An automatic bundling and unbundling robot device for bar finishing line

Abstract

The present invention relates to the technical field of metallurgical equipment, and particularly relates to an automatic bundling and unbundling robot device for a bar finishing line, which includes a bundling device, a conveying device, an unbundling robot, a loading robot, and a receiving rack; a bundling device is arranged on one side of the starting end of the conveying device, and both the starting end of the conveying device and the bundling device have the functions of lifting and lowering for bar bundling; the unbundling robot is arranged above the end of the conveying device and is used for cutting the binding wire and clamping the binding wire to extract it; the receiving rack is arranged on one side of the end of the conveying device, and a loading robot is arranged between the receiving rack and the conveying device; the loading robot is used for sensing the bar and conveying the bar bundle to below the unbundling robot. After the unbundling robot cuts the binding wire and clamps the binding wire to extract it, the loading robot conveys the bar with the binding wire removed to the receiving rack to complete the removal of the binding wire. The present invention realizes automatic bundling, unbundling, loading, and binding wire collection.

Description

Technical Field

[0001] The present invention relates to the technical field of metallurgical equipment, and particularly to an automatic bundling and unbundling robot device for a bar finishing line. Background Art

[0002] Currently, in the bar finishing production link of steel enterprises, most domestic steel enterprises still use manual lifting to a fixed station and manually remove the binding wire. This method has low efficiency, high labor intensity, and there are safety risks for workers. Moreover, the removed binding wire needs to be crushed for recycling and remelting steel, which increases the processing procedures, labor costs, equipment maintenance, etc. Therefore, some steel enterprises adopt automatic bundling, unbundling, and feeding devices to solve the above problems. However, there are relatively few automatic unbundling robots using fully automatic robotic arms as the execution mechanism. In this regard, it is necessary to design an automatic bundling and unbundling robot device for a bar finishing line to realize functions such as unmanned bundling, unbundling, binding wire collection, and feeding. Summary of the Invention

[0003] The purpose of the present invention is to overcome the shortcomings of the existing technology and propose to design an automatic bundling and unbundling robot device for a bar finishing line to realize the functions of automatic bundling, unbundling, binding wire collection, and feeding of bar bundles.

[0004] The technical solution adopted by the present invention to solve its technical problems is as follows:

[0005] An automatic bundling and unbundling robot device for a bar finishing line includes a bundling device, a conveying device, an unbundling robot, a feeding robot, and a receiving rack; a bundling device is arranged on one side of the starting end of the conveying device. The starting end of the conveying device and the bundling device both have the functions of lifting and lowering for bar bundling. The bundled bars are conveyed through the conveying device. The unbundling robot is arranged above the end of the conveying device and is used for cutting the binding wire and clamping the binding wire to pull it out. The receiving rack is arranged on one side of the end of the conveying device, and a feeding robot is arranged between the receiving rack and the conveying device. The feeding robot is used for sensing the bars and conveying the bar bundle to below the unbundling robot, and sending a workpiece-in-place signal to the unbundling robot. After the unbundling robot cuts the binding wire and clamps the binding wire to pull it out, the feeding robot conveys the bars with the binding wire removed to the receiving rack, completing the removal of a group of binding wires, realizing automatic bundling, unbundling, and feeding. At the same time, the unbundling robot cuts the binding wire and clamps the binding wire to pull it out, realizing the collection of the binding wire.

[0006] Further, a crusher is arranged on one side of the unbundling robot, a chip conveyor is arranged below the crusher, and the chip conveyor is connected to a waste bin. After the unbundling robot pulls out the binding wire, it places it in the crusher for crushing. The chip conveyor below the crusher conveys the crushed binding wire to the waste bin, realizing the crushing of the binding wire. After crushing, it is convenient for recycling and remelting, reducing the processing procedures.

[0007] Furthermore, the bundling separation device includes a mounting frame, a fixed material rack, and a movable material rack; the mounting frame includes mounting frame a and mounting frame b arranged side by side, and the height of mounting frame a is higher than that of mounting frame b; the fixed material rack is arranged on the top of mounting frame a, and the bottom of the movable material rack is connected to the top of mounting frame b through an up-and-down driving device. The movable material rack is driven by the up-and-down driving device to lift and lower, so as to realize the bundling separation function.

[0008] Furthermore, at least two groups of movable material racks are provided, which are arranged in sequence along the bar conveying direction. Each group of movable material racks is provided with a set of up-and-down driving devices at the bottom, which are independently driven.

