A confined space connecting beam steel binding device and a control method thereof

Abstract

A limited space connecting beam steel binding device and its control method, including: wire feeding mechanism includes driving motor, driving gear and driven gear, and two concave pulleys rotating with the driven gear and adhering to each other, respectively, the binding wire in the binding wire disc is sent into the conveying pipe through the groove part of the two concave pulleys adhering to each other and is conveyed to the steel bar intersection; the binding wire cutting mechanism is arranged in the conveying pipe and includes a collision platform, a collision needle and a pulley transmission assembly driving the collision needle to act; the binding mechanism includes a binding hook, a binding hook pipe connected with the binding hook, and a rotating motor connected with the binding hook. The binding device can significantly improve the efficiency of the connecting beam steel binding, is light and small in whole, can be flexibly adapted to different beam body heights and limited spaces, does not need to frequently replace tools; the binding quality is stable and controllable, effectively avoids common problems such as missing binding, loose binding and exposed binding wire, construction safety risk; at the same time, has data recording and wireless transmission functions, meets the needs of digital management and control and quality traceability of smart construction site.

Description

Technical Field

[0001] This invention relates to the fields of intelligent construction equipment, automated rebar tying, and construction robots, specifically to a rebar tying device for a confined space coupling beam and its control method. Background Technology

[0002] With the development of industrialized and intelligent construction, the reinforcement binding operation of large-section beams in the confined space of prefabricated composite slab beams faces prominent challenges. Traditional manual binding is inefficient and of unstable quality. Affected by factors such as high reinforcement density and a large number of stirrups, it is prone to common quality defects such as inconsistent binding tightness, exposed binding wires, and misaligned joints. Existing mechanical binding devices have low levels of intelligence, only achieving semi-automatic wire feeding, cutting, and binding. Manual alignment of intersections and manual control of force and number of turns are still required. There is no intelligent sensing or adaptive adjustment function, making it difficult to guarantee the consistency of binding quality. The safety hazards of working in confined spaces are significant. Workers' arms cannot reach the bottom and web reinforcement of the beam. Construction often requires coordination with high-altitude and cross-operations. In addition, the reserved areas of the beam side formwork lack effective protection measures, which significantly increases the difficulty of the operation, further reduces efficiency, increases safety risks, and makes rectification difficult. There is a lack of digital management methods. Existing binding devices do not have construction data recording and traceability functions, which cannot meet the needs of digital construction management in smart construction sites, and it is difficult to generate daily construction reports, workload statistics, and quality traceability reports. Summary of the Invention

[0003] This application provides a confined space coupling beam reinforcement binding device and its control method, aiming to solve the technical problems of low efficiency, unstable quality, high safety risk and lack of intelligent control in existing confined space coupling beam reinforcement binding.

[0004] To solve at least one of the above-mentioned technical problems, the technical solution adopted in this application is:

[0005] A confined space connecting beam reinforcement binding device includes a wire feeding mechanism, a wire cutting mechanism, a binding mechanism, and a power supply for powering it;

[0006] The wire feeding mechanism includes a drive motor, a drive gear driven by the drive motor, a driven gear meshing with the drive gear, and two concave pulleys that rotate with the driven gear and fit together. The wire in the wire tying tray is fed into the conveying pipe and conveyed to the intersection of the reinforcing bars through the grooves of the two concave pulleys that fit together.

[0007] The wire cutting mechanism is located inside the conveying pipe and includes a striking platform, a striking pin, and a pulley transmission assembly that drives the striking pin to move. It is used to cut the wire when the wire is conveyed to a set length.

[0008] The binding mechanism includes a binding hook, a binding hook tube connected to the binding hook, and a rotary motor connected to the binding hook. The rotary motor drives the binding hook to rotate according to a set number of turns and torque to wind and lock the binding wire that has been delivered to the position.

[0009] Furthermore, the binding hook tube and the delivery tube are connected by a trapezoidal buckle and groove that fit together, so as to adjust the overall length of the binding device.

[0010] Furthermore, the pulley transmission assembly includes a medium-sized pulley and a small pulley that mesh with each other, as well as a fixing block. The striking pin is fixed to the medium-sized pulley via the fixing block. The small pulley is attached to the binding wire and rotates as the binding wire is conveyed, thereby driving the medium-sized pulley to rotate. When the medium-sized pulley rotates to a set position, the striking pin collides with the impact platform to cut the binding wire.

