Synchronous movement mechanism for steel bar binding robot and control method

Abstract

The invention relates to the field of steel bar binding, in particular to a synchronous movement mechanism for a steel bar binding robot and a control method.The synchronous movement mechanism comprises a box body, and a binding gun is arranged in the box body. Compared with a traditional binding mode, the synchronous movement mechanism has the advantages of being easy to assemble, disassemble, carry and maintain; the synchronous wheel can rotate smoothly only by adjusting the tightness degree of the fastening piece, and for quick-wear parts such as a synchronous belt, the synchronous wheel can be quickly disassembled and assembled, is easy to turn over and is relatively light in weight; the moving precision of XY movement and Z-axis lifting reaches the millimeter level while the light weight of the structure is guaranteed; and after the whole formwork is assembled, the synchronous movement mechanism is used for positioning steel bar binding points, automatic operation is achieved, traditional manual binding is reduced, binding efficiency is improved, manual on-site mounting and dismounting work is reduced, and the situation that safety accidents are likely to happen due to long-time fatigue operation of a handheld electric tool is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of steel binding, in particular to a synchronous motion mechanism and control method for a steel binding robot. BACKGROUND

[0002] The core purpose of steel binding is to fix the position of steel bars to ensure that they do not shift during concrete pouring, thereby ensuring the structural load-bearing performance. Its main functions include: enhancing tensile strength: making up for the lack of tensile strength of concrete and cooperating with concrete; controlling cracks: limiting crack propagation and improving durability; improving integrity: improving structural stability and ensuring construction quality through node reinforcement and cooperative deformation; and standard requirements for force-bearing steel bars must be fully bound, and non-force-bearing parts can be bound at intervals.

[0003] The prior art in the above has the following defects: if the traditional linear module and three-axis robot are directly transplanted to the steel binding scene, they will be limited by "large mass, large volume, and difficult maintenance", etc. A new lightweight, quickly installable and detachable synchronous motion mechanism needs to be designed to replace it. SUMMARY

[0004] The present application provides a synchronous motion mechanism and control method for a steel binding robot to solve the problem that traditional linear modules and three-axis robots are directly transplanted to the steel binding scene, which will be limited by "large mass, large volume, and difficult maintenance".

[0005] The above technical purpose of the present application is achieved through the following technical scheme: A synchronous motion mechanism for a steel binding robot, comprising a box body, the inside of the box body is provided with a binding gun; The upper part of the binding gun is provided with an electric push rod, the telescopic end of the electric push rod is fixedly connected with a connecting seat, the upper part of the connecting seat is provided with a pair of motors, the output end of the motor is fixedly connected with a gear transmission mechanism, and the side surface of the connecting seat is fixedly connected with a camera connecting piece; The inside of the box body is provided with a servo motor, the output end of the servo motor is fixedly connected with a synchronous wheel, and the synchronous wheel is wound with a synchronous belt; The bottom of the box body is fixedly connected with a base, and the base is rotatably connected with a roller.

[0006] Preferably, the side surface of the box body is fixedly connected with a pair of connecting blocks, a same connecting shaft is rotatably connected between the pair of connecting blocks, one end of the connecting shaft is fixedly connected with a motor, and the side surface of the motor is fixedly connected with one of the connecting blocks.

[0007] Preferably, a protective plate is attached to the side of the lighting plate away from the box body, and a pair of plug-in blocks are fixedly connected to the side of the protective plate.

[0008] Preferably, a magnetic coating one is coated on the inner wall of the reinforcing hole, and a magnetic coating two is coated on the outer side of the plug-in block and magnetically connected to the magnetic coating one.

