Nomadic automatic binding equipment for formed reinforcement cage

Abstract

The invention discloses nomadic type automatic binding equipment for a formed reinforcement cage. The nomadic type automatic binding equipment comprises a stirrup feeding mechanism, a mechanical arm binding mechanism, a main reinforcement guiding piece, a main reinforcement guiding and limiting piece and a main reinforcement guiding and limiting piece lifting mechanism. The main reinforcement guiding piece, the stirrup feeding mechanism, the mechanical arm binding mechanism and the main reinforcement guiding and limiting piece are sequentially arranged from front to back. The main reinforcement guiding piece is provided with a plurality of through holes corresponding to all main reinforcements of the reinforcement cage in a one-to-one mode. The main reinforcement guide limiting piece is provided with a plurality of guide holes in one-to-one correspondence with all main reinforcements of the reinforcement cage and can limit backward conveying of the main reinforcements. The main reinforcement guide limiting piece lifting mechanism is used for driving the main reinforcement guide limiting piece to ascend or descend. The stirrup feeding mechanism is used for clamping all stirrups of the reinforcement cage and conveying the stirrups to the mechanical arm binding mechanism one by one. The mechanical arm binding mechanism comprises a plurality of mechanical arms, binding guns are installed at the tail ends of the mechanical arms, and the multiple mechanical arms are used for binding stirrups and main reinforcements together to form a reinforcement cage. The binding device is high in binding efficiency and stable in binding quality.

Description

Technical Field

[0001] This invention relates to the field of prefabricated steel cage binding technology in the construction industry, and more specifically, to an automatic binding device for nomadic prefabricated steel cages. Background Technology

[0002] In my country's construction industry, rebar tying is mostly done manually. This not only results in high labor intensity and low efficiency for workers, but also makes it difficult to guarantee the accuracy and consistency of tying quality. To overcome these shortcomings, tying fixtures and robots are now available on the market.

[0003] Existing binding tools are mostly steel mesh binding and fixing tools, while steel cage tools are mostly manual feeding tools, and these tools are only suitable for a limited range of steel specifications and have low compatibility.

[0004] There are various types of rebar tying robots, including trolley-based rebar tying robots, drone-based rebar tying robots, and crawling rebar tying robots. All of these robots use one arm equipped with a tying head for tying, resulting in relatively low efficiency. Because robot image recognition is relatively easy, they are primarily used for tying rebar mesh; tying spatial rebar cages is more difficult or yields poor results.

[0005] In addition, most of the existing rebar tying tools and robots are designed to be quite bulky and difficult to disassemble. Some are even impossible to disassemble and assemble, and can only be used in fixed locations such as factories and workshops. The prefabricated rebar cages can only be produced and assembled in factories or workshops and then transported to the construction site. This results in increased transportation costs and increased costs for measures to ensure that the rebar cages do not deform during transportation. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide an automatic binding device for nomadic-style prefabricated steel cages that has high binding efficiency, good binding quality stability, wide applicability, and can be quickly assembled and disassembled for processing steel cages on construction sites.

[0007] This invention provides an automatic binding device for nomadic-style formed rebar cages, including a stirrup feeding mechanism, a robotic arm binding mechanism, a main bar guide, a main bar guide limiting component, and a main bar guide limiting component lifting mechanism. The main bar guide, stirrup feeding mechanism, robotic arm binding mechanism, and main bar guide limiting component are arranged sequentially from front to back. The main bar guide has multiple through holes corresponding to all the main bars of the rebar cage. The main bar guide limiting component has multiple guide holes corresponding to all the main bars of the rebar cage and can restrict the rearward conveying of all the main bars. The lifting mechanism of the main bar guide limiting component is used to drive the main bar guide limiting component to rise or fall. The stirrup feeding mechanism is used to clamp all the stirrups of the rebar cage and convey them one by one to the robotic arm binding mechanism. The robotic arm binding mechanism includes multiple robotic arms, each with a binding gun installed at its end. The multiple robotic arms are used to bind the stirrups and main bars together to form a rebar cage.

[0008] Furthermore, the stirrup feeding mechanism includes a clamping and feeding sub-mechanism and a displacement sub-mechanism; the clamping and feeding sub-mechanism is used to clamp all the stirrups of the steel cage and release them one by one; the displacement sub-mechanism is used to support the clamping and feeding sub-mechanism and drive the clamping and feeding sub-mechanism to move back and forth.

