Error compensation device for connecting steel bar binding mechanical arm

Abstract

The utility model discloses an error compensation device connected with a reinforcing steel bar binding mechanical arm, which relates to the technical field of reinforcing steel bar binding robots in the building industry and comprises a structure main body, a flange plate connected with a robot is arranged at the top of the structure main body, threads are arranged at the bottom of the structure main body, and a movable sliding block and a guide rod are mounted in the structure main body. The bottom of the connecting piece is provided with a mounting and positioning interface connected with a bottom flange plate. An adjusting nut is installed on the lower portion of the structure body in a threaded mode. A bottom connecting flange plate is installed on the lower portion of the movable sliding block and the lower portion of the guide rod, a fixed through hole connected with the movable guide rod is reserved in the bottom flange plate, and the bottom flange plate and the movable guide rod are connected through bolts. The beneficial effects of the utility model are that the slide block is driven by the guide rod, and the connected manipulator can automatically compensate the error of the intersection depth of the reinforcing steel bars through the device; by adjusting the adjusting nut on the structure main body, the adjustment of the limit distance of the compensation error is realized.

Description

Technical Field

[0001] The utility model relates to the field of steel bar binding robots, in particular to a connecting device with a mechanical error compensation function, which is used to connect a robot and a mechanical arm. Background Art

[0002] In current construction projects, steel bar binding has always been an important and labor-intensive link. With the annual increase in labor costs, especially in the construction industry, this problem has become particularly prominent. At the same time, due to the harsh working environment and high work intensity, there are fewer and fewer young workers willing to engage in steel bar binding work, and the existing labor force is facing the challenge of aging. Therefore, it has become an urgent need to develop a robot that can automatically and efficiently complete the steel bar binding task. The steel bar binding robot can not only effectively reduce labor costs and improve construction efficiency, but also solve the problem of labor shortage to a certain extent, which is of great significance to promoting the automation and intelligence of the construction industry.

[0003] In the process of steel bar binding, since the steel bar plane cannot be made perfectly flat like an ordinary plane, if the depth information detected by the robot is different from the actual information during the automatic steel bar binding process, the robot will fail to bind or even damage the robot structure. This puts forward strict requirements for the detection of depth information.

[0004] According to a machine vision-based steel bar binding method and system with application number CN202211160460.1, a depth camera is installed at the end of the robotic arm, and the depth camera is used to obtain the coordinates of the steel bar binding points and the depth information of the coordinate points, and then the steel bar plane coordinate system is converted to obtain the final spatial coordinate information of the steel bar intersection point.

[0005] However, in construction projects, the steel bar plane is not a single layer, and due to the shaking of the plane, the commonly used visual solution is not ideal in this application. The depth information obtained above will have some errors. In order to efficiently and accurately tie the steel bar nodes, we propose a connection device between the steel bar tying robot body and the robotic arm, which is used to mechanically compensate for the depth information after the robot's visual positioning, to ensure that the robot can perform the tying task accurately and stably every time. Utility Model Content

[0006] In view of the deficiencies in the prior art and its application, the utility model provides a connection device with a mechanical error compensation function for connecting a steel bar tying robot body and a mechanical arm, which solves the problems raised in the above-mentioned background technology.

[0007] To achieve the above objectives, the utility model is implemented through the following technical solutions: a connection device with mechanical error compensation function for connecting a steel bar tying robot body and a mechanical arm, which solves the problems raised in the above background technology.

[0008] In order to achieve the above objectives, the present invention is implemented through the following technical solutions:

[0009] An error compensation device connected to a steel bar binding robot arm includes a structural body, the top of the structural body has a mounting flange connected to a robot, the middle of the flange has a chamfer and a groove, the bottom of the body is a thread that matches the adjustment nut, and the top of the body has a cylindrical protrusion for fixing a spring. An intermediate connecting piece is installed in the structural body, and the connecting piece adopts a prismatic guide moving block that matches the main body of the device, and a cylindrical protrusion for positioning a spring is left on the moving block. The moving block is connected to a motion guide rod, and the bottom of the guide rod has a mounting and positioning interface for connecting to the bottom flange.

[0010] Preferably, an adjusting nut is installed on the thread at the lower part of the main body of the error compensation device, a thread that cooperates with the thread of the main body of the structure is left inside the nut, and an aperture is provided in the middle of the bottom of the nut for a guide rod to pass through.

[0011] Preferably, a bottom connecting flange is installed at the lower part of the movable guide rod of the error compensation device, an opening is left in the middle of the flange, and a fixing through hole connected to the movable guide rod is left on the upper part.

[0012] Preferably, the fixed through hole of the error compensation device connected to the movable guide rod is fixed using nuts, washers and bolts.

[0013] The utility model provides an error compensation device for connecting a steel bar binding mechanical arm, which has the following beneficial effects:

[0014] 1. This error compensation device connected to the steel bar tying robot arm is installed by moving the slider, guide rod and structural body to facilitate the adjustment of the depth error of the tying robot during the tying process: in the normal position of the tying robot, due to the action of gravity, the robot is at the bottom limit position of the device, and contacts the intersection of the steel bars with errors. The robot moves upward along the guide rod and slider to eliminate the error and ensure that each tying process is completed accurately.

