanisms, binding mechanisms, positioning mechanisms, and control systems through modular design. Mechanically triggered positioning replaces complex visual recognition, and multi-directional movement mechanisms are used to cover steel bar nodes with different spacing and paths. At the same time, the structure is simplified to reduce costs and maintenance difficulty.

[0017] The device of this invention uses a binocular camera to scan the path of the steel mesh to generate the mesh. The external support provides protection and a foundation for installation. The lateral movement mechanism and the telescopic movement mechanism realize lateral and longitudinal movement, respectively. The positioning mechanism identifies the intersection of the steel bars and triggers a signal. After receiving the signal, the control system instructs the binding mechanism to complete the binding operation. All mechanisms work together to achieve automated binding. When the swing arm moves with the device and contacts the reinforcing bar, it drives the swing shaft to rotate, causing the coil spring to deform. When the swing arm is blocked by the intersection node and reaches a vertical position, the trigger (angle measuring instrument or mechanical contact structure) sends a signal, and after the swing arm passes the reinforcing bar, the coil spring drives the swing shaft to reset. After receiving the trigger signal, the moving wheel stops, and the lifting adjustment cylinder drives the reinforcing bar binding machine to descend to the node to complete the binding. Then it resets and continues to move, repeating the cycle. After completing the straight path, the lateral movement mechanism cooperates with the telescopic moving mechanism to achieve lateral movement and enter the new path for operation.

[0018] This invention employs mechanically triggered positioning, eliminating the need for complex visual algorithms. Through physical contact between the swing arm and the rebar, and trigger detection, it reduces environmental interference, improves node recognition accuracy and efficiency, and avoids problems such as poor binding strength and excessive material consumption caused by positioning deviations. The lateral movement mechanism and telescopic movement mechanism work together to flexibly handle non-standard rebar spacing, breaking through the dependence of traditional wheeled robots on fixed spacing. The external support structure allows it to adapt to complex outdoor construction environments, covering various types of rebar mesh. The positioning mechanism and control system respond quickly, reducing the time required for single-node recognition; multi-directional movement enables unmanned multi-path operations; and the binding mechanism works in conjunction with the positioning mechanism to ensure binding accuracy, reduce rework rates, and improve overall work efficiency. Therefore, this invention combines mechanical structure with simple electronic control, eliminating the need for a complex robotic arm with multiple degrees of freedom, resulting in low manufacturing costs. Its simple structure and fewer moving parts reduce the failure rate and maintenance frequency, while also providing low energy consumption and long battery life, making it easy to promote and apply in engineering projects. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of an embodiment of the present invention; Figure 2 for Figure 1 A schematic diagram of the side view structure; Figure 3 for Figure 1 Front view structural diagram; Figure 4 This is a schematic diagram of the internal structure of the present invention; Figure 5 This is a bottom-view structural diagram of the present invention; Figure 6 This is a schematic diagram of the implementation structure of the lateral movement mechanism; Figure 7 This is a schematic diagram of the meshing structure of a gear and a rack; Figure 8 This is a diagram illustrating the three states of the arm swing motion. Figure 9 This is a schematic diagram of the sleeve's implementation structure; Figure 10 This is a schematic diagram of another implementation structure of the trigger.

[0020] Reference numerals: 1-Outer support, 11-L-shaped segment, 12-Support rod, 13-Arc-shaped segment, 14-Reinforcing frame, 15-Binocular camera; 2-Transverse movement mechanism, 21-Transverse movement seat, 22-Rail, 23-Transverse movement motor, 24-Roller, 25-Gear, 26-Rack, 27-Support; 3-Telescopic moving mechanism, 31-Fixed seat, 32-First leg, 33-Second leg, 34-Drive cylinder, 35-Moving wheel ; 4-Binding mechanism, 41-Lifting adjustment cylinder, 42-Rebar binding machine, 5-Positioning mechanism, 51-Positioning frame, 52-Sleeve, 53-Swing arm, 54-Swing shaft, 55-Center cylinder, 56-Side cylinder, 57-Coil spring, 58-Trigger, 581-Trigger head, 582-Trigger rod, 583-Spring, 584-Trigger seat, 585-Trigger plate, 59-Limiting area, 6-Inner support, 7-Rebar intersection node. Detailed Implementation

[0021] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments: Example 1: This example aims to provide a prefabricated building rebar tying device and its construction method, mainly used for rebar tying operations of rebar mesh. Addressing the problems of difficulty in rebar node identification and low accuracy when existing rebar tying robots walk along preset paths, resulting in large positioning deviations, poor tying stability, high material consumption, low identification efficiency, and time consumption, this example provides a prefabricated building rebar tying device.

[0022] like Figures 1-5 As shown, a prefabricated building rebar binding device includes an outer support 1, an inner support 6, a transverse movement mechanism 2, a telescopic movement mechanism 3, a binding mechanism 4, and a positioning mechanism 5.

[0023] The outer support 1 has a support rod 12 at its bottom, and a track 22 inside it. In implementation, the outer support 1 includes an L-shaped section 11 and an arc-shaped section 13. The support rod 12 is located at the bottom of the L-shaped section 11, and the two L-shaped sections 11 are connected by the arc-shaped section 13 to form the outer frame foundation. The track 22 is located inside the L-shaped section 11. The outer support 1 can surround the core components, forming a protective barrier, blocking debris, protecting against rain and impacts, and reducing external interference. Simultaneously, it provides precise positioning references for each component, ensuring the stability of operation and testing, and reducing the impact of vibration.

[0024] Meanwhile, a reinforcing frame 14 is installed within the arc-shaped segment 13, and a binocular camera 15 is mounted on the reinforcing frame 14. The binocular camera includes a horizontal binocular camera and a vertical binocular camera, enabling visual acquisition of the working environment.

[0025] The transverse movement mechanism 2 includes a transverse movement seat 21, a rack 26, a gear 25, and a transverse movement motor 23. The transverse movement seat 21 is fitted and slidably mounted within the track 22. All components work together to ensure that the inner support 6 moves stably and accurately on the track 22. In the specific implementation structure, the track 22 is provided with a sliding cavity and a moving cavity. The transverse movement seat 21 is slidably mounted in the sliding cavity, and rollers 24 are provided on both sides of it. The rollers 24 are correspondingly mounted in the moving cavity. A drive hole is provided at the bottom of the sliding cavity. The gear 25 is mounted on both sides of the drive hole via a bracket 27 and meshes with the rack 26 located in the sliding cavity via the drive hole.

[0026] As a key component connecting the inner support 6 and the track 22, the transverse sliding seat 21 is shaped to fit the sliding cavity of the track 22, allowing it to be smoothly fitted inside the sliding cavity. To reduce frictional resistance during transverse movement, rollers 24 are installed on both sides of the transverse sliding seat 21. These rollers 24 are correspondingly embedded in the moving cavity of the track 22, so that when the transverse sliding seat 21 slides, the rollers 24 can roll along the moving cavity, converting sliding friction into rolling friction, effectively reducing wear, and ensuring smooth movement.

[0027] The inner support 6 is fixed to the transverse sliding seat 21; the rack 26 is fixed to the transverse sliding seat 21, and the transverse motor 23 is fixed to the outer support 1, with its shaft connected to the gear 25. The gear 25 meshes with the rack 26. The rack 26 is fixed to the transverse sliding seat 21 and moves synchronously with it. A drive hole is provided at the bottom of the sliding cavity of the track 22. The gear 25 is mounted on both sides of the drive hole via a bracket, its position corresponding to the rack 26, and it can pass through the drive hole to mesh with the rack 26 inside the sliding cavity. The transverse motor 23 is fixed to the outer support 1, and its output shaft is connected to the gear 25. When the transverse motor 23 starts, it drives the gear 25 to rotate. The meshing action of the gear 25 and the rack 26 converts the rotational motion into linear motion, thereby driving the transverse sliding seat 21 to move laterally along the sliding cavity of the track 22, thus adjusting the position of the inner support 6.

