CN212419450U - Automatic shearing device for wire end of steel coil - Google Patents

Abstract

The utility model relates to a steel coil end of a thread automatic shearing mechanism, including six degree of freedom arms and balanced track, and install C type hook under the balanced track, install the base slide rail in front of C type hook, install the base slip table on the base slide rail, install steel coil expand the supporting mechanism on the base slip table, the steel coil expands the supporting mechanism and includes support frame, supporting seat, the support frame is fixed on the supporting seat, the supporting seat is connected with the base slip table, be provided with two symmetrical installation expand the barrel board on the support frame, two expand the top of barrel board internal wall and all install the subassembly of smoothing out the fingers with the fingers the line; a first six-degree-of-freedom mechanical arm and a second six-degree-of-freedom mechanical arm are respectively arranged on the left and right of the base slide rail; the tail end of the first six-degree-of-freedom mechanical arm is provided with a hydraulic shear, and the tail end of the second six-degree-of-freedom mechanical arm is provided with a hydraulic clamp. The head of the steel coil is cut off according to the manual operation key.

Description

Automatic shearing device for wire end of steel coil

Technical Field

The utility model relates to a steel shearing equipment technical field, especially steel coil end of a thread automatic cutout device.

Background

The wire diameter specification of the wire rod produced by the high wire plant is 9 specifications from phi 6 to phi 20, the wire rod is respectively basically divided into 7 types of different materials, and coils with the wire diameters of the same specification are organized and produced every day according to a production plan made by selling finished wire rods. And each group of coils with the same wire diameter is about 2.5 tons, and after the coils are suspended by the C-shaped hook and move to a designated station along the track, the specified coil number of the head and the tail is cut off by a technician so as to ensure the quality of the main coil.

The coil weight of each coil is about 2.5 tons, the diameter of the excircle of the coil is about 1.1 m, the width of the whole coil with a smaller wire diameter is 2.7 m-3 m, and the width of the whole coil with a wider coil is about 2.3 m-2.5 m, so the number of turns and the number of layers of each coil are about according to the different wire diameters:

TABLE 1.1 number of turns and layers of coils of different wire diameters

It can be seen from table 1.1 that for the coil with a thinner wire diameter, the wire ends are easily hidden in the coils of each layer and are difficult to find due to the fact that the number of layers is more than that of the coil, and for the coil with a wire diameter larger than phi 12, the wire diameter is thick, the coil is made of alloy materials, the position of the head and the tail of the coil is easy to find, and a technician can directly judge and tear out and cut off corresponding turns. For the thin coils of phi 6/phi 6.5, phi 8 and the like, especially for the optical coil, because the head and the tail of the coil are easy to be entangled, deformed or inserted with the adjacent coils, and the like, it is difficult to find the positions of the head and the tail, and the work flow of a field technician is as follows: preliminarily judging the coil head → axially pulling away the coil at the grabbing part → circumferentially loosening clockwise → locally forming a single-layer coil → finding out the coil where the head is located → axially pulling out the head and a plurality of adjacent coils → hydraulically shearing → removing the waste coil. The manual action can be basically divided into 'grabbing', 'pulling', 'pushing', 'pulling', 'lifting' and 'shearing', and the core purpose is to find the position of the thread end; the steel coil has large mass, so the whole process consumes excessive physical strength, workers are easy to fatigue, and the steel coil which is just produced has certain residual heat, so the temperature of the working environment is also high, and the heat stroke and other phenomena are easy to cause.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the utility model aims at providing a steel coil end of a thread automatic shearing mechanism replaces artifical excision to the steel coil end of a thread.

The embodiment of the utility model provides an in adopt following scheme to realize: the automatic shearing device for the wire end of the steel coil comprises a six-degree-of-freedom mechanical arm, a balance track and a C-shaped hook arranged below the balance track, wherein a base sliding rail is arranged in front of the C-shaped hook, a base sliding table is arranged on the base sliding rail, a steel coil expanding mechanism is arranged on the base sliding table, the steel coil expanding mechanism comprises a supporting frame and a supporting seat, the supporting frame is fixed on the supporting seat, the supporting seat is connected with the base sliding table, the supporting frame is provided with two symmetrically-arranged barrel expanding plates, and wire smoothing assemblies are arranged at the tops of the inner wall surfaces of the two barrel expanding plates; a first six-degree-of-freedom mechanical arm and a second six-degree-of-freedom mechanical arm are respectively arranged on the left and right of the base slide rail; the tail end of the first six-degree-of-freedom mechanical arm is provided with a hydraulic shear, and the tail end of the second six-degree-of-freedom mechanical arm is provided with a hydraulic clamp.

