CN115262982B - Bundling mechanism and bundling method - Google Patents
Bundling mechanism and bundling method Download PDFInfo
- Publication number
- CN115262982B CN115262982B CN202211046757.5A CN202211046757A CN115262982B CN 115262982 B CN115262982 B CN 115262982B CN 202211046757 A CN202211046757 A CN 202211046757A CN 115262982 B CN115262982 B CN 115262982B
- Authority
- CN
- China
- Prior art keywords
- steel bar
- binding
- bundling
- mechanical arm
- axis mechanical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 title claims abstract description 15
- 229910000831 Steel Inorganic materials 0.000 claims description 68
- 239000010959 steel Substances 0.000 claims description 68
- 238000013016 damping Methods 0.000 claims description 25
- 230000001502 supplementing effect Effects 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 5
- 230000003014 reinforcing effect Effects 0.000 claims description 5
- 229910001294 Reinforcing steel Inorganic materials 0.000 abstract description 11
- 230000008275 binding mechanism Effects 0.000 abstract description 2
- 230000036544 posture Effects 0.000 abstract description 2
- 230000000007 visual effect Effects 0.000 description 5
- 238000010276 construction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Basic Packing Technique (AREA)
Abstract
The invention discloses a binding mechanism and a binding method, which relate to the technical field of reinforcing steel bar binding devices, wherein the reinforcing steel bar binding tail end comprises: a terminal stent; the support plate is fixed on the tail end bracket and is provided with a curved chute; the driving motor is fixed on the supporting plate; one end of the rotating rod is fixed on an output shaft of the driving motor, and the other end of the rotating rod is connected with a sliding block; and the bundling device bracket is connected with the sliding block and is used for installing the bundling gun. The bundling mechanism further comprises a control cabinet and a six-axis mechanical arm, wherein the driving motor and the six-axis mechanical arm are electrically connected with the control cabinet, and the bundling end of the reinforcing steel bar is fixed on the six-axis mechanical arm. The invention utilizes the driving motor to control the bundling gun to perform bundling, reduces the complexity of the movement track when the six-axis mechanical arm moves to the bundling point, and overcomes the problem that the six-axis mechanical arm may generate singular postures.
Description
Technical Field
The invention relates to the technical field of reinforcing steel bar binding devices, in particular to a binding mechanism and a binding method.
Background
In the steel bar bundling operation, the steel bar net surface has complex structure, various steel bar nodes and complex bundling process, so that the steel bar bundling operation has heavy tasks, and the traditional manual bundling has various problems of high labor cost, low working efficiency, poor bundling quality, low operation safety coefficient and the like. With the rise of intelligent construction, intelligent robots are gradually used in China to replace manual construction operation, so that labor cost is reduced to a great extent, the problem of low bundling efficiency is solved, and meanwhile operation construction is safer.
At present, six-axis mechanical arms of a bundling gun are mounted at the tail ends, and most of reinforcing steel bar bundling work can be well completed by the mechanical arms, but due to the fact that the mechanical arms have singular postures and the moving track is too complex in working, bundling of part of reinforcing steel bar nodes cannot be completed, and the overall operation effect is unsatisfactory.
Therefore, there is an urgent need in the market for a strapping mechanism and strapping method that solve the above-mentioned problems.
Disclosure of Invention
The invention aims to provide a bundling mechanism and a bundling method, which are used for solving the technical problems in the prior art, and the bundling gun is driven to carry out bundling operation by utilizing the tail end of the steel bar bundling, so that the complexity of a movement track when a six-axis mechanical arm moves to a bundling point is reduced, and the problem that the six-axis mechanical arm possibly generates a singular gesture is solved.
In order to achieve the above object, the present invention provides the following solutions:
the invention discloses a rebar tying end, which comprises:
a terminal stent;
the support plate is fixed on the tail end support, and a curved chute is arranged on the support plate;
the driving motor is fixed on the supporting plate;
one end of the rotating rod is fixed on an output shaft of the driving motor, the other end of the rotating rod is connected with a sliding block, and the sliding block can slide in the curved sliding groove;
the bundling device support is connected with the sliding block and used for installing the bundling gun.
Preferably, a guide post is arranged at the lower end of the bundling device bracket, a guide groove is arranged on the tail end bracket, and the guide post can slide in the guide groove.
Preferably, a bar-shaped chute is arranged on the rotary rod, one end of the sliding block can slide in the curved chute, and the other end of the sliding block can slide in the bar-shaped chute.
Preferably, a damping block is fixed on one surface of the sliding block, which is close to the binding device bracket, and a plurality of damping springs are fixed on the damping block;
the damping springs are provided with four damping springs, the first ends of the four damping springs are fixed on the damping blocks, and the second ends of the damping springs are fixed on the bundling device support.
Preferably, a connecting flange is fixed on the end bracket.
Preferably, a visual module and a light supplementing module are arranged on the tail end support, the visual module is an industrial camera, and the light supplementing module is a light supplementing lamp.
Preferably, the support plate is fixed with a fixed block and an electric rope winder, one end of a rope in the electric rope winder is fixed on the fixed block, one side of the sliding block is provided with a pulley, and the rope in the electric rope winder bypasses the pulley.
The invention also discloses a bundling mechanism which comprises the steel bar bundling end, a control cabinet and a six-axis mechanical arm, wherein the driving motor and the six-axis mechanical arm are electrically connected with the control cabinet, and the steel bar bundling end is fixed on the six-axis mechanical arm.
The invention also discloses a bundling method of the bundling mechanism, which comprises the following steps:
s1, controlling a six-axis mechanical arm to move to an identification position of a reinforcing mesh surface;
s2, searching a binding station, and moving the binding tail end of the steel bar to the binding station by using a six-axis mechanical arm;
s3, controlling the steel bar bundling end to rotate by a first angle through a six-axis mechanical arm, and starting a driving motor to drive a bundling gun to bundle a first steel bar node;
s4, after the first steel bar node finishes the binding operation, the six-axis mechanical arm is used for controlling the anticlockwise or clockwise rotation of the steel bar binding tail end by a second angle, and the driving motor is started to drive the binding gun to carry out the binding operation on the second steel bar node;
s5, after the second steel bar node finishes the binding operation, the six-axis mechanical arm is used for controlling the anticlockwise or clockwise rotation of the steel bar binding tail end by a third angle, and the driving motor is started to drive the binding gun to carry out the binding operation on the third steel bar node;
s6, after the third steel bar node finishes the binding operation, the six-axis mechanical arm is used for controlling the anticlockwise or clockwise rotation of the steel bar binding tail end by a fourth angle, and the driving motor is started to drive the binding gun to carry out the binding operation on the fourth steel bar node;
and S7, after the four steel bar nodes finish the bundling operation, controlling the six-axis mechanical arm to move to the identification position of the steel bar net surface, and then repeating the operation processes of the steps S2-S6 again until all the bundling operations are finished.
Preferably, the strapping station in step S2 is at the intersection of the diagonals of the four rebar nodes.