[0009] Furthermore, a protrusion is arranged on the fixed material rack, and the upper surface of the protrusion is arc-shaped; the upper surface of the movable material rack is arc-shaped and matches the bar, which is convenient for placing the bar and performing the lifting and lowering actions on the bar.

[0010] Furthermore, the conveying device includes a bracket and a driving sprocket and a conveying chain arranged on the bracket; the conveying chain is driven to rotate by the driving sprocket; a lifting mechanism for lifting the bar is arranged below one end of the conveying chain.

[0011] Furthermore, the lifting mechanism includes a lifting plate, a horizontal rod, and a lifting and rotating wheel; two groups of lifting plates are provided and are respectively fixedly arranged on both sides of the bracket. The bottoms of the two lifting plates are connected by a horizontal rod. One end of the horizontal rod is hinged to link rod one, link rod one is hinged to link rod two, the end of link rod two is hinged to the output end of the telescopic oil cylinder, a lifting and rotating wheel is fixed on link rod two, the lifting and rotating wheel is arranged on the base through a vertical mounting plate, and the lifting and rotating wheel can rotate relative to the vertical mounting plate. The telescopic oil cylinder is arranged on the base. During operation, the telescopic oil cylinder drives link rod two and the lifting and rotating wheel to rotate, link rod two drives link rod one to rotate, and link rod one jacks up the lifting plate upwards. On the contrary, when the telescopic oil cylinder retracts, it drives the lifting plate to descend, realizing the lifting and lowering of the lifting plate.

[0012] Furthermore, the bundling removal robot includes a robot seventh axis, a 3D camera, a control system, a robot, and a bundling removal head; the robot is slidably arranged on the robot seventh axis, and the robot seventh axis is located above one end of the conveying device and is installed on the frame; a 3D camera and a bundling removal head are arranged at the end of the robot. The whole bar bundling wire is identified by using the robot seventh axis and the end 3D camera, and the robot is guided to drive the bundling removal head to remove the bundle.

[0013] Further, the bundling head is used to cut and clamp the binding wire and draw it out. Its structure includes a hydraulic cylinder, a sliding table, a fixed hook, a movable hook, a moving knife, and a static knife; the sliding table is fixedly arranged on the lower surface of the mounting plate, and the upper surface of the mounting plate is connected to the end of the robot; the 3D camera is arranged on the mounting plate and is used to feed back the spatial position of the binding wire and the position with the largest operating space to the robot; the fixed hook is fixedly arranged on one side of the sliding table, the movable hook is slidably arranged on the other side of the sliding table, the cylinder body of the hydraulic cylinder is arranged on the sliding table, and the piston rod of the hydraulic cylinder is connected to the movable hook; the moving knife is arranged on the movable hook, and the static knife is arranged on the fixed hook. The bundling and unbundling robot moves the fixed hook under the binding wire. There is a state where two binding wires do not come together. The hydraulic cylinder drives the movable hook to squeeze the two binding wires together. The moving knife of the movable hook has an inclination and a cutting edge, which reduces the shearing force. The movable hook combines the functions of shearing and squeezing the binding wire together.

[0014] Further, a pressure plate is arranged on the movable hook. The pressure plate mainly functions to press the material, facilitating the pressing of the material and enabling the bundling and unbundling robot to draw out the binding wire.

[0015] The technical effects of the present invention:

[0016] Compared with the prior art, an automatic bundling and unbundling robot device for a bar finishing line according to the present invention realizes automatic bundling and subsequent conveying through the coordinated cooperation of the bundling device and the conveying device. The feeding robot senses the bars and conveys the bar bundles to below the unbundling robot. The unbundling robot cuts the binding wire, clamps the binding wire, and draws it out. The feeding robot conveys the bars with the binding wire removed to the receiving rack, completing the removal of a set of binding wires, realizing automatic unbundling and feeding. At the same time, the unbundling robot cuts the binding wire, clamps the binding wire, and draws it out, realizing the collection of the binding wire. The overall structure design of the present invention is reasonable, realizing functions such as unmanned bundling, unbundling, binding wire collection, and feeding, and improving production efficiency. Description of the Drawings

[0017] Figure 1 It is a schematic structural diagram of the automatic bundling and unbundling robot device for the bar finishing line of the present invention;

