CN112340161A - Device and method for dismantling and recovering steel coil binding belt of robot - Google Patents
Device and method for dismantling and recovering steel coil binding belt of robot Download PDFInfo
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- CN112340161A CN112340161A CN202011140140.0A CN202011140140A CN112340161A CN 112340161 A CN112340161 A CN 112340161A CN 202011140140 A CN202011140140 A CN 202011140140A CN 112340161 A CN112340161 A CN 112340161A
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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 relates to a device for removing and recovering a steel coil binding belt of a robot, which comprises a robot body, wherein one side of the robot body is provided with a binding belt removing end actuator, a shell fixedly connected with one end of the robot body is not included in the binding belt removing end actuator, one side of the inner wall of the shell is fixedly connected with a linear guide rail I, and the linear guide rail I is fixedly connected with a cylinder I. According to the invention, the strap can be positioned at any position between the two clamps, so that strict requirements on the positioning and movement track of the end actuator are reduced, when the strap is scooped up, the two sides of the strap are simultaneously scooped up, the end actuator of the disassembled strap is uniformly stressed and cannot bear overlarge torque, the dovetail groove design at the end part of the clamp can also accurately position the position of the scooped strap so as to adapt to the change of the tightness of the strap, the air spring is adopted by the clamp on one side of the scissors, the action of clamping the strap firstly and then shearing the strap can be realized, so that the process of clamping and then shearing the strap can be finished by one action of the air cylinder, and the working efficiency is improved.
Description
Technical Field
The invention relates to a robot steel coil binding strip dismantling and recycling device and a method thereof, belonging to the technical field of robot steel coil binding strip dismantling and recycling.
Background
With the continuous improvement of living standards, household appliances and automobiles become necessities of people's life, the demand of cold-rolled plates serving as one of main raw materials also reaches a high point, the steel coil binding belt dismantling operation before the processing of cold-rolled plates in most domestic steel works is mainly completed manually, the danger of a working area is high, the labor intensity is high, and the steel works belong to repeated work.
When the existing binding belt is shoveled, due to the unilateral stress, the binding belt can generate a reaction torque to an end actuator of the bale breaking belt, the reaction torque can be transmitted to a robot to cause certain damage to the robot, meanwhile, the end actuator of the bale breaking belt can bear a large force, in order to overcome the defect, the robot with a larger load needs to be selected, the mechanical strength of the end actuator of the bale breaking belt is increased, a buffer device is additionally arranged between the robot and the end actuator of the bale breaking belt, a hydraulic cylinder with stronger driving capability is adopted to drive a steel shovel and scissors, the steel shovel performs an obliquely downward movement in the process of shoveling the binding belt, the position and the track of the steel coil descending of the steel shovel need to be accurately positioned, if the steel coil cannot be smoothly shoveled up too early or too late, even the steel shovel can damage the steel shovel, in order to accurately position the position, a high-precision sensor needs to be added to detect the position of the binding belt, the robot is taught repeatedly to find a proper descending track, and the change of the tightness of the steel coil binding belt, namely the size of the gap between the binding belt and the steel coil surface, can also influence the success rate of shoveling the binding belt. The matched binding belt collecting device adopts a mode that a motor drives a steel fork to firstly roll the dismantled binding belt into a coil and then tightly press the coil by a hydraulic cylinder, and has the defects that the tightness of the coil wound by the motor and the steel fork is different, the whole body grows into a strip shape after being tightly pressed, the shape is irregular, the used space is more during collection, the binding belt is seriously plastically deformed after being flattened, and the binding belt cannot be secondarily utilized.
Disclosure of Invention
The invention aims to solve the technical problems and overcome the existing defects, and provides a robot steel coil binding strip dismantling and recycling device which is simple in structure and convenient to use, can collect the binding strips into a cylindrical shape with a compact structure, has small damage to the binding strips, can realize secondary utilization of the binding strips, and can effectively solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme:
a device for removing and recovering a steel coil strap of a robot comprises a robot body, wherein a strap-removing end actuator is installed on one side of the robot body, a shell fixedly connected with one end of the robot body is not included in the strap-removing end actuator, a linear guide rail I is fixedly connected to one side of the inner wall of the shell, a sliding block 1 of the linear guide rail I is fixedly connected with a cylinder I, one end of a cylinder body of the cylinder I is fixedly connected with a guide rod II, the other end of the guide rod II is fixedly connected with a shear, a guide rod is fixedly connected to one surface of the linear guide rail I, the guide rod is connected with the shell, a clamp I and a clamp II are movably sleeved on the surface of the guide rod, the guide rod plays a limiting role on the clamp I and the clamp II, one end of the clamp I is fixedly connected with the cylinder body of the air spring, a pin shaft is inserted between the clamp I and the air, and the ejector rod is connected with the first clamp, a limit screw is clamped and connected in the pin shaft, the air spring cylinder body is fixedly connected with the first air cylinder body, the cylinder rod of the first air cylinder is fixedly connected with the first guide rod, the first guide rod is fixedly connected with the second clamp, and one side of the robot body is provided with a strap recovery mechanism.
Further, the scissors are connected with the first linear guide rail, an arc groove is formed in the position where the circle centers of the pin shafts coincide, the pin shafts are movably connected with the limiting screws, and the first clamp, the second clamp and the scissors are connected with the first air cylinder through guide rods with springs.
Furthermore, the front ends of the first clamp and the second clamp are designed into dovetail grooves, the first clamp is fixed with the first cylinder body of the air cylinder through the air spring, the scissors are fixed with the first cylinder body of the air cylinder, and the second clamp is fixed with the first cylinder rod of the air cylinder.
Further, the bundling belt recovery mechanism comprises a support, a motor is fixedly connected to one side of the top end of the support, a guide frame is fixedly connected to the other side of the top end of the support, a second air cylinder is installed at the top end of the support, a connecting plate is fixedly connected to one end of the second air cylinder, a linear guide rail is fixedly connected to the bottom end of the connecting plate, a curling box body is fixedly connected to the other end of the connecting plate, a driving sprocket is installed on an output shaft of the motor, and a chain is fixedly connected to one end of the six sprockets and a chain.
Furthermore, the second linear guide rail is fixedly connected with a bracket, the rear end of the bracket is fixedly connected with a material guide device,
further, the first chain wheel and the second chain wheel are installed in the curling box, and the driving chain wheel drives the sixth chain wheel, the first chain wheel, the second chain wheel, the third chain wheel, the fourth chain wheel and the fifth chain wheel through chains.
Furthermore, a first pressing wheel is fixedly mounted on the front end face of the first chain wheel, a second pressing wheel is fixedly connected to the front end face of the second chain wheel, and a third pressing wheel is fixedly connected to the front end face of the third chain wheel.
The use method of the robot steel coil binding strip removing and recovering device comprises the steps of steel coil binding strip removing and coil binding strip recovering, wherein the steel coil binding strip removing step comprises the following steps:
s1, the robot body drives the binder removal end actuator to reach the position above the steel coil, and after the position of the binder is detected by a sensor on the shell, the binder removal end actuator is positioned to a certain position between the first clamp and the second clamp;
s2, gradually descending the binder removal end actuator until the first clamp and the second clamp contact the upper surface of the steel coil, swinging the first clamp by a certain angle around the pin shaft, moving the second clamp by a certain distance along the axis of the guide rod I, and moving the scissors by a certain distance along the axis of the guide rod II to ensure that the first clamp and the second clamp are better attached to the surface of the steel coil;
s3, ventilating a rod cavity of the cylinder I, retracting a cylinder rod of the cylinder, and driving the clamp I to move by the cylinder rod;
s4, the cylinder body drives the clamp I and the scissors to move, when the clamp I on one side contacts with the strap, the clamp I stops moving, and the clamp II on the other side continues moving towards the strap until the two sides contact with the strap;
s5, increasing the pressure in the first air cylinder to increase the force of the first clamp and the second clamp on the strap until the clamps on the two sides scoop up the strap and enter the dovetail groove along the dovetail groove slope at the front end of the first clamp to be clamped, further increasing the pressure of the first air cylinder, and fixing the first clamp by the strap and the second clamp to be incapable of moving continuously;
s6, the air spring arranged on the clamp I starts to compress, and the cylinder body of the air cylinder continues to drive the scissors to move towards the strap to cut the strap.
The coiled binding strip recycling step comprises the following steps:
s1, the robot body drives the straps clamped by the first clamp and the second clamp on the strap removing end effector to move to the upper part of the strap recovery mechanism;
s2, ventilating rod cavities of the cylinder II, lifting the connecting plate and the curling box body to a certain height under the driving of the cylinder II, and forming a certain gap among the first pressing wheel, the second pressing wheel and the third pressing wheel;
s3, placing the binding belt in gaps among the three press wheels and a guide frame by the robot body, ventilating a rod cavity of a cylinder I, returning a clamp I, a clamp II and scissors to release the binding belt;
s4, returning the robot body to the original position, ventilating a rod cavity of the cylinder II, and tightly pressing the binding belt by the first pressing wheel, the second pressing wheel and the third pressing wheel;
s5, the motor is electrified to drive the first pinch roller, the second pinch roller and the third pinch roller to rotate, the bundling belt is curled into a spiral shape, the bundling belt is automatically fastened because the curling radius of the bundling belt is unchanged, and the curled bundling belt slides out of the material guide device, so that the dismantling and recycling circulation of the steel coil bundling belt is completed.
The invention has the technical effects and advantages that:
1. according to the invention, under the action of the binder removal end actuator, the binder can be positioned at any position between the two clamps, so that the strict requirements on the positioning and movement tracks of the binder removal end actuator are reduced, and simultaneously, when the binder is scooped up, the two sides of the binder are simultaneously scooped up, so that the binder removal end actuator is uniformly stressed, and cannot bear an excessive torque effect.
2. According to the invention, under the action of the binder removal end actuator, the dovetail groove design at the clamp end can also accurately position the position of the lifted binder to adapt to the change of the tightness of the binder, and the clamp on one side of the scissors adopts the air spring, so that the actions of clamping and shearing the binder firstly can be realized, and the process of clamping and shearing the binder again can be finished by one action of the air cylinder, so that the working efficiency is improved.
3. In the invention, under the action of the strap recovery mechanism, the strap recovery device adopts three press wheels which are arranged up and down to curl the strap, the curled shapes of the strap are consistent, and the occupied space is small.
4. In the invention, under the action of the strap recovery mechanism, the relative position between the three press wheels can be controlled to control the curling radius of the strap, and the deformation of the strap is relatively smooth and the damage is not large, so that the strap can be recovered and utilized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.
FIG. 1 is a front view of the present invention;
FIG. 2 is a schematic view of the structure of an end effector of the bale breaker of the present invention;
FIG. 3 is a schematic view of the strap recovery mechanism of the present invention;
FIG. 4 is a schematic view of the rear end face of the strap retrieving mechanism of the present invention;
fig. 5 is a schematic view of the rear end face portion of the strap retrieving mechanism of the present invention.
Reference numbers in the figures: 1. a robot body; 2. a strap-opening end effector; 201. a housing; 202. a first cylinder; 203. clamping a first clamp; 204. a pin shaft; 205. a top rod; 206. a limit screw; 207. a second clamp; 208. a first guide rod; 209. a first linear guide rail; 2010. scissors; 2011. a second guide rod; 2012. a guide bar; 2013. a gas spring; 3. a strap recovery mechanism; 301. a support; 302. a motor; 303. a drive sprocket; 304. a guide frame; 305. a second air cylinder; 306. a second linear guide rail; 307. a curling box body; 308. a connecting plate; 309. a chain wheel I; 3010. a second chain wheel; 3011. a seventh chain wheel; 3012. a third chain wheel; 3013. a fourth chain wheel; 3014. a fifth chain wheel; 3015. a sixth chain wheel; 3016. a material guide; 3017. a first pressing wheel; 3018. a second pressing wheel; 3019. and a third pressing wheel.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
As shown in fig. 1-5, a device for removing and recycling a steel coil strap of a robot comprises a robot body 1, a strap-removing end actuator 2 is installed on one side of the robot body 1, a housing 201 fixedly connected with one end of the robot body 1 is not included in the strap-removing end actuator 2, a first linear guide 209 is fixedly connected to one side of the inner wall of the housing 201, a first slider 209 of the linear guide is fixedly connected to a first cylinder 202, a second guide 2011 is fixedly connected to one end of the first cylinder 202, a scissors 2010 is fixedly connected to the other end of the second guide 2011, a guide rod 2012 is fixed to the housing, a first clamp 203 and a second clamp 207 are movably sleeved on the surface of the guide rod 2012, the guide rod plays a guiding role in guiding the first clamp 203 and the second clamp 207, one end of the first clamp 203 is fixedly connected to a gas spring 2013, a pin 204 is inserted between the first clamp 203 and the gas spring 2013, and one end of the gas, the top rod 205 is connected with the first clamp 203, the limiting screw 206 is connected in the pin shaft 204 in a clamping manner, the cylinder body of the air spring 2013 is fixedly connected with the cylinder body of the first air cylinder 202, the end part of the