Rebar Binding Robot Leg Control for Precise Lateral Alignment
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Solution Overview
Problem
Existing reinforcing bar binding robots face challenges in performing precise lateral movement due to inaccuracies in navigation and alignment with intersecting reinforcing bars.
Innovation Solution
A reinforcing bar binding device equipped with a binding mechanism, a main body, legs that can travel along reinforcing bars, and drive units for precise movement in both longitudinal and lateral directions, controlled by a sophisticated control unit to ensure accurate alignment and binding at intersection points.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot moves laterally between reinforcing bars while traveling, then it can reach intersection points for binding, but the lateral movement cannot be performed with precision
Solution Approach 1:
The patent applies dynamics by making the leg structure movable rather than fixed. The leg can be moved away from the reinforcing bar in the longitudinal direction before lateral movement, and then returned to contact the bar after lateral movement. This dynamic adjustment allows the robot to achieve precise lateral positioning without the leg being constrained by continuous contact with the reinforcing bar, thereby resolving the contradiction between lateral movement capability and precision.
2Stability of the object's composition
If the leg remains in contact with the reinforcing bar during lateral movement, then the robot maintains stability, but the lateral movement precision deteriorates
Solution Approach 1:
The patent applies preliminary action by moving the leg away from the reinforcing bar before performing lateral movement. This preparatory action removes the constraint that would otherwise limit lateral movement precision. After the lateral movement is completed, the leg is returned to contact the reinforcing bar to restore stability. This sequence of preliminary action, lateral movement, and restoration resolves the contradiction between stability and precision.
3Reliability
If the robot performs lateral movement while the leg is contacting the reinforcing bar, then it can maintain support, but navigation accuracy decreases
Solution Approach 1:
The patent applies dynamics by transitioning the leg from a static contact state to a dynamic movable state during lateral movement. The control unit coordinates the leg movement to be away from the reinforcing bar during lateral displacement, allowing precise navigation to the target intersection point. After lateral movement completes, the leg returns to contact the bar, restoring support reliability. This dynamic state transition resolves the contradiction between support reliability and navigation accuracy.
Data Source
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AI summary
This reinforcement bar binding device comprises: a binding mechanism configured to able to bind a binding section where a reinforcement bar extending in a first direction intersects with a reinforcement bar extending in a second direction; a body unit equipped with the binding mechanism; a leg unit configured to be able to travel on a reinforcement bar extending in the first direction; a first drive unit configured to be able to separate the leg unit from the reinforcement bar; a second drive unit configured to be able to move the leg unit in the second direction, which intersects with the first direction; and a control unit that controls the first drive unit and the second drive unit. The control unit controls the second drive unit so as to move the leg unit in the second direction in a state where the first drive unit has been controlled to separate the leg unit from the reinforcement bar.