CN115045511A - Reinforcing mesh binding robot and walking system thereof - Google Patents
Reinforcing mesh binding robot and walking system thereof Download PDFInfo
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- CN115045511A CN115045511A CN202210643561.8A CN202210643561A CN115045511A CN 115045511 A CN115045511 A CN 115045511A CN 202210643561 A CN202210643561 A CN 202210643561A CN 115045511 A CN115045511 A CN 115045511A
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- 230000003014 reinforcing effect Effects 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 104
- 230000000712 assembly Effects 0.000 claims abstract description 20
- 238000000429 assembly Methods 0.000 claims abstract description 20
- 230000002787 reinforcement Effects 0.000 claims description 48
- 230000005540 biological transmission Effects 0.000 claims description 36
- 230000001360 synchronised effect Effects 0.000 claims description 30
- 229910000831 Steel Inorganic materials 0.000 abstract description 25
- 239000010959 steel Substances 0.000 abstract description 25
- 229910001294 Reinforcing steel Inorganic materials 0.000 description 8
- 230000008275 binding mechanism Effects 0.000 description 7
- 239000003638 chemical reducing agent Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
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- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 230000002035 prolonged effect Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/12—Mounting of reinforcing inserts; Prestressing
- E04G21/122—Machines for joining reinforcing bars
- E04G21/123—Wire twisting tools
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Abstract
The invention relates to a walking system for a reinforcing mesh binding robot, which comprises a robot chassis, two front-back moving assemblies and two left-right moving assemblies. The two front-back moving assemblies are positioned on the left side and the right side of the robot chassis and comprise front-back moving mechanisms which are U-shaped plate bodies, and the two front-back moving mechanisms synchronously drive the robot chassis to walk in the front-back direction. The two left-right moving assemblies are positioned on the front side and the rear side of the robot chassis and comprise left-right moving mechanisms which are U-shaped plate bodies, and the two left-right moving mechanisms synchronously drive the robot chassis to walk in the left-right direction. The invention also relates to a reinforcing mesh binding robot. The steel bar mesh binding robot has the advantages that the synchronization of the left side, the right side, the front side and the rear side of the steel bar mesh binding robot during movement is guaranteed, and the movement precision is improved; the left-right moving mechanism and the front-back moving mechanism are arranged to be U-shaped plate bodies, so that the net-shaped steel bar net can walk on the net-shaped steel bar net conveniently.
Description
Technical Field
The invention relates to the technical field of reinforcement mesh binding, in particular to a reinforcement mesh binding robot and a walking system thereof.
Background
The construction industry is labor-intensive, the utilization rate of manpower is high, and the manual operation degree of steel bar binding is the best of all working procedures. The quality of the rebar tying directly affects the safety and durability of the building structure. The manual steel bar binding has the defects of low efficiency and precision and high labor intensity, the labor cost is gradually increased along with the shortage of labor force, and the mechanical operation mode for realizing the procedure is also an industry pain point problem which is urgently needed to be solved by building construction enterprises.
The reinforcement mesh binding robot is an effective way for solving many problems of manual binding, and is gradually applied along with the development of intelligent technology in recent two years, wherein a walking system in the reinforcement mesh binding robot is used for driving the reinforcement mesh binding robot to move to a node to be bound along a reinforcement mesh. Patent document No. CN215484740U discloses a self-walking robot for binding steel bars, in which rollers are provided in a walking system, and the roller drives a steel bar net binding robot to move on a steel bar net. However, the contact area between the roller and the steel bars is small, and the roller is limited by the distance between the steel bars and the parallelism between the steel bars, so that the roller is easy to step on and slide, and cannot stably move on the steel bar net.
Disclosure of Invention
Technical problem to be solved
In view of the above disadvantages and shortcomings of the prior art, the invention provides a mesh reinforcement binding robot and a traveling system thereof, which solve the technical problems of low efficiency and precision, high labor intensity and high cost in manual mesh reinforcement binding, and the technical problem that the traveling system in the existing mesh reinforcement binding robot cannot stably move on a mesh reinforcement because the traveling system moves on the mesh reinforcement through rollers.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
in a first aspect, the embodiment of the invention provides a walking system for a mesh reinforcement binding robot, which comprises a robot chassis, two front-back moving assemblies and two left-right moving assemblies;
the two front-back moving assemblies are positioned at the left side and the right side of the robot chassis and comprise front-back moving mechanisms which are U-shaped plate bodies, and the two front-back moving mechanisms synchronously drive the robot chassis to walk along the front-back direction;
the two left-right moving assemblies are positioned on the front side and the rear side of the robot chassis and comprise left-right moving mechanisms which are U-shaped plate bodies, and the two left-right moving mechanisms synchronously drive the robot chassis to walk in the left-right direction.
According to the invention, the forward-backward movement assembly further comprises a forward-backward transmission assembly;
the front and rear transmission assembly comprises a front and rear driving chain wheel, a front and rear driven chain wheel and a front and rear transmission chain;
one end of the upper part of the front-back moving mechanism is fixed on the front-back driving chain wheel, the other end of the upper part of the front-back moving mechanism is fixed on the front-back driven chain wheel, a front-back driving chain is wound on the front-back driving chain wheel and the front-back driven chain wheel, and the front-back driving chain wheel drives the front-back driven chain wheel to synchronously rotate.