cylinder rod of the first air cylinder 202 is fixedly connected with the first guide rod 208, the first guide rod 208 is fixedly connected with the second clamp 207, the strapping recovery mechanism 3 is installed at one side of the robot body 1, the scissors 2010 is fixedly connected with the slider 2 of the first linear guide rail 209, the center of the circle of the pin shaft 204 is provided with an arc groove, the pin shaft 204 is movably connected with the limiting screw 206, the first clamp 203, the second clamp 207 and the scissors 2010 are connected with the first air cylinder 202 by the guide rods penetrating through springs, the front ends of the first clamp 203 and the second clamp 207 are both designed into dovetail grooves, the first clamp 203 is fixed with the cylinder body of the first air cylinder 202 through the air spring 2013, the scissors 2010 is fixed with the cylinder body of, thus, when the end executor of the bale breaking belt is pressed on the steel coil, the end executor of the bale breaking belt has certain buffering, and simultaneously, the end executor of the bale breaking belt can be ensured to be adapted to the change of the circular arc surface of the steel coil so as to be better attached, when the two clamps move oppositely, the sharp corner below the dovetail groove is gradually pressed into the gap between the steel coil and the binding belt, with the further movement of the two clamps, the binding belt can be gradually scooped up along the inclined surface of the dovetail groove, and finally fixed in the dovetail groove, because the cylinder body and the cylinder rod can move along the linear guide rail, so that it is only necessary to place the strap between the two clamps, when the cylinder one 202 is vented, the two clamps move towards the middle, the clamp which is firstly contacted with the strap is fixed, the other clamp moves towards the strap continuously, thus the position of the strap does not need to be positioned accurately, due to the existence of the gas spring 2013, the strapping can be clamped to a certain force and then sheared after the strapping is clamped to the certain force by one movement of the cylinder 202.
As shown in fig. 3-5, the band recovering mechanism 3 includes a support 301, a motor 302 is fixedly connected to one side of the top end of the support 301, a guiding frame 304 is fixedly connected to the other side of the top end of the support 301, a second cylinder 305 is installed at the top end of the support 301, one end of the second cylinder 305 is fixedly connected to a connecting plate 308, the bottom end of the connecting plate 308 is fixedly connected to a second linear guide 306, the second linear guide 306 is fixedly connected to the support 301, a curling box 307 is fixedly linked to the other end of the connecting plate 308, a driving sprocket 303 is installed on an output shaft of the motor 302, a first sprocket 309 and a second sprocket 3010 are installed in the curling box 307, the driving sprocket 303 drives a sprocket six 3015, a first sprocket 309, a second sprocket 3010, a third sprocket 3012, a fourth sprocket 3013 and a fifth sprocket 3014 through a chain, the sprocket six 3015 is a double sprocket, the other sprocket drives a sprocket seven 301, the front end face of the first chain wheel 309 is fixedly provided with a first pinch roller 3017, the front end face of the second chain wheel 3010 is fixedly connected with a second pinch roller 3018, and the front end face of the third chain wheel 3012 is fixedly connected with a third pinch roller 3019.
The use method of the robot steel coil binding strip removing and recovering device comprises the following steps of steel coil binding strip removing and coil binding strip recovering:
s1, the robot body 1 drives the end effector 2 for removing the strapping tape to reach the position above the steel coil, and after the position of the strapping tape is detected by a sensor on the shell 201, the end effector for removing the strapping tape is positioned to a certain position between the first clamp 203 and the second clamp 207;
s2, gradually descending the binder removal end actuator until the clamp I203 and the clamp II 207 are in contact with the upper surface of the steel coil, swinging the clamp I203 around the pin shaft 204 by a certain angle, moving the clamp II 207 along the axis of the guide rod I208 by a certain distance, and moving the scissors 2010 along the axis of the guide rod II 2011 by a certain distance to ensure that the clamp I203 and the clamp II 207 are better attached to the surface of the steel coil;
s3, ventilating a rod cavity of the first cylinder 202, retracting a cylinder rod of the first cylinder 202, and driving the first clamp 203 to move by the cylinder rod;
s4, the cylinder body of the cylinder I202 drives the clamp I203 and the scissors 2010 to move, the cylinder rod of the cylinder I202 drives the clamp II 207 to move, when the clamp at one side is contacted with the strap, the clamp stops moving, and the clamp at the other side continues to move towards the strap until the two sides are contacted with the strap;
s5, increasing the pressure in the first cylinder 202, so that the force of the first clamp 203 and the second clamp 207 on the strap is increased until the two clamps scoop up the strap and enter the dovetail groove along the dovetail groove slope at the front end of the first clamp to be clamped, and at the moment, the pressure of the first cylinder 202 is further increased, and the first clamp 203 is fixed by the strap and the second clamp 207 and cannot move continuously;
s6, the gas spring 2013 mounted on the first clamp 203 starts to compress, and the cylinder body of the first cylinder 202 continues to drive the scissors 2010 to move towards the strap to cut the strap.