[0011] Furthermore, the driven gear includes a first driven gear and a second driven gear that mesh with each other, the second driven gear meshing with the driving gear, and the two concave pulleys are respectively connected to the first driven gear and the second driven gear and rotate synchronously.

[0012] Furthermore, the end of the conveying pipe near the intersection of the reinforcing bars is provided with an arc-shaped guide structure; and / or, the binding device further includes a wire conveying button and a hook rotation button, the wire conveying button being used to start the drive motor, and the hook rotation button being used to start the rotation motor.

[0013] Furthermore, it also includes a main control unit and an intelligent sensing module disposed at the binding end of the binding device. The main control unit is connected to the intelligent sensing module, the drive motor and the rotary motor respectively. The intelligent sensing module is used to collect information on the position, diameter and intersection of the reinforcing bars. The main control unit is used to identify the intersection of the reinforcing bars and determine the binding position according to the information, and adaptively match the binding parameters according to the identified reinforcing bar specifications. The binding parameters include the wire feeding length, the number of winding turns and the locking torque.

[0014] The intelligent sensing module includes a miniature visual sensor and an infrared proximity sensor. The miniature visual sensor is used to acquire images of the reinforcing bars and transmit them to the main control unit to identify the intersections of the reinforcing bars. The infrared proximity sensor is used to detect distance information in confined spaces and / or proximity information of people or obstacles.

[0015] Furthermore, the number of wrapping turns in the binding parameters is 2 to 5 turns, and the main control unit adaptively adjusts it within this range according to the identified rebar specifications.

[0016] Furthermore, it also includes a torque sensor, which is disposed at the connection between the binding hook and the binding hook tube, for detecting the locking torque of the binding wire and feeding it back to the main control unit so that the main control unit can adaptively adjust the locking torque; and / or, the small pulley in the pulley transmission assembly transmits the wire feeding length signal to the main control unit when the binding wire rotates, so that the main control unit can calculate the wire feeding length based on the number of rotations of the small pulley.

[0017] Furthermore, it also includes one or more of the following: a wireless communication module, a data storage chip, a display screen, a mode selection button, a wire tie balance detection sensor, and a safety warning device; the wireless communication module is used to upload binding data to the management platform and receive control commands; the data storage chip is used to store binding data locally; the display screen is used to display work information; the mode selection button is used to switch between semi-automatic mode and intelligent mode; the wire tie balance detection sensor is located at the wire tie reel and is used to detect the wire tie balance and feed it back to the main control unit; the safety warning device includes a power detection module and / or a buzzer alarm.

[0018] A control method for a confined space coupling beam reinforcement binding device, applied to the coupling beam reinforcement binding device as described above, includes the following steps:

[0019] S1. The binding end of the binding device is brought close to the reinforcing bar area of ​​the connecting beam. The intelligent sensing module collects the reinforcing bar information and transmits it to the main control unit. The main control unit identifies the reinforcing bar intersection and determines the binding position. The binding parameters are adaptively matched according to the identified reinforcing bar specifications. The binding parameters include the wire feeding length, the number of winding turns, and the locking torque.

[0020] S2. The main control unit controls the drive motor to drive the active gear, driven gear and concave pulley to rotate, and sends the binding wire to the intersection of the reinforcing bars through the conveying pipe. When the binding wire is conveyed to the length of the binding wire conveying, the binding wire is cut by the binding wire cutting mechanism.

[0021] S3. The main control unit controls the rotary motor to drive the binding hook to rotate according to the number of winding turns and the locking torque, winding and locking the binding wire. After completion, the binding device automatically resets.

[0022] In step S2, the main control unit calculates the conveying length of the binding wire by detecting the number of rotations of the small pulley that rotates with the binding wire; in step S3, the main control unit performs closed-loop control based on the locking torque fed back by the torque sensor, and stops binding when the locking torque reaches the target value; and / or, a semi-automatic mode or intelligent mode is selected by the mode selection button before operation, and the binding data is stored and uploaded via the wireless communication module after each binding is completed; preferably, the binding device triggers an alarm and automatically stops when it detects wire jamming, missing wire, low battery, sensor malfunction, or approaching obstacle.

[0023] The confined space coupling beam reinforcement binding device and its control method designed in this application can significantly improve the efficiency of coupling beam reinforcement binding, reducing the binding time of a single beam by more than 60% compared to manual binding and more than 30% compared to ordinary machinery. The device is lightweight and compact, flexibly adaptable to different beam heights and confined spaces, eliminating the need for frequent tool changes. Binding quality is stable and controllable, eliminating human error and ensuring that the binding strength meets specifications, effectively avoiding common problems such as missed binding, loose binding, and exposed binding wires. It significantly reduces the labor intensity and safety risks for construction workers, reducing hazards associated with working at heights and in overlapping areas. Simultaneously, it has data recording and wireless transmission functions, meeting the needs of digital management and quality traceability in smart construction sites. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the binding device in this application;

[0025] Figure 2 for Figure 1 The enlarged schematic diagram at point A is a schematic diagram of the internal motor rotation structure of the binding device in this application;

[0026] Figure 3 for Figure 1 The enlarged schematic diagram at point B is a structural schematic diagram of the wire cutting mechanism and the binding mechanism in this application;

[0027] Figure 4 for Figure 1 The enlarged schematic diagram at point C is the schematic diagram of the adjustable length rod structure in this application;

[0028] Figure 5 for Figure 1 The enlarged schematic diagram at point D is a schematic diagram of the main control board and data storage chip in this application;

[0029] Figure 6 This is a structural schematic diagram of the binding mechanism from another angle in this application.

[0030] In the diagram: 1. Wire binding feed button; 2. Hook rotation button; 3. Rotary motor; 4. First driven gear; 5. Second driven gear; 6. Drive gear; 7. Feeding port; 8. Wire binding reel; 9. Battery; 10. Hook tube; 11. Feeding tube; 12. Hook; 13. Concave pulley one; 14. Concave pulley two; 15. Wire binding; 16. Drive motor; 17. Impact platform; 18. Impact pin; 19. Medium pulley; 20. Fixing block; 21. Small pulley; 22. Trapezoidal buckle one; 23. Trapezoidal buckle two; 24. Hook tube groove; 25. Feeding tube groove; 26. Miniature vision sensor; 27. Main control board; 28. Display screen; 29. ​​Wireless communication module; 30. Torque sensor; 31. Mode selection button; 32. Power detection module; 33. Infrared proximity sensor; 34. Data storage chip; 35. Buzzer alarm. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention. The accompanying drawings are simplified schematic diagrams, illustrating only the core structure of the invention and not representing actual dimensions. The directional terms used in this specification (such as upper, lower, inner, outer, end, etc.) are only used to illustrate relative positional relationships in conjunction with the accompanying drawings and do not constitute a limitation on the invention. The specific numerical values ​​recorded herein are only exemplary preferred values, and those skilled in the art can adjust them according to actual application requirements.

[0032] A confined space coupling beam reinforcement binding device, combined with Figures 1 to 6 The binding device consists of mechanical components and intelligent components, and the names, connections and functions of each component are described below.

[0033] like Figure 1 and Figure 2 As shown, the wire feeding mechanism includes a drive motor 16, a drive gear 6, a driven gear, and two concave pulleys (concave pulley 13 and concave pulley 2 14), and works together with the wire binding disc 8, the feeding port 7, the feeding pipe 11, and the battery 9.

[0034] The drive motor 16 is connected to the drive gear 6 and starts, stops, and adjusts its speed under the control of the main control unit (main control board 27) to provide power for wire feeding. The driven gears include a first driven gear 4 and a second driven gear 5 that mesh with each other: the second driven gear 5 meshes with the drive gear 6, and the first driven gear 4 and the second driven gear 5 mesh with each other. When the drive motor 16 operates, the drive gear 6 rotates, driving the second driven gear 5 and the first driven gear 4 to operate synchronously.

[0035] Concave pulley 13 is connected to the first driven gear 4, and concave pulley 14 is connected to the second driven gear 5. Concave pulley 13 and concave pulley 14 are in close contact with each other. When the gears rotate, concave pulley 13 and concave pulley 14 rotate synchronously. The wire binding tray 8 is used to store the wire binding 15. The wire binding 15 is clamped and fed out through the grooves formed by the contacting concave pulleys 13 and 14, and enters the conveying pipe 11 through the conveying port 7. The conveying port 7 acts as a guide to ensure the wire binding 15 enters smoothly. The wire binding 15 is conveyed along the conveying pipe 11 to the bottom of the rebar intersection. The battery 9 provides power to the drive motor 16, rotary motor 3, main control board 27, and various sensors.

[0036] like Figure 1 As shown, the end of the delivery pipe 11 near the intersection of the reinforcing bars is preferably configured with an arc-shaped guide structure to cooperate with the sensor to achieve accurate delivery of the binding wire 15. In addition, the present invention is also provided with a binding wire delivery button 1 and a binding hook rotation button 2: the binding wire delivery button 1 is used to start the drive motor 16 to start operation and send a wire delivery command to the main control board 27; the binding hook rotation button 2 is used to start the rotation motor 3 to start operation and send a locking command to the main control board 27.

[0037] like Figure 1 and Figure 3 As shown, the wire cutting mechanism is located on the inner wall of the conveying pipe 11 and includes a striker 17, a striker 18, and a pulley transmission assembly that drives the striker 18 to move, for cutting the wire 15 when the wire 15 is conveyed to a set length.

[0038] Specifically, the pulley transmission assembly includes a medium-sized pulley 19 and a small pulley 21 that mesh with each other, and a fixing block 20. The striking pin 18 is fixed to the medium-sized pulley 19 via the fixing block 20 (i.e., the striking pin 18 and the fixing block 20 are mutually fixed to the medium-sized pulley 19). The small pulley 21 is in contact with the binding wire 15. When the binding wire 15 is conveyed, it rubs against the small pulley 21, causing the small pulley 21 to rotate; when the small pulley 21 rotates, it causes the medium-sized pulley 19 that meshes with it to rotate. When the medium-sized pulley 19 rotates to a set position (e.g., one revolution), the striking pin 18 fixed thereon rotates accordingly, and the binding wire 15 passes precisely through the gap between the striking pin 18 and the impact platform 17. When the striking pin 18 rotates to collide with the impact platform 17, the two shear and compress the binding wire 15, thereby cutting the binding wire 15. The impact platform 17, while cutting the binding wire 15, also assists in fixing the trajectory of the binding wire 15. The collision action between the striking pin 18 and the impact platform 17 is precisely controlled by the main control board 27 according to the conveying length of the wire 15.

[0039] While rotating with the binding wire 15, the small pulley 21 transmits the wire feeding length signal (number of rotations) to the main control board 27. The main control board 27 calculates the feeding length of the binding wire 15 based on the number of rotations of the small pulley 21. When the set length is reached, it controls the small pulley 21 to mesh with the medium pulley 19 to trigger the cutting action.

[0040] like Figure 1 , Figure 4 and Figure 6 As shown, the binding mechanism includes a binding hook 12, a binding hook tube 10 connected to the binding hook 12, and a rotary motor 3 connected to the binding hook 12. The rotary motor 3 is connected to the binding hook tube 10 and rotates according to a set number of turns and speed under the control of the main control board 27, driving the binding hook tube 10 and the binding hook 12 to rotate. The binding hook 12 rotates and binds the binding wire 15 delivered to the position, completing the binding wire locking. When the binding hook tube 10 rotates, it drives the binding hook 12 to rotate, thereby winding and locking the binding wire 15 at the intersection of the reinforcing bars according to a set number of turns.

[0041] like Figure 4 As shown, the binding hook tube 10 and the delivery tube 11 are connected by mutually fitting trapezoidal buckles and grooves to adjust the overall length of the binding device. Specifically, trapezoidal buckle one 22 fits into the groove 24 of the binding hook tube, and trapezoidal buckle two 23 fits into the groove 25 of the delivery tube; the two work together. By fitting trapezoidal buckle one 22 and trapezoidal buckle two 23 into the corresponding grooves 24 and 25 of the binding hook tube, the overlap length of the binding hook tube 10 and the delivery tube 11 can be adjusted, thereby changing the overall length of the binding device and realizing the telescopic adjustment of the binding device to adapt to different confined space dimensions. This adjustment action can be controlled manually or by the main control system. In intelligent mode, the main control board 27 can assist in adjusting the length of the binding device according to the spatial dimensions detected by the infrared proximity sensor 33 to ensure adaptation to the working space.

[0042] like Figure 1 , Figure 3 and Figure 5 As shown, based on the aforementioned mechanical structure, the present invention further includes a main control board 27 (main control unit) and an intelligent sensing module disposed at the binding end of the binding device. The main control board 27, acting as the brain of the binding device, integrates edge computing algorithms, receives signals from various sensors, and performs rebar identification, parameter matching, motion control, data recording, and fault diagnosis, coordinating the collaborative work of each component. The main control board 27 is connected to the intelligent sensing module, the drive motor 16, and the rotary motor 3, respectively.

[0043] The intelligent sensing module includes a miniature vision sensor 26 and an infrared proximity sensor 33. The miniature vision sensor 26 is installed at the binding end of the binding device, acquiring real-time images of the rebar position, intersection angle, and distribution, and transmitting the image signals to the main control board 27 to achieve automatic identification of rebar intersections. The infrared proximity sensor 33 is installed at the binding end of the binding device to detect distance information within the confined space, as well as to detect human approach or obstacles within the confined space; when a danger signal is detected, it automatically triggers a shutdown to prevent hand pinching or collision accidents.

[0044] The main control board 27 identifies the rebar intersections and determines the optimal binding position based on the rebar position, diameter, and intersection information collected by the intelligent sensing module, and adaptively matches the binding parameters according to the identified rebar specifications. The binding parameters include the wire feeding length, the number of winding turns, and the locking torque. In a preferred embodiment, the number of winding turns is 2 to 5 turns, and the main control board 27 adaptively adjusts this range according to the identified rebar specifications: for example, a larger number of turns is used when the rebar diameter is large to ensure binding strength, and a smaller number of turns is used when the rebar diameter is small to avoid wasting wire.

[0045] Furthermore, the present invention includes a torque sensor 30, which is installed at the connection between the tie hook 12 and the tie hook tube 10 to detect the tightening torque of the tie wire in real time and feed the data back to the main control board 27, thereby realizing adaptive torque adjustment and avoiding excessively loose or tight binding.

[0046] like Figure 1 and Figure 5 As shown, the present invention further includes a wireless communication module 29, a data storage chip 34, a display screen 28, a mode selection button 31, a power detection module 32, a buzzer alarm 35, and a wire tie balance detection sensor disposed at the wire tie reel 8. One or more of the above components can be selected as needed.

[0047] The display screen 28 is installed on the handheld operating end of the tying device (i.e., the tail end furthest from the tying end) to display information such as the operation mode, tying count, remaining binding wire, battery level, fault prompts, and tying parameters, enabling human-machine interaction. The wireless communication module 29 supports Bluetooth / WiFi / 4G communication, uploading tying data (tying points, quantity, time, parameters, etc.) to the smart construction site management platform, and can also receive control commands issued by the platform. The mode selection button 31 is used to switch between semi-automatic and intelligent modes: in semi-automatic mode, the operator manually aligns the rebar intersection and starts tying with one button; in intelligent mode, the rebar is automatically identified and tying is completed when the rebar approaches.

[0048] The power detection module 32 monitors the power status of battery 9 in real time. When the power level falls below a set threshold, it sends a signal to the main control board 27, displays a low power warning on the display screen 28, and triggers the buzzer alarm 35. A wire tie balance detection sensor is located at the wire tie reel 8, which monitors the remaining wire tie 15 in real time and feeds it back to the main control board 27. When the remaining wire tie balance is insufficient, it prompts for replenishment. The data storage chip 34 stores binding data locally to prevent data loss and supports data export for easy offline viewing and traceability. The buzzer alarm 35 is used for fault alarms (wire jamming, missing wire, low power, sensor malfunction, etc.) and safety warnings (human approach, obstacle collision, etc.), reminding construction personnel to handle the situation promptly.

[0049] This application also proposes a control method for a confined space coupling beam reinforcement binding device, which is based on a closed-loop operation of perception, decision-making, execution and feedback. The specific operation steps are as follows.

[0050] S1. Bring the binding end of the binding device close to the reinforcing bar area of ​​the connecting beam. The intelligent sensing module collects the reinforcing bar information and transmits it to the main control unit. The main control unit identifies the intersection of the reinforcing bars and determines the binding position. Based on the identified reinforcing bar specifications, the binding parameters are adaptively matched. The binding parameters include the wire feeding length, the number of winding turns, and the locking torque.

[0051] Fully charge the binding device, check the remaining wire on the wire spool 8, and after powering on, the binding device will automatically complete a self-test, including checking battery level, remaining wire, sensor status, and motor operating status. After the self-test passes, the display screen 28 will show the standby interface. Construction personnel can switch between semi-automatic and intelligent modes using the mode selection button 31, depending on the work scenario.

[0052] Based on the height, span, and confined space dimensions of the connecting beam, the overall length of the binding device is changed by adjusting the overlap length of the hook tube 10 and the conveying tube 11 through the corresponding engagement of trapezoidal buckle 1 22 with the hook tube groove 24 and trapezoidal buckle 23 with the conveying tube groove 25. In intelligent mode, the main control board 27 can assist in adjusting the length of the binding device based on the spatial dimensions detected by the infrared proximity sensor 33 to ensure adaptation to the working space.