Compared with the prior art, the invention has the following technical effects:
according to the invention, the driving motor is used for driving the rotary rod to rotate so as to drive the sliding block to slide in the curved sliding groove, and then the sliding block is used for driving the bundling device support and the bundling gun fixed on the bundling device support to move, so that the bundling effect of the bundling gun is facilitated, the six-axis mechanical arm is not required to drive the bundling gun to move finely, the movement complexity of the six-axis mechanical arm is reduced to a great extent, and the problem that the conventional six-axis mechanical arm cannot complete tasks in a singular position is effectively solved. The device has the advantages of reasonable integral structure, simple structure, convenient use, flexible movement, convenient maintenance and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments 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 other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic front view of a binding end of a reinforcement bar according to a first embodiment;
fig. 2 is a schematic view showing a back structure of a binding end of a reinforcing bar according to the first embodiment;
fig. 3 is a schematic structural view of a strapping mechanism including a rebar tying tip in the second embodiment;
in the figure: 1-terminal scaffold; 101-end connection plates; 102-a guide groove; 2-connecting flanges; 3-supporting plates; 301-a curved chute; 4-rotating the rod; 5-a damping block; 6-a damping spring; 7-a strapping device holder; 701-rotating the cover plate; 702-a guide post; 8-an industrial camera; 9-a light supplementing lamp; 10-bundling gun; 11-a slider; 12-driving a motor; 13-an electric rope winder; 14-fixing blocks; 100-bundling the ends of the steel bars; 200-six-axis mechanical arm; 300-a control cabinet; 400-reinforcing steel bar net surface.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a bundling mechanism and a bundling method, which are used for solving the technical problems in the prior art, and the bundling gun is driven to carry out bundling operation by utilizing the tail end of the steel bar bundling, so that the complexity of a movement track when a six-axis mechanical arm moves to a bundling point is reduced, and the problem that the six-axis mechanical arm possibly generates a singular gesture is solved.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Embodiment 1,
As shown in fig. 1-2, the present embodiment provides a rebar tying tip 100 comprising:
the upper right surface of the end bracket 1 in fig. 1 is fixed with an end connecting plate 101;
the support plate 3, the support plate 3 is fixed on the terminal bracket 1, specifically, six corresponding connecting holes are formed in the support plate 3 and the terminal connecting plate 101, the support plate 3 and the terminal connecting plate 101 are mutually fixed through six connecting bolts, a curved sliding groove 301 is formed in the support plate 3, as shown in fig. 2, the curved sliding groove 301 comprises an arc-shaped section and a straight-line section, and the lower end of the straight-line section is connected with the upper end of the arc-shaped section;
a driving motor 12, the driving motor 12 being fixed to one face of the support plate 3;
the rotating rod 4, one end of the rotating rod 4 is fixed on the output shaft of the driving motor 12, the rotating rod 4 and the driving motor 12 are respectively arranged on two sides of the supporting plate 3, the other end of the rotating rod 4 is connected with the sliding block 11, and the sliding block 11 can slide in the curved sliding groove 301 under the driving of the rotating rod 4;
the strapping device holder 7, the strapping device holder 7 is connected with the slider 11, and the strapping device holder 7 is used for mounting the strapping gun 10.
In actual use, taking the direction of fig. 1 as an example, when the end 100 of binding the reinforcing steel bars reaches the binding station, the driving motor 12 is only required to be started when the binding gun 10 is required to bind the reinforcing steel bar nodes, the driving motor 12 drives the rotating rod 4 to rotate, and the rotating rod 4 drives the sliding block 11 to slide in the curved sliding groove 301, so that the binding gun 10 is driven to move to the upper left in fig. 1, and the binding gun 10 is assisted to complete the binding work. Therefore, the auxiliary participation of the six-axis mechanical arm 200 can be avoided, the operation complexity of the six-axis mechanical arm 200 is reduced, and the problem of variation of the gesture can be avoided. The reason for this is: the main reason why the existing six-axis mechanical arm 200 generates the singular gesture is that the end of the six-axis mechanical arm has 3 rotational degrees of freedom, but the embodiment is equivalent to removing two redundant degrees of freedom, so as to avoid the possibility of generating the singular gesture.
In this embodiment, the lower end of the strapping device holder 7 is provided with a guide post 702, the end holder 1 is provided with a guide groove 102, and the guide post 702 can slide in the guide groove 102. Specifically, the guide posts 702 and the guide slots 102 are two, the distance between the two guide slots 102 is the same as the distance between the two guide posts 702, the two guide posts 702 are respectively inserted into the two guide slots 102, and the problem that the strapping gun 10 is deviated in the moving process can be prevented by utilizing the matching action between the guide posts 702 and the guide slots 102.