[0028] The telescopic moving mechanism 3 includes a fixed base 31, folding legs, a drive cylinder 34, and moving wheels 35. The fixed base 31 is fixed to the inner support 6, and the folding legs are mounted on the fixed base 31. A drive cylinder 34, capable of driving the folding legs to unfold or fold, is installed on the folding legs. The fixed base 31 serves as the mounting foundation for the entire mechanism, firmly fixed to the inner support 6, providing a reliable support point for the folding legs. The folding legs consist of a first leg 32 and a second leg 33, which are connected by a hinge to form a movable linkage structure. The folding legs include a first leg 32 and a second leg 33; the first leg 32 and the second leg 33 are hinged together. The first leg 32 is hinged to the bottom of the fixed base 31, and an electrically driven moving wheel 35 is installed at the bottom of the second leg 33. A drive cylinder 34 is hinged between the first leg 32 and the second leg 33.

[0029] The top of the first leg 32 is hinged to the bottom of the fixed base 31, allowing it to rotate around the hinge point. The bottom of the second leg 33 is equipped with a movable wheel 35, the direction of movement of which is perpendicular to the arrangement direction of the rack 26. This allows the device to adjust its longitudinal position in addition to lateral movement, expanding the work coverage area. A drive cylinder 34 is hinged between the first leg 32 and the second leg 33 to drive the folding legs to unfold or fold. When the drive cylinder 34 extends, it pushes the first leg 32 and the second leg 33 to rotate around their respective hinge points, causing the folding legs to unfold as a whole. This, in turn, drives the movable wheel 35 downwards until it contacts the ground or work surface, supporting the device. When the drive cylinder 34 retracts, the folding legs fold up, and the movable wheel 35 rises upwards, switching the device's support method.

[0030] The movable wheel 35 is located at the bottom of the folding leg, and its movement direction is perpendicular to the arrangement direction of the rack 26. The movable wheel 35 is electrically driven and can autonomously provide power to move the device along a set direction. When the folding leg is unfolded, the movable wheel 35 undertakes the functions of supporting and moving the device, and works with the lateral movement mechanism 2 to enable the device to move flexibly in the plane. When the folding leg is folded, the device can switch to the external support 1 support state to ensure stability in specific operation stages. This allows the device to flexibly adjust the support method and movement state according to the operation requirements, improving its adaptability to different construction scenarios.

[0031] The binding mechanism 4 includes a lifting adjustment cylinder 41 and a rebar binding machine 42. The lifting adjustment cylinder 41 is located in the middle of the inner support 6, and the rebar binding machine 42 is located at its bottom. The lifting adjustment cylinder 41, as a key component for adjusting the height of the rebar binding machine 42, is stably installed in the middle of the inner support 6, with its installation angle perpendicular to the plane of the inner support 6, providing a stable foundation for subsequent lifting actions. The bottom of the lifting adjustment cylinder 41 is connected to the rebar binding machine 42, ensuring the stability of power transmission and enabling the rebar binding machine 42 to rise and fall synchronously with the extension and retraction of the lifting adjustment cylinder 41. The rebar binding machine 42, as the component directly performing the binding action, is an existing technology used in this embodiment, which is relatively mature in industrial applications. After reaching the designated height, the rebar binding machine 42 can quickly start and complete a series of operations such as wrapping, tightening, and cutting the binding wire at the rebar intersections, achieving a firm connection of the rebars. Its cooperation with the lifting and adjusting cylinder 41 not only ensures the accuracy of the binding position, but also allows for flexible adjustment of the working height according to different steel bar specifications and binding requirements, greatly improving the adaptability and reliability of the binding operation.