In an embodiment of the present invention, the supporting frame includes two supporting rods symmetrically installed at the front end of the supporting seat, and a motion pull rod seat is commonly inserted into the tails of the two supporting rods; first clamping rings are fixed at the middle parts of the two support rods, second clamping rings are fixed at the heads of the two support rods, first fork arms are arranged on the two first clamping rings, and second fork arms are arranged on the two second clamping rings; the left side and the right side of the motion pull rod seat are symmetrically provided with motion pull rods, and the two motion pull rods are respectively connected with first fork arms on support rods at the left part and the right part of the support seat; a barrel expanding plate is arranged and connected with the first fork arm and the second fork arm on the same supporting rod; the support seat is provided with a first motor, an output shaft of the first motor is fixedly connected with a lead screw, and the lead screw penetrates into the motion pull rod seat.

In an embodiment of the present invention, the first forked arm heads of the two support rods are symmetrically disposed outward, the second forked arm heads of the two support rods are symmetrically disposed outward, the tail of the first forked arm is hinged to the first snap ring, and the tail of the second forked arm is hinged to the second snap ring; the head parts of the first fork arm and the second fork arm are respectively provided with a fixing shaft in a penetrating way, the upper end and the lower end of the fixing shaft on the first fork arm are fixed on the inner side wall of the tail part of the barrel expanding plate, and the upper end and the lower end of the fixing shaft on the second fork arm are fixed on the inner side wall of the head part of the barrel expanding plate; the motion pull rod is connected with the first fork arm through a fixed shaft.

In an embodiment of the present invention, the barrel expanding plate is an arc plate, a plane plate, or an L-shaped plate.

The utility model discloses an in the embodiment, two the preceding terminal surface that expands the stave is provided with cuts open the toper guide head that becomes two lamellas, every expand the front end terminal surface of stave and fix one of them lamella of toper guide head, the pointed end of toper guide head is forward.

In one embodiment of the utility model, the wire smoothing assembly comprises an L-shaped screw swing arm and a wire smoothing screw, the front end and the rear end of the inner wall surface of the barrel expanding plate are respectively hinged with one screw swing arm, a rotating shaft is fixedly connected between the two screw swing arms, a motor with double output shafts is arranged on the rotating shaft, and a shell of the motor with double output shafts is fixed on the inner side wall of the barrel expanding plate; and the wire smoothing screw is arranged between the other ends of the two screw swing arms and is driven by a second motor.

In an embodiment of the present invention, the base sliding table includes a U-shaped sliding chassis, the U-shaped opening end of the sliding chassis faces forward, rail wheels are symmetrically installed on two side edges of the sliding chassis, the rail wheels are disposed on the base sliding rails, the rear portion of the sliding chassis is provided with an installation frame, the inner side wall of the installation frame is symmetrically provided with sliding grooves, two sliding rods are installed between the two sliding grooves, the rear portion of the supporting seat is sleeved on the sliding rods, the sliding chassis is located in the installation frame and is hinged with a first hydraulic cylinder, the head of the push rod of the first hydraulic cylinder is hinged with the sliding rods, the sliding chassis is located in front of the first hydraulic cylinder and is hinged with a second hydraulic cylinder, and the head of the second hydraulic cylinder is hinged with the supporting seat; the rear side of the sliding chassis is connected with a power assembly.

The utility model relates to an embodiment, power component is including fixing the fifth pneumatic cylinder at base slide rail end, the front end of the push rod of fifth pneumatic cylinder with the trailing flank on the chassis that slides is connected.

The utility model relates to an embodiment, the hydraulic tong includes left pincers handle, right pincers handle and second fixing base, the second fixing base is fixed on the terminal flange of six degrees of freedom arms of second, a left side pincers handle is fixed on the second fixing base, right side pincers handle cross-section is the L type, the department of buckling of right side pincers handle with the rear portion of left side pincers handle is articulated, the end of right side pincers handle articulates there is the third pneumatic cylinder, the cylinder body of third pneumatic cylinder is articulated on the perisporium of second fixing base, the department of keeping silent of hydraulic tong is provided with pressure sensor.

