A steel bar tying robot traveling on a single track

Abstract

The embodiment of the present application provides a steel bar tying robot that walks on a single track, including a mounting frame, a walking mechanism, a balancing mechanism, and a tying mechanism, wherein the walking mechanism includes a first driving wheel and a second driving wheel, the first driving wheel and the second driving wheel are rotatably connected to the mounting frame and walk on the same steel bar along the X direction; the balancing mechanism is arranged on both sides of the first driving wheel and the second driving wheel along the Y direction, for maintaining the balance of the robot; the tying mechanism is movably arranged on the mounting frame, for tying steel bars. The steel bar tying robot that walks on a single track provided by the embodiment of the present application avoids the derailment problem caused by the non-parallel steel bars when walking on two steel bars by making the first driving wheel and the second driving wheel walk on the same steel bar along the X direction, and prevents the steel bar tying robot that walks on a single track from overturning through auxiliary support by the balancing mechanism, thereby improving the stability of the robot when walking.

Description

Technical Field

[0001] The present application relates to the field of construction machinery, and in particular to a steel bar tying robot that travels on a single track. Background Art

[0002] Currently, most rebar tying robots are dual-track robots (two sets of running wheels are respectively mounted on two rebars for walking), but the actual rebar arrangement on the construction site cannot ensure that the two rebars are completely parallel. During the movement, the spacing of the working rebar tracks changes, which can easily cause the running wheels to derail, making the robot unable to walk stably in the actual environment. Utility Model Content

[0003] An embodiment of the present application provides a single-track steel bar tying robot, comprising a mounting frame, a walking mechanism, a balancing mechanism and a tying mechanism, wherein the walking mechanism comprises a first driving wheel and a second driving wheel, the first driving wheel and the second driving wheel are rotatably connected to the mounting frame and travel on the same steel bar along the X direction; the balancing mechanism is arranged on both sides of the first driving wheel and the second driving wheel along the Y direction, for maintaining the balance of the robot; the tying mechanism is movably arranged on the mounting frame, for tying steel bars.

[0004] Optionally, the ring side surfaces of the first driving wheel and the second driving wheel are respectively provided with grooves radially inwardly thereof, and the first driving wheel and the second driving wheel can be mounted on the same steel bar through the grooves.

[0005] Optionally, baffles are provided on both sides of the first driving wheel and the second driving wheel 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.

[0006] Optionally, it also includes a travel detection sensor and a control mechanism, wherein the travel detection sensor is arranged on the mounting frame, and the position of the travel detection sensor and the binding mechanism in the travel direction of the driving wheel is relatively fixed, and is used to determine the position of the binding point; the input end of the control mechanism is electrically connected to the travel detection sensor, and the output end is electrically connected to the walking mechanism and the binding mechanism.

[0007] Optionally, two anti-falling mechanisms are further included, which are arranged on both sides of the mounting frame along the X direction to prevent the robot from falling.

[0008] Optionally, each of the anti-fall mechanisms further includes an anti-fall bracket, a guide shaft is fixedly disposed on the anti-fall bracket, a first slider is slidably disposed on the guide shaft, a first elastic member is disposed between the first slider and the anti-fall bracket, and the first slider is rotatably connected to the anti-fall wheel.

[0009] Optionally, each of the anti-falling mechanisms further comprises an anti-falling bracket, a guide shaft is fixedly provided on the anti-falling bracket, a slider is slidably provided on the guide shaft, a first elastic member is provided between the slider and the anti-falling bracket, and the slider is rotationally connected to the anti-falling wheel.

[0010] Optionally, the balancing mechanism includes at least two auxiliary wheels, each of which is rotatably connected to the mounting frame and is arranged on both sides of the first driving wheel and the second driving wheel along the Y direction.

[0011] Optionally, the balancing mechanism further includes third lifting components corresponding one to one with the auxiliary wheels, and each of the third lifting components is used to adjust the height of the corresponding auxiliary wheel.

[0012] Optionally, it also includes a posture sensor arranged on the mounting frame, which is used to detect the tilt angle of the robot, the input end of the control mechanism is electrically connected to the posture sensor, and the output end of the control mechanism is electrically connected to each of the third lifting components.

[0013] Optionally, each of the third lifting components includes: a third guide seat, on which a third motor is disposed; a third screw rod, rotatably disposed on the third guide seat and transmission-connected to the third motor; and a third screw connector, threadedly connected to the third screw rod and connected to the auxiliary wheel.