[0018] Figure 2 It is a schematic structural diagram of the bundling device of the present invention;

[0019] Figure 3 For the present invention Figure 2 Top view;

[0020] Figure 4 It is a schematic structural diagram of the conveying device of the present invention;

[0021] Figure 5 For the present invention Figure 4 Rear view;

[0022] Figure 6Schematic diagram of the structure of the bundling and unbundling robot of the present invention;

[0023] Figure 7 of the present invention Figure 6 Enlarged view of the structure of part A;

[0024] Figure 8 of the present invention Figure 7 Front view of the bundling and unbundling head in the present invention;

[0025] Figure 9 Schematic diagram of the state of the bundling and unbundling head shearing the binding wire in the present invention.

[0026] In the figure, there are a bundling device 1, a conveying device 2, a bundling and unbundling robot 3, a loading robot 4, and a receiving rack 5;

[0027] Mounting frame 11, fixed material rack 12, movable material rack 13, guide rod 14, up and down driving device 15, protrusion 16;

[0028] Mounting frame a111, mounting frame b112;

[0029] Movable material rack 1 131, movable material rack 2 132;

[0030] Bracket 21, transmission sprocket 22, jacking mechanism 23, conveyor chain 24;

[0031] Jacking plate 231, horizontal rod 232, lifting and rotating wheel 233, connecting rod 1 234, connecting rod 2 235, telescopic oil cylinder 236, vertical mounting plate 237, base 238;

[0032] The seventh axis 31 of the robot, 3D camera 32, control system 33, robot 34, bundling and unbundling head 35, frame 36, mounting plate 37;

[0033] Hydraulic cylinder 351, sliding table 352, fixed claw 353, movable claw 354, moving knife 355, pressing plate 356, static knife 357, induction switch 358, spring 359. Specific embodiments

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the specification.

[0035] Embodiment 1:

[0036] As Figure 1 shown, an automatic bundling and unbundling robot device for a bar finishing line involved in this embodiment includes a bundling device 1, a conveying device 2, a bundling and unbundling robot 3, a loading robot 4, and a receiving rack 5.

[0037] On one side of the starting end of the conveying device 2, there is a bundling device 1. Both the starting end of the conveying device 2 and the bundling device 1 have the functions of lifting and lowering, which are used for bundling bars. The bundled bars are conveyed through the conveying device 2.

[0038] Specifically, as Figure 2 and 3 shown, the bundling device 1 includes a mounting frame 11, a fixed material rack 12 and a movable material rack 13. The mounting frame 11 includes a mounting frame a111 and a mounting frame b112 arranged side by side. The mounting frame a111 and the mounting frame b112 are integrally formed or detachably connected. The height of the mounting frame a111 is higher than that of the mounting frame b112. The fixed material rack 12 is arranged on the top of the mounting frame a111. Two groups of movable material racks 13 are provided, namely a movable material rack one 131 and a movable material rack two 132, which are arranged in sequence along the bar conveying direction. The bottoms of the movable material rack one 131 and the movable material rack two 132 are respectively connected to the top of the mounting frame b112 through a group of up and down driving devices 15. The up and down driving devices 15 are hydraulic cylinders (or air cylinders or electric telescopic rods). The movable material rack one 131 and the movable material rack two 132 are respectively driven by two groups of hydraulic cylinders to lift and lower, so as to realize the bundling function. Preferably, the upper surfaces of the movable material rack one 131 and the movable material rack two 132 are arcs matching the bars, which is convenient for the lifting and lowering actions of the bars. A protrusion 16 is arranged on the fixed material rack 12, and the upper surface of the protrusion 16 is an arc, which cooperates with the arc structures of the movable material rack one 131 and the movable material rack two 132 to realize bundling. A guide rod 14 is arranged between the movable material rack 13 and the mounting frame b112. The guide rod 14 is located on both sides of the up and down driving device 15. One end is bolted to the lower surface of the movable material rack 13, and the other end passes through the mounting frame b112 and can slide up and down relative to the mounting frame b112. The guide rod 14 is used to guide the up and down movement of the movable material rack 13 and enhance the stability of the movable material rack 13.

