A synchronous motion mechanism and control method for a steel bar binding robot

Abstract

The present application relates to the field of steel binding, especially a synchronous movement mechanism and control method for a steel binding robot, comprising a box, the inside of the box is provided with a binding gun, the present application has easy to assemble and disassemble, easy to carry, easy to maintain compared with the traditional binding mode: modular assembly unit, assembly type fastener connection, only need to adjust the tightness of the fastener, ensure the synchronous wheel rotation smooth, for the easy-to-damage parts such as synchronous belt, the present application can be quickly disassembled, easy to turnover, and the weight is smaller; The stroke reaches millimeter level: while ensuring the lightweight structure, the moving precision of XY movement and Z axis lifting reaches millimeter level; Safe and reliable: after being assembled into an integral template, the synchronous movement mechanism is used to position the steel binding point, automatic operation is realized, traditional manual binding is reduced, binding efficiency is improved, manual on-site assembly and disassembly work is reduced, and safety accidents caused by long-time fatigue operation of handheld electric tools are avoided.

Description

Technical Field

[0001] This invention relates to the field of rebar tying, and in particular to a synchronous motion mechanism and control method for a rebar tying robot. Background Technology

[0002] The core purpose of rebar tying is to fix the position of the rebar to ensure that it does not shift during concrete pouring, thereby guaranteeing the structural performance. Its main functions include: enhancing tensile strength: compensating for insufficient tensile strength of concrete and working together with concrete to bear the load; controlling cracks: limiting crack propagation and improving durability; improving overall integrity: enhancing structural stability and ensuring construction quality through joint reinforcement and coordinated deformation; and requiring that stressed rebars be fully tied, while non-stressed parts can be tied at intervals.

[0003] The existing technical solutions mentioned above have the following drawbacks: if traditional linear modules and three-axis robots are directly transplanted to the rebar binding scenario, they will be subject to limitations such as "mass, large size, and difficult maintenance". A completely new lightweight synchronous motion mechanism that can be quickly installed and disassembled needs to be designed to replace them. Summary of the Invention

[0004] To address the limitations of traditional linear modules and three-axis robots when directly applied to rebar tying scenarios, such as "large size, high weight, and difficult maintenance," this invention provides a synchronous motion mechanism and control method for rebar tying robots.

[0005] The above-mentioned technical objective of the present invention is achieved through the following technical solution:

[0006] A synchronous motion mechanism for a rebar tying robot includes a housing, and a tying gun is disposed inside the housing;

[0007] An electric push rod is provided above the tying gun. A connecting seat is fixedly connected to the telescopic end of the electric push rod. A pair of motors are provided above the connecting seat. A gear transmission mechanism is fixedly connected to the output end of the motors. A camera connector is fixedly connected to the side of the connecting seat.

[0008] The housing is equipped with a servo motor, and a synchronous pulley is fixedly connected to the output end of the servo motor. A synchronous belt is wound around the synchronous pulley.

[0009] The bottom of the box is fixedly connected to a base, and rollers are rotatably connected to the base.

[0010] Preferably, a pair of connecting blocks are fixedly connected to the side of the housing, and the pair of connecting blocks are rotatably connected to the same connecting shaft. One end of the connecting shaft is fixedly connected to a second motor, and the side of the second motor is fixedly connected to one of the connecting blocks.

[0011] Preferably, a protective plate is attached to the side of the lighting panel away from the housing, a pair of plug-in blocks are fixedly connected to the side of the protective plate, and a pair of reinforcing holes adapted to the plug-in blocks are opened on the side of the lighting panel.

[0012] Preferably, the inner wall of the reinforcing hole is coated with a magnetic coating first, and the outer side of the plug block is coated with a magnetic coating second that is magnetically connected to the magnetic coating first.

[0013] Preferably, a rectangular block is fixedly connected to the side of the base, and a movable plate is rotatably connected between a pair of rectangular blocks via a rotating shaft. A motor is fixedly connected to the side of one of the rotating shafts, and the side of the motor is fixedly connected to the rectangular block. An air pump is provided on the top of the movable plate, and the interior of the movable plate is a hollow structure. The air outlet of the air pump is connected to the movable plate, and several nozzles are connected to the bottom of the movable plate. Several circular grooves are opened on the side of the movable plate, and one end of a spring is fixedly connected to the interior of the circular groove. A pressing block is fixedly connected to the other end of the spring, and a reinforcing plate is fixedly connected to the end of the pressing block away from the spring. A sponge strip is fixedly connected to the side of the reinforcing plate away from the pressing block.

