CN209956387U - A tear open and cut steel roll baling belt device for robot is terminal - Google Patents
A tear open and cut steel roll baling belt device for robot is terminal Download PDFInfo
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- CN209956387U CN209956387U CN201920225993.0U CN201920225993U CN209956387U CN 209956387 U CN209956387 U CN 209956387U CN 201920225993 U CN201920225993 U CN 201920225993U CN 209956387 U CN209956387 U CN 209956387U
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Abstract
The utility model relates to a be used for coil of strip production packing to disassemble the field, specifically be a tear open and cut coil of strip baling press device for robot is terminal. The utility model provides a tear open and cut steel roll baling press device for robot is terminal, includes shearing cylinder (17), installation cover (18), removes scissors (19) and stationary knife (20), characterized by: the ball head fixing device is characterized by further comprising a connecting flange (1), a cylinder mounting plate (2), a pin (3), a ball head (4), a ball head upper support (5), a ball head lower support (6), a pressing plate (7), a guide wheel shaft (8), a guide wheel (9), a floating cylinder (10), an upper plate (12), a right side plate (13), a side plate (14), a left side plate (16), a stop hook (21), a clamping block (22), a chromatic aberration sensor (23), an upper laser emitter (24) and a lower laser emitter (25). The utility model discloses the location is accurate, strong adaptability, safe and reliable.
Description
Technical Field
The utility model relates to a be used for coil of strip production packing to disassemble the field, specifically be a tear open and cut coil of strip baling press device for robot is terminal.
Background
The existing robot is used for detecting the head of the binding band by adopting ultrasonic wave, has the defect of uneven positioning, is difficult to identify the binding band with the thickness of 0.5-1.0 mm, is easy to misjudge the oxide skin on the surface of a hot-rolled steel coil, and has lower success rate of removing the binding band by the robot; the existing robot judges whether to cut the tie when removing the tie head through the in-place signal of the position sensor of the actuating mechanism, because the steel tie on the existing market has high strength, after the stroke of the actuating mechanism is in place, the tie is not cut, thus sending an erroneous judgment instruction to the robot, leading the robot to be unable to lift and give an alarm; the head of the prior robot band for removing and shearing mostly adopts a spring floating mode. The floating and locking are difficult to control, the band-splitting and bundling executing mechanism is driven by a hydraulic cylinder and needs to be provided with a hydraulic station; in addition, the existing detection technology can only be applied to cold-rolled steel coils produced on line, and is difficult to apply to hot-rolled steel coils and finished coils produced on line. Therefore, the detection of the existing robot for removing and shearing the steel coil packing belt has a large fault risk.
SUMMERY OF THE UTILITY MODEL
In order to overcome prior art's defect, provide an accurate, strong adaptability, safe and reliable's decoiler, the utility model discloses a tear open and cut steel roll baling belt device for robot is terminal.
The utility model discloses a following technical scheme reaches the invention purpose:
the utility model provides a tear open and cut steel roll baling belt device for robot is terminal, is including shearing cylinder, installation cover, removal scissors and stationary knife, cuts the cutter body that the removal end of cylinder piston rod connected the removal scissors through the installation cover, removes the cutting part between these two scissors and stationary knife just to each other, characterized by: also comprises a connecting flange, a cylinder mounting plate, a pin, a ball head upper support, a ball head lower support, a pressing plate, a guide wheel shaft, a guide wheel, a floating cylinder, an upper plate, a right side plate, a left side plate, a stop hook, a clamping block, a chromatic aberration sensor, an upper laser emitter and a lower laser emitter,
the movable scissors and the fixed knife are arranged in a space formed by the left side plate, the right side plate, the side plates and the upper plate, a piston rod of the shearing cylinder penetrates through the left side plate and then is connected with a knife body of the movable scissors through an installation sleeve, and the knife body of the fixed knife is fixed on the inner side surface of the right side plate;
the floating cylinder is provided with four floating cylinders, the cylinder bodies of the four floating cylinders are respectively fixed on four corners of the bottom surface of the cylinder mounting plate, the moving ends of piston rods of the floating cylinders are abutted against the upper plate, the top surface of the cylinder mounting plate is connected with the bottom end surface of the connecting flange, the ball head lower support is fixed on the upper plate through screws and is arranged between the two floating cylinders, two sides of the bottom of the ball head upper support are rotatably provided with guide wheels through guide wheel shafts, the ball head upper support is abutted against the upper plate through the guide wheels and is covered on the ball head lower support, and the floating cylinders are attached to the ball head and a steel coil arc surface through the ball head upper support, the guide wheel shafts and the;
the bottom of the pin penetrates through the upper ball head support and is in threaded connection with the top of the ball head, the ball head is connected with the lower ball head support through the pressing plate, the ball head is in threaded connection with the pin, the guide wheel shaft is connected with the guide wheel through the screw, and the upper ball head support provides a guide effect for the guide wheel and gives an allowable rotation offset;
the clamping block is fixed on the inner side surface of the right side plate, the stop hook is fixed on the lower part of the clamping block, the movable scissors move left and right through the sliding rail to match the fixed knife and the stop hook to finish shearing action, and the movable scissors and the clamping block are matched to finish clamping the strap;
a color difference sensor is arranged on one side of the cylinder mounting plate, an upper laser emitter and a lower laser emitter are sequentially arranged on the outer side face of one side plate, the color difference sensor is used for judging whether the strapping tape is cut off or not, the upper laser emitter is used for positioning the end face and the tail of the steel coil, the lower laser emitter is used for positioning the strapping tape, and the inductive switch is used for judging the floating value of the floating cylinder.
The steel roll packaging belt device for the tail end of the robot is characterized in that: the floating cylinder is characterized by further comprising a base plate and a sliding rail, wherein the base plate is lined between the moving end of the piston rod of each floating cylinder and the upper plate so as to increase the contact surface between the floating cylinder and the upper plate; the slide rail is arranged on the inner side surface of the side plate, and the side surface of the movable scissors is arranged on the slide rail and moves along the slide rail.
The utility model discloses during the use, flange's top terminal surface is fixed on the sixth axle of robot, and the proportional valve gives 0.5Mpa atmospheric pressure locking when the robot seeks coil of strip terminal surface, tape trailer and tie position, and after the coil of strip was beaten the tie, carried the coil of strip by the coil of strip dolly and torn open the tie station, implemented according to following step afterwards:
1. the robot carries the bale breaking head to position the end face of the steel coil by using the upper laser emitter so as to determine the bandwidth of the steel coil;
2. the robot drives the bundle removing head to move to the center of the steel coil, the steel coil rotates under the driving of the carrier roller, the steel coil strip tail is positioned by using the upper laser emitter, and a position signal is sent to the PLC driving carrier roller to press the strip tail, so that accidents caused by the strip tail bouncing off after the bundling strip is cut off are prevented;
3. the robot with the bale breaking head utilizes the lower laser emitter to scan the straps on the surface of the steel coil, and the quantity and the positions of the straps are determined. The binding belt with the diameter of 0.5 mm-1.2 mm can be accurately identified no matter the binding belt is a manual binding belt or a machine binding belt;
4. when the robot drives the bale breaking head to move to the position of the bale, the floating cylinder is opened, the robot presses the floating cylinder down to a set position, the inductive switch is triggered, and a piston rod of the shearing cylinder extends out to push the movable scissors to shear the bale and clamp the bale;
5. after the binding belt is cut off, judging whether the binding belt is actually cut off or not by using a color difference sensor according to the color difference between the binding belt and the surface of the steel coil;
6. after the strapping is confirmed to be cut off, the robot head lifts the strapping and carries the strapping to the strapping collecting device, a piston rod of the cutting cylinder is locked back and unlocked to loosen the strapping, and the whole bale removing process is finished.
The utility model discloses be applied to tearing open and cut steel coil baling belt device of robot end, install in the sixth axle end of robot, adopt the cylinder as the removal scissors driving source, the shearing cylinder promotes to remove scissors shovel and cuts the tie, utilizes the stationary knife to catch the tie, and the removal scissors cuts off the tie and presss from both sides tightly; the robot adopts a cylinder floating mechanism to realize that the movable scissors are attached to the bottom of the binding belt and the arc of the surface of the steel coil, the mechanism adopts four one-way floating cylinders, a ball head in the middle of the four one-way floating cylinders is connected by a floating pin, the floating cylinders are lifted in place when the robot searches the binding belt, no floating state exists, the detection accuracy is ensured, after the bundling belt is searched, the pneumatic proportional valve is utilized to adjust air pressure to open the floating cylinders, the robot drives the head to press downwards to trigger a floating set value, and the shearing cylinders complete shearing action. The binding band is cut.
The utility model discloses can be used to carry out accurate location and tear open and cut to coil of strip packing area when the robot operation, can implement accurate location to the tie of various thickness, guarantee to tear open the accuracy of cutting.
The utility model discloses following beneficial effect has:
1. the shearing mechanism adopts a pneumatic driving mode and is easy to realize;
2. the better fit between the scissors and the binding belt is realized by adopting the cylinder floating mechanism and the ball stud;
3. the laser sensor is adopted to accurately position the end face and the strip tail of the steel coil;
4. the laser sensor is utilized to position the binding belt, so that the binding belt meets different specifications, and the range can reach 0.5 mm-1.2 mm;
5. the color difference sensor is used in conjunction with a laser sensor to adapt to hot rolling, cold rolling and finished steel coil.
Drawings
Fig. 1 is a front view of the present invention;
fig. 2 is a view from a-a in fig. 1.
Detailed Description
The invention is further illustrated by the following specific examples.
Example 1
A steel roll baling belt device is cut to tearing open for robot is terminal, includes flange 1, cylinder mounting panel 2, pin 3, bulb 4, bulb upper bracket 5, bulb lower bracket 6, clamp plate 7, leading wheel axle 8, leading wheel 9, floating cylinder 10, upper plate 12, right side board 13, curb plate 14, left side board 16, shearing cylinder 17, installation cover 18, remove scissors 19, fixed sword 20, stop hook 21, clamp tight piece 22, colour difference sensor 23, go up laser emitter 24 and lower laser emitter 25, as shown in fig. 1 and fig. 2, the concrete structure is:
the left side plate 16 and the right side plate 13 are oppositely and parallelly arranged, the side edges of the left side plate 16 and the right side plate 13 on the same side are respectively connected by a side plate 14, the upper plate 12 covers the top edges of the left side plate 16, the right side plate 13 and the two side plates 14, the movable scissors 19 and the fixed knife 20 are both arranged in a space formed by the left side plate 16, the right side plate 13, the side plates 14 and the upper plate 12, a piston rod of the shearing cylinder 17 penetrates through the left side plate 16 and then is connected with a knife body of the movable scissors 19 through a mounting sleeve 18, the knife body of the fixed knife 20 is fixed on the inner side surface of the right side plate 13, and the cutting parts of the movable scissors 19 and the fixed knife 20;
the floating device comprises four floating cylinders 10, wherein cylinder bodies of the four floating cylinders 10 are respectively fixed on four corners of the bottom surface of a cylinder mounting plate 2, moving ends of piston rods of the floating cylinders 10 are abutted against an upper plate 12, the top surface of the cylinder mounting plate 2 is connected with the bottom end surface of a connecting flange 1, a ball head lower support 6 is fixed on the upper plate 12 through screws and is arranged between the two floating cylinders 10, two sides of the bottom of a ball head upper support 5 are rotatably provided with guide wheels 9 through guide wheel shafts 8, the ball head upper support 5 is abutted against the upper plate 12 through the guide wheels 9 and covers the ball head lower support 6, and when the floating cylinders 10 float up and down, the floating cylinders are attached to a ball head 4 and a steel coil arc surface through the ball head upper support 5, the guide wheel shafts;
the bottom of the pin 3 penetrates through the top of the ball head upper support 5 and is in threaded connection with the top of the ball head 4, the ball head 4 is connected with the ball head lower support 6 through the pressing plate 7, the ball head 4 is in threaded connection with the pin 3, the guide wheel shaft 8 is connected with the guide wheel 9 through a screw, and the ball head upper support 5 provides a guide effect for the guide wheel 9 and provides an allowable rotation offset;
the clamping block 22 is fixed on the inner side surface of the right side plate 13, the stop hook 21 is fixed on the lower part of the clamping block 22, the movable scissors 19 move left and right through the slide rail 15 and are matched with the fixed knife 20 and the stop hook 21 to finish the shearing action, and the movable scissors 19 and the clamping block 22 are matched to finish the clamping of the strap;
a color difference sensor 23 is arranged on one side of the cylinder mounting plate 2, an upper laser emitter 24 and a lower laser emitter 25 are sequentially arranged on the outer side surface of one side plate 14, the color difference sensor 23 is used for judging whether the binding belt is cut off or not, the upper laser emitter 24 is used for positioning the end face and the tail end of the steel coil, the lower laser emitter 25 is used for positioning the binding belt, and the inductive switch is used for judging the floating value of the floating cylinder 10.
The embodiment also comprises a backing plate 11 and a slide rail 15, wherein the backing plate 11 is lined between the moving end of the piston rod of each floating cylinder 10 and the upper plate 12 so as to increase the contact surface between the floating cylinders 10 and the upper plate 12; the slide rail 15 is provided on the inner side surface of the side plate 14, and the side surface of the movable scissors 19 is provided on the slide rail 15 and moves along the slide rail 15.
In this embodiment: the color difference sensor 23 is of LR-W500 type, the upper laser emitter 24 is of OD1000 type, and the lower laser emitter 25 is of IL100 type.
When the embodiment is used, the top end face of the connecting flange 1 is fixed on the sixth shaft of the robot, when the robot searches the end face of the steel coil, the tail of the strip and the position of the binding strip, the proportional valve gives 0.5Mpa air pressure for locking, after the steel coil is bound, the steel coil is conveyed to a binding strip detaching station by the steel coil trolley, and then the operation is carried out according to the following steps:
1. the robot carries the bale breaking head to position the end face of the steel coil by using the upper laser emitter 24, and the bandwidth of the steel coil is determined;
2. the robot drives the bundle removing head to move to the center of the steel coil, the steel coil rotates under the driving of the carrier roller, the steel coil strip tail is positioned by using the upper laser emitter 24, and a position signal is sent to the PLC driving carrier roller to press the strip tail, so that accidents caused by the strip tail bouncing off after the bundling strip is cut off are prevented;
3. the robot with the head scans the band on the surface of the steel coil using the lower laser transmitter 25 to determine the number of bands and the position of the bands. The binding belt with the diameter of 0.5 mm-1.2 mm can be accurately identified no matter the binding belt is a manual binding belt or a machine binding belt;
4. when the robot drives the bale breaking head to move to the position of the bale, the floating cylinder 10 is opened, the robot presses the floating cylinder 10 down to a set position, the induction switch is triggered, and a piston rod of the shearing cylinder 17 extends out to push the movable scissors 19 to shear the bale and clamp the bale;
5. after the binding band is cut off, judging whether the binding band is actually cut off or not by using a color difference sensor 23 according to the color difference between the binding band and the surface of the steel coil;
6. after the strapping is confirmed to be cut, the robot head lifts the strapping and carries the strapping to the strapping collecting device, the piston rod of the cutting cylinder 17 is locked and unlocked to loosen the strapping, and the whole bale removing process is finished.
Claims (2)
1. The utility model provides a tear open and cut steel roll baling press device for robot is terminal, includes shearing cylinder (17), installation cover (18), removes scissors (19) and stationary knife (20), and the removal end of shearing cylinder (17) piston rod is through the cutter body of installation cover (18) connection removal scissors (19), and the cutting part that removes scissors (19) and stationary knife (20) these two is just right each other, characterized by: also comprises a connecting flange (1), a cylinder mounting plate (2), a pin (3), a ball head (4), a ball head upper support (5), a ball head lower support (6), a pressing plate (7), a guide wheel shaft (8), a guide wheel (9), a floating cylinder (10), an upper plate (12), a right side plate (13), a side plate (14), a left side plate (16), a stop hook (21), a clamping block (22), a chromatic aberration sensor (23), an upper laser emitter (24) and a lower laser emitter (25),
the left side plate (16) and the right side plate (13) are arranged oppositely and in parallel, the side edges of the left side plate (16) and the right side plate (13) which are positioned on the same side are respectively connected through a side plate (14), the upper plate (12) covers the top edges of the left side plate (16), the right side plate (13) and the two side plates (14), the movable scissors (19) and the fixed knives (20) are both arranged in a space formed by the left side plate (16), the right side plate (13), the side plates (14) and the upper plate (12), a piston rod of the shearing cylinder (17) penetrates through the left side plate (16) and then is connected with a knife body of the movable scissors (19) through a mounting sleeve (18), and the fixed knives (20) are fixed on the inner side surface of the right side plate (13);
the floating cylinders (10) are four in total, the cylinder bodies of the four floating cylinders (10) are respectively fixed on four corners of the bottom surface of the cylinder mounting plate (2), the moving ends of piston rods of the floating cylinders (10) are all abutted against the upper plate (12), the top surface of the cylinder mounting plate (2) is connected with the bottom end surface of the connecting flange (1), the ball head lower support (6) is fixed on the upper plate (12) through screws and is arranged between the two floating cylinders (10), guide wheels (9) are rotatably arranged on two sides of the bottom of the ball head upper support (5) through guide wheel shafts (8), the ball head upper support (5) is abutted against the upper plate (12) through the guide wheels (9) and covers the ball head lower support (6), when the floating cylinder (10) floats up and down, the floating cylinder is attached to the ball head (4) and the circular arc surface of the steel coil through the ball head upper support (5), the guide wheel shaft (8) and the guide wheel (9);
the bottom of the pin (3) penetrates through the ball head upper support (5) and is in threaded connection with the top of the ball head (4), the ball head (4) is connected with the ball head lower support (6) through a pressing plate (7), the ball head (4) is in threaded connection with the pin (3), and a guide wheel shaft (8) is connected with a guide wheel (9) through a screw;
the clamping block (22) is fixed on the inner side surface of the right side plate (13), and the stop hook (21) is fixed at the lower part of the clamping block (22);
one side of the cylinder mounting plate (2) is provided with a chromatic aberration sensor (23), and the outer side surface of one side plate (14) is sequentially provided with an upper laser emitter (24) and a lower laser emitter (25).
2. The apparatus for stripping and cutting steel roll baling belt for robot end as claimed in claim 1, wherein: the floating cylinder is characterized by further comprising a backing plate (11) and a sliding rail (15), wherein the backing plate (11) is lined between the moving end of the piston rod of each floating cylinder (10) and the upper plate (12); the slide rail (15) is arranged on the inner side surface of the side plate (14), and the side surface of the movable scissors (19) is arranged on the slide rail (15) and moves along the slide rail (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920225993.0U CN209956387U (en) | 2019-02-23 | 2019-02-23 | A tear open and cut steel roll baling belt device for robot is terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920225993.0U CN209956387U (en) | 2019-02-23 | 2019-02-23 | A tear open and cut steel roll baling belt device for robot is terminal |
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| Publication Number | Publication Date |
|---|---|
| CN209956387U true CN209956387U (en) | 2020-01-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920225993.0U Active CN209956387U (en) | 2019-02-23 | 2019-02-23 | A tear open and cut steel roll baling belt device for robot is terminal |
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| CN (1) | CN209956387U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111605842A (en) * | 2019-02-23 | 2020-09-01 | 希为工业自动化设备（上海）有限公司 | Device for disassembling and shearing steel roll packaging belt for tail end of robot and using method thereof |
| CN113493036A (en) * | 2020-04-02 | 2021-10-12 | 上海宝信软件股份有限公司 | Device and method for automatically removing binding belt of dual-channel robot |
| CN114102640A (en) * | 2021-11-04 | 2022-03-01 | 安徽江淮汽车集团股份有限公司 | Derailleur mould assembling anchor clamps |
-
2019
- 2019-02-23 CN CN201920225993.0U patent/CN209956387U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111605842A (en) * | 2019-02-23 | 2020-09-01 | 希为工业自动化设备（上海）有限公司 | Device for disassembling and shearing steel roll packaging belt for tail end of robot and using method thereof |
| CN113493036A (en) * | 2020-04-02 | 2021-10-12 | 上海宝信软件股份有限公司 | Device and method for automatically removing binding belt of dual-channel robot |
| CN114102640A (en) * | 2021-11-04 | 2022-03-01 | 安徽江淮汽车集团股份有限公司 | Derailleur mould assembling anchor clamps |
| CN114102640B (en) * | 2021-11-04 | 2023-08-11 | 安徽江淮汽车集团股份有限公司 | Gearbox assembling clamp |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220507 Address after: 201500 room 7891, building 1, no.225 Xinggong Road, Tinglin Town, Jinshan District, Shanghai Patentee after: Shanghai Detuo Intelligent Engineering Co.,Ltd. Address before: 201414 No. 715, Qingling Road, Qingcun Town, Fengxian District, Shanghai Patentee before: SIWE INDUSTRIAL AUTOMATION EQUIPMENT (SHANGHAI) Co.,Ltd. |
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| TR01 | Transfer of patent right |