[0039] As Figure 4 and 5As shown, the conveying device 2 includes a bracket 21, a driving sprocket 22 and a conveying chain 24 arranged on the bracket 21; the conveying chain 24 is driven to rotate by the driving sprocket 22; a lifting mechanism 23 is arranged below one end of the conveying chain 24, and the lifting mechanism 23 includes a lifting plate 231, a horizontal rod 232 and a lifting and rotating wheel 233; two groups of lifting plates 231 are arranged and are respectively fixedly arranged on both sides of the bracket 21, the bottoms of the two lifting plates 231 are connected by a horizontal rod 232, one end of the horizontal rod 232 is hinged to a first connecting rod 234, the first connecting rod 234 is hinged to a second connecting rod 235, the end of the second connecting rod 235 is hinged to the output end of a telescopic oil cylinder 236, a lifting and rotating wheel 233 is fixed on the second connecting rod 235, the lifting and rotating wheel 233 is arranged on a base 238 through a vertical mounting plate 237, and the lifting and rotating wheel 233 can rotate relative to the vertical mounting plate 237, and the telescopic oil cylinder 236 is arranged on the base 238. During operation, the telescopic oil cylinder 236 drives the second connecting rod 235 and the lifting and rotating wheel 233 to rotate, the second connecting rod 235 drives the first connecting rod 234 to rotate, the first connecting rod 234 jacks up the lifting plate 231 upwards, and the lifting plate 231 drives the end of the bracket 21 to rise, so as to lift the conveying chain 24, which is used for conveying the bundled bar materials after bundling. When the telescopic oil cylinder 236 retracts, it drives the lifting plate 231, the bracket 21 and the conveying chain 24 to descend, realizing the lifting and descending of the lifting plate 231.

[0040] As Figure 1 shown, the bundling-removing robot 3 is arranged above the end of the conveying device 2 and is used for cutting the binding wire and clamping the binding wire to pull it out; the material receiving rack 5 is arranged on one side of the end of the conveying device 2, and a loading robot 4 is arranged between the material receiving rack 5 and the conveying device 2; the loading robot 4 is used for sensing the bar materials and conveying the bundled bar materials to below the bundling-removing robot 3, and sending a workpiece-in-place signal to the bundling-removing robot 3. After the bundling-removing robot 3 cuts the binding wire and clamps the binding wire to pull it out, the loading robot 4 conveys the bar materials after the binding wire is removed to the material receiving rack 5, completing the removal of a group of binding wires, realizing automatic bundling, bundling-removing and loading. At the same time, the bundling-removing robot 3 cuts the binding wire and clamps the binding wire to pull it out, realizing the collection of the binding wire. A crusher is arranged on one side of the bundling-removing robot 3, a chip discharger is arranged below the crusher, the chip discharger is connected to a waste material box. After the bundling-removing robot 3 pulls out the binding wire and places it in the crusher for crushing, the chip discharger below the crusher conveys the crushed binding wire to the waste material box, realizing the crushing of the binding wire. After crushing, it is convenient for remelting in a furnace, reducing the processing procedures.

[0041] Specifically, as Figure 6 and 7As shown, the debundling robot 3 includes a robot seventh axis 31, a 3D camera 32, a control system 33, a robot 34 and a debundling head 35; the robot 34 is slidably arranged on the robot seventh axis 31, the robot seventh axis 31 is located above one end of the conveying device 2, and is installed on a frame 36; a 3D camera 32 and a debundling head 35 are arranged at the end of the robot 34, and the robot seventh axis 31 and the end 3D camera 32 are used to realize the wire binding recognition of the entire bar material (in the range of 3m-12m), and guide the robot 34 to drive the debundling head 35 to debundle.

