CN113086330A - Intelligent compensation chain vanning system - Google Patents
Intelligent compensation chain vanning system Download PDFInfo
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- CN113086330A CN113086330A CN202110312636.XA CN202110312636A CN113086330A CN 113086330 A CN113086330 A CN 113086330A CN 202110312636 A CN202110312636 A CN 202110312636A CN 113086330 A CN113086330 A CN 113086330A
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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
- B65B63/00—Auxiliary devices, not otherwise provided for, for operating on articles or materials to be packaged
- B65B63/04—Auxiliary devices, not otherwise provided for, for operating on articles or materials to be packaged for folding or winding articles, e.g. gloves or stockings
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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
- B65B25/00—Packaging other articles presenting special problems
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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
- B65B37/00—Supplying or feeding fluent-solid, plastic, or liquid material, or loose masses of small articles, to be packaged
- B65B37/16—Separating measured quantities from supply
- B65B37/18—Separating measured quantities from supply by weighing
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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
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
- B65B57/06—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of articles or material to be packaged
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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
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
- B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention discloses an intelligent compensation chain boxing system which comprises a visual identification module, a six-degree-of-freedom mechanical arm, a chain feeding device, a chain discharging device, a chain supporting device, a first conveyor belt, a clamping and shearing device, a second conveyor belt, a gravity sensor and an industrial personal computer. The gravity sensor senses a compensation chain on the conveying belt and transmits information to the industrial personal computer, the industrial personal computer controls the visual recognition module to shoot a plane image of the compensation chain area and transmits the plane image to the industrial personal computer for image processing, the packing length of the compensation chain is obtained according to the diameter of the compensation chain, then the chain outlet device and the chain inlet device are controlled to adjust the preset pressing force of the compensation chain with the specific diameter, the first conveying belt transmits the compensation chain, meanwhile, the industrial personal computer controls the six-degree-of-freedom mechanical arm to work, the six-degree-of-freedom mechanical arm is enabled to carry out disc chain packing in a packing box according to a preset track, after the disc length is achieved, the balance compensation chain is cut. The invention has simple operation, high efficiency and accurate cutting length.
Description
Technical Field
The invention belongs to the technical field of compensation chain processing machinery, and particularly relates to an intelligent compensation chain boxing system.
Technical Field
The wrapped elevator compensation chain is made of the electric welding anchor chain, PVC and composite materials through extrusion processing, and has the advantages of good elasticity, high strength, long service life, stable and reliable operation of an elevator and the like, and the market demand is large. Because the PVC and the composite material are thermoplastic materials, the compensation chains with different diameters in a warm state are coiled and stacked layer by layer along with the extrusion speed according to a runway-shaped track or a circular track with relatively more bent sections with less straight sections and the compensation chains with different lengths are cut off and then are boxed in the extrusion processing process of the wrapped elevator compensation chains.
Chinese patent (201410506450.8) discloses an elevator balance compensation chain cold-shaping automatic coiling device, it has some defects in the actual coiling and boxing, which are shown in: 1. when the Y-direction trolley is dragged by the X-direction moving device and the Y-direction moving device together to perform the winding motion from circle to circle according to the preset track-shaped winding track, the distance between the front friction dragging chain device and the extruder is changed continuously, and the maximum difference value of the distance change is larger, so that the tension difference change of the compensation chains on the two sides of the front friction wheel is larger, the fluctuation of the elastic sliding quantity generated by the compensation chains on the front friction wheel is larger, the speed of the compensation chains falling from the front friction wheel to the lower part is larger in fluctuation, the fluctuation of the elastic sliding quantity generated by the compensation chains on the rear friction wheel can be ignored relative to the fluctuation of the elastic sliding quantity generated on the front friction wheel, and the accumulated error of the length of the compensation chains falling to the flat car can be avoided. However, in practice, the compensation chain is transported in a warm state, and the photoelectric switch is mounted on the Y-moving device and continuously moves along with the packing process around the chain, so that the optical axis may deviate due to unavoidable factors such as ambient temperature and vibration, and the photoelectric switch may deviate from a stable working area, so that the elastic sliding amount of the compensation chain cannot be accurately controlled by the photoelectric switch. 2. The coiling device of the invention only has three freedom degrees of movement of X, Y and Z, and in the actual coiling process, the moving speed Vx of the X-direction conveying belt and the moving speed Vy of the Y-direction conveying belt are required to be adjusted to be controlled to be equal to the extrusion speed Vj of the compensation chain, namely, the speed equation Vx 2+ Vy 2 is satisfied as Vj 2. The moving distance X of the X-direction conveying belt and the moving distance Y of the Y-direction conveying chain meet the circular equation X ^2+ Y ^2 ^ r ^2(r is the winding radius of any circle of the track-shaped track circular arc section), in the actual disc chain process, especially when the winding operation of the semicircular arc section is carried out, the two kinematic equations need to be met simultaneously, the control difficulty is high, the control precision is not high, and the phenomenon that the disc chain boxing process is interrupted is further caused. The patent application (CN 110371340A) discloses an automatic packing device for an elevator balance compensation chain, which has the defects that 1, when a driving friction wheel drives the compensation chain to be driven to the rear end of a conveyor belt, a chain head automatically sags to pass through a small hole of a disc chain device, after a time delay, a servo motor drives a guide turntable to rotate, a disc chain is started, but in practice, wrapped compensation chains with different diameters have different deflections, namely the chain head cannot accurately and automatically sag to pass through the small hole of the disc chain device, so that the disc chain is interrupted, and time and labor are wasted if human intervention is carried out. 2. Chain head automatic flagging passes through in the aperture that dish chain Pei put in this patent, time delay a period after, third servo motor drives the direction carousel and rotates, carry out the dish chain, nevertheless in practice, can be at aperture entry edge or inner wall contact friction because of compensation chain self third deflection effect or big or little, especially one kind is hollow ring, the crisscross 90 degrees compensation chain of two adjacent chain links, it is great to produce the friction, produce the card chain at aperture entry edge easily, form and pile up, cause the conveying unsmooth, can make the compensation chain table receive the damage when serious. 3. In the disk chain device, each layer of the guide rotating disk rolls on the rack by the fourth servo motor to drive the lifting mechanism to lift, the device only has the rotational freedom degree of Z, the moving freedom degree of Z only can depend on the shape of the rotating disk to carry out circumferential disk chain, and the disk chain can not be carried out according to a track-shaped track with relatively more bent sections with less straight sections or according to the specification required by a factory, so that the limitation is large and the application range is not wide. 4. The industrial personal computer is used for obtaining the packing length of the compensation chain according to the diameter of the balance compensation link, the length is converted into the number of pulses, the pulse signals are written into the servo motor driver through the motion control board card, and the servo motor driver drives the servo motor to operate to control the length. However, when the elevator balance compensation chain is a hollow ring, two adjacent chain rings are staggered by 90 degrees, the surface area is small, the structure is complex, and the space curve of the roller driven by the motor on the surface of the compensation chain is similar to a wave shape and cannot be accurately controlled by only an encoder in the servo motor even in the non-slip state of the compensation chain, because the surface area is small and the structure is complex.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an intelligent compensation chain boxing system which can realize full automation and high-precision coiling and boxing of compensation chains with specific lengths to the required height from circle to circle layer by layer according to a preset coiling track in the coiling and compensation chain boxing process.
In order to solve the technical problems, the invention adopts the following technical scheme.
The invention discloses an intelligent compensation chain boxing system which comprises a visual identification module, a six-degree-of-freedom mechanical arm, a chain feeding device, a chain discharging device, a chain supporting device, a first conveyor belt, a clamping and shearing device, a second conveyor belt, a gravity sensor and an industrial personal computer;
the visual recognition module is arranged at the rear end of the first conveyor belt; the mechanical arm adopts a six-degree-of-freedom mechanical arm and is arranged at the front end of the second conveyor belt; the chain feeding device and the chain discharging device have the same structure, the chain feeding device is arranged at the front end of the system supporting platform, and the chain discharging device is arranged at the front end of the six-degree-of-freedom mechanical arm; the chain supporting device is arranged on one side of the six-degree-of-freedom mechanical arm, the circle center of a chain inlet of the track of the chain supporting device is opposite to the center line of the first conveyor belt, and a chain outlet of the chain supporting device is opposite to the center of the packing box, so that the track of the compensation chain after the compensation chain is separated from the first conveyor belt can be controlled; the clamping and shearing device is arranged right below the rear end of the first conveyor belt; the gravity sensor is arranged on one side of the rear end of the first conveyor belt;
when the system operates, the gravity sensor senses a compensation chain on the first conveyor belt and transmits information to the industrial personal computer, the industrial personal computer controls the visual recognition module to shoot a plane image of a compensation chain area and transmits the plane image to the industrial personal computer for image processing, the packing length of the compensation chain is obtained according to the diameter of the compensation chain, then the out-chain device and the in-chain device are controlled to adjust the preset pressing force of the compensation chain with a specific diameter, the first conveyor belt transmits the compensation chain, meanwhile, the industrial personal computer controls the six-degree-of-freedom mechanical arm to work, the compensation chain is packed in a packing box according to a preset track, after the packing length is reached, the compensation chain is cut by the clamping and cutting device, and the compensation chain is.
Furthermore, the chain outlet device is connected with the front end of the six-degree-of-freedom mechanical arm in a matching way through a rotating shaft; a first servo motor is installed on one side of a case of the chain discharging device, and a driving friction wheel is installed at the output end of the chain discharging device; one end of the driving friction wheel, which is positioned at the other side of the case, is provided with a synchronous wheel, and torque is transmitted through the matching transmission between the synchronous wheel and the synchronous belt so as to drive a driven friction wheel at the lower end; two ends of the upper driven friction wheel are connected with the sliding blocks on the sliding rods on two sides and the upper end of the electric push rod through bolts; the electric push rod and the first servo motor are positioned on the same side; the industrial personal computer can directly control the electric push rod and can drive the sliding block to slide on the sliding rod to control the vertical height of the driven friction wheel at the upper end so as to realize the clamping of the compensation chain; the first servo motor drives the driving friction wheel to rotate so as to drive the compensation chain transmission.
Furthermore, the chain supporting device is welded and fixed on the six-degree-of-freedom mechanical arm base and comprises a supporting frame, a wave spring and a rolling bearing; the circle center of a chain inlet of the track of the supporting chain is opposite to the center line of the first conveyor belt, preferably, the circle center of the chain inlet is about 10cm away from the end of the first conveyor belt, and a chain outlet of the chain inlet is opposite to the center of the packing box; preferably, the installation height of the chain supporting device is as follows: about 10cm below the height of the lower sidewall of the first conveyor belt; the inner wall of the track of the chain supporting device is provided with a rolling bearing, and the outer wall of the track is connected to the support frame by means of a wave spring; the track of the chain supporting device can control the track of the compensating chain after the compensating chain is separated from the conveyor belt.
Furthermore, a rotary encoder is arranged on a wheel shaft of the driven friction wheel at the upper end of the chain outlet device; the rotary encoder and the upper driven friction wheel rotate coaxially, and accurate length information of the compensated compensation chain can be transmitted to the industrial personal computer, so that accurate length control of the compensation chain is achieved.
Furthermore, the clamping and shearing device is arranged right below the rear end of the first conveying belt and is welded and fixed on the mechanical arm base, and the clamping and shearing device comprises hydraulic shears and hydraulic clamps which are arranged in an up-down arrangement mode on a supporting frame.
Furthermore, the gravity sensor is arranged on one side of the rear end of the first conveying belt, weight information of the compensation chain on the first conveying belt is sensed to reach a preset value, the information is transmitted to the industrial personal computer, and the gravity sensor establishes information connection through a first analog quantity data acquisition card.
And the air pressure measuring instrument is connected to the industrial personal computer through a second analog quantity data acquisition card and is used for measuring the air pressure of the electric push rod cylinder.
Furthermore, the device also comprises a first photoelectric sensor positioned on the support frame of the clamping and cutting device and a second photoelectric sensor positioned at the lower end of the chain supporting device.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the invention has reasonable and compact structural design and can smoothly realize the following actions and functions: before the compensation chain is coiled and boxed, an industrial personal computer controls an electric push rod in a chain outlet device and a chain inlet device, the height of a driven friction wheel at the upper end is controlled, a proper preset pressing force is given to the compensation chain, a first servo motor is installed on the chain outlet device, a driving friction wheel is installed at the output end of the first servo motor, when the compensation chain slips, the first servo motor increases the output torque, the rotating speed of the driving friction wheel is increased, namely, the relative friction force is increased, when the compensation chain is temporarily clamped, the first servo motor reduces the output torque, the rotating speed of the driving wheel is reduced, namely, the relative friction force is reduced, the situation that no slipping and pure rolling exists between the compensation chain and the driving wheel as well as between the compensation chain and a conveyor belt is ensured, and the speed. Therefore, the defect that the optical axis is deviated due to unavoidable factors such as environmental temperature, vibration and the like, the photoelectric switch possibly deviates from a stable working area, and the elastic sliding of the compensation chain cannot be accurately controlled by the photoelectric switch is effectively overcome; thereby effectively avoiding the length accumulated error of the compensation chain falling into the box body in the packing process.
2. The invention adopts six-freedom mechanical arm, which can realize the movement of X, Y and Z and the rotation of X, Y and Z in space, and the industrial personal computer controls the mechanical arm with the road freedom degree to perform coiling action according to the programmed chain winding programming algorithm meeting the requirements of a factory, thus having more flexibility. The inflexibility of only X, Y and Z three degrees of freedom in the prior art is overcome, and the moving speed Vx of the X-direction conveying belt and the moving speed Vy of the Y-direction conveying belt are required to be adjusted to be controlled to be equal to the extrusion speed Vj of the compensation chain, namely, the speed equation Vx ^2+ Vy ^2 ^ Vj ^2 is satisfied. The moving distance X of the X-direction conveyor belt and the moving distance Y of the Y-direction conveyor chain meet the circular equation X ^2+ Y ^2 ^ r ^2(r is any circle of the circular arc section of the track-shaped track and the winding radius), and the chain winding action of the compensation chain is realized. The defects that the disc chain device in the patent CN110371340A only has Z rotational freedom degree, Z moving freedom degree, only can depend on the shape of a turntable to carry out circumferential disc chain, and disc chain can not be carried out according to a runway-shaped track with relatively more bent sections with less straight sections or according to the specification required by a factory, and the disc chain device is limited greatly and has a narrow application range are overcome. The six-degree-of-freedom mechanical arm is flexible and intelligent, high in control precision, high in chain winding efficiency and capable of improving productivity.
3. The invention is provided with a chain supporting device. The chain supporting device is welded with a six-degree-of-freedom mechanical arm base, the circle center of a chain inlet of a track in the chain supporting device is over against the center line of a first conveyor belt, preferably, the circle center of the chain inlet is about 10cm away from the end of the first conveyor belt (7), and a chain outlet is over against the center of a packing box. Preferably, the chain supporting device is installed at a height: the height of the lower side wall of the first conveyor belt (7) is about 10cm, a rolling bearing is installed on the inner wall of the track of the handrail, and the outer wall of the track is connected to the support frame through a wave spring. This track of holding up chain device can control the orbit behind the compensation chain break away from the conveyer belt, secondly, it cooperates through axis of rotation and six degrees of freedom robotic arm front end to be connected to go out the chain device, a servo motor drive initiative friction pulley, it drags the chain action process to be equivalent to going out the chain mouth, in addition, advance chain track inner wall installation antifriction bearing, cooperation six degrees of freedom robotic arm is coiling the vanning in-process, produce the follow-up action, go out the chain device and hold up the cooperation between the chain device, make the compensation chain coil the vanning smoothly. The phenomenon that the chain head in CN110371340A cannot accurately and automatically droop to pass through a small hole of the disc chain device to cause disc chain interruption is overcome. The problem that the surface of the compensation chain is damaged when the transmission is not smooth and the transmission is serious due to the fact that the compensation chain is large in deflection and small in contact friction at the edge or the inner wall of the small hole inlet due to the fact that the compensation chain is hollow and annular, two adjacent chain rings are staggered by 90 degrees, chain blocking is easily generated at the edge of the small hole inlet due to large friction.
4. The driven friction wheel at the upper end of the chain discharging device is provided with a rotary encoder. The rotary encoder is characterized in that: a CPU is independently integrated in the control center for compensation, formula compensation parameters obtained by a large number of experiments are written into the CPU, and the control center is in information connection with an industrial personal computer. The industrial personal computer obtains the packing length of the balance compensation chain according to the diameter of the balance compensation chain, converts the length into pulse data and transmits the pulse data to the control center of the rotary encoder. The industrial personal computer controls the servo motor driver to drive the first servo motor to operate, when the compensation chain with the specific length of the wound coil meets the requirement, the rotary encoder transmits the compensated accurate length information to the industrial personal computer, and the first servo motor stops. The problem that when the elevator balance compensation chain is in a hollow ring shape and two adjacent chain rings are staggered by 90 degrees, the surface area is small, the structure is complex, the space curve of the roller driven by the motor on the surface of the compensation chain is similar to a wave shape and the accurate length control cannot be performed only by an encoder in a servo motor in CN110371340A is solved.
5. The hydraulic clamp is arranged in the clamping and shearing device, so that the stability of the chain shearing action can be ensured, and the further accumulated length error caused by the shaking and bending of the compensation chain in the chain shearing process can be avoided.
Drawings
Fig. 1 is a schematic diagram of the overall structure of an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a chain discharging device according to an embodiment of the invention.
Fig. 3 is an enlarged view of a part a shown in fig. 1, namely a structural schematic diagram of a chain supporting device according to an embodiment of the invention.
Fig. 4 is an enlarged view of a portion B shown in fig. 1, which is a structural schematic view of a clamping cutting apparatus according to an embodiment of the present invention.
In the figure: an industrial personal computer (1), a first analog quantity data acquisition card (2), an image acquisition card (3), a second analog quantity data acquisition card (4), a chain feeding device (5), a compensation chain (6), a first conveyor belt (7), a gravity sensor (8), an industrial camera (9), a second servo motor (10), a second photoelectric sensor (11), a mechanical arm with 12 six degrees of freedom, a chain discharging device (13), a clamping and shearing device (14), a second conveyor belt (15), a packing box (16), a pressure measuring instrument (17), a servo motor driver (18), a chain holding device (19), a synchronous wheel (20), a synchronous belt (21), a driven friction wheel at the lower end of 22, a driving friction wheel (23), an electric push rod (24), a first servo motor (25), a slide rod (26), a rotary encoder (27), a slide block (28), a driven friction wheel at the upper end of 29.
Detailed Description
The invention provides an intelligent compensation chain boxing system which is suitable for the extrusion processing process of a wrapped elevator compensation chain, can automatically coil and box a compensation chain according to a runway-shaped track or a circumferential track required by cold setting, and can also be used for automatically coiling and box chains or ropes with different diameters according to the runway-shaped track or the circumferential track and accurately control the shearing length.
The present invention will be described in further detail with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of the overall structure of an embodiment of the present invention. As shown in fig. 1, the intelligent compensation chain boxing system in the embodiment of the invention comprises a visual identification module, a six-degree-of-freedom mechanical arm 12, a chain feeding device 5, a chain discharging device 13, a chain holding device 19, a first conveyor belt 7, a clamping and cutting device 14, a second conveyor belt 15, a gravity sensor 8 and an industrial personal computer 1. The visual recognition module is arranged at the rear end of the first conveyor belt 7, and the gravity sensor 8 is arranged on one side of the rear end of the first conveyor belt 7. The chain supporting device 19 and the clamping and shearing device 14 are welded with the base of the six-degree-of-freedom mechanical arm 12. The structure of the chain outlet device 13 is the same as that of the chain inlet device 5, the chain inlet device 5 is supported at the front end of the first conveyor belt 7 through a base, and the chain outlet device 13 is connected with the front end of the six-free mechanical arm 12 in a matching mode through a rotating shaft. The gravity sensor 8 senses the compensation chain 6 on the first conveyor belt 7 and transmits information to the industrial personal computer 1, the industrial personal computer 1 controls the visual recognition module to shoot a planar image of the compensation chain 6 area and transmits the planar image to the industrial personal computer 1 for image processing, the packing length of the compensation chain 6 is obtained according to the diameter of the compensation chain 6, then the preset pressing force of the chain outlet device 13 and the chain inlet device 5 on the compensation chain 6 with the specific diameter is controlled, the first conveyor belt 7 transmits the compensation chain 6, meanwhile, the industrial personal computer 1 controls the six free mechanical arms 12 to work, the six free mechanical arms are enabled to pack in a packing box according to the preset track, after the packing length is reached, the clamping and shearing device 14 shears the compensation chain 6, and after the packing is finished, the compensation chain is transmitted through.
Firstly, the gravity sensor 8 senses that the weight information of the compensation chain 6 on the first conveyor belt 7 reaches a preset value, and then transmits the information to the industrial personal computer 1, and the gravity sensor 8 establishes information connection through the first analog quantity data acquisition card 2.
The industrial personal computer 1 controls the visual identification module, the visual identification module comprises an industrial camera 9 and an image acquisition card 3, the industrial camera 9 is connected to the industrial personal computer 1 through the image acquisition card 3, the industrial camera 9 is over against the middle of the first conveyor belt 7, and the vertical distance between the industrial camera 9 and the upper surface of the conveyor belt can be adjusted according to the size of the transported compensation chain 6. The industrial camera 9 shoots a planar image of the area of the compensation chain 6 and sends the shot image to the industrial personal computer 1 for image processing through the image acquisition card 3. In the embodiment, the compensation chain 6 is a hollow ring shape, two adjacent chain rings are staggered by 90 degrees, the appearance is a black round wrapping shape, edges are extracted by using a reading value division method for the compensation chain, and the size of the physical space diameter of the compensation chain is calculated by using a coordinate transformation method.
Fig. 2 is a schematic structural diagram of a chain discharging device 13 according to an embodiment of the present invention. The structure of the chain discharging device 13 is the same as that of the chain feeding device 5, the chain feeding device 5 is supported at the front end of the first conveying belt by a base, the chain discharging device 13 is used as the gravity center for description, the chain discharging device 13 is matched and connected with the front end of the six-degree-of-freedom mechanical arm 12 through a rotating shaft, all rolling wheels used in the chain discharging device 13 adopt friction wheels, a first servo motor 25 is arranged on one side of a case, a driving friction wheel 23 is arranged at the output end, a synchronizing wheel 20 is arranged at the other end of the driving friction wheel 23, namely the other side of the case, a torque is transmitted through matching transmission between the synchronizing wheel 20 and a synchronous belt 21, and a driven friction. Two ends of the upper driven friction wheel 29 are connected with the sliding blocks 28 on the sliding rods 26 at two sides and the upper end of the electric push rod 24 through bolts. The electric push rod 24 and the first servo motor 25 are on the same side, the industrial personal computer 1 can directly control the electric push rod 24 and can drive the sliding block 28 to slide on the sliding rod 26, the upper and lower heights of the driven friction wheel 29 at the upper end are controlled, the compensation chain 6 is clamped, and the first servo motor 25 drives the driving friction wheel 29 to rotate to drive the compensation chain 6 to transmit.
Further, a rotary encoder 27 is mounted on one end of a driven friction wheel 29 on the upper end of the discharging device 13 to rotate coaxially therewith. The rotary encoder 27 has the characteristics that: a CPU is independently integrated in the control center for compensation, formula compensation parameters obtained by a large number of experiments are written into the CPU, and the control center is in information connection with the industrial personal computer 1. The industrial personal computer 1 obtains the packing length of the balance compensation chain 6 according to the diameter of the balance compensation chain, converts the length into pulse data and transmits the pulse data to the control center of the rotary encoder 27. The industrial personal computer 1 controls the servo motor driver 18 to drive the first servo motor 25 to operate, when the compensation chain 6 with the winding specific length meets the requirement, the rotary encoder 27 transmits the compensated accurate length information to the industrial personal computer 1, and the servo motor stops. The problem that when the elevator balance compensation chain is in a hollow ring shape and two adjacent chain rings are staggered by 90 degrees, the surface area is small, the structure is complex, the space curve of the roller driven by the motor on the surface of the compensation chain is similar to a wave shape and the accurate length control cannot be performed only by an encoder in a servo motor in CN110371340A is solved.
The belt wheel at the front end of the first conveyor belt 7 is connected with a second servo motor 10, and the second servo motor 10 drives the first conveyor belt 7 to move.
Fig. 3 is a schematic structural diagram of a chain supporting device 19 according to an embodiment of the present invention. As shown in fig. 3, the chain supporting device 19 is welded and fixed with the base of the six-degree-of-freedom mechanical arm 12, the circle center of the chain inlet of the track of the chain supporting device 19 is opposite to the center line of the first conveyor belt 7, preferably, the circle center of the chain inlet is about 10cm away from the end of the first conveyor belt 7, and the chain outlet is opposite to the center of the packing box 16; preferably, the installation height of the chain supporting device 19 is: about 10cm below the lower side wall of the first conveyor belt 7; the inner wall of the handrail track is provided with a rolling bearing, and the outer wall of the track is connected to the support frame by means of a wave spring.
The compensating chain 6 passes through the chain supporting track and enters a chain outlet device 13 at the front end of the six-degree-of-freedom mechanical arm 12.
The six-degree-of-freedom mechanical arm 12 is located at a proper position at the front end of the second conveyor belt 15. Arm exhibition length is big, and rigidity intensity is high, and positioning accuracy is high, advantages such as intelligent self-adaptation detection can coil the action according to the different demands of mill. And the six-degree-of-freedom mechanical arm 12 is provided with an independent switch power supply and can also be directly controlled by the industrial personal computer 1. When the second servo motor 8 drives the first conveyor belt to transmit, the compensation chain 6 starts to walk, the industrial personal computer 1 controls the six-degree-of-freedom mechanical arm 12 to coil the chain from outside to inside (or from inside to outside), and the six-degree-of-freedom mechanical arm 12 lifts a diameter distance of one compensation chain 6 by self for each layer of coils.
Fig. 4 is a schematic structural diagram of a clamping cutting device 14 according to an embodiment of the present invention. And the clamping and shearing device 14 is welded and fixed with the base of the six-degree-of-freedom mechanical arm 12. The hydraulic shears 34 and the hydraulic clamps 33 are arranged in an up-and-down arrangement on the support frame and are directly controlled by the industrial personal computer 1. The hydraulic clamp 33 is arranged in the clamping and shearing device 14, so that the stability of chain shearing action can be ensured, and the further accumulated length error caused by shaking and bending of the compensation chain in the chain shearing process can be avoided.
The invention also comprises a servo motor driver 18 and an air pressure measuring instrument 17, wherein the servo motor driver 23 is connected to the industrial personal computer 1 through a motion control board card, the air pressure measuring instrument 17 is connected to the industrial personal computer 1 through a second analog quantity data acquisition card 4, the air pressure measuring instrument 17 is used for measuring the air pressure of an air cylinder of an electric push rod 24, and the servo motor driver 18 is used for driving all servo motors, namely a first servo motor 25 and a second servo motor 10 in the embodiment.
Further, the intelligent compensation chain packing system provided by the application further comprises a first photoelectric sensor 32 and a second photoelectric sensor 11. The first photoelectric sensor 32 is positioned on the support frame of the clamping and cutting device 14, and the second photoelectric sensor 11 is positioned at the lower end of the chain supporting device 19.
The device of the invention is in operation: firstly, an independent power switch of the six-degree-of-freedom mechanical arm is turned on, a programmed compensation chain boxing program algorithm is written into the six-degree-of-freedom mechanical arm 12, the six-degree-of-freedom mechanical arm 12 is controlled to adjust a proper distance required by the fact that a chain outlet device 13 at the front end of the six-degree-of-freedom mechanical arm falls into a packing box 16, one end of a compensation chain 6 is dragged to penetrate through a chain inlet device 5, and then penetrates through a chain holding track of a chain holding device 19 and the chain outlet device 13 at the front end of the mechanical arm 12 after passing through a first conveyor belt. And (3) turning on a power main switch, manually inputting information of the compensation chains 6 with different packing models to the industrial personal computer 1, sensing that the weight information of the compensation chains 6 on the first conveyor belt 7 reaches a preset value by the gravity sensor 8, and transmitting the information to the industrial personal computer 1 by the first analog quantity data acquisition card 2. The industrial personal computer 1 controls the out-chain device 13 and the electric push rod 24 in the in-chain device to clamp the compensation chain 6, the numerical value of the air pressure measuring instrument 17 is read through the second analog quantity data acquisition card 4, and when the air pressure reaches a preset value, the industrial personal computer 1 controls the industrial camera 9 in the visual identification module to shoot a planar image of the compensation chain 6 area and sends the shot image to the industrial personal computer 1 through the image acquisition card 3 for image processing. The industrial personal computer 1 obtains the packing length of the compensation chain 6 according to the diameter of the compensation chain 6, converts the length into pulse data and transmits the pulse data to a control center CPU of a rotary encoder 27 in the chain device 13, when the packing box 16 is transported to the position of the second photoelectric sensor 11 by the second conveyor belt 15, the second photoelectric sensor 11 sends an in-place signal to the industrial personal computer 1, the industrial personal computer 1 controls a servo motor driver 18, the servo motor driver 18 respectively drives a first servo motor 25 and a second servo motor 10, the first conveyor belt 7 and a driving friction wheel 23 drive the compensation chain 6 to walk, meanwhile, the industrial personal computer 1 controls the six-freedom-degree mechanical arm 12 to be coiled in the bottom of the packing box 16 from outside to inside (or from inside to outside) in a circle according to a preset track, one layer is formed in each coil, the six-freedom-degree mechanical arm 12 automatically rises by one height of the compensation chain 6, and when the coiling length is reached, the first photoelectric sensor 32 senses the stopping of the six The control center CPU sends an accurate length signal after compensation to the industrial personal computer 1, the industrial personal computer controls the servo driver 18 to stop working, the first servo motor 25 and the second servo motor 10 stop rotating, meanwhile, the industrial personal computer 1 sends a control signal to the clamping and shearing device 14, the hydraulic clamp 33 clamps the compensation chain 6, the hydraulic shear 34 shears the compensation chain 6, after the tail of the compensation chain enters the box, coiling is completed, finally, the six-degree-of-freedom mechanical arm 12 is lifted to the original point, and the second conveyor belt 15 sends the packing box 16 away.
The invention not only can coil the compensation chain to the required height layer by layer in a full-automatic and high-precision manner according to the preset coiling track, but also can accurately wind the compensation chain with the specific length and cut off, thereby being more flexible and intelligent.
Claims (8)
1. An intelligent compensation chain boxing system is characterized by comprising a visual identification module, a six-degree-of-freedom mechanical arm (12), a chain feeding device (5), a chain discharging device (13), a chain holding device (19), a first conveyor belt (7), a clamping and cutting device (19), a second conveyor belt (15), a gravity sensor (8) and an industrial personal computer (1);
the visual identification module is arranged at the rear end of the first conveyor belt (7); the mechanical arm adopts a six-degree-of-freedom mechanical arm (12) and is arranged at the front end of the second conveyor belt (15); the chain feeding device (5) and the chain discharging device (13) are identical in structure, the chain feeding device (5) is arranged at the front end of the system supporting table, and the chain discharging device (13) is arranged at the front end of the six-degree-of-freedom mechanical arm (12); the chain supporting device (19) is arranged on one side of the six-degree-of-freedom mechanical arm (12), the circle center of a chain inlet of the track is over against the center line of the first conveyor belt (7), a chain outlet of the track is over against the center of the packing box (16), and the track of the compensation chain after being separated from the first conveyor belt (7) can be controlled; the clamping and cutting device (14) is arranged right below the rear end of the first conveyor belt (7); the gravity sensor (8) is arranged on one side of the rear end of the first conveyor belt (7);
when the system is operated, the gravity sensor (8) senses the compensation chain on the first conveyor belt (7) and transmits information to the industrial personal computer (1), the industrial personal computer (1) controls the visual recognition module to shoot the planar image of the compensation chain (6) area and transmits the planar image to the industrial personal computer (1) for image processing, and the packing length of the compensation chain (6) is obtained according to the diameter of the compensation chain (6), then the preset pressing force of the diameter compensating chain of the chain outlet device (13) and the chain inlet device (5) is controlled, the first conveyor belt (7) conveys the compensating chain (6), meanwhile, the industrial personal computer (1) controls the six-degree-of-freedom mechanical arm (12) to work, so that the six-degree-of-freedom mechanical arm can be coiled and boxed in the packing box (16) according to a preset track, the compensation chain (6) is cut off by the clamping and cutting device (19) after the coiling length is reached, and the compensation chain is conveyed away through the second conveying belt (15) after the coiling and boxing are completed.
2. The intelligent compensation chain packing system as claimed in claim 1, wherein the chain discharging device (13) is connected with the front end of the six-degree-of-freedom mechanical arm (12) in a matching way through a rotating shaft; a first servo motor (25) is installed on one side of the case of the chain discharging device (13), and a driving friction wheel (23) is installed on the output end of the first servo motor; one end of the driving friction wheel (23) positioned at the other side of the chassis is provided with a synchronous wheel (20), and torque is transmitted through the matching transmission between the synchronous wheel (20) and a synchronous belt (21) to drive a driven friction wheel (22) at the lower end; two ends of the upper driven friction wheel (29) are connected with the sliding blocks (28) on the sliding rods at two sides and the upper end of the electric push rod (24) through bolts; the electric push rod (24) and the first servo motor (25) are positioned on the same side; the industrial personal computer (1) can directly control the electric push rod (24) and can drive the sliding block (28) to slide on the sliding rod (26) to control the vertical height of the driven friction wheel (29) at the upper end so as to realize the clamping of the compensation chain (6); the first servo motor (25) drives the driving friction wheel (23) to rotate so as to drive the compensation chain (6) to transmit.
3. The intelligent compensation chain boxing system of claim 1, wherein the chain supporting device (19) is welded and fixed on a base of the six-degree-of-freedom mechanical arm (12) and comprises a supporting frame, a wave spring (31) and a rolling bearing (30); the circle center of a track chain inlet of the chain supporting device (19) is over against the center line of the first conveyor belt (7), and a chain outlet of the chain supporting device is over against the center of the packing box (16); the mounting height of the chain supporting device (19) is slightly lower than the lower side wall of the first conveyor belt (7); a rolling bearing (30) is arranged on the inner wall of the track of the chain supporting device (19), and the outer wall of the track is connected to the support frame by a wave spring (31); the track of the chain supporting device (19) can control the track of the compensating chain (6) after the compensating chain leaves the first conveyor belt (7).
4. The intelligent compensation chain packing system of claim 1, wherein the axle of the driven friction wheel (29) at the upper end of the chain discharging device (13) is provided with a rotary encoder (27); the rotary encoder (27) and the upper end driven friction wheel (29) rotate coaxially, and accurate length information of the compensated compensation chain (6) can be transmitted to the industrial personal computer (1), so that accurate length control of the compensation chain (1) is achieved.
5. The intelligent compensation chain boxing system of claim 1, wherein the clamping and shearing device (14) is arranged right below the rear end of the first conveyor belt (7) and is welded and fixed on a base of the six-degree-of-freedom mechanical arm (12), and comprises hydraulic shears (33) and hydraulic clamps (34) which are arranged in an up-and-down arrangement on a supporting frame.
6. The intelligent compensation chain boxing system of claim 1, wherein the gravity sensor (8) is arranged on one side of the rear end of the first conveyor belt (7), and senses that weight information of the compensation chain (6) on the first conveyor belt (7) reaches a preset value so as to transmit the information to the industrial personal computer (1), and the gravity sensor (8) establishes information connection through a first analog quantity data acquisition card (2).
7. The intelligent compensation chain packing system of claim 1, further comprising an air pressure measuring instrument (17) connected to the industrial personal computer (1) through a second analog data acquisition card (4) for measuring the air pressure of the air cylinder of the electric push rod (24).
8. The intelligent compensation chain packing system according to claim 1, further comprising a first photoelectric sensor (32) located on the support frame of the clamping shearing device (14) and a second photoelectric sensor (11) located at the lower end of the chain supporting device (19).
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