CN112027260A - Intelligent pipe bundle dismantling system - Google Patents
Intelligent pipe bundle dismantling system Download PDFInfo
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- CN112027260A CN112027260A CN202010909276.7A CN202010909276A CN112027260A CN 112027260 A CN112027260 A CN 112027260A CN 202010909276 A CN202010909276 A CN 202010909276A CN 112027260 A CN112027260 A CN 112027260A
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- shearing
- clamping
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- clamping device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
- B65B69/0025—Removing or cutting binding material, e.g. straps or bands
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Abstract
The invention belongs to the technical field of bale breaking devices, and particularly relates to an intelligent tube bale breaking system which comprises a tail end executing mechanism and a robot, wherein the tail end executing mechanism is arranged on the robot and drives the tail end executing mechanism to move through the robot; the tail end executing mechanism comprises a rack, a clamping device and a shearing device, the clamping device and the shearing device are arranged on the rack side by side, the clamping device and the shearing device are arranged in a linkage manner, a driving device connected with the clamping device and/or the shearing device is arranged on the rack, and the clamping device and the shearing device can be opened and closed through the driving device; the wire binding machine also comprises an image recognition device, and the detection of the wire binding position can be realized through the image recognition device. The system can be used for processing the bar bundles with different bar specifications, different bundling diameters, different bundling numbers, different bundling forms, different wire binding diameters and different wire binding positions to perform bundle disassembling operation; the binding wire can be intelligently and automatically disassembled and recovered, the automation degree is high, and the operation is stable and reliable.
Description
Technical Field
The invention belongs to the technical field of bale breaking devices, and particularly relates to an intelligent tube bale breaking system.
Background
The present invention will be described by taking a bar as an example. A rod is widely used in industrial fields such as construction, machinery, automobiles, ships, and the like as one of the profiles. After the bars are rolled in a rolling workshop, a certain number of bars need to be bundled and then transported to a finishing workshop to be delivered from a factory through the processes of straightening, flaw detection, weighing and the like. Before these processes are carried out, the rods bundled in the rolling mill are first unbundled.
The use of robots to reduce production costs is bound to be a necessary choice for enterprises to improve competitiveness. Industrial robots for arc welding, spot welding, stacking, assembling, carrying, injection molding, stamping, paint spraying and the like have been developed in China. However, the specifications of the rods produced in the rod production plant are different, and the diameter of the rods when bundled and the number of the rods after bundling are also different. Meanwhile, different manufacturers have different bundling forms, different wire binding diameters and different positions during bundling, and the difficulty is brought to the research of the tail end execution mechanism of the bundling robot, most of the manufacturers in China and abroad operate the bars manually when the bars are bundled in a finishing workshop, and the defects of high labor intensity, low working efficiency, high potential safety hazard, high production cost and the like exist.
Disclosure of Invention
Aiming at the technical problems, the invention provides an intelligent pipe bale breaking system which can replace manual work to realize bale breaking operation, can realize linkage of shearing and clamping, simplifies the whole structure and improves the reliability of equipment.
In order to solve the technical problems, the invention adopts the technical scheme that:
an intelligent pipe bundle dismantling system comprises a tail end executing mechanism and a robot, wherein the tail end executing mechanism is arranged on the robot and is driven to move by the robot; the tail end executing mechanism comprises a rack, a clamping device and a shearing device, wherein the clamping device and the shearing device are arranged on the rack side by side, the clamping device and the shearing device are arranged in a linkage mode, a driving device connected with the clamping device and/or the shearing device is arranged on the rack, and the clamping device and the shearing device can be opened and closed through the driving device.
The robot further comprises a ground rail arranged below the robot, and the robot can move along the ground rail.
Still include image recognition device, image recognition device includes laser instrument, industry camera and mounting bracket, and laser instrument and industry camera setting are connected with the frame on the mounting bracket.
