CN106184865B

CN106184865B - Bundling robot

Info

Publication number: CN106184865B
Application number: CN201610788976.9A
Authority: CN
Inventors: 不公告发明人
Original assignee: Wenzhou Chuangfan Crafts Co ltd
Current assignee: Wenzhou chuangfan Crafts Co.,Ltd.
Priority date: 2013-10-15
Filing date: 2013-10-15
Publication date: 2020-10-27
Anticipated expiration: 2033-10-15
Also published as: CN106240893A; CN106364710A; CN106240893B; CN104554863B; CN106364710B; CN106347733A; CN106184866A; CN104554863A; CN106184865A

Abstract

The present invention relates to a bundling robot, comprising: an upper arm and a lower arm are arranged on the rack, a first air cylinder is arranged on the upper arm and is suitable for moving left and right relative to the upper arm, a first piston and a first connecting rod in the first air cylinder are suitable for moving vertically, a telescopic nail box is arranged at the bottom end of the first connecting rod, a table top for placing steel bundles is matched with the lower arm in a sliding mode from side to side, a second air cylinder is fixedly arranged at the bottom of the lower arm, a second piston and a second connecting rod at the top of the second piston are arranged in the second air cylinder, a pair of grooves are formed in the top surfaces of the second connecting rod, and nails can penetrate through and bite the rubber belt for bundling the steel bundles when; a pressing block which is suitable for moving relative to the second connecting rod and is used for clamping the end part of the rubber belt is arranged on the right side of the second connecting rod; the rod-shaped material bundling robot has the advantages that the phenomenon of broken wires cannot occur in the bundling process, and the phenomenon of steel displacement and bundle loosening are not easy to occur once the rod-shaped material bundling robot is tightly bundled.

Description

Bundling robot

Technical Field

The invention relates to a bar section bundling robot which is used for bundling and packaging steel.

Background

In the prior art, rod section bundling robots mostly adopt iron wire rods to bundle and package steel bundles, and because the wire rods have larger minimum bending radius, when the steel bundles with small bundle diameters are bundled, the phenomenon of dead clamping of the wire rods is caused at very late, the wire rods cannot be continuously tightened, and the phenomenon of loose wires is caused, so that the phenomenon of loose bundles is caused; on the other hand, because the flexibility of the iron wire rod is not high, the wire rod can be tightened by using a large force, however, because the shapes of the steel bundles are different, because the wire rod and the steel are made of the same material, the friction coefficient between the wire rod and the steel is small, and loose bundles can occur due to the displacement of one steel bar in the hoisting process of the tightened steel bundles.

Disclosure of Invention

The invention aims to solve the technical problem of providing a bundling robot, which can adopt a rubber belt to bundle steel and can avoid the problem.

In order to solve the above-mentioned technical problem, the present invention provides a bundling robot, comprising: the nail box comprises a rack, an upper arm and a lower arm are arranged on the rack, a first air cylinder is arranged on the upper arm and is suitable for moving left and right relative to the upper arm, a first piston is arranged in the first air cylinder, a first connecting rod is fixed at the bottom of the first piston, the first piston and the first connecting rod are suitable for moving vertically, a telescopic nail box is arranged at the bottom end of the first connecting rod, and nails in the nail box are suitable for being pushed out of the nail box when the nail box moves upwards;

a table top used for placing steel bundles is matched on the lower arm in a left-right sliding mode, a second air cylinder is fixedly arranged at the bottom of the lower arm, a second piston is arranged in the second air cylinder, a second connecting rod is fixed at the top of the second piston, the second piston and the second connecting rod are suitable for moving vertically, a hole used for enabling the second connecting rod to penetrate through is formed in the lower arm, a second through hole used for enabling the second connecting rod to penetrate through when the table top slides is formed in the table top, a pair of grooves are formed in the top surface of the second connecting rod, and a nail can penetrate through and bite a rubber belt used for bundling the steel bundles when the first connecting rod and the second connecting rod are;

a pressing block which is suitable for moving relative to the second connecting rod and is used for clamping the end part of the rubber belt is arranged on the right side of the second connecting rod; a blade for cutting off the rubber belt is arranged at the top of the pressing block close to the left end;

and a guide wheel and a first pulley are arranged on the right side of the first cylinder and used for conveying the rubber belt and keeping the tension of the rubber belt in the process of bundling the steel bundle.