[0053] When the binding end of the binding device is brought close to the reinforcing bar area of ​​the connecting beam, the miniature vision sensor 26 collects images of the reinforcing bars in real time, and the infrared proximity sensor 33 detects distance information. The data from both are transmitted synchronously to the main control board 27. The main control board 27 automatically identifies the intersection point of the reinforcing bars, the diameter of the reinforcing bars, and the number of layers through an edge computing algorithm, and displays alignment guidance on the display screen 28. In intelligent mode, the position of the binding device can be automatically fine-tuned to achieve precise positioning. In semi-automatic mode, the construction personnel manually align the reinforcing bar intersection point according to the guidance.

[0054] The main control board 27 automatically matches the binding parameters based on the identified rebar diameter and intersection angle, including the wire feeding length, number of winding turns (adjustable from 2 to 5 turns), and target locking torque; the parameters can be viewed on the display screen 28, or can be manually fine-tuned according to construction needs.

[0055] S2. The main control unit controls the drive motor to drive the active gear, driven gear and concave pulley to rotate, and send the binding wire to the intersection of the reinforcing bars through the conveying pipe. When the binding wire is conveyed to the length of the binding wire, the binding wire is cut by the binding wire cutting mechanism.

[0056] After confirming accurate positioning, press the wire feeding button 1 (which can be automatically triggered in intelligent mode). The main control board 27 sends a command, the drive motor 16 starts and drives the active gear 6 to rotate. The active gear 6 meshes with the second driven gear 5, which in turn drives the first driven gear 4 to rotate, so that the concave pulley 13 and the concave pulley 2 14 rotate synchronously to feed the wire. The wire 15 enters the feeding port 7 along the groove between the concave pulleys, and is then fed to the bottom of the rebar intersection point along the feeding pipe 11.

[0057] S3. The main control unit controls the rotary motor to drive the binding hook to rotate according to the number of wrapping turns and the locking torque, wrapping and locking the binding wire. After completion, the binding device automatically resets.

[0058] During the conveying process, the binding wire 15 is in contact with the small pulley 21, causing the small pulley 21 to rotate. The main control board 27 calculates the wire feeding length based on the number of rotations of the small pulley 21. When the set length is reached, the small pulley 21 is controlled to mesh with the medium pulley 19. After the medium pulley 19 rotates one revolution, the striking pin 18 collides with the impact platform 17, automatically cutting the binding wire 15. After the binding wire 15 is cut, the main control board 27 receives the feedback signal from the torque sensor 30 and starts the rotary motor 3, driving the binding hook tube 10 and binding hook 12 to rotate, completing the binding wire locking according to the set number of revolutions and torque. After the torque reaches the target value, the rotary motor 3 stops running, and the binding hook 12 automatically rotates back to the initial angle under the reverse drive of the rotary motor 3, and the binding count is automatically incremented by 1.

[0059] After each binding is completed, the main control board 27 stores data such as binding points, binding quantity, binding parameters, and operation time into the data storage chip 34, and simultaneously uploads it to the smart construction site management platform via the wireless communication module 29; construction personnel can view the cumulative binding quantity, success rate, and equipment status in real time through the display screen 28.

[0060] If problems such as wire jamming, missing wire, low battery, or sensor failure occur during operation, the buzzer alarm 35 will be triggered, the display screen 28 will show the fault prompt, and the main control board 27 will automatically stop the machine. The construction personnel can troubleshoot the fault according to the prompt. After the fault is resolved, the binding device can be restarted to continue the operation.

[0061] The intelligent tying device proposed in this application can be used for the automated tying of reinforcing bars in connecting beams within confined spaces between prefabricated composite slabs. Its application in construction includes: constructing bottom supports for the connecting beams; constructing bottom reinforcing bars on the bottom supports; simultaneously constructing composite slab supports on the bottom supports according to the design elevation and span; erecting a reinforcing bar tying frame on the bottom slab; and using the intelligent tying device of this invention on the reinforcing bar tying frame to complete the automated tying of the bottom reinforcing bars, stirrups, and web reinforcing bars of the connecting beams; after the supports are constructed, placing the composite slabs in the corresponding positions according to design requirements, and then tying the surface reinforcing bars on the composite slabs. Thus, the tying of reinforcing bars in connecting beams can be completed safely, efficiently, and with high quality under confined space and overlapping operation conditions.

[0062] Through the above structure and operation steps, the intelligent binding device of the present invention realizes the integrated operation of mechanical execution and intelligent control. Compared with traditional manual binding and ordinary mechanical binding, it has significant technical advantages: the intelligent sensing system and adaptive control function realize automatic identification, precise positioning and adaptive adjustment of binding parameters of rebar intersections, which greatly improves the binding efficiency of connecting beam rebars in confined spaces and effectively reduces manual operation and human error; the digital data recording and wireless transmission function realizes full traceability of construction quality and adapts to the needs of smart construction site construction; multiple intelligent safety protection functions effectively reduce the safety risks of working at height and cross-operations; mechanical drive replaces manual operation, which significantly reduces the labor intensity of construction workers.

[0063] The proposed confined space coupling beam reinforcement binding device and its usage method, compared with the prior art, have the following advantages:

[0064] Employing a dual structure of mechanical transmission and intelligent control, it achieves automatic identification, positioning, and binding of rebar intersections, eliminating the need for repeated manual alignment and operation. The binding time for a single beam bottom rebar is reduced by more than 60% compared to traditional manual methods and by more than 30% compared to ordinary mechanical binding. The binding efficiency is even more significantly improved in complex beam areas, which can greatly shorten the overall construction cycle and reduce the risk of construction delays.

[0065] The binding device is lightweight and compact, making it easy to carry and move on the construction site. It is especially suitable for areas that are difficult for people to reach, such as the bottom of beams and narrow spaces. The overlap length of the binding hook tube and the delivery tube can be adjusted by the fit of the trapezoidal buckle and the groove, thereby changing the overall length of the binding device to adapt to different beam heights, spans and restricted space dimensions, without the need to frequently change tools or adjust the working position.

[0066] Through intelligent sensing and adaptive adjustment, the wire feeding length, number of winding turns (adjustable from 2 to 5 turns), and locking torque are automatically matched to eliminate human operation differences and effectively avoid common quality problems such as missing binding, loose binding, exposed wire, and misaligned joints. This ensures that the spacing of the reinforcing bars, the thickness of the protective layer, and the binding firmness all meet the design and specification requirements. At the same time, the locking torque is controlled in a closed loop through the torque sensor to avoid being too loose or too tight.

[0067] Mechanical drive combined with intelligent control replaces manual binding, avoiding the need for construction workers to bend over, raise their arms, and exert force repeatedly for long periods of time. During operation, the binding task can be completed simply by pressing the corresponding control button or selecting the intelligent mode. At the same time, infrared proximity sensors detect human approach or obstacles in confined spaces and automatically stop the machine when a danger signal is detected to avoid hand pinching or collision accidents and reduce the risks of working at heights and cross-operations.

[0068] This binding device has data recording and wireless transmission functions, and can automatically record information such as binding points, binding quantity, operation time, equipment status, binding parameters, etc. It supports Bluetooth / WiFi / 4G uploading to the smart construction site platform to generate daily construction reports, team workload statistics and quality traceability reports, which meet the management and control needs of digital and intelligent construction of prefabricated buildings, and comprehensively improve the intelligence level and construction quality controllability of the binding operation of the connecting beam in confined space.

[0069] The above description is merely a preferred embodiment of this application and is not intended to limit the invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A device for binding reinforcement bars of a confined space coupling beam, characterized in that, This includes a wire feeding mechanism, a wire cutting mechanism, a binding mechanism, and a power supply for them; The wire feeding mechanism includes a drive motor, a drive gear driven by the drive motor, a driven gear meshing with the drive gear, and two concave pulleys that rotate with the driven gear and fit together. The wire in the wire tying tray is fed into the conveying pipe and conveyed to the intersection of the reinforcing bars through the grooves of the two concave pulleys that fit together. The wire cutting mechanism is located inside the conveying pipe and includes a striking platform, a striking pin, and a pulley transmission assembly that drives the striking pin to move. It is used to cut the wire when the wire is conveyed to a set length. The binding mechanism includes a binding hook, a binding hook tube connected to the binding hook, and a rotary motor connected to the binding hook. The rotary motor drives the binding hook to rotate according to a set number of turns and torque to wind and lock the binding wire that has been delivered to the position.

2. The binding device according to claim 1, characterized in that, The binding hook tube and the delivery tube are connected by a trapezoidal buckle and groove that fit together, so as to adjust the overall length of the binding device.

3. The binding device according to claim 1, characterized in that, The pulley transmission assembly includes a medium-sized pulley and a small pulley that mesh with each other, and a fixing block. The firing pin is fixed to the medium-sized pulley via the fixing block. The small pulley is attached to the binding wire and rotates as the binding wire is conveyed, thereby driving the medium-sized pulley to rotate. When the medium-sized pulley rotates to a set position, the firing pin collides with the impact platform to cut the binding wire.

4. The binding device according to claim 1, characterized in that, The driven gear includes a first driven gear and a second driven gear that mesh with each other. The second driven gear meshes with the driving gear. The two concave pulleys are respectively connected to the first driven gear and the second driven gear and rotate synchronously.

5. The binding device according to claim 1, characterized in that, The end of the conveying pipe near the intersection of the reinforcing bars is provided with an arc-shaped guide structure; and / or, the binding device further includes a wire conveying button and a hook rotation button, the wire conveying button being used to start the drive motor, and the hook rotation button being used to start the rotation motor.

6. The binding device according to any one of claims 1 to 5, characterized in that, It also includes a main control unit and an intelligent sensing module set at the binding end of the binding device. The main control unit is connected to the intelligent sensing module, the drive motor and the rotary motor respectively. The intelligent sensing module is used to collect the position, diameter and intersection information of the reinforcing bars. The main control unit is used to identify the intersection of the reinforcing bars and determine the binding position according to the information, and adaptively match the binding parameters according to the identified reinforcing bar specifications. The binding parameters include the wire feeding length, the number of winding turns and the locking torque. The intelligent sensing module includes a miniature visual sensor and an infrared proximity sensor. The miniature visual sensor is used to acquire images of the reinforcing bars and transmit them to the main control unit to identify the intersections of the reinforcing bars. The infrared proximity sensor is used to detect distance information in confined spaces and / or proximity information of people or obstacles.

7. The binding device according to claim 6, characterized in that, The number of wrapping turns in the binding parameters is 2 to 5 turns, and the main control unit adaptively adjusts it within this range according to the identified rebar specifications.

8. The binding device according to claim 6, characterized in that, It also includes a torque sensor, which is located at the connection between the binding hook and the binding hook tube, for detecting the locking torque of the binding wire and feeding it back to the main control unit so that the main control unit can adaptively adjust the locking torque; and / or, the small pulley in the pulley transmission assembly transmits the wire feeding length signal to the main control unit when the binding wire rotates, so that the main control unit can calculate the wire feeding length based on the number of rotations of the small pulley.

9. The binding device according to claim 6, characterized in that, It also includes one or more of the following: a wireless communication module, a data storage chip, a display screen, a mode selection button, a wire tie balance detection sensor, and a safety warning device; the wireless communication module is used to upload the binding data to the management platform and receive control commands; the data storage chip is used to store the binding data locally; and the display screen is used to display work information. The mode selection button is used to switch between semi-automatic mode and intelligent mode; the wire tie balance detection sensor is set at the wire tie reel to detect the wire tie balance and feed it back to the main control unit; the safety warning device includes a power detection module and / or a buzzer alarm.

10. A control method for a confined space coupling beam reinforcement binding device, applied to the binding device according to any one of claims 6 to 9, characterized in that, Includes the following steps: S1. The binding end of the binding device is brought close to the reinforcing bar area of ​​the connecting beam. The intelligent sensing module collects the reinforcing bar information and transmits it to the main control unit. The main control unit identifies the reinforcing bar intersection and determines the binding position. The binding parameters are adaptively matched according to the identified reinforcing bar specifications. The binding parameters include the wire feeding length, the number of winding turns, and the locking torque. S2. The main control unit controls the drive motor to drive the active gear, driven gear and concave pulley to rotate, and sends the binding wire to the intersection of the reinforcing bars through the conveying pipe. When the binding wire is conveyed to the length of the binding wire conveying, the binding wire is cut by the binding wire cutting mechanism. S3. The main control unit controls the rotary motor to drive the binding hook to rotate according to the number of winding turns and the locking torque, winding and locking the binding wire. After completion, the binding device automatically resets. In step S2, the main control unit calculates the conveying length of the binding wire by detecting the number of rotations of the small pulley that rotates with the binding wire; in step S3, the main control unit performs closed-loop control based on the locking torque fed back by the torque sensor, and stops binding when the locking torque reaches the target value; and / or, a semi-automatic mode or intelligent mode is selected by the mode selection button before operation, and the binding data is stored and uploaded via the wireless communication module after each binding is completed. An alarm is triggered and the machine automatically stops when a wire jam, missing wire, low battery, sensor malfunction, or obstacle approach is detected.

Images