[0014] Preferably, in the initial state, the side of the sponge strip away from the reinforcing plate abuts against the surface of the roller.

[0015] Preferably, the nozzle's air outlet is tilted downwards, and the spring is in a contracted state in the initial state.

[0016] Preferably, a pair of symmetrically distributed sliders are fixedly connected to the extrusion block, and a pair of grooves adapted to the sliders are provided on the inner wall of the circular groove.

[0017] 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:

[0018] S1: In the three-axis motion mechanism, the movement of XY is achieved by two servo motors controlling the synchronous pulley and synchronous belt through a synchronous control algorithm;

[0019] S2: The entire lifting mechanism is driven by a motor that controls rotation through gears to rotate the Z-axis, thereby achieving the optimal binding angle for the binding gun;

[0020] S3: When binding, the centroid of the wire exit of the binding gun and the center of the motor should be on the same vertical line, and the centroid of the wire exit of the binding gun and the binding point of the rebar should also be on the same vertical line.

[0021] S4: Start motor two and flip the lighting panel to the top of the box;

[0022] S5: Start the air pump to spray air from the nozzle to clean the direction of the roller's movement, and use the sponge strip to clean the roller.

[0023] By adopting the above solution, the problem of traditional linear modules and three-axis robots being limited by "weight, large size, and difficult maintenance" when directly transplanted to the rebar binding scenario is solved.

[0024] In summary, the present invention has the following technical effects:

[0025] 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.

[0026] 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.

[0027] 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

[0028] Figure 1 This is a structural diagram of the present invention;

[0029] Figure 2 This is a diagram of the internal structure of the housing of the present invention;

[0030] Figure 3 This is a diagram of the rotating structure of the protective plate of the present invention;

[0031] Figure 4 This is a structural diagram of the protective plate of the present invention;

[0032] Figure 5 This is a structural diagram of the reinforcing plate of the present invention;

[0033] Figure 6 This is the invention Figure 5 Enlarged view of the structure at point A in the middle;

[0034] Figure 7 This is a structural diagram of the movable plate of the present invention;

[0035] Figure 8 This is the invention Figure 7 Enlarged view of the structure at point B in the middle;

[0036] Figure 9 This is a flowchart of the method of the present invention.

[0037] In the diagram: 1. Box body; 2. Binding gun; 3. Electric push rod; 4. Connecting seat; 5. Motor 1; 6. Gear transmission mechanism; 7. Camera connector; 8. Servo motor; 9. Synchronous pulley; 10. Synchronous belt; 11. Base; 12. Roller; 13. Connecting block; 14. Connecting shaft; 15. Motor 2; 16. Adjusting rod; 17. Lighting panel; 18. Protective plate; 19. Insertion block; 20. Reinforcing hole; 21. Magnetic coating 1; 22. Magnetic coating 2; 23. Rectangular block; 24. Moving plate; 25. Motor 3; 26. Air pump; 27. Nozzle; 28. Circular groove; 29. ​​Spring; 30. Extrusion block; 31. Reinforcing plate; 32. Sponge strip; 33. Slider; 34. Slide groove; 35. Vertical pipe. Detailed Implementation

[0038] The present invention will be further described in detail below with reference to the accompanying drawings.

[0039] Reference Figure 1 and Figure 2 A synchronous motion mechanism for a rebar tying robot includes a housing 1, a tying gun 2 is disposed inside the housing 1, and a housing cover is rotatably connected to the housing 1.

[0040] 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.

[0041] The housing 1 is equipped with a servo motor 8. 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.

[0042] The bottom of the box 1 is fixedly connected to a base 11, and a roller 12 is rotatably connected to the base 11;

[0043] In use, the XY direction movement in the three-axis motion mechanism is achieved by two servo motors 8 controlling the synchronous pulley 9 and synchronous belt 10 through a synchronous control algorithm, with a movement accuracy of millimeters, so as to accurately tie the steel bars.

[0044] 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 rotating gears, a self-made electric push rod 3, a connecting gun connector, and a binding mechanism. The innovative gear structure is designed so that the motor 5, which controls the rotation, drives the entire lifting mechanism of the Z-axis to rotate through the gears, thereby achieving the optimal binding angle of the binding gun 2 and improving 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, thus enabling the binding of steel bars at different positions.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] Reference Figure 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] Reference Figure 1 and Figure 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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:

[0060] 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;

[0061] 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;

[0062] S3: When binding, the centroid of the wire outlet of binding gun 2 and the center of motor 1 are kept on the same vertical line, and the centroid of the wire outlet of binding gun 2 and the binding point of the rebar are also kept on the same vertical line.