The upper arm and the lower arm of the rack are both provided with a U-shaped hole, the motor I is fixedly arranged at the top of the upper arm of the rack, the supporting plate is movably matched with the upper surface of the front end and the rear end of the upper arm through rollers, the supporting plate is fixedly provided with a cylinder I, the cylinder I penetrates through the U-shaped hole of the upper arm and can move left and right along with the supporting plate, and the motor I is in transmission connection with the cylinder through a screw rod I connected with the right side of the motor I and a screw hole in the upper part of the cylinder I.

A second motor is fixed on the right side of the first cylinder, a driving gear is fixed at the front end of a rotor of the second motor, the driving gear is meshed with a middle gear rotating around a rotating shaft below the driving gear, and the middle gear is meshed with a driven gear fixedly connected with the front end of the guide wheel;

a cantilever is fixedly arranged below the right end of the upper arm of the rack, a bottom support is arranged at the bottom of the cantilever, and a wire coil wound with a rubber belt is matched with the outer side of the cantilever in a rotating mode.

The nail box is characterized in that a square cavity is arranged in the lower end of the connecting rod, a first through hole is formed in the front side and the rear side of the cavity, a pressing block used for extruding a nail is fixedly connected with the top of the cavity through a connecting rod, the front portion of a nail box with an L-shaped section is in sliding fit in the cavity and is connected with the top of the cavity through a first spring, an inner cavity in sliding fit with the pressing block is arranged in the front portion of the nail box, a sliding pin in sliding fit with the first through hole is arranged on the top end of the front portion of the nail box, the bottom end of the front portion of the nail box is a through hole matched with the pressing block in shape, a plurality of nails mutually bonded through glue are arranged at the rear portion of the.

The front and back sides of the lower arm of the frame are respectively provided with a sliding strip, the table top is matched on the lower arm through sliding grooves arranged on the front and back sides of the table top and the sliding strips in a sliding manner, the lower end of the front part of the table top is provided with a rack which is engaged with a gear rotatably matched at the front end of the lower arm, and a motor III fixedly arranged on the lower arm is in transmission connection with the gear through a driving gear fixed on the head part of a rotor.

The right side of the top of the second connecting rod is fixedly provided with a second support, the compressing block is in sliding fit with the second support, the right end of the second support is fixedly provided with a fourth motor, and the fourth motor is in transmission connection with the compressing block through a second screw rod connected with the left side of the fourth motor and a screw hole in the compressing block.

The working method of the bar profile bundling robot comprises the following steps:

(1) a motor III drives the table top to move rightwards, and the steel bundle is placed on the table top and the position to be bundled is aligned with a U-shaped through hole II on the table top;

(2) the motor II works to drive the guide wheel and the pulley I to rotate, and the rubber belt on the wire coil vertically moves downwards through the pulley III and the pulley II 0;

(3) when the rubber belt reaches between the pressing block and the second connecting rod, the motor IV rotates reversely and enables the pressing block to move leftwards and tightly press the second connecting rod, so that the end part of the rubber belt is clamped;

(4) the first air cylinder works to enable the first connecting rod to move upwards, the second air cylinder works to enable the second connecting rod to move downwards to the lower side of the table board, meanwhile, the third motor rotates in the reverse direction to drive the table board to move leftwards, the steel bundles move to the left side from the right of the first air cylinder and the second air cylinder, when the steel bundles pass between the first air cylinder and the second air cylinder, the first connecting rod moves downwards, the second connecting rod moves upwards, the speed of the first connecting rod and the second connecting rod is controlled, meanwhile, the first connecting rod is enabled to be opposite to the second connecting rod by adjusting the position of the first connecting rod through the first motor, when the lower end of the first connecting rod and the upper end of the second connecting rod are just positioned at the right middle of the steel bundles to converge, the rubber belt; in the process, the second motor controls the downward moving speed of the rubber belt, so that the rubber belt is synchronous with the action and is always in a tensioning state in the whole process;

(5) when the first connecting rod is opposite to the second connecting rod and is tightly pressed, the nail box moves upwards relative to the first connecting rod, nails in the nail box penetrate through the two layers of rubber belts due to the pressure of the pressing block, deform and bite the rubber belts as required under the action of the grooves, and meanwhile, the blades cut off the rubber belts.

