Floating error compensation device for connecting rebar tying mechanical arm

Abstract

This utility model relates to the field of rebar tying robot technology, specifically disclosing a floating error compensation device for connecting a rebar tying robotic arm. It includes a main structure with a flange at the top for connection to the robotic arm, hexagonal connecting bolts at the bottom, and a movable slide rod and a shock-absorbing compensation spring installed internally. The movable slide rod has an installation and positioning interface for connecting to the bottom flange at its bottom, a pneumatic gasket at its upper part, and the bottom flange at its lower part. The bottom flange has a through hole for connection and fixation to the movable slide rod, and a floating slide rod and ball bearings are installed internally. A return spring is installed at the upper part of the floating slide rod, and a floating base is connected to its bottom. This utility model enables the tying arm to automatically compensate for depth and positioning accuracy errors at rebar intersections: depth errors are adjusted by compressing a cylinder and using a shock-absorbing compensation spring; the center position of the floating base is adjusted by radial movement to correct positioning deviations, effectively improving tying accuracy and adaptability.

Description

Technical Field

[0001] This utility model relates to the field of rebar tying robot technology in the construction industry, and specifically discloses a floating error compensation device for connecting a rebar tying robotic arm. Background Technology

[0002] Currently, my country's construction industry is developing rapidly, but its level of mechanization and automation is still relatively low, resulting in problems such as frequent safety accidents, low labor productivity, and labor shortages. Therefore, developing a robot capable of adapting to complex construction environments to replace manual rebar tying operations is an inevitable trend. The purpose of applying rebar tying robots is to replace construction workers, freeing them from the tedious, dangerous, and tiring work in engineering construction, thereby reducing costs, improving efficiency, and enhancing quality in construction. This is of great significance for promoting the automation and intelligentization of the construction industry.

[0003] In rebar tying operations, due to limitations imposed by the on-site environment, the surface of the rebars is often difficult to achieve perfect flatness, and the spacing between the rebars also exhibits a certain degree of deviation. If the robot's depth information and positioning coordinates, detected by the robot during automated tying, deviate from the actual situation, it can easily lead to tying failure and even damage to the robot's mechanical structure. Therefore, extremely high accuracy in the robot's depth and position detection is essential.

[0004] In actual construction environments, reinforced concrete structures often exhibit multi-layered, interwoven spatial distributions. Furthermore, due to factors such as equipment vibration, personnel movement, and wind, the plane of the reinforced concrete often experiences continuous, slight swaying. These complex conditions impose significant limitations on traditional visual inspection solutions: firstly, vision systems based on two-dimensional images or a single viewpoint struggle to accurately analyze the depth relationships and occlusion areas between the reinforced concrete, easily leading to visual misjudgments; secondly, under dynamic interference, images captured by cameras are prone to blurring and jitter, and projection areas may appear under lighting conditions, resulting in unstable feature point extraction and consequently, deviations in 3D coordinate estimation. These errors include, but are not limited to: inaccurate depth values ​​and positioning coordinate detection, feature matching failures, and inconsistent pose calculation results, severely impacting the accuracy and reliability of the tying operation.

[0005] To overcome the aforementioned problems and achieve efficient and precise rebar node binding, this paper proposes a highly adaptable connection device installed between the binding machine and the robotic arm. Based on the initial positioning by the vision system, this device, through a built-in shock-absorbing spring, a compressed cylinder, and a floating chassis, performs real-time mechanical compensation and fine-tuning of the depth and positioning information acquired by vision. This effectively suppresses end-effector pose deviations caused by visual errors and unclear features, ensuring that the robot can continuously, stably, and accurately perform binding operations even in uncertain environments, thus improving the automation level of the binding operation. Summary of the Invention

[0006] To address the aforementioned deficiencies in the prior art, this utility model provides a floating error compensation device for connecting a rebar tying robotic arm. This device is positioned between the tying device and the robotic arm and can effectively compensate for visual positioning deviations, thus solving the problems of inaccurate positioning and susceptibility to interference mentioned in the background art.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a floating error compensation device for connecting a rebar binding robotic arm, which is located between the robot body and the robotic arm, can effectively compensate for visual positioning deviations, thereby solving the problems described in the background art.

[0008] To achieve the above objectives, this utility model provides the following technical solution:

[0009] A floating error compensation device for connecting a rebar tying robotic arm includes a main body. The top of the main body has a mounting flange for connecting to the robotic arm, and the flange has an installation interface for connecting to the robotic arm. The bottom of the main body has mounting holes for hexagonal bolts. Inside the main body, there is a cylindrical protrusion for fixing a shock-absorbing compensation spring and a cylindrical cylinder. The main body employs a cylindrical movable slide rod that cooperates with the device body. A spring-connected pneumatic gasket is mounted on the upper part of the movable slide rod, and the bottom of the movable slide rod has an installation and positioning interface for connecting to the bottom flange.

[0010] Preferably, the lower part of the main body of the error compensation device has mounting holes for installing hexagonal connecting bolts and enabling movement to a certain depth.

[0011] Preferably, the lower part of the movable slide rod of the error compensation device is equipped with a bottom flange, the flange has an installation hole for installing the floating slide rod inside, and a fixing through hole for connecting with the movable slide rod on the top.

[0012] Preferably, the fixed through hole connecting the error compensation device to the movable slide rod is fixed with nuts and bolts.

[0013] Preferably, the bottom flange of the error compensation device is equipped with mounting holes for connecting the main body of the structure, and is connected and fixed by hexagonal bolts and nuts.

[0014] Preferably, the bottom flange of the error compensation device has an installation hole inside for installing a floating slide rod and for radial compensation within a certain limit, and an opening at the bottom, with holes for installing ball bearings and a return spring in the installation hole.

[0015] Preferably, the lower part of the floating slide of the error compensation device has a thread that connects and mates with the floating base, and is connected by a nut.

[0016] Preferably, the upper part of the floating chassis of the error compensation device has a cylindrical slide that cooperates with the ball bearings for radial compensation and a cylindrical protrusion that is installed with a return spring, and the lower part has an installation interface for connection with a mechanical binding device.

[0017] This utility model provides a floating error compensation device for connecting a rebar tying robotic arm, which has the following advantages:

[0018] 1. This floating error compensation device for connecting rebar tying robotic arms, through the coordinated installation of a sliding rod, pneumatic pads, shock-absorbing springs, and the main structure, can effectively adjust the depth deviation of the mechanical tying device during operation and reduce the impact vibration during collisions. In the initial state, the tying device is in the bottom limit position under the action of gravity; when it contacts the intersection of rebars with positional deviations, the robotic arm can adaptively move upward along the sliding rod to compensate for the error and ensure that each tying action is completed accurately.

[0019] 2. This floating error compensation device for the rebar tying robotic arm, through the coordinated installation of a bottom flange, floating slide rod, return spring, ball bearings, and floating base, can effectively adjust the radial deviation of the mechanical tying device during operation. In the initial state, the tying device is subject to end-effector pose deviation caused by visual errors and unclear features. When contacting a rebar intersection with pose deviation, the mechanical tying device, together with the floating base and floating slide rod, adaptively moves in the direction of the deviation on the ball bearings, thereby compensating for the error and ensuring accurate completion of each tying action. Furthermore, the return spring restores the device to its initial position after the tying operation is completed. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of this utility model;

[0021] Figure 2 This is a cross-sectional view of the main structure of this utility model;

[0022] Figure 3 This is a schematic diagram of the hexagonal connecting bolt of this utility model;

[0023] Figure 4 This is a schematic diagram of the movable slide bar of this utility model;

[0024] Figure 5 This is a half-sectional view of the bottom flange of this utility model;

[0025] Figure 6 This is an internal sectional view of the bottom flange of this utility model;

[0026] Figure 7 This is a schematic diagram of the floating slide bar of this utility model;

[0027] Figure 8 This is a schematic diagram of the floating chassis of this utility model.

[0028] In the diagram: 1. Main structure; 2. Hexagonal connecting bolt; 3. Moving slide bar; 4. Shock-absorbing compensation spring; 5. Bottom flange; 6. Floating slide bar; 7. Floating chassis; 11. Cylindrical protrusion; 12. Cylinder; 13. Hexagonal connecting bolt interface; 31. Air pressure gasket; 51. Ball bearing; 52. Return spring; 61. Bottom thread of floating slide bar. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0030] Please see Figures 1 to 8 This utility model provides a technical solution: a floating error compensation device for connecting a rebar tying robotic arm, comprising a main body 1. The top of the main body 1 is a mounting flange for connecting to the robotic arm, and the bottom of the main body 1 has mounting holes for mates with hexagonal connecting bolts 2. A movable slide rod 3 and a shock-absorbing compensation spring 4 are installed in the main body 1. The bottom of the movable slide rod 3 has an installation and positioning interface for connecting to the bottom flange 5. A pneumatic gasket 31 connected to the spring is installed on the upper part of the movable slide rod 3, and the bottom flange 5 is installed on the lower part. The bottom flange 5 has through holes for connecting and fixing to the movable slide rod 3, and is connected by bolts. A floating slide rod 6 and a ball bearing 51 are installed inside the bottom flange 5. A return spring 52 is connected to the upper part of the floating slide rod, and the bottom is connected to a floating base plate 7 by threads and nuts.

[0031] The interior of the main structure 1 contains a cylindrical protrusion 11 for mounting a shock-absorbing compensating spring 4 and a cylinder 12 that cooperates with the movable slide rod for depth compensation. The bottom of the main structure 1 has mounting holes 13 for connecting hexagonal bolts 2. The movable slide rod 3, the shock-absorbing compensating spring 4, and the main structure 1 work together to control the limit distance of depth error. A pneumatic pad 31 connected to the spring is mounted on the upper part of the movable slide rod 3. Four air holes are distributed on the inner and outer rings of the slide plate on the movable slide rod 3. During compensation, the internal pressure causes the pneumatic pad to block the four inner air holes, making airflow difficult and thus reducing impact. When restoring to its original state, the external pressure causes the pneumatic pad to move upwards, exposing the four blocked air holes, reducing the time for the slide rod 3 to return to its original state and mitigating the impact vibration generated during the restoration process to some extent. The sliding rod 3 and the main structure 1 are fitted with a cylindrical fit, and the impact generated during error compensation is mitigated by the pressure difference between the inside and outside of the cylinder 22 and the synergistic work of the shock-absorbing compensation spring 4. The sliding rod 3 is connected to the bottom flange 5 by connecting bolts, and the main structure 1 is connected to the bottom flange 5 by hexagonal connecting bolts 2. The bottom flange 5 houses the floating sliding rod 6, ball bearings 51, and return spring 52, enabling radial compensation of the floating sliding rod 6 within certain limits. The bottom of the floating sliding rod 6 has a thread 61 for mating with the floating base 7, which is connected to the thread by a nut, enabling radial compensation of the binding hand connected to the floating base 7 within certain limits.

[0032] In summary, when using this type of rebar tying robotic arm's depth and radial error compensation device, it is connected to the main body of the rebar tying robotic arm via a connecting flange on the upper part of the main body 1, and the bottom flange 5 is connected to the mechanical tying device. During robot tying, the movement in the depth direction is the largest distance in the entire compensation process. In the normal position, due to the influence of gravity and the shock-absorbing compensation spring, the moving slide rod 3 of this device is always on the same plane as the lower surface of the main body 1, at its limit position, while the weight of the floating slide rod 6 and the connected bottom flange 5 and floating base 7 is entirely borne by the six hexagonal connecting bolts 2. During operation, if a rebar intersection with depth error is encountered, the tying robot arm will contact the intersection, causing the moving rod 3 to move upward within the main body 1, thereby compensating for the excess depth distance. When moving upward again, the moving slide rod 3 will return to its initial position, facilitating the next error compensation. The radial movement distance is relatively short. In the normal position, the binding point of the mechanical binding device is located exactly at the center of the bottom flange 5 due to the action of the return spring 52. During operation, if a rebar intersection with positioning error is encountered, the binding robot will contact the intersection and drive the floating slide rod 6 to move adaptively in the direction of deviation on the ball bearing 51 of the bottom flange 5, thereby compensating for the excess deviation distance. When the binding device moves upward again, the floating slide rod 6 will be restored to its initial position by the action of the return spring 52, facilitating the next error compensation.

[0033] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A floating error compensation device for connecting a rebar tying robotic arm, comprising a main structural body (1), characterized in that: The top of the main body (1) is a mounting flange connected to the robotic arm, and the bottom of the main body (1) is a mounting hole for cooperating with hexagonal connecting bolts (2); a movable slide rod (3) and a shock-absorbing compensation spring (4) are installed in the main body (1); the bottom of the movable slide rod (3) has an installation and positioning interface for connecting the bottom flange (5); the upper part of the movable slide rod (3) is equipped with a pneumatic gasket (31) connected to the spring, and the lower part is equipped with the bottom flange (5); the bottom flange (5) has a through hole for connecting and fixing to the movable slide rod (3), and is connected by bolts; a floating slide rod (6) and a ball bearing (51) are installed inside the bottom flange; the upper part of the floating slide rod is connected to a return spring (52), and the bottom is connected to a floating chassis (7).

2. The floating error compensation device for connecting a rebar tying robotic arm according to claim 1, characterized in that: The interior of the main body (1) has a cylindrical protrusion (11) for installing a shock-absorbing compensation spring (4) and a cylinder (12) for depth compensation in cooperation with a movable slide bar. The bottom of the main body (1) has a mounting hole (13) for connecting a hexagonal connecting bolt (2).

3. The floating error compensation device for connecting a rebar tying robotic arm according to claim 1, characterized in that: The movable slide bar (3), the shock-absorbing compensation spring (4), and the main body of the structure (1) work together to control the limit distance of depth error compensation.

4. The floating error compensation device for connecting a rebar tying robotic arm according to claim 1, characterized in that: The upper part of the movable slide rod (3) is equipped with a pneumatic pad (31) connected to the spring. The movable slide rod (3) and the main body of the structure (1) are fitted with a cylindrical fit. The impact generated during the error compensation process is reduced by the cooperation of the internal and external air pressure difference of the cylinder (12) and the shock-absorbing compensation spring (4).

5. The floating error compensation device for connecting a rebar tying robotic arm according to claim 1, characterized in that: The movable slide bar (3) is connected to the bottom flange (5) by connecting bolts, and the main body (1) is connected to the bottom flange (5) by hexagonal connecting bolts (2).

6. The floating error compensation device for connecting a rebar tying robotic arm according to claim 1, characterized in that: The bottom flange (5) is equipped with a floating slide rod (6), a ball bearing (51) and a return spring (52) to achieve radial compensation of the floating slide rod (6) within a certain limit.

7. The floating error compensation device for connecting a rebar tying robotic arm according to claim 1, characterized in that: The bottom of the floating slide bar (6) has a thread (61) that mates with the floating chassis (7). The thread is connected to the floating chassis (7) by a nut, so that the mechanical binding device connected to the floating chassis (7) can achieve radial compensation within a certain limit.

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