In this embodiment, the rotating rod 4 is provided with a bar-shaped chute, one end of the sliding block 11 can slide in the curved chute 301, and the other end of the sliding block 11 can slide in the bar-shaped chute. In actual operation, the sliding block 11 moves along the direction of the curved sliding groove 301, and when the sliding block 11 slides in the curved section, the sliding block 11 is positioned at one end of the rotating rod 4 and moves in a circular arc under the drive of the driving motor 12; when the slider 11 moves to the straight line segment, the rotary rod 4 continues to perform rotary motion, and the slider 11 can slide along the strip-shaped sliding groove appropriately so as to enable the slider to move up and down along the straight line end. It should be noted that, during actual operation, a worker may adjust the displacement height of the slider 11 by driving the motor 12 according to the size of the reinforcing mesh 400, and may also change the size and shape of the curved chute 301 according to actual needs.
In the embodiment, a damping block 5 is fixed on one surface of the sliding block 11, which is close to the bundling device bracket 7, and a plurality of damping springs 6 are fixed on the damping block 5;
specifically, the damping springs 6 are provided with four, the first ends of the four damping springs 6 are fixed on the damping block 5, and the second ends of the damping springs 6 are fixed on the side of the strapping device bracket 7 away from the strapping gun 10. The purpose of this arrangement is that when the binding gun 10 contacts the steel bar and is impacted, the generated force can be transmitted to the sliding block 11 through the binding device bracket 7, the sliding block 11 is easy to break or damage, the impact force can be effectively relieved by the damping spring 6, and therefore the sliding block 11 can be effectively prevented from being damaged.
In this embodiment, the end bracket 1 is fixed with a connecting flange 2, and the connecting flange 2 can be fixed with the six-axis robot by screws.
In this embodiment, a visual module and a light supplementing module are disposed on the end bracket 1, and the visual module and the light supplementing module are electrically connected with the control cabinet 300. The vision module is an industrial camera 8, and the industrial camera 8 is used for acquiring information of the steel bar nodes and transmitting the information to the control cabinet 300. The light supplementing module is a light supplementing lamp 9, and the light supplementing lamp 9 provides a light source for the industrial camera 8, so that the industrial camera 8 can acquire clear images conveniently.
In this embodiment, a fixed block 14 and an electric rope winder 13 are fixed on the supporting plate 3, the fixed block 14 and the electric rope winder 13 are respectively located at two sides of the upper end of the sliding block 11, one end of a rope in the electric rope winder 13 is fixed on the fixed block 14, a pulley is arranged on one side of the sliding block 11 close to the driving motor 12, and the rope in the electric rope winder 13 bypasses the pulley. This structure is assist mechanism, and when in use, when the slider 11 is required to move upwards along the curved chute 301, the slider can be driven to move by the driving motor 12, and meanwhile, the electric rope winder 13 can be controlled to retract the rope, so that the burden of the driving motor 12 is reduced, and the service life of the driving motor 12 is prolonged.
In this embodiment, a rotary cover plate 701 is hinged to one side of the bundling device bracket 7, the position of the rotary cover plate 701 corresponds to the position of the wire exchanging port of the bundling gun 10, and the rotary cover plate 701 is fixedly connected with the wire exchanging port of the bundling gun 10 through a screw. When the binding wires in the binding gun 10 are used up, the screws on the rotary cover plate 701 can be unscrewed, the rotary cover plate 701 is turned over, the wires can be replaced, after the wire replacement work is completed, the rotary cover plate 701 is closed, and then the screws are screwed.
