Steel bar grabbing device and device overload protection control method

Abstract

The application discloses a reinforcing steel bar grabbing equipment and an equipment overload protection control method, relates to the technical field of construction equipment, and comprises a supporting device, a clamping device, a first-stage arm support device and a first driving device; the clamping device is used for grabbing reinforcing steel bars; the first driving device is in transmission connection with the first-stage arm support device; the first-stage arm support device comprises a first-stage A arm support and a first-stage B arm support, one end of the first-stage A arm support is hinged to the supporting device, the other end of the first-stage A arm support is hinged to the clamping device, one end of the first-stage B arm support is hinged to the supporting device, the other end of the first-stage B arm support is hinged to the clamping device, and the first-stage A arm support and the first-stage B arm support are arranged in parallel, so that the first-stage A arm support, the first-stage B arm support, the supporting device and the clamping device form a parallelogram structure. The reinforcing steel bar grabbing equipment and the equipment overload protection control method can assist in reinforcing steel bar installation construction and improve the construction efficiency.

Description

Technical Field

[0001] This invention relates to the field of construction equipment technology, and in particular to a rebar grabbing device and an overload protection and control method for the device. Background Technology

[0002] The nuclear island project's building structure is primarily reinforced concrete, with HRB500 grade high-strength steel bars used, ranging from 20mm to 40mm in diameter. Currently, the steel bar tying process on the construction site still relies on the traditional method of manual handling and tying, resulting in a large workload, a long time commitment throughout the entire reinforced concrete construction process, and low efficiency. Summary of the Invention

[0003] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a rebar gripping device that can assist in rebar installation and improve construction efficiency.

[0004] This invention also proposes a method for overload protection and control of equipment.

[0005] According to a first aspect of the present invention, a rebar gripping device includes a support device having a stroke for rotation in a first plane; A clamping device for gripping reinforcing bars; A first-stage boom assembly is used to connect the support device and the clamping device. The first-stage boom assembly has a stroke that rotates in a second plane, which is perpendicular to the first plane. A first driving device is connected to the first-stage boom device to drive the first-stage boom device to rotate. The first-stage boom assembly includes a first-stage A boom and a first-stage B boom. One end of the first-stage A boom is hinged to the support device, and the other end of the first-stage A boom is hinged to the clamping device. One end of the first-stage B boom is hinged to the support device, and the other end of the first-stage B boom is hinged to the clamping device. The first-stage A boom and the first-stage B boom are arranged in parallel, such that the first-stage A boom, the first-stage B boom, the support device, and the clamping device form a parallelogram structure.

[0006] The rebar gripping device according to embodiments of the present invention has at least the following beneficial effects: the clamping device is used to grip the rebar, and under the cooperative action of the first-stage boom device and the support device, the clamping device can move in space; after the clamping device grips the rebar, the operator can control the clamping device to move the rebar to a designated position, and then perform rebar binding, which can assist in rebar installation construction and improve construction efficiency.

[0007] According to some embodiments of the present invention, the first driving device includes a first push rod assembly, a first transmission rod, and a second transmission rod. One end of the first push rod assembly is hinged to the same point as one end of the first transmission rod and one end of the second transmission rod. The other end of the first push rod assembly is connected to the support device. The other end of the first transmission rod is connected to the first stage boom device. The other end of the second transmission rod is connected to the support device.

[0008] According to some embodiments of the present invention, the device further includes a second-stage boom assembly, a first connecting seat assembly, and a second drive device. The first connecting seat assembly is hinged to the ends of the first-stage A boom and the first-stage B boom, respectively. The second-stage boom assembly includes a second-stage A boom and a second-stage B boom. One end of the second-stage A boom is hinged to the first connecting seat assembly, and the other end of the second-stage A boom is hinged to the clamping device. One end of the second-stage B boom is hinged to the first connecting seat assembly, and the other end of the second-stage B boom is hinged to the clamping device. The second-stage A boom and the second-stage B boom are arranged parallel to each other, such that the second-stage A boom, the second-stage B boom, the first connecting seat assembly, and the clamping device form a parallelogram. The first-stage A boom, the first-stage B boom, the support device, and the first connecting seat assembly also form a parallelogram. The second drive device is drivenly connected to the second-stage boom assembly to drive the second-stage boom assembly to rotate in a third plane, which is perpendicular to the first plane.

