CN113086330B - Intelligent compensation chain packing system - Google Patents
Intelligent compensation chain packing system Download PDFInfo
- Publication number
- CN113086330B CN113086330B CN202110312636.XA CN202110312636A CN113086330B CN 113086330 B CN113086330 B CN 113086330B CN 202110312636 A CN202110312636 A CN 202110312636A CN 113086330 B CN113086330 B CN 113086330B
- Authority
- CN
- China
- Prior art keywords
- chain
- compensation
- conveyor belt
- personal computer
- industrial personal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
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 by the clamping and cutting device, and the disc chain packing box is conveyed away through the second conveying belt after the disc packing box is completed. 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.
Background
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 elevator operation 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, the method has some defects in the actual coiling and boxing, which are shown in the following steps: 1. when the Y-direction trolley is dragged by the X-direction moving device and the Y-direction moving device together to coil one by one according to the preset track, the distance between the front friction dragging and conveying 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 and the photoelectric switch may deviate from a stable working area due to unavoidable factors such as ambient temperature and vibration, and 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 (CN110371340A) discloses an automatic packing device of 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 deflection, 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, a fourth servo motor rolls on a rack to drive a lifting mechanism to lift each layer of a guide turntable, the device only has the rotational freedom degree of Z, the moving freedom degree of Z only can depend on the shape of the turntable 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 fewer 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 adopted to obtain the packing length of the compensation chain according to the size of the diameter of the balance compensation chain, the length is converted into the pulse number, the pulse signal is 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 coil by coil 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, wherein the six-degree-of-freedom mechanical arm is arranged on the first conveyor belt;
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 conveyed away through the second conveyor belt after the packing box is completed.
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 to drive.
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 the chain inlet of the track of the supporting chain is over against 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 the chain outlet of the chain inlet is over against 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 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, centre gripping cutting device set up under first conveyer belt rear end, welded fastening is to the arm base on, include hydraulic pressure that is row arrangement from top to bottom on the support frame and cut, hydraulic pressure presss from both sides.
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 shearing 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 a 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 increases, namely, the relative friction force is increased, when the compensation chain is temporarily clamped, the output torque of the first servo motor is reduced, 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, a driving wheel and a conveyor belt is guaranteed, and the chain speed of the whole process is controllable. Therefore, the defects that the optical axis deviates due to unavoidable factors such as environmental temperature and vibration, 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 are effectively overcome; thereby effectively avoiding the length accumulated error of the compensation chain falling into the box body in the packing process.
2. The six-freedom-degree robot arm can realize X, Y and Z movement and X, Y and Z rotation in space, and the industrial personal computer controls the path freedom-degree robot arm to perform coiling action according to a programmed chain winding programming algorithm meeting factory requirements, so that the six-freedom-degree robot arm is more flexible. 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 regulated to control the combined speed of the moving speed Vx of the X-direction conveying belt and the moving speed Vy of the Y-direction conveying belt to be equal to the extrusion speed Vj of the compensation chain, namely, the speed equation Vx ^2+ Vy ^2 is satisfied, namely Vj ^ 2. 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 the rotation freedom degree of Z, the movement freedom degree of Z 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 track-shaped track with relatively more bent sections with less straight sections or according to the specification required by a factory, the limitation is larger, and the application range is not wide 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. The track of the chain holding device can control the track of a compensation chain after the compensation chain is separated from a conveyor belt, secondly, the chain discharging device is matched and connected with the front end of a mechanical arm with six degrees of freedom through a rotating shaft, a first servo motor drives a driving friction wheel, the driving friction wheel is equivalent to a chain outlet with a chain pulling action process, in addition, a rolling bearing is installed on the inner wall of the chain inlet track, the mechanical arm with six degrees of freedom is matched in a coiling and boxing process to generate follow-up action, and the matching between the chain discharging device and the chain holding device enables the compensation chain to be coiled and boxed 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 friction is large when the compensation chain is in contact with the edge or the inner wall of the small hole due to the fact that the compensation chain has the third deflection effect or is small or large, particularly the compensation chain is hollow and annular, two adjacent chain rings are staggered for 90 degrees, chain blocking is easily generated at the edge of the small hole inlet, accumulation is formed, and the surface of the compensation chain is damaged is solved.
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 size of the diameter of the balance compensation chain, converts the length into a pulse number and transmits the pulse number to the rotary encoder control center. 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 of CN110371340A when elevator balance compensation chain is hollow annular, two adjacent chain links are crisscross 90 degrees, the surface area is little and the structure is complicated, not in the coplanar, the space curve that the motor drove the gyro wheel and move on this compensation chain surface is similar to the wave, only relies on the encoder in the servo motor, can not carry out accurate length control is overcome.
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 present 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 diagram of a clamping cutting device 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 six-degree-of-freedom mechanical arm (12), a chain discharging device (13), a clamping and shearing device (14), a second conveyor belt (15), a packing box (16), a pneumatic 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 (22) at the lower end, a driving friction wheel (23), an electric push rod (24), a first servo motor (25), a sliding rod (26), a rotary encoder (27), a sliding block (28), a driven friction wheel at the upper end (29), a rolling bearing (30), a wave spring (31), a first photoelectric sensor (32), a hydraulic clamp (33) and a hydraulic shear (34).
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 present invention includes a visual identification module, a six-degree-of-freedom mechanical arm 12, a chain feeding device 5, a chain discharging device 13, a chain supporting 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 plane image of the area of the compensation chain 6 and transmits the plane 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 pack the compensation chain in the packing box according to the preset track, after the packing length is reached, the clamping and shearing device 14 cuts the compensation chain 6, and the compensation chain is conveyed away through the second conveyor belt 15 after the packing is completed.
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, two adjacent chain rings are staggered by 90 degrees, the appearance is a black circular wrapping shape, edges are extracted by a method of cutting the compensation chain by reading values, and the size of the diameter of the physical space of the compensation chain is calculated by 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 wheel 22 at the lower end is driven. 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 size of the diameter of the balance compensation chain, converts the length into a pulse number and transmits the pulse number 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 specific length of the winding meets the requirement, the rotary encoder 27 transmits the accurate length information after compensation to the industrial personal computer 1, and the servo motor stops. The problem of CN110371340A when elevator balance compensation chain is hollow annular, two adjacent chain links are crisscross 90 degrees, the surface area is little and the structure is complicated, not in the coplanar, the space curve that the motor drove the gyro wheel and move on this compensation chain surface is similar to the wave, only relies on the encoder in the servo motor, can not carry out accurate length control is overcome.
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 to the base of the six-degree-of-freedom mechanical arm 12, the 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 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 robot arm 12 is located at a suitable 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 switching 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. 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 operated as follows: firstly, an independent power switch of the six-degree-of-freedom mechanical arm is turned on, a programmed compensation chain packing 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 falls into a packing box 16, one end of a compensation chain 6 is dragged to pass through a chain inlet device 5, pass through a chain supporting rail of a chain supporting device 19 and the chain outlet device 13 at the front end of the mechanical arm 12 after passing through a first conveying belt 7, and the preparation work is completed. 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 the first servo motor 25 and the second servo motor 10, the first conveyor belt 7 and the 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 coil at the bottom of the packing box 16 from outside to inside (or from inside to outside) by one circle according to a preset track, one layer is formed for each circle, the six-freedom-degree mechanical arm 12 automatically rises by the height of one compensation chain 6, and when the coiling length is reached, the first photoelectric sensor 32 senses the stopping of the six-freedom-degree mechanical arm 12 and transmits the information to the rotary encoder 27 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 (7)
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 (14), 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 is a six-degree-of-freedom mechanical arm (12) and is arranged at the front end of the second conveying belt (15); the chain feeding device (5) and the chain discharging device (13) are identical in structure, the chain feeding device (5) is supported at the front end of the first conveyor belt (7), 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 shearing 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 out-chain device (13) and the in-chain device (5) are controlled to apply preset pressing force to the compensation chain according to the diameter, the first conveyor belt (7) conveys the compensation 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 performs disc chain boxing in a packaging box (16) according to a preset track, the compensation chain (6) is cut off by the clamping and cutting device (14) after the disc chain boxing is achieved, and the disc chain boxing is conveyed away through the second conveying belt (15);
the chain outlet 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; a synchronous wheel (20) is installed at one end of the driving friction wheel (23) positioned at the other side of the chassis, and torque is transmitted through the matching transmission between the synchronous wheel (20) and a synchronous belt (21) to drive a lower-end driven friction wheel (22); 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.
2. 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).
3. The intelligent compensation chain packing system of claim 2, wherein the axle of the driven friction wheel (29) at the upper end of the chain outlet 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 (6) is achieved.
4. 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.
5. 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) is in information connection with the industrial personal computer (1) through a first analog quantity data acquisition card (2).
6. 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 air pressure of the air cylinder of the electric push rod (24).
7. The intelligent compensation chain packing system of claim 1, further comprising a first photoelectric sensor (32) located on a support frame of the clamping shearing device (14) and a second photoelectric sensor (11) located at a lower end of the chain supporting device (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110312636.XA CN113086330B (en) | 2021-03-24 | 2021-03-24 | Intelligent compensation chain packing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110312636.XA CN113086330B (en) | 2021-03-24 | 2021-03-24 | Intelligent compensation chain packing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113086330A CN113086330A (en) | 2021-07-09 |
| CN113086330B true CN113086330B (en) | 2022-07-22 |
Family
ID=76669574
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110312636.XA Active CN113086330B (en) | 2021-03-24 | 2021-03-24 | Intelligent compensation chain packing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113086330B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4748791A (en) * | 1986-07-28 | 1988-06-07 | Langenbeck Keith A | Beverage tray packing system |
| CN102490337A (en) * | 2011-12-13 | 2012-06-13 | 江苏兴华胶带股份有限公司 | Cold shaping automatic coiling device for elevator balance compensating chain |
| CN102530645A (en) * | 2012-03-07 | 2012-07-04 | 江苏兴华胶带股份有限公司 | Layer-by-layer coiling device in cold forming automatic coiling equipment for elevator balancing compensation chain |
| CN104291161A (en) * | 2014-09-28 | 2015-01-21 | 常州大学 | Chain guide ring of cold-shaping automatic coiling device for elevator balance compensation chains |
| CN104291162A (en) * | 2014-09-28 | 2015-01-21 | 江苏兴华胶带股份有限公司 | Z-direction movement device of elevator balance compensation chain cold shaping automatic coiling device and application of Z-direction movement device |
| CN104291160A (en) * | 2014-09-28 | 2015-01-21 | 常州大学 | Coiling control system for cold setting of elevator compensation chain |
| CN104291154A (en) * | 2014-09-28 | 2015-01-21 | 常州大学 | Elevator balance compensation chain cold shaping automatic coiling device |
| CN104764750A (en) * | 2015-04-01 | 2015-07-08 | 常熟理工学院 | Device and method for automatically detecting quality of elevator balance compensation chain based on machine vision |
| CN110371340A (en) * | 2019-07-24 | 2019-10-25 | 江苏理工学院 | A kind of elevator balanced compensated chain automatic packing device |
| CN111634753A (en) * | 2020-06-19 | 2020-09-08 | 贾玉哲 | Automatic coiling device for elevator balance compensation chain |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BRPI0501946A (en) * | 2004-05-28 | 2006-01-24 | Inventio Ag | Self-centering device for elevator lift ropes or chains |
| JP2017178546A (en) * | 2016-03-30 | 2017-10-05 | 株式会社日立ビルシステム | Compensation chain guide device for elevator |
| JP6914496B2 (en) * | 2016-08-24 | 2021-08-04 | 株式会社川島製作所 | Automatic boxing device for continuous bag |
| CN209957105U (en) * | 2019-05-05 | 2020-01-17 | 安徽中宝电梯科技有限公司 | Elevator balance compensation chain coiling device |
-
2021
- 2021-03-24 CN CN202110312636.XA patent/CN113086330B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4748791A (en) * | 1986-07-28 | 1988-06-07 | Langenbeck Keith A | Beverage tray packing system |
| CN102490337A (en) * | 2011-12-13 | 2012-06-13 | 江苏兴华胶带股份有限公司 | Cold shaping automatic coiling device for elevator balance compensating chain |
| CN102530645A (en) * | 2012-03-07 | 2012-07-04 | 江苏兴华胶带股份有限公司 | Layer-by-layer coiling device in cold forming automatic coiling equipment for elevator balancing compensation chain |
| CN104291161A (en) * | 2014-09-28 | 2015-01-21 | 常州大学 | Chain guide ring of cold-shaping automatic coiling device for elevator balance compensation chains |
| CN104291162A (en) * | 2014-09-28 | 2015-01-21 | 江苏兴华胶带股份有限公司 | Z-direction movement device of elevator balance compensation chain cold shaping automatic coiling device and application of Z-direction movement device |
| CN104291160A (en) * | 2014-09-28 | 2015-01-21 | 常州大学 | Coiling control system for cold setting of elevator compensation chain |
| CN104291154A (en) * | 2014-09-28 | 2015-01-21 | 常州大学 | Elevator balance compensation chain cold shaping automatic coiling device |
| CN104764750A (en) * | 2015-04-01 | 2015-07-08 | 常熟理工学院 | Device and method for automatically detecting quality of elevator balance compensation chain based on machine vision |
| CN110371340A (en) * | 2019-07-24 | 2019-10-25 | 江苏理工学院 | A kind of elevator balanced compensated chain automatic packing device |
| CN111634753A (en) * | 2020-06-19 | 2020-09-08 | 贾玉哲 | Automatic coiling device for elevator balance compensation chain |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113086330A (en) | 2021-07-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101765554B (en) | Apparatus and method for grouping units | |
| CN112977916B (en) | Self-walking type winding and packaging robot and article wrapping method | |
| JP2009536601A (en) | Buffer conveyor for transporting products and buffering products | |
| CN102470986A (en) | Article transfer device and stacker crane with same | |
| CN112173204A (en) | Automatic adhesive tape winding device for full-sealed package of express box | |
| CN114798944B (en) | Automatic bending production line | |
| CN113086330B (en) | Intelligent compensation chain packing system | |
| JPH02221054A (en) | Feeder arrangement for rubber coated sheet | |
| CN110723577A (en) | Automatic winding device | |
| CN215206805U (en) | Automatic belt deviation detecting and correcting device for belt conveyor | |
| EP2716159B1 (en) | A method and an apparatus for forming a food product into a circular shape | |
| CN113212826A (en) | Packaging film fixing device of winding packaging robot | |
| CN219361459U (en) | Double-clamping jaw clamping device | |
| CN109160291B (en) | Unpiler | |
| CN216546953U (en) | Automatic roll paper packaging production system | |
| CN213503039U (en) | Automatic adhesive tape winding device for full-sealed package of express box | |
| CN211310352U (en) | Winding device | |
| CN114425775A (en) | Full-automatic three-station wheeled robot device for carrying, obstacle avoidance and stacking based on vision | |
| CN110723578A (en) | Automatic go up tubulose material conveying equipment | |
| CN110723585A (en) | Winding device | |
| CN211310292U (en) | Automatic winding device | |
| CN116165340B (en) | Silicon rod online detection system and detection method | |
| CN211310293U (en) | Automatic go up tubulose material conveying equipment | |
| CN218229545U (en) | Stainless steel band's transport packing apparatus | |
| US20240083086A1 (en) | Festooner and method for buffering a strip |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |