Steel bar binding robot capable of automatically changing rails

Abstract

The utility model provides a reinforcing steel bar binding robot capable of automatically changing a rail, the reinforcing steel bar binding robot comprises a mounting frame, and a walking mechanism, a rail changing mechanism and a binding mechanism which are arranged on the mounting frame, and the walking mechanism is used for driving the robot to move in the X direction; the rail changing mechanism comprises a first supporting assembly, a second supporting assembly and a translation assembly, the first supporting assembly and the second supporting assembly can be alternately supported on the reinforcing mesh, the contact faces of the first supporting assembly and the second supporting assembly with the reinforcing mesh are flat and straight faces, and the translation assembly is connected with the first supporting assembly or the second supporting assembly. The robot is driven to move in the Y direction. And the binding mechanism is used for binding reinforcing steel bars. According to the reinforcing steel bar binding robot capable of automatically changing the rail, the first supporting assembly and the second supporting assembly are alternately supported on a reinforcing steel bar net and are in linkage with the translation assembly to drive the robot to move in the Y direction, and therefore automatic rail changing of the robot is achieved.

Description

Technical Field

[0001] The present application relates to the field of construction machinery, and in particular to a steel bar tying robot capable of automatically changing tracks. Background Art

[0002] In the construction process, steel bar tying is a very important task. After the steel bars are tied together, they can effectively enhance the strength and stability of concrete components. At present, the most common way of steel bar tying is manual tying. The efficiency of manual tying depends largely on the workers' proficiency in steel bar tying, their physical condition, construction environment and weather restrictions.

[0003] In order to solve the above problems, the existing technology has begun to use robot binding, which can effectively improve production efficiency, reduce workload, reduce worker fatigue, ensure binding accuracy and consistency, etc. However, the existing steel bar binding robot cannot accurately move from the current steel bar track to the steel bar track of the next working surface to realize the automatic track change function. The robot needs to be lifted manually to change the track, which is inefficient. In addition, due to the heavy weight of the robot, manual lifting and track change not only consumes manpower, but also has the risk of being hit. Utility Model Content

[0004] An embodiment of the present application provides a steel bar tying robot capable of automatically changing tracks, comprising a mounting frame and a walking mechanism, a track changing mechanism and a tying mechanism arranged on the mounting frame, wherein the walking mechanism is used to drive the robot to move along the X direction; the track changing mechanism comprises a first support assembly, a second support assembly and a translation assembly, the first support assembly and the second support assembly can be alternately supported on the steel bar mesh, and the contact surfaces of the first support assembly and the second support assembly with the steel bar mesh are flat surfaces, the translation assembly is connected to the first support assembly or the second support assembly, and is used to drive the robot to move along the Y direction; the tying mechanism is used to tie steel bars.

[0005] Optionally, it also includes an anti-collision mechanism and a control mechanism, the anti-collision mechanism includes two first anti-collision detection sensors, each of the first anti-collision detection sensors is inclined toward the direction of the steel mesh and is arranged on both sides of the mounting frame along the Y direction, for detecting obstacles on both sides of the robot along the Y direction, each of the first anti-collision detection sensors is electrically connected to the input end of the control mechanism; the output end of the control mechanism is electrically connected to the walking mechanism, the binding mechanism and the track changing mechanism.

[0006] Optionally, the anti-collision mechanism also includes two second anti-collision detection sensors, each of which is arranged on both sides of the mounting frame along the X direction, and is used to detect obstacles on both sides of the robot along the X direction. Each of the second anti-collision detection sensors is electrically connected to the input end of the control mechanism.

[0007] Optionally, the anti-collision mechanism further includes two anti-collision bars, which are respectively arranged on both sides of the mounting frame along the X direction and electrically connected to the input end of the control mechanism, and the control mechanism can control the walking mechanism to stop when any of the anti-collision bars is collided.

[0008] Optionally, the first support assembly includes a first lifting component and a track-changing leg, the track-changing leg is movably connected to the mounting frame along the Z direction through the first lifting component, and the translation assembly is connected to the first lifting component; the second support assembly includes two support legs, and the two support legs are respectively arranged on both sides of the mounting frame along the Y direction.

[0009] Optionally, the first lifting component includes: a first motor, which is arranged on the mounting frame; a first screw rod, which is rotatably arranged on the mounting frame and is transmission-connected to the first motor; a first screw connection, which is threadedly connected to the first screw rod, and the first screw connection is connected to the track-changing leg.