In an embodiment of the present invention, the hydraulic shears includes a left shear handle, a right shear handle and a first fixing seat, the first fixing seat is fixed on a connecting flange at the end of the first six-degree-of-freedom mechanical arm, the left shear handle is fixed on the first fixing seat, the tail of the right shear handle is bent outward to form an L shape, the bent portion of the right shear handle is hinged to the middle portion of the right shear handle, and the shearing mouth formed by the left shear handle and the right shear handle is an olecranon shape; a cutting groove is formed in the left cutting handle; the tail part of the right shear handle is far away from the bent part and is hinged with a fourth hydraulic cylinder, and the cylinder body of the fourth hydraulic cylinder is hinged on the peripheral wall of the first fixing seat.

The utility model has the advantages that: the utility model provides an automatic shearing device for steel coil ends, which realizes intelligent searching and cutting of the ends; the head of the steel coil is cut off according to the manual operation key, so that a manual operation tool is omitted for clamping and shearing the steel coil, and the automation level of the steel coil production is improved; manpower is liberated from severe operating environments such as high temperature, labor cost is reduced, and personnel safety is guaranteed; the production efficiency is improved, and the output value of the enterprise is increased.

Drawings

Fig. 1 is a schematic structural diagram of an automatic shearing device for a steel coil end.

Fig. 2 is a schematic diagram of the state that the steel coil expanding and supporting mechanism of the automatic steel coil end shearing device penetrates into the steel coil.

Fig. 3 is a side view of fig. 2.

Fig. 4 is a structural schematic diagram of the steel coil expanding mechanism installed on the base sliding table.

Fig. 5 is a structural schematic diagram of the steel coil expanding mechanism.

Fig. 6 is a top view of fig. 4.

Fig. 7 is a sectional view taken along line B-B of fig. 6.

Fig. 8 is a schematic view of a hydraulic clamp mounted on a second six degree-of-freedom robotic arm.

Fig. 9 is a schematic view of a hydraulic shear mounted on a first six-dof robotic arm.

Fig. 10 is a schematic view of the structure in which the drive assembly is replaced with a lead screw motor drive.

FIG. 11 is a schematic view of the front end of the expandable barrel with a tapered guide head mounted.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings.

Referring to fig. 1 to 11, the utility model provides a steel coil end of a thread automatic shearing apparatus, including six degrees of freedom arms and balanced track 2, and install in C type hook 1 under balanced track 2, install base slide rail 8 in the front of C type hook 1, install base slide rail 6 on the base slide rail 8, install steel coil expansion mechanism 7 on the base slide rail 6, steel coil expansion mechanism 7 includes support frame 72, supporting seat 71, support frame 72 fixes on supporting seat 71, supporting seat 71 is connected with base slide rail 6, support frame 72 is provided with two symmetrically-installed barrel expansion plates 73, the top of two internal face of barrel expansion plate 73 all installs the assembly of smoothing out the fingers 74, two barrel expansion plates form one and expand the bucket; a first six-degree-of-freedom mechanical arm 4 and a second six-degree-of-freedom mechanical arm 5 are respectively arranged on the left and right of the base slide rail 8; the hydraulic shear 10 is arranged at the tail end of the first six-degree-of-freedom mechanical arm 4, and the hydraulic clamp 9 is arranged at the tail end of the second six-degree-of-freedom mechanical arm 5; the coil is used for grabbing the coil with the head and pulling the coil upwards towards the axial front end so as to achieve the purpose of obtaining enough turns from the head; it should be noted that the central plane of the base slide rail needs to coincide with the central plane of the C-shaped hook; the steel coil expanding mechanism 7 is of a mirror symmetry structure.