Compared with the prior art, the invention has the technical effects that:

1) the bar section bundling robot provided by the invention has the advantages that when the steel bundle is bundled by the rubber belt, the steel bundle is wrapped from the middle part of the left side of the steel bundle to the middle part of the right side of the steel bundle along the circumferential direction of two sides, the stress is uniform in the process of bundling the steel bundle, the phenomenon of broken wires cannot occur in the bundling process due to the good flexibility of the rubber belt and the smaller bending radius than that of a wire rod, and meanwhile, the friction coefficient between the rubber and the steel bundle is larger and the rubber belt has elasticity, so that the steel displacement phenomenon is not easy to occur and the steel bundle is not easy to loosen once the steel bundle is bundled;

2) the first motor and the first screw rod are used for accurately controlling the left and right positions of the first air cylinder, so that the first connecting rod can be aligned with the second connecting rod, and the second connecting rod and the pressing block can clamp the rubber belt conveniently;

3) the second motor is used for accurately controlling the rotation of the guide wheel so as to control the moving speed of the rubber belt and keep the tension of the rubber belt in the bundling process;

4) the nail box can stretch relative to the connecting rod, so that the nail can be pushed out and penetrate through and bite the rubber belt;

5) the third motor can accurately control the moving speed of the table top to be matched with the moving speeds of the first connecting rod and the second connecting rod;

6) the motor IV can control the pressing block to move relative to the connecting rod II, so that the end part of the rubber belt is clamped or loosened.

Drawings

In order to clearly illustrate the innovative principles of the present invention and its technical advantages compared with the prior art products, a possible embodiment is illustrated below by way of non-limiting example applying said principles, with the aid of the annexed drawings. In the figure:

fig. 1 is a front view of the bar profile bundling robot;

fig. 2 is a right side view of the bar profile bundling robot;

FIG. 3 is a partial view of the first link;

FIG. 4 is a left side sectional view of the first link and the staple cartridge;

FIG. 5 is a partial view of the second link;

FIG. 6 is a top plan view of the second link;

FIG. 7 is a top cross-sectional view of the second link;

FIG. 8 is a top view of the frame;

FIG. 9 is a top view of the table top;

FIG. 10 is a cross-sectional view taken along line A-A of the staple cartridge.

Detailed Description

As shown in fig. 1 and 2, the bar profile bundling robot includes: the device comprises a rack 1, a first motor 2, a first screw 3, a first cylinder 4, a support plate 5, a roller 6, a first piston 7, a first connecting rod 8, a second motor 9, a cantilever 10, a wire coil 11, a bottom support 12, a rubber belt 13, an intermediate gear 14, a driving gear 15, a guide wheel 16, a first pulley 17, a steel bundle 18, a table top 19, a sliding strip 20, a sliding groove 21, a rack 22, a fixing plate 23, a second cylinder 24, a second piston 25, a second connecting rod 26, a third motor 27, a second belt 28, a gear 29, a second pulley 30, a first through hole 31, a sliding pin 32, a nail box 33, a pressing block 34, a first spring 35, a second spring 36, a nail 37, a blade 38, a pressing block 39, a second screw 40, a fourth motor 41, a second support 42, a support seat.

The opening direction of the frame 1 with the U-shaped front face faces to the right, and as shown in fig. 8, a U-shaped hole 101 is formed in both the upper arm and the lower arm; the motor I2 is fixedly arranged at the top of the upper arm of the frame 1, the rotor of the motor I2 is connected with a screw rod I3 on the right side of the motor I, the lower part of a support plate 5 is connected with a roller 6 through a support, the support plate 5 is movably matched with the upper surface of the front end and the rear end of the upper arm of the frame 1 through the roller 6, a cylinder I4 is fixed on the support plate 5, the cylinder I4 passes through a U-shaped hole 101 of the upper arm and can move left and right along with the support plate 5, the top of the cylinder I4 is in threaded fit with the screw rod I3 through a screw hole, a piston I7 and a connecting rod I8 below the piston I are arranged in the cylinder I4, a support seat 43 is fixedly arranged on the right side of the cylinder I4, a motor II 9 is fixedly arranged above the front end of the support seat 43, a driving gear 15 is fixedly arranged at, a guide wheel 16 and two pulleys one 17 below the guide wheel 16 are arranged below the front end of the supporting seat 43, the guide wheel 16 and the pulleys one 17 can rotate around respective shafts, a driven gear 161 is concentrically and fixedly connected with the front end of the guide wheel 16, and the intermediate gear 14 is meshed with the driving gear 15 and the driven gear 161; the guide wheel 16 and the gap between the two pulleys I17 are matched with the thickness of the rubber belt 13, the right side surface of the lower part of the cylinder I4 is provided with an opening through which the rubber belt 13 passes, the pulley III 44 for guiding the rubber belt is rotatably matched on the inner side surface of the cylinder below the opening, and the bottom of the cylinder I4 is also provided with an opening through which the rubber belt 13 passes; a cantilever 10 is fixedly arranged below the right end of the upper arm of the rack 1, a bottom support 12 is arranged at the bottom of the cantilever 10, and a wire coil 11 wound with a rubber belt 13 is matched with the outer side of the cantilever 10 in a rotating mode.

As shown in fig. 3, 4 and 10, the first connecting rod 8 is a square cylinder, a second pulley 30 is rotatably arranged below the right side surface of the first connecting rod 8 through a bracket, the lower side surface of the second pulley 30 is flush with the bottom of the first connecting rod 8, a square cavity is arranged on the inner side of the lower end of the first connecting rod 8, through holes 31 are arranged on the front side and the rear side of the cavity, a square pressing block 34 for extruding a nail 37 is fixedly connected with the top of the cavity in the first connecting rod 8 through a connecting rod 341, the front part of a nail box 33 with an L-shaped section is in sliding fit with the cavity in the first connecting rod 8, the nail box 33 is of a thin-wall structure, the shape of the inner cavity in the front part of the nail box 33 is matched with the pressing block 34, the top part of the nail box is provided with a through hole for the connecting rod 341 to pass through, the front top end of the nail box 33 is connected with the top of the cavity, the bottom end of the front part of the nail box 33 is provided with a through hole, the shape of the through hole is matched with that of the pressing block 34, a plurality of nails 37 are arranged at the rear part of the nail box 33, the nails 37 are mutually bonded through glue, a second spring 36 used for pushing the nails 37 forwards is arranged at the rear end of the nail box 33, and the size of each nail is the same as that of the pressing block 34.

As shown in fig. 1, the front and rear sides of the lower arm of the rack 1 are respectively provided with a sliding bar 20, the table top 19 is slidably fitted on the lower arm of the rack 1 through sliding grooves 21 arranged on the front and rear sides of the table top and the sliding bars 20, as shown in fig. 9, the table top 19 is provided with a U-shaped through hole two 191, the U-shaped through hole two 191 is aligned with the center line of a U-shaped hole 101 on the lower arm, a steel bundle 18 is placed on the upper surface of the table top 19, the lower end of the front part of the table top is provided with a rack 22, the lower arm is fixedly provided with a motor three 27, a gear 29 is rotatably fitted at the front end of the lower arm and meshed with the rack 22, a driving gear 28 is fixedly arranged at the rotor head at the front end; a second cylinder 24 is fixedly connected below the lower arm through a fixing plate 23, a second piston 25 and a second connecting rod 26 are arranged in the second cylinder 24, and the second connecting rod 26 penetrates through the second U-shaped through hole 191 and the U-shaped hole 101 in the lower arm.