According to the invention, the two front and rear driving sprockets are fixedly connected by a front and rear driving connecting shaft, and the two front and rear driving sprockets and the front and rear driving connecting shaft are coaxially arranged;
the two front and rear driven sprockets are fixedly connected through a front and rear driven connecting shaft, and the two front and rear driven sprockets and the front and rear driven connecting shaft are coaxially arranged;
the walking system further comprises a front driving assembly and a rear driving assembly, the front driving assembly and the rear driving assembly are fixedly connected with the front driving connecting shaft and the rear driving connecting shaft, and the front driving assembly and the rear driving assembly are used for driving the front driving connecting shaft and the rear driving connecting shaft to rotate axially around the front driving connecting shaft and the rear driving connecting shaft.
According to the present invention, the front-rear driving assembly includes a front-rear driving motor, a first front-rear driving sprocket, a second front-rear driving sprocket, and a front-rear driving chain;
the output end of the front and rear driving motor is fixedly connected with the first front and rear driving chain wheel, and the first front and rear driving chain wheel and the second front and rear driving chain wheel are wound with the front and rear driving chains;
the second front and rear driving chain wheels are fixed on the front and rear driving connecting shafts and are coaxially arranged;
the front and rear driving motors drive the first front and rear driving chain wheels to rotate around the axial direction of the first front and rear driving chain wheels, and the first front and rear driving chain wheels drive the second front and rear driving chain wheels and the front and rear driving connecting shafts to rotate coaxially.
According to the invention, the left-right moving assembly further comprises a left-right transmission assembly;
the left and right transmission components comprise left and right driving sprockets, left and right driven sprockets and left and right transmission chains;
one end of the upper part of the left-right moving mechanism is fixed on the left-right driving chain wheel, the other end of the upper part of the left-right moving mechanism is fixed on the left-right driven chain wheel, the left-right driving chain wheel and the left-right driven chain wheel are wound with the left-right transmission chain, and the left-right driving chain wheel drives the left-right driven chain wheel to synchronously rotate.
According to the invention, a left and right synchronizing assembly is arranged between the left and right driving sprockets, and comprises a left and right connecting shaft, a left and right driving synchronizing sprocket, a left and right driven synchronizing sprocket and a left and right synchronizing chain;
the left and right driving synchronous chain wheels and the left and right driven synchronous chain wheels are fixed at two ends of the left and right connecting shafts and coaxially arranged, and the left and right synchronous chains are wound on the left and right driven synchronous chain wheels and one of the left and right driving chain wheels;
the walking system further comprises a left driving component and a right driving component, wherein the left driving component and the right driving component are respectively connected with the left driving chain wheel, the right driving chain wheel and the left driving synchronous chain wheel, and the left driving component and the right driving component are used for driving the left driving chain wheel and the right driving chain wheel which correspond to each other to synchronously rotate.
According to the present invention, the left and right driving assembly includes left and right driving motors, left and right driving sprockets, a first left and right driving chain, and a second left and right driving chain;
the output end of the left and right driving motor is fixedly connected with the left and right driving chain wheels, the left and right driving chain wheels are double chain wheels, the left and right driving chain wheels and the corresponding left and right driving chain wheels are wound with the first left and right driving chains, and the left and right driving synchronous chain wheels are wound with the second left and right driving chains;
the left and right driving motors drive the left and right driving sprockets to rotate around the axial direction of the left and right driving sprockets.
In a second aspect, the invention further provides a reinforcing mesh binding robot, which comprises the walking system for the reinforcing mesh binding robot and a binding and positioning system;
the binding positioning system comprises a positioning component and a binding mechanism;
the positioning assembly is fixed on the robot chassis and comprises a vertical slide rail, a left slide rail, a right slide rail, a front slide rail and a rear slide rail;
the binding mechanism is used for binding steel bar binding points, the binding mechanism is arranged on the vertical sliding rail in a sliding mode along the vertical direction, the vertical sliding rail is arranged on the left sliding rail and the right sliding rail in a sliding mode along the left direction and the right direction, and the left sliding rail and the right sliding rail are arranged on the front sliding rail and the rear sliding rail in a sliding mode along the front direction and the rear direction.
According to the invention, the two front and rear sliding rails are arranged and are positioned at two ends of the left and right sliding rails, two ends of the left and right sliding rails are connected with the front and rear sliding rails through front and rear sliding tables, front and rear belts are wound on the front and rear sliding rails, and the front and rear belts are connected through a front and rear transmission shaft, so that the front and rear belts synchronously rotate;
the front belt and the rear belt synchronously drive the left sliding rail and the right sliding rail to move along the front and rear directions of the robot chassis through the front sliding table and the rear sliding table.
According to the invention, the vertical slide rail is connected with the left and right slide rails through the left and right slide tables, the left and right slide rails are wound with the left and right belts, and the left and right belts drive the vertical slide rail to move along the left and right directions through the left and right slide tables;
the binding mechanism is connected with the vertical sliding rail through the vertical sliding table, the vertical belt is wound on the vertical sliding rail, and the vertical belt drives the binding mechanism to move up and down along the vertical direction through the vertical sliding table.
