An intelligent compensation chain packing system

Abstract

The invention discloses an intelligent compensation chain packing system, comprising a visual recognition module, a six-degree-of-freedom mechanical arm, a chain feeding device, a chain outputting device, a chain supporting device, a first conveyor belt, a clamping and shearing device, a second conveyor belt, Gravity sensor, industrial computer. The gravity sensor senses the compensation chain on the conveyor belt and transmits the information to the industrial computer. The industrial computer controls the visual recognition module to take a plane image of the compensation chain area and sends it to the industrial computer for image processing, and obtains the packing length of the compensation chain according to the diameter of the compensation chain. Afterwards, the chain-out device and the chain-in device are controlled to adjust the preset pressing force on the compensation chain with a specific diameter. The first conveyor belt transmits the compensation chain. At the same time, the industrial computer controls the six-degree-of-freedom mechanical arm to work on a predetermined track in the packaging box. The coiled chain is packed into a box. After the coiled length is reached, the clamping and shearing device will cut the balance compensation chain. The invention has the advantages of simple operation, high efficiency and accurate cutting length.

Description

technical field [0001] The invention belongs to the technical field of compensation chain processing machinery, and in particular relates to an intelligent compensation chain packing system. Background technique [0002] The wrapped elevator compensation chain made of electric welding anchor chain and PVC and composite materials through extrusion processing has the advantages of good elasticity, high strength, long life, stable and reliable elevator operation, etc., and the market demand is large. Since PVC and composite materials are thermoplastic materials, during the extrusion process of the wrapped elevator compensation chain, the compensation chains of different diameters in a warm state should be pressed to have relatively more straight segments and less with the extrusion speed. The track-shaped track or circular track of the curved section is coiled and stacked layer by layer, and the compensation chains of different lengths are cut and then packed. [0003] Chinese...

AI Technical Summary

Problems solved by technology

[0003] Chinese patent (201410506450.8) discloses an elevator balance compensation chain cold-setting automatic coiling equipment, which has some defects in the actual coiling and packing, which are reflected in: 1. When the Y-direction trolley is moved by the X-direction moving device to the Y-direction When the devices are pulled together and coiled according to the predetermined track-shaped coiling track, the distance between the front friction dragging chain device and the extruder is constantly changing, and the maximum difference of the distance change is large, so that the front friction wheel The tension difference of the compensation chain on both sides changes greatly, which causes the fluctuation of the elastic slip produced by the compensation chain on the front friction wheel to be large, resulting in a large fluctuation in the speed of the compensation chain falling from the front friction wheel, so that the compensation chain is in the rear friction. The fluctuation of the elastic slip generated on the wheel can reach a state of negligibility relative to the fluctuation of the elastic slip generated on the front friction wheel, thus avoiding the compensation of the cumulative error of the length dropped onto the flatbed

The moving distance X of the X-direction conveyor belt and the moving distance y of the Y-direction conveyor chain satisfy the circle equation x^2+y^2=r^2 (r is the coiling radius of any circle of the arc section of the track-shaped track), and in the actual disk During the chaining process, especially in the coiling operation of the semi-circular arc section, the above two kinematic equations must be satisfied at the same time, the control is difficult and the control accuracy is not high, which leads to the interruption of the chain packing process

Patent application (CN110371340A) discloses a kind of elevator balance compensating chain automatic packing device, and the deficiency that it exists in the actual coil packing is: 1. when the drive friction wheel drives the compensating chain transmission to the conveyor belt rear end, the chain head automatically sags through In the small hole of the winding chain device, after a delay for a period of time, the servo motor drives the guide turntable to rotate, and the winding chain starts. However, in practice, wrapped compensation chains with different diameters have different deflections, that is, the chain head cannot automatically droop through the disk accurately. In the small hole of the chain device, the disc chain is interrupted, and it is time-consuming and labor-intensive if human intervention is required

2. In this patent, the chain head automatically hangs down through the small hole in the coiled chain. After a delay for a period of time, the third servo motor drives the guide turntable to rotate to carry out the coiled chain. However, in practice, due to the first deflection of the compensation chain itself Whether it is large or small, there will be contact friction at the edge of the entrance of the small hole or the inner wall, especially a compensation chain with a hollow ring and two adjacent chain links staggered at 90 degrees, which will cause relatively large friction and easily cause chain jams at the entrance edge of the small hole. Accumulation is formed, resulting in poor transmission, and in severe cases, the surface of the compensation chain will be damaged

3. In the disk chain device, the guide turntable is one layer per disk, and the fourth servo motor rolls on the rack to drive the lifting mechanism to lift. The device only has the Z degree of freedom of rotation, and the Z degree of freedom of movement can only rely on Circumferential disk chaining in the shape of the turntable cannot be carried out on a track-shaped track with relatively more straight sections and less curved sections or according to the specifications required by the factory, which is limited and the scope of application is not wide

However, when the elevator balance compensation chain is a hollow ring, and two adjacent chain links are staggered at 90 degrees, the surface area is small and the structure is complex, and they are not in the same plane, the space curve where the motor drives the rollers to move on the surface of the compensation chain is similar to a wave shape. Even when the compensation chain does not slip, the encoder in the servo motor alone cannot perform precise length control

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