As shown in fig. 5, a second bracket 42 is fixedly arranged on the right side of the top of the second connecting rod 26, a second tightening block 39 is slidably fitted on the second bracket 42 through an internal through hole, a fourth motor 41 is fixed at the right end of the second bracket 42, a rotor of the fourth motor 41 is fixedly connected with a second screw 40 on the left side of the second motor, and the second tightening block 39 is in threaded fit with the second screw 40 through an internal screw hole; a blade 38 for cutting off the rubber belt 13 is fixedly arranged on the left side of the top end of the pressing block 39, and the left side face of the blade 38 is aligned with the left side face of the pressing block 39.

As shown in fig. 6 and 7, two grooves 261 are symmetrically formed on the upper surface of the top end of the pressing block 39, and the grooves 261 are used for bending the nail 37 as required and biting the rubber belt when the pressing block 34 presses the nail 37.

The rubber belt 13 is made of neoprene or hydrogenated nitrile rubber and cord, has high strength, and can be used for binding steel bundles instead of common wire rods.

The working process of the rod profile bundling robot comprises the following steps:

(1) a third motor 27 drives the table top 19 to move rightwards, the steel bundle 18 is placed on the table top 19, and the position needing to be bundled is aligned with a second U-shaped through hole 191 in the table top 19;

(2) the second motor 9 works to drive the guide wheel 16 and the first pulley 17 to rotate, and the rubber belt 13 on the wire coil 11 vertically moves downwards through the third pulley 44 and the second pulley 30;

(3) the motor IV 41 works to drive the pressing block 39 to move rightwards, so that a gap for accommodating a rubber belt is formed between the pressing block and the connecting rod II 26, meanwhile, the motor I2 works to drive the cylinder I4 to move leftwards and rightwards, so that the rubber belt is aligned with the gap, when the rubber belt reaches a position between the pressing block and the connecting rod II, the motor IV rotates reversely, and the pressing block moves leftwards and is pressed with the connecting rod II, so that the end part of the rubber belt is clamped;

(4) the first cylinder 4 works to enable the first connecting rod 8 to move upwards, the second cylinder 24 works to enable the second connecting rod 26 to move downwards below the table top 19, meanwhile, the third motor 27 rotates reversely to drive the table top 19 to move leftwards, so that the steel bundle 18 moves to the left side from the right of the first cylinder 4 and the second cylinder 24, when the steel bundle 18 passes through the space between the first cylinder 4 and the second cylinder 24, the first connecting rod 8 moves downwards, the second connecting rod 26 moves upwards, the speed of the first connecting rod and the second connecting rod is controlled, meanwhile, the first connecting rod is adjusted to be right opposite to the second connecting rod through the first motor 2, when the lower end of the first connecting rod and the upper end of the second connecting rod are just positioned in the right middle of the steel bundle to converge, the rubber belt 13 wraps the steel bundle from the middle of the left side of the steel bundle to the middle; in the process, the second motor 9 controls the downward moving speed of the rubber belt, so that the rubber belt is synchronous with the action and is always in a tensioning state in the whole process.

(5) When the first connecting rod 8 and the second connecting rod 24 are opposite and tightly pressed, the nail box 33 moves upwards relative to the first connecting rod 8, nails in the nail box penetrate through the two layers of rubber belts due to the pressure of the pressing block 34, deform and bite the rubber belts as required under the action of the groove 261, and meanwhile, the blade 38 cuts off the rubber belts.

When the rubber belt 13 is used for bundling the steel bundle, the steel bundle is wrapped from the middle part of the left side of the steel bundle to the middle part of the right side of the steel bundle along the circumferential directions of the two sides, stress is uniform in the bundling process of the steel bundle, due to the fact that the rubber belt is good in flexibility and smaller in bending radius than a wire rod, the phenomenon of virtual wires cannot occur in the bundling process, meanwhile, due to the fact that the rubber belt is large in friction coefficient between the rubber and the steel bundle and elastic, the steel displacement phenomenon and the bundle loosening phenomenon cannot occur easily after the steel bundle is bundled.

It should be understood that the above examples are only for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And such obvious variations or modifications which fall within the spirit of the invention are intended to be covered by the scope of the present invention.

Claims

1. A bundling robot, characterized in that: an upper arm and a lower arm are arranged on a rack (1), a cylinder I (4) is arranged on the upper arm and is suitable for moving relative to the upper arm leftwards and rightwards, a piston I (7) is arranged in the cylinder I (4), a connecting rod I (8) which is a square cylinder is fixed at the bottom of the piston I (7), a square cavity is arranged on the inner side of the lower end of the connecting rod I (8), through holes I (31) are formed in the front side and the rear side of the square cavity, a pressing block used for extruding nails is fixedly connected with the top of the cavity through a connecting rod, the front part of a nail box with an L-shaped section is in sliding fit in the cavity and is connected with the top of the cavity through a spring I, an inner cavity in sliding fit with the pressing block is arranged at the front part of the nail box, a sliding pin in sliding fit with the through holes I is arranged at the top end of the front part of the nail box, a through hole with the shape, the size of each nail is the same as that of the pressing block;

the piston I (7) and the connecting rod I (8) are suitable for moving vertically, the bottom end of the connecting rod I (8) is provided with a telescopic nail box (33), and nails (37) in the telescopic nail box (33) are suitable for being pushed out of the nail box (33) when the nail box (33) moves upwards;

a table top (19) used for placing a steel bundle (18) is arranged on the lower arm in a left-right sliding fit mode, a second air cylinder (24) is fixedly arranged at the bottom of the lower arm, a second piston (25) is arranged in the second air cylinder (24), a second connecting rod (26) is fixed at the top of the second piston (25), the second piston (25) and the second connecting rod (26) are suitable for moving vertically, a hole (101) used for enabling the second connecting rod (26) to penetrate through is formed in the lower arm, a second through hole (191) used for enabling the second connecting rod (26) to penetrate through when the table top (19) slides is formed in the table top (19), a pair of grooves (261) are formed in the top face of the second connecting rod (26), and when the first connecting rod (8) and the second connecting rod (26) are aligned and pressed tightly, nails (37) can penetrate through and bite the;

a pressing block (39) which is suitable for moving relative to the second connecting rod (26) and is used for clamping the end part of the rubber belt (13) is arranged on the right side of the second connecting rod (26); a blade (38) for cutting off the rubber belt (13) is arranged at the top of the pressing block (39) close to the left end;

a guide wheel (16) and a pulley I (17) are arranged on the right side of the cylinder I (4) and are used for conveying the rubber belt (13) and keeping the tension of the rubber belt in the steel bundle bundling process;

a second motor (9) is fixed on the right side of the first cylinder (4), a driving gear (15) is fixed at the front end of a rotor of the second motor (9), the driving gear (15) is meshed with a middle gear (14) which rotates around a rotating shaft below the driving gear, and the middle gear (14) is meshed with a driven gear (161) fixedly connected with the front end of the guide wheel (16);

a cantilever (10) is fixedly arranged below the right end of the upper arm of the rack (1), a bottom support (12) is arranged at the bottom of the cantilever (10), and a wire coil (11) wound with a rubber belt (13) is rotatably matched with the outer side of the cantilever (10);

the front side and the rear side of a lower arm of the rack (1) are respectively provided with a sliding strip (20), a table board (19) is in sliding fit with the lower arm through sliding grooves (21) arranged on the front side and the rear side of the table board and the sliding strips (20), the lower end of the front part of the table board is provided with a rack (22) and is meshed with a gear (29) in rotating fit with the front end of the lower arm, and a motor III (27) fixedly arranged on the lower arm is in transmission connection with the gear (29) through a driving gear (28) fixed on the head of a rotor;

the upper arm and the lower arm of the frame are both provided with a U-shaped hole.