According to the invention, the robot further comprises a first supporting mechanism, wherein the first supporting mechanism is fixed on the robot chassis;
and when the front-back moving mechanism and the left-right moving mechanism are separated from the steel bar net, the first supporting mechanism is used for supporting the steel bar net.
(III) advantageous effects
The beneficial effects of the invention are: according to the reinforcing mesh binding robot provided by the embodiment of the invention, the two front-back moving components are arranged at the left side and the right side of the robot chassis, the two front-back moving components move synchronously and drive the robot chassis to move on the reinforcing mesh along the front-back direction of the robot chassis, the two left-right moving units are arranged at the front side and the rear side of the robot chassis, and the two left-right moving units move synchronously and drive the robot chassis to move on the reinforcing mesh along the left-right direction of the robot chassis, so that the reinforcing mesh binding robot can automatically move on the reinforcing mesh, the reinforcing mesh binding efficiency and precision are improved, the cost is reduced, the synchronism of the reinforcing mesh binding robot in the movement of the left side, the right side, the front side and the rear side can be ensured, and the movement precision of the reinforcing mesh binding robot is improved.
The left-right moving mechanism and the front-back moving mechanism are arranged to be U-shaped plate bodies, so that the net-shaped steel bar net can walk on the net-shaped steel bar net conveniently. Compared with a wheel type travelling mechanism and a mechanical foot type travelling mechanism, the travelling mechanism of the U-shaped plate body can increase the contact area with the steel bars, meanwhile, the phenomena of stepping on the air and sliding are avoided, the travelling stability of the plate body on the steel bar net is improved, the plate body is suitable for different steel bar intervals, is not limited by the parallelism among the steel bars, and can freely move along the left and right directions and the front and back directions of the robot chassis. Compared with a crawler-type travelling mechanism, the travelling mechanism of the U-shaped plate body can greatly reduce the weight, and can reduce the acting force applied to the reinforcing mesh when the travelling mechanism moves along the reinforcing mesh, thereby effectively avoiding the friction force generated between the crawler structure and the reinforcing steel bar and avoiding the displacement of the reinforcing steel bar which is not bound.
Drawings
Fig. 1 is a schematic view of the position of the mesh reinforcement lashing robot and the mesh reinforcement according to the present invention;
fig. 2 is a schematic view of the mesh reinforcement robot in fig. 1;
FIG. 3 is an enlarged partial schematic view of FIG. 2;
FIG. 4 is another view of FIG. 2;
fig. 5 is another view of fig. 2.
[ description of reference ]
11: a robot chassis; 12: a forward and backward movement assembly; 121: a forward-backward movement mechanism; 122: front and rear drive sprockets; 123: front and rear driven sprockets; 124: a front and rear drive chain; 125: a front and rear active connecting shaft; 126: a front driven connecting shaft and a rear driven connecting shaft; 13: a left-right moving component; 131: a left-right moving mechanism; 132: a left and a right driving sprocket; 133: left and right driven sprockets; 134: a left and a right transmission chains; 135: a left connecting shaft and a right connecting shaft; 136: a left driving synchronous sprocket and a right driving synchronous sprocket; 137: left and right driven synchronous sprockets; 138: a left and right synchronization chain; 141: a front and rear driving motor; 142: a first front and rear drive sprocket; 143: a second front and rear drive sprocket; 144: a front and rear drive chain; 145: a front and rear speed reducer; 151: a left and right driving motor; 152: a left and right drive sprocket; 153: a first left and right drive chain; 154: a second left and right drive chain; 155: a left and a right speed reducers; 16: front and rear auxiliary sprockets; 17: left and right auxiliary sprockets;
211: a vertical slide rail; 2111: a vertical belt; 2112: a vertical sliding table; 212: a left and a right slide rail; 2121: a left belt and a right belt; 2122: a left sliding table and a right sliding table; 213: front and rear slide rails; 2131: front and rear belts; 2132: a front and rear drive shaft; 2133: a front and a rear sliding table; 2141: a first motor; 2142: a second motor; 2143: a third motor; 22: a binding mechanism; 23: a first support mechanism; 231: a first support plate; 232: a first support bar; 24: a second support mechanism; 241: a connecting plate; 242: a sliding table supporting seat;
100: a reinforcing mesh binding robot;
200: and (4) reinforcing mesh.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings. Here, "front" and "rear" are referred to relative positions of the front and rear drive sprockets 122 and the front and rear driven sprockets 123 in fig. 2, and "left" and "right" are referred to relative positions of the two front and rear drive sprockets 122 in fig. 2.
Referring to fig. 1 to 5, a mesh reinforcement tie robot 100 according to an embodiment of the present invention includes a traveling system and a tie positioning system, where the traveling system is configured to drive the tie positioning system to move on a mesh reinforcement 200, and the tie positioning system is configured to accurately move to a corresponding tie point of a reinforcement to be tied and perform a tie operation.
The walking system comprises a robot chassis 11, two front-back moving assemblies 12, two left-right moving units 13, a front-back driving assembly and a left-right driving assembly.
The two front-back moving assemblies 12 are located at the left and right sides of the robot chassis 11, and the front-back driving assembly is used for driving the two front-back moving assemblies 12 to move synchronously and driving the robot chassis 11 to move on the reinforcing mesh 200 along the front-back direction. The two left-right moving units 13 are located at the front side and the rear side of the robot chassis 11, and the left-right driving assembly is used for driving the two left-right moving units 13 to move synchronously and driving the robot chassis 11 to move on the reinforcing mesh 200 along the left-right direction. The movement of the mesh reinforcement robot on the mesh reinforcement 200 can be automatically realized by moving the assembly 12 forward and backward and moving the unit 13 leftward and rightward, so that the mesh reinforcement robot can improve the efficiency and accuracy of mesh reinforcement 200 binding, reduce the cost, ensure the synchronization of the movement of the left and right sides and the front and rear sides of the mesh reinforcement robot 100, and improve the movement accuracy of the mesh reinforcement robot 100.
Specifically, the forward-backward moving assembly 12 includes a forward-backward moving mechanism 121 and a forward-backward transmission assembly.
The front-back moving mechanism 121 is a U-shaped plate, the upper part of the front-back moving mechanism 121 is fixedly connected with the front-back transmission assembly, and the front-back transmission assembly is used for driving the bottom of the front-back moving mechanism 121 to move along the front-back direction and driving the robot chassis 11 to move along the front-back direction.
More specifically, the front and rear drive assemblies include front and rear drive sprockets 122, front and rear driven sprockets 123, and a front and rear drive chain 124.
One end of the upper part of the forward-backward movement mechanism 121 is fixed to the front and rear drive sprockets 122, and the other end is fixed to the front and rear driven sprockets 123. Front and rear transmission chains 124 are wound on the front and rear driving sprockets 122 and the front and rear driven sprockets 123, the front and rear driving sprockets 122 drive the front and rear driven sprockets 123 to synchronously rotate, and the front and rear driving sprockets 122 and the front and rear driven sprockets 123 drive the front and rear moving mechanism 121 to rotate around the axial directions of the front and rear driving sprockets 122 and the front and rear driven sprockets 123, so that the bottom of the front and rear moving mechanism 121 moves in the front and rear direction, and the robot chassis 11 is driven to move in the front and rear direction.
The two front and rear driving sprockets 122 are fixedly connected through a front and rear driving connecting shaft 125, the two front and rear driving sprockets 122 and the front and rear driving connecting shaft 125 are coaxially arranged, the two front and rear driven sprockets 123 are fixedly connected through a front and rear driven connecting shaft 126, and the two front and rear driven sprockets 123 and the front and rear driven connecting shaft 126 are coaxially arranged. The front and rear active connecting shafts 125 are fixedly connected to the front and rear driving assemblies.
The front and rear driving assembly is configured to drive the front and rear driving connecting shafts 125 to rotate around the axial direction of the front and rear driving connecting shafts 125, and the two front and rear driving sprockets 122 and the two front and rear driven sprockets 123 are driven by the two front and rear driving connecting shafts 125 to rotate synchronously, and the two front and rear moving mechanisms 121 are driven to rotate synchronously, so as to improve the accuracy of the synchronous rotation of the two front and rear moving mechanisms 121, and further improve the accuracy of the synchronous driving of the robot chassis 11 along the front and rear directions by the two front and rear moving mechanisms 121.
Specifically, the front-rear driving assembly includes a front-rear driving motor 141, a first front-rear driving sprocket 142, a second front-rear driving sprocket 143, and a front-rear driving chain 144. The output end of the front and rear driving motor 141 is fixedly connected to a first front and rear driving sprocket 142 through a front and rear speed reducer 145, and a front and rear driving chain 144 is wound around the first front and rear driving sprocket 142 and a second front and rear driving sprocket 143. A second front and rear drive sprocket 143 is fixed to the front and rear drive connecting shaft 125, coaxially disposed therewith.
The front and rear driving motor 141 drives the first front and rear driving sprocket 142 to rotate around the axial direction of the first front and rear driving sprocket 142 through the front and rear speed reducer 145, and the first front and rear driving sprocket 142 drives the second front and rear driving sprocket 143 and the front and rear driving connecting shaft 125 to rotate coaxially.
By changing the forward and reverse rotation directions of the forward and backward driving motor 141, the forward and backward direction of the robot chassis 11 moving on the mesh reinforcement 200 by the forward and backward moving mechanism 121 can be adjusted accordingly.
Specifically, the left-right moving unit 13 includes a left-right moving mechanism 131 and a left-right transmission assembly.
The left-right moving mechanism 131 is a U-shaped plate body, the upper part of the left-right moving mechanism 131 is fixedly connected with the left-right transmission assembly, the left-right transmission assembly is used for driving the bottom of the left-right moving mechanism 131 to move along the left-right direction, and the walking support legs drive the robot chassis 11 to move along the front-back direction.
The left-right moving mechanism 131 and the front-back moving mechanism 121 are formed as U-shaped plate bodies, so that the steel bar net 200 can walk on the net-shaped steel bar net. Compared with a wheel type moving mechanism and a mechanical foot type moving mechanism, the moving mechanism of the U-shaped plate body can increase the contact area with the reinforcing steel bars, avoids the phenomena of treading and slipping, improves the walking stability of the U-shaped plate body on the reinforcing steel bar mesh 200, is suitable for different reinforcing steel bar intervals, is not limited by the parallelism between the reinforcing steel bars, and can freely move along the left and right directions and the front and back directions of the robot chassis 11. Compared with a crawler-type moving mechanism, the moving mechanism of the U-shaped plate body can greatly reduce the weight, and can reduce the acting force applied to the reinforcing mesh 200 when the moving mechanism moves along the reinforcing mesh 200, avoid the displacement of unbounded reinforcing steel bars, and effectively avoid the friction force generated between the crawler-type moving mechanism and the reinforcing steel bars.
Preferably, the bottom of the left-right moving mechanism 131 and the bottom of the front-back moving mechanism 121 are wrapped with anti-slip rubber to improve anti-slip performance and avoid the phenomena of treading and slipping.
More specifically, the left and right transmission assemblies include left and right driving sprockets 132, left and right driven sprockets 133, and left and right transmission chains 134.
One end of the upper part of the left-right moving mechanism 131 is fixed to the left and right drive sprockets 132, and the other end is fixed to the left and right driven sprockets 133. Left and right driving chains 134 are wound on the left and right driving sprockets 132 and the left and right driven sprockets 133, the left and right driving sprockets 132 drive the left and right driven sprockets 133 to synchronously rotate through the left and right driving chains 134, and the left and right driving sprockets 132 and the left and right driven sprockets 133 drive the left and right moving mechanism 131 to rotate around the axial direction of the left and right driving sprockets 132 and the axial direction of the left and right driven sprockets 133, so that the bottom of the left and right moving mechanism 131 moves along the left and right direction of the robot chassis 11 and drives the robot chassis 11 to move along the left and right direction of the robot chassis 11.
Left and right synchronizing assemblies are arranged between the left and right driving sprockets 132 and used for driving the left and right driving sprockets 132 to rotate synchronously. The left and right synchronizing assembly includes left and right connecting shafts 135, left and right driving synchronizing sprockets 136, left and right driven synchronizing sprockets 137, and left and right synchronizing chains 138. The left and right driving synchronous sprockets 136 and the left and right driven synchronous sprockets 137 are fixed at both ends of the left and right connecting shafts 135, and are coaxially arranged. The left and right driving synchronous sprockets 136 and one of the left and right driving sprockets 132 are connected to the left and right driving assemblies, and the left and right driven synchronous sprockets 137 and the other left and right driving sprockets 132 are wound with left and right synchronous chains 138.
The left and right driving components are used for driving the corresponding left and right driving chain wheels 132 and the left and right driving synchronous chain wheels 136 to synchronously rotate, the left and right driven synchronous chain wheels 137 drive the other left and right driving chain wheels 132 to synchronously rotate, so that the two left and right driving chain wheels 132 and the two left and right driven chain wheels 133 synchronously rotate, and the two left and right moving mechanisms 131 are driven to synchronously rotate, so that the accuracy of synchronous rotation of the two left and right moving mechanisms 131 is improved, and further, the accuracy of synchronous driving of the robot chassis 11 along the left and right directions of the robot chassis 11 by the two left and right moving mechanisms 131 is improved.
More specifically, the left and right driving assembly includes left and right driving motors 151, left and right driving sprockets 152, a first left and right driving chain 153, and a second left and right driving chain 154. The output ends of the left and right drive motors 151 are fixedly connected to left and right drive sprockets 152 via left and right speed reducers 155. The left and right drive sprockets 152 are double sprockets, and first left and right drive chains 153 are wound around the left and right drive sprockets 152 and the corresponding left and right drive sprockets 132, and second left and right drive chains 154 are wound around the left and right drive synchronization sprockets 136.
The left and right driving motors 151 drive the left and right driving sprockets 152 to rotate around the axial direction of the left and right driving sprockets 152 through the left and right speed reducers 155, and the left and right driving sprockets 152 drive the corresponding left and right driving sprockets 132 and the left and right driving synchronous sprockets 136 to synchronously rotate.
By changing the forward and reverse directions of the left and right driving motors 151, the left and right directions of the robot chassis 11 moving on the mesh reinforcement 200 by the left and right moving mechanisms 131 can be adjusted accordingly.
Further, in order to ensure the driving stability of the front and rear driving chains 124 and the left and right driving chains 134, the traveling system further includes front and rear auxiliary sprockets 16 and left and right auxiliary sprockets 17.
At least one front and rear auxiliary sprocket 16 is fixed to both left and right sides of the robot chassis 11, four front and rear auxiliary sprockets 16 are preferably provided on each side of the robot chassis 11, the four front and rear auxiliary sprockets 16 are spaced apart in the front-rear direction of the robot chassis 11, and the front and rear auxiliary sprockets 16 are engaged with the front and rear driving chains 124. At least one left and right auxiliary sprocket 17 is fixed to both front and rear sides of the robot chassis 11, and the left and right auxiliary sprockets 17 are engaged with the left and right driving chains 134.