The clamping device and the shearing device both adopt a shear type connecting rod mechanism; the scissor type connecting rod mechanism comprises a connector and a pair of first connecting rods, the end parts of the two first connecting rods are hinged with the connector, the other ends of the two first connecting rods are respectively hinged with second connecting rods, the middle parts of the two second connecting rods are hinged with the rack, and the two second connecting rods are opened and closed through the movement of the connector; a clamping head is arranged at the end part of a second connecting rod of the clamping device, and a shearing head is arranged at the end part of the second connecting rod of the shearing device; the connector of the clamping device is connected with the connector of the shearing device; the driving device is connected with the connector of the shearing device.
The end part of the clamping head is provided with a guide hook, and the clamping surface of the clamping head is provided with a tooth opening.
The connector of the clamping device is connected with the connector of the shearing device through a connecting piece; the connecting piece comprises a connecting column and a compression spring, and the connecting column is fixed on the connecting head of the clamping device and is in sliding connection with the connecting head of the shearing device; the compression spring is arranged between the connector of the clamping device and the connector of the shearing device, and the connector of the shearing device drives the connector of the clamping device to move through the compression spring.
The compression spring is sleeved outside the connecting column, and a stopper is arranged at the top of the connecting column.
The stop head is a nut.
The driving device adopts a hydraulic cylinder, the cylinder body of the hydraulic cylinder is fixed or hinged on the rack, the piston rod of the hydraulic cylinder is connected with the shearing device, and the clamping device and the shearing device are driven to open and close by the extension of the piston rod of the hydraulic cylinder.
The frame comprises two opposite mounting bases and mounting supports, a gap exists between each mounting base and each mounting support, the mounting bases are connected through fasteners, and the clamping devices and the shearing devices are located between the mounting bases and the mounting supports.
And guide surfaces are arranged on the mounting base and the mounting support.
Compared with the prior art, the invention has the following beneficial effects:
the robot drives the tail end executing mechanism to move, so that bar bundles with different bar specifications, different bundling diameters, different bundling numbers, different bundling forms, different wire binding diameters and different wire binding positions can be processed for bundle dismantling operation; the binding wire can be intelligently and automatically removed and recovered, the automation degree is high, and the operation is stable and reliable; the manual operation is replaced, the labor intensity and the production cost can be effectively reduced, the working efficiency is improved, the industrial production environment is improved, and the potential safety hazard in the production process is eliminated.
Meanwhile, the clamping device and the shearing device are arranged in a linkage manner and driven by a driving device, so that the whole structure is simplified; and the linked structure is adopted, so that the matching degree between the clamping device and the shearing device can be improved, and the reliability in the operation process is improved. The clamping device and the shearing device are connected through the connecting column and the compression spring, so that the clamping device is in an elastic clamping state in the clamping process, the shearing device can smoothly shear the binding wires, and the clamping device cannot excessively clamp the binding wires; thereby further improving the synergistic effect between the shearing device and the clamping device.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a cross-sectional view taken along line A-A of FIG. 1;
FIG. 3 is a partial cross-sectional view of an end effector mechanism of the present invention;
FIG. 4 is a side view of an end effector mechanism of the present invention;
FIG. 5 is an exploded view of the end effector of the present invention;
FIG. 6 is an exploded view of the housing of the present invention;
FIG. 7 is a schematic structural view of the mounting base of the present invention;
FIG. 8 is a schematic structural view of the mounting bracket of the present invention;
FIG. 9 is an exploded view of the clamping device of the present invention;
FIG. 10 is a schematic view of the clamping head of the present invention;
FIG. 11 is an exploded view of the shearing device of the present invention;
FIG. 12 is a schematic view of the shear bar attachment of the present invention;