[0015] 2. The error compensation device connected to the steel bar tying robot arm realizes the adjustment of the maximum value of the error compensation by cooperating with the thread of the main structure and the adjusting nut: by adjusting the depth of the nut and the thread, the limit length of the compensation error is adjusted, and the adjustable size setting increases the application range of the structure, so that it can be applied to robots in different environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the utility model.

[0017] Figure 2 It is a cross-sectional view of the main structure of the utility model.

[0018] Figure 3 It is a schematic diagram of the movable slider and the guide rod of the utility model.

[0019] Figure 4 It is a schematic diagram of the bottom flange of the utility model.

[0020] In the figure: 1. bottom flange; 2. structural body; 3. adjusting nut; 4. moving slider and guide rod; 5. fixing bolt; 6. fixing washer; 7. fixing nut; 21. spring positioning column; 22. adjusting thread. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0022] See also Figures 1 to 4 The utility model provides a technical solution: an error compensation device connected to a steel bar binding robot arm, comprising a structural main body 2, the top of the structural main body 2 is a mounting flange connected to a robot, and the bottom of the structural main body 2 is a thread matched with an adjusting nut 3. A moving slider and a guide rod 4 are matched with the main body through the adjusting nut 3, a bottom flange 1 connected to the robot is installed at the bottom of the moving slider and the guide rod 4, the bottom flange 1 is matched with the moving slider and the guide rod 4, and a through hole is left in the middle for fixing, the through hole connects the moving slider and the guide rod 4 to the bottom flange 1 through a connecting bolt 5, and the connecting bolt 5 is connected together through a connecting gasket 6 and a connecting nut 7.

[0023] The interior of the structural body 2 is a spring positioning column 21 for installing a spring, which cooperates with the cylindrical protrusions on the upper part of the slider and the guide, and can install a spring to adapt to more working environments. An adjustment thread 22 is left at the bottom of the structural body, which can control the depth of cooperation with the adjustment nut 3 and thus control the limit distance of error adjustment. The interior of the structural body 2 and the slider and the guide rod 4 adopt a prismatic cooperation to ensure that no rotational dislocation occurs after the mobile installation is completed. The cooperation of the mobile slider and the guide rod 4 with the bottom flange 1 uses a prismatic cooperation, and is connected together using connecting bolts 5, connecting gaskets 6 and connecting nuts 7 to ensure the stability of the connection.

[0024] In summary, when the error compensation device connected to the steel bar tying robot arm is used, it is connected to the steel bar tying robot body through the connecting flange on the upper part of the structural body 2, and the bottom flange 1 is connected to the steel bar tying manipulator. When the robot is tying, the movement in the depth direction is the largest distance in the entire plane. When in the normal position, due to gravity, the moving slider and guide rod 4 of the device are always in contact with the adjusting nut 3 and are in the extreme position. During this process, the extreme position can be adjusted by adjusting the nut 3. During work, if an erroneous steel bar intersection is encountered, the tying robot contacts the intersection, which will drive the moving slider and guide rod 4 to move upward in the structural body 2, thereby compensating for the excess depth distance. When moving upward again, the moving slider and guide rod 4 will return to their initial positions, which is convenient for the next error compensation.

[0025] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An error compensation device connected to a steel bar tying mechanical arm, comprising a structural main body (2), characterized in that: The top of the structural body (2) is a mounting flange connected to the robot, the bottom of the structural body (2) is a thread that cooperates with the adjusting nut (3), a movable slider and a guide rod (4) are installed in the structural body (2), the movable slider and the guide rod (4) pass through the adjusting nut (3) to cooperate with the main body, the bottom of the movable slider and the guide rod (4) is installed with a bottom flange (1) connected to the manipulator, the bottom flange (1) and the movable slider and the guide rod (4) cooperate together, and a through hole is left in the middle for fixing, the through hole connects the movable slider and the guide rod (4) to the bottom flange (1) through a connecting bolt (5), and the connecting bolt (5) is connected together through a connecting gasket (6) and a connecting nut (7).

2. The error compensation device for connecting a steel bar tying mechanical arm according to claim 1, characterized in that: The interior of the structural body (2) is a spring positioning column (21) on which a spring can be installed, and an adjustment thread (22) is left at the bottom of the structural body (2).

3. The error compensation device for connecting a steel bar tying mechanical arm according to claim 1, characterized in that: The adjustment nut (3) and the structural body (2) cooperate to control the limit distance of the depth error.

4. The error compensation device for connecting a steel bar tying mechanical arm according to claim 1, characterized in that: The movable slider, the guide rod (4) and the structural body (2) are matched in a prismatic manner, and the sliders of the slider and the guide rod (4) are relatively thick.

5. The error compensation device for connecting a steel bar tying mechanical arm according to claim 1, characterized in that: The movable slider and the guide rod (4) are matched with the bottom flange (1) in a prismatic manner and are connected together using connecting bolts (5), connecting washers (6) and connecting nuts (7).

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