[0042] like Figure 8 and 9 As shown, the unbundling head 35 is used to cut the bundled wire and clamp it to extract it, and its structure includes a hydraulic cylinder 351, a slide 352, a fixed hook 353, a movable hook 354, a movable knife 355, and a static knife 357; the slide 352 is fixedly arranged on the lower surface of the mounting plate 37, and the upper surface of the mounting plate 37 is connected to the end of the robot 34; the 3D camera 32 is arranged on the mounting plate 37, and is used to feedback the spatial position of the bundled wire and the position with the largest operating space to the robot 34; the fixed hook 353 is fixedly arranged on one side of the slide 352, and the movable hook 354 is slidably arranged on the other side of the slide 352, the cylinder body of the hydraulic cylinder 351 is arranged on the slide 352, and the piston rod of the hydraulic cylinder 351 is connected to the movable hook 354; the movable knife 355 is arranged on the movable hook 354, and the static knife 357 is arranged on the fixed hook 353; an induction switch 358 is arranged on the end of the slide 352 close to the static knife 357. The unbundling robot 3 moves the fixed hook 353 to the bottom of the wire bundle. There are two wire bundles that are not close together. The hydraulic cylinder 351 drives the movable hook 354 to bring the two wire bundles together. The movable knife 355 of the movable hook 354 has an inclination and a cutting edge, which reduces the shearing force. The movable hook 354 takes into account the functions of shearing and closing the wire bundles. A pressing plate 356 is provided on the movable hook 354. As a preferred embodiment, a spring 359 is provided on one side of the pressing plate 356 to play a buffering role. The pressing plate 356 mainly plays a pressing role to facilitate pressing. The pressing plate 356 has grooves to increase friction so that the unbundling robot 3 can extract the wire bundle. When shearing the wire bundle, the movable hook 354 is driven to move in the direction of the wire bundle, and the material is pressed by the pressing plate 356, and the static knife 357 and the movable knife 355 are used to connect the material.

[0043] Working principle: When the robot device described in this embodiment is in use, three bundles of bar materials are manually lifted to the fixed material rack 12 of the bundling device 1 through an overhead crane. The three bundles of bar materials are respectively located on the movable material rack 131, the protrusion 16 and the movable material rack 2 132. At this time, the movable material rack 131 and the movable material rack 2 132 are started to lift up the bar materials on both sides, so that the bar materials on both sides and the bar materials on the middle protrusion 16 can be bundled. Then, the end of the conveying device 2 is lifted up by the lifting mechanism 23, and the three bundles of bar materials are transported forward by the conveying device 2 to the movable material rack 11 where the middle bar material is located away from the starting end of the conveying device 2. 31, at this time, the conveying device 2 is driven to descend and reset through the jacking mechanism 23, the middle bundle of rods is located in the arc structure of the movable material rack 131, the rear bundle of rods is located on the protrusion 16 or the movable material rack 132, and the front bundle of rods is located on the conveying device 2, and the conveying is continued through the conveying device 2, and the above steps are repeated to realize the successive conveying of the rod bundles and the rear bundle of rods, thereby realizing the separate bundling and conveying of three bundles of rods; the rod bundles are conveyed to the bottom of the loading robot 4 through the conveying device 2, the loading robot 4 senses the rods and conveys the rod bundles to the bottom of the debundling robot 3, and sends a workpiece in place signal to the debundling robot 3. Since the length of the bar bundles varies from 3m to 12m, the debundling robot 3 needs to use the robot's seventh axis 31 to identify the wires one by one from one end of the bar. The 3D camera 32 at the end of the debundling robot 3 identifies the position of the first group of wires, guides the debundling head 35 of the debundling robot 3 to debundle, cuts the wires and clamps them, and the debundling robot 3 extracts the wires and places them in a crusher for crushing. The chip conveyor under the crusher transports the crushed wires to the waste bin. After the wires are crushed, they are easy to return to the furnace for re-refining, reducing the processing steps. From identifying the position of the wires to cutting and extracting them, the removal of the first group of wires is considered to be completed, and then the position of the second group of wires is identified until all the wires are removed. The debundling robot 3 will use the 3D camera 32 to re-inspect the entire bundle of wires to prevent the wires from being cut. The loading robot 4 transports the bar with the wires removed to the receiving rack 5, completing all the actions of the entire device.

[0044] The above-mentioned specific implementation modes are only specific cases of the present invention. The patent protection scope of the present invention includes but is not limited to the above-mentioned specific implementation modes. Any appropriate changes or modifications made thereto by any ordinary technician in the technical field in accordance with the claims of the present invention shall fall within the patent protection scope of the present invention.

Claims

1. An automatic bundling and unbundling robot device for a bar finishing line, characterized in that: It includes a bundling device (1), a conveying device (2), an unbundling robot (3), a loading robot (4) and a receiving rack (5); on one side of the starting end of the conveying device (2), there is a bundling device (1). Both the starting end of the conveying device (2) and the bundling device (1) have the functions of lifting and lowering, which are used for bundling bars. The bundled bars are conveyed by the conveying device (2); the unbundling robot (3) is arranged above the end of the conveying device (2) and is used for cutting the binding wire and clamping and pulling out the binding wire; the receiving rack (5) is arranged on one side of the end of the conveying device (2), and a loading robot (4) is arranged between the receiving rack (5) and the conveying device (2); the loading robot (4) is used for sensing the bars and conveying the bar bundle to below the unbundling robot (3), and sending a workpiece-in-place signal to the unbundling robot (3). After the unbundling robot (3) cuts the binding wire and clamps and pulls out the binding wire, the loading robot (4) conveys the bars with the binding wire removed to the receiving rack (5). The bundling device (1) includes a mounting rack (11), a fixed material rack (12) and a movable material rack (13); the mounting rack (11) includes a mounting rack a (111) and a mounting rack b (112) arranged side by side, and the height of the mounting rack a (111) is higher than that of the mounting rack b (112); the fixed material rack (12) is arranged on the top of the mounting rack a (111), and the bottom of the movable material rack (13) is connected to the top of the mounting rack b (112) through an up-and-down driving device (15). On the fixed material rack (12), there is a protrusion (16), the upper surface of the protrusion (16) is arc-shaped, and the upper surface of the movable material rack (13) is arc-shaped and matches the bars. The conveying device (2) includes a bracket (21) and a driving sprocket (22) and a conveying chain (24) arranged on the bracket (21); the conveying chain (24) is driven to rotate by the driving sprocket (22); below one end of the conveying chain (24), there is a lifting mechanism (23) for lifting the bars.

2. The automatic bundling and unbundling robot device for the bar finishing line according to claim 1, characterized in that: A crusher is arranged on one side of the unbundling robot (3), a chip conveyor is arranged below the crusher, and the chip conveyor is connected to a waste box.

3. The automatic bundling and unbundling robot device for bar finishing line according to claim 1, characterized in that: At least two groups of movable material racks (13) are provided and are arranged in sequence along the bar conveying direction. Each group of movable material racks (13) is provided with a set of up-and-down driving devices (15) at the bottom.

4. The automatic bundling and unbundling robot device for the bar finishing line according to claim 1, wherein: The jacking mechanism (23) includes a jacking plate (231), a horizontal rod (232), and a lifting and rotating wheel (233); two sets of the jacking plates (231) are provided and are respectively fixedly arranged on both sides of the bracket (21). The bottoms of the two jacking plates (231) are connected by the horizontal rod (232). One end of the horizontal rod (232) is hinged to the first connecting rod (234). The first connecting rod (234) is hinged to the second connecting rod (235). The end of the second connecting rod (235) is hinged to the output end of the telescopic oil cylinder (236). A lifting and rotating wheel (233) is fixed on the second connecting rod (235). The lifting and rotating wheel (233) is arranged on the base (238) through a vertical mounting plate (237), and the lifting and rotating wheel (233) can rotate relative to the vertical mounting plate (237). The telescopic oil cylinder (236) is arranged on the base (238).

5. The automatic bundling and unbundling robot device for bar finishing line according to claim 1, characterized in that: The strapping removal robot (3) includes a seventh axis of the robot (31), a 3D camera (32), a control system (33), a robot (34), and a strapping removal head (35); the robot (34) is slidably arranged on the seventh axis of the robot (31). The seventh axis of the robot (31) is located above one end of the conveying device (2) and is installed on the frame (36); a 3D camera (32) and a strapping removal head (35) are arranged at the end of the robot (34).

6. The automatic bundling and unbundling robot device for bar finishing line according to claim 5, characterized in that: The strapping removal head (35) includes a hydraulic cylinder (351), a sliding table (352), a fixed claw (353), a movable claw (354), a moving knife (355), and a stationary knife (357); the sliding table (352) is fixedly arranged on the lower surface of the mounting plate (37). The upper surface of the mounting plate (37) is connected to the end of the robot (34); the 3D camera (32) is arranged on the mounting plate (37) and is used to feed back the spatial position of the strapping wire and the position with the largest operating space to the robot (34); the fixed claw (353) is fixedly arranged on one side of the sliding table (352). The movable claw (354) is slidably arranged on the other side of the sliding table (352). The cylinder body of the hydraulic cylinder (351) is arranged on the sliding table (352). The piston rod of the hydraulic cylinder (351) is connected to the movable claw (354); the moving knife (355) is arranged on the movable claw (354), and the stationary knife (357) is arranged on the fixed claw (353).

7. The automatic bale sorting and untying robot device for the bar finishing line according to claim 6, characterized in that: A pressing plate (356) is arranged on the movable claw (354).

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