[0009] Preferably, a rectangular block is fixedly connected to the side of the base, a moving plate is rotatably connected to a pair of the rectangular blocks through a rotating shaft, one side of one of the rotating shafts is fixedly connected to a third motor, the side of the third motor is fixedly connected to the rectangular block, the top of the moving plate is provided with an air pump, the inside of the moving plate is a hollow structure, the air outlet end of the air pump is communicated with the moving plate, the bottom of the moving plate is communicated with a plurality of spray heads, a plurality of circular grooves are formed in the side of the moving plate, one end of a spring is fixedly connected to the inside of the circular groove, the other end of the spring is fixedly connected to a pressing block, the end of the pressing block away from the spring is fixedly connected to a reinforcing plate, and the side of the reinforcing plate away from the pressing block is fixedly connected to a sponge strip.

[0010] Preferably, in the initial state, the side of the sponge strip away from the reinforcing plate is in contact with the surface of the roller.

[0011] Preferably, the air outlet of the spray head is downwardly inclined, and in the initial state, the spring is in a contracted state.

[0012] Preferably, a pair of symmetrically distributed sliding blocks are fixedly connected to the pressing block, and a pair of sliding grooves matched with the sliding blocks are formed in the inner wall of the circular groove.

[0013] A control method of a synchronous motion mechanism of a steel bar binding robot, which adopts the above-mentioned synchronous motion mechanism of the steel bar binding robot, comprises the following steps: S1: in the three-axis motion mechanism, the movement of XY is realized by two servo motors through a synchronous control algorithm to control the synchronous wheel and the synchronous belt; S2: the entire lifting mechanism of the Z-axis is driven to rotate by the gear of the control motor one to realize the best binding angle of the binding gun; S3: during binding, the center of the wire outlet of the binding gun and the center of the motor are kept on the same vertical line, and the center of the wire outlet of the binding gun and the steel bar binding point are also kept on the same vertical line; S4: start the motor two to turn the lighting plate to the upper side of the box body; S5: start the air pump to spray gas out of the spray head to clean the forward direction of the roller, and use the sponge strip to clean the roller.

[0014] By adopting the above solution, the problem that traditional linear modules and three-axis robots would be limited by "large mass, large size, and difficult maintenance" when directly transplanted to the rebar binding scenario is solved.

[0015] In summary, the present invention has the following technical effects: 1. By incorporating a motor, gear transmission mechanism, servo motor, and synchronous pulley, this invention offers advantages over traditional binding methods, including ease of installation, disassembly, transportation, and maintenance. Modular assembly units and prefabricated fasteners allow for easy adjustment of the fasteners to ensure smooth rotation of the synchronous pulley. For easily damaged components like synchronous belts, this invention allows for quick disassembly and relocation, is easy to reuse, and is lightweight. The stroke accuracy reaches millimeters: while maintaining a lightweight structure, the XY movement and Z-axis lifting accuracy reach millimeter levels. It is safe and reliable: after assembly into a single template, the synchronous motion mechanism positions the rebar binding points, achieving automated operation, reducing traditional manual binding, improving binding efficiency, lowering labor input and safety risks, reducing on-site installation and disassembly work, and avoiding accidents caused by prolonged fatigue from using handheld power tools. 2. By setting up a moving plate and nozzle, when using it, the motor needs to be started so that its output end drives the rotating shaft and all the mechanisms on it to rotate together, thereby adjusting the tilt angle of the moving plate until the air outlet of the nozzle is facing the steel bar in the direction of the box's movement. Then, the air pump is started so that its air outlet fills the moving plate with air. After that, the air will blow from the nozzle onto the steel bar, thereby blowing away the tiny foreign objects and dust attached to the steel bar. This not only cleans the steel bar, but also prevents foreign objects and dust from adhering to the rollers, thus ensuring the normal rolling of the rollers and the normal movement of the box. 3. By incorporating structures such as sponge strips and extrusion blocks, during use, the extrusion blocks, under the action of spring thrust, move the reinforcing plate and sponge strips together toward the rollers, causing the sponge strips to come into contact with the rollers. As the rollers rotate to propel the box forward, the sponge strips are used to wipe and clean the surface of the rollers, improving their cleanliness. Attached Figure Description