The coiled binding belt recovery steps are as follows:
s1, the robot body 1 drives the straps clamped by the first clamp 203 and the second clamp 207 on the strap removing end effector to move to the upper part of the strap and strap recovery mechanism 3;
s2, a rod cavity of the second air cylinder 305 is ventilated, the connecting plate 308 and the curling box body 307 are lifted to a certain height under the driving of the second air cylinder 305, and a certain gap is formed among the first pinch roller 3017, the second pinch roller 3018 and the third pinch roller 3019;
s3, the robot body 1 places the straps in gaps among the three press wheels and the guide frame 304, the cylinder I202 is provided with a rod cavity for ventilation, the clamp I203, the clamp II 207 and the scissors 2010 return to release the straps;
s4, the robot body 1 returns to the original position, the second cylinder 305 is provided with a rod cavity for ventilation, and the first pinch roller 3017, the second pinch roller 3018 and the third pinch roller 3019 are used for compressing the bundling belt;
s5, the motor 302 is electrified to drive the first pinch roller 3017, the second pinch roller 3018 and the third pinch roller 3019 to rotate, the bundling belt is curled into a spiral shape, the bundling belt is automatically fastened because the curling radius of the bundling belt is not changed, and the curled bundling belt slides out from the material guide 3016, so that the steel coil bundling belt is dismantled and recycled.
For the convenience of understanding the technical solutions of the present invention, the following detailed description will be made on the working principle or the operation mode of the present invention in the practical process.
The working principle of the invention is as follows: when the automatic strapping tool is used, the robot body 1 drives the strapping-off end actuator 2 to reach the position above a steel coil, and after the strapping-off end actuator detects the position of the strapping through a sensor on the shell 201, the strapping-off end actuator is positioned to a position which enables the strapping to be between the clamp I203 and the clamp II 207, and gradually descends until the clamp I203 and the clamp II 207 contact the upper surface of the steel coil, at the moment, the clamp I203 swings at a certain angle around the pin shaft 204, the clamp II 207 moves at a certain distance along the axis of the guide rod I208, the scissors 2010 moves at a certain distance along the axis of the guide rod II 2011 to ensure that the clamp I203 and the clamp II 207 better attach to the surface of the steel coil, the cylinder I202 is provided with a rod cavity for ventilation, the cylinder I202 retracts, the cylinder body of the cylinder drives the clamp I203 and the scissors 2010 to move, the cylinder rod drives the clamp II 207 to move, until both sides contact with the straps, the pressure in the cylinder I202 rises, so that the force of the clamp I203 and the clamp II 207 on the straps is increased, until the clamps on both sides scoop up the straps and enter the dovetail groove along the inclined plane of the dovetail groove at the front end of the clamps to be clamped, the pressure of the cylinder I202 further rises, the clamp I203 and the clamp II 207 are fixed by the straps and cannot move continuously, the air spring 2013 mounted on the clamp I203 starts to compress, the cylinder I202 continues to drive the scissors 2010 to move towards the straps to cut the straps, the robot body 1 drives the clamp I203 and the clamp II 207 on the end effector for removing the straps to move above the strap recovery mechanism 3, the cylinder II 305 is provided with rod cavities for ventilation, the connecting plate 308 and the curling box 307 rise to a certain height under the driving of the cylinder II 305, and a certain gap is formed between the clamp I3017, the clamp II 3018 and the clamp III 3019, the robot body 1 places the binding belt in gaps among the three pressing wheels and the guide frame 304, the first cylinder 202 is provided with a rod cavity for ventilation, the first clamp 203, the second clamp 207 and the scissors 2010 return to release the binding belt, the robot body 1 returns to the original position, the second cylinder 305 is provided with a rod cavity for ventilation, the first pressing wheel 3017, the second pressing wheel 3018 and the third pressing wheel 3019 compress the binding belt, the motor 302 is electrified to drive the first pressing wheel 3017, the second pressing wheel 3018 and the third pressing wheel 3019 to rotate, the binding belt is curled into a spiral shape, the curling radius of the binding belt is unchanged, the binding belt is automatically fastened, the curled binding belt slides out of the material guide 3016, and therefore the steel coil binding belt is dismounted and recycled.
The above embodiments are preferred embodiments of the present invention, and those skilled in the art can make variations and modifications to the above embodiments, therefore, the present invention is not limited to the above embodiments, and any obvious improvements, substitutions or modifications made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (9)
1. The utility model provides a coil of strip bundling of machinery is demolishd and recovery unit, including robot (1), its characterized in that: the binding belt dismantling device is characterized in that a binding belt dismantling end effector (2) is installed on one side of the robot body (1), a shell (201) fixedly connected with one end of the robot body (1) is not included in the binding belt dismantling end effector (2), a linear guide rail I (209) is fixedly connected to one side of the inner wall of the shell (201), a slider 1 of the linear guide rail I (209) is fixedly connected with a cylinder I (202), one end of the cylinder I (202) is fixedly connected with a guide rod II (2011), the other end of the guide rod II (2011) is fixedly connected with a scissors (2010), a guide rod (2012) is fixed with the shell 201, a clamp I (203) and a clamp II (207) are movably sleeved on the surface of the guide rod (2012), the clamp I (203) is connected with the end of a cylinder rod of an air spring (2013), a pin shaft (204) is sleeved between the clamp I (203) and the air spring (2013), and a push rod (205) is, and the ejector rod (205) is connected with the first clamp (203), a limit screw (206) is connected in the pin shaft (204) in a clamping manner, the cylinder body of the air spring (2013) is fixedly connected with the first cylinder (202), the other end of the first cylinder (202) is fixedly connected with the first guide rod (208), the first guide rod (208) is fixedly connected with the second clamp (207), and the bundling belt recovery mechanism (3) is installed on one side of the robot body (1).
2. The robotic steel coil strapping tape removing and recovering device according to claim 1, wherein: the scissors (2010) are connected with the first cylinder (202), the first cylinder (202) is fixedly connected with the sliding block 2 of the first linear guide rail (209), an arc groove is formed in the center of the pin shaft (204) in a superposition position, the pin shaft (204) is movably connected with the limit screw (206), and the first clamp (203), the second clamp (207) and the scissors (2010) are connected with the first cylinder (202) through guide rods penetrating through springs.
3. The robotic steel coil strapping tape removing and recovering device according to claim 1, wherein: the front ends of the first clamp (203) and the second clamp (207) are designed into dovetail grooves, the first clamp (203) is fixed with a cylinder body of the first air cylinder (202) through an air spring (2013), the scissors (2010) are fixed with the cylinder body of the first air cylinder (202), and the second clamp (207) is fixed with a cylinder rod of the first air cylinder (202).
4. The robotic steel coil strapping tape removing and recovering device according to claim 1, wherein: mechanism (3) is retrieved to tie is inside including support (301), and support (301) top one side fixedly connected with motor (302), support (301) top opposite side fixedly connected with leading truck (304), and support (301) top is installed cylinder two (305), cylinder two (305) one end fixedly connected with connecting plate (308), and connecting plate (308) bottom fixedly connected with linear guide two (306), connecting plate (308) other end fixed link has curling box (307), install on the output shaft of motor (302) drive sprocket (303), chain wheel six (3015) one end is through chain fixedly connected with sprocket seven (3011).
5. The robotic steel coil strapping tape removing and recovering device according to claim 6, wherein: the second linear guide rail (306) is fixedly connected with the support (301), and a material guide (3016) is fixedly connected with the rear end of the support (301).
6. The robotic steel coil strapping tape removing and recovering device according to claim 1, wherein: the first chain wheel (309) and the second chain wheel (3010) are installed in the curling box body (307), and the driving chain wheel (303) drives the six chain wheels (3015), the first chain wheel (309), the second chain wheel (3010), the third chain wheel (3012), the fourth chain wheel (3013) and the fifth chain wheel (3014) through chains.