FIG. 13 is a schematic view of the construction of the shearing head of the present invention;
FIG. 14 is an exploded view of the drive of the present invention;
FIG. 15 is an exploded view of the image recognition device of the present invention;
FIG. 16 is a flow chart of the present invention;
wherein:
a is a tail end executing mechanism, B is a robot body, C is a ground rail, D is a hydraulic station, E is a control cabinet, and F is a collecting frame;
1 is a frame, 1.1 is a mounting base, 1.2 is a mounting support, 1.3 is a left bearing seat, 1.3 ' is a right bearing seat, 1.31 is a bearing seat mounting groove, 1.4 is a left connecting cylinder, 1.4 ' is a right connecting cylinder, 1.5 is a left pin shaft, 1.5 ' is a right pin shaft, 1.51 is a pin shaft mounting hole, 1.6 is a baffle, 1.7 is a retainer ring, 1.8 is a guide surface, 1.9 is a pin, 1.91 is a pin hole,
2, a clamping device, 2.1, a clamping rod connector, 2.11, a connecting column, 2.2, a clamping cylindrical pin, 2.3, a left clamping push rod, 2.3 ', a right clamping push rod, 2.4, a left clamping pin, 2.4 ', a right clamping pin, 2.5, a left clamping rod, 2.5 ', a right clamping rod, 2.6, a compression spring, 2.7, a nut, 2.8, a clamping head, 2.81, a guide hook and 2.82 are tooth mouths;
3, a shearing device, 3.1, a shearing rod connector, 3.11, a guide hole, 3.12, a threaded connecting hole, 3.2, a shearing cylindrical pin, 3.3, a left shearing push rod, 3.3 ', a right shearing push rod, 3.4, a left shearing pin, 3.4 ', a right shearing pin, 3.5, a right shearing rod, 3.5 ', a shearing head and 3.61 are cutting edges;
4, a driving device, 4.1, a hydraulic cylinder, 4.2, a left shaft sleeve and 4.2', a right shaft sleeve;
5 is the image recognition device, 5.1 is the mount, 5.2 is the mounting bracket, 5.3 is the laser instrument, 5.4 is left camera installing support, 5.4 'is right camera installing support, 5.5 is left industry camera, 5.5' is right industry camera.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 5, an intelligent tube bundle removing system includes a terminal actuator a and a robot B, wherein the terminal actuator a is disposed on the robot B and drives the terminal actuator a to move through the robot B; terminal actuating mechanism A includes frame 1, clamping device 2 and shearing mechanism 3 set up side by side in frame 1, adopt the linkage setting between clamping device 2 and the shearing mechanism 3, are equipped with drive arrangement 4 who is connected with clamping device 2 and/or shearing mechanism 3 in the frame 1, can realize opening and shutting of clamping device 2 and shearing mechanism 3 through drive arrangement 4.
The robot B drives the tail end executing mechanism A to move, the clamping device 2 and the shearing device 3 are aligned to the binding wires, then the driving device 4 drives the clamping device 2 and the shearing device 3 to be closed, the clamping device 2 firstly clamps the binding wires, and the shearing device 3 then shears the binding wires; after the binding wires are cut off, the clamping device 2 is still in a clamping state, the cut binding wires can be transferred through the movement of the mechanical arm, and the binding wires can be transferred to the collecting frame F for centralized recovery.
For the linkage arrangement between the clamping device and the driving device, those skilled in the art can adopt various structures, such as a link mechanism, a mechanical transmission mechanism, etc., no matter what mechanism is adopted, the linkage between the clamping device and the driving device can be realized.
Further, the robot device also comprises a ground rail C arranged below the robot B, and the robot B can move along the ground rail C; of course, the robot B may also adopt a self-walking mechanism, such as a wheel, a crawler, a mecanum wheel, or the like.
Further, as shown in fig. 15, the device further includes an image recognition device 5, where the image recognition device 5 includes a laser 5.3, an industrial camera and a mounting bracket 5.2, the laser 5.3 and the industrial camera are disposed on the mounting bracket 5.2, and the mounting bracket 5.2 may be connected to the rack 1. The number of lasers 5.3 and industrial cameras can be set according to the actual situation, one laser 5.3 can be provided, and two industrial cameras can be provided (left industrial camera 5.5 and right industrial camera 5.5'). The laser 5.3 can be installed in the middle of the installation frame 5.2 through a bolt mode, the left industrial camera 5.5 and the right industrial camera 5.5 'are installed at two ends of the installation frame 5.2 respectively, and the installation frame 5.2 is provided with a corresponding left installation support 5.4 and a corresponding right installation support 5.4'. The mounting frame 5.2 can be directly fixedly connected with the frame 1 or fixedly connected with the frame 1 through the fixing frame 5.1. The detection of the position of the binding wire can be realized by the image recognition device 5.
