A walking robot for binding reinforcing bars

Abstract

The utility model discloses a walking robot for reinforcing bar binding, including frame, the both sides of frame are all provided with moving mechanism, and the front side and the back of frame are all provided with posture adjusting mechanism, the bottom of frame is provided with two support mechanisms, and two support mechanisms are located in the inside of two moving mechanisms respectively, three power output mechanisms are fixed on the frame, and one power output mechanism is transmission cooperation with two moving mechanisms, and the other two power output mechanisms are transmission cooperation with two posture adjusting mechanisms respectively. The walking robot for reinforcing bar binding has solved the problem that the existing reinforcing bar binding robot is difficult to walk on the reinforcing grid pavement.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to a walking robot for rebar tying. Background Technology

[0002] Domestic and international small rebar tying robots are designed in either wheel-rail or tracked styles. Wheel-rail robots have extremely high requirements for rebar spacing, and due to the tying knots, there is a risk of tipping over during movement. Tracked robots, due to the sharp wires and protruding rebar ends, are prone to damage to the track structure, thus losing mobility. Due to the complexity of rebar mesh surfaces, the adaptability of the walking mechanism for these surfaces is crucial. Given the porous and uneven characteristics of rebar mesh surfaces, it is necessary to design a mobile robot for rebar mesh surfaces that features low power consumption, strong obstacle-crossing ability, light weight, and strong load adaptability, possessing excellent environmental adaptability on irregular terrain and maintaining balance without tipping over. Utility Model Content

[0003] The purpose of this invention is to provide a walking robot for rebar tying, which solves the problem that existing rebar tying robots have difficulty walking on rebar grid surfaces.

[0004] To solve the above-mentioned technical problems, this utility model discloses a walking robot for rebar tying, including a frame. Movable mechanisms are provided on both outer sides of the frame, and posture adjustment mechanisms are provided on the front and rear sides of the frame. Two support mechanisms are provided at the bottom of the frame, and the two support mechanisms are respectively located next to the inner sides of the two movable mechanisms. Three power output mechanisms are fixed on the frame. One power output mechanism is driven and cooperates with two movable mechanisms, and the other two power output mechanisms are driven and cooperate with two posture adjustment mechanisms respectively.

[0005] The technical solution of this utility model also has the following characteristics:

[0006] As a further improvement to the technical solution of this utility model, the power output mechanism includes a motor, the drive end of the motor is connected to a reducer, and the drive end of the reducer is connected to a small sprocket.

[0007] As a further improvement to the technical solution of this utility model, the frame includes a pair of first rectangular steel frames and a pair of second rectangular steel frames, wherein the pair of second rectangular steel frames are arranged between the pair of first rectangular steel frames.

[0008] As a further improvement to the technical solution of this utility model, the moving mechanism includes a long shaft, which is mounted between a pair of first rectangular steel frames via bearings. Both ends of the long shaft are connected to a chain sprocket. The chain sprockets on the same side of the two moving mechanisms are connected by chain drive. A moving rod shaft is eccentrically connected to the hub of each chain sprocket. A moving rod is connected between the lower ends of the two moving rod shafts on the same side. A drive sprocket is provided on any long shaft. The drive sprocket is connected to the small sprocket of the corresponding power output mechanism via a chain drive.

[0009] As a further improvement to the technical solution of this utility model, the attitude adjustment mechanism includes a double-row sprocket with a web plate and a single-row sprocket with a web plate. A short shaft for the double-row sprocket is connected to the hub of the double-row sprocket, and a short shaft for the single-row sprocket is connected to the hub of the single-row sprocket. The short shafts for the double-row and single-row sprockets are fixed on corresponding second rectangular steel frames. The double-row sprockets are driven and assembled together with corresponding small sprockets via chains. The double-row sprockets and single-row sprockets on the same side are driven and assembled together via chains. A double-row sprocket moving rod shaft is eccentrically connected to the hub of the double-row sprocket, and a single-row sprocket moving rod shaft is eccentrically connected to the hub of the single-row sprocket. A connecting rod is provided at the lower end of both the double-row and single-row sprocket moving rod shafts on the same side, and an attitude adjustment rod is connected between the lower ends of the two connecting rods.

[0010] As a further improvement to the technical solution of this utility model, the support mechanism includes four small rectangular steel sections. A small rectangular steel section is fixed to the lower side of each end of the first rectangular steel frame, and a support base rod is connected between the lower ends of two small rectangular steel sections in each first rectangular steel frame.

[0011] Compared with the prior art, the walking robot for rebar tying of this utility model has the following advantages:

[0012] (1) The walking robot for tying steel bars of this utility model has a reasonable structural design. The moving mechanism is a linkage mechanism, which can realize free movement of the steel bar grid road surface. It has a large load-bearing capacity, stable and reliable movement, and excellent ability to maintain balance and not tip over.

[0013] (2) The present invention provides a walking robot for tying steel bars, which moves and adjusts its position through a linkage structure and can be applied to most specifications of steel bar grid pavement. Attached Figure Description

[0014] The accompanying drawings, which are included to provide a further understanding of the present invention and constitute a part of this invention, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0015] Figure 1This is a structural schematic diagram of a walking robot for rebar tying according to this utility model;

[0016] Figure 2 This is a schematic diagram of the moving mechanism in a walking robot for rebar tying according to this utility model;

[0017] Figure 3 This is a structural schematic diagram of the posture adjustment mechanism in a walking robot for rebar tying according to this utility model;

[0018] Figure 4 This is a schematic diagram of the frame structure of a walking robot for rebar tying according to this utility model.

[0019] In the diagram: 1. First rectangular steel frame, 2. Second rectangular steel frame, 3. Long shaft, 4. Motor, 5. Reducer, 6. Small sprocket, 7. Chain, 8. Drive sprocket, 9. Support base rod, 10. Web plate type single row sprocket, 11. Bearing, 12. Web plate type double row sprocket, 13. Attitude adjustment rod, 14. Small section rectangular steel, 15. Crankset, 16. Moving rod, 17. Moving rod shaft, 18. Double row sprocket moving rod shaft, 19. Double row sprocket short shaft, 20. Single row sprocket short shaft, 21. Single row sprocket moving rod shaft, 22. End shaft, 23. Connecting rod. Detailed Implementation

[0020] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0021] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0022] like Figure 1 As shown, the present invention discloses a walking robot for tying rebar, comprising a frame, with moving mechanisms on both outer sides of the frame, and posture adjustment mechanisms on the front and rear sides of the frame; two support mechanisms are provided at the bottom of the frame, located on the inner sides of the two moving mechanisms respectively; three power output mechanisms are fixed on the frame, one of which is connected to the two moving mechanisms, and the other two are connected to the two posture adjustment mechanisms respectively.

[0023] in:

[0024] like Figure 1As shown, the power output mechanism includes a motor 4, a reducer 5 connected to the drive end of the motor 4, and a small sprocket 6 connected to the drive end of the reducer 5.

[0025] like Figure 1 As shown, the frame includes a pair of first rectangular steel frames 1 and a pair of second rectangular steel frames 2, wherein the pair of second rectangular steel frames 2 are arranged between the pair of first rectangular steel frames 1.

[0026] like Figure 2 As shown, the moving mechanism includes a long shaft 3, which is mounted between a pair of first rectangular steel frames 1 via bearings 11. Both ends of the long shaft 3 are connected to a chain 15. The chain 15 on the same side of the two moving mechanisms are driven by a chain 7. Each chain 15 hub is eccentrically connected to a moving rod shaft 17 via an end shaft 22. The lower ends of the two moving rod shafts 17 on the same side are connected to a moving rod 16. A drive sprocket 8 is provided on any long shaft 3. The drive sprocket 8 is driven by a small sprocket 6 of the corresponding power output mechanism via a chain 7.

[0027] The attitude adjustment mechanism includes a double-row sprocket 12 with a web plate and a single-row sprocket 10 with a web plate. A double-row sprocket short shaft 19 is connected to the hub of the double-row sprocket 12, and a single-row sprocket short shaft 20 is connected to the hub of the single-row sprocket 10. The double-row sprocket short shaft 19 and the single-row sprocket short shaft 20 are fixed to the corresponding second rectangular steel frame 2 by bolts and nuts. The double-row sprocket 12 is connected to the corresponding small sprocket 6 via a chain 7. The double-row sprocket 12 and the single-row sprocket 10 of the web plate are assembled together by the chain 7. The double-row sprocket 12 of the web plate is eccentrically connected to the hub of the double-row sprocket 12, and the single-row sprocket 10 of the web plate is provided with a single-row sprocket moving rod 21. The lower ends of the double-row sprocket moving rod 18 and the single-row sprocket moving rod 21 on the same side are provided with connecting rods 23, and the lower ends of the two connecting rods are connected with an attitude adjustment rod 13.

[0028] like Figure 4 As shown, the support mechanism includes four small rectangular steel sections 14. The four small rectangular steel sections 14 are divided into two groups and fixedly connected to the lower ends of the two first rectangular steel frames 1 respectively. A support base rod 9 is connected between the lower ends of the two small rectangular steel sections 14 in each first rectangular steel frame 1.

[0029] In this utility model, a walking robot for tying rebar moves forward and backward. The power of the corresponding motor 4 is transmitted to the drive sprocket 8 through the chain 7. The drive sprocket 8 and the long shaft 3 rotate synchronously, causing the toothed disc 15 at the end of the long shaft 3 to rotate. The synchronous rotation of the toothed disc 15 connected in series by the chain 7 causes the moving rod shaft 17 and the moving rod 16 to rotate periodically. When the end shaft 22 rotates to the upper half of the motion cycle, the moving rod 16 is airborne and supported by the support rod 9. When the end shaft 22 rotates to the lower half of the motion cycle, the moving rod 16 is supported and the support rod 9 is airborne. The gait coordination between the moving rod 16 and the support rod 9 enables the robot to achieve displacement. The forward rotation of the motor 4 enables the robot to move forward, and the reverse rotation of the motor 4 enables the robot to move backward.

[0030] like Figure 1 As shown, the principle of the forward and backward movement of the rebar tying walking robot of this utility model is as follows:

[0031] When motor 4 reverses, it drives the toothed sprocket 15 to rotate together. The moving rod 16 rises along with the moving rod shaft 17. As it moves from the lower half-circle of the motion cycle into the upper half-circle, the support rod 9 replaces the moving rod 16 to provide support. When the end shaft 22 moves from the upper half-circle back into the lower half-circle, the entire rebar binding robot moves backward one step (within...). Figure 1 (Moving to the left for reference), when the end shaft 22 re-enters the lower arc of the motion cycle, the moving rod 16 will replace the supporting base rod 9 to provide support. At this time, a step backward movement is completed.

[0032] When motor 4 rotates forward, it drives the toothed sprocket 15 to rotate together. The moving rod 16 rises along with the moving rod shaft 17. As it moves from the lower half-circle of the motion cycle into the upper half-circle, the support rod 9 replaces the moving rod 16 to provide support. When the end shaft 22 moves from the upper half-circle back into the lower half-circle, the entire rebar tying robot moves forward one step (within a certain distance). Figure 1 (Moving to the right for reference), when the end shaft 22 re-enters the lower half of the motion cycle, the moving rod will replace the support base rod 9 to provide support. At this point, one step forward movement is completed.

[0033] In this utility model, a walking robot for rebar tying uses a motor 4 to transmit power to a double-row sprocket 12 via a chain 7 when adjusting the robot's direction and posture. The double-row sprocket 12 and the single-row sprocket 10 rotate synchronously via the chain 7. At this time, the double-row sprocket moving rod shaft 18 on the double-row sprocket 12 rotates around the central axis of the double-row sprocket 12, while the single-row sprocket moving rod shaft 21 on the single-row sprocket 10 rotates around the central axis of the single-row sprocket 10. This achieves the purpose of periodically rotating the posture adjustment rod 13. When the posture adjustment rod 13 rotates to the upper half of the motion cycle, the posture adjustment rod 13 is airborne and supported by the support rod 9. When the posture adjustment rod 13 rotates to the lower half of the motion cycle, the support rod 9 is airborne and supported by the posture adjustment rod 13. The gait coordination between the posture adjustment rod 13 and the support rod 9 enables the robot to adjust its direction and posture.

[0034] This utility model discloses a walking robot for rebar tying. When moving left and right, the two motors 4 used to drive the posture adjustment mechanisms on both sides rotate clockwise simultaneously. With each rotation cycle, the walking robot moves one step to the left. When the two motors 4 used to drive the posture adjustment mechanisms on both sides rotate counterclockwise simultaneously, with each rotation cycle, the walking robot moves one step to the right. This achieves left and right movement of the robot.

[0035] This utility model discloses a walking robot for rebar tying. During posture adjustment and turning, when the motor 4 driving the front posture adjustment mechanism rotates in reverse and the motor 4 driving the rear posture adjustment mechanism rotates forward, the walking robot rotates one step to the right for each rotation cycle. Conversely, when the motor 4 driving the front posture adjustment mechanism rotates forward and the motor 4 driving the rear posture adjustment mechanism rotates in reverse, the walking robot rotates one step to the left for each rotation cycle. This achieves posture and direction adjustment for the robot.

[0036] When the attitude adjustment mechanism is working, the two motors 4 on both sides of the attitude adjustment mechanism rotate simultaneously, including forward or reverse rotation, to maintain the robot's balance. The moving mechanism and the attitude adjustment mechanism do not work simultaneously. When the moving mechanism or the attitude adjustment mechanism is not working, the moving rod 16 or the attitude adjustment rod 13 is in the upper half-circle of the motion cycle, at which time the moving rod 16 or the attitude adjustment rod 13 is airborne.

[0037] Compared with the prior art, the walking robot for rebar tying of this utility model has the following advantages:

[0038] (1) The walking robot for tying steel bars of this utility model has a reasonable structural design. The moving mechanism is a linkage mechanism, which can realize free movement of the steel bar grid road surface. It has a large load-bearing capacity, stable and reliable movement, and excellent ability to maintain balance and not tip over.

[0039] (2) The present invention provides a walking robot for tying steel bars, which moves and adjusts its position through a linkage structure and can be applied to most specifications of steel bar grid pavement.

[0040] The foregoing description illustrates and describes several preferred embodiments of the utility model. However, as previously stated, it should be understood that the utility model is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the utility model concept described herein through the foregoing teachings or the technology or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the utility model should be within the protection scope of the appended claims.

Claims

1. A walking robot for tying rebar, characterized in that, The device includes a frame, on both outer sides of which are provided moving mechanisms, and on the front and rear sides of which are provided attitude adjustment mechanisms. Two support mechanisms are provided at the bottom of the frame, and the two support mechanisms are located on the inner sides of the two moving mechanisms respectively. Three power output mechanisms are fixed on the frame, one of which is in transmission cooperation with the two moving mechanisms, and the other two are in transmission cooperation with the two attitude adjustment mechanisms respectively.

2. The walking robot for rebar tying according to claim 1, characterized in that, The power output mechanism includes a motor (4), the drive end of the motor (4) is connected to a reducer (5), and the drive end of the reducer (5) is connected to a small sprocket (6).

3. The walking robot for rebar tying according to claim 2, characterized in that, The frame comprises a pair of first rectangular steel frames (1) and a pair of second rectangular steel frames (2), wherein the pair of second rectangular steel frames (2) are arranged between the pair of first rectangular steel frames (1).

4. The walking robot for rebar tying according to claim 3, characterized in that, The moving mechanism includes a long shaft (3), which is mounted between a pair of first rectangular steel frames (1) via bearings (11). Both ends of the long shaft (3) are connected to a chain (15). The chain (15) on the same side of the two moving mechanisms are driven by a chain (7). Each chain (15) hub is eccentrically connected to a moving rod shaft (17). The lower ends of the two moving rod shafts (17) on the same side are connected to a moving rod (16). A drive sprocket (8) is provided on any long shaft (3). The drive sprocket (8) is driven by a chain (7) and the corresponding small sprocket (6) of the power output mechanism.

5. The walking robot for rebar tying according to claim 4, characterized in that, The attitude adjustment mechanism includes a double-row sprocket (12) and a single-row sprocket (10). A double-row sprocket shaft (19) is connected to the hub of the double-row sprocket (12), and a single-row sprocket shaft (20) is connected to the hub of the single-row sprocket (10). The double-row sprocket shaft (19) and the single-row sprocket shaft (20) are fixed on the corresponding second rectangular steel frame (2). The double-row sprocket (12) is connected to the corresponding small sprocket (6) via a chain (7). The web plates on the same side... The double-row sprocket (12) and the single-row sprocket (10) are assembled together by chain (7); the double-row sprocket (12) is eccentrically connected to the hub of the double-row sprocket (12), and the single-row sprocket (10) is eccentrically connected to the hub of the single-row sprocket (10). The lower ends of the double-row sprocket (18) and the single-row sprocket (21) on the same side are provided with connecting rods (23), and the lower ends of the two connecting rods (23) are connected with attitude adjustment rods (13).

6. The walking robot for rebar tying according to claim 1, characterized in that, The support mechanism comprises four sections of rectangular steel (14). Each of the two ends of the first rectangular steel frame (1) is fixed with a section of rectangular steel (14). A support base rod (9) is connected between the lower ends of two sections of rectangular steel (14) in each first rectangular steel frame (1).

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