[0032] The positioning mechanism 5 includes a positioning frame 51, a sleeve 52, a swing shaft 54, a swing arm 53, a coil spring 57, and a trigger 58. It is mainly used to generate a positioning signal, simplifying the identification of rebar nodes and improving identification accuracy. The positioning frame 51 is fixed on the inner support 6 and located in front of the rebar tying machine 42. The sleeve 52 is fixed to the bottom of the positioning frame 51. The swing shaft 54 ​​is installed inside the sleeve 52 via a torsion spring. A limit zone 59 is provided on the sleeve 52. The swing arm 53 is mounted on the swing shaft 54 ​​and swings within the limit zone. The trigger 58 is used to detect the state of the swing arm 53 and issues a trigger signal when the swing arm 53 is in a vertical position. When the positioning mechanism 5 detects a rebar intersection node and issues a signal, the lifting adjustment cylinder 41 will start operating according to the command. When a binding operation is required, the lifting adjustment cylinder 41 extends downward, driving the rebar binding machine 42 to move precisely to a height that matches the intersection of the rebars, ensuring that the working end of the binding machine can be accurately aligned with the node position; when the binding operation is completed, the lifting adjustment cylinder 41 retracts upward, raising the rebar binding machine 42 to the initial position, avoiding collision or interference with the rebars during the movement of the device. The positioning frame 51, serving as the mounting carrier for the entire mechanism, is fixed to the inner support 6 and positioned in front of the rebar tying machine 42. This structure allows the positioning mechanism 5 to contact the rebar node before the tying mechanism 4, completing the positioning test in advance and allowing preparation time for the tying action. The sleeve 52 fixed at the bottom of the positioning frame 51 provides a stable installation space for the swing shaft 54. The swing shaft 54 ​​is housed inside the sleeve 52 via a torsion spring, giving it a reset capability. The sleeve 52 has a limiting zone, and the swing arm 53 is fixed to the swing shaft 54, with its swing range strictly limited within the limiting zone to prevent positioning deviation due to excessive swing. As the device moves along the preset path, the swing arm 53 contacts the rebar before the rebar tying machine 42. During contact with the rebar, the swing arm 53 is pushed by the rebar, causing the swing shaft 54 ​​to rotate within the sleeve 52 against the spring force of the torsion spring. As the device continues to move, after the swing arm 53 passes the rebar, the spring force of the torsion spring will cause the swing shaft 54 ​​to reset, returning the swing arm 53 to its initial position. The trigger 58 continuously monitors the state of the swing arm 53. When the swing arm 53 is blocked to a vertical position due to contact with the rebar intersection node, the trigger 58 immediately sends a trigger signal to accurately mark the node position. The control system includes a controller that receives the trigger signal and stops the moving wheel 35. Simultaneously, it drives the lifting adjustment cylinder 41 to descend to a designated height, then starts the rebar tying machine 42. After tying is completed, it reverses the lifting adjustment cylinder 41 to reset, and the moving wheel 35 continues to travel along the set path. The trigger signal is transmitted to the control system, which in turn instructs the tying mechanism 4 to operate: the lifting adjustment cylinder 41 extends downwards, moving the rebar tying machine 42 to a suitable height to ensure the working end is aligned with the node; after tying, the lifting adjustment cylinder 41 retracts to reset, preventing collision with the rebar during movement. This mechanically triggered positioning method eliminates the need for complex visual recognition algorithms or coordinate matching, directly achieving node recognition through the physical contact between the swing arm 53 and the rebar. This simplifies the recognition logic, reduces sensitivity to ambient light, dust, and other interference factors, and significantly improves recognition accuracy and efficiency, providing a reliable guarantee for the precision of rebar tying operations.

[0033] Trigger 58 is an angle measuring instrument, which is connected to the pendulum shaft 54 ​​and measures the swing angle of the pendulum shaft 54. The angle measuring instrument mainly consists of an angle sensor, a signal processing module, and a connection interface. The angle sensor is the core component, which is rigidly connected to the pendulum shaft 54 ​​through a dedicated connector to ensure that the rotation of the pendulum shaft 54 ​​can be fully transmitted to the sensing element inside the sensor. The signal processing module is integrated into the measuring instrument housing and is used to receive the raw angle data collected by the sensor and perform filtering, amplification, and other processing. The connection interface is connected to the control system through a cable to realize real-time signal transmission.