[0014] Optionally, each of the third lifting components also includes a second slider, which is slidably connected to the third guide seat, and the second slider is provided with a through hole for the third screw rod to pass through, and the diameter of the through hole is larger than the diameter of the third screw rod, and a second elastic member is provided between the second slider and the third screw connection, and the second slider is fixedly connected to the auxiliary wheel.

[0015] The steel bar tying robot walking on a single track provided in the embodiment of the present application avoids the derailment problem caused by the non-parallel steel bars when walking on two steel bars by rotatably connecting the first driving wheel and the second driving wheel to a mounting frame and walking on the same steel bar along the X direction. The balancing mechanism is used to auxiliaryly support both sides of the first driving wheel and the second driving wheel to prevent the steel bar tying robot walking on the single track from overturning, thereby improving the stability of the robot when walking. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] Figure 1 is a front view of some embodiments of the present application;

[0018] Figure 2 yes Figure 1 A bottom view of the steel bar tying robot traveling on a single track in the embodiment;

[0019] Figure 3 yes Figure 1 A schematic structural diagram of a lashing mechanism in an embodiment;

[0020] Figure 4 yes Figure 1 A schematic structural diagram of a balancing mechanism in an embodiment;

[0021] Figure 5 yes Figure 1 A schematic structural diagram of the anti-fall mechanism in the embodiment;

[0022] Figure 6 yes Figure 1 A schematic structural diagram of the first driving wheel in the embodiment. DETAILED DESCRIPTION

[0023] 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.

[0024] 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.

[0025] See also Figure 1 and Figure 2 , Figure 1 is a front view of some embodiments of the present application; Figure 2 yes Figure 1 A bottom view of a steel bar tying robot for monorail walking in the embodiment. The steel bar tying robot for monorail walking in the embodiment includes a mounting frame 60, a walking mechanism 10, a balancing mechanism 30 and a tying mechanism 20. Figure 1 as well as Figure 2 The length direction of the middle mounting frame 60 is the X direction, the width direction is the Y direction, and the height direction is the Z direction, wherein,

[0026] See also Figure 1 and Figure 3 , Figure 3 yes Figure 1A schematic diagram of the structure of the binding mechanism in the embodiment, the binding mechanism 20 is movably arranged on the mounting frame 60, and is used for binding steel bars. In this embodiment, the binding mechanism 20 includes a fourth lifting component 202 and a binding gun 201, and the binding gun 201 is movably arranged on the mounting frame 60 along the Z direction through the fourth lifting component 202. The fourth lifting component 202 includes a fourth guide seat 2021, a fourth screw rod 2022 and a fourth screw connection 2024, the fourth guide seat 2021 is fixedly arranged on the mounting frame 60, and a fourth motor 2023 is installed on the fourth guide seat 2021; the fourth screw rod 2022 is rotatably arranged on the fourth guide seat 2021 and is transmission-connected with the fourth motor 2023; the fourth screw connection 2024 is threadedly connected with the fourth screw rod 2022, and the fourth screw rod 2022 is fixedly connected with the binding gun 201. The fourth motor 2023 drives the fourth screw rod 2022 to rotate, which can drive the fourth screw connector 2024 to move along the Z direction, so as to extend into the area of ​​the steel mesh 80 to tie the steel bars. The tying gun 201 contains tying wires, which can automatically complete the tasks of wire feeding, tying, wire cutting, etc. The specific structure of the tying gun 201 is within the scope of understanding of those skilled in the art and will not be described in detail here.

[0027] See also Figure 1 and Figure 6 , Figure 6 yes Figure 1 The schematic diagram of the structure of the first driving wheel in the embodiment, the walking mechanism 10 includes a first driving wheel 101 and a second driving wheel 102, the first driving wheel 101 and the second driving wheel 102 are rotatably connected to the mounting frame 60 and travel on the same steel bar along the X direction. The ring side surfaces of the first driving wheel 101 and the second driving wheel 102 are respectively provided with grooves radially inwardly, and the first driving wheel 101 and the second driving wheel 102 can be mounted on the same steel bar through the grooves. The walking mechanism 10 also includes two mounting plates 104 for mounting the first driving wheel 101 and the second driving wheel 102, the two mounting plates 104 are fixedly connected to the mounting frame 60, the first driving wheel 101 and the second driving wheel 102 are respectively rotatably connected to the corresponding mounting plates 104 around the rotating shaft in the Y direction, and the first driving wheel 101 and the second driving wheel 102 are respectively connected to the reduction motor for driving the rotation of themselves. The purpose of providing reduction motors on both the first driving wheel 101 and the second driving wheel 102 is, on the one hand, to facilitate driving the monorail rebar tying robot to move bidirectionally along the X direction on the rebar track, and on the other hand, to reduce the transmission mechanism between the first driving wheel 101 and the second driving wheel 102. The tying gun 201 is arranged between the first driving wheel 101 and the second driving wheel 102 and is located on the same XZ plane as the first driving wheel 101 and the second driving wheel 102. Driven by the fourth lifting component 202, the tying gun 201 can extend into the tying area of ​​the rebar mesh 80 and move directly to the intersection of the rebars to tie the rebars.

[0028] See also Figure 1 and Figure 2 The balancing mechanism 30 is arranged on both sides of the first driving wheel 101 and the second driving wheel 102 along the Y direction, and is used to maintain the balance of the robot. The balancing mechanism 30 includes at least two auxiliary wheels 301, each of which is rotatably connected to the mounting frame 60 and is arranged on both sides of the first driving wheel 101 and the second driving wheel 102 along the Y direction. In this embodiment, two auxiliary wheels 301 are provided, and the axial directions of the two auxiliary wheels 301 are parallel to the axial directions of the driving wheels. The two auxiliary wheels 301 are rotatably connected to the mounting frame 60 through bearings. The axes of the two auxiliary wheels 301 and the first driving wheel 101 are in the same YZ plane. When the two driving wheels are walking on the same steel bar, the two auxiliary wheels 301 are supported on the steel mesh 80 to keep the robot balanced. It should be noted that the length of the auxiliary wheel 301 in the Y direction should be greater than the steel bar spacing in the X direction, or the length of the auxiliary wheel 301 in the X direction should be greater than the steel bar spacing in the Y direction. In some scenarios, more than two auxiliary wheels 301 can be provided, for example, four auxiliary wheels 301 are provided, wherein the axes of two auxiliary wheels 301 and the first driving wheel 101 are in the same YZ plane, and the axes of the other two auxiliary wheels 301 and the second driving wheel 102 are in the same YZ plane, so that the first driving wheel 101 and the second driving wheel 102 can be better assisted to maintain balance during the travel, and to travel stably on the steel bar track.

[0029] The walking mechanism 10 and the binding mechanism 20 function through the energy module 70. The energy module 70 is arranged on the mounting frame 60. The energy module 70 includes a power supply and a voltage stabilizing module. In order to enable the steel bar binding robot to work flexibly and maneuverably, the power supply adopts a large-capacity lithium battery with long-lasting battery life. In addition, the use of the voltage stabilizing module can not only ensure the energy supply of the steel bar binding robot during operation, but also get rid of the constraints of the wires, so that the movement and track changing of the steel bar binding robot are not affected, and it can work freely in the maximum range.

[0030] By adopting the above scheme, the first driving wheel 101 and the second driving wheel 102 are rotatably connected to the mounting frame 60 and travel on the same steel bar along the X direction, thereby avoiding the derailment problem caused by the steel bars being not parallel when traveling on two steel bars. The two auxiliary wheels 301 provide auxiliary support on both sides of the first driving wheel 101 and the second driving wheel 102 during the travel process, thereby preventing the steel bar tying robot traveling on a single track from overturning and improving the stability of the robot.

[0031] In some embodiments, the auxiliary wheel 301 is movably connected to the mounting frame 60 along the Z direction.

[0032] See also Figure 4 , Figure 4 yes Figure 1The structural diagram of the balancing mechanism in the embodiment, the balancing mechanism 30 also includes a third lifting component 302 corresponding to the auxiliary wheel 301, and the third lifting component 302 is a linear drive mechanism, including but not limited to a gear rack transmission mechanism, a cylinder, an oil cylinder, etc. In this embodiment, the third lifting component 302 includes a third guide seat 3021, a third screw rod 3022 and a third screw connection 3023. The third guide seat 3021 is fixedly arranged on the mounting frame 60, and a third motor 3027 is installed on the third guide seat 3021; ​​the third screw rod 3022 is rotatably arranged on the third guide seat 3021 and is transmission-connected with the third motor 3027; the third screw connection 3023 is threadedly connected to the third screw rod 3022, and an auxiliary bracket 3026 is fixedly connected to the third screw connection 3023, and the auxiliary wheel 301 is rotationally connected to the auxiliary bracket 3026 through a bearing, so that the auxiliary wheel 301 can be passively rotated when the driving wheel is moving, thereby reducing the impact on the driving wheel's travel process. By adjusting the height of the auxiliary wheel 301 through the third lifting component 302 , it is possible to adapt to different steel bar diameters and improve the balancing and coordination effect of the first driving wheel 101 and the second driving wheel 102 .

