LU503083A1 - Robot for tying rebar mesh - Google Patents
Robot for tying rebar mesh Download PDFInfo
- Publication number
- LU503083A1 LU503083A1 LU503083A LU503083A LU503083A1 LU 503083 A1 LU503083 A1 LU 503083A1 LU 503083 A LU503083 A LU 503083A LU 503083 A LU503083 A LU 503083A LU 503083 A1 LU503083 A1 LU 503083A1
- Authority
- LU
- Luxembourg
- Prior art keywords
- wire
- lateral
- longitudinal
- tying
- feeding
- Prior art date
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/12—Mounting of reinforcing inserts; Prestressing
- E04G21/122—Machines for joining reinforcing bars
- E04G21/123—Wire twisting tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F27/00—Making wire network, i.e. wire nets
- B21F27/08—Making wire network, i.e. wire nets with additional connecting elements or material at crossings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B25/00—Implements for fastening, connecting or tensioning of wire or strip
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Abstract
The robot includes a tying mechanism and a positioning mechanism. The positioning mechanism is able to drive the tying mechanism to move to a rebar-tying point and can drive the tying mechanism to move up and down. The tying mechanism includes a wire-guiding unit, a wire-cutting unit, a wire-tying unit, a frame. The wire-guiding unit includes a wire-feeding guider, a wire-receiving guider, and a guidewire drive assembly. The wire-feeding guider is provided with a wire-feeding groove, and the wire-receiving guider is provided with a wire-receiving groove. The guidewire drive assembly can drive the wire-feeding guider and the wire-receiving guider to move toward and away from each other along the horizontal direction. The wire-feeding groove and the wire-receiving groove are enclosed to form a completely closed annular cavity, which can guide a tying wire to surround. The wire-cutting unit cuts the tying wire and the wire-tying unit tightens the tying wire.
Description
DESCRIPTION LU503083
ROBOT FOR TYING REBAR MESH
The present disclosure relates to the technical field of rebar tying and, in particular, to a robot for tying a rebar mesh.
Rebar tying is a necessary process in constructing buildings. Currently, the process is operated mainly manually. More specifically, one way is tying by winding a tying wire manually, which requires a lot of manpower and results in low tying efficiency; another way is tying by operating a portable tying device manually, which also requires a lot of manpower and results in low tying efficiency. Presently, the existing tying devices include a wire feeder and a wire receiver. The wire feeder and the wire receiver are spaced and opposite to each other. The shape of the wire feeder is a semicircular arc or a one-third circular arc. The wire receiver is vertically arranged, has a short length, and is fixed at a position. When the wire feeder and the wire receiver pass through a rebar mesh and surround a rebar-tying point, a tying wire surrounds a rebar-tying point for tying. Since the shape of the wire feeder is the semicircular arc or the one-third circular arc, an angle of a tying device needs to be constantly adjusted to ensure that the wire feeder and the wire receiver can surround the rebar-tying point. In addition, after tying rebars, the angle of the tying device needs to be adjusted rotationally to move the wire feeder and the wire receiver away from the rebar-tying point. This operation process is cumbersome, which greatly reduces tying efficiency. Moreover, since the shape of the wire feeder is the semicircular arc or the one-third circular arc while the wire receiver is vertically arranged and has a short length, the wire feeder and the wire receiver cannot enclose a complete and closed annular cavity and there is a gap between the wire feeder and the wire receiver. Although the movement of a tying wire can be guided, the movement is easily blocked and stuck in an unclosed annular cavity.
The wire receiver even cannot receive the tying wire normally, thereby interrupting a tying process.
(1) technical problems to be solved
In view of the above-mentioned shortcomings and deficiencies of the prior art, the present disclosure provides a robot for tying a rebar mesh. The robot solves the technical problems of a need of a lot of manpower required by the existing rebar-tying method and low tying efficiency as well as the interruption prone to occur in a tying process.
(2) technical solutions LU503083
To solve the above-mentioned problem, the main technical solution adopted in the present disclosure is as follows:
In a first aspect, the present disclosure relates to a robot for tying a rebar mesh. The robot includes a tying mechanism and a positioning mechanism. The tying mechanism is provided on the positioning mechanism, and the positioning mechanism can drive the tying mechanism to move to a rebar-tying point and can drive the tying mechanism to move up and down. The tying mechanism includes a wire-guiding unit, a wire-cutting unit, a wire-tying unit, and a frame. The wire-guiding unit, the wire-cutting unit, and the wire-tying unit are all provided on the frame.
The positioning mechanism is connected to the frame. The wire-guiding unit includes a wire-feeding guider, a wire-receiving guider, and a guidewire drive assembly. The wire-feeding guider and the wire-receiving guider are provided opposite to each other. The wire-feeding guider is provided with a wire-feeding groove, and the wire-receiving guider is provided with a wire-receiving groove. The wire-feeding groove and the wire-receiving groove are provided opposite to each other and are arc-shaped. The guidewire drive assembly is connected to the wire-feeding guider and the wire-receiving guider, respectively. The guidewire drive assembly can drive the wire-feeding guider and the wire-receiving guider to move toward and away from each other along the horizontal direction. When the wire-feeding guider and the wire-receiving guider move toward each other along the horizontal direction and abut against each other, the wire-feeding groove and the wire-receiving groove are enclosed to form an annular cavity, which can guide a tying wire to surround. The wire-cutting unit can cut the tying wire when the tying wire winds a preset number of turns. After the tying wire is cut, the wire-tying unit can tighten the tying wire.
According to the present disclosure, the guidewire drive assembly includes a wire-feeding driver and a wire-feeding arm. The wire-feeding driver is fixed on the frame. A driving end of the wire-feeding driver is arranged horizontally and is fixedly connected to the wire-feeding arm, and the wire-feeding arm is fixedly connected to the wire-feeding guider. The wire-feeding driver drives the wire-feeding guider through the wire-feeding arm to move along the horizontal direction.
According to the present disclosure, the guidewire drive assembly further includes a wire-feeding slide block and a wire-feeding slide rail. The wire-feeding slide block is fixedly connected to the frame and is slidably connected to the wire-feeding slide rail. The wire-feeding slide rail is arranged horizontally and is fixedly connected to the wire-feeding arm.
According to the present disclosure, the guidewire drive assembly further includes a wire-receiving driver and a wire-receiving arm. The wire-receiving driver is fixed on the frame, and a driving end of the wire-receiving driver is fixedly connected to the wire-receiving arm.
The wire-receiving arm is fixedly connected to the wire-receiving guider. The wire-receivindJ503083 driver drives the wire-receiving guider through the wire-receiving arm to move along the horizontal direction.
According to the present disclosure, the wire-guiding unit further includes a wire-receiving slide block and a wire-receiving slide rail. The wire-receiving slide block is fixedly connected to the frame and is slidably connected to the wire-receiving slide rail, and the wire-receiving slide rail is arranged horizontally and is fixedly connected to the wire-receiving arm.
According to the present disclosure, the positioning mechanism includes a base, two longitudinal movement assemblies, and two lateral movement assemblies. The two longitudinal movement assemblies are located on two lateral sides of the base. The longitudinal movement assembly includes a longitudinal movement mechanism, and the longitudinal movement mechanism is a U-shaped plate body. The two longitudinal movement mechanisms synchronously drive the base to move along a longitudinal direction. The two lateral movement assemblies are located on two longitudinal sides of the base. The lateral movement assembly includes a lateral movement mechanism, and the lateral movement mechanism is a U-shaped plate body. The two lateral movement mechanisms synchronously drive the base to move along a lateral direction.
According to the present disclosure, the longitudinal movement assembly further includes a longitudinal transmission assembly. The longitudinal transmission assembly includes a longitudinal driving sprocket, a longitudinal driven sprocket, and a longitudinal transmission chain. One end of an upper part of the longitudinal movement mechanism is fixed on the longitudinal driving sprocket and the other end of the upper part of the longitudinal movement mechanism is fixed on the longitudinal driven sprocket. The longitudinal transmission chain is wound around the longitudinal driving sprocket and the longitudinal driven sprocket, and the longitudinal driving sprocket drives the longitudinal driven sprocket to rotate synchronously with the longitudinal driving sprocket. The two longitudinal driving sprockets are fixedly connected through a longitudinal driving connecting shaft, and the two longitudinal driving sprockets and the longitudinal driving connecting shaft are coaxially arranged. The two longitudinal driven sprockets are fixedly connected through a longitudinal driven connecting shaft, and the two longitudinal driven sprockets and the longitudinal driven connecting shaft are coaxially arranged. The positioning mechanism further includes a longitudinal guidewire drive assembly. The longitudinal guidewire drive assembly is fixedly connected to the longitudinal driving connecting shaft, and the longitudinal guidewire drive assembly can drive the longitudinal driving connecting shaft to rotate around an axial direction of the longitudinal driving connecting shaft.
According to the present disclosure, the lateral movement assembly further includes a lateral transmission assembly. The lateral transmission assembly includes a lateral driving sprocket, l4/503083 lateral driven sprocket, and a lateral transmission chain. One end of an upper part of the lateral movement mechanism is fixed on the lateral driving sprocket, and the other end of the upper part of the lateral movement mechanism is fixed on the lateral driven sprocket. The lateral transmission chain is wound around the lateral driving sprocket and the lateral driven sprocket, and the lateral driving sprocket drives the lateral driven sprocket to rotate synchronously with the lateral driving sprocket.
According to the present disclosure, the two lateral driving sprockets are provided opposite to each other on the two lateral sides of the base, and a lateral synchronizing assembly is provided between the two lateral driving sprockets. The lateral synchronizing assembly includes a lateral connecting shaft, a lateral driving synchronizing sprocket, a lateral driven synchronizing sprocket, and a lateral synchronizing chain. The lateral driving synchronizing sprocket and the lateral driven synchronizing sprocket are fixed at both ends of the lateral connecting shaft, and the lateral driving synchronizing sprocket, the lateral driven synchronizing sprocket, and the lateral connecting shaft are coaxially arranged. The lateral synchronizing chain is wound around the lateral driven synchronizing sprocket and one of the two lateral driving sprockets. The positioning mechanism further includes a lateral drive assembly. The lateral drive assembly is connected to the other of the two lateral driving sprockets and the lateral driving synchronizing sprocket, respectively. The lateral drive assembly can drive the corresponding lateral driving sprocket to rotate synchronously with the lateral driving synchronizing sprocket.
According to the present disclosure, the positioning mechanism further includes a positioning unit. The positioning unit is fixed on the base, and the positioning unit includes a vertical guide rail, a lateral guide rail, and a longitudinal guide rail. The tying mechanism is slidably provided on the vertical guide rail along a vertical direction. The vertical guide rail is slidably provided on the lateral guide rail along the lateral direction of the base. The lateral guide rail is slidably provided on the longitudinal guide rail along the longitudinal direction of the base. (3) Advantages
The advantages of the present disclosure are as follows: In the robot for tying the rebar mesh of the present disclosure, a positioning mechanism can drive a tying mechanism to move to a rebar-tying point and can drive the tying mechanism to move up and down to pass through a rebar mesh. The tying mechanism drives a tying wire to tie rebars. With the robot for tying the rebar mesh, automatically tying the rebar mesh can be realized, thereby increasing tying efficiency and precision and decreasing the intensity of labor.
By setting a guidewire drive assembly to drive a wire-feeding guider and a wire-receiving guider to move toward or away from each other along the horizontal direction and making thé&/503083 wire-feeding guider and the wire-receiving guider in an open state both when they move downwards through the rebar mesh and move upwards away from the rebar mesh, the wire-feeding guider and the wire-receiving guider are prevented from contacting the rebar mesh.
This avoids deformation and displacement of an untied part of the rebar mesh as well as damage to the wire-feeding guider and the wire-receiving guider. Moreover, the wire-feeding guider and the wire-receiving guider are allowed to move up and down in a convenient and prompt manner.
Meantime, a wire-feeding groove and a wire-receiving groove are enclosed to form a closed annular cavity which can guide a tying wire to surround a rebar-tying point so that the tying wire can smoothly surround the rebar-tying point.
FIG. 1 is an assembly drawing of a tying mechanism of a robot for tying a rebar mesh of the present disclosure.
FIG. 2 is a front view of FIG. 1.
FIG. 3 1s a rear view of FIG. 1.
FIG. 4 is an assembly drawing of a wire-feeding unit, a wire-cutting unit, and a wire-tying unit in FIG. 1.
FIG. 5 is a schematic diagram of positions of the robot for tying the rebar mesh of the present disclosure and the rebar mesh.
FIG. 6 is a schematic diagram of the automatic robot for tying the rebar mesh in FIG. 5.
FIG. 7 is an enlarged view of the part A circled in FIG. 6.
FIG. 8 is a schematic diagram of FIG. 6 from another perspective.
FIG. 9 is a schematic diagram of FIG. 6 from another perspective.
Reference Numerals: 1: positioning mechanism; 11: base; 12: longitudinal movement assembly; 121: longitudinal movement mechanism; 122: longitudinal driving sprocket; 123: longitudinal driven sprocket; 124: longitudinal transmission chain; 125: longitudinal driving connecting shaft; 126: longitudinal driven connecting shaft; 13: lateral movement assembly; 131: lateral movement mechanism; 132: lateral driving sprocket; 133: lateral driven sprocket; 134: lateral transmission chain; 135: lateral connecting shaft, 136: lateral driving synchronizing sprocket; 137: lateral driven synchronizing sprocket; 138: lateral synchronizing chain; 141: longitudinal drive motor; 142: first longitudinal drive sprocket; 143: second longitudinal drive sprocket; 144: longitudinal drive chain; 145: longitudinal reducer; 151: lateral drive motor; 152: lateral drive sprocket; 153: first lateral drive chain; 154: second lateral drive chain; 155: lateral reducer; 16: longitudinal auxiliary sprocket; 17: lateral auxiliary sprocket;
211: vertical guide rail; 2111: vertical belt; 2112: vertical slide block; 212: lateral guide raHU503083 2121: lateral belt; 2122: lateral slide block; 213: longitudinal guide rail; 2131: longitudinal belt; 2132: longitudinal transmission shaft; 2133: longitudinal slide block; 2141: first motor; 2142: second motor; 2143: third motor; 23: first support mechanism; 231: first support plate; 232: first support rod; 24: second support mechanism; 241: connecting plate; 242: slide block support base; 100: robot for tying a rebar; 200: rebar mesh; 3: tying mechanism; 31: frame; 321: wire-feeding guider; 3211: wire-feeding groove; 322: wire-receiving guider, 3221: wire-receiving groove; 3231: wire-feeding driver; 3232: wire-feeding arm; 3233: wire-feeding slide block; 3234: wire-feeding slide rail; 3235: wire-receiving driver, 3236: wire-receiving arm; 3237: wire-receiving slide block; 3238: wire-receiving slide rail; 32391: first wire-feeding connector; 32392: second wire-feeding connector; 32393: first wire-receiving connector; 32394: second wire-receiving connector; 331: cam; 332: rotating member; 333: cutter; 341: second output shaft; 342: first wire-tying gear; 343: second wire-tying gear; 344: wire-tying member; 351: wire-feeding motor; 352: reducer; 353: first output shaft; 354: cone gear; 355: cone gear shaft; 356: first wire-feeding gear; 357: second wire-feeding gear; 358: first wire-guiding member; 359: second wire-guiding member.
In order to facilitate a better understanding, the present disclosure is described in detail below with reference to the drawings and specific implementations. In the present disclosure, the term “longitudinal” refers to the relative position of a longitudinal driving sprocket 122 and a longitudinal driven sprocket 123 in FIG. 6; the term “lateral” refers to the relative position of the two longitudinal driving sprockets 122 in FIG 6; the terms “up” and “down” refer to the orientation shown in FIG. 1.
Referring to FIGS. 1-9, embodiments of the present disclosure provide a robot for tying a rebar mesh. The robot includes a tying mechanism 3 and a positioning mechanism 1. The tying mechanism 3 is provided on the positioning mechanism 1, and the positioning mechanism 1 can drive the tying mechanism 3 to move to a rebar-tying point and can drive the tying mechanism 3 to move up and down to pass through a rebar mesh 200. The tying mechanism 3 drives a tying wire to tie rebars. With the robot 100 for tying the rebar mesh, automatically tying the rebar mesh 200 can be realized, thereby increasing tying efficiency and precision while also decreasing the intensity of labor.
Referring to FIGS. 1-4, the tying mechanism 3 includes a wire-guiding unit, a wire-cutting unit, a wire-tying unit, and a frame 31. The wire-guiding unit, the wire-cutting unit, the wire-tying unit, and the positioning mechanism 1 are all provided on the frame 31. ThéJ503083 wire-guiding unit includes a wire-feeding guider 321, a wire-receiving guider 322, and a guidewire drive assembly.
The wire-feeding guider 321 and the wire-receiving guider 322 are provided opposite to each other. The wire-feeding guider 321 is provided with a wire-feeding groove 3211, and the wire-receiving guider 322 is provided with a wire-receiving groove 3221. The wire-feeding groove 3211 and the wire-receiving groove 3221 are provided opposite to each other and both are arc-shaped.
The guidewire drive assembly is connected to the wire-feeding guider 321 and the wire-receiving guider 322, respectively. The guidewire drive assembly can drive the wire-feeding guider 321 and the wire-receiving guider 322 to move toward and away from each other along the horizontal direction. When the wire-feeding guider 321 and the wire-receiving guider 322 move toward each other along the horizontal direction and abut against each other, the wire-feeding groove 3211 and the wire-receiving groove 3221 are enclosed to form an annular cavity which can guide a tying wire to surround a rebar-tying point. The wire-cutting unit can cut the tying wire when the tying wire winds a preset number of turns. After the tying wire is cut, the wire-tying unit can tighten the tying wire.
The principle applied is as follows: after the positioning mechanism 1 moves along the rebar mesh 200 to a rebar-tying point, the positioning mechanism 1 drives the tying mechanism 3 to move downward. Meanwhile, the wire-feeding guider 321 and the wire-receiving guider 322 are in an open state, and the wire-feeding guider 321 and the wire-receiving guider 322 move downwards and pass through the rebar mesh 200. Subsequently, the guidewire drive assembly drives the wire-feeding guider 321 and the wire-receiving guider 322 to move toward each other and abut against each other. The wire-feeding groove 3211 in the wire-feeding guider 321 and the wire-receiving groove 3221 in the wire-receiving guider 322 are enclosed to form an annular cavity which surrounds the rebar-tying point. The tying wire moves along the annular cavity and winds around the rebar-tying point. When the tying wire winds a preset number of turns, the wire-cutting unit cuts the tying wire, and the wire-tying unit tightens the tying wire to complete tying rebars at the rebar-tying point. Subsequently, the guidewire drive assembly drives the wire-feeding guider 321 and the wire-receiving guider 322 again to move away from each other to be open. The positioning mechanism 1 drives the tying mechanism 3 to move upwards. The wire-feeding guider 321 and the wire-receiving guider 322 leave the rebar mesh 200, and the positioning mechanism 1 moves a tying assembly to another rebar-tying point.
By making the guidewire drive assembly drive the wire-feeding guider 321 and the wire-receiving guider 322 to move toward or away from each other along the horizontal direction and to be in an open state both when they move downwards through the rebar mesh
200 and move up away from the rebar mesh 200, the wire-feeding guider 321 and thé&/503083 wire-receiving guider 322 are prevented from contacting the rebar mesh 200. This avoids deformation and displacement of an untied part of the rebar mesh 200 as well as damage to the wire-feeding guider 321 and the wire-receiving guider 322. Moreover, the wire-feeding guider 321 and the wire-receiving guider 322 are allowed move up and down in a convenient and prompt manner. Meantime, the wire-feeding groove 3211 and the wire-receiving groove 3221 are enclosed to form a closed annular cavity which can guide a tying wire to surround a rebar-tying point so that the tying wire can smoothly surround the rebar-tying point.
Furthermore, the guidewire drive assembly includes a wire-feeding driver 3231 and a wire-feeding arm 3232.
The wire-feeding driver 3231 is fixed on the frame 31 through a first wire-feeding connector 32391. A driving end of the wire-feeding driver 3231 is arranged horizontally and is fixedly connected to the wire-feeding arm 3232, and the wire-feeding arm 3232 is fixedly connected to the wire-feeding guider 321. The wire-feeding driver 3231 drives the wire-feeding guider 321 through the wire-feeding arm 3232 to move along the horizontal direction. The wire-feeding driver 3231 is preferably an air cylinder.
The guidewire drive assembly further includes a wire-feeding slide block 3233 and a wire-feeding slide rail 3234. The wire-feeding slide block 3233 is fixedly connected to the frame 31 through the first wire-feeding connector 32391 and is slidably connected to the wire-feeding slide rail 3234, and the wire-feeding slide rail 3234 is arranged horizontally and is fixedly connected to the wire-feeding arm 3232 through a second wire-feeding connector 32392. When the wire-feeding driver 3231 drives the wire-feeding guider 321 through the wire-feeding arm 3232 to move along the horizontal direction, the wire-feeding slide rail 3234 and the wire-feeding slide block 3233 slide relative to each other to improve the accuracy and stability of the horizontal movement of the wire-feeding guider 321.
Further, the guidewire drive assembly further includes a wire-receiving driver 3235 and a wire-receiving arm 3236.
The wire-receiving driver 3235 is fixed on the frame 31 through a first wire-receiving connector 32393. À driving end of the wire-receiving driver 3235 1s arranged horizontally and 1s fixedly connected to the wire-receiving arm 3236, and the wire-receiving arm 3236 is fixedly connected to the wire-receiving guider 322. The wire-receiving driver 3235 drives the wire-receiving guider 322 through the wire-receiving arm 3236 to move along the horizontal direction. The wire-receiving driver 3235 is preferably an air cylinder.
The wire-guiding unit further includes a wire-receiving slide block 3237 and a wire-receiving slide rail 3238. The wire-receiving slide block 3237 is fixedly connected to the frame 31 through the first wire-receiving connector 32393 and is slidably connected to the wire-receiving slide rail 3238, and the wire-receiving slide rail 3238 is arranged horizontally arkd/503083 is fixedly connected to the wire-receiving arm 3236 through a second wire-receiving connector 32394. When the wire-receiving driver 3235 drives the wire-receiving guider 322 through the wire-receiving arm 3236 to move along the horizontal direction, the wire-receiving slide rail 3238 and the wire-receiving slide block 3237 slide relative to each other to improve the accuracy and stability of the horizontal movement of the wire-receiving guider 322.
Further, the tying mechanism 3 further includes a wire-feeding unit, and the wire-feeding unit is located above the wire-guiding unit. The wire-feeding unit can transmit a tying wire to the wire-guiding unit.
The wire-feeding unit includes a wire-feeding motor 351, a first output shaft 353, a cone gear 354, a cone gear shaft 355, a first wire-feeding gear 356, and a second wire-feeding gear 357.
The wire-feeding motor 351 is provided on the frame 31, and an output end of the wire-feeding motor 351 is connected to a reducer 352. The first output shaft 353 of the reducer 352 is arranged vertically. The first output shaft 353 is sleeved with the cone gear 354 through a coupling. The cone gear 354 meshes with the cone gear shaft 355 for transmission, and the cone gear shaft 355 is arranged horizontally. An optical axis end of the cone gear shaft 355 is fixedly connected to the first wire-feeding gear 356, and the first wire-feeding gear 356 meshes with the second wire-feeding gear 357 for transmission. The second wire-feeding gear 357 is rotatably connected to the frame 31.
The wire-feeding motor 351 drives the first output shaft 353 of the reducer 352 to rotate.
The first output shaft 353 drives the cone gear 354 to rotate coaxially, and the cone gear 354 drives the cone gear shaft 355 to rotate. The cone gear shaft 355 drives the first wire-feeding gear 356 and the second wire-feeding gear 357 to rotate reversely. The tying wire is located between the first wire-feeding gear 356 and the second wire-feeding gear 357, and the first wire-feeding gear 356 and the second wire-feeding gear 357 drive the tying wire to move downwards.
To improve the precision of the downward movement of the tying wire, the wire-feeding unit further includes a first wire-guiding member 358 and a second wire-guiding member 359.
The first wire-guiding member 358 is located above the first wire-feeding gear 356 and the second wire-feeding gear 357 and is fixed on the frame 31. The first wire-guiding member 358 is provided with a first through hole at the vertical direction. Along the vertical direction, the second wire-guiding member 359 is located between the first wire-feeding gear 356, the second wire-feeding gear 357, and the wire-feeding guider 321. The second wire-guiding member 359 is fixed on the frame 31. The second wire-guiding member 359 is provided with a second through hole at the vertical direction, and the second through hole is in communication with the first through hole. The tying wire passes through the first through hole in the first wire-guidirk&/503083 member 358, a space between the first wire-feeding gear 356 and the second wire-feeding gear 357, and the second through hole in the second wire-guiding member 359 in sequence and is fed into the wire-feeding groove 3211 of the wire-feeding guider 321. This improves the accuracy of the transmission of the tying wire.
Further, to avoid influencing the continuous wire feed of the wire-feeding unit, the wire-feeding groove 3211 includes a first wire-feeding groove and a second wire-feeding groove along the width direction of the wire-feeding guider 321. The first wire-feeding groove is in communication with the second through hole. After the tying wire passes through the first wire-feeding groove and the wire-receiving groove 3221 to wind a turn, the tying wire enters the second wire-feeding groove to avoid interfering in wire feed from the second through hole to the first wire-feeding groove when the tying wire enters the first wire-feeding groove again.
Further, the wire-cutting unit includes a cam 331, a rotating member 332, an elastic member, and a cutter 333. The cam 331 is sleeved on the first output shaft 353 through a coupling. Along the vertical direction, the rotating member 332 is located between the first wire-feeding gear 356, the second wire-feeding gear 357, and the wire-feeding guider 321. The rotating member 332 is rotatably provided on the frame 31, and one side of the upper part of the rotating member 332 is connected to the frame 31 through the elastic member. The lower part of the rotating member 332 is fixedly connected to the cutter 333.
The wire-feeding motor 351 drives the first output shaft 353 to rotate, and the first output shaft 353 drives the cam 331 to rotate. The cam 331 leans against the upper part of the rotating member 332. Referring to the orientation of FIG. 4, the upper part of the rotating member 332 rotates clockwise and drives the elastic member to be compressed. The lower part of the rotating member 332 rotates counterclockwise and drives the cutter 333 to move and cut the tying wire.
Subsequently, the elastic member rebounds and drives the rotating member 332 to return to the initial position.
Further, the wire-tying unit includes a second output shaft 341, a first wire-tying gear 342, a second wire-tying gear 343, and a wire-tying member 344.
The second output shaft 341 is arranged vertically and is connected to the output end of the wire-feeding motor 351. The second output shaft 341 is sleeved with the first wire-tying gear 342, and the first wire-tying gear 342 meshes with the second wire-tying gear 343 for transmission. The second wire-tying gear 343 is connected to the first output shaft 353 through a coupling. The bottom of the first output shaft 353 is connected to the wire-tying member 344 through a coupling. The wire-tying member 344 is located above the wire-feeding guider 321 and the wire-receiving guider 322.
The wire-feeding motor 351 drives the second output shaft 341 to rotate, and the second output shaft 341 drives the first wire-tying gear 342 and the second wire-tying gear 343 to rotateU503083
The second wire-tying gear 343 drives the wire-tying member 344 to rotate through the first output shaft 353. The wire-tying member 344 drives the tying wire to rotate and tightens the tying wire.
Referring to FIGS. 5-9, further, the positioning mechanism 1 includes a moving unit and a positioning unit. The moving unit is connected to the positioning unit, and the positioning unit is connected to the tying mechanism 3. The moving unit can drive the positioning unit and the tying mechanism 3 to move on the rebar mesh 200, and the positioning unit can precisely move the tying mechanism 3 to the rebar-tying point to be tied to conduct a tying operation.
The moving unit includes a base 11, two longitudinal movement assemblies 12, two lateral movement assemblies 13, a longitudinal drive assembly, and a lateral drive assembly.
The two longitudinal movement assemblies 12 are located on two lateral sides of the base 11.
The longitudinal drive assembly can drive the two longitudinal movement assemblies 12 to move synchronously and drive the base 11 to move on the rebar mesh 200 along the longitudinal direction. The two lateral movement assemblies 13 are located on two longitudinal sides of the base 11. The lateral drive assembly can drive the two lateral movement assemblies 13 to move synchronously and drive the base 11 to move on the rebar mesh 200 along the lateral direction.
The longitudinal movement assemblies 12 and the lateral movement assemblies 13 enable a robot for tying a rebar mesh to move on the rebar mesh 200. This improves the efficiency and precision of tying the rebar mesh 200 and reduces the cost. Further, synchronization of the lateral movement along the two lateral sides and the longitudinal movement along the two longitudinal sides of the robot 100 for tying the rebar is guaranteed, thereby improving the precision of the movement of the robot 100 for tying the rebar.
Specifically, the longitudinal movement assembly 12 includes a longitudinal movement mechanism 121 and a longitudinal transmission assembly.
The longitudinal movement mechanism 121 is a U-shaped plate body. The upper part of the longitudinal movement mechanism 121 is fixedly connected to the longitudinal transmission assembly, and the longitudinal transmission assembly can drive the bottom of the longitudinal movement mechanism 121 to move along the longitudinal direction and drive the base 11 to move along the longitudinal direction.
More specifically, the longitudinal transmission assembly includes a longitudinal driving sprocket 122, a longitudinal driven sprocket 123, and a longitudinal transmission chain 124.
One end of the upper part of the longitudinal movement mechanism 121 is fixed on the longitudinal driving sprocket 122, and the other end of the upper part of the longitudinal movement mechanism 121 is fixed on the longitudinal driven sprocket 123. The longitudinal transmission chain 124 is wound around the longitudinal driving sprocket 122 and the longitudinal driven sprocket 123. The longitudinal driving sprocket 122 drives the longitudinklJ503083 driven sprocket 123 to rotate synchronously with the longitudinal driving sprocket 122. The longitudinal driving sprocket 122 and the longitudinal driven sprocket 123 drive the longitudinal movement mechanism 121 to rotate around the axial direction of the longitudinal driving sprocket 122 and the axial direction of the longitudinal driven sprocket 123 so as to allow the bottom of the longitudinal movement mechanism 121 to move along the longitudinal direction and drive the base 11 to move along the longitudinal direction.
The two longitudinal driving sprockets 122 are fixedly connected through a longitudinal driving connecting shaft 125, and the two longitudinal driving sprockets 122 and the longitudinal driving connecting shaft 125 are coaxially arranged. The two longitudinal driven sprockets 123 are fixedly connected through a longitudinal driven connecting shaft 126, and the two longitudinal driven sprockets 123 and the longitudinal driven connecting shaft 126 are coaxially arranged. The longitudinal driving connecting shaft 125 is fixedly connected to the longitudinal drive assembly.
The longitudinal drive assembly can drive the corresponding longitudinal driving connecting shaft 125 to rotate around the axial direction of the longitudinal driving connecting shaft 125, and the two longitudinal driving connecting shafts 125 drive the two longitudinal driving sprockets 122 and the two longitudinal driven sprockets 123 to rotate synchronously, thereby driving the two longitudinal movement mechanisms 121 to rotate synchronously to improve the accuracy of synchronous rotation of the two longitudinal movement mechanisms 121, and thus improving the precision of longitudinal movement of the base 11 synchronously driven by the two longitudinal movement mechanisms 121.
Specifically, the longitudinal drive assembly includes a longitudinal drive motor 141, a first longitudinal drive sprocket 142, a second longitudinal drive sprocket 143, and a longitudinal drive chain 144. An output end of the longitudinal drive motor 141 is fixedly connected to the first longitudinal drive sprocket 142 through a longitudinal reducer 145, and the longitudinal drive chain 144 is wound around the first longitudinal drive sprocket 142 and the second longitudinal drive sprocket 143. The second longitudinal drive sprocket 143 is fixed on the longitudinal driving connecting shaft 125, and the second longitudinal drive sprocket 143 and the longitudinal driving connecting shaft 125 are coaxially arranged.
The longitudinal drive motor 141 drives the first longitudinal drive sprocket 142 to rotate around the axial direction of the first longitudinal drive sprocket 142 through the longitudinal reducer 145, and the first longitudinal drive sprocket 142 drives the second longitudinal drive sprocket 143 and the longitudinal driving connecting shaft 125 to rotate coaxially.
By changing the directions of the forward rotation and reverse rotation of the longitudinal drive motor 141, the longitudinal movement of the base 11, which is driven by the longitudinal movement mechanism 121, on the rebar mesh 200 can be adjusted accordingly. LU503083
Specifically, the lateral movement assembly 13 includes a lateral movement mechanism 131 and a lateral transmission assembly.
The lateral movement mechanism 131 1s a U-shaped plate body. The upper part of the lateral movement mechanism 131 is fixedly connected to the lateral transmission assembly. The lateral transmission assembly can drive the bottom of the lateral movement mechanism 131 to move along the lateral direction, and the lateral movement mechanism 131 drives the base 11 to move along the lateral direction.
With the lateral movement mechanism 131 and the longitudinal movement mechanism 121 each being designed to be a U-shaped plate body, it is convenient to move on the rebar mesh 200, which is in the form of a grid. Compared with a wheel-type movement mechanism and a mechanical foot-type movement mechanism, the movement mechanism of the U-shaped plate body can increase the contact area with rebars, thereby avoiding phenomena of unsteady steps and slips and improving the stability of movement on the rebar mesh 200. Further, the movement mechanism of the U-shaped plate body is suitable for different rebar spacing, not limited by the parallelism between the rebars, and can move freely along the lateral and longitudinal directions.
Compared with a crawler-type movement mechanism, the weight of the movement mechanism of the U-shaped plate body can be greatly reduced, and the force exerting on the rebar mesh 200 can be reduced when the movement mechanism moves along the rebar mesh 200, thereby avoiding displacement of an untied part of the rebar mesh and effectively eliminating the frictional force between the crawler-type movement mechanism and the rebars.
Preferably, the bottom of the lateral movement mechanism 131 and the bottom of the longitudinal movement mechanism 121 are wrapped with anti-skid rubber to improve anti-skidding and avoid the phenomena of unsteady steps and slips.
More specifically, the lateral transmission assembly includes a lateral driving sprocket 132, a lateral driven sprocket 133, and a lateral transmission chain 134.
One end of the upper part of the lateral movement mechanism 131 is fixed on the lateral driving sprocket 132, and the other end of the upper part of the lateral movement mechanism 131 is fixed on the lateral driven sprocket 133. The lateral transmission chain 134 is wound around the lateral driving sprocket 132 and the lateral driven sprocket 133. The lateral driving sprocket 132 drives the lateral driven sprocket 133 to rotate synchronously through the lateral transmission chain 134. The lateral driving sprocket 132 and the lateral driven sprocket 133 drive the lateral movement mechanism 131 to rotate around the axial direction of the lateral driving sprocket 132 and the axial direction of the lateral driven sprocket 133 so as to allow the bottom of the lateral movement mechanism 131 to move along the lateral direction and drive the base 11 to move along the lateral direction.
The two lateral driving sprockets 132 are provided opposite to each other on the two lateral/503083 sides of the base 11, and a lateral synchronizing assembly 1s provided between the two lateral driving sprockets 132. The lateral synchronizing assembly can drive the two lateral driving sprockets 132 to rotate synchronously. The lateral synchronizing assembly includes a lateral connecting shaft 135, a lateral driving synchronizing sprocket 136, a lateral driven synchronizing sprocket 137, and a lateral synchronizing chain 138. The lateral driving synchronizing sprocket 136 and the lateral driven synchronizing sprocket 137 are fixed at both ends of the lateral connecting shaft 135. The lateral synchronizing chain 138 is wound around the lateral driven synchronizing sprocket 137 and one of the two lateral driving sprockets 132. The lateral drive assembly 1s connected to the other of the two lateral driving sprockets 132 and the lateral driving synchronizing sprocket 136, respectively.
The lateral drive assembly can drive the corresponding lateral driving sprocket 132 to rotate synchronously with the lateral driving synchronizing sprocket 136. The lateral driven synchronizing sprocket 137 drives the other lateral driving sprocket 132 to rotate synchronously.
Thus, the two lateral driving sprockets 132 and the two lateral driven sprockets 133 rotate synchronously, and the two lateral movement mechanisms 131 are driven to rotate synchronously, thereby improving the accuracy of the synchronous rotation of the two lateral movement mechanisms 131, and thus improving the precision of lateral movement of the base 11 synchronously driven by the two lateral movement mechanisms 131.
More specifically, the lateral drive assembly includes a lateral drive motor 151, a lateral drive sprocket 152, a first lateral drive chain 153, and a second lateral drive chain 154. An output end of the lateral drive motor 151 is fixedly connected to the lateral drive sprocket 152 through a lateral reducer 155. The lateral drive sprocket 152 is a double sprocket. The first lateral drive chain 153 is wound around the lateral drive sprocket 152 and the corresponding lateral driving sprocket 132, and the second lateral drive chain 154 is wound around the lateral drive sprocket 152 and the lateral driving synchronizing sprocket 136.
The lateral drive motor 151 drives the lateral drive sprocket 152 to rotate around the axial direction of the lateral drive sprocket 152 through the lateral reducer 155, and the lateral drive sprocket 152 drives the corresponding lateral driving sprocket 132 to rotate synchronously with the lateral driving synchronizing sprocket 136.
By changing the directions of the forward rotation and reverse rotation of the lateral drive motor 151, the lateral movement of the base 11, which is driven by the lateral movement mechanism 131, on the rebar mesh 200 can be adjusted accordingly.
Further, to ensure the transmission stability of the longitudinal transmission chain 124 and the lateral transmission chain 134, the moving unit further includes a longitudinal auxiliary sprocket 16 and a lateral auxiliary sprocket 17.
At least one longitudinal auxiliary sprocket 16 is fixed on the two lateral sides of the base 1HJ503083
Each side of the base 11 is preferably provided with four longitudinal auxiliary sprockets 16, and the four longitudinal auxiliary sprockets 16 are spaced along the longitudinal direction. The longitudinal auxiliary sprocket 16 meshes with the longitudinal transmission chain 124. At least one lateral auxiliary sprocket 17 is fixed on the two longitudinal sides of the base 11, and the lateral auxiliary sprocket 17 meshes with the lateral transmission chain 134.
It can be understood from the above that the transmission of the moving unit is realized through the cooperation between sprockets and chains. Compared with the gear transmission method, the transmission via the sprockets and the chains can keep a transmission ratio constant and make a transmission distance longer. Therefore, it is suitable for a base 11 with a longer length and a longer width. Compared with the gear transmission and the worm-gear-and-worm transmission, which need higher requirements for machining precision and operation environment, in the transmission manner with the sprockets and the chains, the requirement of the parallelism of the longitudinal driving connecting shaft 125, the longitudinal driven connecting shaft 126 and the lateral connecting shaft 135 and the requirement of the flatness of sprockets are relatively low. Therefore, it is easily machined, and costs are reduced. In addition, the environmental adaptability is great, thereby enabling work under complex outdoor environments.
Further, the positioning unit is connected to the tying mechanism 3. The positioning unit can precisely move the tying mechanism 3 to a rebar-tying point to be tied when the moving unit moves to an area to be tied along the rebar mesh 200. The tying mechanism 3 can tie the rebar-tying point.
Specifically, the positioning unit is fixed on the top of the base 11. The positioning unit includes a vertical guide rail 211, a lateral guide rail 212, a longitudinal guide rail 213, and a positioning drive assembly. The tying mechanism 3 is slidably provided on the vertical guide rail 211 along the vertical direction. The vertical guide rail 211 is slidably provided on the lateral guide rail 212 along the lateral direction. The lateral guide rail 212 is slidably provided on the longitudinal guide rail 213 along the longitudinal direction. Therefore, under the cooperation of the vertical guide rail 211, the lateral guide rail 212, and the longitudinal guide rail 213, the tying mechanism 3 can be driven to move laterally, longitudinally, and vertically to the corresponding rebar-tying point. The positioning drive assembly can drive the tying mechanism 3, the vertical guide rail 211, and the lateral guide rail 212 to move.
Two longitudinal guide rails 213 are provided. The two longitudinal guide rails 213 are located on the two lateral sides of the base 11 and at two ends of the lateral guide rail 212. The two ends of the lateral guide rail are respectively slidably connected to the longitudinal guide rails 213 through a longitudinal slide block 2133. A longitudinal belt 2131 is wound around the longitudinal guide rail 213. Two longitudinal belts 2131 are connected through a longitudinkl/503083 transmission shaft 2132 so as to precisely realize the synchronous rotation of the two longitudinal belts 2131. The longitudinal belt 2131 and the longitudinal slide block 2133 are connected through a screw. The two longitudinal belts 2131 synchronously drive the lateral guide rail through the longitudinal slide block 2133 to move along the longitudinal direction so as to ensure the synchronism of the longitudinal movement of the two ends of the lateral guide rail 212.
The vertical guide rail 211 is slidably provided on the lateral guide rail 212 through a lateral slide block 2122. A lateral belt 2121 is wound around the lateral guide rail 212, and the lateral belt 2121 and the lateral slide block 2122 are connected through a screw. The lateral belt 2121 drives the vertical guide rail 211 through the lateral slide block 2122 to move along the lateral direction.
The tying mechanism 3 is slidably provided on the vertical guide rail 211 through a vertical slide block 2112. A vertical belt 2111 is wound around the vertical guide rail 211, and the vertical belt 2111 and the vertical slide block 2112 are connected through a screw. The vertical belt 2111 drives the tying mechanism 3 through the vertical slide block 2112 to move up and down along the vertical direction.
The positioning drive assembly includes a first motor 2141, a second motor 2142, and a third motor 2143.
The first motor 2141 is fixed on one end of the longitudinal guide rail 213 through a fixed bracket. A driving end of the first motor 2141 is connected to the longitudinal belt 2131 through a gear, and the first motor 2141 drives the longitudinal belt 2131 through the gear to rotate. The second motor 2142 is fixed on one end of the lateral guide rail 212 through a fixed bracket. A driving end of the second motor 2142 is connected to the lateral guide rail 212 through a gear, and the second motor 2142 drives the lateral belt 2121 through the gear to rotate. The third motor 2143 is fixed on the upper end of the vertical guide rail 211 through a fixed bracket to prevent the third motor 2143 from affecting the movement of the base 11. A driving end of the third motor 2143 is connected to the vertical belt 2111 through a gear. The driving end of the third motor 2143 is connected to the vertical guide rail 211 through the gear, and the third motor 2143 drives the vertical belt 2111 through the gear to rotate.
Further, the positioning mechanism 1 further includes a first support mechanism 23 and a second support mechanism 24.
The first support mechanism 23 is fixed on the base 11. When the positioning mechanism 1 moves to the area to be tied along the rebar mesh 200, the longitudinal movement mechanism 121 and the lateral movement mechanism 131 are separated from the rebar mesh 200 and are located above the rebar mesh 200 via the support of the first support mechanism 23 to extend the service life of the longitudinal movement mechanism 121 and the lateral movement mechanisk}/503083 131. The second support mechanism 24 is located between the positioning unit and the base 11, and the second support mechanism 24 can support the positioning unit.
Specifically, two first support mechanisms 23 are provided. The two first support mechanisms 23 are located on the two lateral sides of the base 11. The first support mechanism 23 includes a first support plate 231 and a first support rod 232. The first support plate 231 is fixed to the bottom of the chassis bracket through the first support rod 232. Two ends of the first support plate 231 are arranged to incline upward so that the first support plate 231 is in a sled shape. Therefore, when the positioning mechanism 1 drives the base 11 to move along the rebar mesh 200, the two ends of the first support plate 231 can cross the obstacles on the rebar mesh 200.
The second support mechanism 24 includes a connecting plate 241 and a slide block support base 242. The longitudinal slide block 2133 is fixed on the top of the slide block support base 242 through the connecting plate 241, and the slide block support base 242 is fixed on the top of the base 11. Preferably, four connecting plates 241 and four slide block support bases 242 are respectively provided on the two lateral sides and the two longitudinal sides of the base 11.
Although the embodiments of the present disclosure have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limitations to the present disclosure. Changes, modifications, substitutions, and variations may be made to the above embodiments by a person of ordinary skill in the art within the scope of the present disclosure.
Claims (10)
1. A robot for tying a rebar mesh comprising a tying mechanism (3) and a positioning mechanism (1); wherein the tying mechanism (3) is provided on the positioning mechanism (1), and the positioning mechanism (1) drives the tying mechanism (3) to move to a rebar-tying point and drives the tying mechanism (3) to move up and down; the tying mechanism (3) comprises a wire-guiding unit, a wire-cutting unit, a wire-tying unit, and a frame (31), wherein the wire-guiding unit, the wire-cutting unit, and the wire-tying unit are provided on the frame (31); the positioning mechanism (1) is connected to the frame (31); the wire-guiding unit comprises a wire-feeding guider (321), a wire-receiving guider (322), and a guidewire drive assembly; the wire-feeding guider (321) and the wire-receiving guider (322) are provided opposite to each other; the wire-feeding guider (321) is provided with a wire-feeding groove (3211), and the wire-receiving guider (322) is provided with a wire-receiving groove (3221); the wire-feeding groove (3211) and the wire-receiving groove (3221) are provided opposite to each other and are arc-shaped, the guidewire drive assembly is connected to the wire-feeding guider (321) and the wire-receiving guider (322), respectively; the guidewire drive assembly drives the wire-feeding guider (321) and the wire-receiving guider (322) to move toward and away from each other along a horizontal direction; when the wire-feeding guider (321) and the wire-receiving guider (322) move toward each other along a horizontal direction and abut against each other, the wire-feeding groove (3211) and the wire-receiving groove (3221) are enclosed to form an annular cavity, wherein the annular cavity guides a tying wire to surround, the wire-cutting unit cuts the tying wire when the tying wire winds a preset number of turns; and after the tying wire is cut, the wire-tying unit tightens the tying wire.
2. The robot for tying the rebar mesh according to claim 1, wherein the guidewire drive assembly comprises a wire-feeding driver (3231) and a wire-feeding arm (3232); wherein the wire-feeding driver (3231) is fixed on the frame (31); a driving end of the wire-feeding driver (3231) is arranged horizontally and is fixedly connected to the wire-feeding arm (3232); and the wire-feeding arm (3232) is fixedly connected to the wire-feeding guider (321); and wherein the wire-feeding driver (3231) drives the wire-feeding guider (321) through the wire-feeding arm (3232) to move along the horizontal direction.
3. The robot for tying the rebar mesh according to claim 2, wherein the guidewire driké/503083 assembly further comprises a wire-feeding slide block (3233) and a wire-feeding slide rail (3234); and wherein the wire-feeding slide block (3233) is fixedly connected to the frame (31) and is slidably connected to the wire-feeding slide rail (3234); and the wire-feeding slide rail (3234) is arranged horizontally and is fixedly connected to the wire-feeding arm (3232).
4. The robot for tying the rebar mesh according to claim 1, wherein the guidewire drive assembly further comprises a wire-receiving driver (3235) and a wire-receiving arm (3236); wherein the wire-receiving driver (3235) is fixed on the frame (31); a driving end of the wire-receiving driver (3235) is fixedly connected to the wire-receiving arm (3236); and the wire-receiving arm (3236) is fixedly connected to the wire-receiving guider (322); and wherein the wire-receiving driver (3235) drives the wire-receiving guider (322) through the wire-receiving arm (3236) to move along the horizontal direction.
5. The robot for tying the rebar mesh according to claim 1, wherein the wire-guiding unit further comprises a wire-receiving slide block (3237) and a wire-receiving slide rail (3238); and wherein the wire-receiving slide block (3237) is fixedly connected to the frame (31) and is slidably connected to the wire-receiving slide rail (3238); and the wire-receiving slide rail (3238) is arranged horizontally and is fixedly connected to the wire-receiving arm (3236).
6. The robot for tying the rebar mesh according to claim 1, wherein the positioning mechanism (1) comprises a base (11), two longitudinal movement assemblies (12), and two lateral movement assemblies (13); wherein the two longitudinal movement assemblies (12) are located on two lateral sides of the base (11); the longitudinal movement assembly (12) comprises a longitudinal movement mechanism (121), and the longitudinal movement mechanism (121) is a U-shaped plate body; and the two longitudinal movement mechanisms (121) synchronously drive the base (11) to move along a longitudinal direction; and the two lateral movement assemblies (13) are located on two longitudinal sides of the base (11); the lateral movement assembly (13) comprises a lateral movement mechanism (131), and the lateral movement mechanism (131) is a U-shaped plate body; and the two lateral movement mechanisms (131) synchronously drive the base (11) to move along a lateral direction.
7. The robot for tying the rebar mesh according to claim 6, wherein the longitudinal movement assembly (12) further comprises a longitudinal transmission assembly;
wherein the longitudinal transmission assembly comprises a longitudinal driving sprocket/503083 (122), a longitudinal driven sprocket (123), and a longitudinal transmission chain (124); wherein one end of an upper part of the longitudinal movement mechanism (121) is fixed on the longitudinal driving sprocket (122), and the other end of the upper part of the longitudinal movement mechanism (121) is fixed on the longitudinal driven sprocket (123); the longitudinal transmission chain (124) is wound around the longitudinal driving sprocket (122) and the longitudinal driven sprocket (123); and the longitudinal driving sprocket (122) drives the longitudinal driven sprocket (123) to rotate synchronously with the longitudinal driving sprocket (122); wherein the two longitudinal driving sprockets (122) are fixedly connected through a longitudinal driving connecting shaft (125), and the two longitudinal driving sprockets (122) and the longitudinal driving connecting shaft (125) are coaxially arranged, wherein the two longitudinal driven sprockets (123) are fixedly connected through a longitudinal driven connecting shaft (126), and the two longitudinal driven sprockets (123) and the longitudinal driven connecting shaft (126) are coaxially arranged; and wherein the positioning mechanism (1) further comprises a longitudinal guidewire drive assembly; the longitudinal guidewire drive assembly is fixedly connected to the longitudinal driving connecting shaft (125), and the longitudinal guidewire drive assembly drives the longitudinal driving connecting shaft (125) to rotate around an axial direction of the longitudinal driving connecting shaft (125).
8. The robot for tying the rebar mesh according to claim 6, wherein the lateral movement assembly (13) further comprises a lateral transmission assembly; the lateral transmission assembly comprises a lateral driving sprocket (132), a lateral driven sprocket (133), and a lateral transmission chain (134); and wherein one end of an upper part of the lateral movement mechanism (131) is fixed on the lateral driving sprocket (132), and the other end of the upper part of the lateral movement mechanism (131) is fixed on the lateral driven sprocket (133); the lateral transmission chain (134) is wound around the lateral driving sprocket (132) and the lateral driven sprocket (133); and the lateral driving sprocket (132) drives the lateral driven sprocket (133) to rotate synchronously with the lateral driving sprocket (132).
9. The robot for tying the rebar mesh according to claim 8, wherein the two lateral driving sprockets (132) are provided opposite to each other on the two lateral sides of the base (11), and a lateral synchronizing assembly is provided between the two lateral driving sprockets (132); and the lateral synchronizing assembly comprises a lateral connecting shaft (135), a lateral driving synchronizing sprocket (136), a lateral driven synchronizing sprocket (137), and a laterkl/503083 synchronizing chain (138); wherein the lateral driving synchronizing sprocket (136) and the lateral driven synchronizing sprocket (137) are fixed at both ends of the lateral connecting shaft (135), and the lateral driving synchronizing sprocket (136), the lateral driven synchronizing sprocket (137), and the lateral connecting shaft (135) are coaxially arranged; and the lateral synchronizing chain (138) is wound around the lateral driven synchronizing sprocket (137) and one of the two lateral driving sprockets (132); and wherein the positioning mechanism (1) further comprises a lateral drive assembly; the lateral drive assembly is connected to the other of the two lateral driving sprockets (132) and the lateral driving synchronizing sprocket (136), respectively; and the lateral drive assembly drives the corresponding lateral driving sprocket (132) to rotate synchronously with the lateral driving synchronizing sprocket (136).
10. The robot for tying the rebar mesh according to claim 6, wherein the positioning mechanism (1) further comprises a positioning unit; wherein the positioning unit is fixed on the base (11), and the positioning unit comprises a vertical guide rail (211), a lateral guide rail (212), and a longitudinal guide rail (213); and wherein the tying mechanism (3) is slidably provided on the vertical guide rail (211) along a vertical direction; the vertical guide rail (211) is slidably provided on the lateral guide rail (212) along the lateral direction of the base (11); and the lateral guide rail (212) is slidably provided on the longitudinal guide rail (213) along the longitudinal direction of the base (11).
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210643559.0A CN114718324B (en) | 2022-06-09 | 2022-06-09 | Reinforcing mesh binding robot |
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| Publication Number | Publication Date |
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| LU503083A1 true LU503083A1 (en) | 2023-05-17 |
| LU503083B1 LU503083B1 (en) | 2023-08-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| LU503083A LU503083B1 (en) | 2022-06-09 | 2022-11-17 | Robot for tying rebar mesh |
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| CN (1) | CN114718324B (en) |
| LU (1) | LU503083B1 (en) |
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| CN116122586B (en) * | 2023-02-01 | 2023-10-13 | 浙江省东阳市东横园林古典建筑有限公司 | Concrete construction machine |
| CN116001080B (en) * | 2023-02-20 | 2023-09-08 | 连云港先至远大建筑工业有限公司 | Prefabricated pc component production device and method with automatic quality inspection function |
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| EP0731238A1 (en) * | 1995-03-10 | 1996-09-11 | Max Co., Ltd. | Reinforcing bar binding machine |
| CN111877768A (en) * | 2020-07-15 | 2020-11-03 | 理工华汇(潍坊)智能机器人有限公司 | Automatic steel bar binding equipment and binding method |
| WO2021161607A1 (en) * | 2020-02-13 | 2021-08-19 | 株式会社マキタ | Reinforcing bar binding robot |
| US20220143678A1 (en) * | 2020-11-06 | 2022-05-12 | Gem Technologies, Inc. | Rebar Tying Robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103982043B (en) * | 2013-12-17 | 2016-01-13 | 桐乡市景顺机电有限公司 | Electric steel binding machine |
| CN206128655U (en) * | 2016-09-23 | 2017-04-26 | 李振飞 | Automatic reinforcement machine |
| CN208495665U (en) * | 2018-06-15 | 2019-02-15 | 建科机械（天津）股份有限公司 | A kind of reinforcing bar ties up net machine |
| CN112177348A (en) * | 2019-07-03 | 2021-01-05 | 周惠兴 | Walking type steel bar bundling robot |
| CN110815544A (en) * | 2019-12-10 | 2020-02-21 | 天津城建大学 | Precast concrete component reinforcing bar binding machine |
| CN211866446U (en) * | 2020-03-17 | 2020-11-06 | 九江学院 | Supplementary bending apparatus of reinforcement for civil engineering |
| CN212606006U (en) * | 2020-04-27 | 2021-02-26 | 中物智建(武汉)科技有限公司 | Reinforcing mesh bundling robot |
| CN111519907A (en) * | 2020-05-28 | 2020-08-11 | 中物智建(武汉)科技有限公司 | Two-dimensional walking mechanism |
| CN111927104A (en) * | 2020-07-24 | 2020-11-13 | 中物智建(武汉)科技有限公司 | Intelligent reinforcement bar binding robot |
-
2022
- 2022-06-09 CN CN202210643559.0A patent/CN114718324B/en active Active
- 2022-11-17 LU LU503083A patent/LU503083B1/en active IP Right Grant
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0731238A1 (en) * | 1995-03-10 | 1996-09-11 | Max Co., Ltd. | Reinforcing bar binding machine |
| WO2021161607A1 (en) * | 2020-02-13 | 2021-08-19 | 株式会社マキタ | Reinforcing bar binding robot |
| CN111877768A (en) * | 2020-07-15 | 2020-11-03 | 理工华汇(潍坊)智能机器人有限公司 | Automatic steel bar binding equipment and binding method |
| US20220143678A1 (en) * | 2020-11-06 | 2022-05-12 | Gem Technologies, Inc. | Rebar Tying Robot |
Also Published As
| Publication number | Publication date |
|---|---|
| LU503083B1 (en) | 2023-08-08 |
| CN114718324B (en) | 2023-02-14 |
| CN114718324A (en) | 2022-07-08 |
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