Further, the clamping device 2 and the shearing device 3 can be arranged by adopting a structure common in the prior art, as long as the clamping and shearing of the binding wire can be realized; as shown in fig. 9 to 13, the following structural arrangement is preferably adopted:
the overall structures of the clamping device 2 and the shearing device 3 both adopt a shear type connecting rod mechanism; the scissor type connecting rod mechanism comprises a connector and a pair of first connecting rods, the end parts of the two first connecting rods are hinged to the connector, the other ends of the two first connecting rods are hinged to second connecting rods respectively, the middle parts of the two second connecting rods are hinged to the rack 1, and the two second connecting rods are opened and closed through movement of the connector. The difference is that: the second connecting rod tip of clamping device 2 is provided with presss from both sides tight head 2.8, presss from both sides tight head 2.8 through two and carries out the centre gripping to tying up the silk, and the second connecting rod tip of shearing mechanism 3 is provided with cuts head 3.6, cuts off tying up the silk through two blades 3.61 on cutting head 3.6.
The connecting head of the clamping device 2 is connected with the connecting head of the shearing device 3, namely when the connecting head of the shearing device 3 moves, the connecting head of the clamping device 2 also moves correspondingly, so that the linkage of the two is realized. The drive means 4 may be connected to the connecting head of the shearing device 3.
For a detailed description of the construction of the clamping device 2 and the shearing device 3, the components involved in the scissor linkage are named correspondingly.
The clamping device 2: a first connecting rod in the scissor type connecting rod mechanism is named as a clamping push rod (left and right), a second connecting rod is named as a clamping rod (left and right), and a connecting head is named as a clamping rod connecting head. The specific connection relationship is as follows:
one end of the left clamping push rod 2.3 and one end of the right clamping push rod 2.3 ' are hinged with the clamping rod connector 2.1, the left clamping push rod 2.3, the right clamping push rod 2.3 ' and the clamping rod connector 2.1 are hinged through the clamping cylindrical pins 2.2, and corresponding cylindrical pin holes are formed in the left clamping push rod 2.3, the right clamping push rod 2.3 ' and the clamping rod connector 2.1. The other end of the left clamping push rod 2.3 is hinged with one end of the left clamping rod 2.5, the left clamping pin 2.4 is used for realizing the hinging, and the left clamping push rod 2.3 and the left clamping rod 2.5 are respectively provided with a corresponding pin hole. Similarly, the other end of the right clamping push rod 2.3 ' is hinged with one end of the right clamping rod 2.5 ', and can also be hinged through the right clamping pin 2.4 ', and corresponding pin holes are also formed in the right clamping push rod 2.3 ' and the right clamping rod 2.5 '.
The shearing device 3: a first connecting rod in the shear type connecting rod mechanism is named as a shear push rod (left and right), a second connecting rod is named as a shear rod (left and right), and a connecting head is named as a shear rod connecting head. The specific connection relationship is as follows:
one end of the left shearing push rod 3.3 and one end of the right shearing push rod 3.3 ' are hinged with the shearing rod connector 3.1, the left shearing push rod 3.3, the right shearing push rod 3.3 ' and the shearing rod connector 3.1 are hinged through the shearing cylindrical pin 3.2, and corresponding cylindrical pin holes are formed in the left shearing push rod 3.3, the right shearing push rod 3.3 ' and the shearing rod connector 3.1. The other end of the left shearing push rod 3.3 is hinged with one end of the left shearing rod 3.5, the left shearing pin 3.4 is used for realizing the hinging, and corresponding pin holes are formed in the left shearing push rod 3.3 and the left shearing rod 3.5. Similarly, the other end of the right shear push rod 3.3 'is hinged to one end of the right shear rod 3.5', or hinged to the other end of the right shear push rod 3.3 'through a right shear pin 3.4', and corresponding pin holes are formed in the right shear push rod 3.3 'and the right shear rod 3.5'.
The middle part of two second connecting rods all articulates with frame 1, specifically is provided with corresponding round pin shaft hole at the middle part of second connecting rod, promptly: the middle parts of the clamping push rod (left and right) and the shearing push rod (left and right) are respectively provided with a pin shaft hole, and are hinged with the machine frame 1 in a pin shaft mode.