Referring to fig. 1 to 7, in an embodiment of the present invention, the supporting frame 72 includes two supporting rods 721 symmetrically installed at the front end of the supporting seat 71, so as to facilitate penetrating into the expanded barrel and penetrating into the steel coil, the supporting rods will not prop against the C-shaped hook, and the C-shaped hook just penetrates into the space between the two supporting rods, thereby preventing the expanded barrel from being unable to extend into the steel coil; the tail parts of the two support rods 721 are commonly penetrated with a movable pull rod seat 722; the middle parts of the two support rods 721 are respectively fixed with a first snap ring 726, the heads of the two support rods 721 are respectively fixed with a second snap ring 727, the two first snap rings 726 are respectively provided with a first fork arm 724, and the two second snap rings 727 are respectively provided with a second fork arm 723; the left side and the right side of the motion pull rod seat 722 are symmetrically provided with motion pull rods 729, and the two motion pull rods 729 are respectively connected with the first fork arms 724 on the support rods 721 at the left part and the right part of the support seat 71; a barrel expanding plate 73 is arranged and connected with a first prong 724 and a second prong 723 on the same supporting rod 721; a first motor 75 is arranged on the supporting seat 71, a lead screw 728 is fixedly connected to an output shaft of the first motor 75, and the lead screw 728 penetrates through the moving pull rod seat 722; power is provided for the expansion or contraction of the two barrel expanding plates; the two support rods can avoid the support from touching the lower wall of the C-shaped hook, and the lower wall of the C-shaped hook can penetrate between the two support rods.

Referring to fig. 4 to 7, in an embodiment of the present invention, the heads of the first forked arms 724 on the two supporting rods 721 are symmetrically disposed outward, the heads of the second forked arms 723 of the two supporting rods 721 are symmetrically disposed outward, the tails of the first forked arms 724 are hinged to the first snap ring 726, and the tails of the second forked arms 723 are hinged to the second snap ring 727; the head parts of the first prong 724 and the second prong 723 are respectively provided with a fixing shaft 725 in a penetrating way, the upper end and the lower end of the fixing shaft 725 on the first prong 724 are fixed on the inner side wall of the tail part of the barrel expanding plate 73, and the upper end and the lower end of the fixing shaft 725 on the second prong 723 are fixed on the inner side wall of the head part of the barrel expanding plate 73; the motion pull rod 729 is connected with the first yoke 724 through a fixed shaft 725; the lead screw rotates to drive the motion pull rod seat to move back and forth, the motion pull rod drives the fixed shaft to move back and forth, so that the swing arm is driven to rotate, and the expansion of the front end of the barrel (namely the contraction of the rear end of the barrel) or the contraction of the front end of the barrel (namely the expansion of the rear end of the barrel) is realized.

Referring to fig. 1 to 10, in an embodiment of the present invention, the barrel expanding plate 73 is an arc plate, a flat plate, or an L-shaped plate, but not limited thereto.

Referring to fig. 11, in an embodiment of the present invention, two tapered guide heads 76 cut into two sections are disposed on front end surfaces of the two barrel expanding plates 73, one section of the tapered guide head 73 is fixed on the front end surface of each barrel expanding plate 73, and a tip of the tapered guide head 76 faces forward, so as to facilitate guiding the barrel expanding plate to easily extend into the steel coil.

Referring to fig. 2 to 7, in an embodiment of the present invention, the wire smoothing assembly 74 includes an L-shaped screw swing arm 743 and a wire smoothing screw 744, the front end and the rear end of the inner wall surface of the barrel expanding plate 73 are respectively hinged to the screw swing arm 743, a rotating shaft 742 is fixedly connected between the two screw swing arms, a dual output shaft motor 741 is disposed on the rotating shaft 742, a housing of the dual output shaft motor 741 is fixed on the inner side wall of the barrel expanding plate 73 and is used for driving the swing arms to rotate, so that the wire smoothing screw protrudes from the barrel expanding plate and can contact the steel coil to smooth the wire and can be retracted into the barrel expanding plate without contacting the steel coil; the wire smoothing screw 744 is arranged between the other ends of the two screw swing arms 743, and the wire smoothing screw 744 is driven by a second motor 745; the screw rotates to drive the pulled steel coil to move along the thread of the screw one by one like the tail end of the barrel expanding plate, the part of the coil is stripped to be arranged in a single layer, the screw stops rotating when the coil moves to the tail end of the screw, and a machine vision identification module on the mechanical arm can find the thread end of the steel coil conveniently.

Referring to fig. 1 to 4, 6 and 7, in an embodiment of the present invention, the base sliding table 6 includes a U-shaped sliding chassis 61, the U-shaped opening end of the sliding chassis 61 faces forwards, rail wheels 66 are symmetrically arranged on two side edges of the sliding chassis 61, the rail wheels 66 are arranged on the base slide rails 8, the rear part of the sliding chassis 61 is provided with an installation frame 63, the inner side wall of the mounting frame 63 is symmetrically provided with sliding grooves 68, a sliding rod is arranged between the two sliding grooves 68, the rear part of the supporting seat 71 is sleeved on the sliding rod in a penetrating way, a first hydraulic cylinder 64 is hinged on the sliding chassis 61 in the mounting frame 63, the head of the push rod of the first hydraulic cylinder 64 is hinged with the sliding rod 67, a second hydraulic cylinder 65 is hinged to the sliding chassis 61 in front of the first hydraulic cylinder 64, and the head of the second hydraulic cylinder 65 is hinged with the support seat 71; the rear side of the sliding chassis 61 is connected with a power assembly for pushing the sliding chassis to move back and forth, namely, the barrel expanding can stretch into or withdraw from the steel ring.

Fig. 2, 4, 6, and 10, in an embodiment of the present invention, the power assembly includes a fifth hydraulic cylinder 62 fixed at the end of the base slide rail 8, and a front end of a push rod of the fifth hydraulic cylinder 62 is connected to a rear side of the sliding chassis 61; the power assembly can also adopt a motor screw rod or a four-bar mechanism to drive the sliding chassis to move back and forth.

Referring to fig. 1 and 8, in an embodiment of the present invention, the hydraulic clamp 9 includes a left clamp handle 92, a right clamp handle 91 and a second fixing seat 95, the second fixing seat 95 is fixed on a connecting flange at the end of the second six-degree-of-freedom mechanical arm 5, the left clamp handle 92 is fixed on the second fixing seat 95, the cross section of the right clamp handle 91 is L-shaped, the bending portion of the right clamp handle 91 is hinged to the rear portion of the left clamp handle 92, the tail of the right clamp handle 91 is hinged to a third hydraulic cylinder 94, the cylinder body of the third hydraulic cylinder 94 is hinged to the peripheral wall of the second fixing seat 95, and a jaw of the hydraulic clamp 9 is provided with a pressure sensor 93 for monitoring the pressure transmitted to the steel coil by the hydraulic clamp in real time, so as to prevent the surface of the steel coil from being damaged due to an excessive clamping force of the hydraulic clamp.

Referring to fig. 1 and 9, in an embodiment of the present invention, the hydraulic shears 10 includes a left shear handle 102, a right shear handle 101 and a first fixing seat 103, the first fixing seat 103 is fixed on a connecting flange at the end of the first six-degree-of-freedom mechanical arm 4, the left shear handle 102 is fixed on the first fixing seat 103, the tail of the right shear handle 101 is bent outward to form an L shape, the bent portion of the right shear handle 101 is hinged to the middle portion of the right shear handle 101, and a shear mouth formed by the left shear handle 102 and the right shear handle 101 is an olecranon shape; a cutting groove 105 is formed in the left cutting handle 102; the tail part of the right shear handle 101 is hinged with a fourth hydraulic cylinder 104 far away from the bent part, and the cylinder body of the fourth hydraulic cylinder 104 is hinged on the peripheral wall of the first fixing seat 103 and used for shearing off the waste coil.

In an embodiment of the present invention, it should be noted that the housings of the first motor, the second motor, and the dual output shaft motor are all wrapped with a heat insulation layer; machine vision recognition, mechanical arms, motors, hydraulic cylinders, pressure sensors and control of these devices are all prior art and are not a protection requirement here.

The utility model discloses the theory of operation below has:

and hanging the steel coil to be cut on a C-shaped hook, stopping the C-shaped hook at a specified position through a balance track, and keeping the posture horizontal and stable. At the moment, the machine vision recognition modules arranged on the two mechanical arms are triggered to respectively shoot the front and the side of the coil, and the recognition result is obtained by processing and recognizing the data of the picture (the recognition machine vision recognition technology does not make the protection requirement for the prior art, only plays a role in introducing how to use, and therefore, detailed description is not given). The recognition result is divided into three conditions, namely that the head is inserted outside the coil, the coil is regular and normal, and the head of the coil is messy. According to long-time observation, the condition that the coil is regularly and normally is most, and the other two conditions are less.

When the coil is in a regular normal state, the cone shape of the expanded barrel (namely the front end of the expanded barrel is contracted) enters and extends into the end part of the coil for a certain distance; when the recognition result is that the head is inserted into the coil, the mechanical arm performs a 'pulling' action to pull out the wire head, and then performs barrel expanding to enter; and when the coil head is in disorder as a recognition result, firstly cutting off the outermost circle, executing a 'drawing' action, drawing away the left head-carrying part, repeating the action until the coil head is regular, and then executing barrel expanding entry. After the expanded barrel enters, the mechanical arm executes grabbing and pulling actions, namely a hydraulic clamp of the second six-degree-of-freedom mechanical arm grabs an outer coil and pulls out the outer coil, so that the inner coil is taken out and distributed on the expanded barrel. The expansion barrel executes extrusion action, namely the front end of the expansion barrel is expanded, the rear end is reduced to form a reverse conical structure, the coil is extruded by the front end face, and the coil can slide on the expansion barrel through the reverse conical structure. And then the screw rotates clockwise to execute a 'stroking' action, the pitch of the screw is almost the same as the diameter of a steel wire, and therefore coils on the expanding barrel can be stroked to be in a state close to single-layer uniform distribution.

Then, the coil on the expansion barrel is photographed for 360 degrees through two machine vision recognition modules, the purpose is to recognize the head position of the coil, and if the head position is found out as a recognition result, the mechanical arm executes a lifting action; if the head position is not found, the 'extracting' action is executed, the outermost circle is firstly cut off, the part of the left side connected to the head is extracted, a new head is found, and the 'lifting' action is executed. The action of 'lifting' lifts up the head position coil and outwards pulls the rear end face of expanding the bucket, and then through the cooperation of first pneumatic cylinder, second pneumatic cylinder, raises and inclines to expand the bucket, utilizes the action of coil gravity to make the coil fall back, reaches the coil and arranges according to head order and expand on the bucket, and then shoots and count corresponding number of turns, recycles the arm and carries out the action of 'cutting'.

The mechanical arms find out the shearing position through positioning, the hydraulic shears are used for lifting and shearing, the barrel is expanded and withdrawn (the push rod of the fifth hydraulic cylinder is retracted to drive the sliding chassis to move backwards), and the waste material part is lifted out of the C-shaped hook and placed at a specified position beside the sliding chassis through the cooperation of the two mechanical arms. The last two mechanical arms and the expanding barrel are reset, and the C-shaped hook

And advancing, finishing the coil changing process, and waiting for the next coil to be in place.

The above description is only for the preferred embodiment of the present invention, and should not be interpreted as limiting the scope of the present invention, which is intended to cover all the equivalent changes and modifications made in accordance with the claims of the present invention.

Claims (10)

1. Steel coil end of a thread automatic shearing mechanism, including six degree of freedom arms and balanced track, and install C type hook under the balanced track, its characterized in that: a base sliding rail is arranged in front of the C-shaped hook, a base sliding table is arranged on the base sliding rail, a steel coil expanding mechanism is arranged on the base sliding table and comprises a supporting frame and a supporting seat, the supporting frame is fixed on the supporting seat, the supporting seat is connected with the base sliding table, two symmetrically-arranged barrel expanding plates are arranged on the supporting frame, and wire smoothing assemblies are arranged at the tops of the inner wall surfaces of the two barrel expanding plates; a first six-degree-of-freedom mechanical arm and a second six-degree-of-freedom mechanical arm are respectively arranged on the left and right of the base slide rail; the tail end of the first six-degree-of-freedom mechanical arm is provided with a hydraulic shear, and the tail end of the second six-degree-of-freedom mechanical arm is provided with a hydraulic clamp.

2. The automatic shearing device for the wire end of the steel coil according to claim 1, wherein: the support frame comprises two support rods which are symmetrically arranged at the front end of the support seat, and a movable pull rod seat is arranged at the tail part of the two support rods in a penetrating way; first clamping rings are fixed at the middle parts of the two support rods, second clamping rings are fixed at the heads of the two support rods, first fork arms are arranged on the two first clamping rings, and second fork arms are arranged on the two second clamping rings; the left side and the right side of the motion pull rod seat are symmetrically provided with motion pull rods, and the two motion pull rods are respectively connected with first fork arms on support rods at the left part and the right part of the support seat; a barrel expanding plate is arranged and connected with the first fork arm and the second fork arm on the same supporting rod; the support seat is provided with a first motor, an output shaft of the first motor is fixedly connected with a lead screw, and the lead screw penetrates into the motion pull rod seat.

3. The automatic shearing device for the wire end of the steel coil as claimed in claim 2, wherein: the heads of the first fork arms on the two support rods are symmetrically arranged outwards, the heads of the second fork arms of the two support rods are symmetrically arranged outwards, the tail part of the first fork arm is hinged with the first clamping ring, and the tail part of the second fork arm is hinged with the second clamping ring; the head parts of the first fork arm and the second fork arm are respectively provided with a fixing shaft in a penetrating way, the upper end and the lower end of the fixing shaft on the first fork arm are fixed on the inner side wall of the tail part of the barrel expanding plate, and the upper end and the lower end of the fixing shaft on the second fork arm are fixed on the inner side wall of the head part of the barrel expanding plate; the motion pull rod is connected with the first fork arm through a fixed shaft.

4. The automatic shearing device for the wire end of the steel coil as claimed in claim 3, wherein: the barrel expanding plate is an arc-shaped plate, a plane plate or an L-shaped plate.

5. The automatic shearing device for the wire end of the steel coil according to claim 1, wherein: two expand the preceding terminal surface of barrel board and be provided with the toper guide head of cutting open into two lamellas, every expand the front end terminal surface of barrel board and fix one of them lamella of toper guide head, the pointed end of toper guide head is forward.

6. The automatic shearing device for the wire end of the steel coil according to claim 1, wherein: the wire smoothing assembly comprises L-shaped screw swing arms and a wire smoothing screw, the front end and the rear end of the inner wall surface of the barrel expanding plate are respectively hinged with one screw swing arm, a rotating shaft is fixedly connected between the two screw swing arms, a double-output-shaft motor is arranged on the rotating shaft, and a shell of the double-output-shaft motor is fixed on the inner side wall of the barrel expanding plate; and the wire smoothing screw is arranged between the other ends of the two screw swing arms and is driven by a second motor.

7. The automatic shearing device for the wire end of the steel coil according to claim 1, wherein: the base sliding table comprises a U-shaped sliding chassis, the U-shaped opening end of the sliding chassis faces forward, rail wheels are symmetrically installed on two side edges of the sliding chassis and are arranged on a base sliding rail, an installation frame is arranged at the rear part of the sliding chassis, sliding grooves are symmetrically formed in the inner side wall of the installation frame, a sliding rod is installed between the two sliding grooves, the rear part of the supporting seat is sleeved on the sliding rod in a penetrating manner, a first hydraulic cylinder is hinged in the installation frame on the sliding chassis, the head of a push rod of the first hydraulic cylinder is hinged to the sliding rod, a second hydraulic cylinder is hinged in front of the first hydraulic cylinder on the sliding chassis, and the head of the second hydraulic cylinder is hinged to the supporting seat; the rear side of the sliding chassis is connected with a power assembly.

8. The automatic shearing device for the wire end of the steel coil as recited in claim 7, wherein: the power assembly comprises a fifth hydraulic cylinder fixed at the tail of the base sliding rail, and the front end of a push rod of the fifth hydraulic cylinder is connected with the rear side face of the sliding chassis.

9. The automatic shearing device for the wire end of the steel coil according to claim 1, wherein: the hydraulic clamp comprises a left clamp handle, a right clamp handle and a second fixing seat, the second fixing seat is fixed on a connecting flange at the tail end of the second six-degree-of-freedom mechanical arm, the left clamp handle is fixed on the second fixing seat, the section of the right clamp handle is L-shaped, the bending part of the right clamp handle is hinged to the rear part of the left clamp handle, a third hydraulic cylinder is hinged to the tail of the right clamp handle, the cylinder body of the third hydraulic cylinder is hinged to the peripheral wall of the second fixing seat, and a pressure sensor is arranged at the jaw of the hydraulic clamp.

10. The automatic shearing device for the wire end of the steel coil according to claim 1, wherein: the hydraulic shear comprises a left shear handle, a right shear handle and a first fixed seat, the first fixed seat is fixed on a connecting flange at the tail end of the first six-degree-of-freedom mechanical arm, the left shear handle is fixed on the first fixed seat, the tail part of the right shear handle is bent outwards to form an L shape, the bent part of the right shear handle is hinged with the middle part of the right shear handle, and a shear mouth formed by the left shear handle and the right shear handle is of an olecranon shape; a cutting groove is formed in the left cutting handle; the tail part of the right shear handle is far away from the bent part and is hinged with a fourth hydraulic cylinder, and the cylinder body of the fourth hydraulic cylinder is hinged on the peripheral wall of the first fixing seat.

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