CN212290710U - Automatic steel coil bundle opening device - Google Patents
Automatic steel coil bundle opening device Download PDFInfo
- Publication number
- CN212290710U CN212290710U CN202020525533.2U CN202020525533U CN212290710U CN 212290710 U CN212290710 U CN 212290710U CN 202020525533 U CN202020525533 U CN 202020525533U CN 212290710 U CN212290710 U CN 212290710U
- Authority
- CN
- China
- Prior art keywords
- bale breaking
- support
- steel coil
- displacement sensor
- laser displacement
- 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
Landscapes
- Basic Packing Technique (AREA)
Abstract
The utility model relates to a belted steel production technical field, concretely relates to automatic bale breaking device of coil of strip. The mechanical arm is arranged on a foundation of a bale breaking station, and the bale breaking machine head is fixedly connected to the mechanical arm; bale breaking aircraft nose includes support, buffer gear, shears the mechanism, triggers formula range finding mechanism, laser displacement sensor and fixture, and buffer gear links to each other with the support, shears the mechanism, triggers formula range finding mechanism, laser displacement sensor and fixture rigid coupling in the bottom of support, and laser displacement sensor and fixture are located the place ahead of shearing the mechanism, triggers formula range finding mechanism and is located the rear of shearing the mechanism, and the support top links to each other with the arm. The steel belt for bundling the steel coils is cut off efficiently and safely with high success rate, the cut bundling belt is transferred to the bundling belt recovery position, and automatic operation is realized.
Description
Technical Field
The utility model relates to a belted steel production technical field, concretely relates to automatic bale breaking device of coil of strip.
Background
In the production process of the strip steel, the binding strip steel on the surface of the steel coil needs to be removed before certain procedures. At present, most domestic steel enterprises adopt manual bundle dismantling, and a special force-increasing scissors is used for manually shoveling and cutting a strapping tape, so that the method has low production efficiency and has safety risk.
A small number of large enterprises adopt automatic bale breaking devices, and the bale breaking mode is mainly that a wedge-shaped tool is used for shoveling a steel belt, and then the steel belt is cut off in a cutting or blanking mode. CN201410023321, "a steel strip bale breaker", CN201720460036, "a steel strip bale breaking machine head and a steel strip bale breaking moving device", and CN201821951157, "an automatic steel strip bale breaking device", all necessary procedures in the bale breaking method disclosed in the above patents are to scoop up the steel strip by using a wedge-shaped tool, but because the binding strip has a large tension (exceeding 10000N) during binding, the binding strip is tightly attached to the outer surface of the steel strip, the binding strip cannot be smoothly scooped up, so that the bale breaking success rate is low, the production efficiency is reduced, and the production cost is increased.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model provides an automatic bale breaking device of coil of strip realizes high success rate, high efficiency, safe steel band of tying up the coil of strip to the strapping that will cut is transported to the strapping and is retrieved the position, realizes the automation mechanized operation.
In order to achieve the above object, the utility model adopts the following technical scheme:
an automatic steel coil bale breaking device comprises a mechanical arm and a bale breaking machine head, wherein the mechanical arm is arranged on a foundation of a bale breaking station, and the bale breaking machine head is fixedly connected to the mechanical arm; bale breaking aircraft nose includes support, buffer gear, shears the mechanism, triggers formula range finding mechanism, laser displacement sensor and fixture, and buffer gear links to each other with the support, shears the mechanism, triggers formula range finding mechanism, laser displacement sensor and fixture rigid coupling in the bottom of support, and laser displacement sensor and fixture are located the place ahead of shearing the mechanism, triggers formula range finding mechanism and is located the rear of shearing the mechanism, and the support top links to each other with the arm. The mechanical arm, the shearing mechanism, the triggering type distance measuring mechanism, the laser displacement sensor and the clamping mechanism are connected with the controller through signal lines. Still include the protective housing, the protective housing cover is in shearing mechanism, trigger formula ranging mechanism, laser displacement sensor and fixture outside, and the protective housing top is passed through buffer gear and is linked to each other with the support.
