CN215107430U - Binding device and automatic binding robot - Google Patents

Abstract

The application provides a ligature device and automatic ligature robot, include: the wire twisting mechanism comprises an operating arm, a wire feeding mechanism, a wire twisting mechanism and a screwing mechanism; the wire feeding mechanism is arranged on the operating arm and used for conveying binding wires to the wire bending mechanism; stubborn silk mechanism sets up the front end at the operating arm, stubborn silk mechanism includes: the guide jaw, the first guide piece and the first driving assembly; the guide jaw is fixedly connected with the operating arm, the first guide piece is movably connected to the operating arm, the first driving assembly is arranged on the operating arm, the first driving assembly is connected with the first guide piece and used for driving the first guide piece to surround the intersection of the steel bars so as to form a closed guide loop with the guide jaw, and the closed guide loop is used for guiding the binding wires so as to form a binding ring at the intersection of the steel bars; the screwing mechanism is arranged on the operating arm and is adjacent to the wire bending mechanism; the screwing mechanism is used for screwing two ends of the lashing ring so as to lash the intersection point of the reinforcing steel bars.

Description

Binding device and automatic binding robot

Technical Field

The application relates to the technical field of construction equipment, in particular to a binding device and an automatic binding robot.

Background

In the construction industry, steel bars, steel plates or the like are generally used as members for dispersing stress in concrete; usually, a plurality of steel bars are bound or bound to form a frame structure, and the frame structure is poured into concrete, so that the tensile strength or compressive strength of the reinforced concrete can be enhanced. When the reinforcing steel bars are bound or bound, the binding wires are generally required to be bent into binding rings, the binding rings are sleeved at the cross connection positions of the reinforcing steel bars, and the binding heads are formed by turning the knobs at the openings of the binding wires by using pliers or binding devices. The mode of using the vice to twist has low working efficiency and high labor intensity.

An automatic binding device appears in the related art and generally comprises a wire feeding mechanism, a kinking mechanism, a shearing mechanism and a screwing mechanism; the wire feeding mechanism sends the binding wire to the wire bending mechanism, and the wire bending mechanism bends the end part of the binding wire into a binding ring; then, the screwing mechanism is used for screwing, so that the two ends of the binding wire can be screwed together to form a complete binding ring, and the binding of the reinforcing steel bars is realized.

However, the wire-bending mechanism in the related art needs to be wrapped at the intersection point of the reinforcing steel bars, so that the wire-bending mechanism is usually in an open structure, and the guide is incomplete when the end part of the binding wire is bent into a binding ring; the end of the binding wire is easy to impact on the steel bar to cause deviation, namely, the binding error or unsuccessful binding is easy to happen.

SUMMERY OF THE UTILITY MODEL

The application provides a ligature device and automatic ligature robot to when solving among the correlation technique and carrying out the ligature to the reinforcing bar, the tip of pricking the silk shifts easily or strikes on the reinforcing bar, appears the ligature error easily or the unsuccessful problem of ligature.

According to a first aspect of the present application, there is provided a ligating device, including: the wire twisting mechanism comprises an operating arm, a wire feeding mechanism, a wire twisting mechanism and a screwing mechanism;

the wire feeding mechanism is arranged on the operating arm and used for conveying binding wires to the wire bending mechanism;

stubborn silk mechanism sets up the front end of operation arm, stubborn silk mechanism includes: the guide jaw, the first guide piece and the first driving assembly; the guide jaw is fixedly connected with the operating arm, the first guide piece is movably connected to the operating arm, the first driving assembly is arranged on the operating arm, the first driving assembly is connected with the first guide piece and used for driving the first guide piece to surround the intersection of the reinforcing steel bars so as to form a closed guide loop with the guide jaw, and the closed guide loop is used for guiding the binding wires so as to form a binding ring at the intersection of the reinforcing steel bars;

the screwing mechanism is arranged on the operating arm and is adjacent to the kinking mechanism; the screwing mechanism is used for screwing two ends of the binding ring so as to bind the intersection point of the reinforcing steel bars.

In one possible embodiment, the actuating arm is provided with an accommodating space; the first driving assembly is also used for driving the first guide piece to be accommodated in the accommodating space; to open the closed guiding loop.

In a possible design, the first guide part comprises a plurality of guide blocks which are connected in sequence in a rotating manner, and the cross section of each guide block is in a fan shape; the guide blocks are spliced into the arc-shaped first guide piece, and the first guide piece and the guide jaw form the closed guide loop.

In a possible design mode, a first connecting piece is arranged between two adjacent guide blocks and is positioned on one side of each guide block close to the intersection point of the steel bars; when the first guide piece and the guide jaw form the closed guide loop, the first connecting piece is used for pulling the guide blocks so as to enable the opposite surfaces of the adjacent guide blocks to be mutually abutted.

In one possible design, the first connecting piece comprises a magnetic piece, and the magnetic piece is arranged on the opposite surface of the adjacent guide block;

alternatively, the first and second electrodes may be,

the first connecting piece comprises a steel wire rope; and connecting holes are formed in the inner sides of the guide blocks, and the steel wire rope sequentially penetrates through the connecting holes in each guide block and is fixed on the operating arm.

In a possible design, a second guide piece is arranged in the accommodating space, and a guide column is arranged on the side wall of the guide block; when the first guide member is received in the receiving space, the guide post slides along the second guide member.

In one possible embodiment, the first drive assembly comprises: the guide rod, the first driving piece and the second connecting piece; the guide rod is arranged on the operating arm, the first driving piece is movably arranged on the guide rod, the second connecting piece is located between the first driving piece and the first guide piece, and the second connecting piece is used for connecting the first driving piece and the first guide piece.

In one possible embodiment, the strapping device further comprises: the second driving assembly is positioned at the rear end of the operating arm and is fixedly connected with the operating arm; the second driving assembly is used for driving the operating arm to be close to or far away from the steel bar crossing point.

In one possible embodiment, the strapping device further comprises: the wire storage mechanism is positioned on one side, away from the operating arm, of the second driving assembly and fixedly connected with the second driving assembly, the wire storage mechanism is used for storing the bundled wires, and the wire storage capacity of the wire storage mechanism is 5-15 kg;

in one possible embodiment, the strapping device further comprises: and the visual detection mechanism is connected with the wire storage mechanism and deviates from one side of the second driving assembly, and the visual detection mechanism is used for identifying the intersection point of the reinforcing steel bars.

According to a second aspect of the present application there is provided an automatic banding robot comprising a banding arrangement as provided in any of the possible designs of the first aspect of the present application.

According to the bending wire mechanism, the bending wire mechanism is arranged on the operating arm and comprises two parts, wherein the guide jaw is fixed on the operating arm; the first guide piece is movably connected to the operating arm through a first driving assembly; therefore, when the steel bar cross point needs to be bound, the first driving assembly can drive the first guide piece to surround the steel bar cross point, and the first guide piece and the guide jaw form a closed guide loop, and the binding wire can be bent into a binding ring in the closed guide loop; because the closed guide loop is a closed loop, the binding wire cannot deviate or impact on the steel bar, and therefore a complete binding ring can be formed well; the binding success rate and the binding quality of the intersection point of the reinforcing steel bar can be improved.

The construction of the present application and other objects and advantages thereof will be apparent from the following detailed description taken in conjunction with the accompanying drawings.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

FIG. 1 is a schematic view of the overall construction of a ligating device provided in an embodiment of the application;

FIG. 2 is a schematic illustration of an explosive structure of a ligature device as provided by embodiments of the present application;

FIG. 3 is a partial schematic structural view of a wire bending mechanism in a ligating device provided by an embodiment of the application;

FIG. 4 is a partial schematic structural view from another perspective of a strongwire mechanism in a ligating device provided by an embodiment of the application;

FIG. 5 is an enlarged partial view at A of FIG. 4;

FIG. 6 is a schematic view of the internal structure of an operating arm in the ligating device provided in the embodiment of the present application;

FIG. 7 is a schematic view of the internal structure of an alternative view of the operating arm of the ligature device according to the present application;

fig. 8 is a partial enlarged view at B in fig. 7.

Description of reference numerals:

1-a binding device;

10-an operating arm; 20-a wire feeder; 30-kinking the silk mechanism; 40-a screwing mechanism; 50-a second drive assembly; 60-a wire storage mechanism;

11-an accommodation space; 12-a second guide; 21-bevel gear; 22-wire feed rollers; 31-guide jaws; 32-a first guide; 33-a first drive assembly; 41-a third driving member; 42-a screw shaft; 43-screwing head; 61-binding wire reel; 62-a binding wire limiting piece; 63-a handle; 64-a retaining member;

121-a second guide groove; 112-wire feed channel; 321-a guide block; 322-a first guide groove; 323-guide post; 331-a guide bar; 332 — a first driver; 333-a second connector;

121 a-guide.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In the description of the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description of the present application, it is to be understood that the terms "inner," "outer," "upper," "bottom," "front," "back," and the like, when used in the orientation or positional relationship indicated in FIG. 1, are used solely for the purpose of facilitating a description of the present application and simplifying the 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 considered as limiting the present application.

In the construction industry, steel bars, steel plates or the like are generally used as members for dispersing stress in concrete; usually, a plurality of steel bars are bound or bound to form a frame structure, and the frame structure is poured into concrete, so that the tensile strength or compressive strength of the reinforced concrete can be enhanced. When the reinforcing steel bars are bound or bound, the binding wires are generally required to be bent into binding rings, the binding rings are sleeved at the cross connection positions of the reinforcing steel bars, and the binding heads are formed by turning the knobs at the openings of the binding wires by using pliers or binding devices. The mode of using the vice to twist has low working efficiency and high labor intensity.

An automatic binding device appears in the related art and generally comprises a wire feeding mechanism, a kinking mechanism, a shearing mechanism and a screwing mechanism; the wire feeding mechanism sends the binding wire to the wire bending mechanism, and the wire bending mechanism bends the end part of the binding wire into a binding ring; then, the screwing mechanism is used for screwing, so that the two ends of the binding wire can be screwed together to form a complete binding ring, and the binding of the reinforcing steel bars is realized.

However, the wire-bending mechanism in the related art needs to be wrapped at the intersection point of the reinforcing steel bars, so that the wire-bending mechanism is usually in an open structure, and the guide is incomplete when the end part of the binding wire is bent into a binding ring; the end of the binding wire is easy to impact on the steel bar to cause deviation, namely, the binding error or unsuccessful binding is easy to happen.

In view of the above, according to a first aspect of the embodiments of the present application, there is provided a ligating device, the main idea is that a wire-tying mechanism is provided to include two parts, one of which is fixedly provided; the other part is movably arranged, and the movable part surrounds the steel bar intersection from the steel bar intersection under the driving of the driving assembly and then forms a closed guide loop with the fixed part; the binding wire is guided along the closed guide loop from the wire feeding mechanism to form a complete binding ring, and the crossing point of the reinforcing steel bar can be better bound through the screwing of the screwing mechanism; the kinking mechanism for guiding the binding wire can form a closed loop; therefore, the tie wire can be guided well, and the tie wire does not collide with the reinforcing steel bar and does not shift. The binding efficiency and the success rate of the intersection point of the reinforcing steel bar can be improved. The quality of the bound steel bar frame is stable.

Fig. 1 is a schematic overall structure diagram of a ligating device provided by an embodiment of the application, fig. 2 is a schematic explosive structure diagram of the ligating device provided by the embodiment of the application, fig. 3 is a schematic partial structure diagram of a wire-wound mechanism in the ligating device provided by the embodiment of the application, fig. 4 is a schematic partial structure diagram of another view angle of the wire-wound mechanism in the ligating device provided by the embodiment of the application, fig. 5 is a partially enlarged view at a in fig. 4, fig. 6 is a schematic internal structure diagram of an operating arm in the ligating device provided by the embodiment of the application, fig. 7 is a schematic internal structure diagram of another view angle of the operating arm in the ligating device provided by the embodiment of the application, and fig. 8 is a partially enlarged view at B in fig. 7.

Referring to fig. 1 to 8, a ligating device 1 according to an embodiment of the present application includes: an operating arm 10, a wire feeder 20, a wire kinking mechanism 30 and a screwing mechanism 40.

In particular, in the embodiment of the present application, the operating arm 10 may be a part of a robot arm, which may be made of profile steel. The manipulator arm 10 may be used primarily to provide a mounting location for other components. Therefore, a plurality of mounting screw holes can be formed on the operating arm 10; other components may be mounted on the operating arm 10 by means of screws, bolts or bolts. Of course, in some possible implementations, other components may be welded to the operation arm 10, which is not limited in the embodiments of the present application.

It will be appreciated that in particular applications, the manipulator arm 10 may be used as an extension member that extends to the point of intersection of the reinforcement bars. Therefore, the steel bar crossing points can be conveniently bound.

In some possible implementations, the manipulator arm 10 in the embodiment of the present application may also be connected to a robot arm of an industrial robot. For example, a quick-change connection mechanism is arranged at the rear end of the operating arm 10, and a quick-change mother disc of the quick-change connection mechanism is connected with a male disc of a flange plate at the tail end of the industrial robot; in particular, the device can be connected to an industrial robot by starting adsorption and release.

The operation arm 10 can be conveniently connected with the industrial robot, so that the whole steel bar can be bound by the robot, the production labor force is liberated, and the binding efficiency is improved.

The wire feeder 20 is disposed on the operation arm 10, and the wire feeder 20 is used for feeding binding wire to the wire bending mechanism 30.

Specifically, referring to fig. 7 and 8, in the embodiment of the present application, the wire feeder 20 may include a bevel gear 21 and a wire feed roller 22. A wire feeding channel 112 is arranged in the operating arm 10; the wire feed roller 22 may be disposed adjacent the wire feed passageway 112 and may abut the binding wire within the wire feed passageway 112.

It will be appreciated that the bevel gear 21 may be connected to the output shaft of the drive motor, for example by a coupling. A wire feeding roller 22 can be arranged on the driving gear 21; the two dead feed rollers 22 have their cylindrical surfaces facing each other, and the binding wire passes between the two feed rollers 22. Thus, one of the wire feeding rollers 22 is driven by the driving motor to rotate, so that the binding wire abutting against the cylindrical surface of the wire feeding roller 22 can be conveyed to the wire bending mechanism 30.

The kinking mechanism 30 is arranged at the front end of the operating arm 10. It will be understood that the front end of the operating arm 10 may refer to an end near the intersection of the bars. Stubborn silk mechanism 30 includes: a guide jaw 31, a first guide 32 and a first drive assembly 33; the guide jaw 31 is fixedly connected with the operation arm 10, the first guide member 32 is movably connected to the operation arm 10, the first driving assembly 33 is arranged on the operation arm 10, the first driving assembly 33 is connected with the first guide member 32 and is used for driving the first guide member 32 to surround the intersection of the reinforcing steel bars so as to form a closed guide loop with the guide jaw 31, and the closed guide loop is used for guiding the binding wires so as to form a binding ring at the intersection of the reinforcing steel bars.

Alternatively, referring to fig. 1, the guiding jaw 31 may be a guiding slot with a curved arc shape, the guiding slot is communicated with the wire feeding channel 112, the binding wire is fed into the guiding slot of the guiding jaw 31 from the wire feeding channel 112, because the guiding jaw 31 has a certain curved arc; thus, the ends of the wire are gradually curved into an arc along the arc of curvature.

Alternatively, in the embodiment of the present application, the first guiding element 32 may be a chain-type guiding slot as shown in fig. 1, and the chain-type guiding slot is naturally bent to form an arc-shaped slot after being sent out of the front end of the operating arm 10 by the first driving assembly 33, so as to form a closed guiding loop in cooperation with the arc-shaped guiding jaw 31 and surround the steel bar intersection; the ends of the wire will extend from the guide jaws 31 and bend in the direction of extension of the first guide member 32 to form a loop around the crossing point of the reinforcement bars.

When the first driving assembly 33 pulls the chain-type guide groove back to the first operating arm 10, the chain-type guide groove is straightened, so that the chain-type guide groove is separated from the guide jaw 31, the chain-type guide groove can be conveniently moved from one steel bar crossing point to the next steel bar crossing point to be continuously bound, and the movement of the operating arm cannot be influenced.

Alternatively, in the embodiment of the present application, the first guide member 32 may also be a guide groove having an arc shape (e.g., a semicircular shape) as a whole; the rear end of the first guide 32 may be hinged with the operating arm 10. At this time, the first driving assembly 33 may drive the first guide member 32 to rotate around the operation arm 10.

Specifically, when a reinforcement intersection needs to be tied, the first driving assembly 33 may drive the first guiding element 32 to rotate around the front end of the operating arm 10 (for example, clockwise in fig. 1), and surround the periphery of the reinforcement intersection, so as to form a closed guiding loop with the guiding jaw 31; when it is desired to move the operating arm 10, the first driving assembly 33 can drive the first guiding element 32 to rotate (e.g., rotate counterclockwise in fig. 1) around the front end of the operating arm 10 so as to leave the reinforcement intersection, so that the operating arm 10 can be conveniently moved away from the reinforcement intersection without affecting the movement of the operating arm 10.

The screwing mechanism 40 is arranged on the operating arm 10 and is adjacent to the kinking mechanism 30; the screwing mechanism 40 is used to screw both ends of a ligature ring formed of a binding wire to bind a reinforcement intersection.

Specifically, referring to fig. 6 and 7, in the embodiment of the present application, the screwing mechanism 40 may include a third driving member 41, a screwing shaft 42 connected to an output shaft of the third driving member 41, and a screwing head 43 disposed at an end of the screwing shaft 42.

It is understood that in the embodiment of the present application, the third driving element 41 may be a motor rotating in one direction, or may also be a motor rotating in two directions, such as a servo motor, a synchronous motor, or a stepping motor.

The output shaft of the third driving member 41 and the screw shaft 42 may be connected by a coupling, a speed reducer, or the like.

It will be appreciated that in the embodiment of the present application, the twisting head 43 may be a twisting head of the related art, such as a jaw formed by two oppositely disposed jaws, so as to clamp the end of the binding wire.

In the embodiment of the application, the kinking mechanism 30 is arranged to comprise two parts by arranging the kinking mechanism 30 on the operating arm 10, wherein the guide jaw 31 is fixed on the operating arm 10; the first guide member 32 is movably connected to the operation arm 10 through a first driving assembly 33; therefore, when the reinforcement intersection point needs to be bound, the first guide piece 32 can be driven by the first driving assembly 33 to surround the reinforcement intersection point and form a closed guide loop with the guide jaw 31, and the binding wire can be kinked into a binding ring in the closed guide loop; because the guide loop is a closed loop, the binding wire cannot deviate or impact on the steel bar, and therefore a complete binding ring can be formed better; the binding success rate and the binding quality of the intersection point of the reinforcing steel bar can be improved.

Alternatively, referring to fig. 1, the operation arm 10 is provided with an accommodating space 11; the first driving assembly 33 is further used for driving the first guiding element 32 to be accommodated in the accommodating space 11; to open the closed guiding loop.

In particular, in the embodiment of the present application, the accommodating space 11 may be formed by a space between two oppositely disposed profile steels. That is, in the embodiment of the present application, the operation arm 10 may be two oppositely disposed profile steels.

In the embodiment of the present application, the first guide 32 is received in the receiving space 11, so that the first guide 32 does not affect the movement of the operating arm 10 when the operating arm 10 is moved from one reinforcement intersection to another reinforcement intersection. That is, the moving displacement of the operation arm 10 can be saved, and energy can be saved and work efficiency can be improved.

Alternatively, referring to fig. 1 to 5, in the embodiment of the present application, the first guide 32 includes a plurality of guide blocks 321 rotatably connected in sequence, and the cross section of each guide block 321 is a sector; the plurality of guide blocks 321 are spliced into an arc-shaped first guide piece 32 and form a closed guide loop with the guide jaw 31.

It should be noted that in the embodiment of the present application, the first guide groove 322 may be disposed inside the guide block 321, so that the plurality of first guide grooves 322 are spliced together and cooperate with the guide jaw 31 to form a closed guide loop.

It should be noted that, since the first guiding element 32 is required to surround the periphery of the intersection of the reinforcing bars, an arc-shaped structure is formed and guides the end of the binding wire. Therefore, the inner side (the side near the intersection of the reinforcing bars) of the guide block 321 cannot be blocked. In the embodiment of the present application, the connecting shaft of the adjacent guide blocks 321 is disposed at the outer side of the guide blocks 321 (i.e., the side far away from the intersection of the reinforcing bars); in this way, the mutual rotation of the adjacent guide blocks 321 can be ensured, and at the same time, no blocking of the binding wire is caused.

Alternatively, the guiding jaw 31 may be a jaw greater than or equal to a quarter of a circular arc; thus, as shown in fig. 1, after the plurality of guide blocks 321 are pushed out of the front end of the operating arm 10 by the first driving assembly 33, they can form a quarter-arc directly under the action of gravity, so as to form a closed guide loop with the guide jaw 31.

In some possible arrangements, it is generally desirable that the arc of the guide jaw 31 fixedly attached to the manipulator arm 10 not be too large, so as to facilitate movement of the manipulator arm 10 from one bar crossing to another. Thus, the arc of the guide jaw 31 may be less than a quarter of a circular arc; at this time, it is necessary to form an arc larger than a quarter after the first guide 32 is pushed out of the front end of the operation arm 10.

In the embodiment of the present application, a first connecting member (not shown in the drawings) is disposed between two adjacent guide blocks 321, and the first connecting member is located on one side of the guide blocks 321 near the intersection of the steel bars; the first connecting piece is used to pull the guide blocks 321 such that the opposite faces of adjacent guide blocks 321 abut against each other when the first guide 32 forms a closed guide loop with the guide jaw 31.

Thus, the guide blocks 321 are pulled by providing the first connecting pieces, and the opposing faces of the adjacent guide blocks 321 are brought into abutment with each other; so that there is not gap between the guide block 321, the end of the binding wire will not be blocked, the binding wire can be effectively guided, and the binding success rate of the intersection of the reinforcing steel bars is improved.

Optionally, the second connector comprises magnetic elements disposed on opposite faces of adjacent guide blocks 321.

Specifically, in the embodiment of the present invention, a notch may be formed on the opposite surface of the guide block 321, and a magnetic member (e.g., a magnet) may be inserted into the notch. It is understood that in the embodiment of the present invention, a magnet may be disposed on one guide block 321, and an iron block may be disposed on another guide block 321 adjacent to the magnet, so that the magnet and the iron block attract each other to tightly attach the opposite surfaces of the adjacent guide blocks 321 together.

In some possible ways, a magnet may be disposed on the other adjacent guide block 321, and opposite poles of the two magnets are opposite.

In one particular example, the first connector comprises a wire rope; a connecting hole is formed in the inner side of the guide block 321, and the wire rope passes through the connecting hole of each guide block 321 in sequence and is fixed to the operating arm 10.

When the first guide 32 is pushed out of the distal end of the operating arm 10, the wire rope pulls the inner side of the first guide 32, and the facing surfaces of the adjacent guide blocks 321 can be brought into contact with each other.

In another specific example, the first connecting element may also be an extension spring disposed inside the guide blocks 321, and two ends of the extension spring are respectively connected to two adjacent guide blocks 321. In this way, the tension spring always provides a tensile force to the inner sides of the adjacent two guide blocks 321, so that the opposing surfaces of the adjacent guide blocks 321 can be brought into abutment with each other when the first guide 32 is pushed out of the front end of the operating arm 10.

Alternatively, referring to fig. 1, 3 and 4, in the embodiment of the present application, a second guide 12 is disposed in the accommodating space 11, and a guide column 323 is disposed on a side wall of the guide block 321; when the first guide 32 is received in the receiving space 11, the guide column 323 slides along the second guide 12.

Specifically, the second guide 12 may be two opposite fixing plates disposed on the inner side wall of the accommodating space 11; a second guide groove 121 is formed on the fixing plate; the guide column 323 may slide along the second guide groove 121.

Like this, when first guide 32 is accomodate to accommodation space by the drive of first drive assembly 332, second guide 12 can lead and spacing first guide 32 for first guide 32 is injectd in accommodation space after being straightened, can effectively reduce the occupation space of operation arm 10.

In some possible ways, referring to fig. 5, in the embodiment of the present application, a guide portion 121a is provided at the front end of the second guide groove 121, and the size of the guide portion 121a is larger than the diameter of the guide column 323; thus, the guide column 323 can be smoothly inserted into the second guide groove 121.

Further, referring to fig. 2, the first driving assembly 33 includes: a guide rod 331, a first driving member 332, and a second connecting member 333; the guide rod 331 is disposed on the operation arm 10, the first driving member 332 is movably disposed on the guide rod 331, the second connecting member 333 is disposed between the first driving member 332 and the first guiding member 32, and the second connecting member 333 is used for connecting the first driving member 332 and the first guiding member 32.

Specifically, in the embodiment of the present application, the first driving member 332 may be a linear cylinder that slides on the guide rod 331 to drive the first guide member 32 through the second connecting member 333.

It should be noted that in some embodiments, to increase the bonding ability of the steel bars to concrete or cement, some of the steel bars may have ribs (e.g., secondary or tertiary steel, etc.), also commonly referred to as thread steel. The tie wire of the rib on the reinforcing steel bar plays a supporting role, and the tie wire can be hung on the rib and can not tie the crossing point of the reinforcing steel bar tightly.

To avoid the binding wire from being hung on the rib, the binding device 1 provided in the embodiment of the present application further includes: the second driving component 50 is positioned at the rear end of the operating arm 10, and the second driving component 50 is fixedly connected with the operating arm 10; the second drive assembly 50 is used to drive the operating arm 10 toward or away from the rebar junction.

Optionally, the second driving assembly 50 may be a three-axis cylinder, a telescopic cylinder, a piston cylinder, or the like; the output end of the second drive assembly 50 is fixedly connected with the rear end of the operating arm.

In this way, after the end of the tie wire is clamped by the screwing head 43 of the screwing mechanism 40, the second driving assembly 50 can pull the whole operating arm 10 to move towards the direction far away from the intersection point of the steel bars, so that the tie ring can be tensioned, that is, the tie wire hung on the rib can be pulled into the groove between the rib, so that the fastening degree of the tie can be improved, and the quality of the tie to the steel bar frame is improved.

Further, as shown with reference to fig. 1 and 2, the ligating device 1 further includes: the wire storage mechanism 60 is located on one side of the second driving assembly 50, which is far away from the operating arm 10, and is fixedly connected with the second driving assembly 50, and the wire storage mechanism 60 is used for storing binding wires.

Specifically, referring to fig. 1, in the embodiment of the present application, the wire storage mechanism 60 includes a binding wire reel 61, and flanges may be provided at both ends of the binding wire reel 61, and the flanges may limit the binding wire on the binding wire reel 61. It will be appreciated that the binding wire may be wound onto the binding wire spool 61.

As described above, since the ligating device 1 provided in the embodiment of the present application can be mounted on a robot arm for use; therefore, the capacity of the wire reel 61 can be appropriately enlarged as compared with a hand-held binding device; in the embodiment of the present application, the wire binding reel 61 may have a capacity of 5 to 15 kg.

In some possible examples, the capacity of the wire tying reel 61 may be set to 10kg, for example, at 8 hours of operation per day.

Like this, can reduce the change number of times of binding wire reel 61, improve the ligature efficiency to the reinforcing bar.

With continued reference to fig. 1, in some possible embodiments, the wire storage mechanism 60 may further include a wire binding defining member 62, a handle 63 and a locking member 64, wherein one end of the wire binding defining member 62 may be rotatably connected to the external frame, and the wire binding defining member 62 may be an arc-shaped structure adapted to the wire binding reel 61; the handle 63 is fixedly connected with the other end of the binding wire limiting piece 62. After the wire reel 61 is replaced, the wire binding defining member 62 can be rotated by the handle 63 and wound around the outer circumference of the wire reel 61, and then the handle 63 is locked by the locking member 64, thereby defining the wire binding.

It will be appreciated that in some embodiments, the wire storage mechanism 60 may not be provided on the ligature device 1, but may be provided as a separate wire storage device located at the worksite or adjacent the reinforcement cage.

In a possible mode, in order to improve the accuracy of the binding robot for binding the intersection point of the reinforcing steel bar, the binding device 1 provided by the embodiment of the present application further includes: and the visual detection mechanism (not shown in the figure) is connected to one side of the wire storage mechanism 60, which is far away from the second driving assembly 50, and is used for identifying the intersection point of the reinforcing steel bars.

Specifically, in this application embodiment, the vision detection mechanism can be a binocular vision detection mechanism, and the binocular vision detection mechanism can be connected with industrial robot's controller electricity signal, wherein, industrial robot's controller can be Central Processing Unit (CPU), Microcontroller Unit (MCU) or singlechip etc..

During specific implementation, the binocular vision detection mechanism transmits the identified image of the steel bar crossing point to a controller of the industrial robot, the controller of the industrial robot analyzes the image, outputs a control signal according to an analysis result, controls the operation arm 10 to move to the steel bar crossing point and binds the steel bar crossing point; the analysis of the image by the controller may specifically refer to the description of the binocular vision recognition system in the related art, which is not described in detail in the embodiment of the present application.

Therefore, the intersection points of the reinforcing steel bars can be accurately identified, and the binding efficiency of the reinforcing steel bar frame is improved.

According to a second aspect of the present application there is provided an automatic ligating robot comprising a ligating arrangement 1 as provided in any of the alternative embodiments of the first aspect of the present application.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. A banding device, comprising: the wire twisting device comprises an operating arm (10), a wire feeding mechanism (20), a wire twisting mechanism (30) and a screwing mechanism (40);

the wire feeding mechanism (20) is arranged on the operating arm (10), and the wire feeding mechanism (20) is used for conveying binding wires to the wire bending mechanism (30);

stubborn silk mechanism (30) set up the front end of operating arm (10), stubborn silk mechanism (30) include: a guide jaw (31), a first guide (32) and a first drive assembly (33); the guide jaw (31) is fixedly connected with the operating arm (10), the first guide piece (32) is movably connected to the operating arm (10), the first driving assembly (33) is arranged on the operating arm (10), the first driving assembly (33) is connected with the first guide piece (32) and is used for driving the first guide piece (32) to surround the intersection of the reinforcing steel bars so as to form a closed guide loop with the guide jaw (31), and the closed guide loop is used for guiding the binding wires so as to form a binding ring at the intersection of the reinforcing steel bars;

the screwing mechanism (40) is arranged on the operating arm (10) and is adjacent to the kinking mechanism (30); the screwing mechanism (40) is used for screwing two ends of the lashing ring so as to lash the intersection point of the reinforcing steel bars.

2. The ligature device of claim 1, wherein the operating arm (10) is provided with a receiving space (11); the first driving assembly (33) is also used for driving the first guide piece (32) to be received in the accommodating space (11); to open the closed guiding loop.

3. The ligature device of claim 2, wherein the first guide member (32) comprises a plurality of guide blocks (321) rotatably connected in series, the guide blocks (321) having a sector-shaped cross-section; the guide blocks (321) are spliced into the arc-shaped first guide piece (32) and form the closed guide loop with the guide jaw (31).

4. A banding device as claimed in claim 3, characterized in that between two adjacent guide blocks (321) there is a first connection element, said first connection element being located on the side of said guide blocks (321) near the intersection of said reinforcement bars; when the first guide piece (32) and the guide jaw (31) form the closed guide loop, the first connecting piece is used for pulling the guide blocks (321) so that the opposite surfaces of the adjacent guide blocks (321) are abutted to each other.

5. The ligature device of claim 4, wherein the first attachment means comprises a magnetic member disposed on an opposite face adjacent the guide block (321);

alternatively, the first and second electrodes may be,

the first connecting piece comprises a steel wire rope; and connecting holes are formed in the inner sides of the guide blocks (321), and the steel wire rope sequentially penetrates through the connecting holes in each guide block (321) and is fixed on the operating arm (10).

6. A banding device as claimed in claim 3, characterized in that a second guide (111) is provided in said housing space (11), the side walls of said guide block (321) being provided with guide posts (322); the guide post (322) slides along the second guide (111) when the first guide (32) is received in the receiving space (11).

7. The ligature device of claim 1, wherein the first drive assembly (33) comprises: a guide rod (331), a first driving member (332), and a second connecting member (333); the guide rod (331) is arranged on the operating arm (10), the first driving piece (332) is movably arranged on the guide rod (331), the second connecting piece (333) is positioned between the first driving piece (332) and the first guide piece (32), and the second connecting piece (333) is used for connecting the first driving piece (332) and the first guide piece (32).

8. The ligating device of any of claims 1-7, further comprising: the second driving assembly (50) is positioned at the rear end of the operating arm (10), and the second driving assembly (50) is fixedly connected with the operating arm (10); the second drive assembly (50) is used for driving the operating arm (10) to be close to or far away from the rebar intersection.

9. The ligating device of claim 8, further comprising: the wire storage mechanism (60) is positioned on one side, away from the operating arm (10), of the second driving component (50) and fixedly connected with the second driving component (50), the wire storage mechanism (60) is used for storing the bundled wires, and the wire storage capacity of the wire storage mechanism (60) is 5-15 kg;

and/or the presence of a gas in the gas,

the binding device further comprises: the visual detection mechanism is connected to one side, deviating from the second driving assembly (50), of the wire storage mechanism (60), and is used for identifying the intersection point of the reinforcing steel bars.

10. An automatic banding robot characterized in that it comprises a banding device (1) according to one of claims 1 to 9.

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