CN110961557A

CN110961557A - Longitudinal rib guiding mechanism and longitudinal rib guiding robot

Info

Publication number: CN110961557A
Application number: CN201911239538.7A
Authority: CN
Inventors: 叶浩文; 苏世龙; 张仲华; 樊则森; 雷俊; 赵荣彪; 齐株锐; 丁沛然; 马栓鹏; 潘浩; 都广杰; 张铁虎; 陈黎阳
Original assignee: China Construction Science and Technology Co Ltd; China Construction Science and Technology Group Co Ltd Shenzhen Branch
Current assignee: China Construction Science and Technology Group Co Ltd; China Construction Science and Technology Group Co Ltd Shenzhen Branch
Priority date: 2019-12-06
Filing date: 2019-12-06
Publication date: 2020-04-07

Abstract

The invention relates to the technical field of reinforcement cage manufacturing, and provides a longitudinal bar guiding mechanism and a longitudinal bar guiding robot. The longitudinal rib guiding mechanism comprises at least two guiding assemblies and at least two driving assemblies, the guiding assemblies are linearly and sequentially arranged along a first direction, each guiding assembly comprises a first guiding valve and a second guiding valve which can be mutually opened/closed, the first guiding valve and the second guiding valve jointly enclose to form a guiding hole for guiding the longitudinal rib when being closed, and the guiding hole extends along the first direction; each driving assembly is matched with one guide assembly for use, and the driving assemblies are used for driving the first guide valve and the second guide valve to open/close. Indulge muscle and lead mechanism and can lead just to indulging the muscle to avoid indulging the muscle and appearing bending deformation phenomenon in transportation process, ensured the straightness accuracy of indulging the muscle, reduced in very big degree and indulged the muscle and produced the risk of interfering to other reinforcing bars, do benefit to the guarantee and wear the steady of indulging the muscle process and go on, improve steel reinforcement cage's manufacturing efficiency to a certain extent.

Description

Longitudinal rib guiding mechanism and longitudinal rib guiding robot

Technical Field

The invention relates to the technical field of reinforcement cage manufacturing, in particular to a longitudinal bar guiding mechanism and a longitudinal bar guiding robot.

Background

Traditionally, the construction of the existing reinforcement cage needs to be completed manually, the required stirrups, longitudinal reinforcements and other reinforcements are taken and transferred to proper positions manually, the longitudinal reinforcements sequentially penetrate through the stirrups, and then the position relation between the longitudinal reinforcements and the stirrups is kept by hands and binding operation is carried out, so that the required reinforcement cage is constructed. When the process of penetrating the longitudinal bars is carried out, the longitudinal bars are easy to bend and deform, so that the longitudinal bars are easy to interfere with other steel bars, and the manufacturing efficiency of the steel bar cage is reduced to a certain extent.

Disclosure of Invention

The invention aims to provide a longitudinal bar guiding mechanism, and aims to solve the problem that in the prior art, when a process of penetrating longitudinal bars is carried out, the longitudinal bars are easy to bend and deform, so that the longitudinal bars are easy to interfere with other steel bars.

In order to achieve the purpose, the invention adopts the technical scheme that: a longitudinal bar straightening mechanism for straightening longitudinal bars while conveying the longitudinal bars along a first direction, comprising:

the guide assemblies are arranged in sequence along the first direction in a linear mode, each guide assembly comprises a first guide valve and a second guide valve which can be opened/closed mutually, the first guide valve and the second guide valve jointly enclose a guide hole for guiding the longitudinal rib when closed, and the guide hole extends along the first direction;

and at least two driving assemblies are arranged, each driving assembly is matched with one guide assembly for use, and the driving assemblies are used for driving the first guide valve and the second guide valve to open/close.

In one embodiment, the pilot hole is tapered in a radial dimension along the first direction.

In one embodiment, the minimum radial dimension of the pilot hole is matched with the radial dimension of the longitudinal rib.

In one embodiment, the cross-sectional shape of the pilot hole is an isosceles trapezoid.

In one embodiment, the first pilot lobe and the second pilot lobe are symmetrically disposed with respect to each other.