[0016] Figure 1 This is a structural diagram of the present invention; Figure 2 This is a diagram of the internal structure of the housing of the present invention; Figure 3 This is a diagram of the rotating structure of the protective plate of the present invention; Figure 4 This is a structural diagram of the protective plate of the present invention; Figure 5 This is a structural diagram of the reinforcing plate of the present invention; Figure 6 This is the invention Figure 5 Enlarged view of the structure at point A in the middle; Figure 7 is a mobile plate structure diagram of the present application; Figure 8 is a Figure 7 is a local enlarged structure diagram at B in the figure; Figure 9 is a method flow chart of the present application.

[0017] In the figure, 1, box body; 2, binding gun; 3, electric push rod; 4, connecting seat; 5, motor one; 6, gear transmission mechanism; 7, camera connecting piece; 8, servo motor; 9, synchronous wheel; 10, synchronous belt; 11, base; 12, roller; 13, connecting block; 14, connecting shaft; 15, motor two; 16, adjusting rod; 17, illumination plate; 18, protection plate; 19, plug-in block; 20, reinforcing hole; 21, magnetic coating one; 22, magnetic coating two; 23, rectangular block; 24, mobile plate; 25, motor three; 26, air pump; 27, spray head; 28, circular groove; 29, spring; 30, extrusion block; 31, reinforcing plate; 32, sponge strip; 33, sliding block; 34, sliding groove; 35, vertical pipe. DETAILED DESCRIPTION

[0018] The present application will be further described in detail below with reference to the accompanying drawings.

[0019] Referring to Figure 1 and Figure 2 A synchronous motion mechanism for a steel bar binding robot, comprising a box body 1, the inside of the box body 1 is provided with a binding gun 2, and the box body 1 is rotationally connected with a box cover; The upper side of the binding gun 2 is provided with an electric push rod 3, the telescopic end of the electric push rod 3 is fixedly connected with a connecting seat 4, the upper side of the connecting seat 4 is provided with a pair of motor one 5, the output end of the motor one 5 is fixedly connected with a gear transmission mechanism 6, and the side surface of the connecting seat 4 is fixedly connected with a camera connecting piece 7; The inside of the box body 1 is provided with a servo motor 8, the output end of the servo motor 8 is fixedly connected with a synchronous wheel 9, and the synchronous wheel 9 is wound with a synchronous belt 10; The bottom of the box body 1 is fixedly connected with a base 11, and the base 11 is rotationally connected with a roller 12; In use, in the three-axis motion mechanism, the movement in the XY direction is realized by controlling the synchronous wheel 9 and the synchronous belt 10 through the synchronous control algorithm of the two servo motors 8, and the movement precision reaches the millimeter level, so as to accurately bind the steel bars; In the three-axis motion mechanism, the Z-axis movement function mainly includes lifting and rotation functions. The main module components include two motors 5, two rotary gears, a self-made electric push rod 3, a connecting gun, a connecting part, a binding gun 2, and an innovatively designed gear structure. The motors 5, which control the rotation, drive the entire Z-axis lifting mechanism to rotate through the gears, so as to achieve the optimal binding angle of the binding gun 2 and improve the binding success rate. During the binding process, the roller 12 rotates on the steel bar, so that the box 1 moves on the steel bar, thereby enabling the binding of steel bars at different positions. The lifting and lowering of the binding is achieved by controlling the Z-axis lifting motor 5. The lifting stroke can be achieved by controlling the length of the lead screw. The centroid of the wire outlet of the binding gun 2 and the center of the motor 5 are kept on the same vertical line. The visual recognition camera completes the identification of the coordinates and intersection angle of the rebar point. The target position is moved by XY. After the Z-axis mechanism rotates a certain angle, the centroid of the wire outlet of the binding gun 2 and the binding point of the rebar are also kept on the same vertical line, which can effectively improve the success rate of rebar binding.

[0020] In summary, compared with traditional binding methods, this invention is easier to install, disassemble, transport, and maintain: modular assembly units and prefabricated fastener connections only require adjusting the tightness of the fasteners to ensure smooth rotation of the synchronous pulley 9. For vulnerable parts such as the synchronous belt 10, this invention can be quickly disassembled and reassembled, is easy to reuse, and is relatively lightweight; the stroke reaches the millimeter level: while ensuring a lightweight structure, the movement accuracy of XY movement and Z-axis lifting reaches the millimeter level; it is safe and reliable: after being assembled into an integral template, the rebar binding points are positioned through a synchronous motion mechanism to achieve automated operation, reduce traditional manual binding, improve binding efficiency, reduce labor input and safety risks, reduce on-site manual installation and disassembly work, and avoid safety accidents caused by prolonged fatigue operation of handheld power tools.

[0021] Reference Figure 3 A pair of connecting blocks 13 are fixedly connected to the side of the housing 1. The pair of connecting blocks 13 are rotatably connected to the same connecting shaft 14. A second motor 15 is fixedly connected to one end of the connecting shaft 14. The side of the second motor 15 is fixedly connected to one of the connecting blocks 13. A vertical tube 35 is fixedly connected to the bottom of the connecting shaft 14. An adjusting rod 16 is threadedly connected to the bottom end of the vertical tube 35. A lighting panel 17 is fixedly connected to the bottom end of the adjusting rod 16. When in use, while observing the condition of the reinforcing bars binding the internal components of housing 1, and in low light conditions, motor 2 (15) can be started, causing its output to drive connecting shaft 14 and all its mechanisms to rotate upwards by 180 degrees (in conjunction with...). Figure 3 As shown), the lighting panel 17 is moved to the top of the box 1, and then the lighting panel 17 is turned on to illuminate the inside of the box 1 so that personnel can observe the binding of the reinforcing bars.

[0022] ReferenceFigure 4 A protective plate 18 is attached to the side of the lighting plate 17 away from the housing 1. A pair of plug-in blocks 19 are fixedly connected to the side of the protective plate 18. A pair of reinforcing holes 20 that are adapted to the plug-in blocks 19 are opened on the side of the lighting plate 17. When the lighting panel 17 is not in use, the protective panel 18 should be placed over the lighting panel 17 so that the plug block 19 can be inserted into the reinforcing hole 20 to improve the stability of the protective panel 18 on the lighting panel 17. The protective panel 18 is used to protect the lighting panel 17 from dust and external forces, thereby making the lighting panel 17 less prone to damage and ensuring its cleanliness.

[0023] Reference Figure 4 The inner wall of the reinforcing hole 20 is coated with a magnetic coating 21, and the outer side of the plug block 19 is coated with a magnetic coating 22 that is magnetically connected to the magnetic coating 21. When the plug block 19 is inserted into the reinforcement hole 20, the magnetic coating 1 21 will be magnetically connected with the magnetic coating 22, thereby improving the stability of the plug block 19 in the reinforcement hole 20, and thus improving the stability of the protective plate 18 on the lighting plate 17.

[0024] Reference Figure 1 and Figures 5-8 A rectangular block 23 is fixedly connected to the side of the base 11. A movable plate 24 is rotatably connected between a pair of rectangular blocks 23 via a rotating shaft. A motor 25 is fixedly connected to the side of one of the rotating shafts. The side of the motor 25 is fixedly connected to the rectangular block 23. An air pump 26 is provided on the top of the movable plate 24. The interior of the movable plate 24 is a hollow structure. The air outlet of the air pump 26 is connected to the movable plate 24. Several nozzles 27 are connected to the bottom of the movable plate 24. Several circular grooves 28 are opened on the side of the movable plate 24. One end of a spring 29 is fixedly connected to the inside of the circular groove 28. A pressing block 30 is fixedly connected to the other end of the spring 29. A reinforcing plate 31 is fixedly connected to the end of the pressing block 30 away from the spring 29. A sponge strip 32 is fixedly connected to the side of the reinforcing plate 31 away from the pressing block 30. When in use, the motor 25 needs to be started so that its output end drives the rotating shaft and all the mechanisms on it to rotate together, thereby adjusting the tilt angle of the moving plate 24 until the air outlet of the nozzle 27 is facing the steel bar in the forward direction of the box 1. At the same time, under the action of the spring 29, the squeezing block 30 drives the reinforcing plate 31 and the sponge strip 32 to move towards the roller 12, so that the sponge strip 32 abuts against the roller 12. When the roller 12 rotates to drive the box 1 forward, the sponge strip 32 is used to wipe and clean the surface of the roller 12 to improve its cleanliness. Start the air pump 26 to inflate the moving plate 24 with air from its outlet. Then, the air will blow onto the steel bar from the nozzle 27, thereby removing tiny foreign objects and dust attached to the steel bar. This not only cleans the steel bar but also prevents foreign objects and dust from adhering to the roller 12, thus ensuring the normal rolling of the roller 12 and the normal forward movement of the box 1.

[0025] Reference Figure 1 In the initial state, the side of the sponge strip 32 away from the reinforcing plate 31 abuts against the surface of the roller 12.

[0026] Reference Figure 1 The nozzle 27 has its air outlet tilted downwards, and the spring 29 is in a contracted state in the initial state.

[0027] Reference Figure 6 and Figure 8 A pair of symmetrically distributed sliders 33 are fixedly connected to the extrusion block 30. A pair of sliding grooves 34 adapted to the sliders 33 are provided on the inner wall of the circular groove 28. When the extrusion block 30 moves in the circular groove 28, the sliders 33 will move in the sliding grooves 34. The sliders 33 can limit the extrusion block 30 and prevent the extrusion block 30 from separating from the circular groove 28.

[0028] Reference Figure 9 A control method for a synchronous motion mechanism of a rebar tying robot, the method employing the aforementioned synchronous motion mechanism for a rebar tying robot, includes the following steps: S1: In the three-axis motion mechanism, the movement of XY is achieved by two servo motors 8 controlling the synchronous pulley 9 and the synchronous belt 10 through a synchronous control algorithm; S2: The entire lifting mechanism of the Z-axis is driven to rotate by the motor 5 that controls the rotation through gears, so as to achieve the best binding angle of the binding gun 2; S3: When binding, the centroid of the wire outlet of binding gun 2 is kept on the same vertical line as the center of the motor, and the centroid of the wire outlet of binding gun 2 is also kept on the same vertical line as the binding point of the rebar. S4: Start motor 2 15 and flip the lighting panel 17 to the top of the housing 1; S5: Start the air pump 26 to spray air from the nozzle 27 to clean the roller 12 in the forward direction and use the sponge strip 32 to clean the roller 12.

[0029] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A synchronous motion mechanism for a rebar tying robot, comprising a housing (1), characterized in that: The box (1) is equipped with a tying gun (2); An electric push rod (3) is provided above the binding gun (2). A connecting seat (4) is fixedly connected to the telescopic end of the electric push rod (3). A pair of motors (5) are provided above the connecting seat (4). A gear transmission mechanism (6) is fixedly connected to the output end of the motors (5). A camera connector (7) is fixedly connected to the side of the connecting seat (4). The housing (1) is equipped with a servo motor (8), and a synchronous pulley (9) is fixedly connected to the output end of the servo motor (8). A synchronous belt (10) is wound around the synchronous pulley (9). The bottom of the box (1) is fixedly connected to a base (11), and a roller (12) is rotatably connected to the base (11).

2. The synchronous motion mechanism for a rebar tying robot according to claim 1, characterized in that: A pair of connecting blocks (13) are fixedly connected to the side of the housing (1). The pair of connecting blocks (13) are rotatably connected to the same connecting shaft (14). One end of the connecting shaft (14) is fixedly connected to a second motor (15). The side of the second motor (15) is fixedly connected to one of the connecting blocks (13). A vertical tube (35) is fixedly connected to the bottom of the connecting shaft (14). An adjusting rod (16) is threaded to the bottom end of the vertical tube (35). A lighting panel (17) is fixedly connected to the bottom end of the adjusting rod (16).

3. The synchronous motion mechanism for a rebar tying robot according to claim 2, characterized in that: A protective plate (18) is attached to the side of the lighting plate (17) away from the box (1). A pair of plug-in blocks (19) are fixedly connected to the side of the protective plate (18). A pair of reinforcing holes (20) adapted to the plug-in blocks (19) are opened on the side of the lighting plate (17).

4. The synchronous motion mechanism for a rebar tying robot according to claim 3, characterized in that: The inner wall of the reinforcing hole (20) is coated with a magnetic coating first (21), and the outer side of the plug block (19) is coated with a magnetic coating second (22) that is magnetically connected to the magnetic coating first (21).

5. A synchronous motion mechanism for a rebar tying robot according to claim 2, characterized in that: A rectangular block (23) is fixedly connected to the side of the base (11). A movable plate (24) is rotatably connected between a pair of rectangular blocks (23) via a rotating shaft. A motor (25) is fixedly connected to the side of one of the rotating shafts. The side of the motor (25) is fixedly connected to the rectangular block (23). An air pump (26) is provided on the top of the movable plate (24). The interior of the movable plate (24) is a hollow structure. The air outlet of the air pump (26) is connected to the movable plate (24). The bottom of the movable plate (24) is connected to several nozzles (27). Several circular grooves (28) are opened on the side of the movable plate (24). One end of a spring (29) is fixedly connected to the inside of the circular groove (28). The other end of the spring (29) is fixedly connected to a pressing block (30). A reinforcing plate (31) is fixedly connected to the end of the pressing block (30) away from the spring (29). A sponge strip (32) is fixedly connected to the side of the reinforcing plate (31) away from the pressing block (30).

6. The synchronous motion mechanism for a rebar tying robot according to claim 5, characterized in that: In the initial state, the side of the sponge strip (32) away from the reinforcing plate (31) abuts against the surface of the roller (12).

7. A synchronous motion mechanism for a rebar tying robot according to claim 5, characterized in that: The nozzle (27) has its air outlet tilted downwards, and the spring (29) is in a contracted state in the initial state.

8. A synchronous motion mechanism for a rebar tying robot according to claim 5, characterized in that: A pair of symmetrically distributed sliders (33) are fixedly connected to the extrusion block (30), and a pair of sliding grooves (34) adapted to the sliders (33) are provided on the inner wall of the circular groove (28).

9. A control method for a synchronous motion mechanism of a rebar tying robot, the method employing the synchronous motion mechanism for a rebar tying robot as described in claim 8, characterized in that: Includes the following steps: S1: In the three-axis motion mechanism, the movement of XY is achieved by two servo motors (8) controlling the synchronous pulley (9) and the synchronous belt (10) through a synchronous control algorithm. S2: The entire lifting mechanism of the Z-axis is driven by the rotating motor (5) through gears to achieve the best binding angle of the binding gun (2); S3: When binding, the centroid of the wire outlet of the binding gun (2) and the center of the motor are kept on the same vertical line, and the centroid of the wire outlet of the binding gun (2) and the binding point of the steel bar are also kept on the same vertical line. S4: Start motor two (15) and flip the lighting panel (17) to the top of the box (1); S5: Start the air pump (26) to spray air from the nozzle (27) to clean the roller (12) in the forward direction and use the sponge strip (32) to clean the roller (12).

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