The bracket is formed by fixedly connecting a circular flange, an upper connecting pipe, a middle plate, a lower connecting pipe and a lower plate from top to bottom in sequence; the circular flange is connected with the mechanical arm, the middle plate is connected with the buffering mechanism, and the lower plate is connected with the shearing mechanism.
The buffer mechanism comprises a screw, a spring and a self-locking nut, the screw is an inner guide pillar of the spring, and two ends of the buffer mechanism are respectively connected with the support and the protective shell.
The shearing mechanism comprises an upper connecting plate, a ball screw linear module, a lower connecting plate, a motor, a disc saw blade and a rear guide wheel; the upper connecting plate is connected with the support, the ball screw linear module is fixedly connected to the bottom of the upper connecting plate, the lower connecting plate is fixedly connected to the bottom of the ball screw linear module, the motor and the rear guide wheel are fixedly connected to the lower connecting plate, and the motor is connected with the disc saw blade and drives the disc saw blade to rotate.
The ball screw linear module comprises a base, a sliding block, a guide rail, a screw nut and a servo motor; the guide rail and the servo motor are fixedly connected on the base, the sliding block is connected with the guide rail in a sliding mode, the screw rod nut and the lower connecting plate are connected with the sliding block, and the screw rod nut is meshed with the screw rod; the servo motor is connected with the screw rod and drives the screw rod to rotate, and then the slide block and the disc saw blade are driven to slide along the guide rail.
The rear guide wheel comprises a guide post, a wheel shaft, a guide wheel and a thin nut; one end of the guide post is arranged on the lower connecting plate through two thin nuts, the height of the guide post is adjusted through adjusting the thin nuts, and the guide wheel is arranged at the other end of the guide post through a wheel shaft.
The disc saw blade protective cover is arranged outside the disc saw blade and positioned between the disc saw blade and the rear guide wheel.
The clamping mechanism is a pneumatic clamping jaw, and the clamping jaw is provided with an inclined groove.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model discloses a arm and the bundle aircraft nose of tearing open of installing on the arm, the arm can drive and tear open the bundle aircraft nose and carry out three-dimensional motion, tears the bundle aircraft nose and is equipped with and shears the mechanism, triggers formula ranging mechanism, laser displacement sensor and fixture, and the arm, shear the mechanism, trigger formula ranging mechanism, laser displacement sensor and fixture all pass through the signal line and link to each other with the controller.
But trigger formula range finding mechanism and laser displacement sensor precision measurement spatial position realize coil of strip and strapping position detection, coil of strip ending position detection. The shearing mechanism cuts off the steel belt, the clamping mechanism clamps the cut steel belt, and the mechanical arm clamps the cut steel belt to the strapping tape recovery area. The steel belt can be cut off without being shoveled, the success rate of cutting off is greatly improved, and the production efficiency is greatly improved.
2. The whole operation process is mechanized, manual bundle dismantling is not needed, the full-automatic operation avoids the strapping tape from bouncing to hurt people, and the safety is high.
3. The shearing operation is finished at the ending part of the steel coil, and a rear guide wheel is arranged and controls the height of the disc saw blade so as to reduce the surface damage of the steel plate and only damage the tailing with the thickness of 0.1mm at the outermost layer of the steel coil, and the yield is high.
4. The utility model discloses still be equipped with buffer gear, when the strapping on the outer circumference of protective housing lateral wall contact coil of strip, play the effect of buffering and compressing tightly the strapping.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the three-dimensional structure of the bale breaking machine head of the present invention;
FIG. 3 is a schematic view of the three-dimensional structure inside the bale breaking machine head of the present invention;
fig. 4 is a schematic view of the three-dimensional structure of the shearing mechanism of the present invention;
FIG. 5 is a schematic view of the three-dimensional structure of the bracket of the present invention;
FIG. 6 is a schematic view of the three-dimensional structure of the clamping mechanism of the present invention;
fig. 7 is a schematic structural diagram of the control system of the present invention.
