CN211517515U - Tail end actuating mechanism and longitudinal bar conveying robot - Google Patents

Abstract

The utility model relates to a steel reinforcement cage makes technical field, provides an end actuating mechanism and indulges muscle conveying robot. The tail end actuating mechanism is used for pressing from both sides and gets and indulge the muscle and can make and indulge the muscle and pass at least one stirrup, including the action wheel, be used for driving the action wheel and do rotary motion's initiative drive assembly around first axis, with the action wheel about counterpoint the main pinch roller that sets up and be used for driving the main drive assembly that the relative action wheel of main pinch roller reciprocated, the muscle can be indulged in the centre gripping jointly to the outer wheel face of action wheel and the foreign steamer face of main pinch roller, the action wheel can drive under the drive of initiative drive assembly and indulge the muscle and remove left or right, and main pinch roller can be rotary motion around the second axis under the drive of indulging the muscle, first axis and. The tail end executing mechanism not only can realize the clamping operation of the longitudinal bars, but also can enable the longitudinal bars to rapidly and stably pass through at least one stirrup to realize the operation of penetrating the longitudinal bars, and can improve the manufacturing efficiency of the reinforcement cage to a greater extent.

Description

Tail end actuating mechanism and longitudinal bar conveying robot

Technical Field

The utility model relates to a steel reinforcement cage makes technical field, especially relates to an end actuating mechanism and indulges muscle conveying robot.

Background

Traditionally, the construction of the existing reinforcement cage needs to be completed manually, the required stirrups, longitudinal reinforcements and other reinforcements are taken and transferred to proper positions manually, the longitudinal reinforcements sequentially penetrate through the stirrups, and then the position relation between the longitudinal reinforcements and the stirrups is kept by hands and binding operation is carried out, so that the required reinforcement cage is constructed. The process operation of penetrating the longitudinal bars is particularly difficult and tedious, so that the manufacturing efficiency of the reinforcement cage is low.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an end actuating mechanism aims at solving and wears the process of indulging the muscle among the prior art and needs manual operation, causes the lower problem of manufacturing efficiency of steel reinforcement cage.

In order to achieve the above object, the utility model adopts the following technical scheme: the utility model provides an end actuating mechanism for press from both sides and get and indulge the muscle, and can make it passes at least one stirrup in proper order to indulge the muscle about the orientation, including at least one action wheel, at least one be used for the drive the action wheel is rotary motion's initiative drive assembly, at least one and the action wheel is counterpointed from top to bottom and is set up and at least one is used for the drive the main pinch roller is relative the main drive assembly that presses that the action wheel reciprocated, the outer round of face of action wheel and the outer round of face of main pinch roller can be used for the centre gripping jointly indulge the muscle, the action wheel is in can drive under the drive of initiative drive assembly indulge the muscle and remove left or right, just main pinch roller is in can be rotary motion around the second axis under the drive of indulging the muscle, first axis with the equal relative left right.

In one embodiment, the main pressing driving assembly includes a main pressing driver, a main pressing slide rail extending in the up-down direction and guiding the movement of the main pressing wheel, and a main pressing slider connected to the main pressing wheel and driving the main pressing wheel to reciprocate along the main pressing slide rail under the driving of the main pressing driver.

In one embodiment, the two main pressure sliding rails are arranged at left and right intervals and are used for being in sliding connection and matching with the main pressure sliding block.

In one embodiment, the main pressure driving assembly further comprises a main pressure upper limiting piece connected to the upper end of the main pressure slide rail and a main pressure lower limiting piece connected to the lower end of the main pressure slide rail, and the main pressure upper limiting piece and the main pressure lower limiting piece are jointly used for limiting the movement stroke of the main pressure slide block sliding along the main pressure slide rail.

In one embodiment, the driving wheel has an annular driving limiting groove formed on an outer circumferential surface thereof, the main pressing wheel has an annular main pressing limiting groove formed on an outer circumferential surface thereof, the main pressing limiting groove being opposite to the driving limiting groove, and the driving limiting groove and the main pressing limiting groove are used together for limiting the longitudinal rib to move axially relative to the driving wheel.

In one embodiment, the cross-sectional shape of the groove bottom of the active limiting groove is semicircular, and the cross-sectional shape of the groove bottom of the active limiting groove is semicircular.

In one embodiment, the end executing mechanism further includes at least one driven wheel, at least one driven wheel aligned with the driven wheel in a vertical direction, and at least one driven pressure driving assembly for driving the driven wheel to move up and down relative to the driven wheel, the driven wheel and the driving wheel are arranged in parallel and spaced in a left-right direction, the driven wheel and the driven wheel are used for supporting the longitudinal rib together, and when the longitudinal rib moves left or right, the driven wheel and the driven wheel can rotate around a central axis thereof under the driving of the longitudinal rib.

In one embodiment, the driven wheel is provided with a driven limiting groove which is annularly arranged on the outer circumferential surface of the driven wheel and is opposite to the driving limiting groove, the driven pressing wheel is provided with a driven limiting groove which is annularly arranged on the outer circumferential surface of the driven wheel and is opposite to the driven limiting groove, and the driven limiting groove are used for limiting the longitudinal rib to axially move relative to the driven wheel.

In one embodiment, the cross-sectional shape of the groove bottom of the driven limiting groove is semicircular, and the cross-sectional shape of the groove bottom of the driven limiting groove is semicircular.

In one embodiment, the slave press driving assembly comprises a slave press driver, a slave press sliding rail which is arranged to extend in the up-down direction and used for guiding the motion of the slave press wheel, and a slave press sliding block which is connected with the slave press wheel and used for driving the slave press wheel to reciprocate along the slave press sliding rail under the driving of the slave press driver.

In one embodiment, the number of the slave pressing sliding rails is two, the two slave pressing sliding rails are arranged at left and right intervals and are used for being in sliding connection and matching with the slave pressing sliding block together.

In one embodiment, the slave press driving assembly further comprises a slave upper limit piece connected to the upper end of the slave press sliding rail and a slave lower limit piece connected to the lower end of the slave press sliding rail, and the slave upper limit piece and the slave lower limit piece are jointly used for limiting the movement stroke of the slave press sliding block sliding along the slave press sliding rail.

In one embodiment, the end actuating mechanism further includes a driving shaft connecting component for connecting the driving wheel and the driving component, the driving shaft connecting component includes an edge, a driving rotating shaft sleeve, a driving bearing sleeve, a driving supporting seat and a driving shaft limiting component, wherein the first axis extends to form the driving rotating shaft, the driving rotating shaft sleeve is matched with and used for supporting the driving rotating shaft, the driving bearing sleeve is matched with and used for supporting the driving supporting seat of the driving bearing, the driving supporting seat is limited by the driving shaft limiting component, faces towards the driving supporting seat, a driving shaft sleeve hole is formed in the side face of one side of the driving wheel and used for being matched with the driving bearing sleeve, a hole bottom of the driving shaft sleeve hole is provided with a driving shaft penetrating hole, the driving supporting seat is further provided with a hole wall of the driving shaft sleeve hole and used for being matched with the driving shaft limiting component And a driving shaft limiting groove matched in limiting mode.

In one embodiment, the driving shaft limiting piece comprises a driving shaft limiting body and two driving shaft limiting clamping blocks, the driving shaft limiting body is used for being in limiting fit with the driving shaft limiting groove, the two driving shaft limiting clamping blocks are respectively connected to two ends of the driving shaft limiting body and extend inwards, and the two driving shaft limiting clamping blocks are jointly used for abutting against the driving bearing and limiting the driving bearing to axially move relative to the driving supporting seat.

