Rebar tying robot capable of automatic track switching

Abstract

The present application provides a rebar tying robot capable of automatic track switching. The rebar tying robot comprises: a mounting frame; and a walking mechanism, a track switching mechanism, and a tying mechanism arranged on the mounting frame. The walking mechanism is used for driving the robot to move in an X direction. The track switching mechanism comprises a first support assembly, a second support assembly, and a translation assembly. The first support assembly and the second support assembly can be alternately supported on a rebar mesh, and a contact surface of each of the first and second support assemblies with the rebar mesh is planar. The translation assembly is connected to the first support assembly or the second support assembly, and is used for driving the robot to move in a Y direction. The tying mechanism is used for tying rebars. According to the rebar tying robot capable of automatic track switching in an embodiment of the present application, the first support assembly and the second support assembly are alternately supported on the rebar mesh and, in coordination with the translation assembly, drive the robot to move in the Y direction, thereby enabling the robot to automatically switch tracks.

Description

A steel bar binding robot capable of automatically changing tracks

[0001] The present application claims priority to Chinese Patent Application No. CN202410444435.9 and No. CN202420769577.8, filed on April 12, 2024, and entitled "A Steel Bar Binding Robot Capable of Automatically Changing Tracks".

TECHNICAL FIELD

[0002] The present application relates to the field of construction machinery, in particular to a steel bar binding robot capable of automatically changing tracks.

BACKGROUND

[0003] In the process of construction, steel bar binding is a very important work. After the steel bars are bound together, the strength and stability of the concrete member can be effectively enhanced. The most common steel bar binding method at present is manual binding. The efficiency of manual binding is largely dependent on the proficiency of workers in steel bar binding work, the physical condition of workers, the construction environment and weather restrictions.

[0004] In order to solve the above problems, robots are used for binding in the prior art, which can effectively improve production efficiency, reduce workload, reduce worker fatigue, ensure binding accuracy and consistency, etc. However, the steel bar binding robot in the prior art cannot accurately move from the current steel bar track to the steel bar track of the next work surface to realize the automatic track changing function. The robot needs to be lifted by workers to change tracks, which is low in efficiency. Moreover, due to the heavy weight of the robot, manual lifting to change tracks not only consumes manpower, but also has the risk of being injured.

SUMMARY

[0005] The present application provides a steel bar binding robot capable of automatically changing tracks, comprising a mounting frame, a walking mechanism, a track changing mechanism and a binding mechanism arranged on the mounting frame. The walking mechanism is used to drive the robot to move in the X direction. The track changing mechanism comprises a first support assembly, a second support assembly and a translation assembly. The first support assembly and the second support assembly can alternately support on the steel mesh, and the contact surfaces of the two assemblies with the steel mesh are flat surfaces. The translation assembly is connected with the first support assembly or the second support assembly, and is used to drive the robot to move in the Y direction. The binding mechanism is used to bind steel bars.

[0006] Optionally, it further comprises an anti-collision mechanism and a control mechanism. The anti-collision mechanism comprises two first anti-collision detection sensors. Each first anti-collision detection sensor is inclined towards the steel mesh and arranged on the two sides of the mounting frame in the Y direction, and is used to detect obstacles on both sides of the robot in the Y direction. Each first anti-collision detection sensor is electrically connected with the input end of the control mechanism. The output end of the control mechanism is electrically connected with the walking mechanism, the binding mechanism and the track changing mechanism.

[0007] Optionally, the anti-collision mechanism further comprises two second anti-collision detection sensors, each of the second anti-collision detection sensors is arranged on the two sides of the mounting frame along the X direction and is used for detecting the obstacles on the two sides of the robot along the X direction, and each of the second anti-collision detection sensors is electrically connected with the input end of the control mechanism.

[0008] Optionally, the anti-collision mechanism further comprises two anti-collision strips, the two anti-collision strips are arranged on the two sides of the mounting frame along the X direction and are electrically connected with the input end of the control mechanism, and the control mechanism can control the walking mechanism to stop when any of the anti-collision strips is collided.

[0009] Optionally, the first support assembly comprises a first lifting component and a rail-changing support leg, the rail-changing support leg is movably connected with the mounting frame along the Z direction through the first lifting component, and the translation assembly is connected with the first lifting component; and the second support assembly comprises two support legs, the two support legs are arranged on the two sides of the mounting frame along the Y direction.

[0010] Optionally, the first lifting component comprises a first motor arranged on the mounting frame, a first screw rod rotatably arranged on the mounting frame and in transmission connection with the first motor, and a first screw element in threaded connection with the first screw rod, the first screw element being connected with the rail-changing support leg.

[0011] Optionally, the translation assembly comprises an electric push rod, the electric push rod is arranged on the first screw element, a moving end of the electric push rod is fixedly connected with the rail-changing support leg, and the rail-changing support leg is slidably connected with the first screw element along the Y direction.

[0012] Optionally, the second support assembly further comprises a second lifting component corresponding to each of the support legs, each of the support legs is movably connected with the mounting frame along the Z direction through the second lifting component, and the second lifting component is electrically connected with the output end of the control mechanism.

[0013] Optionally, the anti-collision mechanism further comprises two auxiliary wheels and a third lifting component, the two auxiliary wheels are arranged on the two sides of the mounting frame along the Y direction, the two auxiliary wheels are movably connected with the mounting frame along the Z direction through the third lifting component, and the third lifting component is electrically connected with the output end of the control mechanism.

[0014] Optionally, the walking mechanism comprises a plurality of drive wheels, each of the drive wheels walks on one or more steels along the X direction.

[0015] Optionally, a rail changing detection sensor is arranged on the mounting frame and in the same straight line as the driving wheel in the X direction, and the rail changing detection sensor is electrically connected to the input end of the control mechanism.

[0016] Optionally, a baffle is arranged on each driving wheel in the Y direction, and the baffle is movably connected to the mounting frame and fixed in position in the Y direction of the mounting frame, and the baffle has a first working state and a second working state; in the first working state, the baffle is in contact with the steel bar parallel to the Y direction and moves away from the reinforcement mesh, so that the walking mechanism moves in the X direction across the steel bar in the Y direction; in the second working state, the baffle is inserted into the gap of the reinforcement mesh to limit the walking mechanism from deviating in the Y direction.

[0017] Optionally, an energy module is arranged on the mounting frame to supply energy to the walking mechanism, the binding mechanism and the rail changing mechanism.

[0018] The steel bar binding robot capable of automatically changing rails provided by the embodiments of the present application adopts a take-off type rail changing mode, and the first support assembly and the second support assembly are alternately supported on the reinforcement mesh and are driven by the translation assembly to move the robot in the Y direction, so that the robot automatically changes rails. The contact surface of the first support assembly and the second support assembly with the reinforcement mesh is a flat surface, which can improve the stability during support, does not need manual lifting and carrying, reduces the labor loss, and improves the work efficiency.

DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0020] FIG. 1 is a schematic diagram of the overall structure in some embodiments of the present application;

[0021] FIG. 2 is a bottom view of the steel bar binding robot capable of automatically changing rails in the embodiment of FIG. 1;

[0022] FIG. 3 is a front view of the steel bar binding robot capable of automatically changing rails in the embodiment of FIG. 1;

[0023] FIG. 4 is a schematic diagram of the structure of the binding mechanism in the embodiment of FIG. 1;

[0024] FIG. 5 is a schematic diagram of the structure of the first support assembly in the embodiment of FIG. 1;

[0025] FIG. 6 is a schematic diagram of the structure of the first support assembly in another view of the embodiment of FIG. 5;

[0026] Fig. 7 is a structural schematic diagram of the second support assembly in the embodiment of Fig. 1;

[0027] Fig. 8 is a structural schematic diagram of the second support assembly in another embodiment;

[0028] Fig. 9 is a structural schematic diagram of the auxiliary wheel in the embodiment of Fig. 1;

[0029] Fig. 10 is a structural schematic diagram of the driving wheel in the embodiment of Fig. 1.

DETAILED DESCRIPTION

[0030] The application will be further described below in conjunction with the drawings and embodiments. It is particularly pointed out that the following embodiments are only for illustrating the application, but not for limiting the scope of the application. Similarly, the following embodiments are only part of the embodiments of the application, but not all the embodiments of the application, and all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the application.

[0031] The terms "first", "second", "third" in the embodiments of the application are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second", "third" can explicitly or implicitly include at least one of the features. In the description of the application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the application are only for explaining the relative position relationship, movement condition, etc. between the components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly. The terms "include" and "have" and any variations thereof in the embodiments of the application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or components inherent to the process, method, product or device.

[0032] Please refer to Fig. 1 and Fig. 3, Fig. 1 is a schematic diagram of the overall structure in some embodiments of the application, and Fig. 3 is a front view of the automatic rail-changing steel binding robot in the embodiment of Fig. 1. The automatic rail-changing steel binding robot in the embodiment includes a mounting frame 70, a walking mechanism 10, a rail-changing mechanism 20 and a binding mechanism 30 arranged on the mounting frame 70. In Fig. 1, the length direction of the mounting frame 70 is the X direction, the width direction is the Y direction, and the height direction is the Z direction.

[0033] Referring to FIG. 4, which is a structural schematic diagram of the binding mechanism in the embodiment of FIG. 1, the binding mechanism 30 is used for binding the steel bars, and in the embodiment, the binding mechanism 30 comprises a fourth lifting component 302 and a binding gun 301, the binding gun 301 is movably arranged on the mounting frame 70 along the Z direction through the fourth lifting component 302. The fourth lifting component 302 comprises a fourth guide seat 3021, a fourth screw rod 3022 and a fourth screw piece 3023, the fourth guide seat 3021 is fixedly arranged on the mounting frame 70, and a fourth motor 3024 is mounted on the fourth guide seat 3021; the fourth screw rod 3022 is rotationally arranged on the fourth guide seat 3021 and is in transmission connection with the fourth motor 3024; the fourth screw piece 3023 is in threaded connection with the fourth screw rod 3022, and the fourth screw rod 3022 is fixedly connected with the binding gun 301. The fourth motor 3024 is driven to rotate the fourth screw rod 3022, so as to drive the binding gun 301 to move along the Z direction, thereby extending into the area of the steel bar mesh 80 to bind the steel bars. The binding gun 301 contains binding wires, and can automatically complete the work of wire feeding, binding and wire cutting, and the specific structure of the binding gun 301 is within the understanding range of the person skilled in the art, which will not be described here.

[0034] The rail changing mechanism 20 comprises a first support assembly 21, a second support assembly 22 and a translation assembly 23, the first support assembly 21 and the second support assembly 22 can alternately support each other on the steel bar mesh 80, and the contact surfaces of the two assemblies with the steel bar mesh 80 are flat surfaces, the translation assembly 23 is connected with the second support assembly 22 and is used for driving the robot to move along the Y direction.

[0035] Please refer to FIG. 5 and FIG. 6, FIG. 5 is a structural schematic diagram of the first support assembly in the embodiment of FIG. 1, and FIG. 6 is a structural schematic diagram of the first support assembly in another view of the embodiment of FIG. 5. The first support assembly 21 comprises a first lifting component 211 and a track-changing support leg 212. The track-changing support leg 212 is movably connected to the mounting frame 70 along the Z direction through the first lifting component 211. The first lifting component 211 comprises a first motor 2111, a first screw rod 2112 and a first screw piece 2113. The first motor 2111 is arranged on the mounting frame 70. The first screw rod 2112 is rotationally arranged on the mounting frame 70 and is in transmission connection with the first motor 2111. The first screw piece 2113 is in threaded connection with the first screw rod 2112. In particular, the first lifting component 211 further comprises a guide rail fixing plate 2116. The guide rail fixing plate 2116 is fixedly connected with the mounting frame 70. The guide rail fixing plate 2116 is fixedly provided with a plurality of first slide rails 2114 along the Z direction. The first screw piece 2113 is in plate structure. One side of the first screw piece 2113 is in sliding connection with the first slide rail 2114. Meanwhile, the side of the first screw piece 2113 away from the first slide rail 2114 is provided with a plurality of second slide rails 2115 along the Y direction. A long slot is formed in the guide rail fixing plate 2116. The first screw piece 2113 located on one side of the guide rail fixing plate 2116 can pass through the long slot and be in threaded connection with the first screw rod 2112 located on the other side of the guide rail fixing plate 2116. The first screw piece 2113 can move vertically along the long slot under the drive of the first motor 2111. The track-changing support leg 212 is in sliding connection with the second slide rail 2115. The translation assembly 23 comprises an electric push rod 231. The electric push rod 231 is fixedly arranged on the first screw piece 2113. The moving end of the electric push rod 231 is fixedly connected with the track-changing support leg 212. The first motor 2111 drives the first screw rod 2112 to rotate, thereby driving the first screw piece 2113, the electric push rod 231 and the track-changing support leg 212 to move along the Z direction relative to the mounting frame 70. Then, the electric push rod 231 is moved relative to the mounting frame 70, so that the track-changing can be completed.

[0036] The track-changing support leg 212 has various structural forms. In some scenarios, only one track-changing support leg 212 can be arranged. For example, the track-changing support leg 212 is in rectangular frame structure. The track-changing support leg 212 is arranged at the middle part of the mounting frame 70 and between the two driving wheels 101. The length of the rectangular frame along the Y direction should be greater than the length of the mounting frame 70. Meanwhile, the length of the rectangular frame along the X direction can be as long as possible without interfering with the driving wheels 101 and the binding mechanism 30, so as to increase the cross-sectional area of the rectangular frame structure in the XY plane and improve the bearing capacity of the rectangular frame. In some scenarios, i.e. in the embodiment, two groups of the first support assembly 21 and the translation assembly 23 are arranged along the X direction. The bottom of the track-changing support leg 212 is in rectangular tubular structure extending along the Y direction. The two track-changing support legs 212 can improve the stability.

[0037] Referring to FIG. 7, which is a structural schematic diagram of the second support assembly in the embodiment of FIG. 1, the second support assembly 22 includes two support legs 222 arranged along the Y direction on both sides of the mounting frame 70 and fixedly connected with the mounting frame 70, the bottom of each support leg 222 is flush with the upper surface of the reinforcement mesh 80, the bottom of each support leg 222 is a flat surface, and the two side edges of each support leg 222 along the X direction are circularly transitioned to reduce the abrasion caused by the interference between the second support leg 222 and the reinforcement mesh 80 when the walking mechanism 10 walks along the X direction.

[0038] It can be understood that the first lifting component 211 and the translation assembly 23 are both linear driving mechanisms, and those skilled in the art can select other driving modes within the scope of understanding, including but not limited to air cylinders, oil cylinders, gear and rack transmission mechanisms, etc.

[0039] Referring to FIG. 10, which is a structural schematic diagram of the driving wheel in the embodiment of FIG. 1, the walking mechanism 10 is used to drive the robot to move along the X direction, the walking mechanism 10 includes a plurality of driving wheels 101, in some scenarios, each driving wheel 101 walks on the same reinforcement along the X direction, for the convenience of description, two driving wheels 101 are taken as an example here, the walking mechanism 10 further includes a mounting plate 102 corresponding to each driving wheel 101, the mounting plate 102 is fixedly connected with the mounting frame 70, the two driving wheels 101 are rotatably connected to the corresponding mounting plates 102 through bearings respectively, the two driving wheels 101 are arranged along the X direction and the axial directions of the two driving wheels 101 are both parallel to the Y direction, the two driving wheels 101 are respectively connected with a speed reducer motor for driving the rotation of the driving wheel 101, the specific connection structure between the speed reducer motor and the driving wheel 101 is within the understanding scope of those skilled in the art, and thus is not described herein. The two driving wheels 101 are respectively provided with a groove along the radial direction of the driving wheel 101 inwardly, and the two driving wheels 101 can be erected on the same reinforcement through the groove.

[0040] With the above scheme, when the two driving wheels 101 walk on the same steel bar in the X direction, the robot as a whole is driven to move in the X direction, and the bottoms of the two supporting legs 222 can always be flush with the upper surface of the steel mesh 80 to assist the two walking wheels to keep balance; after the steel bar binding in the same X direction is completed, the rail-changing supporting leg 212 is driven to descend to contact the steel mesh 80 by the first lifting component 211, so that the rail-changing supporting leg 212 becomes the load-bearing structure of the whole robot with the steel mesh 80 as the support, and the other parts are driven as a whole to rise in the vertical direction (i.e. Z direction) by the first motor 2111, so that the driving wheels 101 and the supporting legs 222 are separated from the steel mesh 80, the other parts are driven to move a distance in the Y direction relative to the rail-changing supporting leg 212 by the electric push rod 231, and then the driving wheels 101 and the supporting legs 222 are caused to fall on the steel mesh 80 by the first motor 2111, while the rail-changing supporting leg 212 is separated from the steel mesh 80, and then the rail-changing supporting leg 212 is driven to return to the original position by the electric push rod 231. It should be understood that the length of the supporting leg 222 and the rail-changing supporting leg 212 in the Y direction should be greater than the steel bar spacing in the X direction, or the length of the supporting leg 222 and the rail-changing supporting leg 212 in the X direction should be greater than the steel bar spacing in the Y direction, so as to avoid the supporting leg 222 or the rail-changing supporting leg 212 from falling into the gap of the steel mesh 80 when supported on the steel mesh 80.

[0041] Please refer to FIG. 7, in some embodiments, the supporting leg 222 is movably connected to the mounting frame 70 in the Z direction. In this embodiment, the second supporting assembly 22 further comprises a second lifting component 221 corresponding to the supporting leg 222, and the supporting leg 222 is movably connected to the mounting frame 70 in the Z direction through the second lifting component 221. For example, the second lifting component 221 comprises a second guide seat 2211, a second lead screw 2213 and a second screw piece 2214, wherein the second motor 2212 is arranged on the second guide seat 2211; the second lead screw 2213 is rotationally arranged on the second guide seat 2211 and is in transmission connection with the second motor 2212; and the second screw piece 2214 is in threaded connection with the second lead screw 2213 and is fixedly connected with the supporting leg 222. By adjusting the height of the supporting leg 222 through the second lifting component 221, different steel bar diameters can be adapted, the stability of the driving wheels 101 when walking can be improved, and the supporting leg 222 can be effectively supported on the steel mesh 80 when changing the rail.

[0042] Please refer to FIG. 8, which is a structural schematic diagram of the second support assembly in another embodiment. In order to reduce the interference between the support leg 222 and the surface of the reinforcement mesh 80, the support leg 222 can be elastically connected to the second screw member 2214 in the Z direction. For example, the second screw member 2214 is connected with a sliding block 2215 through a spring 2216, the sliding block 2215 is slidingly connected with the second guide seat 2211, the sliding block 2215 is provided with a through hole through which the second lead screw 2213 passes, the diameter of the through hole is greater than the diameter of the second lead screw 2213, and the sliding block 2215 is fixedly connected with the support leg 222. In this way, the movement range of the support leg 222 in the Z direction and the support force on the mounting frame 70 are determined by the compression amount of the spring 2216. A person skilled in the art can adjust the height of the support leg 222 according to the actual situation. When the support leg 222 interferes with the reinforcement during walking, the support leg 222 adaptively adjusts the compression amount of the spring 2216 to maintain the balance of the driving wheel 101. When the track is changed, the compression amount of the spring 2216 reaches the maximum, and the support force provided by the support leg 222 on the robot is also the maximum.

[0043] In some embodiments, in order to enhance the stability of the robot when walking on the reinforcement, the walking mechanism 10 further comprises two auxiliary wheels 103, which are arranged on both sides of the mounting frame 70 in the Y direction.

[0044] Please refer to FIG. 9, which is a structural schematic diagram of the auxiliary wheel in the embodiment of FIG. 1. The axial direction of the two auxiliary wheels 103 is parallel to the axial direction of the driving wheel 101. The two auxiliary wheels 103 are rotatably connected to the mounting frame 70 through bearings. When the two driving wheels 101 walk on the same reinforcement, the two auxiliary wheels 103 are supported on the reinforcement mesh 80 to maintain the balance of the robot. At the same time, the support leg 222 is lifted upward by the second lifting member 221 so that the support leg 222 is separated from the surface of the reinforcement mesh 80 to avoid interference with the reinforcement and affect the walking of the driving wheel 101. It should be noted that the length of the auxiliary wheel 103 in the Y direction should be greater than the spacing of the reinforcement in the X direction, or the length of the auxiliary wheel 103 in the X direction should be greater than the spacing of the reinforcement in the Y direction. When the track is changed, the support leg 222 is lowered to abut against the surface of the reinforcement mesh 80. The support leg 222, the auxiliary wheel 103 and the driving wheel 101 are alternately supported by the track-changing support leg 212 to realize the movement of the robot in the Y direction.

[0045] Further, the auxiliary wheel 103 is movably connected to the mounting frame 70 along the Z direction. In this embodiment, the walking mechanism 10 further comprises a third lifting component 104 corresponding to the auxiliary wheel 103, the third lifting component 104 comprising a third guide seat 1041, a third screw rod 1042 and a third screw piece 1043, the third guide seat 1041 being fixedly arranged on the mounting frame 70, and a third motor 1044 being arranged on the third guide seat 1041; the third screw rod 1042 is rotatably arranged on the third guide seat 1041 and is in transmission connection with the third motor 1044; the third screw piece 1043 is in threaded connection with the third screw rod 1042, and an auxiliary support is fixedly connected to the third screw piece 1043, and the auxiliary wheel 103 is rotatably connected to the auxiliary support by a bearing, so that the auxiliary wheel 103 can be passively rotated when the driving wheel 101 is walking, thereby reducing the influence on the walking process of the driving wheel 101.

[0046] In some embodiments, a plurality of driving wheels 101 are arranged, and the driving wheels 101 walk on a plurality of steel bars along the X direction. For the convenience of description, four driving wheels 101 are taken as an example here, the four driving wheels 101 are arranged in two rows and two columns, and the axial directions of the four driving wheels 101 are all parallel to the Y direction, and the four driving wheels 101 walk on two steel bars along the X direction. In the walking process, the support leg 222 is lifted upward by the second lifting component 221, so that the support leg 222 is separated from the surface of the steel bar mesh 80 to avoid interference with the steel bars and affect the walking of the driving wheel 101. When it is necessary to change the track, the support leg 222 is moved to be flush with the bottom of the driving wheel 101, and then the track-changing support leg 212 and the support leg 222 are alternately supported until the robot is moved to the working steel bar track. The form of alternately supporting the track-changing support leg 212 and the support leg 222 can ensure the stability of the robot, and the support leg 222 being flush with the bottom of the driving wheel 101 can also avoid the driving wheel 101 from falling into the gap of the steel bar mesh 80 when the driving wheel 101 is not moved to the target steel bar track.

[0047] In some embodiments, a baffle 105 is arranged on each driving wheel 101 along the Y direction, the baffle 105 is movably connected to the mounting frame 70 and is relatively fixed in position with the mounting frame 70 along the Y direction, and the baffle 105 has a first working state and a second working state; in the first working state, the baffle 105 is in contact with the steel bar parallel to the Y direction and is moved away from the steel bar mesh 80, so that the walking mechanism 10 crosses the steel bar along the Y direction and moves along the X direction; in the second working state, the baffle 105 is inserted into the gap of the steel bar mesh 80, so as to limit the walking mechanism 10 from deviating along the Y direction.

[0048] Please refer to FIG. 10, the connecting mode of the baffle 105 and the mounting frame 70 can have multiple forms, in the embodiment, the baffle 105 is arranged on the end side of the driving wheel 101 and is rotationally connected to the mounting plate 102 around the rotation shaft in the Y direction, when the walking mechanism 10 walks on the steel bars in the X direction, if the steel bars in the Y direction are encountered, the baffle 105 itself will be pushed up by the steel bars and rotate, after passing through the steel bars, the baffle 105 automatically falls back under the action of gravity; in some scenarios, the baffle 105 can be elastically connected to the mounting plate 102 in the Z direction, in the first working state, the steel bars press the baffle 105, the baffle 105 moves in the Z direction to avoid the steel bars under the action of the elastic force, in the second working state, i.e. after passing through the steel bars, the elastic force between the baffle 105 and the mounting plate 102 is restored to extend to the direction of the steel mesh 80 and is inserted into the gap of the steel mesh 80. It can be understood that the baffle 105 cannot move in the Y direction relative to the mounting frame 70, if the steel bars are twisted during the travel, the baffle 105 can prevent the driving wheel 101 from deviating from the steel rail track, at the same time, since the two baffles 105 are a certain distance apart, if the target steel rail track is not parallel to the working steel rail track during the rail changing, the target steel rail track can be constrained between the two baffles 105 to prevent derailment during the rail changing.

[0049] In some embodiments, the steel bar binding robot capable of automatic rail changing further comprises a collision avoidance mechanism 40 and a control mechanism 50.

[0050] Please refer to FIG. 1, the anti-collision mechanism 40 includes two first anti-collision detection sensors 401, each of which is inclined towards the direction of the reinforcement mesh 80 and arranged along the Y direction on both sides of the mounting frame 70, for detecting obstacles on both sides of the robot along the Y direction, and the first anti-collision detection sensors 401 are electrically connected to the input end of the control mechanism 50; the output end of the control mechanism 50 is electrically connected to the walking mechanism 10, the binding mechanism 30 and the rail changing mechanism 20. The first anti-collision detection sensor 401 can be an ultrasonic sensor, which has the characteristics of high measurement sensitivity and strong penetration, can measure at a long distance, and is not affected by light, and can be used in weak light or completely dark environments, and will not be affected at night. Of course, the first anti-collision detection sensor 401 can also be other types of obstacle detection sensors, such as infrared sensors, vision sensors, etc. Since the first anti-collision detection sensor 401 is inclined towards the direction of the reinforcement mesh 80, on the one hand, when the walking mechanism 10 walks along the X direction, the first anti-collision detection sensor 401 can detect the existence of obstacles, i.e. the reinforcement, within a certain distance, and if it reaches the edge of the reinforcement mesh 80, the first anti-collision detection sensor 401 cannot detect the existence of the reinforcement, that is, the first anti-collision detection sensor 401 can detect in real time whether the two sides of the Y direction have reached the end of the reinforcement mesh 80, so as to avoid the robot falling during subsequent rail moving; on the other hand, during rail changing, the robot is lifted to a certain height under the support of the rail changing support leg 212, and the distance detected by the first anti-collision detection sensor 401 should be longer than when walking on the reinforcement mesh 80, and if there is an object closer than the reinforcement in the detection area of the first anti-collision detection sensor 401 during movement along the Y direction, it means that there are other obstacles during movement, that is, during rail changing along the Y direction, the first anti-collision detection sensor 401 can detect other obstacles in the Y direction, so as to avoid collision between the robot and other objects during movement.

[0051] Please refer to FIG. 1, in some embodiments, the anti-collision mechanism 40 further includes two second anti-collision detection sensors 402, which are arranged along the X direction on both sides of the mounting frame 70, for detecting obstacles on both sides of the robot along the X direction, and the second anti-collision detection sensors 402 are electrically connected to the input end of the control mechanism 50, and in this example, the second anti-collision detection sensors 402 also adopt ultrasonic sensors.

[0052] Please refer to FIG. 1, in some embodiments, the anti-collision mechanism 40 further comprises two anti-collision strips 403, which are respectively arranged on both sides of the mounting frame 70 along the X direction and electrically connected with the input end of the control mechanism 50, and the control mechanism 50 can control the walking mechanism 10 to stop when any anti-collision strip 403 is collided. The anti-collision strip 403 comprises a rubber belt-shaped pressure-sensitive switch, which is arranged on the mounting frame 70 along the Y direction, and the anti-collision strip 403 information is specifically open-loop state information or closed-loop state information; wherein the open-loop state information is used to represent that the anti-collision strip 403 is not collided, and the closed-loop state information is used to represent that the anti-collision strip 403 is collided.

[0053] Please refer to FIG. 1 and FIG. 2, FIG. 2 is the bottom view of the automatic rail-changing steel bar binding robot in the embodiment of FIG. 1. In some embodiments, the automatic rail-changing steel bar binding robot further comprises a rail-changing detection sensor 24, which is arranged on the mounting frame 70 and on the same X direction straight line with any driving wheel 101, and the rail-changing detection sensor 24 is electrically connected with the input end of the control mechanism 50. In this embodiment, the rail-changing detection sensor 24 comprises a laser ranging sensor, in some scenarios, the driving wheel 101 is provided with two, the laser ranging sensor is provided with one and the laser ranging sensor is on the same X direction straight line with the two driving wheels 101; in some scenarios, the driving wheel 101 is provided with four, the four driving wheels 101 are arranged in two rows and two columns, and walk on the two steel bars along the X direction, the laser ranging sensor can be provided with one, and the laser ranging sensor is on the same X direction straight line with the driving wheel 101 on one of the steel bars; in some scenarios, the driving wheel 101 is provided with four, the four driving wheels 101 are arranged in two rows and two columns, and walk on the two steel bars along the X direction, the laser ranging sensor can also be provided with two, and respectively on the two X direction straight lines corresponding to the driving wheels 101 on the two steel bars, and setting multiple laser ranging sensors can improve the positioning accuracy of the steel bar track when changing the rail.

[0054] In the process of moving along the Y direction, the laser ranging sensor keeps reading. When the robot is on the steel rail track, the laser ranging sensor reads the distance between the laser emitting point and the steel rail track. When the robot is moving, the laser ranging sensor detects the distance from the laser emitting point to the bottom template of the steel mesh 80, that is, in the process of moving the robot along the Y direction, the laser ranging sensor will go through the process of "the distance between the laser emitting point and the steel rail track" - "the distance from the laser emitting point to the bottom template of the steel mesh" - "the distance between the laser emitting point and the steel rail track". Therefore, whether the next steel rail track is reached can be determined by the data of the laser ranging sensor. If the laser ranging sensor detects the target steel rail track, the movement of the electric push rod 231 is immediately stopped, and the rail changing support leg 212 is driven to move in the direction of the mounting frame 70 by the first lifting component 211. At this time, the driving wheel 101 will fall on the target steel rail track. Similarly, in the process of moving along the Y direction, if the laser ranging sensor still does not detect the target steel rail track after the translational assembly 23 reaches the stroke, the support leg 222 will continuously alternate with the rail changing support leg 212 until the laser ranging sensor detects the target steel rail track. After changing the rail, the movement direction of the driving wheel 101 is the opposite direction of the movement direction of the last rail.

[0055] Referring to FIG. 1, in some embodiments, the automatic rail changing steel binding robot further comprises an energy module 60 arranged on the mounting frame 70 for supplying energy to the walking mechanism 10, the binding mechanism 30 and the rail changing mechanism 20. The energy module 60 comprises a power supply and a voltage stabilizing module. In order to enable the steel binding robot to work flexibly and mobile, the power supply adopts a large-capacity lithium battery which can last for a long time. In addition, the use of the voltage stabilizing module not only ensures the energy supply of the steel binding robot during work, but also frees the steel binding robot from the constraints of wires, so that the steel binding robot can work freely in the maximum range without being affected by the change of rails.

[0056] The above only describes some embodiments of the present application, and does not limit the protection scope of the present application. Any equivalent device or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the present application.

Claims

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

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

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

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

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

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

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

8. The rebar tying robot capable of automatic track change according to claim 5, characterized in that: The second support assembly further includes a second lifting component corresponding to each of the support legs. Each of the support legs is movably connected to the mounting frame along the Z direction via the second lifting component. The second lifting component is electrically connected to the output end of the control mechanism.

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

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

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

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

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

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