In the figure: 1-a robot arm, 2-a bale breaker head, 3-a support, 4-a protective housing, 5-a triggered distance measuring mechanism, 6-a buffer mechanism, 7-an upper connecting plate, 8-a rear guide wheel, 9-a shearing mechanism, 10-a clamping mechanism, 11-a laser displacement sensor, 12-a ball screw linear module, 16-a microswitch, 17-a base, 18-a slider, 19-a guide rail, 20-a rear plate, 21-a screw, 22-a thin nut, 23-a guide post, 24-a wheel shaft, 25-a guide wheel, 26-a thin nut, 27-a protective cover, 28-a circular saw blade, 29-a circular nut, 30-a stop washer, 31-a circular flange, 32-an upper connecting pipe, 33-a middle plate, 34-a lower connecting pipe, 35-lower plate, 36-motor, 37-lower connecting plate, 38-screw nut, 39-motor plate, 40-servo motor, 41-cylinder, 42-clamping jaw, 43-link mechanism, 61-screw rod, 62-spring and 63-self-locking nut.
Detailed Description
Example (b):
the following further describes the embodiments of the present invention with reference to the attached drawings:
as shown in fig. 1 to 6, an automatic steel coil bale breaking device includes a mechanical arm 1 and a bale breaking machine head 2. The mechanical arm 1 is installed on the foundation of the bale breaking station and drives the bale breaking machine head 2 to realize steel coil position detection, steel coil ending position detection, strapping tape position detection and strapping tape cutting. The mechanical arm 1 is an existing product, and can adopt a KR-210-R3100 six-axis mechanical arm, the industrial mechanical arm is a mechanical electronic device with anthropomorphic arm, wrist and hand functions, and a controller is arranged in the mechanical arm 1 and can move any object or tool according to time-varying requirements of space poses (positions and postures), so that the operation requirements of certain industrial production are met.
The bale breaker head 2 is connected to the end of the robot arm 1 by a circular flange 31 at the upper part of the support 3. The device mainly comprises a support 3, a protective shell 4, a buffer mechanism 6 (a guide screw 61, a spring 62 and a self-locking nut 63), a shearing mechanism 9, a trigger type distance measuring mechanism 5, a laser displacement sensor 11 and a clamping mechanism 10. The laser displacement sensor 11 is an existing product, and an OD Precision type laser displacement sensor is selected.
The support 3 is a welded assembly, a circular flange 31, an upper connecting pipe 32, an intermediate plate 33, a lower connecting pipe 34 and a lower plate 35 are sequentially welded, and 12 through holes are uniformly distributed in the circular flange 31 along the circumferential direction and used for being connected with the tail end of the mechanical arm 1; 4 through holes are distributed on the middle plate 33 in a rectangular mode and used for installing the buffer mechanism 6; 4 threaded holes are distributed on the lower plate 35 in a rectangular mode and used for installing the upper connecting plate 7.
The protective housing 4 is a square housing with 5 surfaces, and is a protective cover of a shearing mechanism 9, a triggering type distance measuring mechanism 5, a laser displacement sensor 11 and a clamping mechanism 10, the lower surface of the protective housing is provided with an opening, 4 through holes are formed in the opening in a face-to-face mode, correspond to 4 holes in the middle plate, and are used for installing a buffer mechanism 6.
The shearing mechanism 9 is installed on the lower surface of the bracket 3 and mainly comprises an upper connecting plate 7, a ball screw linear module 12, a lower connecting plate 37, a servo motor 40, a disc saw blade 28, a round nut 29, a stop washer 30, a rear guide wheel 8 and a protective cover 27. The ball screw linear module 12 comprises a base 17, a slide block 18, a guide rail 19, a back plate 20, a screw 21, a screw nut 38, a motor plate 39 and a servo motor 40. The lower connecting plate 37 is connected to the slide block 18 of the ball screw linear module 12. The motor 36 is mounted on the lower surface of the lower connecting plate 37. The circular saw blade 28 is mounted on the motor shaft of the motor 36 and is secured by a round nut 29 and a stop washer 30. The rear guide wheel 8 mainly comprises a guide post 23, a wheel shaft 24, a guide wheel 25 and a thin nut 26, is connected with a lower connecting plate 37 through an upper thin nut 22 and a lower thin nut 22, and can be finely adjusted in height in the up-down direction.