Embodiment II,
As shown in fig. 3, this embodiment provides a strapping mechanism including the rebar tying tip 100 in the second embodiment, except that:
the automatic steel bar bundling machine further comprises a control cabinet 300 and a six-axis mechanical arm 200, wherein the electric rope winder 13, the visual module, the light supplementing module, the driving motor 12 and the six-axis mechanical arm 200 are electrically connected with the control cabinet 300, the operation of each device is controlled through the control cabinet 300, the steel bar bundling tail end 100 is fixed on the six-axis mechanical arm 200 through the connecting flange 2, and the position of the steel bar bundling tail end 100 can be adjusted through the six-axis mechanical arm 200.
Third embodiment,
The present embodiment provides a bundling method based on the bundling mechanism in the second embodiment, including the steps of:
s1, controlling the six-axis mechanical arm 200 to move to an identification position of the steel bar mesh surface 400, wherein the identification position is a preset position and is positioned in front of the steel bar mesh surface 400, the six-axis mechanical arm 200 is convenient to reach and can facilitate shooting of an industrial camera 8, the steel bar mesh surface 400 is formed by mutually and vertically fixing a plurality of transverse steel bars and a plurality of longitudinal steel bars, the intersection point of one transverse steel bar and one longitudinal steel bar is a steel bar node, and a rectangular area is formed between two adjacent transverse steel bars and two longitudinal steel bars, and the rectangular area in the embodiment is a square area (namely the working area of the strapping gun 10);
s2, after the rebar tying end 100 reaches the identification position, the position information of each rebar node in the rebar net surface 400 is obtained by using the industrial camera 8 and the light supplementing lamp 9 and is transmitted to the control cabinet 300, so that a tying station is conveniently found, the rebar tying end 100 is moved to the tying station by using the six-axis mechanical arm 200, and the tying station is the center position of the square area (namely the working area of the tying gun 10);
s3, controlling the reinforcing steel bar bundling end 100 (namely driving the bundling gun 10) to rotate by a first angle through the six-axis mechanical arm 200, wherein the rectangular area is square, so that the first angle only needs to rotate by 45 degrees, and starting the driving motor 12 to drive the bundling gun 10 to bundle a first reinforcing steel bar node;
s4, after the binding operation of the first steel bar node is finished, the six-axis mechanical arm 200 is used for controlling the steel bar binding tail end 100 to rotate anticlockwise or clockwise by a second angle, and as the working area of the binding gun 10 is square, the second steel bar node can be reached only by rotating the binding gun 10 by 90 degrees, and the driving motor 12 is started to drive the binding gun 10 to carry out the binding operation on the second steel bar node;
s5, after the second steel bar node finishes the binding operation, the six-axis mechanical arm 200 is used for controlling the steel bar binding end 100 to rotate anticlockwise or clockwise by a third angle, the rotation direction of the third angle is the same as that of the step S4, and the driving motor 12 is started to drive the binding gun 10 to carry out the binding operation on the third steel bar node;
s6, after the third steel bar node finishes the binding operation, the six-axis mechanical arm 200 is used for controlling the steel bar binding tail end 100 to rotate anticlockwise or clockwise by a fourth angle, the rotation direction of the fourth angle is the same as that of the step S5, and the fourth angle is 90 degrees in the same way, and the driving motor 12 is started to drive the binding gun 10 to carry out the binding operation on the fourth steel bar node, so that all the binding operation of the four steel bar nodes on one binding station can be finished;
and S7, after the four steel bar nodes finish the bundling operation, controlling the six-axis mechanical arm 200 to move to the identification position of the steel bar net surface 400, and repeating the operation processes of the steps S2-S6 again until all the bundling operations are finished.
In this embodiment, the bundling station in step S2 is at the intersection of the diagonal lines of the four reinforcing bar nodes, i.e. at the midpoint of the square bundling station. It should be noted that, when the rectangular area is not square or the strapping gun 10 cannot be located at the center of the square area due to special situations, the first angle, the second angle, the third angle, and the fourth angle may be adjusted according to actual situations to ensure that the strapping operation of the strapping gun 10 is successfully completed.