Furthermore, a guide hook 2.81 is arranged at the end of the clamping head 2.8, and a tooth opening 2.82 is arranged on the clamping surface of the clamping head 2.8. In the process of clamping the binding wire, the binding wire can be hooked through the guide hook 2.81 to prevent the binding wire from slipping off, and the binding wire is in contact with the clamping surface of the clamping head 2.8 through the tooth openings 2.82, so that the friction force during clamping is increased.
Furthermore, the connector of the clamping device 2 and the connector of the shearing device 3 can be directly connected, but the distance between the clamping heads 2.8 and the distance between the shearing heads 3.6 need to be set, so that the two clamping heads 2.8 clamp the binding wire after the two shearing heads 3.6 cut off the binding wire. Of course, the elastic clamping of the clamping head 2.8 can be realized by adopting the following structure arrangement, so that the problems existing in the prior art can be avoided, the shearing device 3 can be ensured to smoothly shear the binding wire, and the clamping device 2 can not excessively clamp the binding wire; the method specifically comprises the following steps:
the connector (clamping rod connector 2.1) of the clamping device 2 is connected with the connector (shearing rod connector 3.1) of the shearing device 3 through a connecting piece; the connecting piece comprises a connecting column 2.11 and a compression spring 2.6, the connecting column 2.11 is fixed on the connecting head of the clamping device 2 and is in sliding connection with the connecting head of the shearing device 3, and the connecting head of the shearing device 3 is provided with a corresponding guide hole 3.11; compression spring 2.6 sets up between clamping device 2's connector and shearing mechanism 3's connector, and shearing mechanism 3's connector passes through compression spring 2.6 and drives clamping device 2's connector removal.
The drive means 4 is connected to the connecting head of the shearing device 3 and its operating state will be described in the same way as the above-mentioned nomenclature.
As shown in fig. 4 and 14, under the downward pushing action of the driving device 4, the shear bar connector 3.1 presses the compression spring 2.6 and simultaneously pushes the clamping bar connector 2.1 to move downward; at the moment, under the pushing action of the left and right clamping push rods 2.3 and 2.3 ', the included angle between two tooth mouths 2.82 of the left and right clamping rods 2.5 and 2.5' is reduced, and under the pushing action of the left and right shearing push rods 3.3 and 3.3 ', the included angle between two cutting edges 3.61 of the left and right shearing rods 3.5 and 3.5' is also reduced; in the process that the included angle of 2.82 between the tooth openings of the left clamping rod 2.5 and the right clamping rod 2.5 'and the included angle of 3.61 between the cutting edges of the left shearing rod 3.5 and the right shearing rod 3.5' are reduced, the binding wire to be sheared is clamped through the tooth openings 2.82 of the left clamping rod 2.5 and the right clamping rod 2.5 '(at this time, the cutting edges of the left shearing rod 3.5 and the right shearing rod 3.5' are not contacted with the binding wire temporarily); then, the driving device 4 continues to push the shearing rod connector 3.1 downwards, the compression spring 2.6 continues to be compressed, the binding wire is clamped more and more tightly, and meanwhile, the included angle of 3.61 cutting edges of the left shearing rod 3.5 and the right shearing rod 3.5 'and the 3.5' cutting edge continues to be reduced until the binding wire is cut; when the binding wire is cut off, the downward pushing action of the driving device 4 is stopped, the cut binding wire is clamped by the left and right clamping rods 2.5 and 2.5', and at the moment, the binding wire can be taken out to be above the designated position through the robot B; and finally, the driving device 4 drives the shearing rod connector 3.1 and the clamping rod connector 2.1 to move upwards, the included angle between the 2.82 tooth openings of the left and right clamping rods 2.5 and 2.5 'and the included angle between the 3.61 cutting edges of the left and right shearing rods 3.5 and 3.5' are increased, and the binding wire automatically drops to a specified position under the action of gravity.
Furthermore, the compression spring 2.6 is sleeved outside the connecting column 2.11, the compression spring 2.6 can move along the connecting column 2.11 under compression, the top of the connecting column 2.11 is provided with a stopper, and the stopper can play a limiting role through the plug.