[0010] Optionally, the translation assembly includes an electric push rod, which is arranged on the first screw connection member, and the moving end of the electric push rod is fixedly connected to the track-changing leg, and the track-changing leg is slidably connected to the first screw connection member along the Y direction.

[0011] Optionally, the second support assembly further includes a second lifting component corresponding one-to-one to the support legs, each of the support legs is movably connected to the mounting frame along the Z direction via the second lifting component, and the second lifting component is electrically connected to the output end of the control mechanism.

[0012] Optionally, it also includes two auxiliary wheels and a third lifting component, the two auxiliary wheels are arranged on both sides of the mounting frame along the Y direction, the two auxiliary wheels are movably connected to the mounting frame along the Z direction through the third lifting component, and the third lifting component is electrically connected to the output end of the control mechanism.

[0013] Optionally, the traveling mechanism includes a plurality of driving wheels, and each of the driving wheels travels on one or more steel bars along the X direction.

[0014] Optionally, a track change detection sensor is further included, wherein the track change detection sensor is arranged on a mounting frame and is on a straight line in the same X direction as any of the driving wheels, and the track change detection sensor is electrically connected to an input end of the control mechanism.

[0015] Optionally, each of the driving wheels is provided with baffles on both sides along the Y direction, each of the baffles is movably connected to the mounting frame and is relatively fixed to the mounting frame in the Y direction, and each of the baffles has a first working state and a second working state; in the first working state, the baffles contact the steel bars parallel to the Y direction and move away from the steel mesh, so that the walking mechanism crosses the steel bars in the Y direction and moves along the X direction; in the second working state, the baffles are inserted into the gaps in the steel mesh to limit the displacement of the walking mechanism along the Y direction.

[0016] Optionally, it also includes an energy module, which is arranged on the mounting frame and is used to supply energy to the walking mechanism, the binding mechanism, and the track changing mechanism.

[0017] The steel bar tying robot capable of automatic track changing provided in the embodiment of the present application adopts a lifting and lowering track changing method, in which the first support assembly and the second support assembly are alternately supported on the steel bar mesh, and the robot is driven to move along the Y direction in linkage with the translation assembly to realize automatic track changing of the robot. The contact surfaces between the first support assembly and the second support assembly and the steel bar mesh are flat surfaces, which can improve the stability during support, eliminate the need for manual lifting and carrying, reduce manpower loss, and improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 is a schematic diagram of the overall structure of some embodiments of the present application;

[0020] Figure 2 yes Figure 1 A bottom view of the steel bar tying robot capable of automatically changing tracks in the embodiment;

[0021] Figure 3 yes Figure 1 A front view of a steel bar tying robot capable of automatically changing tracks in an embodiment;

[0022] Figure 4 yes Figure 1 A schematic structural diagram of a lashing mechanism in an embodiment;

[0023] Figure 5 yes Figure 1 A schematic structural diagram of the first supporting assembly in the embodiment;

[0024] Figure 6 yes Figure 5A schematic structural diagram of the first supporting assembly from another perspective in the embodiment;

[0025] Figure 7 yes Figure 1 A schematic structural diagram of the second supporting assembly in the embodiment;

[0026] Figure 8 is a schematic structural diagram of a second support assembly in another embodiment;

[0027] Fig. 9 yes Figure 1 A schematic diagram of the structure of the auxiliary wheel in the embodiment;

[0028] Fig.10 yes Figure 1 A schematic diagram of the structure of the driving wheel in the embodiment. DETAILED DESCRIPTION

[0029] The present application is further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0030] The terms "first", "second", and "third" in the embodiments of the present application are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first", "second", and "third" can expressly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. In the embodiments of the present application, all directional indications (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly. The terms "including" and "having" in the embodiments of the present application and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or components inherent to these processes, methods, products, or devices.

[0031] See also Figure 1 and Figure 3 , Figure 1 is a schematic diagram of the overall structure of some embodiments of the present application, Figure 3 yes Figure 1A front view of a steel bar tying robot capable of automatic track change in an embodiment. The steel bar tying robot capable of automatic track change in this embodiment comprises a mounting frame 70 and a walking mechanism 10, a track change mechanism 20 and a tying mechanism 30 arranged on the mounting frame 70. Figure 1 The length direction of the middle mounting frame 70 is the X direction, the width direction is the Y direction, and the height direction is the Z direction.