In one embodiment, the drive shaft-limited body is provided as a split ring.

In one embodiment, the end executing mechanism further includes a main pressure connecting assembly for connecting the main pressure wheel and the main pressure driving assembly, the main pressure connecting assembly includes a main pressure rotating shaft extending along the second axis, a main pressure bearing in sleeve fit with the main pressure rotating shaft and in sleeve fit with the main pressure wheel, and a main pressure shaft limiting member for limiting axial movement of the main pressure bearing relative to the main pressure wheel, the main pressure bearing is used for supporting the main pressure rotating shaft, the main pressure wheel is provided with a main pressure shaft sleeve hole on a side surface of the main pressure driving assembly facing one side of the main pressure shaft driving assembly, and is provided with a main pressure shaft limiting groove in limiting fit with the main pressure shaft limiting member on a hole wall of the main pressure shaft sleeve hole.

In one embodiment, the main pressure shaft limiting piece comprises a main pressure shaft limiting body and two main pressure shaft limiting clamping blocks, wherein the main pressure shaft limiting body is used for limiting and matching with the main pressure shaft limiting groove, the two main pressure shaft limiting clamping blocks are respectively connected to two ends of the main pressure shaft limiting body and extend inwards, and the two main pressure shaft limiting clamping blocks are jointly used for abutting against the main pressure bearing and limiting the main pressure bearing to move axially relative to the main pressure wheel.

In one embodiment, the main pressure shaft limiting body is in a split ring arrangement.

In an embodiment, end actuating mechanism still includes and is used for connecting from the driving wheel with driven drive assembly's driven coupling assembling, driven coupling assembling includes along the driven rotation axis that the second axis extends the setting, with driven rotation axis cup joint the cooperation and with from the driven wheel cup joint the complex driven bearing, and be used for the restriction driven bearing is relative from driven bearing axial displacement's driven axle limit piece, driven bearing is used for supporting driven rotation axis, from offering on one side of it and being used for with driven bearing cup joints the complex driven shaft trepanning, and in offer on the pore wall of driven shaft trepanning be used for with driven shaft limit piece limit complex driven shaft limit groove.

In one embodiment, the driven shaft limiting piece comprises a driven shaft limiting body used for being in limiting fit with the driven shaft limiting groove and two driven shaft limiting blocks which are respectively connected to two ends of the driven shaft limiting body and extend inwards, and the two driven shaft limiting blocks are used for abutting against the driven bearing and limiting the driven bearing to move axially relative to the driven wheel.

In one embodiment, the driven shaft limiting body is provided in a split ring.

In one embodiment, the end effector further includes a secondary press connection assembly for connecting the secondary press wheel and the secondary press drive assembly, the secondary press connection assembly includes a secondary press rotation shaft extending along the second axis, a secondary press bearing sleeved and matched with the secondary press rotation shaft and matched with the secondary press wheel, and a secondary press shaft limiting member for limiting axial movement of the secondary press bearing relative to the secondary press wheel, the secondary press bearing is used for supporting the secondary press rotation shaft, a secondary press shaft sleeve hole for sleeved and matched with the secondary press bearing is opened on a side surface of the secondary press wheel facing the secondary press drive assembly, and a secondary press shaft limiting groove for limited and matched with the secondary press shaft limiting member is opened on a hole wall of the secondary press shaft sleeve hole.

In one embodiment, the slave pressure shaft limiting piece comprises a slave pressure shaft limiting body and two slave pressure shaft limiting blocks, the slave pressure shaft limiting body is used for being in limit fit with the slave pressure shaft limiting groove, the two slave pressure shaft limiting blocks are respectively connected to two ends of the slave pressure shaft limiting body and extend inwards, and the two slave pressure shaft limiting blocks are used for jointly abutting against the slave pressure bearing and limiting the slave pressure bearing to move axially relative to the slave pinch roller.

In one embodiment, the slave pressure limiting body is provided as a split ring.

Another object of the utility model is to provide a indulge muscle conveying robot, include end actuating mechanism, end actuating mechanism pass through end-to-end connection with indulge muscle conveying robot's end-to-end connection.

The utility model has the advantages that:

the utility model provides a terminal actuating mechanism drives main pinch roller relative action wheel through the main drive assembly of pressing earlier and moves down to pull open the distance between main pinch roller and the action wheel and wait to press from both sides the radial dimension of getting the vertical muscle until more than or equal to, move terminal actuating mechanism afterwards and make vertical muscle be located between main pinch roller and the action wheel and supported by main pinch roller to vertical muscle, rethread main drive assembly drives main pinch roller relative action wheel and moves up, until the distance between main pinch roller and the action wheel and the radial dimension looks adaptation of vertical muscle, thereby can realize the operation of getting of vertical muscle; this end actuating mechanism still is through initiative drive assembly drive action wheel and be rotary motion around first axis to drive and indulge the muscle and move left or right along the tangential direction of action wheel, here simultaneously, main pinch roller will also be rotary motion around the second axis under the drive of indulging the muscle, and provide the boosting for indulging the removal of muscle, thereby can realize wearing to indulge the muscle operation. The tail end executing mechanism not only can realize the clamping operation of the longitudinal bars, but also can enable the longitudinal bars to rapidly and stably pass through at least one stirrup to realize the operation of penetrating the longitudinal bars, and can improve the manufacturing efficiency of the reinforcement cage to a greater extent.

Drawings

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

Fig. 1 is a schematic perspective view of an end effector according to an embodiment of the present invention;

FIG. 2 is a schematic perspective view of the main pressure driving assembly shown in FIG. 1;

fig. 3 is an exploded view of the active connection assembly provided in fig. 1;

FIG. 4 is an exploded view of the main pressure wheel and main pressure connection assembly provided in FIG. 1;

fig. 5 is an exploded view of the driven wheel and driven connection assembly provided in fig. 1.

Wherein, in the figures, the respective reference numerals:

Detailed Description

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

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

It should be further noted that, in the embodiment of the present invention, the XYZ rectangular coordinate system established in fig. 1 is defined: one side in the positive direction of the X axis is defined as the front, and one side in the negative direction of the X axis is defined as the back; one side in the positive Y-axis direction is defined as the left side, and one side in the negative Y-axis direction is defined as the right side; the side in the positive direction of the Z axis is defined as the upper side, and the side in the negative direction of the Z axis is defined as the lower side.

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

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

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

referring to fig. 1, an embodiment of the present invention provides an end effector for clamping longitudinal bars, the longitudinal bars can sequentially penetrate through at least one stirrup in the left and right directions, the tail end actuating mechanism comprises at least one driving wheel 100, at least one driving component 200 for driving the driving wheel 100 to rotate around a first axis, at least one main pressing wheel 300 which is arranged in an up-and-down contraposition with the driving wheel 100 and at least one main pressing driving component 400 for driving the main pressing wheel 300 to move up and down relative to the driving wheel 100, the outer wheel surface of the driving wheel 100 and the outer wheel surface of the main pressing wheel 300 can be jointly used for clamping the longitudinal bars, the driving wheel 100 can drive the longitudinal bars to move left or right under the driving of the driving component 200, and main pinch roller 300 can be rotary motion around the second axis under the drive of indulging the muscle, and first axis and second axis all set up perpendicularly about the relative direction.

It should be noted here that the setting position of the driving wheel 100 is relatively fixed, the main pressing driving assembly 400 can drive the main pressing wheel 300 to move up and down relative to the driving wheel 100, when the distance between the main pressing wheel 300 and the driving wheel 100 is greater than or equal to the radial dimension of the longitudinal bars to be clamped and the end executing mechanism moves to the longitudinal bar placing frame, the longitudinal bars can be located between the main pressing wheel 300 and the driving wheel 100, at this time, the longitudinal bars are supported by the main pressing wheel 300, and then the main pressing driving assembly 400 drives the main pressing wheel 300 to drive the longitudinal bars to move up relative to the driving wheel 100, so as to gradually reduce the distance between the main pressing wheel 300 and the driving wheel 100 until the longitudinal bars are relatively tightly clamped between the longitudinal bars and the longitudinal bars, and thus the clamping operation of the longitudinal bars can be completed, and the longitudinal bars can be transferred to the reinforcing.

When the tail end executing mechanism reaches a steel bar cage manufacturing station, the main pressing wheel 300 and the driving wheel 100 can clamp the longitudinal bars and stay at the leftmost side or the rightmost side of each stirrup (each stirrup is linearly arranged along the left-right direction), and then the driving wheel 100 can be driven by the driving component 200 to rotate around a first axis (namely the central axis of the driving wheel 100), wherein when the driving wheel 100 rotates clockwise (observed from a previous visual angle) around the first axis, the driving wheel 100 generates an acting force on the longitudinal bars along the tangential direction leftwards at the contact points of the driving wheel 100 and the longitudinal bars so as to push the longitudinal bars to move leftwards until the left ends of the longitudinal bars pass through the stirrups arranged at the leftmost side (under the situation, the main pressing wheel 300 and the driving wheel 100 clamp the longitudinal bars and stay at the rightmost sides of the stirrups); on the contrary, when the driving wheel 100 rotates counterclockwise (observed from a front perspective) around the first axis, the driving wheel 100 will generate a force acting on the longitudinal rib along the tangential direction thereof at the contact point of the driving wheel and the longitudinal rib, so as to push the longitudinal rib to move rightward until the right end of the longitudinal rib passes through the stirrup placed at the rightmost side (in this scenario, the main pressing wheel 300 and the driving wheel 100 clamp the longitudinal rib and stay at the leftmost side of each stirrup). This end actuating mechanism can be fast with indulging the muscle directly and pass each stirrup, and need not like prior art generally, through pressing from both sides earlier and getting indulge the muscle and make it pass a stirrup, release again and indulge the muscle, shift to the opposite side of the stirrup that has passed, press from both sides again and get indulge the muscle and continue to make its mode completion that passes next stirrup and wear the muscle operation of indulging to can improve its work efficiency to a great extent, thereby can improve steel reinforcement cage's manufacturing efficiency.

It should be further noted that, when the longitudinal bars are driven by the driving wheel 100 to move leftward, based on the friction between the main pressing wheel 300 and the longitudinal bars, the longitudinal bars will drive the main pressing wheel 300 to rotate counterclockwise around the second axis (i.e. the central axis of the main pressing wheel 300) (in the previous viewing direction), and based on this, the main pressing wheel 300 will generate an acting force on the longitudinal bars along the tangential direction thereof at the contact points between the main pressing wheel 300 and the longitudinal bars, so as to further push the longitudinal bars to move leftward, thereby further improving the moving efficiency of the longitudinal bars, i.e. further improving the manufacturing efficiency of the reinforcement cage. On the contrary, when the longitudinal bars move rightwards under the driving of the driving wheel 100, based on the friction force between the main pressing wheel 300 and the longitudinal bars, the longitudinal bars drive the main pressing wheel 300 to rotate clockwise around the second axis (namely the central axis of the main pressing wheel 300) (in the front view direction), and based on the friction force, the main pressing wheel 300 generates acting force rightwards along the tangential direction of the longitudinal bars at the contact points of the main pressing wheel and the longitudinal bars so as to further push the longitudinal bars to move rightwards, so that the moving efficiency of the longitudinal bars can be further improved, and the manufacturing efficiency of the reinforcement cage is further improved.

The embodiment of the utility model provides an end actuating mechanism drives main pinch roller 300 through main pressure drive assembly 400 earlier and moves down relatively action wheel 100 to pull open the distance between main pinch roller 300 and action wheel 100 until more than or equal to and wait to press from both sides the radial dimension of getting the vertical muscle, move end actuating mechanism afterwards and make vertical muscle be located between main pinch roller 300 and action wheel 100 and support vertical muscle by main pinch roller 300, rethread main pressure drive assembly 400 drives main pinch roller 300 and moves up relatively action wheel 100, until the distance between main pinch roller 300 and action wheel 100 and the radial dimension looks adaptation of vertical muscle, thereby can realize the operation of getting of vertical muscle; the tail end actuating mechanism further drives the driving wheel 100 to rotate around the first axis through the driving component 200 so as to drive the longitudinal ribs to move leftwards or rightwards along the tangential direction of the driving wheel 100, meanwhile, the main pressing wheel 300 is driven by the longitudinal ribs to rotate around the second axis, and provides boosting force for the movement of the longitudinal ribs, so that the operation of penetrating the longitudinal ribs can be realized. The tail end executing mechanism not only can realize the clamping operation of the longitudinal bars, but also can enable the longitudinal bars to rapidly and stably pass through at least one stirrup to realize the operation of penetrating the longitudinal bars, and can improve the manufacturing efficiency of the reinforcement cage to a greater extent.

Referring to fig. 1-2, in the present embodiment, the main pressing driving assembly 400 includes a main pressing driver 410, a main pressing rail 420 extending in an up-down direction and guiding the movement of the main pressing wheel 300, and a main pressing slider 430 connected to the main pressing wheel 300 and driving the main pressing wheel 300 to reciprocate along the main pressing rail 420 under the driving of the main pressing driver 410. It should be noted that, as shown in fig. 2, the main pressing slider 430 is in sliding contact with the main pressing rail 420, the front side of the main pressing slider is connected with the main pressing wheel 300, the lower side of the main pressing slider is connected with the main pressing driver 410, and under the action of the main pressing driver 410, the main pressing slider 430 drives the main pressing wheel 300 to reciprocate along the main pressing rail 420, so as to adjust the distance between the main pressing wheel 300 and the driving wheel 100. Based on the setting of this embodiment, not only can realize the removal of main pinch roller 300, carry out accurate control to the removal of main pinch roller 300, still can lead to the moving direction of main pinch roller 300, guarantee its moving direction and upper and lower direction parallel arrangement, thereby can ensure to indulge the muscle by the centre gripping when main pinch roller 300 and action wheel 100, main pinch roller 300 is to indulging the force application point of muscle and action wheel 100 to indulging the muscle about counterpoint the setting, so can ensure action wheel 100 and main pinch roller 300 when promoting to indulge the muscle and advance to the synchronism and the equilibrium of the effort that indulges the muscle and applyed, thereby can further improve the removal efficiency of indulging the muscle, the manufacturing efficiency of steel reinforcement cage is further improved promptly.

Referring to fig. 1-2, in the present embodiment, two main pressing sliding rails 420 are provided, and the two main pressing sliding rails 420 are spaced from each other left and right and are used for sliding engagement with the main pressing sliding block 430. It should be noted here that, based on the setting of this embodiment, the cooperation of sliding connection is carried out with a main slider 430 to two main slide rails 420 of accessible, thereby two main slide rails 420 of accessible lead to main slider 430 jointly, based on this, can make main slider 430 press its left and right sides to be in the relatively steady state when reciprocating along main slide rail 420, thereby can ensure the main stability that slider 430 drove main pinch roller 300 and remove of pressing, do benefit to and improve main pinch roller 300 and action wheel 100 and to indulging the centre gripping effect of muscle, the stability performance of terminal actuating mechanism has been improved.

Referring to fig. 1-2, in the present embodiment, the main pressure driving assembly 400 further includes a main pressure upper limiting member 440 connected to the upper end of the main pressure slide rail 420 and a main pressure lower limiting member 450 connected to the lower end of the main pressure slide rail 420, and the main pressure upper limiting member 440 and the main pressure lower limiting member 450 are used to limit the movement stroke of the main pressure slide 430 sliding along the main pressure slide rail 420. It should be noted that the main pressure upper limit piece 440 and the main pressure lower limit piece 450 are arranged to limit the movement stroke of the main pressure slider 430 sliding up and down along the main pressure slide rail 420, and the distance between the main pressure upper limit piece 440 and the main pressure lower limit piece 450 is the maximum distance that the main pressure slider 430 can slide up and down along the main pressure slide rail 420. Based on the structure, the main pressing sliding block 430 can be prevented from sliding out of the main pressing sliding rail 420 downwards, the main pressing wheel 300 can be prevented from colliding with the driving wheel 100 under the driving of the main pressing sliding block 430, and therefore the using performance of the tail end executing mechanism can be further improved.

Referring to fig. 1, in the present embodiment, the driving wheel 100 has an annularly disposed driving limiting groove 101 formed on an outer circumferential surface thereof, the main pressing wheel 300 has an annularly disposed main pressing limiting groove 301 formed on an outer circumferential surface thereof and disposed opposite to the driving limiting groove 101, and the driving limiting groove 101 and the main pressing limiting groove 301 are used together for limiting the longitudinal bars from moving axially relative to the driving wheel 100. It should be noted here that, the active limiting groove 101 and the main pressure limiting groove 301 are aligned vertically, and can be enclosed to form a clamping space, when the longitudinal bar is clamped between the driving wheel 100 and the main pressing wheel 300, the longitudinal bar is limited in the clamping space, so that the axial movement of the longitudinal bar relative to the driving wheel 100 in the stress process can be limited, the straightness of the longitudinal bar in the longitudinal bar penetrating operation is ensured, the clamping effect of the main pressing wheel 300 and the driving wheel 100 on the longitudinal bar can be further improved, the stability of the main pressing wheel 300 and the driving wheel 100 when the longitudinal bar is pushed to move is improved, and the stability of the end executing mechanism is further improved.

Referring to fig. 1, in the present embodiment, the cross-sectional shape of the bottom of the active limiting groove 101 is semicircular, and the cross-sectional shape of the bottom of the active limiting groove 301 is semicircular. It should be noted that, based on the arrangement of this embodiment, the groove bottom of the active limiting groove 101 can be attached to the surface of the longitudinal rib, so that the driving wheel 100 and the longitudinal rib can expand from point contact to surface contact, the pushing effect of the driving wheel 100 on the longitudinal rib under the driving of the active driving component 200 can be further improved, and the moving efficiency of the longitudinal rib can be further improved, that is, the manufacturing efficiency of the reinforcement cage can be further improved. In a similar way, the groove bottom of the main pressure limiting groove 301 and the surface of the longitudinal rib are attached, so that the main pressing wheel 300 and the longitudinal rib are in point contact expansion to form surface contact, the pushing effect of the main pressing wheel 300 on the longitudinal rib under the driving of the main pressure driving assembly 400 can be further improved, the moving efficiency of the longitudinal rib can be further improved, and the manufacturing efficiency of the reinforcement cage can be further improved.

Referring to fig. 1, in the present embodiment, the end actuator further includes at least one driven wheel 500, at least one driven wheel 600 aligned with the driven wheel 500 up and down, and at least one driven wheel driving assembly 700 for driving the driven wheel 600 to move up and down relative to the driven wheel 500, the driven wheel 500 and the driving wheel 100 are arranged in parallel and spaced apart in the left-right direction, the driven wheel 500 and the driven wheel 600 are used for supporting the longitudinal bars together, and when the longitudinal bars move left or right, the driven wheel 500 and the driven wheel 600 can rotate around their central axes under the driving of the longitudinal bars. Here, the driven wheel 500 is spaced left and right with respect to the driving wheel 100, and the driven wheel 600 is vertically aligned with the driven wheel 500. Similarly, the slave pressing driving assembly 700 can drive the slave pressing wheel 600 to move up and down relative to the slave driven wheel 500, when the distance between the master pressing wheel 300 and the master driving wheel 100 is greater than or equal to the radial dimension of the longitudinal bar to be clamped, the distance between the slave pressing wheel 600 and the slave driven wheel 500 is greater than or equal to the radial dimension of the longitudinal bar to be clamped, and the end executing mechanism moves to the longitudinal bar placing frame, the longitudinal bar can be positioned between the master pressing wheel 300 and the master driving wheel 100 and between the slave pressing wheel 600 and the slave driven wheel 500, at this time, the master pressing wheel 300 and the slave pressing wheel 600 support the longitudinal bar together, so that the straightness of the longitudinal bar can be guaranteed, the supporting effect of the longitudinal bar can be guaranteed, then, the slave pressing driving assembly 700 drives the slave pressing wheel 600 and the master pressing wheel 300 to synchronously drive the longitudinal bar to move up until the longitudinal bar is relatively tightly clamped between the master pressing wheel 300 and the master driving, The clamping operation of the longitudinal bars is stably completed, the clamping effect of the tail end executing mechanism on the longitudinal bars is further improved, and the stability of the tail end executing mechanism is further improved.

It should be noted that, similar to the main pressing wheel 300, when the longitudinal rib moves leftward under the driving of the driving wheel 100, based on the friction force between the secondary pressing wheel 600 and the longitudinal rib and between the secondary driving wheel 500 and the longitudinal rib, the longitudinal rib will drive the secondary driving wheel 500 to rotate clockwise around its central axis and drive the secondary pressing wheel 600 to rotate counterclockwise around its central axis (clockwise and counterclockwise when viewed from the front viewing direction), and based on this, the secondary pressing wheel 600 and the secondary driving wheel 500 will respectively generate an acting force on the longitudinal rib at the contact point between the secondary pressing wheel 600 and the longitudinal rib and move leftward along the tangential direction of the longitudinal rib, so as to further push the longitudinal rib to move leftward, thereby further improving the moving efficiency of the longitudinal rib, i.e. further improving the manufacturing efficiency of the reinforcement cage. On the contrary, when the longitudinal bars move rightwards under the driving of the driving wheel 100, based on the friction force between the pressing wheel 600 and the longitudinal bars and between the driven wheel 500 and the longitudinal bars, the longitudinal bars drive the driven wheel 500 to rotate anticlockwise around the central axis thereof and drive the driven wheel 600 to rotate clockwise around the central axis thereof (obtained by observing clockwise and anticlockwise front visual angle directions), based on this, the contact points of the pressing wheel 600 and the driven wheel 500 with the longitudinal bars respectively generate acting force towards the right along the tangential direction of the longitudinal bars, so as to further push the longitudinal bars to move rightwards, thereby further improving the moving efficiency of the longitudinal bars, namely further improving the manufacturing efficiency of the reinforcement cage.