[0034] The angle measuring instrument works by determining the state of the swing arm 53 based on the change in the rotation angle of the swing shaft 54. When the swing arm 53 is in its initial state of natural drooping, the swing shaft 54 ​​maintains a fixed initial angle. The angle sensor converts the angle value at this time into an electrical signal, which is then processed by the processing module and stored as a reference signal. When the device moves and the swing arm 53 contacts and is pushed against the reinforcing bar, the swing shaft 54 ​​rotates along with the swing arm 53. The angle sensor captures the angle change of the swing shaft 54 ​​in real time and converts the change into a corresponding electrical signal. The signal processing module analyzes this dynamic signal and continuously tracks the trend of angle increase or decrease. When the swing arm 53 moves to the intersection of the reinforcing bars and is blocked, and is in a vertical position, the rotation angle of the swing shaft 54 ​​reaches a preset critical value. At this time, the angle sensor collects this specific angle signal, and after the processing module identifies the critical state, it immediately converts it into a standard trigger electrical signal and sends it to the control system through the connection interface. This accurately informs the device that it has reached the position of the reinforcing bar intersection that needs to be tied, thereby triggering the subsequent tying action and slowing down in advance to provide reserve time for the equipment to operate.

[0035] As the swing arm 53 passes the reinforcing bar and resets with the help of the torsion spring, the swing shaft 54 ​​rotates in the opposite direction. The angle measuring instrument synchronously records the angle return change. Once the swing arm 53 returns to its initial position, the measuring instrument re-outputs the reference signal, awaiting the next node detection. This embodiment achieves reliable identification of node positions by directly measuring the motion angle of the mechanical structure, avoiding interference from complex environments in the identification process.

[0036] A prefabricated building rebar tying device and its construction method, applied to the aforementioned prefabricated building rebar tying device, includes the following steps: Step 1: Path Recognition The steel reinforcement mesh is scanned to obtain the arrangement of the steel reinforcement. A point cloud model of the steel reinforcement mesh is generated through a stereo matching algorithm. The point cloud model is then imported into the path planning module of the control system. The system automatically generates the foundation walking path based on the distribution pattern of the steel reinforcement intersection nodes. Step 2: Place the prefabricated building rebar tying device on the tied rebar, ensuring that the support rod 12 of the outer support 1 is stably supported at the edge of the rebar mesh, and the inner support 6 is in the initial working position. Step 3: The folding leg unfolds, allowing the moving wheel 35 to rest on the steel mesh. The moving wheel 35 then moves forward along the planned path. When the trigger 58 detects that the swing arm is in a vertical position, it indicates that the equipment has reached the steel cross node position. The control system immediately stops the moving wheel 35 and simultaneously drives the lifting adjustment cylinder 41 to descend, sending the steel bar binding machine 42 to the distance to the steel cross node. The lifting adjustment cylinder 41 stops moving, and the steel bar binding machine 42 starts working to bind the steel bars at the cross node 7. Step four: After the binding is completed, the lifting adjustment cylinder 41 resets, raising the rebar binding machine 42 to the initial height; the moving wheel 35 continues to move forward, and the swing arm is pushed away after contacting the rebar, passing over the rebar, and then quickly reset under the action of the coil spring 57; as the moving wheel 35 continues to move forward, at the next rebar intersection node, the swing arm is blocked by the rebar again until it is in a vertical state; after the controller receives this status signal, it repeats the operations of steps three and four, binding the subsequent rebar intersection nodes in sequence; Step 5: After the reinforcing bars on a straight path are tied up, the folding leg retracts under the action of the drive cylinder 34, causing the moving wheel 35 to detach from the surface of the reinforcing bar. The outer support 1 rests on the reinforcing bar with the support rod 12, and the inner support 6 is suspended in the air inside the outer support 1. At this time, the lateral movement motor 23 starts, driving the gear 25 to rotate. The gear 25 meshes with the rack 26, causing the inner support 6 to move to the corresponding point on one side. The moving distance is determined according to the width of the planned path. Subsequently, the folding leg extends, pushing the outer support 1 upward to make it suspended in the air. The gear 25 rotates in the opposite direction, driving the outer support 1 to return to the position corresponding to the inner support 6, completing the lateral movement and preparing for walking along the next straight path.