The principles and embodiments of the present invention have been described in this specification with reference to specific examples, the description of which is only for the purpose of aiding in understanding the method of the present invention and its core ideas; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (3)
1. A strapping mechanism, characterized in that: the steel bar binding machine comprises a steel bar binding tail end, a control cabinet and a six-axis mechanical arm, wherein the steel bar binding tail end is fixed on the six-axis mechanical arm;
the rebar tying tip includes:
the tail end bracket is fixedly provided with a connecting flange;
the support plate is fixed on the tail end support, and a curved chute is arranged on the support plate;
the driving motor is fixed on the supporting plate;
one end of the rotating rod is fixed on an output shaft of the driving motor, the other end of the rotating rod is connected with a sliding block, and the sliding block can slide in the curved sliding groove; the rotating rod is provided with a strip-shaped chute, one end of the sliding block can slide in the curved chute, and the other end of the sliding block can slide in the strip-shaped chute;
the bundling device bracket is connected with the sliding block and is used for installing a bundling gun;
the support plate is fixedly provided with a fixed block and an electric rope winder, one end of a rope in the electric rope winder is fixed on the fixed block, one side of the sliding block is provided with a pulley, and the rope in the electric rope winder bypasses the pulley;
the lower end of the bundling device bracket is provided with a guide post, the tail end bracket is provided with a guide groove, and the guide post can slide in the guide groove;
a damping block is fixed on one surface of the sliding block, which is close to the binding device bracket, and a plurality of damping springs are fixed on the damping block;
the damping springs are provided with four, the first ends of the four damping springs are fixed on the damping blocks, and the second ends of the damping springs are fixed on the bundling device bracket;
the tail end support is provided with a vision module and a light supplementing module, the vision module is an industrial camera, and the light supplementing module is a light supplementing lamp;
the driving motor and the six-axis mechanical arm are electrically connected with the control cabinet.
2. A strapping method based on the strapping mechanism of claim 1, comprising the steps of:
s1, controlling a six-axis mechanical arm to move to an identification position of a reinforcing mesh surface;
s2, searching a binding station, and moving the binding tail end of the steel bar to the binding station by using a six-axis mechanical arm;
s3, controlling the steel bar bundling end to rotate by a first angle through a six-axis mechanical arm, and starting a driving motor to drive a bundling gun to bundle a first steel bar node;
s4, after the first steel bar node finishes the binding operation, the six-axis mechanical arm is used for controlling the anticlockwise or clockwise rotation of the steel bar binding tail end by a second angle, and the driving motor is started to drive the binding gun to carry out the binding operation on the second steel bar node;
s5, after the second steel bar node finishes the binding operation, the six-axis mechanical arm is used for controlling the anticlockwise or clockwise rotation of the steel bar binding tail end by a third angle, and the driving motor is started to drive the binding gun to carry out the binding operation on the third steel bar node;
s6, after the third steel bar node finishes the binding operation, the six-axis mechanical arm is used for controlling the anticlockwise or clockwise rotation of the steel bar binding tail end by a fourth angle, and the driving motor is started to drive the binding gun to carry out the binding operation on the fourth steel bar node;
and S7, after the four steel bar nodes finish the bundling operation, controlling the six-axis mechanical arm to move to the identification position of the steel bar net surface, and then repeating the operation processes of the steps S2-S6 again until all the bundling operations are finished.