As can be seen from the above, the transmission is realized through the matching between the chain wheel and the chain in the walking system. Compared with a gear transmission mode, the transmission mode of the chain wheel and the chain can keep the transmission ratio fixed, the transmission distance is longer, and the robot chassis 11 is suitable for the robot chassis with larger length and width sizes. Compared with the gear transmission and worm gear transmission modes with higher requirements on processing precision and use environment, the transmission mode of the chain wheel and the chain has lower requirements on the parallelism of the front and rear driving connecting shafts 125, the front and rear driving connecting shafts 126 and the left and right connecting shafts 135 and the flatness of the chain wheel, is convenient to process, can reduce the production cost, has strong environmental adaptability and is convenient to work in outdoor complex environment.
Further, the ligating positioning system includes a positioning assembly and a ligating mechanism 22. The positioning assembly is used to precisely adjust the lashing mechanism 22 to the point of lashing of the steel reinforcement bars corresponding to the strap lashing as the running system is moved along the mesh reinforcement 200 to the area to be lashed. The tie mechanism 22 is used to tie the reinforcement tie points.
Specifically, the positioning assembly is fixed on the top of the robot chassis 11, and the positioning assembly includes a vertical slide rail 211, a left and right slide rail 212, a front and rear slide rail 213, and a positioning driving assembly. The binding mechanism 22 is slidably disposed on the vertical slide rail 211 along the vertical direction, the vertical slide rail 211 is slidably disposed on the left and right slide rails 212 along the left and right direction, and the left and right slide rails 212 are slidably disposed on the front and rear slide rails 213 along the front and rear direction. From this, under the mating reaction of vertical slide rail 211, left and right slide rail 212, front and back slide rail 213, can drive ligature mechanism 22 and remove along left and right directions and fore-and-aft direction to and remove along vertical direction, in order to drive ligature mechanism 22 and remove to corresponding reinforcement point. The positioning drive assembly is used to drive the movement of the ligating mechanism 22, vertical slide 211 and vertical slide 211.
The two front and rear slide rails 213 are disposed at the left and right sides of the robot chassis 11, and at the two ends of the left and right slide rails 212, the two ends of the left and right slide rails 212 are respectively connected to the front and rear slide rails 213 through the front and rear sliding tables 2133. The front and rear sliding rails 213 are wound with front and rear belts 2131, and the two front and rear belts 2131 are connected through a front and rear transmission shaft 2132, so as to precisely realize the synchronous rotation of the two front and rear belts 2131. The front and rear belts 2131 and the front and rear sliding tables 2133 are connected by screws. The two front and rear belts 2131 drive the left and right slide rails 212 to move along the front and rear direction of the robot chassis 11 synchronously through the front and rear sliding tables 2133, so as to ensure the synchronism of the movement of the two ends of the left and right slide rails 212 along the front and rear direction of the robot chassis 11.
The vertical slide rail 211 is slidably disposed on the left and right slide rails 212 through the left and right slide tables 2122. The left and right sliding rails 212 are wound with left and right belts 2121, and the left and right belts 2121 and the left and right sliding tables 2122 are connected by screws. The left and right belts 2121 drive the vertical slide rail 211 to move in the left-right direction by the left and right slide tables 2122.
The ligating mechanism 22 is slidably provided on the vertical slide rail 211 via a vertical slide table 2112. The vertical sliding rail 211 is wound with a vertical belt 2111, and the vertical belt 2111 is connected with the vertical sliding table 2112 through screws. The vertical belt 2111 drives the ligating mechanism 22 to move up and down in the vertical direction by the vertical sliding table 2112.
The positioning drive assembly includes a first motor 2141, a second motor 2142, and a third motor 2143.
The first motor 2141 is fixed to one end of one of the front and rear slide rails 213 through a fixing seat, a driving end of the first motor 2141 is connected to the front and rear belts 2131 through a gear, and the first motor 2141 drives the front and rear belts 2131 to rotate through the gear. The second motor 2142 is fixed to one end of the left and right slide rails 212 through a fixing base, a driving end of the second motor 2142 is connected to the left and right slide rails 212 through a gear, and the second motor 2142 drives the left and right belts 2121 to rotate through the gear. The third motor 2143 is fixed to the upper end of the vertical slide rail 211 through a fixing seat, so that the third motor 2143 is prevented from affecting the movement of the robot chassis 11, the driving end of the third motor 2143 is connected with the vertical belt 2111 through a gear, the driving end of the third motor 2143 is connected with the vertical slide rail through a gear, and the third motor 2143 drives the vertical belt to rotate through a gear.
Further, the ligating positioning system may further include a first support mechanism 23 and a second support mechanism 24.
The first support mechanism 23 is fixed to the robot chassis 11. When the traveling system moves to the area to be banded along the mesh reinforcement 200, the front-back moving mechanism 121 and the left-right moving mechanism 131 are separated from the mesh reinforcement 200 and supported on the mesh reinforcement 200 by the first supporting mechanism 23, so that the service lives of the front-back moving mechanism 121 and the left-right moving mechanism 131 are prolonged. A second support mechanism 24 is located between the positioning assembly and the robot chassis 11, the second support mechanism 24 being used to support the positioning assembly.
Specifically, two first support mechanisms 23 are provided, and the two first support mechanisms 23 are located on the left and right sides of the robot chassis 11. The first supporting mechanism 23 includes a first supporting plate 231 and a first supporting rod 232, and the first supporting plate 231 is fixed to the bottom of the robot chassis 11 by the first supporting rod 232. Both ends of the first supporting plate 231 are inclined upward so that the first supporting plate 231 is sled-shaped, so that when the traveling system moves the robot chassis 11 along the reinforcing mesh 200, both ends of the first supporting plate 231 can cross the obstacle on the reinforcing mesh 200.
The second support mechanism 24 includes a connecting plate 241 and a slide table support base 242. The front and rear sliding tables 2133 are fixed to the top of the sliding table support base 242 through a connecting plate 241, and the sliding table support base 242 is fixed to the top of the robot chassis 11. Preferably, four connecting plates 241 and four slide table support bases 242 are provided, and are provided on the left and right sides and the front and rear sides of the robot chassis 11, respectively.
Further, the mesh reinforcement binding robot 100 further includes a control system for monitoring and controlling the running of the traveling system and the binding and positioning system in real time.
The control system comprises a sensor, a central controller and a power supply system.
The sensor is used for monitoring scene information in real time and transmitting the scene information to the central controller. The sensors include a laser radar and a vision camera. And the central controller makes decisions such as path planning, intelligent obstacle avoidance, autonomous positioning, autonomous binding and the like according to the task type and scene information, and sends control instructions to the motors in the walking system and the binding positioning system respectively. And the power supply system is used for supplying power to all motors in the sensor, the central controller, the walking system and the binding positioning system. The power supply system can be switched between an alternating current mode and a battery mode so as to improve the power supply stability of the power supply system. When the power supply system is in an alternating current mode, 220v alternating current can be converted into direct current through a transformer for power supply. The power supply system can be powered by a dc battery when in battery mode.
In the description herein, the description of the terms "one embodiment," "some embodiments," "an embodiment," "an example," "a specific example" or "some examples" or the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are illustrative and not restrictive, and that those skilled in the art may make changes, modifications, substitutions and alterations to the above embodiments without departing from the scope of the present invention.
Claims (11)
1. A walking system for a mesh reinforcement binding robot is characterized by comprising a robot chassis (11), two front-back moving assemblies (12) and two left-right moving assemblies (13);
the two front-back moving assemblies (12) are positioned at the left side and the right side of the robot chassis (11), each front-back moving assembly (12) comprises a front-back moving mechanism (121), each front-back moving mechanism (121) is a U-shaped plate body, and the two front-back moving mechanisms (121) synchronously drive the robot chassis (11) to walk in the front-back direction;
the two left-right moving assemblies (13) are positioned on the front side and the rear side of the robot chassis (11), each left-right moving assembly (13) comprises a left-right moving mechanism (131), each left-right moving mechanism (131) is a U-shaped plate body, and the two left-right moving mechanisms (131) synchronously drive the robot chassis (11) to walk in the left-right direction.
2. The running system for a mesh reinforcement tie-up robot of claim 1, wherein the forward-backward movement module (12) further comprises a forward-backward transmission module;
the front and rear transmission assembly comprises a front and rear driving chain wheel (122), a front and rear driven chain wheel (123) and a front and rear transmission chain (124);
one end of the upper part of the front-back moving mechanism (121) is fixed on the front-back driving chain wheel (122), the other end of the upper part of the front-back moving mechanism is fixed on the front-back driven chain wheel (123), the front-back driving chain wheel (122) and the front-back driven chain wheel (123) are wound with the front-back transmission chain (124), and the front-back driving chain wheel (122) drives the front-back driven chain wheel (123) to synchronously rotate.
3. The running system for a mesh reinforcement tie-up robot as claimed in claim 2, wherein the two front and rear drive sprockets (122) are fixedly connected by a front and rear drive connecting shaft (125), and the two front and rear drive sprockets (122) and the front and rear drive connecting shaft (125) are coaxially disposed;
the two front and rear driven chain wheels (123) are fixedly connected through a front and rear driven connecting shaft (126), and the two front and rear driven chain wheels (123) and the front and rear driven connecting shaft (126) are coaxially arranged;
walk the system and still include front and back drive assembly, front and back drive assembly with front and back initiative connecting axle (125) fixed connection, front and back drive assembly is used for the drive around initiative connecting axle (125) around the axial of front and back initiative connecting axle (125) rotates.
4. The running system for a mesh reinforcement tie robot of claim 3, wherein the front-rear driving unit comprises a front-rear driving motor (141), a first front-rear driving sprocket (142), a second front-rear driving sprocket (143), and a front-rear driving chain (144);
the output end of the front and rear driving motor (141) is fixedly connected with the first front and rear driving chain wheel (142), and the first front and rear driving chain wheel (142) and the second front and rear driving chain wheel (143) are wound with the front and rear driving chain (144);
the second front and rear driving chain wheel (143) is fixed on the front and rear driving connecting shaft (125) and is coaxially arranged;
the front and rear driving motor (141) drives the first front and rear driving chain wheel (142) to rotate around the axial direction of the first front and rear driving chain wheel (142), and the first front and rear driving chain wheel (142) drives the second front and rear driving chain wheel (143) and the front and rear driving connecting shaft (125) to rotate coaxially.