The distance measuring mechanism comprises a trigger type distance measuring mechanism 5 and a laser displacement sensor 11. The laser displacement sensor 11 is an existing product, and an OD Precision type laser displacement sensor is selected. The trigger type distance measuring mechanism 5 is arranged on a vertical plate on the lower surface of the upper connecting plate 7, is arranged on one side of the sliding block 18 in parallel and mainly comprises a contact assembly and a micro switch 16. The microswitch 16 is an existing product and is selected from microswitches with the model number D2 RV-L2G. The multi-point laser displacement sensor 11 is arranged on the lower surface of the upper connecting plate 7 and is arranged on the other side of the sliding block 18 in parallel.
The clamping mechanism 10 is a pneumatic clamping jaw, is arranged on the front inner wall of the protective shell 4, and mainly comprises a cylinder 41, a connecting rod 43 and a clamping jaw 42 with an inclined groove parallel to the direction of the steel strip after being sheared and bounced. When the steel belt is cut off by the circular saw blade 28, the steel belt can bounce upwards due to the elasticity of the steel belt, the clamping jaw 42 of the clamping mechanism 10 clamps the steel belt, and the mechanical arm 1 drives the bale breaking machine head 2 to move to a steel belt recycling position.
As shown in fig. 7, the utility model discloses still include the controller, the controller adopts programmable logic controller PLC, and arm 1, shearing mechanism 9, disc saw bit motor 36, shearing mechanism 9, ball screw module 12, servo motor 40, trigger formula range unit 5, laser displacement sensor 11, the solenoid valve of fixture 10 cylinder all link to each other with PLC through the signal line.
As shown in fig. 1-7, the working principle and working process of the present invention are:
after the steel coil arrives at the bale breaking station, firstly the mechanical arm 1 drives the bale breaking machine head 2 to move, the triggered distance measuring mechanism 5 on the bale breaking machine head 2 is contacted with the position of the outer circumference 3 of the steel coil and 2 positions of the end surface, the contact retracts a little and then triggers the micro switch 16, at the moment, the PLC reads the space coordinate of the contact point, and the actual position of the outer surface of the steel coil is determined through calculation. According to the detected actual position of the steel coil, the mechanical arm 1 drives the bale breaking machine head 2 to move around the outer circumference of the steel coil, and the ending position of the steel coil is detected through the laser displacement sensor 11. The mechanical arm 1 drives the bale breaking machine head 2 to move to a proper height (about 150mm) away from the outer circumference, the bale breaking machine head is translated along the outer circumference bus, and the actual accurate position of the strapping tape is detected through the laser displacement sensor 11.
The bottoms of the left side surface and the right side surface of the protective shell 4 are arc-shaped, the front side surface and the rear side surface are rectangular, the protective shell 4 is connected with the support 3 through 4 groups of buffer mechanisms 6, the mechanical arm 1 drives the bale breaking machine head 2 to move according to the detected accurate position of the strapping tape, so that the bottom of the two side surfaces of the protective shell 4 compresses the strapping tape, and meanwhile, the structure ensures that the strapping tape is kept compressed when the disc saw blade 28 feeds. After that, the circular saw blade 28 starts to rotate, and the PLC sets the cutting feed amount according to the spatial data of the steel strip. The circular saw blade 28 is driven by the ball screw linear module 12 to move leftwards to complete one-time sawing operation, and the height of the circular saw blade 28 is controlled through the rear guide wheel 8 during operation, so that the surface damage of a steel plate is reduced. The difference between the lowest point of the rear guide wheel 8 and the lowest point of the disc saw blade 28 is the maximum cutting depth which is the thickness of the steel strip plus 0.1mm, the rear guide wheel 8 controls the height of the disc saw blade 28 so as to reduce the surface damage of the steel plate and only damage the tailing with the thickness of 0.1mm on the outmost layer of the steel strip, and the yield is high.
And detecting whether the steel strip is cut or not by the multi-point laser displacement sensor 11, and if the steel strip is failed to be cut, driving the circular saw blade 28 to move rightwards by the ball screw linear module 12 to finish the sawing operation again until the steel strip is cut.
The clamping mechanism 10 is a pneumatic clamping jaw, is arranged on the front inner wall of the protective shell 4, and mainly comprises a cylinder 41, a connecting rod 43 and a clamping jaw 42 with an inclined groove parallel to the cutting direction of the steel strip. When the steel belt is cut off by the circular saw blade 28, the steel belt can bounce upwards due to the elasticity of the steel belt, the clamping jaw 42 of the clamping mechanism 10 clamps the steel belt, and the mechanical arm 1 drives the bale breaking machine head 2 to move to a steel belt recycling position. After the whole process is finished, the device is reset to prepare for the next operation.
The utility model discloses realize high success rate, high-efficient, safe steel band of cutting off and tying up the coil of strip to the strapping that will cut is transported to strapping and is retrieved the position, realizes automatic operation.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (10)
1. The utility model provides a coil of strip is automatic opens bundle device which characterized in that: the mechanical arm is arranged on a foundation of a bale breaking station, and the bale breaking machine head is fixedly connected to the mechanical arm; bale breaking aircraft nose includes support, buffer gear, shears the mechanism, triggers formula range finding mechanism, laser displacement sensor and fixture, and buffer gear links to each other with the support, shears the mechanism, triggers formula range finding mechanism, laser displacement sensor and fixture rigid coupling in the bottom of support, and laser displacement sensor and fixture are located the place ahead of shearing the mechanism, triggers formula range finding mechanism and is located the rear of shearing the mechanism, and the support top links to each other with the arm.
2. The automatic steel coil bale breaking device according to claim 1, characterized in that: still include the protective housing, the protective housing cover is in shearing mechanism, trigger formula ranging mechanism, laser displacement sensor and fixture outside, and the protective housing top is passed through buffer gear and is linked to each other with the support.
3. The automatic steel coil bale breaking device according to claim 1 or 2, characterized in that: the bracket is formed by fixedly connecting a circular flange, an upper connecting pipe, a middle plate, a lower connecting pipe and a lower plate from top to bottom in sequence; the circular flange is connected with the mechanical arm, the middle plate is connected with the buffer mechanism, and the lower plate is connected with the shearing mechanism; the support passes through the square hole above the protective shell, and the support and the protective shell can move relatively.
4. The automatic steel coil bale breaking device according to claim 1 or 2, characterized in that: the buffer mechanism comprises a screw, a spring and a self-locking nut, the screw is an inner guide pillar of the spring, and two ends of the buffer mechanism are respectively connected with the support and the protective shell.
5. The automatic steel coil bale breaking device according to claim 1, characterized in that: the shearing mechanism comprises an upper connecting plate, a ball screw linear module, a lower connecting plate, a motor, a disc saw blade and a rear guide wheel; the upper connecting plate is connected with the support, the ball screw linear module is fixedly connected to the bottom of the upper connecting plate, the lower connecting plate is fixedly connected to the bottom of the ball screw linear module, the motor and the rear guide wheel are fixedly connected to the lower connecting plate, and the motor is connected with the disc saw blade and drives the disc saw blade to rotate.
6. The automatic steel coil bale breaking device according to claim 5, characterized in that: the ball screw linear module comprises a base, a sliding block, a guide rail, a screw nut and a servo motor; the guide rail and the servo motor are fixedly connected on the base, the sliding block is connected with the guide rail in a sliding mode, the screw rod nut and the lower connecting plate are connected with the sliding block, and the screw rod nut is meshed with the screw rod; the servo motor is connected with the screw rod and drives the screw rod to rotate, and then the slide block and the disc saw blade are driven to slide along the guide rail.
7. The automatic steel coil bale breaking device according to claim 5, characterized in that: the rear guide wheel comprises a guide post, a wheel shaft, a guide wheel and a thin nut; one end of the guide post is arranged on the lower connecting plate through two thin nuts, the height of the guide post is adjusted through adjusting the thin nuts, and the guide wheel is arranged at the other end of the guide post through a wheel shaft.
8. The automatic steel coil bale breaking device according to claim 5, characterized in that: the disc saw blade protective cover is arranged outside the disc saw blade and positioned between the disc saw blade and the rear guide wheel.
9. The automatic steel coil bale breaking device according to claim 1, characterized in that: the clamping mechanism is a pneumatic clamping jaw, and the clamping jaw is provided with an inclined groove.
10. The automatic steel coil bale breaking device according to claim 1, characterized in that: the mechanical arm, the shearing mechanism, the triggering type distance measuring mechanism, the laser displacement sensor and the clamping mechanism are connected with the controller through signal lines.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020525533.2U CN212290710U (en) | 2020-04-12 | 2020-04-12 | Automatic steel coil bundle opening device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020525533.2U CN212290710U (en) | 2020-04-12 | 2020-04-12 | Automatic steel coil bundle opening device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212290710U true CN212290710U (en) | 2021-01-05 |
Family
ID=73962672
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020525533.2U Active CN212290710U (en) | 2020-04-12 | 2020-04-12 | Automatic steel coil bundle opening device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212290710U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111348281A (en) * | 2020-04-12 | 2020-06-30 | 辽宁科技大学 | Automatic steel coil unpacking device and method |
-
2020
- 2020-04-12 CN CN202020525533.2U patent/CN212290710U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111348281A (en) * | 2020-04-12 | 2020-06-30 | 辽宁科技大学 | Automatic steel coil unpacking device and method |
| CN111348281B (en) * | 2020-04-12 | 2024-03-08 | 辽宁科技大学 | Automatic steel coil bundle disassembling device and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111348281A (en) | Automatic steel coil unpacking device and method | |
| CN203092966U (en) | Automatic reverse milling mechanism | |
| CN212290710U (en) | Automatic steel coil bundle opening device | |
| CN107123482B (en) | Full-automatic wire harness winding machine | |
| JP4649307B2 (en) | Mechanical cutting device and cutting method using this device | |
| CN103862638A (en) | Automatic reverse milling mechanism | |
| CN116786803B (en) | Manufacturing tool for iron component | |
| CN1326749C (en) | Automatic dismantling and recovering method and device for case packaging belt | |
| CN107046134A (en) | The large-scale grid casting equipment of battery | |
| CN112719922B (en) | Be used for processing welding to seal automatic smart machine of stirrup | |
| CN117400297A (en) | Automatic carrying manipulator for installing and overhauling UPS storage battery | |
| CN210849354U (en) | Automatic go up robot CNC equipment of unloading | |
| CN111688135A (en) | Tool integrating material taking, positioning, breaking and separating and using method thereof | |
| CN108746825B (en) | Gold bar automatic cutout machine | |
| CN110606367A (en) | Floating grabbing device and powder forming product production line | |
| CN110581018A (en) | Automatic winding machine | |
| CN211762450U (en) | Side die embedded part mounting device with position detection function | |
| CN220145427U (en) | Intelligent polishing and tool changing system for civil air defense door | |
| CN210361303U (en) | Truss manipulator | |
| CN208713379U (en) | A kind of stator welds curved circle and freezes automatic device | |
| CN113172466A (en) | Hardware precision cutting equipment and method thereof | |
| CN206657836U (en) | The large-scale grid casting system of lead-acid accumulator | |
| CN108819144B (en) | Automatic picking robot for injection molding with bent angle and picking method thereof | |
| CN112652804A (en) | Automatic flanging, sealing and channeling production line for batteries | |
| CN2230636Y (en) | Automatic punch press for rolled materials |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |