CN118237508B

CN118237508B - Fixed-length cutting machine for power line of robot and using method of fixed-length cutting machine

Info

Publication number: CN118237508B
Application number: CN202410644967.7A
Authority: CN
Inventors: 顾小勇; 于奎; 胡志平
Original assignee: Chengxing Electrical System Jiangsu Co ltd
Current assignee: Chengxing Electrical System Jiangsu Co ltd
Priority date: 2024-05-23
Filing date: 2024-05-23
Publication date: 2024-08-30
Anticipated expiration: 2044-05-23
Also published as: CN118237508A

Abstract

The invention belongs to the technical field of wire cutting, and particularly relates to a robot power wire fixed-length cutting machine and a using method thereof, wherein the robot power wire fixed-length cutting machine comprises the following components: the front end cover is equipped with the power transmission axle of rubber coating cylinder, and the power transmission axle is located between the electronic group of carrying and the electronic group of cutting, installs hall formula speed sensor on the lifter plate one, and hall formula speed sensor's input links to each other with the power transmission axle, installs the controller on the support riser, and the controller is respectively with hall formula speed sensor, electronic group of cutting and electronic group of carrying electric connection. The centering clamping and conveying operation of the electric conveying group and the driven conveying group are realized through the transmission of the first rack, the straight gear and the second rack, and the centering clamping and conveying operation can be performed according to the specifications of different power lines, so that the adaptability is high; on the basis of the functions, the Hall type rotation speed sensor and the controller can be matched to realize automatic conveying stopping and fixed-length cutting operation, so that the working efficiency is improved, and the cutting operation continuity is high.

Description

Fixed-length cutting machine for power line of robot and using method of fixed-length cutting machine

Technical Field

The invention belongs to the technical field of wire cutting, and particularly relates to a robot power wire fixed-length cutting machine and a using method thereof.

Background

With the wide application of robotics, various links on a production line require high integration and automation operations. The uniformity and accuracy of the length of the power cord, as a key component for connecting robots and other electrical devices, directly affects assembly efficiency, electrical performance, and standardization of overall production.

The cable is used as a precursor of a power line, is always longer after production is completed, is wound on the roller, and is cut according to different requirements in fixed length during subsequent processing, so that the cable can be conveniently stored, transported and used. However, conventional manual cutting power cords often suffer from the following problems:

1. The precision is not enough: the manual operation is difficult to ensure that the length of each shearing is completely consistent, and the assembly quality and effect are affected.

2. The efficiency is low: when continuous mass production is carried out, the manual line cutting speed is low, and the requirement of quick assembly line operation cannot be met.

In addition, although the automatic cutting of the power line can be realized in some existing technologies, the automatic cutting device is also only added with power sources such as a motor and an air cylinder to be used as power output on the basis of the traditional cutting device, when the power lines with different specifications are required to be cut, the power lines cannot be clamped and conveyed in a centering manner, and even cannot be regulated according to the power lines with different specifications, so that the automatic cutting device has limitations.

According to the defects in the prior art, the robot power line fixed-length cutting machine capable of automatically cutting the power line according to the conveying length, high in automation degree and convenient for centering, clamping and conveying the power line according to the specifications of different power lines and the using method of the robot power line fixed-length cutting machine are designed.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, and provides the robot power line fixed-length cutting machine which automatically cuts the power line according to the conveying length, has high automation degree and is convenient for centering, clamping and conveying the power line according to the specifications of different power lines and the use method thereof.

In order to solve the technical problems, the invention provides a robot power line fixed-length cutting machine, which comprises: the workbench is provided with a supporting vertical plate on the upper side, a driven conveying group and an electric conveying group which are vertically opposite are movably arranged on the supporting vertical plate, the electric conveying group is positioned under the driven conveying group, the electric conveying group is driven by a power source to realize conveying of a power line, and the electric conveying group and the driven conveying group are mutually matched to convey the power line from right to left; the electric cutting group is arranged on the workbench and is positioned at the position of the electric conveying group for discharging the power line, and the electric cutting group is used for cutting the power line; the lifting plate I and the lifting plate II are connected to the groove guide rail of the supporting vertical plate, the lifting plate I and the lifting plate II are embedded to slide on the groove guide rail, the lifting plate II is positioned above the lifting plate I, the groove guide rail is connected to the rear side of the left part of the supporting vertical plate, and the electric conveying group and the driven conveying group are respectively arranged on the lifting plate I and the lifting plate II; the support vertical plate is rotationally provided with a straight gear, the rear side of the support vertical plate is fixedly connected with a supporting rod, the straight gear is rotationally sleeved at the rear end of the supporting rod, the straight gear rotates on the support vertical plate through the supporting rod, the lifting plate I and the lifting plate II are respectively connected with a rack I and a rack II, the rack I and the rack II are meshed with the two sides of the straight gear in a relative manner, the support vertical plate is provided with an electric sliding rail, and an electric sliding block on the electric sliding rail is connected with the lifting plate I; the front end cover is equipped with the power transmission axle of rubber coating cylinder, and the power transmission axle is located between the electronic group of carrying and the electronic group of cutting, installs hall formula speed sensor on the lifter plate one, and hall formula speed sensor's input links to each other with the power transmission axle, installs the controller on the support riser, and the controller is respectively with hall formula speed sensor, electronic group of cutting and electronic group of carrying electric connection.

Preferably, the electric conveying group comprises: the servo motor is arranged on the lifting plate I; the lifting plate I is rotatably provided with a plurality of shaft rods I which are transversely arranged, the shaft rods I penetrate through the supporting vertical plate in a sliding mode, the shaft rods I are transmitted through a belt pulley group, and one shaft rod I in the shaft rods I is connected with an output shaft of the servo motor; the front end part of the first shaft lever is connected with a driving roller for supporting and conveying a power line; the electric conveying group is driven by a servo motor to replace a power source to realize conveying of the power line.

Preferably, the driven conveying group comprises: the second shaft rod and the driven roller are rotatably arranged on the lifting plate II, the second shaft rod penetrates through the supporting vertical plate in a sliding mode, the front end portion of the second shaft rod is connected with the driven roller located above the driving roller, and the driven roller is used for pressing the power line onto the driving roller.

Preferably, the driven conveying group further comprises: the device comprises a guide rod, a supporting shaft, a reset spring and a wire pressing roller, wherein a sliding groove is formed in a second lifting plate, the guide rod is connected between the upper side and the lower side of the sliding groove, the supporting shaft is slidably sleeved on the guide rod, a reset spring surrounding the guide rod is connected between the supporting shaft and the second lifting plate, the supporting shaft slidably penetrates through the supporting vertical plate, the front end portion of the supporting shaft is rotatably provided with the wire pressing roller above the rubber coating roller, and the lowest point of the wire pressing roller is lower than the lowest point of the driven roller.

Preferably, the electric shearing group comprises: the device comprises a linear guide rail, a guide rail sliding block, a lower cutting knife, an upper cutting knife, a mounting seat, a rotating frame, a connecting rod I, a connecting rod II and a cylinder, wherein the upper side of the right part of the workbench is provided with the vertically arranged linear guide rail; the upper part of the linear guide rail is provided with a mounting seat, a rotating frame is rotatably arranged on the mounting seat, a first connecting rod is rotatably arranged between the first end of the rotating frame and the lower cutting knife, and a second connecting rod is rotatably arranged between the second end of the rotating frame and the upper cutting knife; the workbench is provided with an air cylinder, and a telescopic rod of the air cylinder is connected with the lower cutting knife.

Preferably, the method further comprises the following steps: the workbench is connected with an annular winding drum, the inner side of the upper part of the winding drum is connected with the inner drum through two connecting rods, the inner cylinder and the winding cylinder are coaxial, the lower part of the winding cylinder is rotationally provided with a rotating shaft, one side of the rotating shaft is connected with a supporting disc positioned at the lower side of the winding cylinder, and an annular winding space is formed among the supporting disc, the inner cylinder and the winding cylinder; the upper side of the left part of the workbench is connected with a protective frame surrounding the lower cutting knife and the upper cutting knife, the middle part of the protective frame is communicated with a guide pipe which is bent downwards, the guide pipe is suitable for guiding a power line passing through a space between the lower cutting knife and the upper cutting knife to a supporting disc in a winding space, and the center of an inlet of the power line of the guide pipe corresponds to the center of the interval between a driving roller and a driven roller so as to be suitable for centering and conveying the power line to the guide pipe.

Preferably, the method further comprises the following steps: the linear guide rail, linear slip table, coupling spring, the swing frame, the roller shell, lower cutting knife and upward cutting knife all are connected with linear guide rail perpendicular to the both sides of sending the line direction, slide on the linear guide rail and be equipped with the linear slip table of vertical setting, be connected with the coupling spring that is located linear guide rail inside between linear slip table and the linear guide rail, it is equipped with the swing frame to rotate on the linear slip table, be connected with torsion spring between swing frame and the linear slip table, be equipped with the roller shell that is used for contradicting the power cord on the swing frame, roller shell and linear slip table are located the both ends of swing frame respectively, the swing frame is suitable for driving the roller shell to the direction swing of keeping away from linear slip table.

Preferably, the upper cutter has a slope facing the guide tube, adapted to push the cut power cord out of the guide tube when cutting the power cord; the lower cutting tool is provided with an inclined plane facing the wire pressing roller.

Preferably, the method further comprises the following steps: the device comprises a transmission plate, a transmission rod, a deflector rod and a collecting frame, wherein the transmission plate is connected to the lower side of the middle part of the rotating shaft, the transmission plate is L-shaped, a straight slot is formed in the lower part of the transmission plate, the lower guide rail sliding block is connected with the transmission rod which is L-shaped, the transmission rod penetrates through the workbench in a sliding manner, the deflector rod is connected to the left side of the lower end of the transmission rod, and the deflector rod is positioned in the straight slot on the transmission plate; the workbench is connected with a collecting frame, and the collecting frame is positioned below the winding drum.

The invention also provides a use method of the robot power line fixed-length cutting machine, which is characterized by comprising the following steps:

Placing a power line between the electric conveying group and the driven conveying group, adjusting the distance between the electric conveying group and the driven conveying group according to the specification of the power line, and centering and clamping the power line;

The power line is conveyed in a centering mode through the electric cutting group by the electric conveying group and the driven conveying group, in the process, the rubber coating roller is driven to rotate by the power line, and the conveying length of the power line is recorded in the Hall type rotating speed sensor by the rubber coating roller through the power transmission shaft;

When the conveying length of the power line reaches a preset value, the Hall type rotating speed sensor controls the electric conveying group to stop conveying through the controller, and controls the electric cutting group to cut the power line;

The electric cutting group is provided with a lower cutting knife and an upper cutting knife which are suitable for moving oppositely to realize centering cutting of the power line; before cutting, the upper and lower side swinging frames respectively drive the upper and lower side rollers to abut against the upper and lower sides of the power line along with the upper and lower cutting knives, and gradually move the rollers along the power line in two different directions, and the power line to be cut is automatically and synchronously pressed straight and fixed in advance before cutting the power line.

On the basis of overcoming the defects of the prior art, the invention has the following beneficial effects:

1. The centering clamping and conveying operation of the electric conveying group and the driven conveying group are realized through the transmission of the first rack, the straight gear and the second rack, and the centering clamping and conveying operation can be performed according to the specifications of different power lines, so that the adaptability is high; on the basis of the functions, the Hall type rotation speed sensor and the controller can be matched to realize automatic conveying stopping and fixed-length cutting operation, so that the working efficiency is improved, and the cutting operation continuity is high.

2. The tension of the reset spring can apply continuous downward force to the wire pressing roller, so that the wire pressing roller presses the power wire on the rubber coating roller, the contact area and effect of the power wire and the wire pressing roller are improved, and the induction of the Hall type rotation speed sensor is further ensured; meanwhile, when the lower cutting knife moves upwards for cutting, the power line can be shifted on the line pressing roller to provide a moving position, so that deformation and damage caused by transitional extrusion are avoided.

3. When the lower cutting knife moves upwards to cut off the power line, the supporting disc is automatically and synchronously rotated to be opened, so that the blanking of the power line is realized, and after the cutting is completed, the supporting disc can be synchronously rotated to be closed along with the downward movement and the retraction of the lower cutting knife, so that a new power line is continuously supported, and the degree of automation is high.

Drawings

Fig. 1 is a schematic view of the assembly of the present invention.

Fig. 2 is a schematic view of a drive roll, driven roll, encapsulation roller and wire pressing roller of the present invention.

Fig. 3 is a schematic view of the power transmission shaft, the encapsulating roller and the hall type speed sensor of the present invention.

Fig. 4 is a schematic view of the rear side of fig. 2 according to the present invention.

Fig. 5 is an enlarged view of fig. 4 at a in accordance with the present invention.

Fig. 6 is a schematic view of the support riser and spur gear of the present invention.

Fig. 7 is a schematic diagram of a connection relationship between a hall rotation speed sensor and a lifting plate one of the present invention.

Fig. 8 is a schematic view of the shaft one, drive roll and servo motor of the present invention.

Fig. 9 is a schematic diagram of the positional relationship between the table and the linear guide rail of the present invention.

Fig. 10 is a schematic diagram of a lower cutter and an upper cutter according to the present invention.

FIG. 11 is a schematic view of the lower cutter, the take-up drum and the support disc of the present invention.

FIG. 12 is a schematic view of the components of FIG. 11 in use in accordance with the present invention.

The marks in the drawings provided by the invention are as follows: the device comprises a 1-workbench, a 2-supporting vertical plate, a 21-controller, a 301-electric conveying group, a 31-shaft rod I, a 32-driving roller, a 33-belt pulley group, a 34-servo motor, a 302-driven conveying group, a 41-shaft rod II, a 42-driven roller, a 51-power transmission shaft, a 52-encapsulation roller, a 61-supporting shaft, a 62-wire pressing roller, a 7-Hall type rotating speed sensor, a 81-electric sliding rail, a 82-lifting plate I, a 91-groove guide rail, a 92-lifting plate II, a 101-guide rod, a 102-return spring, a 111-rack I, a 112-spur gear, a 113-rack II, a 121-linear guide rail, a 122-guide rail sliding block, a 1231-lower cutter, a 1232-upper cutter, a 124-mounting seat, a 125-rotating frame, a 126-connecting rod I, a 127-connecting rod II, a 128-cylinder, a 13-protective frame, a 130-rotating shaft, a 131-winding drum, a 132-supporting plate, a 134-driving plate, a 135-driving rod, a 14-guide rail, a 136-collecting frame, a 15-collecting frame, a 162-guide rail, a 161-linear sliding rail, a 165-linear sliding sleeve and a 164-linear sliding sleeve.

Detailed Description

In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it should be understood that the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not form a conflict with each other.

Example 1: a robot power cord fixed length shearer, as shown in figures 1-4, includes: the workbench 1, the upper side of the workbench 1 is provided with a supporting vertical plate 2, the supporting vertical plate 2 is movably provided with a driven conveying group 302 and an electric conveying group 301 which are vertically opposite, the electric conveying group 301 is positioned under the driven conveying group 302, the electric conveying group 301 is driven by a power source to realize the conveying of a power line, and the electric conveying group 301 and the driven conveying group 302 are mutually matched to convey the power line from right to left; the electric shearing group is arranged on the workbench 1 and is positioned at the position of the electric conveying group 301 for discharging the power line, the electric shearing group is used for shearing the power line to be connected with the groove guide rail 91 of the supporting vertical plate 2, the lifting plate I82 and the lifting plate II 92 which are embedded and slide on the groove guide rail 91, the lifting plate II 92 is positioned above the lifting plate I82, the groove guide rail 91 is connected to the rear left side of the supporting vertical plate 2, and the electric conveying group 301 and the driven conveying group 302 are respectively arranged on the lifting plate I82 and the lifting plate II 92; the support vertical plate 2 is rotationally provided with a spur gear 112, the rear side of the support vertical plate 2 is fixedly connected with a supporting rod, the spur gear 112 is rotationally sleeved at the rear end of the supporting rod, the spur gear 112 rotates on the support vertical plate 2 through the supporting rod, the lifting plate I82 and the lifting plate II 92 are respectively connected with a rack I111 and a rack II 113, the rack I111 and the rack II 113 are oppositely meshed with two sides of the spur gear 112, the support vertical plate 2 is provided with an electric sliding rail 81, and an electric sliding block on the electric sliding rail 81 is connected with the lifting plate I82; the front end cover is equipped with the power transmission axle 51 of rubber coating cylinder 52, and power transmission axle 51 is located between the electric group 301 and the electric group of cutting, installs hall formula speed sensor 7 on the lifter plate one 82, and hall formula speed sensor 7's input links to each other with power transmission axle 51, installs controller 21 on the support riser 2, and controller 21 respectively with hall formula speed sensor 7, electric group and the electric group 301 electric connection of cutting.

Working principle: when the device is needed to assist in carrying out the operation of cutting the power line to a fixed length, firstly, one end of the power line is placed between the driven conveying group 302 and the right part of the electric conveying group 301, the electric sliding rail 81 is controlled to drive the electric sliding block to drive the lifting plate I82 to move upwards, the lifting plate I82 drives the rack I111 to move upwards to be meshed with the spur gear 112, the spur gear 112 rotates immediately and drives the rack II 113 to drive the lifting plate II 92 to move downwards through the meshing effect, in the process, the lifting plate II 92 moves downwards to drive the driven conveying group 302 to move downwards, and the lifting plate I82 moves upwards to drive the active conveying group to move upwards, so that the lifting plate I82 and the lifting plate II 92 can synchronously move towards each other, and then the power line can be centered according to the specifications of different power lines, the electric conveying group 301 is controlled to operate after the power line is clamped, the electric conveying group 301 can move leftwards, the driven conveying group 302 can block the power line to be guided above the power line, and the left conveying group and the power line can be clamped and conveyed towards the right side, and the power line can be clamped by the driving conveying group can be ensured; the power cord will contact with the rubber coating roller 52 on the power transmission shaft 51 at first in the process of moving left, then pass the electric shearing group, rubber coating roller 52 can spin and drive the power transmission shaft 51 to rotate because of the frictional force effect, hall formula rotational speed sensor 7 can transmit the rotation signal of power transmission shaft 51 to the controller 21 this moment, the controller 21 can change the rotation signal into the transport length increment signal of power cord, when the transport length increment signal of power cord reaches the default, the controller 21 can control the electric transport group 301 to stop the operation, in order to stop carrying the power cord and accomplish fixed length transport, then the controller 21 can also control electric shearing group operation, thereby cut the power cord automatically and synchronously after fixed length transport is accomplished, and can also cut the power cord of different specifications automatically and fix length, convenient operation, after electric shearing group operation is accomplished, the controller 21 can control electric shearing group reset again, and control electric transport group 301 to rerun transport power cord, thereby make the continuity of power cord fixed length work strong, work efficiency has been improved.

As shown in fig. 2,4, 6,7 and 8, the electric conveying unit 301 includes: the servo motor 34, the first shaft rod 31, the belt pulley group 33 and the driving roller 32, and the servo motor 34 is arranged on the first lifting plate 82; the lifting plate I82 is rotatably provided with a plurality of shaft rods I31 which are transversely arranged, the shaft rods I31 penetrate through the supporting vertical plate 2 in a sliding mode, the shaft rods I31 are transmitted through a belt pulley group 33, and one shaft rod I31 in the shaft rods I31 is connected with an output shaft of a servo motor 34; the front end part of the first shaft lever 31 is connected with a driving roller 32 for supporting and conveying a power line; the electric conveying group 301 is driven by a servo motor 34 instead of a power source to realize the conveying of the power line.

Working principle: when one end of the power line is placed between the driven conveying group 302 and the right part of the electric conveying group 301, the driving roller 32 contacts with the lower side of the end part of the power line and supports the power line, when the power line is required to be conveyed, the servo motor 34 is controlled to drive the shaft rods connected with the output shaft of the servo motor to rotate, the first shaft rods 31 are driven by the belt pulley group 33, so that all the first shaft rods 31 synchronously drive all the driving rollers 32 to synchronously rotate in the same direction, and at the moment, the driving roller 32 drives the power line to move left by friction force, and conveying of the power line is further realized.

As shown in fig. 2, 4 and 6, the driven conveyance group 302 includes: the second shaft rod 41 and the driven roller 42 are rotatably arranged on the second lifting plate 92, the second shaft rod 41 is arranged in a plurality of transversely arranged mode, the second shaft rod 41 penetrates through the supporting vertical plate 2 in a sliding mode, the front end portion of the second shaft rod 41 is connected with the driven roller 42 located above the driving roller 32, and the driven roller 42 is used for pressing a power line onto the driving roller 32; when one end of the power line is placed between the driven conveying group 302 and the right part of the electric conveying group 301, the driven roller 42 can be contacted with the upper side of the end part of the power line and limit the power line on the driving roller 32, so that the power line is prevented from tilting up, the conveying effect on the power line is ensured, and the driven roller 42 can be driven to rotate when the power line moves left, so that the driven roller 42 moves in a driven manner to reduce the resistance to the power line.

As shown in fig. 2, 4, 5 and 6, the driven conveying group 302 further includes: the wire pressing roller comprises a guide rod 101, a support shaft 61, a reset spring 102 and a wire pressing roller 62, wherein a chute is formed in a second lifting plate 92, the guide rod 101 is connected between the upper side and the lower side of the chute, the support shaft 61 is slidably sleeved on the guide rod 101, the reset spring 102 surrounding the guide rod 101 is connected between the support shaft 61 and the second lifting plate 92, the reset spring 102 is used for enabling the support shaft 61 which moves upwards to move downwards for reset through pulling force, the support shaft 61 slidably penetrates through the support vertical plate 2, the front end part of the support shaft 61 is rotatably provided with the wire pressing roller 62 which is positioned above the rubber coating roller 52, and the lowest point of the wire pressing roller 62 is lower than the lowest point of the driven roller 42.

Working principle: because the lowest point of the wire pressing roller 62 is lower than the lowest point of the driven roller 42, when the height and the distance between the lifting plate I82 and the lifting plate II 92 are adjusted, when the driven roller 42 just contacts and presses the upper side of the power wire, the power wire moves leftwards to jack up the wire pressing roller 62, the wire pressing roller 62 drives the supporting shaft 61 to move upwards along the guide rod 101 in the sliding groove on the lifting plate II 92, the reset spring 102 deforms, and at the moment, continuous downward force can be applied to the wire pressing roller 62 through the tension of the reset spring 102, and the wire pressing roller 62 is positioned above the encapsulation roller 52, so that the wire pressing roller 62 presses the power wire on the encapsulation roller 52, the contact area and effect of the power wire and the wire pressing roller 62 are improved, and the induction of the Hall type rotation speed sensor 7 is further ensured.

As shown in fig. 9 and 10, the electric shear group includes: the upper side of the right part of the workbench 1 is provided with a vertical linear guide rail 121, two guide rail sliding blocks 122 which are opposite up and down are sleeved on the linear guide rail 121 in a sliding manner, the lower guide rail sliding block 122 is connected with the lower cutting knife 1231, the upper guide rail sliding block 122 is connected with the upper cutting knife 1232, and the upper cutting knife 1232 and the lower cutting knife 1231 are mutually matched to realize cutting of a power line; the upper part of the linear guide rail 121 is provided with a mounting seat 124, the mounting seat 124 is rotatably provided with a rotating frame 125, a first connecting rod 126 is rotatably arranged between the first end of the rotating frame 125 and the lower cutting blade 1231, a second connecting rod 127 is rotatably arranged between the second end of the rotating frame 125 and the upper cutting blade 1232, when the lower cutting blade 1231 moves upwards, the lower guide rail slide block 122 is driven to move upwards, the lower guide rail slide block 122 can drive the rotating frame 125 to rotate through the first connecting rod 126, and the rotating frame 125 can drive the upper cutting blade 1232 to move downwards through the second connecting rod 127, so that the lower cutting blade 1231 and the upper cutting blade 1232 move oppositely to cut off a power line in a centering manner; the air cylinder 128 is arranged on the workbench 1, the telescopic rod of the air cylinder 128 is connected with the lower cutter 1231, the telescopic rod of the air cylinder 128 is controlled to stretch out and draw back, the lower cutter 1231 can be driven to move up and down, when the value-added signal of the conveying length of the power line reaches a preset value, the controller 21 can control the telescopic rod of the air cylinder 128 to stretch out, and at the moment, the telescopic rod of the air cylinder 128 can drive the lower cutter 1231 to move up, so that automatic cutting of the power line is completed.

Example 2: on the basis of embodiment 1, as shown in fig. 1, 9, 10, 11 and 12, the device further comprises: the device comprises a winding drum 131, an inner drum 132, a rotating shaft 130, a supporting disc 133, a protective frame 13 and a guide pipe 14, wherein the workbench 1 is connected with the annular winding drum 131, the inner drum 132 is connected with the upper inner side of the winding drum 131 through two connecting rods, the inner drum 132 is coaxial with the winding drum 131, the rotating shaft 130 is arranged at the lower part of the winding drum 131 in a rotating way, one side of the rotating shaft 130 is connected with the supporting disc 133 positioned at the lower side of the winding drum 131, and an annular winding space is formed among the supporting disc 133, the inner drum 132 and the winding drum 131; the upper left side of the workbench 1 is connected with a protective frame 13 surrounding the lower cutter 1231 and the upper cutter 1232, the middle part of the protective frame 13 is communicated with a guide pipe 14 which is bent downwards, and the guide pipe 14 is suitable for guiding a power line passing through the space between the lower cutter 1231 and the upper cutter 1232 to the supporting disc 133 in the winding space.

Working principle: the power cord that moves left can get into the guide tube 14 after passing electric cutting group, and guide tube 14 can guide the power cord to on the supporting disk 133 in the rolling space, because the stop of rolling drum 131 and inner tube 132, consequently constantly move left can be blocked and coil in annular rolling space along the inside wall of rolling drum 131 and the outside wall of inner tube 132, conveniently carries out the rolling to the power cord, and after the power cord was cut, rotatory opening supporting disk 133 just can conveniently take out the power cord that the rolling was good.

As the present embodiment, it is preferable that the center of the power cord inlet of the guide tube 14 corresponds to the center of the space between the driving roller 32 and the driven roller 42 so as to be suitable for centering the power cord to the guide tube 14.

Preferably, as in the present embodiment, the upper cutter 1232 has a slope toward the guide pipe 14, adapted to push the cut power cord out of the guide pipe 14 when the power cord is cut by being moved downward; the lower cutter 1231 has a slope facing the wire pressing roller 62, and is suitable for pushing up the end of the power wire which stops transporting when the power wire is cut by upward movement for a certain distance, so as to prevent deformation caused by transitional extrusion, and when the end of the power wire is pushed up, the wire pressing roller 62 is extruded to move upward, and the wire pressing roller 62 drives the support shaft 61 to move upward along the guide rod 101 in the sliding groove on the lifting plate II 92 to move upward for the power wire to give way, so that the technical characteristics of the wire pressing and the cutting are mutually related, and deformation damage to the power wire caused by cutting is reduced.

As shown in fig. 12, the method further comprises: the device comprises a transmission plate 134, a transmission rod 135, a deflector rod 136 and a collecting frame 15, wherein the transmission plate 134 is connected to the lower side of the middle part of a rotating shaft 130, the transmission plate 134 is L-shaped, a linear groove is formed in the lower part of the transmission plate 134, the transmission rod 135 in the L-shape is connected to a lower guide rail sliding block 122, the transmission rod 135 penetrates through a workbench 1 in a sliding manner, the deflector rod 136 is connected to the left side of the lower end of the transmission rod 135, and the deflector rod 136 is positioned in the linear groove on the transmission plate 134; a collecting frame 15 is connected to the table 1, and the collecting frame 15 is located below the winding drum 131.

Working principle: the supporting disc 133 can support the power line coiled in the winding space, when the value-added signal of the conveying length of the power line reaches a preset value, when the electric cutting group starts cutting the power line, the lower cutting knife 1231 moves upwards and drives the transmission rod 135 to move upwards through the lower guide rail sliding block 122, the transmission rod 135 can stir the transmission plate 134 to rotate through the deflector 136, the transmission plate 134 can drive the supporting disc 133 to rotate and open through the rotating shaft 130, and the power line in the winding space can drop onto the collecting frame 15 immediately, so that the blanking of the power line is automatically and synchronously realized when the power line is cut, the collection is convenient, and the degree of automation is high; after the power line is cut off, the lower cutter 1231 moves downwards to drive the transmission rod 135 to move downwards for resetting through the lower guide rail sliding block 122, the transmission rod 135 drives the transmission plate 134 to rotate reversely through the deflector 136, and the transmission plate 134 drives the supporting disc 133 to rotate reversely through the rotating shaft 130 for closing, so that the supporting disc 133 can continuously support a new power line.

Example 3: on the basis of the embodiment 2, the method further comprises the following steps: the linear guide 161, linear sliding table 162, connecting spring 163, swing frame 164, roller housing 165, lower cutting knife 1231 and upward cutting knife 1232 are all connected with linear guide 161 in the both sides of perpendicular to the direction of sending the line, slide on linear guide 161 and be equipped with the linear sliding table 162 of vertical setting, be connected with the connecting spring 163 that is located linear guide 161 inside between linear sliding table 162 and the linear guide 161, it is equipped with swing frame 164 to rotate on the linear sliding table 162, be connected with torsion spring (not shown in the figure, but the connection of this torsion spring is easily understood and realized to the person skilled in the art according to prior art) between swing frame 164 and the linear sliding table 162, be equipped with roller housing 165 that is used for contradicting the power cord on the swing frame 164, roller housing 165 and linear sliding table 162 are located the both ends of swing frame 164 respectively, swing frame 164 is suitable for driving roller housing 165 to the direction swing of keeping away from linear sliding table 162.

Working principle: when the upper cutter 1232 and the lower cutter 1231 move in opposite directions to cut the power line, the upper cutter 1232 and the lower cutter 1231 respectively drive the roller sleeves 165 on the upper side and the lower side to be in contact with the upper side and the lower side of the power line in advance, in this process, the lower two side roller sleeves 165 are far away from each other due to the extrusion force caused by the continuous movement of the upper cutter 1232 and the lower cutter 1231, and the lower two side roller sleeves 165 are far away from each other, so that the power line to be cut is automatically and synchronously straightened and fixed before the power line is cut, the power line is cut conveniently, the swinging frame 164 rotates and swings to deform the torsion spring, if the cutting depth is large, the linear sliding table 162 slides on the linear guide rail 161, the connecting spring 163 deforms, and when the upper cutter 1232 and the lower cutter 1231 are reset, the swinging frame 164 and the roller sleeves 165 are reset under the reset action of the connecting spring 163 and the torsion spring.

It is apparent that the above described embodiments are only some, but not all, embodiments of the present invention, which merely represent preferred embodiments of the present invention, which are described more specifically and in detail, but are not to be construed as limiting the scope of the invention.

It should be noted that modifications, numbers, improvements and substitutions can be made by those skilled in the art without departing from the spirit of the invention, and therefore, based on the embodiments of the invention, all other embodiments obtained by those skilled in the art without making creative efforts fall within the protection scope of the present invention.

Claims

1. A fixed-length cutting machine for a robot power line comprises:

the workbench (1) is provided with a supporting vertical plate (2), the supporting vertical plate (2) is movably provided with a driven conveying group (302) and an electric conveying group (301) which are vertically opposite, and the electric conveying group (301) is driven by a power source to realize the conveying of a power line;

An electric cutting group installed on the workbench (1), wherein the electric cutting group is positioned at the position of the electric conveying group (301) for discharging the power line;

It is characterized in that the method also comprises the following steps:

The electric conveying group (301) and the driven conveying group (302) are respectively arranged on the lifting plate I (82) and the lifting plate II (92);

A spur gear (112) is rotationally arranged on the supporting vertical plate (2), a first rack (111) and a second rack (113) are respectively connected to the first lifting plate (82) and the second lifting plate (92), the first rack (111) and the second rack (113) are relatively meshed with the two sides of the spur gear (112), an electric sliding rail (81) is arranged on the supporting vertical plate (2), and an electric sliding block on the electric sliding rail (81) is connected with the first lifting plate (82);

The method also comprises the following steps:

The power transmission shaft (51) is sleeved with the rubber coating roller (52), the power transmission shaft (51) is positioned between the electric conveying group (301) and the electric cutting group, the first lifting plate (82) is provided with a Hall type rotation speed sensor (7), the input end of the Hall type rotation speed sensor (7) is connected with the power transmission shaft (51), the supporting vertical plate (2) is provided with a controller (21), and the controller (21) is respectively electrically connected with the Hall type rotation speed sensor (7), the electric cutting group and the electric conveying group (301);

the electric shearing group comprises: the cutting machine comprises a linear guide rail (121), a guide rail sliding block (122), a lower cutting knife (1231), an upper cutting knife (1232), a mounting seat (124), a rotating frame (125), a first connecting rod (126), a second connecting rod (127) and a cylinder (128), wherein the linear guide rail (121) is arranged on the workbench (1), two guide rail sliding blocks (122) which are opposite up and down are sleeved on the linear guide rail (121) in a sliding manner, the lower cutting knife (1231) is connected on the lower guide rail sliding block (122), the upper cutting knife (1232) is connected on the upper guide rail sliding block (122), and the upper cutting knife (1232) and the lower cutting knife (1231) are matched with each other to realize cutting of a power line;

The upper part of the linear guide rail (121) is provided with a mounting seat (124), a rotating frame (125) is rotatably arranged on the mounting seat (124), a first connecting rod (126) is rotatably arranged between the first end of the rotating frame (125) and the lower cutting knife (1231), and a second connecting rod (127) is rotatably arranged between the second end of the rotating frame (125) and the upper cutting knife (1232);

An air cylinder (128) is arranged on the workbench (1), and a telescopic rod of the air cylinder (128) is connected with the lower cutter (1231);

The method also comprises the following steps: the automatic winding machine comprises a winding drum (131), an inner drum (132), a rotating shaft (130), a supporting disc (133), a protection frame (13) and a guide pipe (14), wherein an annular winding drum (131) is connected to a workbench (1), the inner side of the upper part of the winding drum (131) is connected with the inner drum (132) through a connecting rod, the inner drum (132) and the winding drum (131) are coaxial, the rotating shaft (130) is arranged at the lower part of the winding drum (131) in a rotating manner, one side of the rotating shaft (130) is connected with the supporting disc (133) positioned at the lower side of the winding drum (131), and an annular winding space is formed among the supporting disc (133), the inner drum (132) and the winding drum (131);

The workbench (1) is connected with a protective frame (13) surrounding the lower cutting knife (1231) and the upper cutting knife (1232), the middle part of the protective frame (13) is communicated with a guide pipe (14) which is bent downwards, and the guide pipe (14) is suitable for guiding a power line passing through the space between the lower cutting knife (1231) and the upper cutting knife (1232) to a supporting disc (133) in a winding space;

The method also comprises the following steps: the wire feeding device comprises a linear guide rail (161), a linear sliding table (162), a connecting spring (163), a swinging frame (164) and a roller sleeve (165), wherein both sides of a lower cutting knife (1231) and an upper cutting knife (1232) perpendicular to the wire feeding direction are connected with the linear guide rail (161), the linear guide rail (161) is provided with the linear sliding table (162) in a sliding manner, the connecting spring (163) is connected between the linear sliding table (162) and the linear guide rail (161), the linear sliding table (162) is rotationally provided with the swinging frame (164), a torsion spring is connected between the swinging frame (164) and the linear sliding table (162), the roller sleeve (165) for abutting against a power wire is arranged on the swinging frame (164), the roller sleeve (165) and the linear sliding table (162) are respectively positioned at both ends of the swinging frame (164), and the swinging frame (164) is suitable for driving the roller sleeve (165) to swing in a direction far away from the linear sliding table (162);

The method also comprises the following steps: the automatic feeding device comprises a transmission plate (134), a transmission rod (135), a deflector rod (136) and a collecting frame (15), wherein the transmission plate (134) is connected to the lower side of a rotating shaft (130), the transmission plate (134) is L-shaped, a straight slot is formed in the lower portion of the transmission plate (134), the transmission rod (135) is connected to a lower guide rail sliding block (122), the transmission rod (135) penetrates through a workbench (1) in a sliding mode, the deflector rod (136) is connected to the lower end of the transmission rod (135), and the deflector rod (136) is located in the straight slot on the transmission plate (134); the workbench (1) is connected with a collecting frame (15), and the collecting frame (15) is positioned below the winding drum (131).

2. The robot power cord fixed length clipper of claim 1, wherein the electric conveyor assembly (301) includes: the servo motor (34), the first shaft lever (31), the belt pulley group (33) and the driving roller (32), and the servo motor (34) is arranged on the first lifting plate (82); a plurality of shaft rods I (31) which are transversely arranged are rotationally arranged on the lifting plate I (82), the shaft rods I (31) penetrate through the supporting vertical plate (2) in a sliding mode, the shaft rods I (31) are transmitted through a belt pulley group (33), and one shaft rod I (31) in the shaft rods I (31) is connected with an output shaft of a servo motor (34); the end of the first shaft lever (31) is connected with a driving roller (32) for supporting and conveying the power line.

3. A robotic power cord fixed length shearer as in claim 2, wherein the driven conveyor set (302) comprises: the lifting plate II (92) is rotatably provided with a plurality of shaft rods II (41) which are transversely arranged, the shaft rods II (41) penetrate through the supporting vertical plate (2) in a sliding mode, the end portion of the shaft rods II (41) is connected with driven rollers (42) which are located above the driving rollers (32), and the driven rollers (42) are used for pressing power wires onto the driving rollers (32).

4. A robotic power cord fixed length shearer as in claim 3, wherein the driven conveyor group (302) further comprises: guide rod (101), back shaft (61), reset spring (102) and line ball cylinder (62) are opened on lifter plate two (92) has the spout, be connected with guide rod (101) between the upper and lower both sides of spout, back shaft (61) slip cover is established on guide rod (101), be connected with reset spring (102) between back shaft (61) and lifter plate two (92), back shaft (61) slip runs through in support riser (2), and the tip rotation of back shaft (61) is equipped with line ball cylinder (62) that are located rubber coating cylinder (52) top, the nadir of line ball cylinder (62) is less than the nadir of driven voller (42).

5. A robotic power cord fixed length clipper of claim 4, wherein the upper cutter (1232) has a bevel facing the guide tube (14) adapted to push the cut power cord out of the guide tube (14) when cutting the power cord; the lower cutter (1231) has a slope facing the crimping drum (62).

6. A method of using the robotic power cord fixed length shearer of any one of claims 1-5, comprising:

S1): placing a power line between the electric conveying group (301) and the driven conveying group (302), adjusting the distance between the electric conveying group (301) and the driven conveying group (302) according to the specification of the power line, and centering and clamping the power line;

S2): the power line is conveyed in a centering mode through the electric cutting group by the electric conveying group (301) and the driven conveying group (302), in the process, the encapsulation roller (52) is driven to rotate by the power line, and the conveying length of the power line is recorded in the Hall type rotating speed sensor (7) by the encapsulation roller (52) through the power transmission shaft (51);

s3): when the conveying length of the power line reaches a preset value, the Hall type rotation speed sensor (7) controls the electric conveying group (301) to stop conveying through the controller (21), and controls the electric cutting group to cut the power line;

S4): the electric cutting group is provided with a lower cutting blade (1231) and an upper cutting blade (1232) which are suitable for moving oppositely to realize centering cutting of the power line; before cutting, the swing frames (164) on the upper side and the lower side drive the roller sleeves (165) on the upper side and the lower side along with the upper cutting knife (1232) and the lower cutting knife (1231) respectively to be in contact with the upper side and the lower side of the power line in advance, and gradually enable the roller sleeves (165) to move along the power line in two different directions, and the power line to be cut is automatically and synchronously straightened and fixed in advance before cutting the power line.