In one embodiment, the driving assembly includes a rotary driver, a first rotating member configured to rotate around a rotation axis under the driving of the rotary driver, and a second rotating member configured to rotate around the rotation axis under the driving of the rotary driver, where the rotation axis is parallel to the first direction, the first rotating member is further connected to the first pilot flap to drive the first pilot flap to rotate around the rotation axis, and the second rotating member is further connected to the second pilot flap to drive the second pilot flap to rotate around the rotation axis.

In one embodiment, the first pilot valve comprises a first pilot body and a first support structure connected to an outer edge of the first pilot body and extending outward, the second pilot valve comprises a second pilot body and a second support structure connected to an outer edge of the second pilot body and extending outward, and the first pilot body and the second pilot body can be folded and jointly enclose the pilot hole;

the drive assembly further includes a first connector for connecting the first rotating member and the first support structure, and a second connector for connecting the second rotating member and the second support structure.

In one embodiment, the first support structure and the second support structure abut when the first pilot body and the second pilot body are closed.

In one embodiment, the first connecting member comprises a first rotating connecting part for connecting with the first rotating member and a first support connecting part for connecting with the first support structure, and the shape and the size of the first support connecting part correspond to those of the first support structure;

the second connecting piece comprises a second rotating connecting part and a second supporting connecting part, the second rotating connecting part is used for being connected with the second rotating piece, the second supporting connecting part is used for being connected with the second supporting structure, and the shape and the size of the second supporting connecting part correspond to those of the second supporting structure.

Another object of the present invention is to provide a longitudinal bar guiding robot, which includes the longitudinal bar guiding mechanism, and the longitudinal bar guiding mechanism is connected to the end of the longitudinal bar guiding robot through an end connector.

The invention has the beneficial effects that:

the longitudinal bar guiding mechanism provided by the invention drives the first guiding valve and the second guiding valve to be closed through the driving assembly, so that the first guiding valve and the second guiding valve are jointly enclosed to form a guiding hole, and the extending direction of the guiding hole is superposed with the conveying direction of a longitudinal bar, so that the longitudinal bar gradually conveyed along the conveying direction can be guided through the guiding hole, the bending deformation phenomenon of the longitudinal bar in the process of passing through a stirrup is avoided, the straightness of the longitudinal bar is ensured, the risk of interference of the longitudinal bar on other steel bars is greatly reduced, the smooth process of the longitudinal bar passing process is favorably ensured, and the manufacturing efficiency of a steel reinforcement cage is improved to a certain extent; after the conveying of the longitudinal ribs is finished, the first guide valve and the second guide valve are in an open state through the driving assembly, so that the guide effect of the guide holes on the longitudinal ribs can be relieved, and the longitudinal rib guide mechanism is favorable for realizing transfer on the basis of not influencing the state of the longitudinal ribs.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a first schematic view of a longitudinal bar guiding mechanism according to an embodiment of the present invention when guiding a longitudinal bar;

fig. 2 is a second schematic view of the longitudinal bar guiding mechanism according to the embodiment of the present invention when guiding the longitudinal bars;

FIG. 3 is a schematic perspective view of the pilot assembly and the drive assembly provided in FIG. 2;

FIG. 4 is a front view of the pilot assembly and drive assembly provided in FIG. 3;

fig. 5 is an exploded view of the pilot assembly and the driving assembly provided in fig. 3.

Wherein, in the figures, the respective reference numerals:

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The following describes a specific implementation of the present invention in more detail with reference to specific embodiments:

referring to fig. 1-3, an embodiment of the invention provides a longitudinal rib guiding mechanism for guiding a longitudinal rib 100 'when the longitudinal rib 100' is conveyed along a first direction, and the longitudinal rib guiding mechanism includes a guiding assembly 100 and a driving assembly 200. It should be noted here that the longitudinal bar straightening mechanism needs to be installed at the tail end of the industrial robot for use, and after the longitudinal bar straightening mechanism is connected to the tail end of the industrial robot, the longitudinal bar straightening mechanism can be moved/rotated by the industrial robot to adjust the position of the longitudinal bar straightening mechanism, so that the longitudinal bar straightening mechanism can be used for straightening the longitudinal bar 100' passing through at least one stirrup. Further, for convenience of explanation and illustration, the present embodiment defines the conveying direction of the longitudinal rib 100' as the first direction.