Further, the stop head can adopt a nut 2.7, and the nut 2.7 is connected with the connecting column 2.11 through threads.
Furthermore, the driving device 4 adopts a hydraulic cylinder 4.1, the cylinder body of the hydraulic cylinder 4.1 is fixed or hinged on the frame 1, the piston rod of the hydraulic cylinder 4.1 is connected with the shearing device 3, and the clamping device 2 and the shearing device 3 are driven to open and close by the extension of the piston rod of the hydraulic cylinder 4.1. When the hinging mode is adopted, shaft sleeves (a left shaft sleeve 4.2 and a right shaft sleeve 4.2') are rotatably connected on two sides of the cylinder body of the hydraulic cylinder 4.1, and a corresponding bearing seat is arranged on the rack 1. The piston rod of the hydraulic cylinder 4.1 can be connected with the connector of the shearing device 3 in a threaded mode, and the shearing rod connector 3.1 of the shearing device 3 is provided with a corresponding threaded connecting hole 3.12.
Of course, the purpose of the driving means 4 is to drive the gripping means 2 and the shearing means 3 into action; therefore, the driving device 4 may be replaced with a linear moving mechanism such as a linear motor in addition to the hydraulic cylinder.
Further, the purpose of the frame 1 is mainly to mount the clamping device 2, the shearing device 3 and the driving device 4, so that it can be configured into various structures according to actual conditions, and for convenience of installation and production, the following structures are preferably adopted:
as shown in fig. 4 to 6, the machine frame 1 includes two opposite mounting bases 1.1 and mounting supports 1.2, the mounting bases 1.1 and the mounting supports 1.2 are spaced apart and connected by fasteners, and the clamping device 2 and the shearing device 3 are located between the mounting bases 1.1 and the mounting supports 1.2.
For how to realize that the installation base 1.1 and the installation support 1.2 have a gap therebetween, a corresponding support member may be disposed therebetween, specifically: the left connecting cylinder 1.4, the right connecting cylinder 1.4 ' and the pin 1.9 are arranged, the left connecting cylinder 1.4, the right connecting cylinder 1.4 ' and the pin 1.9 are positioned between the mounting base 1.1 and the mounting support 1.2, and the left connecting cylinder 1.4 and the right connecting cylinder 1.4 ' can be respectively fixed through bolts; one end of the pin 1.9 is fixed on the mounting support 1.2, and the other end of the pin 1.9 passes through the pin hole 1.91 on the mounting base 1.1 and is connected by the baffle 1.6 and the fastener.
Furthermore, guide surfaces 1.8 are arranged on the mounting base 1.1 and the mounting support 1.2, and a shearing rod connector 3.1 in the shear type link mechanism can be connected with the guide surfaces 1.8 in a sliding manner.
Further, when the driving device 4 is hinged to the frame 1, and a bearing manner is specifically adopted, bearing seat mounting grooves 1.31 are correspondingly arranged on the mounting base 1.1 and the mounting support 1.2, and are used for mounting the left bearing seat 1.3 and the right bearing seat 1.3'. Because the middle part of the second connecting rod is hinged with the frame 1, corresponding pin shaft mounting holes 1.51, a left pin shaft 1.5 and a right pin shaft 1.5' are respectively arranged on the mounting base 1.1 and the mounting support 1.2 for convenient mounting. The shearing device 3 and the clamping device 2 are arranged on the frame 1 in parallel; therefore, the left pin shaft 1.5 can sequentially penetrate through the left clamping rod 2.5 and the left shearing rod 3.5, and the right pin shaft 1.5 ' can sequentially penetrate through the right clamping rod 2.5 ' and the right shearing rod 3.5 '; corresponding check rings 1.7 are arranged at two ends of the rear left pin shaft 1.5 and the right pin shaft 1.5' so as to realize hinging.
Of course, the person skilled in the art can adapt and set the above-described specific embodiments for achieving articulation, depending on the circumstances. Meanwhile, in order to conveniently install the mechanism on the mechanical arm, an installation boss and an installation hole can be arranged on the machine frame 1.