[0009] According to some embodiments of the present invention, the second drive device includes a second push rod assembly, one end of which is connected to the first connecting seat assembly, and the other end of which is connected to the second stage boom device.

[0010] According to some embodiments of the present invention, a balance push rod assembly is further included, one end of which is connected to the first connecting seat assembly, and the other end of which is connected to the second stage boom device.

[0011] According to some embodiments of the present invention, the support device includes a leg assembly and a slewing assembly, the slewing assembly being disposed on the leg assembly and having a stroke for rotation in a first plane, and a first-stage boom assembly connecting the slewing assembly and the clamping device.

[0012] According to some embodiments of the present invention, the support leg assembly includes a support frame and at least four support legs, the plurality of support legs being arranged around the support frame, and an adjustment mechanism being provided between the support legs and the support frame, the adjustment mechanism being capable of changing the distance between the support legs and the support frame.

[0013] According to some embodiments of the present invention, the slewing assembly includes a slewing column and a drive motor. The slewing column is disposed on the support leg assembly, and the drive motor is connected to the slewing column for driving the slewing column to rotate around the axis of the slewing column. The rotation plane of the slewing column is the first plane.

[0014] According to some embodiments of the present invention, the clamping device includes a first clamping frame, a second clamping frame, a third clamping frame, and a gripper. The first clamping frame is connected to the first-stage boom device. The second clamping frame is drivenly connected to the first clamping frame, enabling the second clamping frame to rotate in a fourth plane. The third clamping frame is drivenly connected to the second clamping frame, enabling the third clamping frame to rotate in a fifth plane. The fourth plane and the fifth plane are perpendicular to each other. The gripper is disposed on the third clamping frame.

[0015] According to the equipment overload protection control method of the second aspect of the present invention, the above-described rebar gripping device is used to grip and transport rebar, and the following method is used to achieve equipment overload protection: First, a component with a rotational stroke is defined as a rotating part, and the rotation angle range of the rotating part is set as a safety zone; Then, when the rebar gripping device performs an action, the current rotation angle of the rotating component is detected and compared with the safe range. When the current rotation angle of the rotating component is within the safe range, the rotating component performs an action. When the current rotation angle of the rotating component exceeds the safe range, it is determined that the device is overloaded, and the current direction of the rotating component is restricted. At the same time, the rotating component is driven to perform an action in the opposite direction.

[0016] The equipment overload protection control method according to the embodiments of the present invention has at least the following beneficial effects: applying the equipment overload protection control method to the rebar grabbing equipment can reduce the safety risks caused by overload of the rebar grabbing equipment.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the rebar gripping device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the support device according to an embodiment of the present invention; Figure 3This is a partial structural diagram of the first-stage boom device and the second-stage boom device according to an embodiment of the present invention; Figure 4 This is a partial structural schematic diagram of the support device according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the support leg assembly placed on an uneven ground according to an embodiment of the present invention; Figure 6 This is a top view of the rebar gripping device according to an embodiment of the present invention; Figure 7 This is a side view of the clamping device according to an embodiment of the present invention; Figure 8 This is a front view of the clamping device according to an embodiment of the present invention.

[0019] Icon labels: Support device 100, support leg assembly 110, support frame 111, support leg 112, adjustment mechanism 113, slewing assembly 120, slewing column 121, drive motor 122; Clamping device 200, first clamping frame 210, second clamping frame 220, third clamping frame 230, gripper 240; First-stage boom assembly 300, first-stage A boom 310, first-stage B boom 320, first drive unit 400, first push rod assembly 410, first transmission rod 420, second transmission rod 430, second-stage boom assembly 500, second-stage A boom 510, second-stage B boom 520, first connecting seat assembly 600, second drive unit 700, second push rod assembly 710, and balance push rod assembly 800. Detailed Implementation

[0020] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0021] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0022] In the description of this invention, "multiple" refers to two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features or their sequential relationship.

[0023] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0024] Reference Figure 1 As shown, a steel bar gripping device according to an embodiment of the present invention includes a support device 100, a clamping device 200, a first-stage boom device 300, and a first driving device 400.

[0025] The support device 100 has a stroke for rotating in a first plane; the clamping device 200 is used to grip reinforcing bars; the first-stage boom device 300 is used to connect the support device 100 and the clamping device 200, and the first-stage boom device 300 has a stroke for rotating in a second plane, which is perpendicular to the first plane; the first drive device 400 is drively connected to the first-stage boom device 300 to drive the first-stage boom device 300 to rotate; the first-stage boom device 300 includes a first-stage A boom 310 and a first-stage B boom. The first-stage A boom 310 is hinged at one end to the support device 100 and at the other end to the clamping device 200. The first-stage B boom 320 is hinged at one end to the support device 100 and at the other end to the clamping device 200. The first-stage A boom 310 and the first-stage B boom 320 are arranged in parallel, so that the first-stage A boom 310, the first-stage B boom 320, the support device 100 and the clamping device 200 form a parallelogram structure.

[0026] The clamping device 200 is used to clamp the reinforcing bar, wherein the clamping device 200 has at least two clamping positions, which are arranged at intervals to accommodate the clamping of long strip-shaped reinforcing bars, and the length direction of the reinforcing bar is consistent with the arrangement direction of the clamping positions.

[0027] The first-stage boom device 300 connects the support device 100 and the clamping device 200. Under the coordinated action of the first-stage boom device 300 and the support device 100, the clamping device 200 can move within space. That is, after the clamping device 200 clamps the reinforcing bar, the operator can control the equipment to move the clamping device 200 to a designated position to place the reinforcing bar, and then manually complete the binding of the reinforcing bar. The reinforcing bar gripping equipment can assist in reinforcing bar installation construction, improving construction efficiency.

[0028] The support device 100 provides support for the entire equipment and also has a rotational stroke within a first plane. It's important to understand that the first plane is generally parallel to the support surface of the support device 100. For example, if the support device 100 is fixed on a horizontal plane, then the first plane is parallel to the horizontal plane, which can also be understood as the horizontal plane itself. Therefore, the clamping device 200 can move within the horizontal plane. The first-stage boom device 300 connects the support device 100 and the clamping device 200. The first-stage boom device 300 can rotate within a second plane, which is perpendicular to the first plane. When the support device 100 is horizontally positioned, the second plane is the vertical plane, meaning the clamping device 200 can also move within the vertical plane. Therefore, the clamping device 200 can grab the required rebar at the rebar placement position, then move it to the rebar binding position to place the rebar, allowing the operator to further complete the rebar binding operation.

[0029] Reference Figure 2 As shown, it is important to understand that the first-stage boom device 300 is divided into a first-stage A boom 310 and a first-stage B boom 320. In some embodiments, the first-stage A boom 310 is positioned above the first-stage B boom 320, and the first-stage A boom 310 and the first-stage B boom 320 remain parallel. This arrangement allows the first-stage A boom 310, the first-stage B boom 320, the support device 100, and the clamping device 200 to form a parallelogram structure. When the first-stage A boom 310 and the first-stage B boom 320 rotate upwards or downwards in the second plane, the parallelogram's properties ensure that the clamping device 200's angle does not change while its height changes. In other words, the positional and angular changes of the clamping device 200 are decoupled, making it easier to design the control program for the rebar gripping device.

[0030] It is also necessary to understand that the first-stage A boom 310, the first-stage B boom 320, the support device 100, and the clamping device 200 form a parallelogram structure. Specifically, a portion of the support device 100 forms one side of the parallelogram structure, a portion of the clamping device 200 forms another opposite side of the parallelogram structure, and the first-stage A boom 310 and the first-stage B boom 320 form a pair of opposite sides of the parallelogram.

[0031] It is understood that the first drive device 400 includes a first push rod assembly 410, a first transmission rod 420, and a second transmission rod 430. One end of the first push rod assembly 410 is hinged to one end of the first transmission rod 420 and one end of the second transmission rod 430 at the same point. The other end of the first push rod assembly 410 is connected to the support device 100. The other end of the first transmission rod 420 is connected to the first-stage boom device 300. The other end of the second transmission rod 430 is connected to the support device 100.

[0032] The first push rod assembly 410 may be an electrically operated push rod. The first push rod assembly 410 is not directly connected to the first-stage boom assembly 300, but rather connected via a first drive rod 420. This connection structure allows the first push rod assembly 410 to provide a larger angular displacement to the first-stage boom assembly 300 with a unit linear displacement. In some embodiments, the other end of the first drive rod 420 is connected to the first-stage B boom 320.

[0033] Reference Figure 3 As shown, it can be understood that the device also includes a second-stage boom assembly 500, a first connecting seat assembly 600, and a second drive device 700. The first connecting seat assembly 600 is hinged to the ends of the first-stage A boom 310 and the first-stage B boom 320, respectively. The second-stage boom assembly 500 includes a second-stage A boom 510 and a second-stage B boom 520. One end of the second-stage A boom 510 is hinged to the first connecting seat assembly 600, and the other end of the second-stage A boom 510 is hinged to the clamping device 200. One end of the second-stage B boom 520 is hinged to the first connecting seat assembly 600. The other end of 520 is hinged to the clamping device 200. The second-stage A boom 510 and the second-stage B boom 520 are arranged in parallel, such that the second-stage A boom 510, the second-stage B boom 520, the first connecting seat assembly 600 and the clamping device 200 form a parallelogram. The first-stage A boom 310, the first-stage B boom 320, the support device 100 and the first connecting seat assembly 600 also form a parallelogram. The second drive device 700 is connected to the second-stage boom device 500 to drive the second-stage boom device 500 to rotate in a third plane, which is perpendicular to the first plane.

[0034] It should be understood that after the second-stage boom device 500 is installed, the clamping device 200 should be connected to the second-stage boom device 500. Introducing the second-stage boom device 500 can further expand the movable range of the clamping device 200 within the spatial range.

[0035] Similar to the first-stage boom assembly 300, the introduced second-stage boom assembly 500 also includes a second-stage A boom 510 and a second-stage B boom 520. In some embodiments, the second-stage A boom 510 is positioned above the second-stage B boom 520. A first connecting base assembly 600 provides the connection foundation between the first-stage boom assembly 300 and the second-stage boom assembly 500. A second drive unit 700 is also fixed to the first connecting base assembly 600, and the second drive unit 700 is used to drive the second-stage boom assembly 500 to rotate in a third plane. It should be understood that in some cases, the third plane is coplanar with the second plane.

[0036] It is understood that the second drive unit 700 includes a second push rod assembly 710, one end of which is connected to the first connecting seat assembly 600, and the other end of which is connected to the second stage boom device 500.

[0037] Preferably, the second push rod assembly 710 may be a cylinder push rod. In some embodiments, the second stage A boom 510 is disposed above the second stage B boom 520, and the second push rod assembly 710 is connected to the second stage B boom 520.

[0038] Reference Figure 3 As shown, it can be understood that it also includes a balance push rod assembly 800, one end of which is connected to the first connecting seat assembly 600, and the other end of which is connected to the second-stage boom device 500.

[0039] After the clamping device 200 grips the rebar, the second-stage boom device 500 is subjected to a torque load from the rebar. At this time, the balance push rod assembly 800 acts on the second-stage boom device 500, providing a reverse torque to counteract the torque from the rebar, thereby improving the operational stability of the second-stage boom device 500. On the other hand, after the clamping device 200 grips the rebar, the balance push rod assembly 800 acts to balance the torque of the second-stage boom device 500. At this time, when the second drive device 700 needs to drive the second-stage boom device 500 to rotate, it can output a smaller torque to achieve the rotation of the second-stage boom device 500.

[0040] Reference Figure 4 As shown, it can be understood that the support device 100 includes a leg assembly 110 and a slewing assembly 120, the slewing assembly 120 being disposed on the leg assembly 110 and having a stroke for rotation in a first plane, and the first-stage boom device 300 connecting the slewing assembly 120 and the clamping device 200.

[0041] More specifically, it can be understood that the support leg assembly 110 includes a support frame 111 and at least four support legs 112, with the multiple support legs 112 arranged around the support frame 111. An adjustment mechanism 113 is provided between the support legs 112 and the support frame 111, and the adjustment mechanism 113 can change the distance between the support legs 112 and the support frame 111.

[0042] On a level surface, such as a leveled foundation, the bottom surface of the support frame 111 can directly contact the foundation. (Refer to...) Figure 5As shown, on an uneven foundation, the adjustment mechanism 113 can be used to change the distance between each support leg 112 and the support frame 111 to adapt to the uneven foundation. For example, in a depression, the adjustment mechanism 113 increases the distance between the support leg 112 and the support frame 111; in a raised area, the adjustment mechanism 113 decreases the distance between the support leg 112 and the support frame 111, so that the support frame 111 is always in a horizontal state.

[0043] It is understood that the slewing assembly 120 includes a slewing column 121 and a drive motor 122. The slewing column 121 is disposed on the support leg assembly 110. The drive motor 122 is connected to the slewing column 121 for transmission, so as to drive the slewing column 121 to rotate around the axis of the slewing column 121. The rotation plane of the slewing column 121 is the first plane.

[0044] Gear transmission is preferably used between the drive motor 122 and the rotating column 121.

[0045] Reference Figure 6 , Figure 7 and Figure 8 As shown, it can be understood that the clamping device 200 includes a first clamping frame 210, a second clamping frame 220, a third clamping frame 230, and a gripper 240. The first clamping frame 210 is connected to the first-stage boom device 300. The second clamping frame 220 is drivenly connected to the first clamping frame 210, so that the second clamping frame 220 can rotate in a fourth plane. The third clamping frame 230 is drivenly connected to the second clamping frame 220, so that the third clamping frame 230 can rotate in a fifth plane. The fourth plane and the fifth plane are perpendicular to each other. The gripper 240 is disposed on the third clamping frame 230.

[0046] The first clamping frame 210 serves as a positioning base. For example, using the first clamping frame 210 as a reference frame, the second clamping frame 220 can rotate relative to the first clamping frame 210 in a fourth plane, achieving a flipping effect. Furthermore, the third clamping frame 230 can rotate relative to the second clamping frame 220 in a fifth plane, achieving a displacement effect. This further expands the range of movement of the grippers 240 in space, enabling more precise movement of the rebar to the designated position, facilitating binding by the operator. It should be understood that at least two grippers 240 are provided, and the grippers 240 are spaced apart. When gripping the rebar, the length direction of the rebar is consistent with the arrangement direction of the grippers 240, making it suitable for gripping long strips of rebar.

[0047] An embodiment of the present invention provides a method for controlling equipment overload protection, which uses the aforementioned rebar gripping device to grip and transport rebar, and simultaneously employs the following method to achieve equipment overload protection: First, a component with a rotational stroke is defined as a rotating part, and the rotation angle range of the rotating part is set as a safety zone; Then, when the rebar grabbing device performs an action, the current rotation angle of the rotating component is detected and compared with the safe range. When the current rotation angle of the rotating component is within the safe range, the rotating component performs the action. When the current rotation angle of the rotating component exceeds the safe range, it is determined that the equipment is overloaded, and the current direction of the rotating component is restricted. At the same time, the rotating component is driven to perform the action in the opposite direction.

[0048] Specifically, taking the first-stage boom device as an example, after setting the rotation angle range of the first-stage boom device as the first safe zone, when the rebar grabbing device performs an action, such as the first-stage boom device rotating upward, if the current rotation angle of the first-stage boom device exceeds the first safe zone, it is determined that the equipment is overloaded, and the upward rotation of the first-stage boom device is restricted. At the same time, the first-stage boom device is driven to rotate in the opposite direction, that is, downward, so that the rotation angle of the first-stage boom device re-enters the first safe zone.

[0049] In other embodiments, a second push rod assembly is used to drive the rotation of the second-stage boom device. In this case, a displacement sensor can be installed on the second push rod assembly to map the rotation angle of the second-stage boom device to the displacement of the second push rod assembly. That is, the rotation angle range of the second-stage boom device becomes the displacement range of the second push rod assembly. The displacement range of the second push rod assembly serves as a second safety zone.

[0050] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A reinforcing bar gripping apparatus characterised in that, include: A support device (100) having a stroke for rotation in a first plane; A clamping device (200) for gripping reinforcing bars; A first-stage boom assembly (300) is used to connect the support device (100) and the clamping device (200). The first-stage boom assembly (300) has a stroke that rotates in a second plane, which is perpendicular to the first plane. A first drive device (400) is connected to the first stage boom device (300) for driving the first stage boom device (300) to rotate; The first-stage boom device (300) includes a first-stage A boom (310) and a first-stage B boom (320). One end of the first-stage A boom (310) is hinged to the support device (100), and the other end of the first-stage A boom (310) is hinged to the clamping device (200). One end of the first-stage B boom (320) is hinged to the support device (100), and the other end of the first-stage B boom (320) is hinged to the clamping device (200). The first-stage A boom (310) and the first-stage B boom (320) are arranged in parallel, such that the first-stage A boom (310), the first-stage B boom (320), the support device (100), and the clamping device (200) form a parallelogram structure.

2. The rebar gripping device according to claim 1, characterized in that, The first drive device (400) includes a first push rod assembly (410), a first transmission rod (420), and a second transmission rod (430). One end of the first push rod assembly (410) is hinged to one end of the first transmission rod (420) and one end of the second transmission rod (430) at the same point. The other end of the first push rod assembly (410) is connected to the support device (100). The other end of the first transmission rod (420) is connected to the first stage boom device (300). The other end of the second transmission rod (430) is connected to the support device (100).

3. The rebar gripping device according to claim 1, characterized in that, It also includes a second-stage boom assembly (500), a first connecting seat assembly (600), and a second drive unit (700). The first connecting seat assembly (600) is hinged to the ends of the first-stage A boom (310) and the first-stage B boom (320), respectively. The second-stage boom assembly (500) includes a second-stage A boom (510) and a second-stage B boom (520). One end of the second-stage A boom (510) is hinged to the first connecting seat assembly (600), and the other end of the second-stage A boom (510) is hinged to the clamping device (200). One end of the second-stage B boom (520) is hinged to the first connecting seat assembly (600), and the other end of the second-stage B boom (520) is hinged to the clamping device (200). The clamping device (200) is hinged, and the second-stage A boom (510) and the second-stage B boom (520) are arranged in parallel, such that the second-stage A boom (510), the second-stage B boom (520), the first connecting seat assembly (600) and the clamping device (200) form a parallelogram, and the first-stage A boom (310), the first-stage B boom (320), the support device (100) and the first connecting seat assembly (600) also form a parallelogram. The second driving device (700) is connected to the second-stage boom device (500) to drive the second-stage boom device (500) to rotate in a third plane, the third plane being perpendicular to the first plane.

4. The rebar gripping device according to claim 3, characterized in that, The second drive unit (700) includes a second push rod assembly (710), one end of which is connected to the first connecting seat assembly (600), and the other end of which is connected to the second stage boom device (500).

5. The rebar gripping device according to claim 4, characterized in that, It also includes a balance push rod assembly (800), one end of which is connected to the first connecting seat assembly (600), and the other end of which is connected to the second stage boom device (500).

6. The rebar gripping device according to claim 1, characterized in that, The support device (100) includes a leg assembly (110) and a slewing assembly (120), the slewing assembly (120) being disposed on the leg assembly (110), the slewing assembly (120) having a stroke for rotation in a first plane, and the first-stage boom device (300) connecting the slewing assembly (120) and the clamping device (200).

7. The rebar gripping device according to claim 6, characterized in that, The support leg assembly (110) includes a support frame (111) and at least four support legs (112). The multiple support legs (112) are arranged around the support frame (111). An adjustment mechanism (113) is provided between the support legs (112) and the support frame (111). The adjustment mechanism (113) is capable of changing the distance between the support legs (112) and the support frame (111).

8. The rebar gripping device according to claim 6, characterized in that, The slewing assembly (120) includes a slewing column (121) and a drive motor (122). The slewing column (121) is disposed on the support leg assembly (110). The drive motor (122) is connected to the slewing column (121) for transmission, so as to drive the slewing column (121) to rotate around the axis of the slewing column (121). The rotation plane of the slewing column (121) is the first plane.

9. The rebar gripping device according to claim 1, characterized in that, The clamping device (200) includes a first clamping frame (210), a second clamping frame (220), a third clamping frame (230), and a gripper (240). The first clamping frame (210) is connected to the first-stage boom device (300). The second clamping frame (220) is drivenly connected to the first clamping frame (210), allowing the second clamping frame (220) to rotate in a fourth plane. The third clamping frame (230) is drivenly connected to the second clamping frame (220), allowing the third clamping frame (230) to rotate in a fifth plane. The fourth plane and the fifth plane are perpendicular to each other. The gripper (240) is disposed on the third clamping frame (230).

10. A method for overload protection and control of equipment, characterized in that, The steel bar gripping device according to any one of claims 1 to 9 is used to grip and transport steel bars, while the following method is used to achieve equipment overload protection: First, a component with a rotational stroke is defined as a rotating part, and the rotation angle range of the rotating part is set as a safety zone; Then, when the rebar gripping device performs an action, the current rotation angle of the rotating component is detected and compared with the safe range. When the current rotation angle of the rotating component is within the safe range, the rotating component performs an action. When the current rotation angle of the rotating component exceeds the safe range, it is determined that the device is overloaded, and the current direction of the rotating component is restricted. At the same time, the rotating component is driven to perform an action in the opposite direction.

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