The number of the guide assemblies 100 is at least two, each guide assembly 100 is linearly and sequentially arranged along a first direction, each guide assembly 100 comprises a first guide valve 110 and a second guide valve 120 which can be opened/closed mutually, the first guide valve 110 and the second guide valve 120 jointly enclose a guide hole 101 for guiding the longitudinal rib 100', and the guide hole 101 extends along the first direction. It should be noted that at least two guiding assemblies 100 are required to be provided to facilitate ensuring the straightness of the longitudinal rib 100 ' passing through each guiding assembly 100, and preferably, the number of the guiding assemblies 100 should be increased appropriately according to the length of the longitudinal rib 100 ' to ensure that the action area of each guiding assembly 100 completely covers the longitudinal rib 100 ', to ensure the guiding effect of each guiding assembly 100 on the longitudinal rib 100 ', and to facilitate effectively reducing the risk of bending deformation of the longitudinal rib 100 '. It should be further noted that the pilot assembly 100 includes a first pilot lobe 110 and a second pilot lobe 120 that can be opened and closed, when the first pilot flap 110 and the second pilot flap 120 are folded, the first pilot flap 110 and the second pilot flap 120 can jointly enclose to form pilot holes 101 extending along the first direction, when the longitudinal rib 100' is conveyed along the first direction to pass through at least one stirrup, the longitudinal rib passes through the pilot holes 101 of each pilot assembly 100 one by one, thereby the longitudinal bar 100 ' can be guided through each guiding hole 101 to avoid the bending deformation phenomenon of the longitudinal bar 100 ' in the process of passing through the stirrup, the whole straightness of the longitudinal bar 100 ' is ensured, and the risk that the longitudinal bar 100 'interferes with other steel bars is greatly reduced, the process of penetrating the longitudinal bar 100' is ensured to be carried out quickly, stably and accurately, and the manufacturing efficiency of the steel bar cage can be improved to a certain degree.

The number of the driving assemblies 200 is at least two, each driving assembly 200 is used with one pilot assembly 100, and the driving assemblies 200 are used for driving the first pilot petal 110 and the second pilot petal 120 to open/close. It should be noted that in the present embodiment, the driving assembly 200 can drive the first pilot petal 110 and the second pilot petal 120 to open each other, or drive the first pilot petal 110 and the second pilot petal 120 to close each other to enclose the pilot hole 101. When the industrial robot moves/rotates the longitudinal bar guiding mechanism and enables each guiding component 100 to be aligned with the first direction, the driving component 200 can drive the first guiding valve 110 and the second guiding valve 120 to be in a closed state firstly, so that the first guiding valve 110 and the second guiding valve 120 enclose together to form the guiding hole 101, at the moment, a process of penetrating the longitudinal bar 100 ' can be performed, the longitudinal bar 100 ' penetrates through each guiding hole 101 while penetrating through each stirrup, and therefore the straightness of the longitudinal bar 100 ' can be guaranteed through the guiding hole 101; after the longitudinal bar 100 ' is conveyed (i.e. after the longitudinal bar 100 ' has passed through all the stirrups and the relative position of each stirrup is fixed), the driving assembly 200 may drive the first guide flap 110 and the second guide flap 120 to open each other, so as to form a gap between the first guide flap 110 and the second guide flap 120, the width of the gap is greater than the radial dimension of the longitudinal bar 100 ', thereby facilitating the longitudinal bar guide mechanism to release its guide effect on the longitudinal bar 100 ' by using the gap, and changing the positional relationship between the longitudinal bar guide mechanism and the longitudinal bar 100 ', thereby achieving the transfer of the longitudinal bar guide mechanism on the basis of not affecting the position and state of the longitudinal bar 100 ', and facilitating the longitudinal bar guide mechanism to continue to guide the next longitudinal bar 100 '.

The longitudinal bar guiding mechanism provided by the embodiment of the invention drives the first guiding petal 110 and the second guiding petal 120 to fold through the driving assembly 200, so that the first guiding petal 110 and the second guiding petal 120 jointly enclose and form the guiding hole 101, and the extending direction of the guiding hole 101 is overlapped with the conveying direction of the longitudinal bar 100 ', so that the longitudinal bar 100' gradually conveyed along the conveying direction can be guided through the guiding hole 101, the bending deformation phenomenon of the longitudinal bar 100 'in the process of passing through the stirrup is avoided, the straightness of the longitudinal bar 100' is ensured, the risk of interference of the longitudinal bar 100 'on other reinforcing bars is greatly reduced, the smooth process of the process of passing through the longitudinal bar 100' is ensured, and the manufacturing efficiency of a reinforcement cage is improved to a certain extent; after the longitudinal bar 100 ' is conveyed, the first guide petal 110 and the second guide petal 120 are in an open state through the driving assembly 200, so that the guide effect of the guide hole 101 on the longitudinal bar 100 ' can be eliminated, and the transfer of the longitudinal bar guide mechanism on the basis of not influencing the state of the longitudinal bar 100 ' is facilitated.

Referring to fig. 1-2, in the present embodiment, the longitudinal bar guiding mechanism further includes a supporting assembly 300 for supporting the guiding assemblies 100 and the driving assemblies 200 together. It should be noted that, each guiding assembly 100 and each driving assembly 200 can be supported and fixed by the supporting assembly 300, so as to be beneficial to ensuring the position relationship of each guiding assembly 100 and each driving assembly 200 and ensuring the movement synchronism of each guiding assembly 100 and each driving assembly 200, and thus each guiding assembly 100 and each driving assembly 200 can smoothly and reliably exert their respective functions.

Referring to fig. 2-4, in the present embodiment, the radial dimension of the pilot hole 101 is tapered along a first direction. It should be noted here that, by providing the guide hole 101 with a radial dimension that is tapered in the first direction, the longitudinal rib 100 ' can be inserted into the guide hole 101 from the port with the larger radial dimension of the guide hole 101 and can be extended out of the guide hole 101 from the port with the smaller radial dimension of the guide hole 101 when being conveyed in the first direction, and in this way, on the one hand, the large diameter of the guide hole 101 can be used to be abutted against the longitudinal rib 100 ' to ensure that the longitudinal rib 100 ' can smoothly enter the guide hole 101 even if the longitudinal rib 100 ' generates a displacement deviation due to bending deformation, that is, the problem of unsmooth insertion caused by the displacement deviation due to bending deformation of the longitudinal rib 100 ' is solved; on the other hand, the longitudinal rib 100 'can be guided by the tapered hole wall of the guiding hole 101, so that the possible bending deformation of the longitudinal rib 100' can be avoided, and finally, the longitudinal rib 100 'can be deflected to the correct position by the small diameter of the guiding hole 101, so that the displacement deviation of the longitudinal rib 100' caused by the bending deformation can be eliminated.

Referring to fig. 2-4, in the present embodiment, the minimum radial dimension of the pilot hole 101 is matched with the radial dimension of the longitudinal rib 100'. It should be noted that, by adapting the minimum radial dimension of the pilot hole 101 to the radial dimension of the longitudinal rib 100 ', when the longitudinal rib 100' penetrates out along the small aperture of the pilot hole 101, a balanced acting force can be generated on the longitudinal rib 100 'through the small aperture hole wall, so that the longitudinal rib 100' can be deflected to the correct position by using the small aperture of the pilot hole 101, so as to eliminate the displacement deviation of the longitudinal rib 100 'caused by bending deformation, and further, the longitudinal rib 100' is supported and guided by using the small aperture hole wall, so as to further solve the possible bending deformation phenomenon of the longitudinal rib 100 ', thereby further ensuring the linearity of the longitudinal rib 100'.