[0009] Furthermore, the clamping and feeding submechanism includes a pair of spiral roller assemblies and a spiral roller synchronous drive assembly; the pair of spiral roller assemblies are located on two opposite sides of the main rib extension direction, and the spacing between the pair of spiral roller assemblies is adjustable; each spiral roller assembly includes a mounting frame and at least one spiral roller, the at least one spiral roller being rotatably mounted on the mounting frame; each spiral roller is provided with a spiral groove, the extension direction of the spiral roller is consistent with the extension direction of the main rib, and multiple spiral rollers on the same mounting frame are arranged vertically; the spiral grooves of the spiral rollers of the pair of spiral roller assemblies form a space for clamping the stirrups; the spiral roller synchronous drive assembly is used to drive all spiral rollers to rotate synchronously, so that the clamped stirrups are disengaged from the spiral rollers.

[0010] Furthermore, the displacement submechanism includes a frame base, a gantry frame, a stirrup platform, a mounting bracket displacement drive mechanism, and a gantry frame displacement drive mechanism; the gantry frame is movably mounted on the frame base; the gantry frame includes a crossbeam and a pair of uprights, with both ends of the crossbeam connected to the pair of uprights respectively; the stirrup platform is fixed on the crossbeam to support the clamped stirrups, and the mounting brackets of a pair of spiral roller assemblies are located on opposite sides of the stirrup platform; the mounting bracket displacement drive mechanism is located on the gantry frame to drive the mounting brackets of the pair of spiral roller assemblies to move in a direction perpendicular to the main reinforcement; the gantry frame displacement drive mechanism is used to drive the gantry frame to move back and forth.

[0011] Furthermore, the robotic arm binding mechanism includes multiple robotic arm displacement mechanisms corresponding to multiple robotic arms; each robotic arm displacement mechanism is used to drive the corresponding robotic arm to move back and forth.

[0012] Furthermore, the nomadic-style precast rebar cage automatic binding equipment of this embodiment includes a main bar feeding mechanism, which is located in front of the main bar guide. The main bar feeding mechanism includes a multi-layer CNC rebar feeding rack and a three-axis rebar conveying rack. The multi-layer CNC rebar feeding rack is used to store the main bars of the rebar cage and convey the stored main bars to the three-axis rebar conveying rack. The three-axis rebar conveying rack is used to convey the main bars to the through holes corresponding to the main bar guide.

[0013] Furthermore, the nomadic-style precast rebar cage automatic binding equipment of this embodiment includes a rebar cage feeding mechanism, which is located behind the main reinforcement guide limiter.

[0014] The embodiments of the present invention have at least the following advantages: 1. The nomadic-style precast rebar cage automatic binding equipment of the present invention feeds the stirrups one by one through the stirrup feeding mechanism. Multiple robotic arms can simultaneously and automatically bind all binding points on the outer ring of a single stirrup, thereby improving binding efficiency and the consistency and stability of binding quality. 2. In this embodiment of the invention, the mounting frame can be moved by the mounting frame displacement drive mechanism, thereby adjusting the distance between a pair of spiral roller assemblies. This allows for the clamping of steel cage stirrups of different sizes and specifications, ensuring the stability of the operation process and increasing the applicable size and shape range of the steel cage to be tied. 3. The embodiments of the present invention, through the complementary movement of the gantry frame displacement drive mechanism and the robotic arm displacement mechanism, can better ensure the adjustment of the binding spacing between the stirrups, and at the same time greatly improve the overall binding efficiency of the steel cage and reduce labor costs. 4. The nomadic-style precast rebar cage automatic binding equipment of the present invention is equipped with a main bar feeding mechanism and a rebar cage unloading mechanism, which can realize automated loading and unloading, reduce the workload of operators, and improve the overall binding efficiency of rebar cages. 5. The nomadic-style precast rebar cage automatic binding equipment of this invention can be quickly assembled and disassembled so that rebar cages can be processed on the construction site. Attached Figure Description

[0015] Figure 1 A schematic diagram of the overall structure of an automatic binding device for nomadic-style precast rebar cages according to an embodiment of the present invention is shown.

[0016] Figure 2 A schematic diagram of the main rib feeding mechanism according to an embodiment of the present invention is shown.

[0017] Figure 3 A schematic diagram of the structure of the stirrup feeding mechanism, the main reinforcement guide, the main reinforcement guide limiting member, and the main reinforcement guide limiting member lifting mechanism according to an embodiment of the present invention is shown.

[0018] Figure 4 A schematic diagram of the stirrup feeding mechanism and the main reinforcement guide member according to an embodiment of the present invention is shown.

[0019] Figure 5 A partial three-dimensional structural schematic diagram of a stirrup feeding mechanism according to an embodiment of the present invention is shown.

[0020] Figure 6 A partial front view schematic diagram of a stirrup feeding mechanism according to an embodiment of the present invention is shown.

[0021] Figure 7 It shows Figure 6 A side view diagram.

[0022] Figure 8 A schematic diagram of the structure of the main rib guide limiter and the main rib guide limiter lifting mechanism according to an embodiment of the present invention is shown.

[0023] Figure 9 A schematic diagram of a robotic arm binding mechanism according to an embodiment of the present invention is shown.

[0024] Figure 10 A schematic diagram of the state of a robotic arm binding mechanism binding a steel cage according to an embodiment of the present invention is shown. Figure 10 The illustration only shows the state of the rebar cage during the binding process; the spiral roller shown does not clamp the stirrups, but in reality, the spiral roller does clamp the stirrups.

[0025] Figure 11 A schematic diagram of a steel cage feeding mechanism according to an embodiment of the present invention is shown.

[0026] Figure 12 and Figure 13 A front view and a side view of a steel cage according to an embodiment of the present invention are shown respectively. Detailed Implementation

[0027] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0028] Please refer to Figures 1 to 11 According to an embodiment of the present invention, a nomadic-style automatic rebar cage binding device includes a main bar feeding mechanism 1, a stirrup feeding mechanism 2, a robotic arm binding mechanism 3, a main bar guide component 4, a main bar guide limiting component 5, a main bar guide limiting component lifting mechanism 6, and a rebar cage unloading mechanism 7. The main bar feeding mechanism 1, the main bar guide component 4, the stirrup feeding mechanism 2, the robotic arm binding mechanism 3, the main bar guide limiting component 5, and the rebar cage unloading mechanism 7 are arranged sequentially from front to back.

[0029] The main reinforcement feeding mechanism 1 is located in front of the main reinforcement guide 4. The main reinforcement feeding mechanism 1 includes a multi-layer CNC rebar feeding rack 1a and a three-axis rebar conveying rack 1b. The multi-layer CNC rebar feeding rack 1a is used to store the main reinforcement bars 91 of the rebar cage 9 and convey the stored main reinforcement bars 91 to the three-axis rebar conveying rack 1b. The three-axis rebar conveying rack 1b is used to convey the main reinforcement bars 91 into the corresponding through holes of the main reinforcement guide 4.

[0030] The CNC rebar feeder 1a is set to be multi-layered so that it can store the main rebars to be tied with various diameter specifications. The CNC rebar feeder 1a shown in the figure has two layers. Depending on the actual needs, the number of layers of the CNC rebar feeder 1a can also be set to three or more layers.

[0031] The three-axis rebar conveying frame 1b includes an X-axis conveying mechanism, a Z-axis lifting mechanism, and a Y-axis translation mechanism. The Z-axis lifting mechanism is connected to both the X-axis conveying mechanism and the Y-axis translation mechanism. Specifically, the Y-axis translation mechanism includes a pair of Y-axis ground rails 144 extending along the Y-axis direction and a pair of movable platforms 143 that can move along the pair of Y-axis ground rails. The Z-axis lifting mechanism includes a pair of Z-axis chain-driven mounting platforms 133, which are fixed to the pair of movable platforms 143 to follow the movement of the pair of movable platforms 143 along the Y-axis. The X-axis conveying mechanism includes an X-axis conveyor belt 122, the two ends of which are connected to the pair of Z-axis chain-driven mounting platforms 133 to follow the chain as it rises or falls along the Z-axis direction. The three-axis movement mode can better coordinate with the multi-layer CNC rebar feeding frame 1a, ensuring that the main rebar 91 can be conveyed from the feeding frame to the subsequent binding platform.

[0032] The aforementioned CNC rebar feeding rack 1a and three-axis rebar conveying rack 1b are existing equipment, and their specific structures will not be described in detail here.

[0033] The main reinforcement guide 4 is provided with a plurality of through holes 40 corresponding one-to-one with all the main reinforcement bars 91 of the steel cage 9. In this embodiment, the main reinforcement guide 4 includes a first main reinforcement guide plate fixture 41, and the aforementioned plurality of through holes 40 are formed on the first main reinforcement guide plate fixture 41.

[0034] The main reinforcement guide limiting member 5 is provided with multiple guide holes 50 corresponding one-to-one with all the main reinforcement bars 91 of the reinforcing cage 9, and can restrict the rearward conveyance of all the main reinforcement bars 91. Preferably, the distance between the main reinforcement guide member 4 and the main reinforcement guide limiting member 5 is adjustable to adjust the straightness of the main reinforcement bars in the horizontal direction. If the length of the main reinforcement bar between the main reinforcement guide member 4 and the main reinforcement guide limiting member 5 is too long, the main reinforcement bar is prone to sag due to its own weight. This phenomenon can be avoided by adjusting the distance between the main reinforcement guide member 4 and the main reinforcement guide limiting member 5. In this embodiment, the main reinforcement guide limiting member 5 includes a second main reinforcement guide plate fixture 51 and a guide plate mounting plate 52. The aforementioned multiple guide holes 50 are provided in the second main reinforcement guide plate fixture 51, and the multiple guide holes 50 are through holes. The guide plate mounting plate 52 is connected to the back of the second main reinforcement guide plate fixture 51 to restrict the rearward conveyance of the main reinforcement bars 91 passing through the multiple guide holes 50.

[0035] The main rib guide limiting component lifting mechanism 6 is used to drive the main rib guide limiting component 5 to rise or fall. In this embodiment, the main rib guide limiting component lifting mechanism 6 is connected to the guide plate mounting plate 52 to drive the main rib guide limiting component 5 to rise or fall. In this embodiment, the main rib guide limiting component lifting mechanism 6 includes a lifting cylinder 61 and a lifting chain transmission mechanism 62. The lifting cylinder 61, in conjunction with the chain transmission, drives the guide plate mounting plate 52 to perform lifting and lowering movements. The figure also shows a lifting shaft 63 that guides the lifting and lowering of the guide plate mounting plate 52, and a fixing plate 64 for fixing the lifting cylinder 61 and the lifting shaft 63.

[0036] In practice, the first main reinforcement guide plate fixture 41 and the second main reinforcement guide plate fixture 51 can be customized according to different main reinforcement shapes and sizes.

[0037] The stirrup feeding mechanism 2 is used to clamp all the stirrups 92 of the steel cage 9 and feed them one by one to the robotic arm binding mechanism 3. The stirrup feeding mechanism 2 includes a clamping and feeding sub-mechanism 2a and a displacement sub-mechanism 2b. The clamping and feeding sub-mechanism 2a is used to clamp all the stirrups 92 of the steel cage 9 and release the stirrups 92 one by one; the displacement sub-mechanism 2b is used to support the clamping and feeding sub-mechanism 2a and drive the clamping and feeding sub-mechanism 2a to move back and forth.

[0038] The clamping and feeding sub-mechanism 2a includes a pair of spiral roller assemblies 21 and a spiral roller synchronous drive assembly 22. The pair of spiral roller assemblies 21 are located on opposite sides of the main rib's extension direction, and the spacing between them is adjustable. Each spiral roller assembly 21 includes a mounting frame 211 and at least one spiral roller 212, which is rotatably mounted on the mounting frame 211. Each spiral roller 212 has a spiral groove 213, and its extension direction is consistent with the extension direction of the main rib 91. Multiple spiral rollers 212 on the same mounting frame 211 are arranged vertically; the spiral grooves 213 of the spiral rollers 212 in the pair of spiral roller assemblies 21 form a space for clamping the stirrup 92. The spiral roller synchronous drive assembly 22 drives all spiral rollers 212 to rotate synchronously, causing the clamped stirrup 92 to disengage from the spiral rollers 212. In this embodiment, the spiral roller synchronous drive assembly 22 includes a synchronous drive motor and a synchronous belt drive mechanism.

[0039] In this embodiment, each spiral roller assembly 21 includes two spiral rollers 212, which are arranged vertically and parallel to each other.

[0040] The displacement submechanism 2b includes a frame base 23, a gantry frame 24, a stirrup platform 25, a mounting frame displacement drive mechanism, and a gantry frame displacement drive mechanism. The gantry frame 24 is movably mounted on the frame base 23. The gantry frame 24 includes a crossbeam 241 and a pair of uprights 242, with both ends of the crossbeam 241 connected to the pair of uprights 242. The stirrup platform 25 is fixed to the crossbeam 241 to support the clamped stirrups 92. Mounting frames 211 of a pair of spiral roller assemblies 21 are located on opposite sides of the stirrup platform 25. The mounting frame displacement drive mechanism is located on the gantry frame 24 and drives the mounting frames 211 of the pair of spiral roller assemblies to move in a direction perpendicular to the main reinforcement bars, thereby adjusting the spacing between the pair of mounting frames 211. The gantry frame displacement drive mechanism is used to drive the gantry frame 24 to move back and forth.

