CN117661850A - A new type of automatic steel bar binding robot - Google Patents
A new type of automatic steel bar binding robot Download PDFInfo
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- CN117661850A CN117661850A CN202211086477.7A CN202211086477A CN117661850A CN 117661850 A CN117661850 A CN 117661850A CN 202211086477 A CN202211086477 A CN 202211086477A CN 117661850 A CN117661850 A CN 117661850A
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- traversing
- steel bar
- strapping
- lifting
- frame
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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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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Basic Packing Technique (AREA)
Abstract
一种新型自动钢筋捆扎机器人涉及建筑施工机械，尤其是建筑工地上使用的钢筋捆扎装置。水泥构件内往往加入钢筋并将钢筋铺设成网状，施工时要把钢筋捆扎好方可进行水泥浇筑。现有一种行走式钢筋捆扎机器人，通过曲柄结构连着行走式钢筋捆扎机器人的行走，再用图像拍摄装置确定钢筋捆扎点的具体位置，然后再对钢筋自动捆扎，由于曲柄行走装置本身无法精准调控行走的距离，捆扎装置的钳口很难对准钢筋网上的捆扎点，因此在实际使用时常常报错影响正常工作。本发明提供一种由移动捆扎机构和横移机构组成的新型自动钢筋捆扎机器人，其移动捆扎机构可精准移动。机器人可快速将捆扎装置的钳口对准钢筋网上的捆扎点，大大提高机器人的工作效率和可靠性。
A new type of automatic steel bar binding robot relates to building construction machinery, especially steel bar binding devices used on construction sites. Steel bars are often added to cement components and laid in a mesh shape. During construction, the steel bars must be tied up before cement pouring. There is an existing walking steel bar binding robot, which is connected to the walking of the walking steel bar binding robot through a crank structure, and then uses an image capturing device to determine the specific location of the steel bar binding points, and then automatically ties the steel bars. Since the crank walking device itself cannot be accurately controlled Due to the walking distance, it is difficult for the jaws of the strapping device to align with the strapping points on the steel mesh, so errors are often reported during actual use and affect normal work. The invention provides a new type of automatic steel bar strapping robot composed of a mobile strapping mechanism and a traverse mechanism, and the mobile strapping mechanism can move accurately. The robot can quickly align the jaws of the strapping device with the strapping points on the steel mesh, greatly improving the robot's work efficiency and reliability.
Description
Technical Field
A novel automatic reinforcing steel bar binding robot relates to construction machinery, in particular to a reinforcing steel bar binding device used on a construction site.
Background
In the construction industry, many constructions are poured by cement, in order to improve the strength performance of cement components, steel bars are often added into the cement components and are paved into a net shape, and in order to ensure that the positions of the steel bars are fixed, the staggered steel bar crossing points are also connected, the staggered steel bars are tied together by iron wires, that is, the steel bars are usually tied up according to the construction requirement during construction, and the cement pouring can be performed.
The existing walking type reinforcing steel bar binding robot drives the walking type reinforcing steel bar binding robot to walk through a crank structure and a walking part of the walking type reinforcing steel bar binding robot, and then the specific position of a reinforcing steel bar binding point is determined by an image shooting device to automatically bind reinforcing steel bars. The crank rotates a circle and the walking type reinforcing steel bar binding robot moves forward for a distance, the moving distance or step of each time cannot be adjusted at will by the determination of the crank size, and the jaw of the binding device is difficult to align with the binding point on the reinforcing steel bar net because the walking distance cannot be regulated and controlled accurately by the crank walking device, so that the position of the crossing node of the inaccurate reinforcing steel bar is often found when in actual use, and the normal work of the reinforcing steel bar binding robot is often influenced by error reporting.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a novel automatic steel bar binding robot which is composed of a movable binding mechanism and a transverse moving mechanism.
The technical scheme adopted for solving the technical problems is as follows: the utility model provides a novel automatic reinforcing bar binding robot, includes and comprises connecting device, movable frame, mobile device, the removal binding mechanism and sideslip mechanism that the location sensor constitutes, its characterized in that: the binding device is connected with the movable binding mechanism through the connecting device, the movable binding mechanism accurately moves and positions along the upper layer of steel bars on the steel bar net, the binding device is carried for binding the steel bars, and the movable binding mechanism can be accurately transversely moved from one steel bar to the other steel bar by the transverse moving mechanism; the transverse moving mechanism consists of a transverse moving frame, a transverse moving linear sliding table, a lifting linear sliding table, supporting rollers and V-shaped wheels, wherein a transverse moving guide rail is fixed on the transverse moving frame, the transverse moving sliding block is fixed with the lifting guide rail, the lifting sliding block is fixed with the movable binding mechanism, and the supporting rollers and the V-shaped wheels are arranged below the transverse moving frame; the transverse moving mechanism consists of a transverse moving frame, a transverse moving linear sliding table, a lifting linear sliding table, a supporting rod and an anti-skid belt, wherein a transverse moving guide rail is fixed on the transverse moving frame, the transverse moving sliding block is fixed with the lifting guide rail, the lifting sliding block is fixed with the movable binding mechanism, and the supporting rod and the anti-skid belt are arranged below the transverse moving frame; the transverse moving mechanism consists of a transverse moving frame, a lifting linear sliding table, a transverse moving motor, a transverse moving synchronous wheel and a transverse moving synchronous belt, wherein a lifting guide rail is fixed on the transverse moving frame, and a lifting sliding block is fixed with the movable binding mechanism.
The novel automatic steel bar bundling robot has the advantages that the moving device rolls on an upper layer of steel bars, the moving distance of the novel automatic steel bar bundling robot can be accurately controlled by the moving motor, the V-shaped wheel is ridden on the upper layer of steel bars, so that the position of an intersection point of the upper layer of steel bars and the lower layer of steel bars can be determined as long as the position of the lower layer of steel bars is detected by the locating sensor, the bundling device reaches the upper part of the intersection point of the steel bars, the electric push rod is arranged on the connecting device, the bundling device can move downwards to enable the jaw of the bundling device to be aligned with the intersection point of the steel bars, and the steel bars of the bundling device are conveniently bundled.
Drawings
FIG. 1 is a schematic diagram of an embodiment 1 of a novel automatic rebar tying robot;
FIG. 2 is a schematic diagram of a mobile strapping mechanism;
FIG. 3 is a schematic diagram of a driving portion of the mobile device;
FIG. 4 is a schematic view of a traversing mechanism according to embodiment 1;
fig. 5 is a schematic diagram of an embodiment 2 of a novel automatic rebar tying robot;
FIG. 6 is a schematic view of a traversing mechanism according to embodiment 2;
fig. 7 is a schematic diagram of a novel automated rebar tying robot embodiment 3;
fig. 8 is a schematic diagram of a traversing mechanism according to embodiment 3.
Detailed Description
The following describes the technical scheme in the embodiment of the invention in detail with reference to the accompanying drawings
Embodiment 1 fig. 1 is a schematic view of embodiment 1 of a novel automatic rebar tying robot. The novel automatic rebar tying robot in the embodiment is composed of a movable tying mechanism 10 shown in fig. 2 and a traversing mechanism 20 shown in fig. 4.
As shown in fig. 2, the movable strapping mechanism 10 comprises a connecting device 12, a movable frame 13, a movable device 14 and a positioning sensor 19, wherein the strapping device 11 is an electric steel bar strapping machine in the prior art, the connecting device 12 is connected with the movable strapping mechanism through the connecting device 12, a sliding seat and a miniature electric push rod are arranged on the connecting device 12, the sliding seat is fixed on the movable frame 13, the miniature electric push rod can move up and down on the movable frame 13 with the strapping device 11, a lifting sliding block 15 on a lifting linear sliding table is fixed with the movable frame 13, two groups of supporting rollers 18 are arranged on a driven part of the movable device 14 directly below the movable frame 13, the driving part of the movable device 14 is composed of a movable motor, a movable synchronous belt, a movable synchronous wheel and a V-shaped wheel 17, the movable motor drives the V-shaped wheel 17 to roll on an upper layer steel bar 41 through the synchronous wheel and the synchronous belt, and the moving distance of the movable strapping mechanism 10 can be precisely controlled by the movable motor. The support roller 18 is supported on the upper layer of rebar 41 to balance the mobile strapping mechanism 10. Since the V-wheel 17 rides on the upper reinforcing bar 41, the locating sensor can quickly determine the position of the crossing point of the upper reinforcing bar 41 and the lower reinforcing bar 42 as long as it detects the position of the lower reinforcing bar 42. The binding device 11 reaches the upper part of the steel bar crossing point, and the electric push rod on the connecting device 12 can enable the binding device to move downwards so that the jaw center of the binding device 11 is closer to the steel bar crossing point, thereby being convenient for binding the steel bars of the binding device 11.
The traverse mechanism 20 in this embodiment is composed of a traverse frame 21, a traverse linear slide, a lifting linear slide, a supporting roller 18, and a V-wheel 17, as shown in fig. 4. The linear sliding table is also called an electric sliding table and a linear module, is formed by a motor, a transmission mechanism (the transmission mechanism is usually composed of a screw rod, a screw nut, a gear, a rack or a synchronous belt and a synchronous wheel), a guide rail and a sliding block, and the motor of the linear sliding table can drive the sliding block to do linear motion on the guide rail. The traversing linear sliding table comprises a traversing guide rail 22 and a traversing slide block 23, and the lifting linear sliding table comprises a lifting guide rail 16 and a lifting slide block 15. The transverse moving guide rail 22 is fixed on the transverse moving frame 21, the transverse moving slide block 23 is fixed with the lifting guide rail 16, the lifting slide block 15 is fixed with the movable binding mechanism 10, and the supporting roller 18 and the V-shaped wheel 17 are arranged below the transverse moving frame 21.
In the initial state of the embodiment, as shown in fig. 1, the V-shaped wheel 17 on the moving frame 13 rides on the upper layer of reinforcing steel bars 41, and the supporting roller 18 supports on the upper layer of reinforcing steel bars 41 to keep the moving strapping mechanism 10 balanced. The V-shaped wheels 17 on the traversing frame 21 also ride on the upper layer of reinforcing bars 41, and the supporting rollers 18 on the traversing frame 21 support the upper layer of reinforcing bars 41 to maintain balance of the traversing mechanism 20.
When the movable binding mechanism 10 moves transversely, the lifting slide block 15 moves upwards, the transverse moving frame 21 keeps motionless on the upper layer steel bar 41, the movable binding mechanism 10 is lifted, after the V-shaped wheel 17 on the movable binding mechanism 10 is thoroughly separated from the upper layer steel bar 41, the transverse moving slide block 23 moves transversely with the movable binding mechanism 10, when the V-shaped wheel 17 on the binding mechanism 10 (through a positioning sensor) is aligned with the other upper layer steel bar 41, the lifting slide block 15 moves downwards to place the movable binding mechanism 10 on the upper layer steel bar 41, and at the moment, the movable binding mechanism 10 moves transversely from the original upper layer steel bar 41 to the upper surface of the other upper layer steel bar 41.
The movable strapping mechanism 10 can work, the movable strapping mechanism 10 moves along the trend of the upper layer of steel bars 41, and the locating sensor searches the position of the lower layer of steel bars 42 to find the intersection node of the two steel bars to strap the steel bars.
Embodiment 2 fig. 5 is a schematic diagram of embodiment 2 of a novel automatic rebar tying robot. The novel automatic rebar tying robot in the embodiment is composed of a movable tying mechanism 10 shown in fig. 2 and a traversing mechanism 20 shown in fig. 6.
The movable strapping mechanism 10 can be accurately moved and positioned along the reinforcing steel bars on the reinforcing steel bar net, and the strapping device 11 is carried to perform the reinforcing steel bar strapping work.
The traverse mechanism 20 in this embodiment is composed of a traverse frame 21, a traverse linear slide, a lifting linear slide, a support bar 26, and an anti-slip belt 27, as shown in fig. 6. The transverse linear sliding table consists of a transverse guide rail 22 and a transverse sliding block 23, and the lifting linear sliding table consists of a lifting guide rail 16 and a lifting sliding block 15. The traversing rail 22 is fixed on the traversing frame 21, and the traversing slider 23 is fixed with the lifting rail 16. The lifting slide block 15 is fixed with the movable binding mechanism 10, and a supporting rod 26 and a non-skid belt 27 are arranged below the traversing frame 21.
The V-wheel 17 of the moving frame 13 rides on the upper layer reinforcing bar 41 in the initial state, and the supporting roller 18 is supported on the upper layer reinforcing bar 41 to keep the moving strapping mechanism 10 balanced. The support bar 26 and the anti-slip belt 27 are spaced apart from the surface of the upper layer reinforcing bar 41.
In the traversing process, the lifting slide block 15 moves upward along the lifting guide rail 16, and the traversing frame 21 moves downward to be implemented on the upper layer steel bar 41. The lifting slide 15 continues to move upward, the traversing frame 21 is kept stationary on the upper layer reinforcing bar 41, and the movable binding mechanism 10 is lifted. After the movable binding mechanism 10 is lifted, the V-shaped wheels 17 on the movable binding mechanism 10 are thoroughly separated from the upper layer steel bars 41, the transverse sliding blocks 23 carry the movable binding mechanism 10 to transversely move, after the positioning sensor detects the next upper layer steel bar 41 to be bound, the V-shaped wheels 17 on the binding mechanism 10 are aligned, the lifting sliding blocks 15 move downwards to place the movable binding mechanism 10 on the upper layer steel bars 41, and at the moment, the movable binding mechanism 10 accurately transversely moves from the original upper layer steel bars 41 to the upper layer steel bars 41.
The lifting slide block 15 continues to move downwards, so that the support rod 26 and the anti-slip belt 27 are separated from the upper layer of steel bars 41 by a certain distance, the moving bundling mechanism 10 can move along the trend of the upper layer of steel bars 41, find the lower layer of steel bars 42, and bundle the steel bars at the intersection node of the two steel bars.
Embodiment 3 fig. 7 is a schematic diagram of embodiment 3 of a novel automatic rebar tying robot.
A novel automatic reinforcing bar binding robot is composed of a movable binding mechanism 10 shown in figure 2 and a traversing mechanism 20 shown in figure 6.
The movable strapping mechanism 10 can be accurately moved and positioned along the reinforcing steel bars on the reinforcing steel bar net, and the strapping device 11 is carried to perform the reinforcing steel bar strapping work.
As shown in fig. 8, the traversing mechanism 20 in the present embodiment is composed of a lifting linear sliding table composed of a traversing frame 21, a lifting rail 16 and a lifting slider 15, a traversing motor 28, traversing synchronizing wheels 29 and traversing synchronizing belts 30. The lifting rail 16 is fixed to the traversing frame 21, and the lifting slider 15 is fixed to the movable strapping mechanism 10. The traversing motor 28, traversing synchronizing wheel 29 and traversing synchronizing belt 30 form a traversing transmission, and the traversing synchronizing belt 30 can travel on the reinforcing bar net as a travelling track.
In the initial state, the V-shaped wheel 17 on the moving frame 13 rides on the upper layer steel bar 41, and the supporting roller 18 supports on the upper layer steel bar 41 to keep the moving binding mechanism 10 balanced, and the traversing synchronous belt 30 is at a certain distance from the surface of the upper layer steel bar 41.
The lifting slider 15 moves upward along the lifting rail 16, and the traversing frame 21 moves downward to fall on the upper layer reinforcing bar 41.
The lifting slide block 15 continues to ascend, the traversing frame 21 keeps still on the reinforcing steel bars, the movable binding mechanism 10 is lifted, and the V-shaped wheels 17 on the movable binding mechanism 10 are thoroughly separated from the upper reinforcing steel bars 41. The traversing transmission device composed of the traversing motor 28, the traversing synchronizing wheel 29 and the traversing synchronizing belt 30 carries the whole traversing of the automatic reinforcing steel bar binding robot.
After the positioning sensor detects the next upper layer of steel bars 41 to be bound, the lifting slide block 15 moves downwards to put the movable binding mechanism 10 down, the lifting slide block 15 continues to move downwards, and the traversing mechanism 20 is lifted up to separate the traversing synchronous belt 30 from the steel bars. At this point the moving strapping mechanism 10 has been moved from the original bar to another bar in a precise lateral motion to allow walking and strapping operations to be performed.
The foregoing is merely illustrative of the preferred embodiments of the invention, and it is noted that equivalents may be resorted to, falling within the scope of the invention, as they are produced by recombination, reconstruction and modification, based on the examples of the invention, using the description of the invention and the contents of the drawings, without departing from the principles of the invention.
Claims (4)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211086477.7A CN117661850A (en) | 2022-08-28 | 2022-08-28 | A new type of automatic steel bar binding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211086477.7A CN117661850A (en) | 2022-08-28 | 2022-08-28 | A new type of automatic steel bar binding robot |
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| Publication Number | Publication Date |
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| CN117661850A true CN117661850A (en) | 2024-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211086477.7A Pending CN117661850A (en) | 2022-08-28 | 2022-08-28 | A new type of automatic steel bar binding robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2025214175A1 (en) * | 2024-04-12 | 2025-10-16 | 香港智能建造研发中心 | Rebar tying robot capable of automatic track switching |
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2022
- 2022-08-28 CN CN202211086477.7A patent/CN117661850A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2025214175A1 (en) * | 2024-04-12 | 2025-10-16 | 香港智能建造研发中心 | Rebar tying robot capable of automatic track switching |
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Application publication date: 20240308 |