5. The running system for a mesh reinforcement tie-up robot of claim 1, wherein the left-right moving assembly (13) further comprises a left-right transmission assembly;
the left and right transmission components comprise left and right driving chain wheels (132), left and right driven chain wheels (133) and left and right transmission chains (134);
one end of the upper part of the left-right moving mechanism (131) is fixed on the left-right driving chain wheel (132), the other end of the upper part of the left-right moving mechanism is fixed on the left-right driven chain wheel (133), the left-right driving chain wheel (132) and the left-right driven chain wheel (133) are wound with the left-right transmission chain (134), and the left-right driving chain wheel (132) drives the left-right driven chain wheel (133) to synchronously rotate.
6. The walking system for mesh reinforcement lashing robot according to claim 5, wherein a left and right synchronizing assembly is provided between the two left and right driving sprockets (132), and comprises a left and right connecting shaft (135), a left and right driving synchronizing sprocket (136), a left and right driven synchronizing sprocket (137) and a left and right synchronizing chain (138);
the left and right driving synchronous chain wheels (136) and the left and right driven synchronous chain wheels (137) are fixed at two ends of the left and right connecting shafts (135) and are coaxially arranged, and the left and right driven synchronous chain wheels (137) and one of the left and right driving chain wheels (132) are wound with the left and right synchronous chains (138);
walk the system and still include and control drive assembly, control drive assembly respectively with another about drive sprocket (132) and about drive synchronous sprocket (136) are connected, control drive assembly be used for the drive correspond about drive sprocket (132) with about drive synchronous sprocket (136) synchronous revolution.
7. The running system for a mesh reinforcement tie robot of claim 6, wherein the left and right driving means comprises left and right driving motors (151), left and right driving sprockets (152), first left and right driving chains (153), and second left and right driving chains (154);
the output end of the left and right driving motor (151) is fixedly connected with the left and right driving chain wheel (152), the left and right driving chain wheel (152) is a double chain wheel, the left and right driving chain wheel (152) and the corresponding left and right driving chain wheel (132) are wound with the first left and right driving chain (153), and the left and right driving synchronous chain wheel (136) and the second left and right driving chain (154) are wound;
the left and right driving motors (151) drive the left and right driving sprockets (152) to rotate around the axial direction of the left and right driving sprockets (152).
8. A mesh reinforcement tie robot comprising a running system for a mesh reinforcement tie robot according to any one of claims 1 to 7, characterized by further comprising a tie positioning system;
the ligating positioning system comprises a positioning assembly and a ligating mechanism (22);
the positioning assembly is fixed on the robot chassis (11), and comprises a vertical slide rail (211), a left slide rail, a right slide rail (212) and a front slide rail and a rear slide rail (213);
ligature mechanism (22) are used for ligature reinforcing bar ligature point, ligature mechanism (22) slide along vertical direction and set up on vertical slide rail (211), vertical slide rail (211) slide along left right direction and set up on controlling slide rail (212), it is in to slide along the fore-and-aft direction setting to control slide rail (212) on front and back slide rail (213).
9. The mesh reinforcement binding robot as claimed in claim 8, wherein there are two front and rear slide rails (213), the two front and rear slide rails (213) are located at two ends of the left and right slide rails (212), two ends of the left and right slide rails (212) are connected to the front and rear slide rails (213) through front and rear sliding tables (2133), a front and rear belt (2131) is wound on the front and rear slide rails (213), and the two front and rear belts (2131) are connected through a front and rear transmission shaft (2132) so that the two front and rear belts (2131) rotate synchronously;
the two front and rear belts (2131) synchronously drive the left and right slide rails (212) to move along the front and rear directions through the front and rear sliding tables (2133).
10. The mesh reinforcement binding robot as claimed in claim 8, wherein the vertical slide rail (211) is connected to the left and right slide rails (212) through left and right sliding tables (2122), left and right belts (2121) are wound on the left and right slide rails (212), and the left and right belts (2121) drive the vertical slide rail (211) to move in the left and right directions through the left and right sliding tables (2122);
ligature mechanism (22) through vertical slip table (2112) with vertical slide rail (211) are connected, around establishing vertical belt (2111) on vertical slide rail (211), vertical belt (2111) are passed through vertical slip table (2112) drives ligature mechanism (22) reciprocates along vertical direction.
11. A mesh reinforcement tie robot according to claim 8, further comprising a first support means (23), said first support means (23) being fixed to said robot chassis (11);
when the front-back moving mechanism (121) and the left-right moving mechanism (131) are separated from the mesh reinforcement (200), the first supporting mechanism (23) is used for supporting on the mesh reinforcement (200).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210643561.8A CN115045511A (en) | 2022-06-09 | 2022-06-09 | Reinforcing mesh binding robot and walking system thereof |
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| CN202210643561.8A CN115045511A (en) | 2022-06-09 | 2022-06-09 | Reinforcing mesh binding robot and walking system thereof |
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| DE202019105122U1 (en) * | 2019-09-16 | 2019-10-28 | KYOCERA UNIMERCO Fastening A/S | binding machine |
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