[0037] To address the issues of difficult and low-accuracy node recognition in existing rebar tying machines (42 robots), this embodiment employs a mechanically triggered positioning mechanism 5. Through the physical contact between the swing arm 53 and the rebar, and the precise detection of the angle of the swing axis 54 by an angle measuring instrument, node recognition can be stably achieved without complex visual algorithms, significantly reducing recognition difficulty and improving accuracy. This effectively avoids problems such as poor binding strength and excessive material consumption caused by positioning deviations. The efficient recognition of the positioning mechanism 5 and the rapid response of the control system reduce the time spent on single-node recognition. The collaboration between the telescopic movement mechanism 3 and the lateral movement mechanism 2 enables flexible movement of the device within a plane, allowing for multi-path operations without manual intervention. The cooperation between the binding mechanism 4 and the positioning mechanism 5 ensures the accuracy of the binding position, reduces rework rates, and improves overall work efficiency. The design, combining mechanical structure with simple electrical control, results in lower manufacturing costs. The simple structure, fewer moving parts, and avoidance of complex spatial attitude calculations reduce the development difficulty and failure rate of the control system, decrease maintenance costs and frequency, and simultaneously reduce energy consumption and extend battery life.

[0038] Example 2 further illustrates the implementation structure of sleeve 52.

[0039] In this embodiment, the sleeve includes a central cylinder 55 and side cylinders 56. The central cylinder 55 is connected to the side cylinders 56 on both sides, forming a stable integral structure. The swing shaft 54 ​​passes through the central cylinder 55 and the side cylinders 56, and can rotate within them, providing a stable support shaft for the swing of the swing arm 53. The coil spring 57 is installed inside the side cylinder 56, with one end connected to the swing shaft 54. When the swing shaft 54 ​​rotates with the swing arm 53, the coil spring 57 deforms and stores elastic force. After the external force disappears, the elastic force is released to drive the swing shaft 54 ​​to return to its original position.

[0040] A limiting hole is provided at the bottom of the central cylinder 55. The swing arm passes through this limiting hole and is fixed to the swing shaft 54. The limiting hole constrains the swing range of the swing arm, ensuring that the swing arm 53 always moves within the set range, avoiding the impact of excessive swing amplitude on the accuracy of node recognition. It also makes the connection between the swing arm and the swing shaft 54 ​​more secure, ensuring that the movement of the swing arm 53 can be accurately transmitted to the swing shaft 54. In this embodiment, the sleeve 52 not only provides installation space for components such as the swing shaft 54 ​​and the coil spring 57, but also ensures the stable operation of the positioning mechanism 5 through the limiting function.

[0041] Example 3 provides another trigger 58 structure.

[0042] In this embodiment, the trigger 58 includes a trigger head 581, a trigger rod 582, a spring 583, a trigger plate 585, and a trigger seat 584. The trigger head 581 is disposed on the swing shaft 54. The trigger rod 582 is slidably fitted inside the central cylinder 55 via the spring 583. The trigger seat 584 is disposed on the outside of the central cylinder 55. One end of the trigger rod 582 is located in the gap between the swing shaft 54 ​​and the central cylinder 55. The other end of the trigger rod 582 is provided with a trigger plate 585, which corresponds to the trigger seat 584.

[0043] The trigger head 581 is mounted on the swing shaft 54 ​​and rotates with the swing shaft 54. The trigger rod 582 is slidably fitted inside the center cylinder 55 by means of the spring 583. One end of the rod is located in the gap between the swing shaft 54 ​​and the center cylinder 55, and the other end is equipped with a trigger plate 585. The trigger seat 584 is located on the outside of the center cylinder 55 and corresponds to the position of the trigger plate 585. When the swing shaft 54 ​​drives the trigger head 581 to rotate, the trigger head 581 contacts one end of the trigger rod 582 located within the gap and pushes it to move. Simultaneously, the trigger rod 582 compresses the spring 583, causing the trigger plate 585 to move closer to the trigger seat 584. When the swing arm 53 is in a vertical position, the trigger plate 585 contacts the trigger seat 584, thus generating a trigger signal. When the swing shaft 54 ​​returns to its original position, the trigger head 581 no longer applies force to the trigger rod 582, the spring 583 returns to its original state, pushing the trigger rod 582 back to its original position, and the trigger plate 585 separates from the trigger seat 584, awaiting the next trigger. This structure achieves signal triggering through mechanical contact, which is simple and reliable.

[0044] The embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. The basic concept of the present invention lies in combining a mechanical structure with simple electronic control. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A prefabricated building rebar binding device, characterized in that: The system includes an outer support, an inner support, a lateral movement mechanism, a telescopic moving mechanism, a binding mechanism, and a positioning mechanism. The bottom of the outer support is equipped with a support rod, and a track is installed inside it. The lateral movement mechanism includes a lateral movement seat, a rack, a gear, and a lateral movement motor. The lateral movement seat is fitted into the track, and the inner support is fixed to the lateral movement seat. The rack is fixed to the lateral movement seat, and the lateral movement motor is fixed to the outer support; its shaft is connected to the gear drive, and the gear meshes with the rack. The telescopic moving mechanism includes a fixed base, a folding leg, a drive cylinder, and a moving wheel; the fixed base is fixed on the inner support, the folding leg is set on the fixed base, and a drive cylinder capable of driving the folding leg to unfold or fold is set on the folding leg; the moving wheel is set at the bottom of the folding leg, and the moving direction of the moving wheel is perpendicular to the rack arrangement direction. The binding mechanism includes a lifting adjustment cylinder and a rebar binding machine. The lifting adjustment cylinder is located in the middle of the inner support, and the rebar binding machine is located at its bottom. The positioning mechanism includes a positioning frame, a sleeve, a swing shaft, a swing arm, a coil spring, and a trigger. The positioning frame is fixed on the inner support and is located in front of the rebar tying machine. A sleeve is fixed at the bottom of the positioning frame. The swing shaft is installed inside the sleeve via a torsion spring. A limit zone is provided on the sleeve. The swing arm is installed on the swing shaft and swings within the limit zone. The trigger is used to detect the state of the swing arm and sends a trigger signal when the swing arm is in a vertical state.

2. The prefabricated building rebar tying device according to claim 1, characterized in that: It also includes a control system, which includes a controller. The controller receives the trigger signal and controls the moving wheels to stop. At the same time, it drives the lifting adjustment cylinder to descend to the specified height and starts the rebar tying machine. After the tying is completed, it drives the lifting adjustment cylinder to reset in the opposite direction, and the moving wheels continue to travel according to the set path.

3. The prefabricated building rebar tying device according to claim 1, characterized in that: The outer support includes an L-shaped section and an arc-shaped section. A support rod is provided at the bottom of the L-shaped section, and the two L-shaped sections are connected by an arc-shaped section to form the foundation of the outer frame. The track is set on the inner side of the L-shaped section.

4. The prefabricated building rebar tying device according to claim 3, characterized in that: A reinforcing frame is installed within the arc-shaped section, and a binocular camera is mounted on the reinforcing frame.

5. The prefabricated building rebar tying device according to claim 1, characterized in that: The track is provided with a sliding cavity and a moving cavity. The transverse seat is slidably disposed in the sliding cavity and has rollers on both sides thereon. The rollers are correspondingly disposed in the moving cavity. A drive hole is provided at the bottom of the sliding cavity. The gear is configured on both sides of the drive hole via a bracket and meshes with the rack in the sliding cavity via the drive hole.

6. The prefabricated building rebar tying device according to claim 1, characterized in that: The sleeve includes a central cylinder and side cylinders. Side cylinders are provided on both sides of the central cylinder. The swing shaft is rotatably disposed inside the central cylinder and the side cylinders. The coil spring is disposed inside the side cylinder and connected to the swing shaft. A limit hole is provided at the bottom of the central cylinder, and the swing arm is fixed to the swing shaft through the limit hole.

7. The prefabricated building rebar tying device according to claim 1, characterized in that: The trigger is an angle measuring instrument, which is connected to the pendulum shaft and measures the swing angle of the pendulum shaft.

8. The prefabricated building rebar tying device according to claim 1, characterized in that: The trigger includes a trigger head, a trigger rod, a spring, a trigger plate, and a trigger seat. The trigger head is mounted on the swing shaft, the trigger rod is slidably fitted inside the central cylinder by the spring, and a trigger seat is provided on the outside of the central cylinder. One end of the trigger rod is located in the gap between the swing shaft and the central cylinder, and the other end of the trigger rod is provided with a trigger plate, which corresponds to the trigger seat.

9. The prefabricated building rebar tying device according to claim 1, characterized in that: The folding leg includes a first leg and a second leg; the first leg and the second leg are hinged together, the first leg is hinged to the bottom of the fixed base, and the bottom of the second leg is provided with an electrically driven moving wheel; a drive cylinder is hinged between the first leg and the second leg.

10. A prefabricated building rebar tying device and its construction method, applied to the prefabricated building rebar tying device as described in claim 1, characterized in that: Includes the following steps: Step 1: Path Recognition The steel reinforcement mesh is scanned to obtain the arrangement of the steel reinforcement. A point cloud model of the steel reinforcement mesh is generated through a stereo matching algorithm. The point cloud model is then imported into the path planning module of the control system. The system automatically generates the foundation walking path based on the distribution pattern of the steel reinforcement intersection nodes. Step 2: Place the prefabricated building rebar tying device on the tied rebar, ensuring that the support rod of the outer support is stably supported at the edge of the rebar mesh, and the inner support is in the initial working position. Step 3: The folding legs unfold, allowing the moving wheels to rest on the reinforcing mesh. The moving wheels then move forward along the planned path. When the trigger detects that the swing arm is in a vertical position, it indicates that the equipment has reached the rebar intersection position. The control system immediately stops the moving wheels and simultaneously drives the lifting adjustment cylinder to descend, sending the rebar tying machine to the distance to the rebar intersection. The lifting adjustment cylinder stops moving, and the rebar tying machine starts working to tie the rebars at the intersection. Step four: After the binding is completed, the lifting adjustment cylinder resets, raising the rebar binding machine to the initial height; the moving wheel continues to move forward, and the swing arm is pushed away after contacting the rebar, passing over the rebar, and then quickly reset under the action of the coil spring; as the moving wheel continues to move forward, at the next rebar intersection, the swing arm is blocked by the rebar again until it is in a vertical state; after the controller receives this status signal, it repeats the operations of steps three and four to bind the subsequent rebar intersections in sequence; Step 5: After the reinforcing bars on a straight path are tied up, the folding leg retracts under the action of the drive cylinder, causing the moving wheel to detach from the surface of the reinforcing bar. The outer support sits on the reinforcing bar with the support rod, while the inner support is suspended inside the outer support. At this time, the lateral movement motor starts, driving the gear to rotate. The gear meshes with the rack and pinion, causing the inner support to move to the corresponding point on one side. The moving distance is determined according to the width of the planned path. Subsequently, the folding leg extends, pushing the outer support upward and suspending it in the air. The gear rotates in the opposite direction, causing the outer support to return to the position corresponding to the inner support, completing the lateral movement and preparing for walking along the next straight path.

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