[0032] See also Figure 4 , Figure 4 yes Figure 1 The structural diagram of the binding mechanism in the embodiment, the binding mechanism 30 is used for binding steel bars. In this embodiment, the binding mechanism 30 includes a fourth lifting component 302 and a binding gun 301. The binding gun 301 is movably arranged on the mounting frame 70 along the Z direction through the fourth lifting component 302. The fourth lifting component 302 includes a fourth guide seat 3021, a fourth screw rod 3022 and a fourth screw connection 3023. The fourth guide seat 3021 is fixedly arranged on the mounting frame 70, and a fourth motor 3024 is installed on the fourth guide seat 3021; ​​the fourth screw rod 3022 is rotatably arranged on the fourth guide seat 3021 and is transmission-connected with the fourth motor 3024; the fourth screw connection 3023 is threadedly connected with the fourth screw rod 3022, and the fourth screw rod 3022 is fixedly connected with the binding gun 301. The fourth motor 3024 drives the fourth screw rod 3022 to rotate, so as to drive the binding gun 301 to move along the Z direction, thereby extending into the area of ​​the steel mesh 80 to bind steel bars. The tying gun 301 contains tying wires and can automatically complete tasks such as wire feeding, tying, and wire cutting. The specific structure of the tying gun 301 is within the scope of understanding of those skilled in the art and will not be described in detail here.

[0033] The track changing mechanism 20 includes a first support assembly 21, a second support assembly 22, and a translation assembly 23. The first support assembly 21 and the second support assembly 22 can be alternately supported on the steel mesh 80, and the contact surfaces between the first support assembly 21 and the steel mesh 80 are flat surfaces. The translation assembly 23 is connected to the second support assembly 22 to drive the robot to move along the Y direction.

[0034] See also Figure 5 and Figure 6 , Figure 5 yes Figure 1 A schematic structural diagram of the first supporting assembly in the embodiment, Figure 6 yes Figure 5A schematic structural diagram of the first support assembly in another perspective of the embodiment, the first support assembly 21 includes a first lifting component 211 and a track-changing leg 212, and the track-changing leg 212 is movably connected to the mounting frame 70 along the Z direction through the first lifting component 211. Among them, the first lifting component 211 includes a first motor 2111, a first screw rod 2112 and a first screw connection 2113, the first motor 2111 is arranged on the mounting frame 70; the first screw rod 2112 is rotatably arranged on the mounting frame 70 and is transmission-connected to the first motor 2111; the first screw connection 2113 is threadedly connected to the first screw rod 2112, and in particular, the first lifting component 211 also includes a guide rail fixing plate 2116, the guide rail fixing plate 2116 is fixedly connected to the mounting frame 70, and the guide rail fixing plate 2116 is fixedly provided with a plurality of first slide rails along the Z direction. 2114, the first screw connection 2113 is a plate-like structure, one side of the first screw connection 2113 is slidably connected to the first slide rail 2114, and at the same time, a plurality of second slide rails 2115 are arranged along the Y direction on the side of the first screw connection 2113 away from the first slide rail 2114, and a long strip through slot is provided on the guide rail fixing plate 2116, so that the first screw connection 2113 located on one side of the guide rail fixing plate 2116 can pass through the through slot and be threadedly connected to the first screw rod 2112 located on the other side of the guide rail fixing plate 2116, and move vertically along the through slot under the drive of the first motor 2111. The track-changing leg 212 is slidably connected to the second slide rail 2115, and the translation assembly 23 includes an electric push rod 231, which is fixedly mounted on the first screw connection 2113, and the moving end of the electric push rod 231 is fixedly connected to the track-changing leg 212. The first motor 2111 drives the first screw rod 2112 to rotate, thereby driving the first screw connector 2113, the electric push rod 231 and the track-changing leg 212 to move relative to the mounting frame 70 along the Z direction. The mounting frame 70 is then moved by the electric push rod 231 to complete the track changing.

[0035] The track-changing leg 212 has a variety of structural forms. In some scenarios, only one track-changing leg 212 may be provided. For example, the track-changing leg 212 is in a rectangular frame structure. The track-changing leg 212 is provided in the middle of the mounting frame 70 and between the two driving wheels 101. The length of the rectangular frame along the Y direction should be greater than the length of the mounting frame 70. At the same time, the length of the rectangular frame along the X direction can be as long as possible without interfering with the driving wheels 101 and the binding mechanism 30, so as to increase the cross-sectional area of ​​the rectangular frame structure in the XY plane and improve the bearing capacity of the rectangular frame. In some scenarios, that is, in the present embodiment, two groups of the first support assembly 21 and the translation assembly 23 are provided along the X direction, and the bottom of the track-changing leg 212 is a rectangular tubular structure extending along the Y direction. The two track-changing legs 212 support can improve stability.

[0036] See also Figure 7 , Figure 7 yes Figure 1 Schematic diagram of the structure of the second support assembly in the embodiment, the second support assembly 22 includes two support legs 222, the two support legs 222 are arranged on both sides of the mounting frame 70 along the Y direction and are fixedly connected to the mounting frame 70, the bottoms of the two support legs 222 are flush with the upper surface of the steel mesh 80, the bottom of the second support leg 222 is a flat surface, and the two side edges of the second support leg 222 along the X direction are arc-shaped transitions to reduce the wear caused by interference between the second support leg 222 and the steel mesh 80 when the walking mechanism 10 walks along the X direction.

[0037] It is understandable that the first lifting component 211 and the translation assembly 23 are both linear drive mechanisms, and those skilled in the art may choose other drive methods within the scope of understanding, including but not limited to air cylinders, oil cylinders, gear rack transmission mechanisms, etc.

[0038] See also Fig.10 , Fig.10 yes Figure 1 The schematic diagram of the structure of the driving wheel in the embodiment, the walking mechanism 10 is used to drive the robot to move along the X direction, the walking mechanism 10 includes a plurality of driving wheels 101, in some scenarios, each driving wheel 101 walks on the same steel bar along the X direction, for the convenience of description, two driving wheels 101 are taken as an example here, the walking mechanism 10 also includes a mounting plate 102 corresponding to the driving wheel 101, the mounting plate 102 is fixedly connected to the mounting frame 70, the two driving wheels 101 are respectively connected to the corresponding mounting plate 102 through bearings, the two driving wheels 101 are arranged along the X direction and the axial directions of the two driving wheels 101 are parallel to the Y direction, the two driving wheels 101 are respectively connected to a reduction motor for driving their own rotation, and the specific connection structure between the reduction motor and the driving wheel 101 is within the scope of understanding of those skilled in the art, and will not be repeated here. The ring side surfaces of the two driving wheels 101 are respectively provided with grooves radially inwardly, and the two driving wheels 101 can be mounted on the same steel bar through the grooves.

[0039] With the above solution, when the two driving wheels 101 move along the X direction on the same steel bar, the robot is driven to move as a whole along the X direction, and the bottoms of the two supporting legs 222 can always be flush with the upper surface of the steel mesh 80 to assist the two walking wheels to maintain balance; after the steel bars in the same X direction are tied, the track-changing legs 212 are driven to descend to contact the steel mesh 80 through the first lifting component 211, so that the track-changing legs 212 are supported by the steel mesh 80 and become the load-bearing structure of the entire robot, and the other parts are Driven by the first motor 2111, the whole body rises in the vertical direction (i.e., the Z direction) until the driving wheel 101 and the support leg 222 are separated from the steel mesh 80, and the electric push rod 231 drives the other parts to move a distance in the Y direction relative to the track-changing leg 212, and then the first motor 2111 continues to pull the driving wheel 101 and the support leg 222 to fall on the steel mesh 80, while the track-changing leg 212 is separated from the steel mesh 80, and then the track-changing leg 212 returns to the original position driven by the electric push rod 231. It should be understood that the length of the support leg 222 and the track-changing leg 212 in the Y direction should be greater than the steel bar spacing in the X direction, or the length of the support leg 222 and the track-changing leg 212 in the X direction should be greater than the steel bar spacing in the Y direction, so as to prevent the support leg 222 or the track-changing leg 212 from falling into the gap of the steel mesh 80 when supported on the steel mesh 80.

[0040] See also Figure 7 In some embodiments, the support leg 222 is movably connected to the mounting frame 70 along the Z direction. In this embodiment, the second support assembly 22 also includes a second lifting component 221 corresponding to the support leg 222, and the support leg 222 is movably connected to the mounting frame 70 along the Z direction through the second lifting component 221. Exemplarily, the second lifting component 221 includes a second guide seat 2211, a second screw rod 2213 and a second screw connection 2214, wherein the second guide seat 2211 is provided with a second motor 2212; the second screw rod 2213 is rotatably arranged on the second guide seat 2211 and is transmission-connected to the second motor 2212; the second screw connection 2214 is threadedly connected to the second screw rod 2213 and is fixedly connected to the support leg 222. By adjusting the height of the support leg 222 by the second lifting component 221, it can adapt to different steel bar diameters, improve the stability of the driving wheel 101 when traveling, and enable the support leg 222 to be effectively supported on the steel mesh 80 when changing tracks.

[0041] See also Figure 8 , Figure 8It is a structural schematic diagram of the second support assembly in another embodiment. In order to reduce the interference between the support leg 222 and the surface of the steel mesh 80, the support leg 222 can be elastically connected to the second screw member 2214 along the Z direction. For example, the second screw member 2214 is connected to a slider 2215 through a spring 2216. The slider 2215 is slidably connected to the second guide seat 2211. The slider 2215 is provided with a through hole for the second screw rod 2213 to pass through. The diameter of the through hole is larger than the diameter of the second screw rod 2213. The slider 2215 is fixedly connected to the support leg 222. In this way, the movement range of the support leg 222 in the Z direction and the support force on the mounting frame 70 are determined by the compression of the spring 2216. Technicians in this field can adjust the height of the support leg 222 according to actual conditions. When interference occurs with the steel bars during movement, the support leg 222 adaptively adjusts the compression of the spring 2216 to maintain the balance of the driving wheel 101; when changing tracks, the compression of the spring 2216 reaches the maximum, and the support force provided by the support leg 222 to the robot is also the maximum.

[0042] In some embodiments, in order to enhance the stability of the robot when walking on steel bars, the walking mechanism 10 further includes two auxiliary wheels 103 , and the two auxiliary wheels 103 are arranged on both sides of the mounting frame 70 along the Y direction.

[0043] See also Fig. 9 , Fig. 9 yes Figure 1 The schematic diagram of the structure of the auxiliary wheels in the embodiment, the axial direction of the two auxiliary wheels 103 is parallel to the axial direction of the driving wheel 101, and the two auxiliary wheels 103 are rotatably connected to the mounting frame 70 through bearings. When the two driving wheels 101 walk on the same steel bar, the two auxiliary wheels 103 are supported on the steel mesh 80 to maintain the balance of the robot, and at the same time, the support legs 222 are lifted upward by the second lifting component 221, so that the support legs 222 are separated from the surface of the steel mesh 80 to avoid interference with the steel bars and affect the movement of the driving wheel 101. It should be noted that the length of the auxiliary wheel 103 in the Y direction should be greater than the steel bar spacing in the X direction, or the length of the auxiliary wheel 103 in the X direction should be greater than the steel bar spacing in the Y direction. When changing tracks, the support legs 222 are lowered to abut against the surface of the steel mesh 80, and the support legs 222, the auxiliary wheels 103 and the driving wheels 101 are alternately supported by the track-changing legs 212 to realize the movement of the robot in the Y direction.

[0044] Furthermore, the auxiliary wheel 103 is movably connected to the mounting frame 70 along the Z direction. In this embodiment, the walking mechanism 10 also includes a third lifting component 104 corresponding to the auxiliary wheel 103, and the third lifting component 104 includes a third guide seat 1041, a third screw rod 1042 and a third screw connection 1043. The third guide seat 1041 is fixedly arranged on the mounting frame 70, and a third motor 1044 is installed on the third guide seat 1041; the third screw rod 1042 is rotatably arranged on the third guide seat 1041 and is transmission-connected to the third motor 1044; the third screw connection 1043 is threadedly connected to the third screw rod 1042, and an auxiliary bracket is fixedly connected to the third screw connection 1043. The auxiliary wheel 103 is rotatably connected to the auxiliary bracket through a bearing, so that the auxiliary wheel 103 can be passively rotated when the driving wheel 101 is moving, thereby reducing the impact on the travel process of the driving wheel 101.

[0045] In some embodiments, the driving wheel 101 is provided with a plurality of driving wheels 101 and the driving wheel 101 moves on a plurality of steel bars along the X direction. For the convenience of description, four driving wheels 101 are taken as an example here, and the four driving wheels 101 are arranged in two rows and two columns, and the axial directions of the four driving wheels 101 are parallel to the Y direction, and the four driving wheels 101 move on two steel bars along the X direction. During the walking process, the support legs 222 are lifted upward by the second lifting component 221, so that the support legs 222 are separated from the surface of the steel mesh 80 to avoid interference with the steel bars and affect the movement of the driving wheel 101. When it is necessary to change the track, the support legs 222 are moved to be flush with the bottom of the driving wheel 101, and then the track-changing legs 212 and the support legs 222 are alternately supported until the robot is moved to the working steel bar track. The alternate support of the track-changing legs 212 and the support legs 222 can ensure the stability of the robot. The flushness of the support legs 222 with the bottom of the driving wheel 101 can also prevent the driving wheel 101 from falling into the gap of the steel mesh 80 without moving to the target steel track during track changing.

[0046] In some embodiments, each driving wheel 101 is provided with baffles 105 on both sides along the Y direction, the baffles 105 are movably connected to the mounting frame 70 and are relatively fixed to the mounting frame 70 in the Y direction, and the baffles 105 have a first working state and a second working state; in the first working state, the baffles 105 contact the steel bars parallel to the Y direction and move away from the steel mesh 80, so that the walking mechanism 10 crosses the steel bars in the Y direction and moves along the X direction; in the second working state, the baffles 105 are inserted into the gaps in the steel mesh 80 to limit the displacement of the walking mechanism 10 along the Y direction.

[0047] See also Fig.10There are many ways to connect the baffle 105 to the mounting frame 70. In the present embodiment, the baffle 105 is arranged on the end side of the driving wheel 101 and is connected to the mounting plate 102 by rotating around the rotating shaft in the Y direction. When the walking mechanism 10 walks on the steel bars in the X direction, if it encounters the steel bars in the Y direction, the baffle 105 itself will be lifted up by the steel bars and rotated. After passing the steel bars, the baffle 105 automatically falls back under the action of gravity. In some scenarios, the baffle 105 can be elastically connected to the mounting plate 102 in the Z direction. In the first working state, the steel bars squeeze the baffle 105, and the baffle 105 moves in the Z direction under the action of elastic force to avoid the steel bars. In the second working state, that is, after passing the steel bars, the elastic force between the baffle 105 and the mounting plate 102 is restored and extends toward the steel mesh 80 and is inserted into the gap of the steel mesh 80. It can be understood that the baffle 105 cannot move relative to the mounting frame 70 in the Y direction. If the steel bar is twisted during the running process, the baffle 105 can prevent the driving wheel 101 from deviating from the steel bar track. At the same time, since the two opposing baffles 105 are at a certain distance, if the target steel bar track is not parallel to the working steel bar track during the track change, the target steel bar track can be constrained between the two opposing baffles 105 to prevent derailment during the track change.

[0048] In some embodiments, the rebar tying robot capable of automatic track change further includes an anti-collision mechanism 40 and a control mechanism 50 .

[0049] See also Figure 1The anti-collision mechanism 40 includes two first anti-collision detection sensors 401. Each first anti-collision detection sensor 401 is tilted toward the steel mesh 80 and is arranged on both sides of the mounting frame 70 along the Y direction, and is used to detect obstacles on both sides of the robot along the Y direction. The first anti-collision detection sensor 401 is electrically connected to the input end of the control mechanism 50; the output end of the control mechanism 50 is electrically connected to the walking mechanism 10, the binding mechanism 30 and the track changing mechanism 20. The first anti-collision detection sensor 401 can be an ultrasonic sensor. The ultrasonic sensor has the characteristics of high measurement sensitivity and strong penetration. It can perform long-distance measurement and is not affected by light. It can be used in an environment with weak light or complete darkness, and will not be affected during night construction. Of course, the first anti-collision detection sensor 401 can also be other types of obstacle avoidance detection sensors, such as infrared sensors, visual sensors, etc. Since the first anti-collision detection sensor 401 is inclined toward the steel mesh 80, on the one hand, when the walking mechanism 10 walks along the X direction, the first anti-collision detection sensor 401 can detect the existence of obstacles, i.e., steel bars, within a certain distance, and if it reaches the edge of the steel mesh 80, the first anti-collision detection sensor 401 cannot detect the existence of the steel bars, that is, the first anti-collision detection sensor 401 can detect in real time whether both sides of the Y direction have reached the end of the steel mesh 80, so as to prevent the robot from falling during the subsequent track change movement; on the other hand, when changing tracks, after the robot is lifted to a certain height under the support of the track change legs 212, the distance at which the first anti-collision detection sensor 401 detects the steel bars should be longer than the distance when walking on the steel mesh 80, and if during the movement along the Y direction, an object closer than the steel bars appears in the detection area of ​​the first anti-collision detection sensor 401, it means that there are other obstacles during the movement, that is, during the track change and movement along the Y direction, the first anti-collision detection sensor 401 can detect other obstacles in the Y direction, so as to prevent the robot from colliding with other objects during the movement.

[0050] See also Figure 1 In some embodiments, the anti-collision mechanism 40 further includes two second anti-collision detection sensors 402, which are respectively arranged on both sides of the mounting frame 70 along the X direction, and are used to detect obstacles on both sides of the robot along the X direction. The second anti-collision detection sensor 402 is electrically connected to the input end of the control mechanism 50. In this example, the second anti-collision detection sensor 402 also adopts an ultrasonic sensor.

[0051] See also Figure 1In some embodiments, the anti-collision mechanism 40 further includes two anti-collision bars 403, which are respectively arranged on both sides of the mounting frame 70 along the X direction and are electrically connected to the input end of the control mechanism 50. The control mechanism 50 can control the walking mechanism 10 to stop when any anti-collision bar 403 is collided. The anti-collision bar 403 includes a rubber band-shaped pressure-sensitive switch, which is extended along the Y direction and arranged on the mounting frame 70. The information of the anti-collision bar 403 is specifically open-loop state information or closed-loop state information; wherein, the open-loop state information is used to indicate that the anti-collision bar 403 has not been collided, and the closed-loop state information is used to indicate that the anti-collision bar 403 has been collided.

[0052] See also Figure 1 and Figure 2 , Figure 2 yes Figure 1 Bottom view of the steel bar tying robot capable of automatic track change in an embodiment. In some embodiments, the steel bar tying robot capable of automatic track change further comprises a track change detection sensor 24, which is disposed on the mounting frame 70 and is on a straight line in the same X direction as any driving wheel 101, and the track change detection sensor 24 is electrically connected to the input end of the control mechanism 50. In this embodiment, the track change detection sensor 24 includes a laser ranging sensor. In some scenarios, two driving wheels 101 are provided, one laser ranging sensor is provided, and the laser ranging sensor and the two driving wheels 101 are on a straight line in the same X direction; in some scenarios, four driving wheels 101 are provided, the four driving wheels 101 are arranged in two rows and two columns, and run on two steel bars along the X direction, one laser ranging sensor can be provided, and the laser ranging sensor and the driving wheel 101 on one of the steel bars are on a straight line in the same X direction; in some scenarios, four driving wheels 101 are provided, the four driving wheels 101 are arranged in two rows and two columns, and run on two steel bars along the X direction, two laser ranging sensors can also be provided, and they correspond to the driving wheels 101 on the two steel bars on two straight lines in the X direction respectively. Providing multiple laser ranging sensors can improve the accuracy of steel bar track positioning during track change.

[0053] During the movement along the Y direction, the laser ranging sensor keeps reading. When the robot is on the steel bar track, the laser ranging sensor reading is the distance between the laser emission point and the steel bar track. During the movement of the robot, the laser ranging sensor will detect the distance from the laser emission point to the bottom template of the steel mesh 80. That is to say, during the movement of the robot along the Y direction, the laser ranging sensor will go through the process of "the distance between the laser emission point and the steel bar track" - "the distance between the laser emission point and the bottom template of the steel mesh" - "the distance between the laser emission point and the steel bar track". Therefore, it is possible to determine whether the next steel bar track has been reached based on the data of the laser ranging sensor. If the laser ranging sensor detects the target steel bar track, the movement of the electric push rod 231 is stopped immediately, and the track changing leg 212 is driven by the first lifting component 211 to move close to the mounting frame 70. At this time, the driving wheel 101 will fall onto the target steel bar track. Similarly, during the movement in the Y direction, if the laser ranging sensor still does not detect the target steel rail after the translation assembly 23 has traveled the entire distance, the support leg 222 will continue to alternately support with the track-changing support leg 212 until the laser ranging sensor detects the target steel rail. After the track is changed, the movement direction of the driving wheel 101 is the opposite direction of the movement direction of the previous track.

[0054] See also Figure 1 In some embodiments, the rebar tying robot capable of automatically changing tracks further includes an energy module 60, which is disposed on a mounting frame 70 and is used to supply energy to the walking mechanism 10, the tying mechanism 30, and the track changing mechanism 20. The energy module 60 includes a power supply and a voltage stabilizing module. In order to enable the rebar tying robot to work flexibly and maneuverably, a large-capacity lithium battery is used as the power supply, which can provide long-lasting battery life; in addition, the use of a voltage stabilizing module can not only ensure the energy supply of the rebar tying robot during operation, but also get rid of the constraints of the wires, so that the movement and track changing of the rebar tying robot are not affected, and the robot can work freely to the maximum extent.

[0055] The above descriptions are only some embodiments of the present application, and do not limit the protection scope of the present application. Any equivalent device or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A steel bar tying robot capable of automatically changing tracks, characterized in that: include: A mounting frame and a walking mechanism, a track changing mechanism and a lashing mechanism arranged on the mounting frame, wherein: The walking mechanism is used to drive the robot to move along the X direction; The track-changing mechanism includes a first support assembly, a second support assembly and a translation assembly. The first support assembly and the second support assembly can be alternately supported on the steel mesh, and the contact surfaces of the first support assembly and the second support assembly with the steel mesh are flat surfaces. The translation assembly is connected to the first support assembly or the second support assembly to drive the robot to move along the Y direction. The binding mechanism is used for binding steel bars.

2. The steel bar tying robot capable of automatic track change according to claim 1, characterized in that: It also includes anti-collision mechanism and control mechanism. The anti-collision mechanism includes two first anti-collision detection sensors, each of which is inclined toward the steel mesh and arranged on both sides of the mounting frame along the Y direction, and is used to detect obstacles on both sides of the robot along the Y direction, and each of the first anti-collision detection sensors is electrically connected to the input end of the control mechanism; The output end of the control mechanism is electrically connected to the traveling mechanism, the binding mechanism and the track changing mechanism.

3. The steel bar tying robot capable of automatic track change according to claim 2, characterized in that: The anti-collision mechanism also includes two second anti-collision detection sensors, each of which is arranged on both sides of the mounting frame along the X direction, and is used to detect obstacles on both sides of the robot along the X direction. Each of the second anti-collision detection sensors is electrically connected to the input end of the control mechanism.

4. The steel bar tying robot capable of automatic track change according to claim 3, characterized in that: The anti-collision mechanism also includes two anti-collision bars, which are respectively arranged on both sides of the mounting frame along the X direction and are electrically connected to the input end of the control mechanism. The control mechanism can control the walking mechanism to stop when any of the anti-collision bars is collided.

5. The steel bar tying robot capable of automatic track change according to any one of claims 2 to 4, characterized in that: The first supporting assembly includes a first lifting component and a track-changing leg, the track-changing leg is movably connected to the mounting frame along the Z direction through the first lifting component, and the translation assembly is connected to the first lifting component; the second supporting assembly includes two supporting legs, and the two supporting legs are respectively arranged on both sides of the mounting frame along the Y direction.

6. The steel bar tying robot capable of automatic track change according to claim 5, characterized in that: The first lifting component comprises: A first motor is arranged on the mounting frame; A first screw rod is rotatably disposed on the mounting frame and is transmission-connected to the first motor; The first screw connection piece is threadedly connected to the first screw rod, and the first screw connection piece is connected to the track-changing leg.

7. The steel bar tying robot capable of automatic track change according to claim 6, characterized in that: The translation assembly includes an electric push rod, which is arranged on the first screw connection member. The moving end of the electric push rod is fixedly connected to the track-changing leg, and the track-changing leg is slidably connected to the first screw connection member along the Y direction.

8. The steel bar tying robot capable of automatic track change according to claim 5, characterized in that: The second support assembly also includes a second lifting component corresponding to the support legs one by one, each of the support legs is movably connected to the mounting frame along the Z direction through the second lifting component, and the second lifting component is electrically connected to the output end of the control mechanism.

9. The steel bar tying robot capable of automatic track change according to claim 8, characterized in that: It also includes two auxiliary wheels and a third lifting component. The two auxiliary wheels are arranged on both sides of the mounting frame along the Y direction. The two auxiliary wheels are movably connected to the mounting frame along the Z direction through the third lifting component. The third lifting component is electrically connected to the output end of the control mechanism.

10. The steel bar tying robot capable of automatic track change according to claim 2, characterized in that: The traveling mechanism comprises a plurality of driving wheels, each of which travels on one or more steel bars along the X direction.

11. The steel bar tying robot capable of automatic track change according to claim 10, characterized in that: It also includes a track change detection sensor, which is arranged on a mounting frame and on a straight line in the same X direction as any of the driving wheels, and the track change detection sensor is electrically connected to an input end of the control mechanism.

12. The steel bar tying robot capable of automatic track change according to claim 10, characterized in that: Each of the driving wheels is provided with baffles on both sides along the Y direction, each of the baffles is movably connected to the mounting frame and is relatively fixed to the mounting frame in the Y direction, and each of the baffles has a first working state and a second working state; In the first working state, the blocking piece contacts the steel bars parallel to the Y direction and moves away from the steel mesh, so that the walking mechanism moves along the X direction across the steel bars in the Y direction; In the second working state, the blocking piece is inserted into the gap of the steel mesh to limit the displacement of the walking mechanism along the Y direction.

13. The steel bar tying robot capable of automatic track change according to claim 1, characterized in that: It also includes an energy module, which is arranged on the mounting frame and is used to supply energy to the walking mechanism, the binding mechanism, and the track changing mechanism.

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