7. The robotic steel coil strapping tape removing and recovering device according to claim 4, wherein: the front end face of the first chain wheel (309) is fixedly provided with a first pinch roller (3017), the front end face of the second chain wheel (3010) is fixedly connected with a second pinch roller (3018), and the front end face of the third chain wheel (3012) is fixedly connected with a third pinch roller (3019).
8. The utility model provides a method for using of robot coil of strip bundling strip is demolishd and recovery unit, includes that the coil of strip bundling strip is demolishd and coil bundling strip is retrieved, its characterized in that: the steel coil binding belt dismantling step comprises the following steps:
s1, the robot body (1) drives the binder removal end actuator (2) to reach the position above the steel coil, and after the position of the binder is detected by a sensor on the shell (201), the binder removal device is positioned to a certain position between the first clamp (203) and the second clamp (207);
s2, the binding strip removing device gradually descends until the clamp I (203) and the clamp II (207) are in contact with the upper surface of the steel coil, at the moment, the clamp I (203) swings at a certain angle around the pin shaft (204), the clamp II (207) moves for a certain distance along the axis of the guide rod I (208), and the scissors (2010) move for a certain distance along the axis of the guide rod II (2011) so as to ensure that the clamp I (203) and the clamp II (207) are better attached to the surface of the steel coil;
s3, ventilating a rod cavity of the first cylinder (202), retracting a cylinder rod of the first cylinder (202), and driving the first clamp (203) to move by the cylinder rod;
s4, the cylinder body drives the clamp I (203) and the scissors (2010) to move, when one clamp contacts with the strap, the clamp stops moving, and the other clamp continues to move towards the strap until the two sides contact with the strap;
s5, increasing the pressure in the cylinder I (202), so that the force of the clamp I (203) and the clamp II (207) on the strap is increased until the clamps on the two sides scoop up the strap and enter the dovetail groove along the dovetail groove inclined plane at the front end of the clamp to be clamped, further increasing the pressure of the cylinder I (202), and fixing the clamp I (203) by the strap and the clamp II (207) and preventing the clamp I from moving continuously;
s6, the air spring (2013) installed on the clamp I (203) starts to compress, and the cylinder I (202) continues to drive the scissors (2010) to move towards the strap to cut the strap.
9. The method of using a robotic steel coil strap removal and recovery device according to claim 8, wherein: the coiled binding strip recycling step comprises the following steps:
s1, the robot body (1) drives the straps clamped by the first clamp (203) and the second clamp (207) on the strap-removing end actuator (2) to move to the upper part of the strap-recovering mechanism (3);
s2, a rod cavity of the air cylinder II (305) is ventilated, the connecting plate (308) and the curling box body (307) are lifted to a certain height under the driving of the air cylinder II (305), and a certain gap is formed among the first pinch roller (3017), the second pinch roller (3018) and the third pinch roller (3019);
s3, placing the strapping tape in gaps among the three press wheels and a guide frame (304) by the robot body (1), ventilating a rod cavity of a cylinder I (202), returning a clamp I (203), a clamp II (207) and a pair of scissors (2010), and releasing the strapping tape;
s4, the robot body (1) returns to the original position, a rod cavity of the cylinder II (305) is ventilated, and the pressing wheel I (3017), the pressing wheel II (3018) and the pressing wheel III (3019) compress the binding belt;
s5, a motor (302) is electrified to drive a first pinch roller (3017), a second pinch roller (3018) and a third pinch roller (3019) to rotate, the bundling belt is curled into a spiral shape, the bundling belt is automatically fastened because the curling radius of the bundling belt is unchanged, and the curled bundling belt slides out from a material guide (3016), so that the steel coil bundling belt is dismantled and recycled.
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| CN202011140140.0A CN112340161B (en) | 2020-10-22 | 2020-10-22 | Device and method for dismantling and recycling mechanical steel coil binding belt |
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| CN115504049A (en) * | 2022-10-18 | 2022-12-23 | 山东钢铁集团日照有限公司 | Steel coil binding belt dismantling actuator |
| CN116986108A (en) * | 2023-09-25 | 2023-11-03 | 张家港扬子江冷轧板有限公司 | Automatic dismantling equipment for strip steel coiled packing strip |
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| CN116986108A (en) * | 2023-09-25 | 2023-11-03 | 张家港扬子江冷轧板有限公司 | Automatic dismantling equipment for strip steel coiled packing strip |
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|---|---|
| CN112340161B (en) | 2022-11-18 |
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