[0033] In some embodiments, the third lifting component 302 further includes a second slider 3024, which is slidably connected to the third guide seat 3021. The second slider 3024 is provided with a through hole for the third screw rod 3022 to pass through. The diameter of the through hole is larger than the diameter of the third screw rod 3022 to avoid interference between the second slider 3024 and the third screw rod 3022 when the second slider 3024 slides. There is no specific requirement for the shape of the through hole, which can be any shape such as circular, square, polygonal, etc., so that the second slider 3024 does not contact the third screw rod 3022. A second elastic member 3025 is connected between the second slider 3024 and the third screw connector 3023. The second elastic member 3025 can be a bellows, a damper, a spring, etc. Here, a spring is taken as an example. The two ends of the spring are fixedly connected to the third screw connector 3023 and the second slider 3024 respectively, and the second slider 3024 is fixedly connected to the auxiliary bracket 3026. The second slider 3024 and the third screw connection 3023 share the third guide seat 3021 for guidance, and have a compact structure and high stability. When the steel bar tying robot walking on a single track walks along the X direction, technicians in this field can adjust the height of the auxiliary wheel 301 according to actual conditions so that the auxiliary wheel 301 is supported on the steel mesh 80. Since the auxiliary wheel 301 is suspended on the third screw connection 3023 by a spring, the auxiliary wheel 301 can automatically adapt to the flatness of the steel mesh 80 with the compression and extension of the spring, thereby reducing the vibration generated when the robot walks.

[0034] See also Figure 6In some embodiments, baffles 103 are provided on both sides of the first driving wheel 101 and the second driving wheel 102 along the Y direction, each baffle 103 is movably connected to the mounting frame 60 and is relatively fixed to the mounting frame 60 in the Y direction, and each baffle 103 has a first working state and a second working state; in the first working state, the baffle 103 contacts the steel bars parallel to the Y direction and moves 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 baffle 103 is inserted into the gap of the steel mesh 80 to limit the displacement of the walking mechanism 10 along the Y direction.

[0035] The connection mode of the baffle 103 and the mounting frame 60 can be in various forms. In the present embodiment, the baffle 103 is arranged on the end side surface of the driving wheel and is connected to the mounting plate 104 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 103 itself will be lifted up by the steel bars and rotated. After passing the steel bars, the baffle 103 automatically falls back under the action of gravity. In some scenarios, the baffle 103 can be elastically connected to the mounting plate 104 in the Z direction. For example, the baffle 103 is slidably connected to the mounting plate 104 in the Z direction. A spring is arranged between the baffle 103 and the mounting plate 104. In the first working state, the steel bars squeeze the baffle 103. The baffle 103 moves along the Z direction under external force to squeeze the spring to avoid the steel bars. In the second working state, that is, after passing the steel bars, the elastic force between the baffle 103 and the mounting plate 104 is restored, and the baffle 103 extends toward the steel mesh 80 and is inserted into the gap of the steel mesh 80. It is understandable that the baffle 103 cannot move relative to the mounting frame 60 in the Y direction. If the steel bar bends during the travel, the baffle 103 can prevent the driving wheel from deviating from the steel bar track. The baffle 103 can be set as a sheet structure, and the opposite sides of the two baffles 103 of the same first driving wheel 101 or the second driving wheel 102 can extend close to the direction of the steel bar on which the driving wheel is erected, so as to reduce the deviation range of the driving wheel in the Y direction and prevent the first driving wheel 101 or the second driving wheel 102 from derailing.

[0036] See also Figure 1 and Figure 2 In some embodiments, it also includes a travel detection sensor 106 and a control mechanism 50. The travel detection sensor 106 is arranged on the mounting frame 60. The position of the travel detection sensor 106 and the tying mechanism 20 in the travel direction of the driving wheel are relatively fixed and are used to determine the position of the tying point; the input end of the control mechanism 50 is electrically connected to the travel detection sensor 106, and the output end is electrically connected to the walking mechanism 10, the tying mechanism 20 and the balancing mechanism 30.

[0037] In this embodiment, the travel detection sensor 106 adopts a laser distance measuring sensor, which is fixed on the mounting frame 60 and is located on the same YZ plane as the gun nozzle of the tying gun 201, and the laser distance measuring sensor is not on the same XZ plane as the steel bars in the X direction.

[0038] During the movement of the first driving wheel 101 and the second driving wheel 102 in the X direction, the laser distance sensor keeps reading. When the laser distance sensor moves to the top of any steel bar in the Y direction, when the tying gun 201 is located above the steel bar tying point, the laser distance sensor reading is the distance between the laser emission point and the steel bar in the Y direction. After passing the steel bar in the Y direction, the laser distance 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 in the X direction, the laser distance sensor will go through the process of "the distance between the laser emission point and the steel bar in the Y direction" - "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 in the Y direction". Therefore, it is possible to determine whether the tying gun 201 has reached the steel bar intersection point through the data of the laser distance sensor. It is understandable that the laser distance sensor is not on the same XZ plane as the steel bar in the X direction, so as to avoid the laser distance sensor always reading the distance from the laser emission point to the steel bar in the X direction.

[0039] After the laser distance sensor detects the steel bars in the Y direction, the first driving wheel 101 and the second driving wheel 102 stop moving forward, and the tying gun 201 is controlled to descend to tie the position. After the tying is completed, the tying gun 201 rises to the original position. By taking advantage of the fact that the Y direction steel bars and the X direction steel bars in the steel mesh 80 are perpendicular to each other, the reading of the laser distance sensor will change continuously during the robot's walking along the X direction steel bars, thereby judging whether the tying gun 201 has reached the top of the steel bar intersection, without the need for cumbersome procedures such as visual recognition, and accurate and efficient positioning.

[0040] In some embodiments, the monorail steel bar tying robot further includes two anti-fall mechanisms 40 , which are arranged on both sides of the mounting frame 60 along the X direction to prevent the robot from falling.

[0041] See also Figure 5 , Figure 5 yes Figure 1 Structural schematic diagram of the anti-fall mechanism in the embodiment, each anti-fall mechanism 40 includes an anti-fall wheel 401, which is movably connected to the mounting frame 60, and a proximity switch 402 for detecting the position of the anti-fall wheel 401 is provided on the mounting frame 60, and the proximity switch 402 is electrically connected to the input end of the control mechanism 50.

[0042] Specifically, in the present embodiment, each anti-falling mechanism 40 further includes an anti-falling bracket 404, the anti-falling bracket 404 is fixedly connected to the mounting frame 60, a guide shaft 405 is fixedly provided on the anti-falling bracket 404 along the Z direction, a first slider 406 is slidably provided on the guide shaft 405, a first elastic member 407 is provided between the first slider 406 and the anti-falling bracket 404, optionally, the first elastic member 407 is a spring, the two ends of the spring are respectively fixedly connected to the first slider 406 and the anti-falling bracket 404, the first slider 406 is rotationally connected to the anti-falling wheel 401, and the axial direction of the anti-falling wheel 401 is parallel to the axial direction of the first driving wheel 101 and the second driving wheel 102 , the first slider 406 is provided with a sensor sheet 403. In some scenarios, the sensor sheet 403 may also be a part of the first slider 406. When the anti-fall wheel 401 moves along the X direction with the first drive wheel 101 and the second drive wheel 102 on the steel mesh 80, the sensor sheet 403 does not contact the proximity switch 402. When the robot walks to the edge of the steel mesh 80, the anti-fall wheel 401 falls downward under the action of gravity, driving the first slider 406 and the sensor sheet 403 to move downward, thereby triggering the proximity switch 402. The control mechanism 50 controls the first drive wheel 101 and the second drive wheel 102 to stop moving according to the proximity switch 402 being triggered. The ring side of the anti-fall wheel 401 is also provided with grooves along its own radial direction. The anti-fall wheel 401 and the first drive wheel 101 and the second drive wheel 102 are arranged on the same straight line in the X direction to improve the stability of the robot during the movement.

[0043] See also Figure 1 and Figure 2 In some embodiments, the steel bar tying robot for monorail walking further includes a posture sensor 303 arranged on the mounting frame 60. The posture sensor 303 is arranged in the middle of the mounting frame 60 and is on the same XZ plane as the first driving wheel 101 and the second driving wheel 102. The input end of the control mechanism 50 is electrically connected to the posture sensor 303, and the output end of the control mechanism 50 is electrically connected to the third lifting component 302. In this embodiment, the posture sensor 303 adopts a nine-axis posture sensor 303, which has the characteristics of convenient installation, high detection accuracy, resistance to external electromagnetic interference, and strong ability to withstand vibration and impact. During the movement of the walking mechanism 10, the posture sensor 303 detects the balance of the robot in real time. When the robot tilts, the control mechanism 50 can drive each third lifting component 302 to operate in real time according to the detection data of the nine-axis posture sensor 303, thereby adjusting the height of each auxiliary wheel 301 to make the robot return to normal.

[0044] 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 traveling on a single track, characterized in that: include: Mounting frame; A walking mechanism, comprising a first driving wheel and a second driving wheel, wherein the first driving wheel and the second driving wheel are rotatably connected to the mounting frame and travel on the same steel bar along the X direction; a balancing mechanism, arranged on both sides of the first driving wheel and the second driving wheel along the Y direction, for maintaining the balance of the robot; and The binding mechanism is movably arranged on the mounting frame and is used for binding the steel bars.

2. The single-track steel bar tying robot according to claim 1 is characterized in that: The ring side surfaces of the first driving wheel and the second driving wheel are respectively provided with grooves radially inwardly thereof, and the first driving wheel and the second driving wheel can be mounted on the same steel bar through the grooves.

3. The monorail steel bar tying robot according to claim 2, characterized in that: Blocking pieces are provided on both sides of the first driving wheel and the second driving wheel along the Y direction, each of the blocking pieces is movably connected to the mounting frame and is relatively fixed to the mounting frame in the Y direction, and each of the blocking pieces 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.

4. The single-track steel bar tying robot according to any one of claims 1 to 3, characterized in that: It also includes a travel detection sensor and a control mechanism, wherein the travel detection sensor is arranged on the mounting frame, and the position of the travel detection sensor and the lashing mechanism in the travel direction of the driving wheel is relatively fixed, and is used to determine the position of the lashing point; The input end of the control mechanism is electrically connected to the travel detection sensor, and the output end is electrically connected to the walking mechanism and the binding mechanism.

5. The monorail steel bar tying robot according to claim 4, characterized in that: It also includes two anti-falling mechanisms, which are arranged on both sides of the mounting frame along the X direction to prevent the robot from falling.

6. The monorail-travel steel bar tying robot according to claim 5, characterized in that: Each of the anti-fall mechanisms comprises an anti-fall wheel which is movably connected to the mounting frame. A proximity switch for detecting the position of the anti-fall wheel is arranged on the mounting frame. The proximity switch is electrically connected to the input end of the control mechanism.

7. The monorail-traveling steel bar tying robot according to claim 6, characterized in that: Each of the anti-falling mechanisms also includes an anti-falling bracket, a guide shaft is fixedly arranged on the anti-falling bracket, a first slider is slidably arranged on the guide shaft, a first elastic member is arranged between the first slider and the anti-falling bracket, and the first slider is rotatably connected to the anti-falling wheel.

8. The single-track steel bar tying robot according to claim 4, characterized in that: The balancing mechanism comprises at least two auxiliary wheels, each of which is rotatably connected to the mounting frame and is arranged on both sides of the first driving wheel and the second driving wheel along the Y direction.

9. The monorail-traveling steel bar tying robot according to claim 8, characterized in that: The balancing mechanism further includes third lifting components corresponding to the auxiliary wheels one by one, and each of the third lifting components is used to adjust the height of the corresponding auxiliary wheel.

10. The monorail-traveling steel bar tying robot according to claim 9, characterized in that: It also includes a posture sensor arranged on the mounting frame, which is used to detect the tilt angle of the robot. The input end of the control mechanism is electrically connected to the posture sensor, and the output end of the control mechanism is electrically connected to each of the third lifting components.

11. The single-track steel bar tying robot according to claim 9, characterized in that: Each of the third lifting components comprises: A third guide seat, on which a third motor is disposed; A third screw rod is rotatably disposed on the third guide seat and is transmission-connected to the third motor; The third threaded connection piece is threadably connected to the third screw rod and is connected to the auxiliary wheel.

12. The monorail steel bar tying robot according to claim 11, characterized in that: Each of the third lifting components also includes a second slider, which is slidably connected to the third guide seat, and the second slider is provided with a through hole for the third screw rod to pass through, and the diameter of the through hole is larger than the diameter of the third screw rod, and a second elastic member is provided between the second slider and the third screw connection member, and the second slider is fixedly connected to the auxiliary wheel.

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