[0063] S4: Start motor 2 15 and flip the lighting panel 17 to the top of the housing 1;

[0064] 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.

[0065] 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 movement mechanism for a steel bar binding robot, comprising a box body (1), characterized in that: The inside of the box (1) is provided with a binding gun (2); 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 I (5), the output end of the motor I (5) is fixedly connected with a gear transmission mechanism (6), the side of the connecting seat (4) is fixedly connected with a camera connecting piece (7); The inside of the box (1) is provided with a servo motor (8), the output end of the servo motor (8) is fixedly connected with a synchronous wheel (9), the synchronous wheel (9) is wound with a synchronous belt (10); The bottom of the box (1) is fixedly connected with a base (11), the base (11) is rotatably connected with a roller (12); The side of the box (1) is fixedly connected with a pair of connecting blocks (13), a same connecting shaft (14) is rotatably connected between the pair of connecting blocks (13), one end of the connecting shaft (14) is fixedly connected with a motor II (15), the side of the motor II (15) is fixedly connected with one of the connecting blocks (13), the bottom of the connecting shaft (14) is fixedly connected with a vertical pipe (35), the bottom end of the vertical pipe (35) is threadedly connected with an adjusting rod (16), the bottom end of the adjusting rod (16) is fixedly connected with an illuminating plate (17); The side of the base (11) is fixedly connected with a rectangular block (23), a moving plate (24) is rotatably connected between the pair of rectangular blocks (23) through rotating shafts, the side of one of the rotating shafts is fixedly connected with a motor III (25), the side of the motor III (25) is fixedly connected with the rectangular block (23), the top of the moving plate (24) is provided with an air pump (26), the inside of the moving plate (24) is a hollow structure, the air outlet end of the air pump (26) is communicated with the moving plate (24), the bottom of the moving plate (24) is communicated with a plurality of spray heads (27), the side of the moving plate (24) is provided with a plurality of circular grooves (28), one end of a spring (29) is fixedly connected with the inside of the circular groove (28), the other end of the spring (29) is fixedly connected with a pressing block (30), the end, away from the spring (29), of the pressing block (30) is fixedly connected with a reinforcing plate (31), the side, away from the pressing block (30), of the reinforcing plate (31) is fixedly connected with a sponge strip (32).

2. The synchronous motion mechanism for a steel bar tying robot according to claim 1, characterized in that: The side, away from the box (1), of the illuminating plate (17) is placed with a protection plate (18), the side of the protection plate (18) is fixedly connected with a pair of plug-in blocks (19), the side of the illuminating plate (17) is provided with a pair of reinforcing holes (20) matched with the plug-in blocks (19).

3. The synchronous motion mechanism for a steel bar tying robot according to claim 2, characterized in that: The inner wall of the reinforcing hole (20) is coated with a magnetic coating I (21), the outer side of the plug-in block (19) is coated with a magnetic coating II (22) magnetically connected with the magnetic coating I (21).

4. The synchronous motion mechanism for a steel bar tying robot according to claim 3, characterized in that: In the initial state, the side, away from the reinforcing plate (31), of the sponge strip (32) abuts against the surface of the roller (12).

5. The synchronous motion mechanism for a steel bar tying robot according to claim 1, wherein: The air outlet of the spray head (27) is downwardly inclined, and the spring (29) is in a contracted state in the initial state.

6. The synchronous motion mechanism for a steel bar tying robot according to claim 1, wherein: The extrusion block (30) is fixedly connected with a pair of symmetrically distributed sliding blocks (33), and the inner wall of the circular groove (28) is provided with a pair of sliding grooves (34) matched with the sliding blocks (33).

7. A control method for a synchronous movement mechanism of a steel bar binding robot, the method employing the synchronous movement mechanism of a steel bar binding robot according to claim 6, characterized by: The method comprises the following steps: S1: in the three-axis motion mechanism, the movement of XY is realized by two servo motors (8) through a synchronous control algorithm to control the synchronous wheel (9) and the synchronous belt (10); S2: the motor one (5) drives the Z-axis lifting mechanism to rotate through the gear, so that the best binding angle of the binding gun (2) is realized; S3: during the binding, the center of the wire outlet of the binding gun (2) and the center of the motor one (5) are kept on the same vertical line, and the center of the wire outlet of the binding gun (2) and the steel bar binding point are also kept on the same vertical line; S4: the motor two (15) is started, and the lighting plate (17) is turned over to the upper side of the box body (1); S5: the air pump (26) is started, air is sprayed out from the spray head (27) to clean the forward direction of the roller (12), and the sponge strip (32) is used to clean the roller (12).

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