The system is provided with a corresponding control cabinet E and a hydraulic station D.
As shown in fig. 16, the automated process of the present system is as follows:
1) bundling to a bale breaking station: generally, the rolled and bundled rods in the rolling shop are transported to the finishing shop and then transported to the bundle placing rack by a transporting device (not shown), and the state before the bundle is removed is shown in fig. 1 and 2;
2) whether the starting conditions are satisfied: the intelligent pipe bundle removing system which is ready receives a starting signal, confirms whether the starting condition is met or not after receiving the starting signal, and if the starting condition is not met, the monitoring picture and the alarm indicator lamp have picture alarm prompt and indicator lamp indication information;
3) locking a conveying device: if the starting condition is met, locking the conveying device;
4) moving the end effector above the bundled ends: the robot B moving along the ground rail C drives the hydraulic station D and the tail end actuating mechanism A to move to the left end (shown in the position of figure 1) of the rod bundle, and the tail end actuating mechanism A is ensured to be arranged at a certain distance above the rod bundle;
5) preliminary scanning: moving a robot B along a ground rail C to drive a hydraulic station D and a tail end executing mechanism A to perform primary scanning on the bundled bars from the left end to the right end of the bundled bars through an image recognition device 5 of the tail end executing mechanism A;
6) outputting the required shearing times m: in the process of primary scanning, a laser 5.3 shoots laser beams on a bundle, the laser beams are photographed and sampled by a left industrial camera 5.5 and a right industrial camera 5.5', a picture is transmitted to an industrial personal computer through a network cable, information such as the position, the bundling form, the bundling track number and the like of a bundled bar can be obtained after image processing, and the number m of times of shearing the bundling wire is determined and output;
7) moving the end effector to the cutting position: the robot B moving along the ground rail C drives the hydraulic station D and the tail end executing mechanism A to a first shearing position at the right end of the bar bundle;
8) detecting the position of the binding wire: the mechanical arm of the robot B drives the tail end execution mechanism A to approach the binding wire at the binding position, and the image recognition device 5 detects and determines the specific direction for cutting the binding wire;
9) shearing and binding wires: then the clamping device 2 and the shearing device 3 are driven to be closed through the driving device 4, the binding wires are clamped by the clamping device 2, and the binding wires are sheared by the shearing device 3; after the binding wires are cut off, the clamping device 2 is still in a clamping state;
10) recovering binding wires: the binding wire is taken out to the upper part of a nearby collecting frame F under the actions of the movement of the robot B on the ground rail C and the movement and rotation of a mechanical arm of the robot B; then, the hydraulic cylinder 4.1 drives the shearing rod connector 3.1 and the clamping rod connector 2.1 to move upwards, the included angle of 2.82 between the tooth openings of the left clamping rod 2.5 and the right clamping rod 2.5' and the included angle of 3.61 between the cutting edges of the left shearing rod 3.5 and the right shearing rod 3.5 are increased, and the binding wires automatically fall into the collecting frame F under the action of gravity;
11) the number of shears n is equal to the required number of shears m: the control system judges whether the number n of times of shearing at the moment is equal to the required shearing number m, if m is not equal to n, the robot B drives the hydraulic station D and the tail end executing mechanism A to the next shearing position of the rod bundle, and the process flow starting from '7) moving the tail end executing mechanism to the shearing position' is repeated;
12) returning to the original position: if the control system judges that the number n of times of shearing is equal to the required shearing number m, the robot B moving along the ground rail C drives the hydraulic station D and the tail end actuating mechanism A to the left end of the ground rail C;
13) unlocking the conveying device: unlocking the locked delivery device;
14) conveying the unpacked bars: and conveying the unpacked rods to a required position through a conveying device.
Although only the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art, and all changes are encompassed in the scope of the present invention.
Claims (10)
1. The utility model provides an intelligent, tubular product bale breaking system which characterized in that: the robot comprises a tail end executing mechanism (A) and a robot (B), wherein the tail end executing mechanism (A) is arranged on the robot (B) and is driven to move by the robot (B); terminal actuating mechanism (A) includes frame (1), clamping device (2) and shearing mechanism (3) set up side by side in frame (1), adopt the linkage setting between clamping device (2) and shearing mechanism (3), be equipped with drive arrangement (4) of being connected with clamping device (2) and/or shearing mechanism (3) on frame (1), can realize opening and shutting of clamping device (2) and shearing mechanism (3) through drive arrangement (4).