Referring to fig. 2-4, in the present embodiment, the cross-sectional shape of the pilot hole 101 is an isosceles trapezoid. It should be noted here that, the cross-sectional shape of the pilot hole 101 is set to be an isosceles trapezoid, so that the hole wall of the pilot hole 101 can extend from a large diameter to a small diameter along a straight line, rather than along a curve, and thus, the hole wall of the pilot hole 101 can be used to pilot the longitudinal rib 100 ' colliding with the hole wall due to bending deformation, so that the linearly extending hole wall can be used to guide the longitudinal rib 100 ' to eliminate the bending deformation state, thereby further ensuring the straightness of the longitudinal rib 100 ', further reducing the risk of interference of the longitudinal rib 100 ' to other steel bars, and facilitating the smooth process of the process of penetrating the longitudinal rib 100 '.

Referring to fig. 3-5, in the present embodiment, the first guiding lobe 110 and the second guiding lobe 120 are symmetrically disposed. It should be noted that, if the first guide flap 110 and the second guide flap 120 are asymmetrically disposed, in order to enable the first guide flap 110 and the second guide flap 120 to enclose the guide hole 101, one of the first guide flap 110 and the second guide flap 120 is larger than the other, so that when the gap opened by the first guide flap 110 and the second guide flap 120 is slightly larger than the radial dimension of the longitudinal rib 100 ', the gap is located at the side of the longitudinal rib 100', at this time, the first guide flap 110 and the second guide flap 120 need to move to the side of the longitudinal rib 100 'to leave the longitudinal rib 100', the first guide flap 110 and the second guide flap 120 are very easy to touch other steel bars located in the moving direction, or when the first guide flap 110 and the second guide flap 120 want to move upward to leave the longitudinal rib 100 ', the radial dimension of the gap opened by the first guide flap 110 and the second guide flap 120 needs to be much larger than the radial dimension of the longitudinal rib 100', thus, the amplitude of the required motion of one of the first and

second guide petals

110, 120 will be large, risking touching the other rebar. Therefore, by arranging the first pilot petal 110 and the second pilot petal 120 symmetrically with respect to each other, it is beneficial to balance and reduce the amplitude of the movement required by each of the first pilot petal 110 and the second pilot petal 120 when the driving assembly 200 drives the first pilot petal 110 and the second pilot petal 120 to open each other to form a gap between the first pilot petal 110 and the second pilot petal 120 (only the formed gap needs to be slightly larger than the radial dimension of the longitudinal rib 100 '), so that the risk of collision of the first pilot petal 110 and the second pilot petal 120 against the reinforcing bars on the peripheral side during the upward movement to leave the longitudinal rib 100', that is, the risk of interference of the first pilot petal 110 and the second pilot petal 120 against other reinforcing bars, can be reduced to the greatest extent.

Referring to fig. 3-5, in the present embodiment, the driving assembly 200 includes a rotation driver 210, a first rotating member 220 for performing a rotation motion around a rotation axis under the driving of the rotation driver 210, and a second rotating member 230 for performing a rotation motion around the rotation axis under the driving of the rotation driver 210, wherein the rotation axis is parallel to the first direction, the first rotating member 220 is further connected to the first pilot flap 110 to drive the first pilot flap 110 to rotate around the rotation axis, and the second rotating member 230 is further connected to the second pilot flap 120 to drive the second pilot flap 120 to rotate around the rotation axis. It should be noted that, in the present embodiment, the driving assembly 200 drives the first rotating member 220 to drive the first pilot flap 110 to rotate around the rotation axis through the rotating driver 210, and drives the second rotating member 230 to drive the second pilot flap 120 to rotate around the rotation axis in the opposite direction, so as to open/close the first pilot flap 110 and the second pilot flap 120, so that not only the open/close state of the first pilot flap 110 and the second pilot flap 120 can be conveniently and reliably adjusted, but also the rotation accuracy of the first pilot flap 110 and the second pilot flap 120 can be ensured, and the rotation of the first pilot flap 110 and the second pilot flap 120 can be effectively and accurately controlled, which is beneficial to quickly and effectively realize the transfer of the longitudinal bar pilot mechanism.