[0041] Furthermore, the displacement submechanism includes a detection sensor 28, which is used to detect whether the clamping and feeding submechanism 2a has released the stirrup 92. Optionally, the detection sensor 28 is a through-beam photoelectric switch.

[0042] In this embodiment, the frame base 23 includes a reference platform 231, a reference platform frame 232, and a main control cabinet 233. The reference platform 231 is fixed on the reference platform frame 232, and the main control cabinet 233 is mounted on the reference platform 231. The gantry frame displacement drive mechanism adopts a dual-axis parallel linear module 273, which is mounted on the reference platform 231. A pair of uprights 242 are respectively connected to a pair of linear modules 274 of the gantry frame displacement drive mechanism to achieve linear displacement in the front-rear direction. The mounting frame displacement drive mechanism includes two sets of lead screw and nut mechanisms. A pair of mounting frames 211 are respectively connected to the nuts of the two sets of lead screw and nut mechanisms. The lead screws of the two sets of lead screw and nut mechanisms are rotatably mounted on the gantry frame 24. By manually rotating the handle 263 connected to the lead screw, the mounting frame 211 can be driven to move along the lead screw, thereby adjusting the distance between the pair of spiral roller assemblies 21. The figure also shows multiple linear guide rods 264 for guiding the linear movement of the mounting frame 211 and linear bearings 265 that cooperate with each linear guide rod 264. One end of each linear guide rod 264 is connected to the mounting frame 211, and the linear bearings 265 are mounted on the gantry frame 24.

[0043] In this embodiment, the gantry frame 24 is provided with a first mounting bracket 281 for installing the main reinforcement guide 4, and the frame base 23 is provided with a second mounting bracket 282 for installing the main reinforcement guide limiting member lifting mechanism 6. The main reinforcement guide 4 is connected to the first mounting bracket 281, and the fixing plate 64 of the main reinforcement guide limiting member lifting mechanism 6 is connected to the second mounting bracket 282. More specifically, the first mounting bracket 281 has an upward opening, and slots 283 are provided on both opposite sides of the opening for the insertion of the first main reinforcement guide plate tooling 41, making installation very convenient. The first mounting bracket 281 can also slide along the guide seat 243 installed on the gantry frame 24 (the example in the figure has two pairs of guide seats 243, and the extension direction of the guide seats 243 is the same as the extension direction of the main reinforcement) and lock the position of the first mounting bracket 281 by the locking component 244, thereby realizing the adjustment of the distance between the main reinforcement guide 4 and the main reinforcement guide limiting member 5.

[0044] The robotic arm binding mechanism 3 includes multiple robotic arms 31 and multiple robotic arm displacement mechanisms 32 corresponding to the robotic arms 31. Each robotic arm 31 has a binding gun 33 installed at its end. The multiple robotic arms 31 are used to bind the stirrups 92 to the main reinforcing bars 91 together to form a reinforcing cage 9. Each robotic arm displacement mechanism 32 is mounted on a corresponding robotic arm mounting platform 34 and is used to drive the corresponding robotic arm 31 to move back and forth. Preferably, the robotic arm displacement mechanism 32 is a linear module. Figure 9 The robotic arm control box 35 is also shown.

[0045] In this embodiment, the aforementioned multiple robotic arms are three collaborative robotic arms, which work together to tie each section of stirrups and main reinforcement bars of the steel cage to the corresponding positions.

[0046] In this embodiment, three robotic arm mounting platforms 34 are fixedly mounted on the frame base 23, but are not limited thereto.

[0047] In this embodiment, the main control cabinet 233 is equipped with an electrical control device, which is used to receive the detection signals from the detection sensor 28 and control the actions of the main reinforcement feeding mechanism 1, the spiral roller synchronous drive assembly, the gantry frame displacement drive mechanism, the main reinforcement guide limit lifting mechanism, the multiple robotic arm displacement mechanisms, and the rebar cage unloading mechanism 7. Preferably, the electrical control device includes a PLC controller.

[0048] In this embodiment, the rebar cage unloading mechanism 7 is a plate chain conveyor. Figure 11 The drive motor 71 for the plate chain is shown.

[0049] The working principle and process of the nomadic-style precast rebar cage automatic binding equipment according to an embodiment of the present invention are further explained below.

[0050] The entire nomadic-style precast rebar cage automatic binding equipment of this invention consists of three main parts: the main bar feeding mechanism 1, the rebar cage binding mechanism (including the stirrup feeding mechanism 2, the robotic arm binding mechanism 3, the main bar guide component 4, the main bar guide limiting component 5, and the main bar guide limiting component lifting mechanism 6), and the rebar cage unloading mechanism 7.

[0051] During the automatic forming and binding of the rebar cage, the pre-processed main reinforcing bars 91 are stored in the CNC rebar feeding rack 1a using on-site lifting equipment. Driven by a motor in the CNC rebar feeding rack 1a, the belt 111 in the rack pulls the required main reinforcing bars along the X-axis to the feeding waiting area. The main reinforcing bars 91 of the required specifications roll onto the X-axis conveying mechanism. Before the main reinforcing bars 91 roll off, the Z-axis lifting mechanism and the Y-axis translation mechanism work together to deliver the X-axis conveyor belt 122 to the rolling position of the main reinforcing bars 91. After the main reinforcing bars 91 roll onto the X-axis conveyor belt 122, the Z-axis lifting mechanism and the Y-axis translation mechanism continue to work together to bring the main reinforcing bars to the corresponding through holes 40 of the main reinforcing bar guide 4. Finally, the X-axis conveyor belt 122 conveys the main reinforcing bars 91 backward along the X-axis until all the main reinforcing bars 91 enter the rebar cage binding mechanism.

[0052] Before feeding the main reinforcing bars 91 into the main reinforcing bar feeding mechanism 1, the displacement drive mechanism of the mounting frame needs to be manually adjusted to feed the stirrups 92 to be bound into the spiral grooves 213 of the four spiral rollers 212 until all the stirrups 92 in the reinforcing cage are filled. Specifically, the stirrups 92 are first fed manually to the four spiral rollers 212. Each time a stirrup 92 is fed, the spiral rollers advance one interval stroke (this interval stroke is determined according to the thickness of the stirrup stack; assuming the stirrups are 6mm in diameter, three layers stacked would have an 18mm interval), until the interval between the spiral rollers is filled with stirrups. The distance between the mounting frames on both sides is adjusted until the spiral rollers clamp the fed stirrups.

[0053] Then, pull open the first mounting bracket 281 to achieve a suitable distance between the main reinforcement guide 4 and the main reinforcement guide limiting member 5. Use the main reinforcement guide limiting member lifting mechanism 6 to raise the main reinforcement guide limiting member 5 to a position compatible with the main reinforcement guide 4. All of this work needs to be arranged in advance as preparation for the reinforcement cage binding.

[0054] After completing the preliminary preparations, press the loading start switch on the main control cabinet 233. The main rib loading mechanism 1 begins to load and convey the main ribs 91 until the first main rib guide plate fixture 41 and the second main rib guide plate fixture 51 are filled with the required main ribs 91, at which point the main rib loading mechanism 1 stops. Subsequently, the spiral roller synchronous drive assembly 22 drives the four spiral rollers 212 to rotate synchronously, pushing the stirrups 92 backward until the last stirrup 92 detaches from the spiral roller 212. After the detection sensor 28 installed on the mounting frame 211 detects that a stirrup has detached, it sends a detection signal to the electrical control device. Upon receiving the detection signal, the electrical control device controls the dual-axis parallel linear module 273 to move the entire gantry frame 24 and the stirrup platform 25 150mm to one side of the main rib loading mechanism, so that the stirrup 92 that has detached from the spiral roller 212 is away from the stirrup platform 25. This avoids interference between the subsequent robotic arm 31 and other stirrups 92 when it is clamped.

[0055] like Figure 9 As shown, after the stirrup 92 moves away from the stirrup platform 25, the robotic arm binding mechanism 3 is activated. The three robotic arm displacement mechanisms 32 drive the six-axis robotic arm 31 and the binding gun 33 to move a certain distance in the same direction until the binding gun 33 can reach the stirrup 92. After the three binding guns 33 hook onto the provided stirrup 92, the three robotic arm displacement mechanisms 32 drive the six-axis robotic arm 31 and the binding gun 33 back to their original positions, which are the binding wire positions. Simultaneously, the dual-axis parallel linear module 273 also drives the entire gantry frame 24 and the stirrup platform 25 back to their original positions by 150mm. At this point, the stirrup 92 reaches the first binding wire position of the rebar cage. The three six-axis robotic arms 31 and the binding gun 33 are then activated to bind all binding points of the stirrup 92 and the main reinforcement 91. Here, as shown... Figure 9As shown, the six-axis robotic arm 31 on the left binds the binding points on the left and upper left sides, the six-axis robotic arm 31 on the right binds the binding points on the right and upper right sides, and the six-axis robotic arm 31 at the bottom binds the binding points in the lower row. In some specific embodiments, the binding method used is a cross-shaped binding.

[0056] After the first stirrup 92 and main reinforcement 91 are tied, the tying guns 33 of the three six-axis robotic arms 31 hook onto the tying point. The three six-axis robotic arms 31 and the gantry frame 24 move forward 150mm together, disengaging the main reinforcement 91 from the main reinforcement guide limiter 5. The lifting mechanism 6 of the main reinforcement guide limiter then lowers the main reinforcement guide limiter 5. That is, after the first stirrup of the rebar cage is tied, the main reinforcement guide limiter 5 automatically lowers to allow subsequent rebar cages to be fed backward. The three six-axis robotic arms 31 and the gantry frame 24 then move backward 150mm together, the dual-axis parallel linear module 273 stops, and the three robotic arm displacement mechanisms 32 drive the three six-axis robotic arms 31 to continue moving backward 100mm (in this embodiment, the stirrup spacing of the rebar cage is 100mm) until the first stirrup 92 and main reinforcement 91 are mounted on the rebar cage unloading mechanism 7.

[0057] Synchronously, the spiral roller synchronous drive assembly 22 drives four spiral rollers 212 to push the second stirrup 92 backward until it disengages from the spiral rollers. Similar to the aforementioned process, the three robotic arm displacement mechanisms 32 drive the six-axis robotic arm 31 and the binding gun 33 back to hook the second stirrup 92, then return to the binding station for binding. The three robotic arm displacement mechanisms 32 will drive the six-axis robotic arm 31 to continue moving backward 100mm until the second stirrup 92 and the main reinforcement 91 are also mounted on the rebar cage unloading mechanism 7, where the rebar cage unloading mechanism 7 synchronously conveys backward. Subsequent stirrup binding follows this process until the binding is completely completed, forming the rebar cage 9, which is then unloaded into the rebar cage unloading mechanism 7. The formed rebar cage 9 is as follows... Figure 12 and Figure 13 As shown.

[0058] Once the entire rebar cage is tied, the shaped rebar cage 9 can be hooked by the gantry crane on the construction site or held by a forklift, and the rebar cage unloading mechanism 7 can be removed to begin tying the next rebar cage.

[0059] The nomadic-style precast rebar cage automatic binding device of this invention uses three binding guns to follow the robotic arm in a six-axis movement, extending towards the corresponding binding area of ​​the stirrups. Upon contact with the rebar, the device adjusts the posture of the robotic arm and the seventh-axis linear motion module (robotic arm displacement mechanism) below it, automatically adapting to the intersection of the main reinforcement and stirrups for binding. Linear motion modules are provided below both the gantry frame and the three cooperating robotic arms. The complementary movement of these modules ensures better adjustment of the binding spacing between the stirrups.

[0060] In this embodiment, the stirrups 92 used to form the reinforcing cage are composite stirrups. In other embodiments, the stirrups 92 can also be rectangular stirrups, irregular rectangular stirrups, etc. The nomadic-style pre-formed reinforcing cage automatic binding equipment with multi-axis and multiple binding heads that can automatically feed materials according to embodiments of the present invention can automatically bind reinforcing cages of various graphic structures, including but not limited to T-shaped, L-shaped, straight, frame-shaped, and rectangular reinforcing cages, solving the problem of low efficiency in manual binding.

[0061] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An automatic binding device for nomadic-style precast steel cages, characterized in that, It includes a stirrup feeding mechanism, a robotic arm binding mechanism, a main bar guide, a main bar guide limiting component, and a main bar guide limiting component lifting mechanism; the main bar guide, the stirrup feeding mechanism, the robotic arm binding mechanism, and the main bar guide limiting component are arranged sequentially from front to back; The main reinforcement guide is provided with multiple through holes that correspond one-to-one with all the main reinforcement bars of the steel cage. The main reinforcement guide limiting component is provided with multiple guide holes that correspond one-to-one with all the main reinforcement bars of the steel cage, and can restrict all the main reinforcement bars from being transported backward. The lifting mechanism of the main rib guide limiter is used to drive the main rib guide limiter to rise or fall; The stirrup feeding mechanism is used to clamp all the stirrups of the steel cage and feed the stirrups one by one to the robotic arm binding mechanism; The robotic arm binding mechanism includes multiple robotic arms, each with a binding gun installed at its end. The multiple robotic arms are used to bind the stirrups and main bars together to form a steel cage.

2. The nomadic-style precast rebar cage automatic binding equipment as described in claim 1, characterized in that, The stirrup feeding mechanism includes a clamping and feeding sub-mechanism and a displacement sub-mechanism; The clamping and feeding sub-mechanism is used to clamp all the stirrups of the steel cage and release the stirrups one by one; The displacement submechanism is used to support the clamping and feeding submechanism and drive the clamping and feeding submechanism to move back and forth.

3. The nomadic-style precast rebar cage automatic binding equipment as described in claim 2, characterized in that, The clamping and feeding submechanism includes a pair of spiral roller assemblies and a spiral roller synchronous drive assembly; The pair of spiral roller assemblies are located on opposite sides of the main rib extension direction, and the spacing between the pair of spiral roller assemblies is adjustable; each spiral roller assembly includes a mounting frame and at least one spiral roller, the at least one spiral roller being rotatably mounted on the mounting frame; each spiral roller is provided with a spiral groove, the extension direction of the spiral roller is consistent with the extension direction of the main rib, and multiple spiral rollers on the same mounting frame are arranged vertically; the spiral grooves of the spiral rollers of the pair of spiral roller assemblies form a space for clamping the stirrup; The spiral roller synchronous drive assembly is used to drive all spiral rollers to rotate synchronously, so that the clamped stirrups are disengaged from the spiral rollers.

4. The nomadic-style precast rebar cage automatic binding equipment as described in claim 3, characterized in that, The displacement submechanism includes a frame base, a gantry frame, a stirrup platform, a mounting frame displacement drive mechanism, and a gantry frame displacement drive mechanism. The gantry frame is movably mounted on the frame base; the gantry frame includes a crossbeam and a pair of uprights, with both ends of the crossbeam connected to the pair of uprights respectively; the stirrup platform is fixed on the crossbeam to support the clamped stirrups, and the mounting frames of a pair of spiral roller assemblies are located on opposite sides of the stirrup platform; the mounting frame displacement drive mechanism is mounted on the gantry frame to drive the mounting frames of the pair of spiral roller assemblies to move in a direction perpendicular to the main reinforcement; The gantry frame displacement drive mechanism is used to drive the gantry frame to move back and forth.

5. The nomadic-style precast rebar cage automatic binding equipment as described in claim 4, characterized in that, The displacement submechanism includes a detection sensor, which is used to detect whether the clamping and feeding submechanism has released the stirrups.

6. The nomadic-style precast rebar cage automatic binding equipment as described in claim 5, characterized in that, The robotic arm binding mechanism includes multiple robotic arm displacement mechanisms that correspond to multiple robotic arms respectively. Each robotic arm displacement mechanism is used to drive the corresponding robotic arm to move back and forth.

7. The nomadic-style precast rebar cage automatic binding equipment as described in claim 6, characterized in that, The nomadic-style automatic rebar cage binding equipment includes an electrical control device, which is used to receive the detection signals from the detection sensors and control the actions of the spiral roller synchronous drive assembly, the gantry frame displacement drive mechanism, the main reinforcement guide limit lifting mechanism, and the multiple robotic arm displacement mechanisms.

8. The nomadic-style precast rebar cage automatic binding equipment as described in claim 1, characterized in that, The multiple robotic arms mentioned are three collaborative robotic arms.

9. The nomadic-style precast rebar cage automatic binding equipment as described in claim 1, characterized in that, The distance between the main reinforcement guide and the main reinforcement guide limiting member is adjustable.

10. The nomadic-style precast rebar cage automatic binding equipment as described in claim 1, characterized in that, The main rib guide limiting component includes a main rib guide plate fixture and a guide plate mounting plate. The multiple guide holes are provided in the main rib guide plate fixture, and the multiple guide holes are through holes. The guide plate mounting plate is connected to the back of the main rib guide plate fixture to restrict the main ribs passing through the multiple guide holes from being conveyed backward. The lifting mechanism of the main rib guide limiter is connected to the guide plate mounting plate.

11. The nomadic-style precast rebar cage automatic binding equipment as described in claim 1, characterized in that, The nomadic-style precast rebar cage automatic binding equipment includes a main bar feeding mechanism, which is located in front of the main bar guide. The main reinforcement feeding mechanism includes a multi-layer CNC steel bar feeding rack and a three-axis steel bar conveying rack; the multi-layer CNC steel bar feeding rack is used to store the main reinforcement bars of the steel cage and convey the stored main reinforcement bars to the three-axis steel bar conveying rack, and the three-axis steel bar conveying rack is used to convey the main reinforcement bars to the through holes corresponding to the main reinforcement bar guide members.

12. The nomadic-style precast rebar cage automatic binding equipment as described in claim 1, characterized in that, The nomadic-style precast rebar cage automatic binding equipment includes a rebar cage feeding mechanism, which is located behind the main rebar guide and limiting component.

Images