2. An intelligent, tubing de-strapping system, as claimed in claim 1, wherein: the robot further comprises a ground rail (C) arranged below the robot (B), and the robot (B) can move along the ground rail (C).
3. An intelligent, tubing de-strapping system, as claimed in claim 1, wherein: still include image recognition device (5), image recognition device includes laser instrument (5.3), industry camera and mounting bracket (5.2), and laser instrument and industry camera setting are on mounting bracket (5.2), and mounting bracket (5.2) are connected with frame (1).
4. An intelligent, tubing de-strapping system, as claimed in claim 1, wherein: the clamping device (2) and the shearing device (3) both adopt a shear type connecting rod mechanism; the scissor type connecting rod mechanism comprises a connector and a pair of first connecting rods, the end parts of the two first connecting rods are hinged with the connector, the other ends of the two first connecting rods are respectively hinged with second connecting rods, the middle parts of the two second connecting rods are hinged with the rack (1), and the two second connecting rods are opened and closed through the movement of the connector; a clamping head (2.8) is arranged at the end part of the second connecting rod of the clamping device (2), and a shearing head (3.6) is arranged at the end part of the second connecting rod of the shearing device (3); the connector of the clamping device (2) is connected with the connector of the shearing device (3); the driving device (4) is connected with the connector of the shearing device (3).
5. An intelligent, tubing de-strapping system, as claimed in claim 4, wherein: the end part of the clamping head (2.8) is provided with a guide hook (2.81), and the clamping surface of the clamping head (2.8) is provided with a tooth mouth (2.82).
6. An intelligent, tubing de-strapping system, as claimed in claim 4, wherein: the connector of the clamping device (2) is connected with the connector of the shearing device (3) through a connecting piece; the connecting piece comprises a connecting column (2.11) and a compression spring (2.6), wherein the connecting column (2.11) is fixed on the connecting head of the clamping device (2) and is in sliding connection with the connecting head of the shearing device (3); compression spring (2.6) sets up between clamping device (2)'s connector and shearing mechanism (3)'s connector, and clamping device (2)'s connector removal is driven through compression spring (2.6) to shearing mechanism (3) connector.
7. An intelligent, tubing de-strapping system, as claimed in claim 6, wherein: the compression spring (2.6) is sleeved outside the connecting column (2.11), and the top of the connecting column (2.11) is provided with a stopper.
8. An intelligent, tubing de-strapping system, as claimed in claim 7, wherein: the stop head is a nut (2.7).
9. An intelligent, pipe de-baling system as defined in any one of claims 1-8, wherein: the driving device (4) adopts a hydraulic cylinder (4.1), the cylinder body of the hydraulic cylinder (4.1) is fixed or hinged on the rack (1), the piston rod of the hydraulic cylinder (4.1) is connected with the shearing device (3), and the clamping device (2) and the shearing device (3) are driven to open and close by the extension of the piston rod of the hydraulic cylinder (4.1).
10. An intelligent, pipe de-baling system as defined in any one of claims 1-8, wherein: the frame (1) comprises two opposite mounting bases (1.1) and mounting supports (1.2), intervals exist between the mounting bases (1.1) and the mounting supports (1.2) and are connected through fasteners, and the clamping devices (2) and the shearing devices (3) are located between the mounting bases (1.1) and the mounting supports (1.2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010909276.7A CN112027260A (en) | 2020-09-02 | 2020-09-02 | Intelligent pipe bundle dismantling system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010909276.7A CN112027260A (en) | 2020-09-02 | 2020-09-02 | Intelligent pipe bundle dismantling system |
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| CN112027260A true CN112027260A (en) | 2020-12-04 |
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| CN202010909276.7A Pending CN112027260A (en) | 2020-09-02 | 2020-09-02 | Intelligent pipe bundle dismantling system |
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Application publication date: 20201204 |