3. The strapping method of a strapping mechanism of claim 2 wherein: the strapping station in step S2 is at the intersection of the diagonals of the four rebar nodes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211046757.5A CN115262982B (en) | 2022-08-30 | 2022-08-30 | Bundling mechanism and bundling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211046757.5A CN115262982B (en) | 2022-08-30 | 2022-08-30 | Bundling mechanism and bundling method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115262982A CN115262982A (en) | 2022-11-01 |
| CN115262982B true CN115262982B (en) | 2024-02-20 |
Family
ID=83755371
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211046757.5A Active CN115262982B (en) | 2022-08-30 | 2022-08-30 | Bundling mechanism and bundling method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115262982B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212606006U (en) * | 2020-04-27 | 2021-02-26 | 中物智建(武汉)科技有限公司 | Reinforcing mesh bundling robot |
| CN212897650U (en) * | 2020-06-15 | 2021-04-06 | 江苏远荣智能装备有限公司 | Steel bar binding machine suitable for automatic equipment installation |
| CN113264212A (en) * | 2021-05-08 | 2021-08-17 | 济客筑科技(太仓)有限公司 | Dot-matrix steel bar binding system of multi-axis robot and working method thereof |
| CN113733341A (en) * | 2021-09-10 | 2021-12-03 | 北京好运达智创科技有限公司 | Automatic binding system for reinforcing steel bars |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012095287A1 (en) * | 2011-01-11 | 2012-07-19 | Sms Meer Gmbh | Strapping head for steel-wire coil or steel-bar bundle |
-
2022
- 2022-08-30 CN CN202211046757.5A patent/CN115262982B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212606006U (en) * | 2020-04-27 | 2021-02-26 | 中物智建(武汉)科技有限公司 | Reinforcing mesh bundling robot |
| CN212897650U (en) * | 2020-06-15 | 2021-04-06 | 江苏远荣智能装备有限公司 | Steel bar binding machine suitable for automatic equipment installation |
| CN113264212A (en) * | 2021-05-08 | 2021-08-17 | 济客筑科技(太仓)有限公司 | Dot-matrix steel bar binding system of multi-axis robot and working method thereof |
| CN113733341A (en) * | 2021-09-10 | 2021-12-03 | 北京好运达智创科技有限公司 | Automatic binding system for reinforcing steel bars |
Non-Patent Citations (1)
| Title |
|---|
| 张健荣，竺伯铭等.机电产品学（机械产品）.物资出版社,1984,(第一版),第261-262页. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115262982A (en) | 2022-11-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110815544A (en) | Precast concrete component reinforcing bar binding machine | |
| CN211333888U (en) | Precast concrete component reinforcing bar binding machine | |
| CN101249542A (en) | Multiple angle fittings reinforced bar bender | |
| CN201175757Y (en) | Multi-elbow angle bending machine | |
| CN115262982B (en) | Bundling mechanism and bundling method | |
| CN110328676A (en) | A kind of full-automatic crusing robot of high-voltage line | |
| CN113565011B (en) | Auxiliary positioning device for installation of large-span prefabricated high-speed rail bridge prefabricated pier column | |
| CN112658555A (en) | Welding manipulator | |
| CN111659834A (en) | Binding apparatus of building heel post reinforcing bar cage | |
| CN210908615U (en) | Full-automatic core welding machine | |
| CN218088646U (en) | Hoisting accessory is used in concrete pole production | |
| CN109659858A (en) | A kind of inspection robot for high-voltage line obstacle-detouring method | |
| CN114552486A (en) | Distribution network line spacer installation robot | |
| CN108436884B (en) | One-key restoration control method and system for live-line maintenance robot | |
| CN214720104U (en) | Bending equipment | |
| CN114713684B (en) | Screw-thread steel multi-angle bender | |
| CN219237513U (en) | Manipulator for packaging | |
| CN113020767B (en) | Manipulator for welding steel reinforcement framework and use method thereof | |
| CN212048159U (en) | Automatic packaging equipment for producing concrete solid bricks | |
| CN114700438B (en) | Steel reinforcement cage subassembly of buckling | |
| CN108376897A (en) | Automatic wire former | |
| CN217050572U (en) | Intelligent device based on industrial robot material handling | |
| CN217529076U (en) | Reinforcing bar device of arranging | |
| CN217747671U (en) | Spraying clamp for flexible crane fastener | |
| CN214919412U (en) | Plate folding device for processing color steel plate |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |