CN101602413A - The head unit that is used for coil packaging - Google Patents
The head unit that is used for coil packaging Download PDFInfo
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- CN101602413A CN101602413A CNA2009100009522A CN200910000952A CN101602413A CN 101602413 A CN101602413 A CN 101602413A CN A2009100009522 A CNA2009100009522 A CN A2009100009522A CN 200910000952 A CN200910000952 A CN 200910000952A CN 101602413 A CN101602413 A CN 101602413A
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Abstract
The invention discloses a kind of head unit that is used for coil packaging, in order to transmit and fastening being used for is fixed to bandage on the material webs with packing.The head unit that is used for coil packaging comprises: the bandage delivery unit, be sent to the position of the front end that the robot that is used for twining bandage on material webs can the clamping bandage in order to the front end of the bandage that will supply with coil packaging, and when robot provides the front end that is wrapped in the bandage on the material webs, thereby the front end that transmits bandage makes itself and bandage overlapping; And the bandage fastening unit that the front end of bandage is fastened to bandage.
Description
Technical field
The present invention relates to a kind of head unit that is used for coil packaging, more particularly, relate to a kind of for transmit and fastening bandage packing are fixed to the head unit that is used for coil packaging on the material webs.
Background technology
Process for making iron comprises: by using the iron-smelting process of producing metal rust (rust water) such as the critical material of various iron ores etc., by removing impurity in order to produce the process for making of molten steel from the metal rust, the continuous casting process that the molten steel of liquid state is made, and the rolling mill practice that is used for solid-state steel is changed into steel plateelement or wire rod.
Continuous casting process is so a kind of technology, and the molten steel of liquid state is injected mold, and make its by conticaster to be cooled and to be cured as half-blank, for example continuous flat board, steel billet or steel ingot.Wherein, thus can make flat board pass a plurality of live-rollerss in rolling mill practice is made into the steel-sheet form.The steel plate of making like this need twine and supply with for what provide and deliver with the form of material webs.
Fig. 1 is the decomposition diagram that the marriage relation between material webs and the coil packaging material is shown.With reference to Fig. 1, steel plate (being hereinafter referred to as " material webs ") twines with the form of material webs and the packaged material packing of its inside and outside circumferential surface, and packing comprise: anti-tarnish paper 11, and the inside and outside circumference that is wrapped in material webs 10 is used for protection against the tide; Exterior periphery screening glass 12 is used for the outer circumferential surface of protective material volume 10; Inner circumferential screening glass 13 is used for the circumferential surface of protective material volume 10; Cross section side plate 14 is used for two sides of protective material volume 10; Inner annulus 15 is used for inner circumferential screening glass 13 is fixed in the circumferential surface of material webs 10; And outside annulus 16, be used for exterior periphery screening glass 12 is fixed in the outer circumferential surface of material webs 10.
After the packaged material of the inside and outside circumferential surface of material webs 10 packing, prevent that material webs 10 is loose and tie packing in order to the inside and outside circumferential surface that covers material webs 10 thereby carry out bundling technology.
Yet,, be used to transmit the equipment of the equipment of material webs 10, the material webs 10 that is used to raise and be arranged in the equipment that bandage is wrapped on the direction of material webs 10 and arranged individually and operate for the material webs binding apparatus of prior art.
Therefore, there is following problem in the material webs binding apparatus of prior art: the expense of the low and initial investment on drill shack and equipment of the spatial operation efficient of material webs bundling technology increases.
In addition, the shared area of device and structure when being used to carry out coil packaging has hindered the protection to workman or operating personal mobile route and working space, thereby the workman is prone to accidents.
Summary of the invention
The object of the present invention is to provide and be used to use robot to carry out the head unit of the robot binding apparatus of coil packaging.
To achieve these goals, the invention provides the head unit that is used for coil packaging, comprise: the bandage delivery unit, the front end that supply is used for the bandage of coil packaging is sent to and is used for bandage is wrapped in the position that robot on the material webs can clamping bandage front end, thereby and the front end that when robot provides the front end that is wrapped in the bandage on the material webs, transmits bandage make itself and bandage overlapping; And the bandage fastening unit, the front end of bandage is fastened to bandage.
The advantage that is used for the head unit of coil packaging according to the present invention is, reduce owing to be used to carry out the equipment size of the bundling technology of coil packaging, this technology is required can be effectively utilized and the expense of the initial investment on drill shack and equipment reduces.
Description of drawings
The accompanying drawing that is comprised is used to provide further understanding of the present invention and comprises in this manual a part as this specification sheets.Accompanying drawing illustrate embodiments of the invention and and word segment be used for explaining principle of the present invention together.
In the accompanying drawing:
Fig. 1 is the decomposition diagram that marriage relation between material webs and the coil packaging material is shown;
Fig. 2 is the transparent view that the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown;
Fig. 3 is the transparent view that the head unit of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown;
Fig. 4 is the decomposition diagram that the head unit of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown;
Fig. 5 is the decomposition diagram of bandage delivery unit that the head unit of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown;
Fig. 6 is the decomposition diagram of the delivery unit of exerting pressure that the head unit of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown;
Fig. 7 is the decomposition diagram of bandage fastening unit that the head unit of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown;
Fig. 8 is the decomposition diagram of liner feed unit that the head unit of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown;
Fig. 9 is the decomposition diagram of bandage cutter unit that the head unit of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown;
Figure 10 is the transparent view that the grip unit of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown;
Figure 11 is the decomposition diagram of retained part that the grip unit of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown;
Figure 12 and Figure 13 are the operational view that the bandage clamping operation of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown;
Figure 14 is the operational view that the anchor clamps of pivoting controller that the grip unit of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown rotate control operation;
Figure 15 is the operational view that the fastening bending operation of vertical bundling of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown;
Figure 16 is the operational view that the fastening bending operation of horizontal bundling of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown;
Figure 17 is the transparent view that the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown;
Figure 18 illustrates the transparent view of operation that utilization is used for the robot binding apparatus bundling wire coil of coil packaging according to an embodiment of the invention;
Figure 19 is the transparent view that the robot binding apparatus that is used for coil packaging according to another embodiment of the present invention is shown;
Figure 20 is the transparent view of a part that the bandage fastening unit of the robot binding apparatus that is used for coil packaging according to another embodiment of the present invention is shown.
The specific embodiment
The head unit that is used for coil packaging according to exemplary embodiment of the present invention is described below with reference to accompanying drawings.
Fig. 2 is the transparent view that the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown.With reference to Fig. 2, robot binding apparatus comprises bandage loader 100, head unit 300, head robot 301, grip unit 400, clamping robot 401 and the first and second robot delivery units 302 and 402.
The auxiliary extracting unit 120 of bandage comprises extraction driving engine 121 and a plurality of extraction roller 122 that is wound with bandage B that is used for extracting from bandage memory cell 110 bandage B, and after wherein bandage B was extracted from extraction driving engine 121, its tension force reduced.The auxiliary extracting unit 120 of bandage extracts the bandage B that is wrapped on the bandage memory cell 110 in advance reducing the tension force of bandage B, thereby bandage B can be supplied with smoothly.
The first and second robot delivery units 302 and 402 support head unit 300 and grip unit 400 respectively.The first and second robot delivery units 302 and 402 transmit head robot 301 and clamping robot 401 as the crow flies.The first and second robot delivery units 302 and 402 can be implemented as the linear actuators that comprises power motor and tooth bar/gear, the linear actuators that comprises motion of translation (LM) motor and LM guide member, and comprise power motor, transmit guide rail and ball-screw linear actuators one of them.
Feed guide member Ba is connected (combination) with head unit 300 with head robot 301, and the bandage B that provides to head unit 300 from bandage loader 100 is provided.Preferably, feed guide member Ba is the elastic body that can be out of shape according to the attitude of head robot 301.Feed guide member Ba is wound into when being provided for head unit 300 on head control setup 301 and the head unit 300 in order to prevent bandage B.
Operation according to the robot binding apparatus of the embodiment of the invention will briefly be described below.
The bandage B that is wrapped on the bandage memory cell 110 is extracted from bandage memory cell 110 by the auxiliary extracting unit 120 of bandage.Bandage B twines with the state that tension force reduces at a plurality of extraction rollers 122.The bandage B that is wrapped on a plurality of extraction rollers 122 is provided for head unit 300.
Thereby head unit 300 makes the front end of bandage B therefrom pass outwards to be discharged.Grip unit 400 is clamped the front end of the bandage B that is discharged into outside the head unit 300.Clamping robot 401 rotates the grip unit 400 at the periphery of the material webs 50 that is supported by material webs supporter 60.Then, head robot 301 moves to head unit 300 restraint location of bandage B.Bandage B is held robot 401 and pulls out in the unit 300 from the head, and is wrapped in the inside and outside circumferential surface by the material webs 50 of material webs supporter 60 supportings subsequently.
When bandage B was wound on the material webs 50, clamping robot 401 moved to restraint location with the front end of bandage B.Thereby head unit 300 is sent to its inside with bandage B can overlap each other bandage B in head unit 300.The head unit 300 fixedly front end of bandage B twines bandage B afterwards again securely bandage B is wrapped on the material webs 50.Head unit 300 is fastened overlapping bandage B, and cut-out and bandage B are captive the adjacent part of part.
In this way, robot binding apparatus twines bandage B on the inside and outside circumference of material webs 50, and fastens bandage B so that packing 51,52,53,54 and 55 are strapped on the material webs 50.
Below with reference to accompanying drawings structure and operation according to the robot binding apparatus of the embodiment of the invention are described in detail.
Fig. 3 is the transparent view that the head unit of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown, and Fig. 4 is the decomposition diagram that the head unit of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown.With reference to Fig. 3 and Fig. 4, head unit 300 comprises the support 350 of bandage delivery unit 310, bandage fastening unit 320, liner feed unit 330, bandage cutter unit 340 and supporting bandage cutter unit.Rotating unit 360 is disposed between the pivoting end of support 350 and head robot 301 so that support 350 from the head the pivoting end of robot 301 be rotated.
When head unit 300 was moved to restraint location by head robot 301, liner feed unit 330 provided liner for bandage fastening unit 320.
Fig. 5 is the decomposition diagram of bandage delivery unit that the head unit of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown.With reference to Fig. 3 to Fig. 5, bandage delivery unit 310 comprises the drive motor 311 that turning effort is provided, the accelerator/retarder 312 that combines with the turning cylinder of drive motor 311 and the transfer roller 313 that combines with the turning cylinder of accelerator/retarder 312.
The bandage delivery unit also comprises the support roller 315 that is arranged in transfer roller 313 tops, the support connecting rod 315a that combines with the turning cylinder of support roller 315 and the support cylinder 316 that combines with support connecting rod 315a.Bandage delivery unit 310 further comprises first output gear 313a that combines with the turning cylinder of accelerator/retarder 312 and the first input gear 315b that combines with the turning cylinder of support roller 315.
The operation that transmits bandage B by head unit 300 will be described below.
The bandage B that supplies with from bandage loader 100 moves to transfer roller 313 when being supported by a plurality of deflector roll 314a.A plurality of deflector roll 314a support bandage B downwards upwards,, left and to the right, thereby prevent that bandage B is twisted.Pass a plurality of deflector roll 314a, bandage B is directed to transfer roller 313 along the first bandage guide member 314b.
Contact with support roller 315 with transfer roller when bandage B is transmitted, and pass between the first bandage guide member 314b and the second bandage guide member 314c.The front end of bandage B passes bandage cutter unit 340 and bandage fastening unit 320 and arrives bandage hill holder 314d.Bandage hill holder 314d stops bandage B to move on, thereby the front end of bandage B is positioned on the bandage hill holder 314d.
Here, bandage hill holder 314d is configured to be rotated when the front end of bandage B contacts with it.Position detector 314e is disposed in the pivoting end of bandage hill holder 314d to detect the rotation of bandage hill holder 314d.When bandage hill holder 314d was rotated, position detector 314e contacted with the pivoting end of bandage hill holder 314d to generate activation signal.
When the front end of bandage B is positioned in bandage hill holder 314d, the grip unit 400 that the front end of grip unit 400 clamping bandage B and clamping robot 401 rotate at material webs 50 peripheries.At this moment, support cylinder 316 to rotate and support connecting rod 315a.Along with the rotation of supporting connecting rod 315a, thereby support roller 315 is separated the bandage B that makes from passing between support roller 315 and the transfer roller 313 and is pulled out smoothly with transfer roller 313.
Meanwhile, clamping robot 401 moves to restraint location with bandage B.The front end of bandage B is inserted into the outside of the second bandage guide member 314c.First bandage that the front end of bandage B is received in the outside formation of the second bandage guide member 314c receives groove 314ca.By the transfer roller 317h (referring to Fig. 6) that exerts pressure of the delivery unit 317 (to be described) of exerting pressure, the front end of bandage B arrives bandage hill holder 314d.
When the front end of bandage B contacted with bandage hill holder 314d, bandage hill holder 314d was rotated to generate activation signal and drive motor 311 and is reversed rotation.Along with the generation of activation signal, support cylinder 316 to rotate and support connecting rod 315a.Along with the rotation of supporting connecting rod 315a, support roller 315 is to transfer roller 313 motion and the first input gear 315b and the first output gear 313a interlocks.At this moment, bandage cutter unit 340 is the front end of bandage B fixedly, and the bandage B that is supplied with by bandage loader 100 is positioned between support roller 315 and the transfer roller 313.
Along with the backward rotation of drive motor 311, the rotating speed of 312 pairs of drive motor 311 of accelerator/retarder carries out acceleration with backward rotation transfer roller 313.At this moment, support roller 315 is when accepting turning effort with the first output gear 313a ingear, the first input gear 315b, to rotate with the direction of the direction of rotation of transfer roller 313.
Bandage B contacts with support roller 315 with transfer roller 313 and twines again, and is wrapped in the tension force increase of the bandage B on the material webs 50.
Step 315e forms from a part of the external diameter of support roller 315 1 sides outstanding, and tension detector 315f is arranged in the sidepiece place of the support roller 315 that forms step 315e, to detect the rotation that step 315e rotates along with support roller 315.The tension force of the velocity of rotation of support roller 315 and bandage B is inversely proportional to.Just, along with the increase of bandage B tension force, the velocity of rotation of support roller 315 reduces gradually.Subsequently, when the tension force of bandage B became turning effort identical (equally strong) with drive motor 311, support roller 315 was no longer rotated.Along with support roller 315 is no longer rotated, activation signal is held or no longer generates from tension detector 315f.
When the activation signal that generates as tension detector 315f is held a period of time or when not having activation signal to generate for some time, the backward rotation of drive motor 311 stops, and the winding again of bandage B stops.
Fig. 6 is the decomposition diagram of the delivery unit of exerting pressure that the head unit of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown.With reference to Fig. 6, the delivery unit 317 of exerting pressure comprises the opening/closing bar 317a that is arranged in the one side.Certain a part of combination of opening/closing connecting rod 317b and opening/closing bar 317a, opening/closing cylinder 317c combines with opening/closing connecting rod 317b.
The delivery unit 317 of exerting pressure further comprises opening/closing guide rail 317e a plurality of and opening/closing connecting rod 317b both sides opening/closing roller 317d that all combines and the motion path that forms a plurality of opening/closing roller 317d.Opening/closing guide rail 317e is included in and forms wherein that long one of them also limits the opening/closing guide hole 317f of the move distance of this opening/closing roller 317d in order to limit a plurality of opening/closing roller 317d.Opening/closing guide rail 317e comprise with the cooresponding straight line portion of opening/closing guide hole 317f and with the coaxial curved portion of opening/closing guide hole 317f.
The delivery unit 317 of exerting pressure comprises second input gear 317g that combines with opening/closing bar 317a and the transfer roller 317h that exerts pressure that combines with the rotating shaft of the second input gear 317g.
Operation by head unit 300 opening/closing bandage B will be described below.
As mentioned above, the front end of bandage B is inserted first bandage reception groove 314ca that head unit 300 and clamping robot 401 are inserted in the outside formation of the second bandage guide member 314c again by grip unit 400.At this moment, opening/closing cylinder 317c advances to prevent that bandage B from receiving groove from first bandage and discharging opening/closing connecting rod 317b.
Advance along with opening/closing cylinder 317c makes opening/closing connecting rod 317b, a plurality of opening/closing roller 317d move along the straight line portion of opening/closing guide rail 317e.The opening/closing roller 317d that is limited among the opening/closing guide hole 317f stops in the end of opening/closing guide hole 317f, and remaining opening/closing roller 317d continues to move along the curved portion of opening/closing guide rail 317e.Correspondingly, opening/closing connecting rod 317b closes roller 317d in the end of opening/closing guide hole 317f as opening of its limitation of movement of turning cylinder and receives groove 314ca rotation to first bandage by utilization.Opening/closing bar 317a rotates along with opening/closing connecting rod 317b to close first bandage and receives groove 314ca.
At this moment, the transfer roller 317h that exerts pressure applies pressure to first bandage and receives bandage B, the second input gear 317g and the second output gear 315d interlock that groove 314ca receives.The transfer roller 317h that exerts pressure rotates when receiving by the second input gear 317g through turning effort that the second output gear 315d transmits, and bandage B is sent to bandage hill holder 314d.
Fig. 7 is the decomposition diagram of bandage fastening unit that the head unit of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown.With reference to Fig. 7, bandage fastening unit 320 comprises the power supply 321 that the overlapping bandage B power demand of welding is provided.The first and second electrode bar 321a are connected with power supply 321 with 321b.Welding gun 322 with tip 322a combines with the first electrode bar 321a, and back plate 324 is connected with the second electrode bar 321b.Welding gun 322 is set as by welding cylinder 323 and moves forward and backward.
Operation by head unit 300 fastening bandage B will be described below.
As mentioned above, after front end that the front end of bandage B inserts head unit 300 and bandage B again was pressed transfer roller 317h and is sent to bandage hill holder 314d always, bandage B was overlapping at bandage fastening unit 320 places.At this moment, welding gun 322 is positioned in the inboard of overlapping bandage B, and back plate 324 is positioned in the outside of overlapping bandage B.
Preferably, a plurality of welding guns 322 and a plurality of tip 322a can be set.A plurality of welding guns 322 and a plurality of tip 322a can form solder joint simultaneously on a plurality of points of pressurized bandage B.Therefore, the required process time of fastening bandage B can be shortened and bandage B can be firmly fastened to.
Bandage B fastening unit 320 comprises lath 325, the plate cylinder 326 that combines with lath 325 that supports back plate 324 and has an end and lath 325 twistings and the other end are fixed in the plate connecting rod 327 of plate cylinder 326.
The rotating operation of back plate 324 will be sent between material webs 50 and the bandage B from the liner that liner feed unit 330 is supplied with.Therefore, liner receives groove 324a and forms at the front surface of back plate 324, and receiving the liner of supplying with from liner feed unit 330, and liner chuck 324b is located at liner and receives groove 324a inboard with supporting liner flexibly.
Fig. 8 is the decomposition diagram of liner feed unit that the head unit of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown.With reference to Fig. 8, comprise magnetic part (or magnet) in the pad P, so that easily fit to material webs 50.
The operation of supplying with pad P by head unit will be described below.
Liner cylinder 336 is advanced to supply with pad P liner connecting rod 335.By utilizing hinge as turning cylinder liner connecting rod 335 to be rotated, and the liner bar 334 of exerting pressure applies pressure to the pad P of waiting at liner guide member 333.Pad P is supplied to back plate 324 from liner guide member 333.The pad P of supplying with back plate 324 is received in liner and receives among the groove 324a, and prevents that by liner chuck 324b receiving groove 324a from liner discharges.
When pad P was received among the liner reception groove 324a, back plate 324 was rotated the restraint location of bandage B.At this moment, the front side of back plate 324 is near the outer circumferential surface of material webs 50, and comprises the outer circumferential surface applying of pad P with the material webs 50 of magnetic part.Subsequently, along with the bandage B that is wrapped on the material webs 50 twines again, pad P is fixed between material webs 50 and the bandage B.
After bandage B twined again, the pad P that fits to the outer circumferential surface of material webs 50 formed some spaces between the outer circumferential surface of material webs 50.The space that is formed by pad P provides convenience for the parting tool that the user of material webs 50 inserts bandage B.
Fig. 9 is the decomposition diagram of bandage cutter unit that the head unit of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown.As shown in Figure 9, bandage cutter unit 340 comprises and is arranged in the guide block 341 of bandage B on the path that the second bandage guide member 314c is transmitted.Guide block 341 is included in second bandage reception groove 341a that its front side forms.
In addition, bandage cutter unit 340 comprises the fixedly cylinder 342 of the power that fixing bandage B front end is required and utilizes the fixedly fixed cell 343 of bandage B of power that fixing cylinder 342 provides.
In addition, bandage cutter unit 340 comprises that further each power with fixing cylinder 342 and cutting cylinder 344 is sent to the power forwarder 346 of fixed cell 343 and cutter unit 345.
The operation of fixing and cutting bandage B by head unit 300 will be described below.Along with being held robot 401, bandage B pulls out, certain part of bandage B is passed between the first and second bandage guide member 314b and the 314c, and pass the front side of guide block 341 subsequently, and the bandage B that is wrapped on the material webs 50 is inserted into second bandage reception groove 341a, thereby makes bandage B overlapping to bandage hill holder 314d from guide block 341.
Subsequently, this broadens to the angle with the pivot link 346e of movable connecting rod 346d twisting, and narrows down with this this angle to clamping element 343a and 343b to pivot link 346e twisting.This applies pressure to the front end of bandage B, the fixedly front end of bandage B to clamping element 343a and 343b from both sides.When the front end of bandage B by this to chuck 343a and 343b fixing after, bandage B can be twined again.
Subsequently, cutting cylinder 344 is advanced with cutting and the fastening adjacent part of bandage B cutting driving tooth bar 346b.Miniature gears and movable connecting rod drive the preceding of tooth bar 346b along with cutting and then advance.The transmission cutter that combines with the hinge of movable connecting rod travels forward, and the adjacent part of fastening part of the bandage B that is connected with fixed cutter of cutting.
Figure 10 is the transparent view that the grip unit of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown.With reference to Figure 10, grip unit 400 comprises elasticity (expansible and contraction) part 410, retained part 420 and pivoting controller 430.The end twisting of elastic part 410 and clamping robot 401, thus it can be rotated.Retained part 420 combines with the end of elastic part 410, and pivoting controller 430 combines with a side of retained part 420.
Figure 11 is the decomposition diagram of retained part that the grip unit of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown.With reference to Figure 11, retained part 420 comprises the clamping cylinder 425 that combines with the end of inner frame 413.A pair of holding frame 424 combines with the outer surface of clamping cylinder 425, and the excellent block piece 426 that combines with the output stage of clamping cylinder 425 and a pair of slide bar 427 that combines with the outside of excellent block piece 426 are disposed in holding frame 424 inboards.A pair of anchor clamps 421 are disposed in this between the slide bar 427.Elastic component 421a is disposed in this between the anchor clamps 421.Clamping supporter 422 is disposed between slide bar 427 and the anchor clamps 421.
This is inserted and secured on this outside to anchor clamps 421 to clamping supporter 422, and this combines with the clamping turning cylinder 423 that is supported to rotate at holding frame 424 vertically to anchor clamps 421.
This is included in the first irregular part 427a that forms towards surface, the inside of clamping supporter 422 to slide bar 427, thereby this is included in the second irregular part 422a that forms towards the outer surface of slide bar 427 to clamping supporter 422 and makes the second irregular part 422a and the first irregular part 427a interlock.The first irregular part 427a comprises that the longitudinally that utilizes slide bar 427 forms the clamping guide hole 427b of slotted hole as major axis, and clamping turning cylinder 423 is inserted among this clamping guide hole 427b.
Figure 12 and Figure 13 are the operational view that the bandage clamping operation of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown.With reference to Figure 12 and Figure 13, along with the interlock of the first irregular part 427a and the second irregular part 422a, clamping cylinder 425 is advanced so that this travels forward to slide bar 427 excellent block piece 426.At this moment, this travels forward when being supported by the clamping turning cylinder 423 that is positioned in clamping guide hole 427b inboard to slide bar 427.
This contacts with this outer circumferential surface to anchor clamps 421 slide bar 427.Just, slid into the outshot of the second irregular part 422a with the outshot of the first irregular part 427a of the sunk part interlock of the second irregular part 422a.Correspondingly, the first irregular part 427a applies pressure to this to clamping supporter 422, dwindles this to the space between the anchor clamps 421, thereby makes this apply pressure to the front end of bandage B with clamping bandage B to anchor clamps 421 at Width.
With reference to Figure 10 and Figure 11, pivoting controller 430 comprise the power cam 431 that combine with clamping turning cylinder 423, with the cam link 432 of power cam 431 twistings and with the control link 433 of cam link 432 twistings.In addition, pivoting controller 430 comprises the bearer frame 434 that is fixed on holding frame 424 outsides and with bearer frame 434 twistings and be arranged in the hook 435 on the top of control link 433.
In addition, pivoting controller 430 also comprises and is set up as elastic component and has the hook-shaped attitude retaining member 436 that an end combines with hook 435 and the other end combines with excellent block piece 426, and is set up as elastic component and has the reset components 437 that an end combines with control link 433 and the other end combines with holding frame 424.
Figure 14 is the operational view that the anchor clamps of pivoting controller that the grip unit of the robot binding apparatus that is used for coil packaging according to an embodiment of the invention is shown rotate control operation.With reference to Figure 14, suppose that the front end of the bandage B that discharges in the unit 300 is from the head clamped by anchor clamps 421, the position of power cam 431 is at 0 degree.When the position of power cam 431 when 0 spends, cam link 432 remains on horizontality.At this moment, hook 435 is positioned in the upper surface of control link 433 and is supported by control link 433.
Anchor clamps 421 are held robot 401 and rotate along with the variation of grip unit 400 attitudes.At this moment, when the position of power cam 431 arrival 270 was spent, cam link 432 was rotated.Then, control link 433 is linearly to anchor clamps 421 motions.At this moment, hook 435 is rotated under control link 433 supporting can't help.Hook 435 is hooked in the end of control link 433, and hook-shaped attitude retaining member 436 flexibly supporting hook 435 with the restriction control link 433 prevent that it from moving to the opposition side of anchor clamps 421 linearly.In addition, reset components 437 flexibly supports control link 433 keeping its horizontal attitude, thereby makes the rotational angle of cam link 432 can not surpass 270 degree.
If the position of power cam 431 surpasses 270 degree, then cam link 432 is picked up once more, and control link 433 is moved to the opposition side of anchor clamps 421 with control link 433 bonded assembly cam links 432.Yet because hook 435 is hooked in the end of control link 433, anchor clamps 421 no longer rotate, and wherein power cam 431 Be Controlled connecting rods 433 and cam link 432 are defined in anchor clamps 421.
Pivoting controller 430 is limited in the 270 degree scopes rotational angle of anchor clamps 421 to prevent that bandage B is wrapped on the anchor clamps 421.
As shown in figure 15, aforesaid robot binding apparatus vertical bundling bandage B on the material webs 50 that supports by material webs supporter 60.The vertical bundling of bandage B is meant in the outer circumferential surface of material webs 50 and twines bandage B and fastening bandage B.
In addition, as shown in figure 16, horizontal bundling bandage B on the material webs 50 that supports by material webs supporter 60.The horizontal bundling of bandage B is meant by making bandage B pass through the circumferential surface of material webs 50 and twines bandage B and fastening bandage B in the outer circumferential surface of material webs 50.
As mentioned above, be to be example with robot binding apparatus is carried out bundling technology on center shaft is supported to material webs 50 with ground level situation.Yet as shown in figure 17, robot binding apparatus also can be supported to bundling bandage B on the material webs perpendicular to the ground 50 at center shaft.
In addition, Fig. 1 to Figure 17 shows and is used for the robot binding apparatus that bundling is manufactured to tabular component and packaged material webs 50.Yet as shown in figure 18, robot binding apparatus also can be manufactured to wire rod and packaged material webs 70 by bundling.
With reference to Figure 19, robot binding apparatus can comprise a plurality of head unit 300a and 300b and a plurality of head robot 301a and 301b, to carry out material webs bundling technology according to the type of bandage B.
Figure 20 is the transparent view of a part that the bandage fastening unit of the robot binding apparatus that is used for coil packaging according to another embodiment of the present invention is shown.With reference to Figure 20, if that supply with is the bandage B that is made by the thermoplastic synthetic resin material, then bandage B fastening unit 520 comprise a side that is arranged in overlapping bandage B heating box 510, transmit heating box 510 heating cylinder 511, be arranged in the bar 522 of exerting pressure of the inboard of overlapping bandage B, and the bar 522 of will exerting pressure is sent to the cylinder 523 of exerting pressure in the outside of overlapping bandage B.
Although the preferred embodiments of the present invention are described with reference to accompanying drawing,, it will be apparent to one skilled in the art that without departing from the scope of the invention, can carry out various improvement and distortion to the present invention.Therefore, in the scope of the invention that limits by claim and equivalent thereof, can make various improvement to embodiments of the invention.
Claims (12)
1. head unit that is used for coil packaging, the front end of supplying with the bandage of coil packaging is offered the robot that is used on described material webs, twining described bandage, and when described robot provides the described front end that is wrapped in the described bandage on the described material webs, the described front end of described bandage is fastened to described bandage, and described head unit comprises:
The bandage delivery unit, be used for the position that described front end with described bandage is sent to the described front end that described robot can the described bandage of clamping, and when described robot provides the described front end that is wrapped in the described bandage on the described material webs, thereby the described front end that transmits described bandage makes itself and described bandage overlapping; And
The bandage fastening unit is fastened to described bandage with the front end of described bandage.
2. head unit as claimed in claim 1, wherein, described bandage delivery unit comprises:
Drive motor transmits the required turning effort of described bandage in order to provide;
Transfer roller is in order to support described bandage and to be rotated described bandage is sent to the position of the described front end that described robot can the described bandage of clamping by described drive motor; And
Support roller is in order to apply pressure to the described bandage of described transfer roller supporting and rotate with described transfer roller.
3. head unit as claimed in claim 2, wherein, described bandage delivery unit comprises the support cylinder, when the turning cylinder of described support cylinder and described support roller knot is incorporated in described bandage and is transmitted described support roller is pressed to described transfer roller, and when described bandage is pulled out by described robot, described support roller is separated with described transfer roller.
4. head unit as claimed in claim 2, wherein, described bandage delivery unit further comprises:
The bandage hill holder, being arranged in to described robot provides on the path of described front end of described bandage, and rotates during the described bandage hill holder of end in contact before described bandage described; And
Position detector contacts the position with the described front end that detects described bandage with the described bandage hill holder that is rotated.
5. head unit as claimed in claim 2, wherein, described bandage delivery unit further comprises:
Tension detector, in order to the rotating speed that detects described support roller to detect the tension force of described bandage.
6. head unit as claimed in claim 2, wherein, described bandage delivery unit further comprises:
The bandage guide member is in order to the described front end guidance of the described bandage that will be provided by the described robot path to the described bandage that offers described robot; And
The delivery unit of exerting pressure, in order to the described front end that applies pressure to by the described bandage of described bandage guide member guiding, and transmit the described front end of the described bandage that is positioned at described bandage guide member, thereby make the described front end of described bandage overlapping with the described bandage that offers described robot.
7. head unit as claimed in claim 1, wherein, described bandage fastening unit comprises:
Welding gun is arranged in the inboard and received power with the overlapping described bandage of the described front end of described bandage;
The welding cylinder is in order to move described welding gun to apply pressure to the described bandage overlapping with the described front end of described bandage; And
Back plate, in order to when described welding gun applies pressure to described bandage by described welding cylinder, the described front end of supporting and the overlapping described bandage of described bandage, thus the described front end pressurized of described bandage and described bandage made, and when described welding gun received power, conducted electricity.
8. head unit as claimed in claim 1, wherein, described bandage fastening unit comprises:
Heating rod is arranged in the described front end of described bandage and that side that described bandage overlaps each other, and is heated;
The heating cylinder, described heating rod is sent to the described front end of described bandage and the described bandage that overlaps each other between;
The bar of exerting pressure is arranged in the inboard with the overlapping described bandage of the described front end of described bandage;
The cylinder of exerting pressure applies pressure to the described bandage overlapping with the described front end of described bandage by moving the described bar of exerting pressure; And
Back plate, described front end in order to the overlapping described bandage of supporting and described bandage, thereby make and heated by described described heating rod through heating at the described overlapping bandage and the described front end of described bandage, and the described bar of exerting pressure is when applying pressure to described bandage by the described cylinder of exerting pressure, the described front end pressurized of described bandage and described bandage.
9. as claim 7 or 8 described head units, further comprise:
The plate cylinder is rotated described back plate in order to the described restraint location from described bandage; And
The liner feed unit is arranged in described back plate from the path that the described restraint location of described bandage rotates and the liner that comprises magnetic part is provided,
Wherein, thus described back plate is sent to described liner the described restraint location of described bandage and is operated the outer circumferential surface that described liner is fitted to described material webs before described bandage is wrapped on the described material webs.
10. head unit as claimed in claim 1 wherein, further comprises:
The bandage cutter unit cuts off the adjacent part of described fastened part with described bandage.
11. head unit as claimed in claim 10, wherein, described bandage cutter unit comprises:
The cutting cylinder is in order to be provided for cutting the required power of described bandage;
Power transfer unit is in order to the power that provides from described cutting cylinder to be provided; And
The described power cut-out and the described fastened adjacent part of bandage part that provide from described cutting cylinder are provided cutter unit.
12. head unit as claimed in claim 11, wherein, described bandage cutter unit further comprises:
Fixing cylinder is in order to provide the fixing required power of described bandage; And
Fixed cell is in order to utilize the described front end of the fixing described bandage of power that sends from described power transfer unit.
Applications Claiming Priority (9)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2008-0054494 | 2008-06-11 | ||
| KR1020080054494 | 2008-06-11 | ||
| KR20080054494 | 2008-06-11 | ||
| KR20080096469 | 2008-10-01 | ||
| KR10-2008-0096469 | 2008-10-01 | ||
| KR1020080096469 | 2008-10-01 | ||
| KR10-2008-0131272 | 2008-12-22 | ||
| KR1020080131272A KR100967445B1 (en) | 2008-06-11 | 2008-12-22 | Head unit for coil packaging |
| KR1020080131272 | 2008-12-22 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101602413A true CN101602413A (en) | 2009-12-16 |
| CN101602413B CN101602413B (en) | 2012-03-28 |
Family
ID=41468340
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100009518A Active CN101602412B (en) | 2008-06-11 | 2009-01-23 | Robot binding apparatus for coil packaging |
| CN2009100009522A Active CN101602413B (en) | 2008-06-11 | 2009-01-23 | Head unit for coil packaging |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100009518A Active CN101602412B (en) | 2008-06-11 | 2009-01-23 | Robot binding apparatus for coil packaging |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN101602412B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107438568A (en) * | 2015-01-15 | 2017-12-05 | Ats-坦纳包装系统股份公司 | For the method for being wound band around object and corresponding machine |
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|---|---|---|---|---|
| DE102011077461A1 (en) * | 2011-02-23 | 2012-08-23 | Sms Siemag Ag | Apparatus and method for taking a sample from a coil |
| DE102011079937A1 (en) * | 2011-07-27 | 2013-01-31 | Deere & Company | Round baler |
| CN103342196A (en) * | 2013-07-10 | 2013-10-09 | 首钢总公司 | Packing method of hot continuous rolling steel strips |
| CN105236178B (en) * | 2015-10-22 | 2018-02-06 | 南京航空航天大学 | A kind of method that felt is rolled up by automatic winder, ties felt |
| CN106394966B (en) * | 2016-10-27 | 2019-03-29 | 中冶南方工程技术有限公司 | Banding clamper and robot binding apparatus |
| US20180178934A1 (en) * | 2016-12-22 | 2018-06-28 | Gulfstream Aerospace Corporation | Ultrasonic cable tie system |
| CN107933995B (en) * | 2017-11-16 | 2020-02-14 | 湖南镭目科技有限公司 | Backing plate hanging device, opening backing plate hanging device and automatic backing plate hanging equipment |
| CN111086674A (en) * | 2020-01-13 | 2020-05-01 | 宁波汇智恒动自动化科技有限公司 | Automatic packing flexible system based on steel belt |
| CN115401717B (en) * | 2022-11-03 | 2023-01-24 | 中国科学院沈阳自动化研究所 | Fastening manipulator suitable for transportation is tied up to flexibility |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02270362A (en) * | 1989-04-11 | 1990-11-05 | Seiko Epson Corp | Semiconductor device |
| KR100530080B1 (en) * | 2001-12-26 | 2005-11-22 | 주식회사 포스코 | An apparatus for binding a coil automatically |
| JP4112318B2 (en) * | 2002-09-02 | 2008-07-02 | ストラパック株式会社 | Automatic banding packing machine |
| CN1242899C (en) * | 2003-11-05 | 2006-02-22 | 许春虎 | Middle-widthed band automatic bundling method and middle-widthed band automatic bundling machine |
| KR100757069B1 (en) * | 2005-12-29 | 2007-09-10 | 주식회사 삼정피앤에이 | Apparatus for Packaging the Protective Sheet of Steel Coil |
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2009
- 2009-01-23 CN CN2009100009518A patent/CN101602412B/en active Active
- 2009-01-23 CN CN2009100009522A patent/CN101602413B/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107438568A (en) * | 2015-01-15 | 2017-12-05 | Ats-坦纳包装系统股份公司 | For the method for being wound band around object and corresponding machine |
| CN107438568B (en) * | 2015-01-15 | 2019-08-13 | Ats-坦纳包装系统股份公司 | For band to be surrounded the method and corresponding machine that object is wound |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101602413B (en) | 2012-03-28 |
| CN101602412A (en) | 2009-12-16 |
| CN101602412B (en) | 2012-01-25 |
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