CN212715974U - Intelligent reinforcing mesh binding machine - Google Patents
Intelligent reinforcing mesh binding machine Download PDFInfo
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- CN212715974U CN212715974U CN202021095230.8U CN202021095230U CN212715974U CN 212715974 U CN212715974 U CN 212715974U CN 202021095230 U CN202021095230 U CN 202021095230U CN 212715974 U CN212715974 U CN 212715974U
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Abstract
The utility model relates to a reinforcing bar net intelligence ligature machine. Reinforcing bar net intelligence strapper includes: a steel bar bundling platform; the operation control module is respectively connected with the control moving mechanism, the wire feeding mechanism and the bundling mechanism; the moving mechanism comprises a moving platform and a traveling shaft, the traveling shaft is arranged on two sides of the steel bar bundling platform, the moving platform is connected to the traveling shaft in a sliding mode and is positioned above the steel bar bundling platform; the wire feeding mechanism is arranged above the mobile platform, and a steel wire of the whole coil of steel wire binding steel bar is arranged on the wire feeding mechanism and is conveyed to the binding mechanism through the wire feeding mechanism; the strapping mechanism comprises a strapping mechanical arm, a strapping machine and a detection camera, wherein the strapping machine and the detection camera are both connected to the strapping mechanical arm, the detection camera is used for positioning and detecting the position of the point to be strapped and feeding back the position to the strapping mechanical arm, and the strapping mechanical arm drives the strapping machine to strap the point to be strapped. The bundling mechanical arm is matched with visual positioning judgment to perform bundling, high-speed bundling is realized, and a large amount of human resources are saved.
Description
Technical Field
The utility model relates to a construction equipment technical field, in particular to reinforcing bar net intelligence ligature machine.
Background
At present, two binding modes of the reinforcing mesh are provided: one is manual bundling, and the other is manual bundling with a hand-held charging automatic bundling tool, which has complete control loop and can bundle reinforcing steel bars. The main characteristics are as follows: the bundling speed is high, and the time for finishing 1 bundling is 0.8s on average. 3 to 4 times that of manual bundling.
At present, the labor intensity of manual bundling of reinforcing steel bars is high, the work efficiency is often difficult to improve by means of manual bundling, a large amount of human resources are wasted, a handheld charging automatic bundling tool is used manually, although the efficiency is greatly improved compared with that of pure manual bundling, manual operation is still needed, and under the high-speed working condition of the handheld charging automatic bundling tool, the corresponding labor intensity of an operator is high.
SUMMERY OF THE UTILITY MODEL
The utility model provides a reinforcing bar net intelligence ligature machine aims at solving current manual work and ties up reinforcing bar intensity of labour big, the problem of inefficiency.
The utility model provides a reinforcing bar net intelligence ligature machine, include:
the steel bar bundling platform is used for placing steel bars to be bundled;
the operation control module is respectively connected with the control moving mechanism, the wire feeding mechanism and the bundling mechanism;
the moving mechanism comprises a moving platform and a traveling shaft, wherein the traveling shaft is arranged on two sides of the steel bar bundling platform, the moving platform is connected to the traveling shaft in a sliding manner, and the moving platform is positioned above the steel bar bundling platform;
the wire feeding mechanism is arranged above the mobile platform, and a steel wire of the whole coil of steel wire binding steel bar is arranged on the wire feeding mechanism and is conveyed to the bundling mechanism through the wire feeding mechanism;
strapping mechanism, including tying up manipulator, strapper, detection camera all are connected in the one end of tying up the manipulator, the other end of tying up the manipulator is connected in moving platform's below, detect the camera location and detect the position of waiting to tie up the point and feed back to and tie up the manipulator, it drives the strapper and treats to tie up the point and tie up.
As a further improvement, the reinforcing bar bundling platform is equipped with reinforcing bar positioning slot, platform conveying roller, reinforcing bar positioning slot sets up the side of bundling platform at the reinforcing bar and positioning bar's the put position, platform conveying roller driving reinforcement is delivered to and is treated the banding district. Reinforcing bar positioning channel groove has injectd the locating position of reinforcing bar, has done preparation in earlier stage for follow-up tying up, and platform conveying roller is used for carrying and waits to tie up the reinforcing bar and enter the processing district, and processing is accomplished the back and is carried out the processing district again to the reinforcing bar.
As a further improvement, wire feeder includes steel wire coiling platform, crosses the ferryboat, stimulates the drive wheel that the steel wire removed, send the silk hose, steel wire coiling platform, cross ferryboat, drive wheel, send the silk hose to set up on the mounting panel according to the steel wire route, and the whole steel wire of rolling up is installed at steel wire coiling bench to the steel wire is in proper order through the drive wheel, cross the ferryboat and get into and send the silk hose, and carry on the strapper through sending the silk hose. The wire feeder is used for feeding the steel wires to the binding machine and gradually and progressively conveying the consumption speed of the steel wires after the steel wires are bound at any time.
As a further improvement, the strapping machine is provided with a manipulator mounting surface and a power signal interface, the strapping machine is fixed on the strapping manipulator through the manipulator mounting surface, and the strapping machine is connected with the operation control module through the power signal interface. The original hand-held bundling machine is connected to the bundling mechanical arm through the mechanical arm mounting surface, and is changed into a method of outputting a bundling completion signal after the bundling is completed through power signal connection transformation, so that the bundling is more efficiently and accurately realized.
As a further improvement, the strapping machine is a six-axis manipulator, the detection camera is a CCD visual detection camera, the end of the strapping machine is provided with a manipulator support, the strapping machine and the detection camera are both connected to the manipulator support, the front end of the strapping machine is provided with a wire cutting clamping arm, and the lens of the detection camera faces the direction of the wire cutting clamping arm of the strapping machine. The CCD visual detection camera detects the binding position of the binding machine, the binding result of the binding machine at the current binding point and the position data of the binding point needing to be deviated are sent to the six-axis manipulator in a data transmission mode, and the six-axis manipulator carries out position compensation deviation to carry out accurate positioning binding.
As a further improvement, all be equipped with the response electrode on platform, thread feeding mechanism, the strapper are tied up to the reinforcing bar, operation control module is connected to the response electrode.
As a further improvement, one side of wire feeder is equipped with the positive contact of response electrode, be equipped with the negative contact of response electrode on the reinforcing bar bundling platform, wire feeder's opposite side is equipped with the wire break response electrode, it cuts the response electrode to be equipped with the steel wire on the strapper. Set up the response electrode, the system of being convenient for is in time feedbacked to the condition of steel wire, including iron wire supplied materials situation, iron wire condition of cutting.
As a further improvement, the reinforcing steel bar bundling platform is provided with a plurality of heightening platforms, and is a plurality of the middle position of the reinforcing steel bar bundling platform and the bearing reinforcing steel bar is arranged. The reinforcing bar is heavily crooked in platform mid portion, and the part of pasting on the reinforcing bar platform is through artifical bed hedgehopping, the crooked degree of less reinforcing bar.
The utility model has the advantages that: the utility model discloses according to CCD visual detection's result, will tie up a little at the current, the result that whether the strapper can tie up and tie up the position data that some needs the skew and send for tying up the manipulator through data transmission mode, tie up the manipulator and carry out accurate positioning, the strapper of dress on tying up the robot ties up to reach and reduce artifical intensity of labour, save cost's purpose.
Drawings
Fig. 1 is a layout diagram of the whole machine of the intelligent reinforcing mesh binding machine of the utility model;
fig. 2 is a schematic structural view of the reinforcing steel bar binding platform of the present invention;
FIG. 3 is a schematic structural view of a wire feeding mechanism according to the present invention;
FIG. 4 is a schematic view of the strapping machine of the present invention;
fig. 5 is a schematic structural view of the strapping manipulator of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.
The first embodiment is as follows:
as shown in fig. 1 to 5, the utility model discloses a reinforcing bar net intelligence ligature machine includes: a steel bar bundling platform 1 for placing steel bars to be bundled; platform 1 is tied up to reinforcing bar is equipped with reinforcing bar positioning groove 11, platform conveying roller 12, and reinforcing bar positioning groove 11 sets up the locating steel bar's of side and the locating steel bar's of platform 1 put the position at the reinforcing bar, and platform conveying roller 12 drive reinforcing bar is delivered to waiting to tie up the district. Platform 1 is tied up to reinforcing bar is equipped with a plurality of high platforms that fill up, and a plurality of settings are tied up the middle part position that the platform was middle and carried the reinforcing bar at the reinforcing bar.
A steel bar framework is manually built on the steel bar bundling platform 1 according to a capital construction drawing, steel bars are heavily bent in the middle of the platform, the part attached to the steel bar bundling platform 1 is lifted up manually, the height of the steel bar bundling platform 1 is 3cm, the steel bar bundling platform 1 is triggered by a manual trigger button, and the platform conveying rollers 12 are driven to be conveyed to a region to be bundled by steel wires.
The intelligent reinforcing mesh binding machine comprises a moving mechanism 2, a movable platform 21 and a walking shaft 22, wherein the walking shaft 22 is arranged on two sides of the reinforcing mesh binding platform 1, the movable platform 2 is connected to the walking shaft in a sliding mode, and the movable platform 2 is located above the reinforcing mesh binding platform 1; the walking shaft 22 moves the seventh shaft for the robot, the moving platform 2 can be used for placing the equipment to be bundled and driving the equipment to move to the position of the steel bar to be bundled, the required position can be rapidly moved above the steel bar bundling platform 1 with large floor area, a plurality of workers are not needed to operate simultaneously, the labor cost is reduced, and the working efficiency is also improved.
The intelligent reinforcing mesh binding machine comprises a wire feeding mechanism 3, the wire feeding mechanism 3 is arranged above the mobile platform 2, and a steel wire of a whole roll of steel wire binding reinforcing steel is arranged on the wire feeding mechanism 3 and is conveyed to a binding mechanism 4 through the wire feeding mechanism 3; the wire feeding mechanism 3 comprises a wire coiling table 31, a transition wheel 32, a driving wheel 33 for pulling the steel wire to move and a wire feeding hose 34, wherein the wire coiling table 31, the transition wheel 32, the driving wheel 33 and the wire feeding hose 34 are arranged on a mounting plate according to a steel wire path, the whole coil of the steel wire is mounted on the wire coiling table 31, and the steel wire sequentially passes through the driving wheel 33 and the transition wheel 32 to enter the wire feeding hose 34 and is conveyed to the binding machine 41 through the wire feeding hose 34. After being pulled out from the wire winding table, the steel wire is connected by sliding of a plurality of transition wheels 32, slides into a wire feeding hose 34 under the driving of a driving wheel 33, is sent to a binding machine 41, and is stepped along with the consumption of the steel wire during binding.
The binding mechanism 4 comprises a binding manipulator 42, a binding machine 41 and a detection camera 43, wherein the binding machine 41 and the detection camera 43 are connected to one end of the binding manipulator 42, a light source 46 is arranged in the lens direction of the detection camera 43, the other end of the binding manipulator 42 is connected to the lower portion of the moving platform 21, the detection camera 43 positions and detects the position of the point to be bound and feeds the position back to the binding manipulator 42, and the binding manipulator 42 drives the binding machine 41 to bind the point to be bound.
The binding machine 41 is provided with a manipulator mounting surface 44 and a power signal interface 45, the binding machine 41 is fixed on the binding manipulator 42 through the manipulator mounting surface 44, and the binding machine 41 is connected with the operation control module through the power signal interface 45. The power signal interface 45 is used for receiving signals of the operation control module, and bundling is performed after the signals are received by the power signal interface, so that manual judgment operation is replaced, and the working efficiency is improved.
The binding manipulator 42 is a six-axis manipulator, the binding manipulator 42 moves along with the moving platform 21, and after the moving platform moves to the corresponding binding position, the six-axis manipulator can accurately align the binding machine to the binding position for binding.
The operation control module is respectively connected with the control moving mechanism 2, the wire feeding mechanism 3 and the bundling mechanism 4; the operation control module is installed in the robot control cabinet 5, the robot control cabinet 5 is placed at the upper end of the mobile platform, the operation control module collects data fed back by the shooting of the detection camera 43 and controls the movement of the mobile platform 2, the operation of the wire feeding mechanism 3, and the binding actions of the binding manipulator 42 and the binding machine 41 on the steel bars, so that the intelligent steel bar mesh binding machine can bind the steel bar cross intersection points 13 and the steel bar mesh reinforcing ribs 14.
The detection camera 43 is a CCD visual detection camera, the tail end of the binding manipulator 42 is provided with a manipulator support, the binding machine 41 and the detection camera 43 are both connected to the manipulator support, the front end of the binding machine 41 is provided with a wire cutting clamping arm 47, and the lens of the detection camera 43 faces the direction of the wire cutting clamping arm 47 of the binding machine. By adopting a CCD visual detection positioning method, the positions of the crossed intersection points 13 of the reinforcing steel bars and whether the reinforcing steel bars 14 can meet the bundling condition of the bundling machine are judged, so that information detected by vision is fed back to the bundling mechanical arm 42 for operation, and the bundling accuracy and high efficiency are ensured.
Example two:
as shown in fig. 1 to 4, the reinforcing steel bar binding platform 1, the wire feeding mechanism 3 and the binding machine 41 are all provided with induction electrodes, and the induction electrodes are connected with an operation control module; one side of the wire feeding mechanism 3 is provided with a positive contact of the induction electrode, the reinforcing steel bar bundling platform 1 is provided with a negative contact of the induction electrode, the other side of the wire feeding mechanism 3 is provided with a wire breakage induction electrode, and the bundling machine 41 is provided with a wire shearing induction electrode. Whether the induction electrode breaks the steel wire or not is detected, including in the wire feeding process, the detection steel wire can not be interrupted in the middle of to guarantee the normal supply of steel wire, if can not normal supply then the early warning, the staff can the quick response adjust. And after the steel wires are bundled, whether the steel wires are disconnected or not is detected, early warning is carried out if the steel wires are not disconnected, and the operation is normally executed if the steel wires are disconnected, so that the condition that the steel bars are pulled by the unbroken steel wires and the operation safety is influenced is avoided.
Example three:
as shown in fig. 1 to 5, the method for binding a reinforcing mesh intelligent binding machine according to the present invention comprises the following steps:
s1, a steel bar framework is built on the steel bar bundling platform 1 according to the capital construction drawing, the platform conveying roller 12 is driven to convey the steel bar platform to a steel wire bundling area, and the steel bar framework is placed according to the steel bar positioning clamping groove 11;
s2, the steel wire is arranged on the steel wire coiling table 31 and is conveyed to the binding machine 41 through the driving wheel 33, the transition wheel 32 and the wire feeding hose 34;
s3, judging the position of the mesh reinforcement intersection 13 to be bundled and whether the reinforcing ribs 14 can meet the bundling condition of the bundling gun, sending the result of whether the current bundling point bundling machine 41 can bundle and the position data of the bundling point needing to be deviated to the bundling mechanical hand 42 in a data transmission mode, and accurately positioning and bundling after the position of the bundling mechanical hand 42 is compensated and deviated;
s4, the bundling mechanical arm 42 drives the bundling machine to bundle, and a bundling completion signal is output after the bundling is completed;
s5, judging whether the feeding condition of the iron wires and the cutting condition of the bundled iron wires are normal or not according to the voltage of each section of the induction electrodes, if so, executing S6, and if not, giving out an early warning;
and S6, after the steel bar platform is bundled, the platform conveying roller 12 is driven to convey the steel bar platform out of the steel wire bundling area through signal feedback.
And judging whether the position of the intersection 13 of the reinforcing mesh and the reinforcing ribs 14 meet the condition that the bundling gun can perform bundling, and sending the result that whether the bundling machine 41 can perform bundling at the current bundling point and the position data of the bundling point needing to be deviated to the six-axis manipulator through a data transmission mode according to the result of CCD visual detection, wherein the six-axis manipulator performs position compensation deviation to perform accurate positioning and bundling.
The handheld strapping tool 41 is changed into a mode that a flange is installed on a six-axis robot, charging is changed into direct power supply, the original handheld charging automatic strapping tool judges whether strapping is finished or not by manual visual observation, a control circuit is modified at present, a strapping finishing signal is output after the strapping is finished, and efficient and accurate strapping is realized.
In step S3, the determining whether or not the reinforcing bars satisfy the binding condition of the binding gun includes: judging whether the position of the cross point of the reinforcing mesh is within +/-20 mm under the V-shaped small ribs of the reinforcing ribs, and if so, sending the result and position data of the binding points needing to be shifted to the binding manipulator 42; if the result does not satisfy the predetermined condition, the binding robot 42 is set to automatically skip the non-binding process and continue to determine the next point.
After the bundling action is finished, the bundling result is detected, the bundling is finished, the iron wire incoming material condition and the bundled iron wire shearing condition are sensed by judging the induced voltage of each section of electrode by using an isolated power supply method, and the step S5 specifically comprises the following steps:
s51, judging the iron wire incoming material condition: the operation control module senses the voltage change of the wire breakage induction electrode on the wire feeding mechanism 3, if the voltage value is available, the next operation is executed, and if the voltage value is zero, an early warning is sent out; the material state of the iron wire can be judged through the induction electrode in the bundling production process, and material abnormity early warning can be performed in advance.
S52, judging the shearing condition of the iron wire: the operation control module senses the voltage change of a shearing induction electrode on the binding machine 41, if the voltage value exists, the next operation is executed, and if the voltage value is zero, an early warning is sent out; whether the iron wire is cut off after the bundling is finished can be judged through the induction electrodes of all the sections.
The utility model discloses a through reforming into flange mounting and have the strapper 41 of accomplishing signal feedback and install and judge the reinforcement net intelligence ligature of carrying out at the robot cooperation visual positioning of seventh axle truss, realize high-speed ligature, save a large amount of manpower resources.
The foregoing is a more detailed description of the present invention, taken in conjunction with the specific preferred embodiments thereof, and it is not intended that the invention be limited to the specific embodiments shown and described. To the utility model belongs to the technical field of ordinary technical personnel, do not deviate from the utility model discloses under the prerequisite of design, can also make a plurality of simple deductions or replacement, all should regard as belonging to the utility model discloses a protection scope.
Claims (8)
1. The utility model provides a reinforcing bar net intelligence ligature machine which characterized in that includes:
the steel bar bundling platform is used for placing steel bars to be bundled;
the operation control module is respectively connected with the control moving mechanism, the wire feeding mechanism and the bundling mechanism;
the moving mechanism comprises a moving platform and a traveling shaft, wherein the traveling shaft is arranged on two sides of the steel bar bundling platform, the moving platform is connected to the traveling shaft in a sliding manner, and the moving platform is positioned above the steel bar bundling platform;
the wire feeding mechanism is arranged above the mobile platform, and a steel wire of the whole coil of steel wire binding steel bar is arranged on the wire feeding mechanism and is conveyed to the bundling mechanism through the wire feeding mechanism;
strapping mechanism, including tying up manipulator, strapper, detection camera all are connected in the one end of tying up the manipulator, the other end of tying up the manipulator is connected in moving platform's below, detect the camera location and detect the position of waiting to tie up the point and feed back to and tie up the manipulator, it drives the strapper and treats to tie up the point and tie up.
2. The intelligent reinforcement mesh binding machine according to claim 1, wherein the reinforcement binding platform is provided with a reinforcement positioning slot and platform conveying rollers, the reinforcement positioning slot is arranged at the side end of the reinforcement binding platform and is used for positioning the placement position of the reinforcement, and the platform conveying rollers are used for driving the reinforcement to be conveyed to the area to be bound.
3. The intelligent reinforcing mesh binding machine according to claim 1, wherein the wire feeding mechanism comprises a wire coiling table, a transition wheel, a driving wheel for pulling the wire to move, and a wire feeding hose, the wire coiling table, the transition wheel, the driving wheel, and the wire feeding hose are arranged on the mounting plate according to a wire path, the whole coil of wire is mounted on the wire coiling table, and the wire sequentially passes through the driving wheel and the transition wheel to enter the wire feeding hose and is conveyed to the binding machine through the wire feeding hose.
4. The intelligent reinforcing mesh binding machine according to claim 1, wherein the binding machine is provided with a manipulator mounting surface and a power signal interface, the binding machine is fixed on the binding manipulator through the manipulator mounting surface, and the binding machine is connected with the operation control module through the power signal interface.
5. The intelligent reinforcing mesh binding machine according to claim 1, wherein the binding manipulator is a six-axis manipulator, the detection camera is a CCD visual detection camera, a manipulator bracket is arranged at the tail end of the binding manipulator, the binding machine and the detection camera are both connected to the manipulator bracket, a wire cutting clamping arm is arranged at the front end of the binding machine, and a lens of the detection camera faces the direction of the wire cutting clamping arm of the binding machine.
6. The intelligent reinforcing mesh binding machine according to claim 1, wherein the reinforcing steel bar binding platform, the wire feeder and the binding machine are all provided with induction electrodes, and the induction electrodes are connected with the operation control module.
7. The intelligent reinforcing mesh binding machine according to claim 6, wherein one side of the wire feeder is provided with a positive induction electrode contact, the reinforcing binding platform is provided with a negative induction electrode contact, the other side of the wire feeder is provided with a wire breakage induction electrode, and the binding machine is provided with a wire cutting induction electrode.
8. The intelligent reinforcement mesh binding machine according to claim 1, wherein the reinforcement binding platform is provided with a plurality of reinforcement platforms, and a plurality of reinforcement platforms are arranged at the middle positions of the reinforcement binding platform and bear the reinforcements.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021095230.8U CN212715974U (en) | 2020-06-15 | 2020-06-15 | Intelligent reinforcing mesh binding machine |
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| CN202021095230.8U CN212715974U (en) | 2020-06-15 | 2020-06-15 | Intelligent reinforcing mesh binding machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112958733A (en) * | 2021-04-14 | 2021-06-15 | 山西建投建筑产业有限公司 | Binding device and binding method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112958733A (en) * | 2021-04-14 | 2021-06-15 | 山西建投建筑产业有限公司 | Binding device and binding method thereof |
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