Referring to fig. 3-5, in the present embodiment, the first guiding valve 110 includes a first guiding body 111 and a first supporting structure 112 connected to an outer edge of the first guiding body 111 and extending outward to form, the second guiding valve 120 includes a second guiding body 121 and a second supporting structure 122 connected to an outer edge of the second guiding body 121 and extending outward to form, the first guiding body 111 and the second guiding body 121 can be folded and enclose together to form a guiding hole 101; the drive assembly 200 further comprises a first coupling member 240 for coupling the first rotation member 220 and the first support structure 112, and a second coupling member 250 for coupling the second rotation member 230 and the second support structure 122. It should be noted that the first pilot body 111 and the second pilot body 121 are used to jointly enclose the pilot hole 101. First bearing structure 112 is connected and is led the outside border of body 121 and outwards extend and form in the second, based on this structure setting, can make first bearing structure 112 can lead body 111 to form stably, powerful holding power to the first, in order to offset the first gravity of leading body 111 preliminarily, thereby can ensure the stability of the first state of leading body 111, in addition, first bearing structure 112 still is connected with first connecting piece 240, through the setting of first connecting piece 240, can increase the area of connection of first bearing structure 112 and first connecting piece 240, thereby accessible first connecting piece 240 carries out further support to first bearing structure 112, thereby can ensure and improve the first stationary degree of leading body 111 when realizing rotating under the drive of first rotating member 220. Similarly, the second supporting structure 122 is connected to the outer edge of the second guiding body 121 and extends outwards to form, based on the structure setting, it is stable and powerful to form the second guiding body 121 by the second supporting structure 122, and the gravity of the second guiding body 121 is offset preliminarily, so as to ensure the stability of the state of the second guiding body 121, furthermore, the second supporting structure 122 is further connected with the second connecting piece 250, through the setting of the second connecting piece 250, the connecting area of the second supporting structure 122 and the second connecting piece 250 can be increased, so as to further support the second supporting structure 122 by the second connecting piece 250, so as to ensure and improve the stability of the second guiding body 121 when the second rotating piece 230 is driven to rotate.

Referring to fig. 3-5, in the present embodiment, when the first guiding body 111 and the second guiding body 121 are folded, the first supporting structure 112 and the second supporting structure 122 are abutted. It should be noted here that, based on the configuration of the present embodiment, on one hand, the action areas of the first supporting structure 112 and the second supporting structure 122 on the first guiding body 111 and the second guiding body 121 can be maximized, so that the supporting effect of the first supporting structure 112 and the second supporting structure 122 on the first guiding body 111 and the second guiding body 121 can be further ensured and improved, so as to further ensure the stability of the states of the first guiding body 111 and the second guiding body 121; on the other hand, the first supporting structure 112 is abutted to the second supporting structure 122, so that the closing degree of the first guiding body 111 and the second guiding body 121 can be ensured based on the tight combination degree of the first supporting structure 112 and the second supporting structure 122, and the driving assembly 200 can be used for controlling the first guiding body 111 and the second guiding body 121 more accurately.

Referring to fig. 3-5, in the present embodiment, the first connecting element 240 includes a first rotating connecting portion 241 for connecting with the first rotating element 220 and a first supporting connecting portion 242 for connecting with the first supporting structure 112, and the shape and size of the first supporting connecting portion 242 correspond to the shape and size of the first supporting structure 112; the second connection member 250 includes a second rotation connection part 251 for connecting with the second rotation member 230 and a second support connection part 252 for connecting with the second support structure 122, and the shape and size of the second support connection part 252 correspond to those of the second support structure 122. It should be noted that the first connecting part 240 is connected to the first rotating part 220 through the first rotating connecting part 241 to ensure and improve the movement synchronism of the first guide vane 110 and the first rotating part 220, the first connecting part 240 is connected to the first supporting structure 112 through the first supporting connecting part 242 to ensure and improve the supporting effect of the first connecting part 240 on the first guide vane 110, and the shape and size of the first supporting connecting part 242 correspond to the shape and size of the first supporting structure 112, so that the contact area between the first supporting connecting part 242 and the first supporting structure 112 can be increased, that is, the acting area of the first connecting part 240 on the first guide vane 110 can be increased, thereby further ensuring and improving the supporting effect of the first connecting part 240 on the first guide vane 110, and improving the stability of the state of the first guide vane 110. Similarly, the second connecting member 250 is connected to the second rotating member 230 through the second rotating connecting portion 251 to ensure and improve the motion synchronism of the second guide vane 120 and the second rotating member 230, the second connecting member 250 is connected to the second supporting structure 122 through the second supporting connecting portion 252 to ensure and improve the supporting effect of the second connecting member 250 on the second guide vane 120, and the shape and size of the second supporting connecting portion 252 correspond to the shape and size of the second supporting structure 122, so that the contact area between the second supporting connecting portion 252 and the second supporting structure 122 can be increased, that is, the acting area of the second connecting member 250 on the second guide vane 120 can be increased, thereby further ensuring and improving the supporting effect of the second connecting member 250 on the second guide vane 120, and improving the stability of the state of the second guide vane 120.

Referring to fig. 1, an embodiment of the present invention further provides a longitudinal bar guiding robot, which includes the longitudinal bar guiding mechanism, and the longitudinal bar guiding mechanism is connected to the end of the longitudinal bar guiding robot through an end connector 400. It should be noted here that the longitudinal bar straightening mechanism needs to be installed at the end of the longitudinal bar straightening robot (i.e., the end of the industrial robot) for use, and after the longitudinal bar straightening mechanism is connected to the end of the longitudinal bar straightening robot, the longitudinal bar straightening robot can move/rotate the longitudinal bar straightening mechanism through the longitudinal bar straightening robot, so that the longitudinal bar straightening mechanism can be adjusted to a proper position, and then the longitudinal bar straightening mechanism can straighten the longitudinal bars 100 '(passing through the longitudinal bars 100' of each stirrup) during transportation, so as to avoid the bending deformation phenomenon of the longitudinal bars 100 'during passing through the stirrups, ensure the straightness of the longitudinal bars 100', greatly reduce the risk of interference of the longitudinal bars 100 'on other reinforcements, facilitate the smooth process of the process of passing through the longitudinal bars 100', and improve the manufacturing efficiency of the steel reinforcement cage to a certain extent.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. The utility model provides a indulge muscle and lead mechanism for it is right when indulging the muscle to carry along first direction indulge the muscle, its characterized in that includes:

2. The longitudinal rib guiding mechanism according to claim 1, wherein a radial dimension of the guiding hole is tapered along the first direction.

3. The longitudinal rib guiding mechanism according to claim 2, wherein the minimum radial dimension of the guiding hole is adapted to the radial dimension of the longitudinal rib.

4. The longitudinal rib guiding mechanism according to claim 2, wherein the cross-sectional shape of the guiding hole is an isosceles trapezoid.

5. The longitudinal rib guide mechanism of claim 1, wherein the first guide lobe and the second guide lobe are symmetrically disposed with respect to each other.

6. The longitudinal rib guiding mechanism according to claim 1, wherein the driving assembly includes a rotary driver, a first rotating member for performing a rotary motion around a rotation axis under the driving of the rotary driver, and a second rotating member for performing a rotary motion around the rotation axis under the driving of the rotary driver, the rotation axis is parallel to the first direction, the first rotating member is further connected to the first guiding petal to drive the first guiding petal to rotate around the rotation axis, and the second rotating member is further connected to the second guiding petal to drive the second guiding petal to rotate around the rotation axis.

7. The longitudinal rib guiding mechanism according to claim 6, wherein the first guiding petal comprises a first guiding body and a first supporting structure connected to an outer edge of the first guiding body and extending outward, the second guiding petal comprises a second guiding body and a second supporting structure connected to an outer edge of the second guiding body and extending outward, and the first guiding body and the second guiding body can be folded and jointly enclose the guiding hole;

8. The longitudinal bar straightening mechanism according to claim 7, wherein the first support structure and the second support structure abut when the first straightening body and the second straightening body are closed.

9. The longitudinal bar guiding mechanism according to claim 7, wherein the first connecting member comprises a first rotating connecting portion for connecting with the first rotating member and a first supporting connecting portion for connecting with the first supporting structure, and the shape and size of the first supporting connecting portion correspond to those of the first supporting structure;

10. A longitudinal bar guiding robot, characterized by comprising a longitudinal bar guiding mechanism according to any one of claims 1 to 9, wherein the longitudinal bar guiding mechanism is connected with the end of the longitudinal bar guiding robot through an end connector.