Referring to fig. 1, in the present embodiment, the driven wheel 500 has a driven limiting groove 501 annularly disposed on an outer circumferential surface thereof and disposed opposite to the driving limiting groove 101, the driven pressing wheel 600 has a driven limiting groove 601 annularly disposed on an outer circumferential surface thereof and disposed opposite to the driven limiting groove 501, and the driven limiting groove 501 and the driven limiting groove 601 are used together to limit the longitudinal rib from moving axially relative to the driven wheel 500. It should be noted here that the driven limiting groove 501 and the driven limiting groove 601 are aligned vertically and can be enclosed to form a clamping space, when the longitudinal rib is clamped between the driven wheel 500 and the driven wheel 600, the longitudinal rib is limited in the clamping space, and the clamping space is arranged opposite to the clamping space formed by the driving limiting groove 101 and the main pressure limiting groove 301, so that the longitudinal rib can be limited from moving axially relative to the driven wheel 500 in the stress process, the straightness of the longitudinal rib in the longitudinal rib penetrating operation is ensured, the clamping effect of the driven wheel 600 and the driven wheel 500 on the longitudinal rib can be further improved, the stability of the driven wheel 600 and the driven wheel 500 when the longitudinal rib is pushed to move is improved, and the stability of the end-end executing mechanism is further improved.

Referring to fig. 1, in the present embodiment, the cross-sectional shape of the bottom of the driven limiting groove 501 is semicircular, and the cross-sectional shape of the bottom of the driven limiting groove 601 is semicircular. It should be noted here that, based on the arrangement of this embodiment, the groove bottom of the driven limiting groove 501 can be attached to the surface of the longitudinal rib, so that the driven wheel 500 can be extended from point contact to surface contact with the longitudinal rib, the pushing effect of the driven wheel 500 on the longitudinal rib under the driving of the driven driving assembly can be further improved, the moving efficiency of the longitudinal rib can be further improved, and the manufacturing efficiency of the reinforcement cage can be further improved. In the same way, the groove bottom of the secondary pressure limiting groove 601 is attached to the surface of the longitudinal rib, so that the secondary pressure wheel 600 is in point contact with the longitudinal rib to expand into surface contact, the pushing effect of the secondary pressure wheel 600 on the longitudinal rib under the driving of the secondary pressure driving assembly 700 can be further improved, the moving efficiency of the longitudinal rib can be further improved, and the manufacturing efficiency of the reinforcement cage can be further improved.

Referring to fig. 1 and fig. 2, in the present embodiment, the slave press driving assembly 700 includes a slave press driver 710, a slave press sliding rail 720 extending in the up-down direction and guiding the motion of the slave press wheel 600, and a slave press slider 730 connected to the slave press wheel 600 and driven by the slave press driver 710 to drive the slave press wheel 600 to reciprocate along the slave press sliding rail 720. It should be noted that, as shown in fig. 1, the slave pressing slider 730 is slidably engaged with the slave pressing rail 720, the front side of the slave pressing wheel 600 is connected to the slave pressing driver 710, and the lower side of the slave pressing driver 710 is connected to the slave pressing slider 730, so that the slave pressing wheel 600 is driven by the slave pressing slider 730 to reciprocate along the slave pressing rail 720, and the distance between the slave pressing wheel 600 and the slave wheel 500 can be adjusted. Based on the setting of this embodiment, not only can realize the removal from pinch roller 600, carry out accurate control to the removal from pinch roller 600, still can lead from pinch roller 600's moving direction, guarantee its moving direction and upper and lower direction parallel arrangement, thereby can ensure to indulge the muscle by the centre gripping from pinch roller 600 with from between the driving wheel 500 when, from pinch roller 600 to the application of force point of indulging the muscle with from driving wheel 500 to the setting of counterpointing from top to bottom of the application of force point of indulging the muscle, so can ensure from driving wheel 500 and from pinch roller 600 when promoting to indulge the muscle and go forward the synchronism and the equilibrium to the effort that indulges the muscle and exert, thereby can further improve the moving efficiency who indulges the muscle, further improve the manufacturing efficiency.

Referring to fig. 1 and fig. 2, in the present embodiment, two slave pressing sliding rails 720 are provided, and the two slave pressing sliding rails 720 are spaced from each other left and right and are used for sliding engagement with the slave pressing slider 730. It should be noted here that, based on the setting of this embodiment, the accessible is two from pressing slide rail 720 to carry out the sliding connection cooperation with one from pressing slider 730 jointly, thereby the accessible is two from pressing slide rail 720 to leading from pressing slider 730 jointly, based on this, can make from pressing slider 730 be in the relatively steady state along its left and right sides when pressing slide rail 720 to reciprocate from pressing, thereby can ensure to drive from pressing slider 730 the stationarity that pinch roller 600 removed, do benefit to the improvement from pinch roller 600 and follow the centre gripping effect of driving wheel 500 to indulging the muscle, the stability performance of end actuating mechanism has been improved.

Referring to fig. 1 and fig. 2, in the present embodiment, the slave press driving assembly 700 further includes a slave upper limiting member 740 connected to the upper end of the slave press sliding rail 720 and a slave lower limiting member 750 connected to the lower end of the slave press sliding rail 720, and the slave upper limiting member 740 and the slave lower limiting member 750 are used together for limiting the movement stroke of the slave press sliding block 730 sliding along the slave press sliding rail 720. It should be noted here that the movement stroke of the slave slider 730 sliding up and down along the slave slide rail 720 can be limited by the arrangement of the slave upper limit 740 and the slave lower limit 750, and the distance between the slave upper limit 740 and the slave lower limit 750 is the maximum distance that the slave slider 730 can slide up and down along the slave slide rail 720. Based on the structure, the situation that the sliding rail 720 is downwards slid out from the pressing slider 730 can be avoided, the situation that the pressing wheel 600 collides with the driven wheel 500 under the driving of the pressing slider 730 can be avoided, and therefore the using performance of the tail end executing mechanism can be further improved.

Referring to fig. 1 and 3, in the present embodiment, the end executing mechanism further includes an active connection assembly 800 for connecting the driving wheel 100 and the active driving assembly 200, the active connection assembly 800 includes an active rotation shaft 810 extending along a first axis, a driving bearing 820 in sleeved engagement with the active rotation shaft 810 and for supporting the active rotation shaft 810, an active supporting seat 830 in sleeved engagement with the driving bearing 820 and for supporting the driving bearing 820, and a driving shaft limiting member 840 for limiting the axial movement of the driving bearing 820 relative to the active supporting seat 830, the active supporting seat 830 has a driving shaft sleeve hole 831 formed on a side surface thereof facing the driving wheel 100 and for being in sleeved engagement with the driving bearing 820, and a driving shaft through hole formed at a bottom of the driving shaft sleeve hole 831 and for the driving rotation shaft 810 to pass through and be connected to the active driving assembly 200, and the active supporting seat 830 further has a driving shaft limiting member 840 formed on a wall of the driving shaft sleeve hole 831 and for being in limited engagement with the driving A slot 832.

It should be noted that one end of the driving rotation shaft 810 is connected to the driving assembly 200, and the other end of the driving rotation shaft 810 is connected to the driving wheel 100, and the driving wheel 100 can rotate around the driving rotation shaft 810 under the driving of the driving assembly 200. The periphery of the driving rotating shaft 810 is sleeved with the driving bearing 820, and the driving rotating shaft 810 can be supported based on the arrangement of the driving bearing 820, so that the straightness and the rotation stability of the driving rotating shaft 810 are guaranteed, the friction coefficient of the driving rotating shaft 810 in the movement process can be reduced, and the rotation precision of the driving rotating shaft 810 is guaranteed. And based on the setting of initiative supporting seat 830, can realize the support to initiative bearing 820 to can ensure the fixed of the relative position of initiative bearing 820, in addition, based on the setting of initiative supporting seat 830, still can avoid installing initiative bearing 820 to action wheel 100 on, so can reduce the gravity of action wheel 100, thereby can reduce gravity and cause the interference influence to the operation of action wheel 100, further ensured the removal effect of action wheel 100 to indulging the muscle. Specifically, the driving shaft sleeve hole 831 capable of being in sleeve fit with the driving bearing 820 is formed in the driving support seat 830, a driving shaft limit groove 832 is formed in the hole wall of the driving shaft sleeve hole 831, based on the driving shaft sleeve hole 831 and the driving shaft limit groove 832, the driving bearing 820 can be sleeved in the driving shaft sleeve hole 831 through the driving shaft limit piece 840 and the driving shaft limit groove 832, connection between the driving bearing 820 and the driving support seat 830 is easily achieved, the driving connection assembly 800 is convenient to assemble, the driving bearing 820 can be further in sleeve fit in the driving shaft sleeve hole 831 through limit fit of the driving shaft limit piece 840 and the driving shaft limit groove 832, the driving bearing 820 is limited to be separated from the driving support seat 830 along the hole edge side of the driving shaft sleeve hole 831, accordingly, relative position accuracy of the driving bearing 820 can be guaranteed, and stable performance of the.

Referring to fig. 1 and 3, in the embodiment, the active axle limiting element 840 includes an active axle limiting body 841 for limiting and matching with the active axle limiting groove 832, and two active axle limiting blocks 842 respectively connected to two ends of the active axle limiting body 841 and extending inwards, and the two active axle limiting blocks 842 are used for abutting against the active bearing 820 and limiting the axial movement of the active bearing 820 relative to the active support seat 830. It should be noted here that the driving axle-limiting body 841 can be engaged with the driving axle-limiting groove 832 in a snap-fit manner, and a stable connection relationship is established between the driving axle-limiting member 840 and the driving axle-limiting groove 832, and by the arrangement of the two driving axle-limiting clamping blocks 842, on one hand, the driving axle bearing 820 can be abutted to limit the axial movement of the driving axle bearing 820 relative to the driving axle bearing 830, so as to avoid the occurrence of the situation that the driving axle bearing 820 is separated from the driving axle bearing 830 along the hole edge side of the driving axle sleeve hole 831, and to facilitate the driving axle bearing 820 to stably exert its function; on the other hand, on the basis of not influencing the abutting effect, the friction force between the two driving axle limiting blocks 842 and the driving bearing 820 can be reduced, so as to reduce the interference influence on the driving bearing 820.

Referring to fig. 1 and 3, in the present embodiment, the driving axle-limiting body 841 is an open ring. It should be noted that, by providing the driving axle shaft main body 841 as an open ring, the driving axle shaft main body 841 can have a space and a possibility of being compressed/expanded, thereby being beneficial to improving the convenience of connection between the driving axle shaft main body 841 and the driving axle shaft groove 832.

Referring to fig. 1 and 4, in the present embodiment, the end effector further includes a main pressure connection assembly 900 for connecting the main pressure roller 300 and the main pressure driving assembly 400, the main pressure connection assembly 900 includes a main pressure rotation shaft 910 extending along the second axis, a main pressure bearing 920 in sleeve fit with the main pressure rotation shaft 910 and in sleeve fit with the main pressure roller 300, and a main pressure shaft limiting member 930 for limiting axial movement of the main pressure bearing 920 relative to the main pressure roller 300, the main pressure bearing 920 is used for supporting the main pressure rotation shaft 910, a main pressure shaft sleeve hole 302 in sleeve fit with the main pressure bearing 920 is formed on a side surface of the main pressure roller 300 facing the main pressure driving assembly 400, and a main pressure shaft limiting groove 303 in limiting fit with the main pressure shaft limiting member 930 is formed on a hole wall of the main pressure shaft sleeve hole 302.

It should be noted that one end of the main pressing rotation shaft 910 is connected to the main pressing slider 430, the other end of the main pressing rotation shaft 910 is connected to the main pressing wheel 300, and the main pressing wheel 300 can rotate around the main pressing rotation shaft 910 under the driving of the longitudinal ribs. The main pressure bearing 920 is sleeved on the periphery of the main pressure rotating shaft 910, and the main pressure rotating shaft 910 can be supported based on the arrangement of the main pressure bearing 920, so that the straightness and the rotation stability of the main pressure rotating shaft 910 are guaranteed, the friction coefficient of the main pressure rotating shaft 910 in the movement process can be reduced, and the rotation precision of the main pressure rotating shaft 910 is guaranteed. The main pressure bearing 920 is supported and limited by the main pressure wheel 300, specifically, the main pressure wheel 300 is provided with a main pressure shaft sleeve hole 302 which can be in sleeve joint with the main pressure bearing 920, and a main pressure shaft limiting groove 303 is arranged on the hole wall of the main pressure shaft sleeve hole 302, based on the main pressure shaft sleeve hole 302 and the main pressure shaft limiting groove 303, not only can the main pressure bearing 920 be sleeved in the main pressure shaft sleeve hole 302 through the access, the connection between the main pressure bearing 920 and the main pressure wheel 300 is easily realized, the main pressure connecting assembly 900 is convenient to assemble, but also can be sleeved in the main pressure shaft sleeve hole 302 at the main pressure bearing 920 and then is in limited fit with the main pressure shaft limiting groove 303 through the main pressure shaft limiting piece 930, so as to limit the main pressure bearing 920 to be separated from the main pressure wheel 300 along the side along the hole of the main pressure shaft sleeve hole 302, thereby the relative position precision of the main pressure bearing 920 can be ensured, and the main pressure bearing 920 can stably exert its function.

Referring to fig. 1 and 4, in the present embodiment, the main pressure shaft limiting element 930 includes a main pressure shaft limiting body 931 for limiting and matching with the main pressure shaft limiting groove 303, and two main pressure shaft limiting blocks 932 connected to two ends of the main pressure shaft limiting body 931 respectively and extending inward, and the two main pressure shaft limiting blocks 932 are used for abutting against the main pressure bearing 920 and limiting the main pressure bearing 920 to move axially relative to the main pressure wheel 300. It should be noted here that, the main pressure shaft limiting body 931 can be in clamping fit with the main pressure shaft limiting groove 303, a stable connection relationship is established between the main pressure shaft limiting member 930 and the main pressure shaft limiting groove 303, and by the arrangement of the two main pressure shaft limiting clamping blocks 932, on one hand, the main pressure bearing 920 can be abutted to limit the axial movement of the main pressure bearing 920 relative to the main pressure supporting seat, so that the situation that the main pressure bearing 920 is laterally separated from the main pressure supporting seat along the hole of the main pressure shaft sleeve hole 302 can be avoided, and the main pressure bearing 920 can stably exert its function; on the other hand, on the basis of not influencing the abutting effect, the friction force between the two main pressure shaft limiting blocks 932 and the main pressure bearing 920 can be reduced, so that the interference influence on the main pressure bearing 920 is reduced.

Referring to fig. 1 and 4, in the present embodiment, the main pressure limiting body 931 is disposed in an open ring. It should be noted that, by providing the main pressure axis limiting body 931 as a split ring, the main pressure axis limiting body 931 can have a space and a possibility of being compressed/extended, so that the convenience of connecting the main pressure axis limiting body 931 and the main pressure axis limiting groove 303 can be improved.

Referring to fig. 1 and 5, in this embodiment, the end effector further includes a driven connection assembly 1000 for connecting the driven wheel 500 and the driven driving assembly, the driven connection assembly 1000 includes a driven rotation shaft 1010 extending along the second axis, a driven bearing 1020 in sleeve fit with the driven rotation shaft 1010 and in sleeve fit with the driven wheel 500, and a driven shaft limiting member 1030 for limiting the driven bearing 1020 to move axially relative to the driven wheel 500, the driven bearing 1020 is used for supporting the driven rotation shaft 1010, the driven wheel 500 is provided with a driven shaft trepanning 502 in sleeve fit with the driven bearing 1020 on one side surface thereof, and a driven shaft limiting groove 503 for limiting and fitting with the driven shaft limiting member 1030 is provided on a hole wall of the driven shaft trepanning 502.

It should be noted that one end of the driven rotating shaft 1010 is connected to the fixing plate of the end actuator, the other end of the driven rotating shaft 1010 is connected to the driven wheel 500, and the driven wheel 500 can rotate around the driven rotating shaft 1010 under the driving of the longitudinal rib. The driven bearing 1020 is sleeved on the periphery of the driven rotating shaft 1010, and the driven rotating shaft 1010 can be supported based on the driven bearing 1020, so that the straightness and the rotation stability of the driven rotating shaft 1010 are guaranteed, the friction coefficient of the driven rotating shaft 1010 in the moving process can be reduced, and the rotation precision of the driven rotating shaft 1010 is guaranteed. Driven bearing 1020 is supported and spacing by driven wheel 500, concretely, it can cup joint the driven shaft trepanning 502 of complex with driven bearing 1020 to seted up on driven wheel 500, and be equipped with driven shaft limit groove 503 on the pore wall of driven shaft trepanning 502, based on driven shaft trepanning 502 and driven shaft limit groove 503, not only the accessible cup joints driven bearing 1020 in driven shaft trepanning 502, easily realize driven bearing 1020 and driven connection of wheel 500, make the equipment of driven coupling assembling 1000 convenient, still can be after driven bearing 1020 cup joints in driven shaft trepanning 502, through driven shaft limit member 1030 and the spacing cooperation of driven shaft limit groove 503, break away from driven wheel 500 along the hole edge side of driven shaft trepanning 502 with restriction driven bearing 1020, thereby can ensure the relative position precision of driven bearing 1020, do benefit to driven bearing 1020 and stably exert its effect.

Referring to fig. 1 and 5, in the present embodiment, the driven shaft limiting member 1030 includes a driven shaft limiting body 1031 for limiting and matching with the driven shaft limiting groove 503, and two driven shaft limiting blocks 1032 respectively connected to two ends of the driven shaft limiting body 1031 and both extending inward, and the two driven shaft limiting blocks 1032 are used for abutting against the driven shaft bearing 1020 and limiting the driven shaft bearing 1020 from axially moving relative to the driven wheel 500. It should be noted here that, the driven shaft limiting body 1031 can realize the clamping fit with the driven shaft limiting groove 503, a stable connection relationship is established between the driven shaft limiting piece 1030 and the driven shaft limiting groove 503, and by the arrangement of the two driven shaft limiting blocks 1032, on one hand, the driven bearing 1020 can be abutted to limit the axial movement of the driven bearing 1020 relative to the driven supporting seat, so that the situation that the driven bearing 1020 is separated from the driven supporting seat along the hole edge side of the driven shaft sleeve hole 502 can be avoided, and the driven bearing 1020 can stably exert its function; on the other hand, on the basis of not influencing the abutting effect, the friction force between the two driven shaft limit blocks 1032 and the driven bearing 1020 can be reduced, so that the interference influence on the driven bearing 1020 is reduced.

Referring to fig. 1 and 5, in the present embodiment, the driven shaft limiting body 1031 is provided in an open ring. Here, it should be noted that the driven shaft restricting body 1031 is provided as an open ring, so that the driven shaft restricting body 1031 has a space and a possibility of being compressed/expanded, which is advantageous for improving the convenience of connection between the driven shaft restricting body 1031 and the driven shaft restricting groove 503.

Referring to fig. 1 and fig. 4, in this embodiment, the end effector further includes a secondary press connection assembly for connecting the secondary press wheel 600 and the secondary press driving assembly 700, the secondary press connection assembly includes a secondary press rotation shaft extending along the second axis, a secondary press bearing sleeved and matched with the secondary press wheel 600, and a secondary press shaft limiting member for limiting axial movement of the secondary press bearing relative to the secondary press wheel 600, the secondary press bearing is used for supporting the secondary press rotation shaft, a secondary press shaft sleeve hole sleeved and matched with the secondary press bearing is opened on a side surface of the secondary press wheel 600 facing the secondary press driving assembly 700, and a secondary press shaft limiting groove for limiting and matching with the secondary press shaft limiting member is opened on a hole wall of the secondary press shaft sleeve hole.

It should be noted that one end of the slave pressing rotation shaft is connected to the slave pressing slider 730, the other end of the slave pressing rotation shaft is connected to the slave pressing wheel 600, and the slave pressing wheel 600 can rotate around the slave pressing rotation shaft under the driving of the longitudinal ribs. The periphery of the slave pressure rotating shaft is sleeved with the slave pressure bearing, and the slave pressure rotating shaft can be supported based on the arrangement of the slave pressure bearing so as to ensure the straightness and the rotation stability of the slave pressure rotating shaft, reduce the friction coefficient of the slave pressure rotating shaft in the movement process and ensure the rotation precision of the slave pressure rotating shaft. The slave pressure bearing is supported and limited by the slave pressure roller 600, specifically, a slave pressure shaft sleeve hole matched with the slave pressure bearing in a sleeved mode is arranged on the slave pressure roller 600, a slave pressure shaft limiting groove is arranged on the hole wall of the slave pressure shaft sleeve hole, based on the slave pressure shaft sleeve hole and the slave pressure shaft limiting groove, the slave pressure bearing is sleeved in the slave pressure shaft sleeve hole through the slave pressure shaft, the connection between the slave pressure bearing and the slave pressure roller 600 is easily realized, the slave pressure connecting assembly is convenient to assemble, the slave pressure bearing can be sleeved in the slave pressure shaft sleeve hole, the slave pressure shaft limiting piece is in limited matching with the slave pressure shaft limiting groove, the slave pressure bearing is limited to be separated from the slave pressure roller 600 along the hole edge side of the slave pressure shaft sleeve hole, the relative position precision of the slave pressure bearing can be guaranteed, and the slave pressure bearing can be used for stably playing the function.

Referring to fig. 1 and fig. 4, in the present embodiment, the secondary shaft limiting element includes a secondary shaft limiting body for limiting and matching with the secondary shaft limiting groove, and two secondary shaft limiting blocks respectively connected to two ends of the secondary shaft limiting body and extending inward, and the two secondary shaft limiting blocks are used for abutting against the secondary bearing and limiting the axial movement of the secondary bearing relative to the secondary pressing wheel 600. It should be noted here that, the slave pressure shaft limiting body can be in clamping fit with the slave pressure shaft limiting groove, a stable connection relationship is established between the slave pressure shaft limiting piece and the slave pressure shaft limiting groove, and through the arrangement of the two slave pressure shaft limiting clamping blocks, on one hand, the slave pressure bearing can be abutted to limit the slave pressure bearing to move axially relative to the slave pressure supporting seat, so that the situation that the slave pressure bearing is separated from the slave pressure supporting seat along the hole edge side of the slave pressure bearing sleeve hole can be avoided, and the slave pressure bearing can stably exert the function; on the other hand, on the basis of not influencing the abutting effect, the friction force between the two slave pressure shaft limiting clamping blocks and the slave pressure bearing can be reduced, so that the interference influence of the slave pressure shaft limiting clamping blocks on the slave pressure bearing is reduced.

Referring to fig. 1 and fig. 4, in the present embodiment, the pressure shaft limiting body is disposed in an open ring. It should be noted here that, by providing the slave pressure shaft limiting body as an open ring, there is a space and possibility that the slave pressure shaft limiting body can be compressed/expanded, which is advantageous for improving the convenience of connection between the slave pressure shaft limiting body and the slave pressure shaft limiting groove.

The embodiment of the utility model provides an end actuating mechanism drives main pinch roller 300 through main pressure drive assembly 400 earlier and moves down relatively action wheel 100 to pull open the distance between main pinch roller 300 and action wheel 100 until more than or equal to and wait to press from both sides the radial dimension of getting the vertical muscle, move end actuating mechanism afterwards and make vertical muscle be located between main pinch roller 300 and action wheel 100 and support vertical muscle by main pinch roller 300, rethread main pressure drive assembly 400 drives main pinch roller 300 and moves up relatively action wheel 100, until the distance between main pinch roller 300 and action wheel 100 and the radial dimension looks adaptation of vertical muscle, thereby can realize the operation of getting of vertical muscle; the tail end actuating mechanism further drives the driving wheel 100 to rotate around the first axis through the driving component 200 so as to drive the longitudinal ribs to move leftwards or rightwards along the tangential direction of the driving wheel 100, meanwhile, the main pressing wheel 300 is driven by the longitudinal ribs to rotate around the second axis, and provides boosting force for the movement of the longitudinal ribs, so that the operation of penetrating the longitudinal ribs can be realized. The tail end executing mechanism not only can realize the clamping operation of the longitudinal bars, but also can enable the longitudinal bars to rapidly and stably pass through at least one stirrup to realize the operation of penetrating the longitudinal bars, and can improve the manufacturing efficiency of the reinforcement cage to a greater extent.

Referring to fig. 1, an embodiment of the present invention further provides a longitudinal bar conveying robot, where the longitudinal bar conveying robot includes an end actuator, and the end actuator is connected to an end of the longitudinal bar conveying robot through an end connector 1100. It should be noted that, the end actuator needs to be installed at the end of the longitudinal bar conveying robot (i.e. the end of the industrial robot) for use, and after the end actuator is connected to the end of the longitudinal bar conveying robot, the end actuator can be moved/rotated by the longitudinal bar conveying robot, so that the end actuator can be moved back and forth between the longitudinal bar placing rack for placing/storing the longitudinal bars and the steel reinforcement cage manufacturing station for manufacturing the steel reinforcement cage, and then the operations of clamping, transferring and passing through each stirrup and the like of the steel reinforcement can be realized by the end actuator, thereby improving the manufacturing efficiency of the steel reinforcement cage to a certain extent.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. An end actuating mechanism is used for clamping longitudinal bars and enabling the longitudinal bars to sequentially penetrate through at least one stirrup in the left-right direction, it is characterized by comprising at least one driving wheel, at least one driving component for driving the driving wheel to rotate around a first axis, at least one main pressure wheel which is arranged in an up-and-down contraposition with the driving wheel, and at least one main pressure driving component for driving the main pressure wheel to move up and down relative to the driving wheel, the outer wheel surface of the driving wheel and the outer wheel surface of the main pinch wheel can be used for clamping the longitudinal ribs together, the driving wheel can drive the longitudinal bar to move leftwards or rightwards under the driving of the driving component, and the main pinch roller can rotate around a second axis under the driving of the longitudinal ribs, and the first axis and the second axis are vertically arranged relative to the left and right directions.

2. The end effector as claimed in claim 1, wherein the main pressing actuator includes a main pressing actuator, a main pressing rail extending in an up-down direction and guiding the movement of the main pressing roller, and a main pressing slider connected to the main pressing roller and driven by the main pressing actuator to drive the main pressing roller to reciprocate along the main pressing rail.

3. The end effector as claimed in claim 2, wherein there are two primary pressure slides, spaced left and right and arranged together for sliding engagement with the primary pressure slide.

4. The end effector as claimed in claim 2, wherein the main pressure driving assembly further includes a main pressure upper limiting member connected to an upper end of the main pressure slide and a main pressure lower limiting member connected to a lower end of the main pressure slide, the main pressure upper limiting member and the main pressure lower limiting member being used together to limit a movement stroke of the main pressure slider sliding along the main pressure slide.

5. The end effector as claimed in claim 1, wherein the driving wheel has an annular driving limiting groove formed on an outer circumferential surface thereof, the main pressing wheel has an annular main pressing limiting groove formed on an outer circumferential surface thereof, the main pressing limiting groove being opposite to the driving limiting groove, and the driving limiting groove and the main pressing limiting groove are used together to limit the longitudinal rib from moving axially relative to the driving wheel.

6. The end effector as claimed in claim 5, wherein the end effector further includes at least one driven wheel, at least one driven wheel aligned with the driven wheel up and down, and at least one driven wheel driving assembly for driving the driven wheel to move up and down relative to the driven wheel, the driven wheel and the driving wheel are disposed in parallel and spaced apart from each other in the left-right direction, the driven wheel and the driven wheel are used for supporting the longitudinal rib, and when the longitudinal rib moves left or right, the driven wheel and the driven wheel can rotate around the central axis thereof under the driving of the longitudinal rib.

7. The end effector as claimed in claim 6, wherein the driven wheel has a driven limiting groove formed on an outer circumferential surface thereof and disposed in an annular shape and opposite to the driving limiting groove, the driven pressure roller has a driven limiting groove formed on an outer circumferential surface thereof and disposed in an annular shape and opposite to the driven limiting groove, and the driven limiting groove are used together to limit the longitudinal rib from moving axially relative to the driven wheel.

8. The end effector as claimed in claim 1, wherein the end effector further includes an active coupling assembly for connecting the active wheel and the active driving assembly, the active coupling assembly includes an active rotating shaft extending along the first axis, an active bearing engaged with the active rotating shaft and supporting the active rotating shaft, an active support seat engaged with the active bearing and supporting the active bearing, and an active shaft limiter limiting axial movement of the active bearing relative to the active support seat, the active support seat has an active shaft engaging hole formed on a side thereof facing the active wheel and engaged with the active bearing, and a active shaft through hole formed at a bottom of the active shaft engaging hole and through which the active rotating shaft passes to connect with the active driving assembly, the driving support seat is also provided with a driving shaft limiting groove used for being in limiting fit with the driving shaft limiting piece on the hole wall of the driving shaft sleeve hole.

9. The end effector as claimed in claim 8, wherein the driving axle limiting member includes a driving axle limiting body for engaging with the driving axle limiting groove in a limiting manner, and two driving axle limiting blocks respectively connected to two ends of the driving axle limiting body and extending inward, the two driving axle limiting blocks being used for abutting against the driving bearing and limiting the driving axle bearing from moving axially relative to the driving axle supporting seat.

10. A longitudinal bar conveying robot, characterized by comprising an end actuator according to any one of claims 1 to 9, the end actuator being connected to an end of the longitudinal bar conveying robot by an end connector.

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