An application device and method for the finishing and packing of steel cord by a two-arm robot

Abstract

The present invention discloses an application device and method for the finishing and packing of steel cord by a double-arm robot. Among them, the application device for the finishing and packing of steel cord by the double-arm robot includes a general base, a working platform, a base of a stranding press wheel device, a base of a double-arm robot, a spool, steel cord, a spool fixing chuck, a bearing, a spool hole position No. 1, a spool hole position No. 2, a clamping piece, a wire take-up processing device, a wire end processing device, and a stranding press wheel device. The purpose of the present invention is to realize the automation of steel cord production, thereby liberating the hands of workers, solving the problems of low efficiency and danger caused by current manual wire taking and manual wire end fixing and finishing, improving production efficiency, and also following the principle of safety.

Description

Technical Field

[0001] The present invention relates to the technical field of steel cord end packing, and in particular to an application device and method for steel cord end packing by a dual-arm robot. Background Art

[0002] Steel cord is the product with the broadest development in rubber skeleton materials and is also the product with the greatest production difficulty among metal products. Steel cord is a thin-sized wire strand or rope made of high-quality high-carbon steel with brass plated on the surface and having special uses. It is mainly used as the skeleton material for car tires, light truck tires, heavy truck tires, engineering vehicle tires, aircraft tires and other rubber products. The radial tires made with steel cord as the reinforcing material have the advantages of long service life, high driving speed, puncture resistance, good elasticity, safety and comfort, and fuel saving.

[0003] Steel cord is widely used in the rubber tires of various means of transportation, and steel cord is usually wound on an I-shaped reel for packing and transportation before being put into use. Therefore, the wire winding process after the production of steel cord is very important. However, in the existing steel cord winding machines, the work of winding steel wire and fixing the end of the wire head is carried out manually, resulting in high manual labor intensity and reduced production efficiency. In addition, in the work of fixing the end of the wire head, the high temperature on the surface of the wire head after fusing is not conducive to the worker to fix the wire head, and there is danger. Therefore, there is an urgent need for automated equipment to replace the end work of steel cord. Summary of the Invention

[0004] The present invention provides an application device and method for steel cord end packing by a dual-arm robot, which solves the problems of low efficiency and danger caused by current manual wire winding and manual fixing of the wire head end, and follows the principle of safety while improving production efficiency.

[0005] As a first aspect of the present invention, the present invention discloses an application device for the finishing and packing of steel cord by a double-arm robot, which includes a general base, a working platform, a base of a stranding press wheel device, a base of a double-arm robot, a spool, a steel cord, a spool fixing chuck, a bearing, a spool hole No. 1, a spool hole No. 2, a clamping piece, a wire take-up processing device, a wire end processing device, and a stranding press wheel device. A working platform is installed in the middle of the general base. A base of a stranding press wheel device and a base of a double-arm robot are respectively installed at both ends of the general base. The base of the double-arm robot is installed on the right side of the working platform, and the base of the stranding press wheel device is installed on the left side of the working platform. A spool is installed on the working platform. A steel cord is wound around the outer side of the spool. A spool fixing chuck is installed at the bottom of the spool. A bearing is installed at the lower end of the spool fixing chuck. A spool hole No. 1 and a spool hole No. 2 are respectively formed on the spool. The spool hole No. 1 is formed on the right side of the spool hole No. 2. A clamping piece is installed between the spool hole No. 1 and the spool hole No. 2. The clamping piece, the spool hole No. 1, and the spool hole No. 2 clamp and fix the existing steel cord. A wire take-up processing device is installed inside the working platform. A wire end processing device is installed on the top of the base of the double-arm robot. A stranding press wheel device is installed on the top of the base of the stranding press wheel device.

[0006] Preferably, the stranding press wheel device includes a stranding press wheel device support, a cylinder, a piston rod, and a press wheel. A stranding press wheel device support is installed on the top of the base of the stranding press wheel device. A cylinder is fixed on the stranding press wheel device support. The cylinder is equipped with a piston rod by itself. The end of the piston rod is connected with a press wheel.

[0007] Preferably, the wire take-up processing device includes a motor fixing support, a servo motor, and a reducer. A motor fixing support is fixedly installed inside the working platform. A servo motor is installed inside the motor fixing support. The servo motor is connected with the reducer, and the reducer is connected and used in cooperation with the spool fixing chuck.

[0008] Preferably, the wire end processing device includes a left arm, a right arm, a left arm gripper, a left arm hook, and a right arm gripper. A left arm and a right arm are equipped on the base of the double-arm robot. A left arm gripper and a left arm hook are installed on the left arm, and a right arm gripper is installed on the right arm.

[0009] Preferably, the left arm and the right arm are six-axis degree-of-freedom collaborative robots, which together form a double-arm robot.

[0010] Preferably, the left arm and the right arm are used in cooperation.

[0011] As a second aspect of the present invention, the present invention also discloses an application method for the finishing and packing of steel cord by a double-arm robot according to any of the above technical solutions, including the following steps:

[0012] S1. Start the servo motor. While the servo motor rotates, the spool drives synchronous rotation, and the steel cord winds itself around the spool.

[0013] S2. Start the cylinder. The piston rod contracts, driving the pressure wheel to change its position to adjust the distance between the pressure wheel and the spool, ensuring that the steel cord is wound smoothly. After the steel cord is wound, leave the fused end of the wire.

[0014] S3. The left-arm gripper holds the end of the wire. Through the movement of the left arm, the end of the wire is precisely passed through the No. 1 hole of the spool. At the same time, the right arm adjusts its position so that the right-arm gripper holds the end of the wire. The left-arm gripper releases, and the left arm quickly adjusts its position so that the left-arm hook pulls up the clamping piece on the spool. Subsequently, with the movement of the right arm, the right-arm gripper holds the end of the wire and pulls the end of the wire under the clamping piece.

[0015] S4. The left arm lowers the pulled-up clamping piece to press and fix the end of the wire. Finally, the right arm rotates 180 degrees precisely to pass the end of the wire through the No. 2 hole of the spool, and the right-arm gripper is released, completing the passing of the end of the wire through the No. 2 hole of the spool.

[0016] S5. Each mechanism returns to its original position, completing the finishing and packing of the steel cord.

[0017] Preferably, during the whole operation process, the pressure wheel presses the steel cord to ensure that the steel cord is flat when fixing the end of the wire.

[0018] The beneficial effects of the present invention are as follows:

[0019] The present invention aims to realize the automation of steel cord production, thus liberating human hands. A gripper and a hook are installed at the end of the left arm of the robot, and a gripper is installed at the end of the right arm of the robot. The left-arm gripper holds the end of the wire and passes it through the No. 1 hole of the spool. Subsequently, the right-arm gripper holds the end of the wire. At the same time, the left-arm hook pulls up and opens the clamping piece on the spool. The right arm pulls the steel cord through under the clamping piece. The left-arm hook is lowered, and the clamping piece closes to fix the steel cord. The right-arm gripper rotates the end of the wire 180 degrees and passes it through the No. 2 hole of the spool, thereby realizing the automation of the finishing process of the steel cord and improving production efficiency. The realization of this process completely replicates the actual operation process of manually fixing the end of the wire. The ideological origin of the present invention comes from the dexterity of human hands.

[0020] The present invention provides an application of a dual-arm robot for finishing and packing steel cord, solving the problems of low efficiency and danger caused by current manual wire collection and manual fixing of the end of the wire. While improving production efficiency, it also follows the principle of safety.

[0021] The present invention provides an application of a double-arm robot for the end-packing of steel cord, which is applicable to future fully automated factory equipment, for fully automated winding of steel cord and fixing of the steel cord end, significantly improving production efficiency.

[0022] The present invention provides an application of a double-arm robot for the end-packing of steel cord, simulating the dexterity of human hands, replacing workstations, liberating manual labor, and thus reducing labor intensity and improving operation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0024] In the drawings:

[0025] Figure 1 is a schematic diagram of the working area division of the present invention;

[0026] Figure 2 is a schematic diagram of the overall structure of the present invention;

[0027] Figure 3 is a partial enlarged view of the strand twisting and pressing wheel device of the present invention.

[0028] As shown in the figure, 1 is the main base, 2 is the working platform, 3 is the base of the strand twisting and pressing wheel device, 4 is the support of the strand twisting and pressing wheel device, 5 is the cylinder, 6 is the piston rod, 7 is the pressing wheel, 8 is the motor fixing support, 9 is the servo motor, 10 is the reducer, 11 is the bearing, 12 is the spool fixing chuck, 13 is the base of the double-arm robot, 14 is the left arm, 15 is the left arm gripper, 16 is the left arm hook, 17 is the right arm, 18 is the right arm gripper, 19 is the spool No. 1 hole position, 20 is the pressing piece, 21 is the spool No. 2 hole position, 22 is the wire end, 23 is the spool, and 24 is the steel cord. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other.

[0030] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0031] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0032] Example 1

[0033] An application device for the end-packaging of steel cord by a double-arm robot, comprising a general base 1, a working platform 2, a base of a stranding press wheel device 3, a base of a double-arm robot 13, a spool 23, a steel cord 24, a fixed chuck 12 for the spool 23, a bearing 11, a No. 1 hole position 19 of the spool 23, a No. 2 hole position 21 of the spool, a clamping piece 20, a wire take-up processing device, a wire end 22 processing device, and a stranding press wheel device. A working platform 2 is installed in the middle of the general base 1. A base of a stranding press wheel device 3 and a base of a double-arm robot 13 are respectively installed at both ends of the general base 1. The base of the double-arm robot 13 is installed on the right side of the working platform 2, and the base of the stranding press wheel device 3 is installed on the left side of the working platform 2. A spool 23 is installed on the working platform 2. A steel cord 24 is wound around the outer side of the spool 23. A fixed chuck 12 for the spool 23 is installed at the bottom of the spool 23. A bearing 11 is installed at the lower end of the fixed chuck 12 for the spool 23. A No. 1 hole position 19 of the spool 23 and a No. 2 hole position 21 of the spool are respectively opened on the spool 23. The No. 1 hole position 19 of the spool 23 is opened on the right side of the No. 2 hole position 21 of the spool. A clamping piece 20 is installed between the No. 1 hole position 19 of the spool 23 and the No. 2 hole position 21 of the spool. The clamping piece 20, the No. 1 hole position 19 of the spool 23, and the No. 2 hole position 21 of the spool clamp and fix the existing steel cord 24. A wire take-up processing device is installed inside the working platform 2. A wire end 22 processing device is installed on the top of the base of the double-arm robot 13. A stranding press wheel device is installed on the top of the base of the stranding press wheel device 3.

[0034] In one embodiment, the stranding press wheel device comprises a stranding press wheel device support 4, a cylinder 5, a piston rod 6, and a press wheel 7. A stranding press wheel device support 4 is installed on the top of the base of the stranding press wheel device 3. A cylinder 5 is fixed on the stranding press wheel device support 4. The cylinder 5 is equipped with a piston rod 6 by itself. The end of the piston rod 6 is connected with a press wheel 7.

[0035] In one embodiment, the wire take-up processing device comprises a motor fixing support 8, a servo motor 9, and a reducer 10. A motor fixing support 8 is fixedly installed inside the working platform 2. A servo motor 9 is installed inside the motor fixing support 8. The servo motor 9 is connected with the reducer 10, and the reducer 10 is connected and used in cooperation with the fixed chuck 12 for the spool 23.

[0036] In one embodiment, the wire end 22 processing device comprises a left arm 14, a right arm 17, a left arm 14 jaw, a left arm hook 16, and a right arm jaw 18. A left arm 14 and a right arm 17 are equipped on the base of the double-arm robot 13. A left arm 14 jaw and a left arm hook 16 are installed on the left arm 14, and a right arm jaw 18 is installed on the right arm 17.

[0037] In one embodiment, the left arm 14 and the right arm 17 are collaborative robots with six-axis degrees of freedom, jointly forming a double-arm robot.

[0038] In one embodiment, the left arm 14 is used in cooperation with the right arm 17.

[0039] Embodiment 2

[0040] When the steel cord finishing and packing application device of the double-arm robot of the present invention is working, the servo motor 9 is started. While the servo motor 9 rotates, the winding drum 23 drives synchronous rotation. At this time, the steel cord 24 winds itself around the winding drum 23. The air cylinder 5 is started, and the piston rod 6 contracts, driving the pressing wheel 7 to change its position to adjust the distance between the pressing wheel 7 and the winding drum 23 to ensure that the steel cord 24 is wound smoothly and does not fly off. After the steel cord 24 is wound, the fused end 22 will be left. At this time, the gripper of the left arm 14 grips the end 22, and through the movement of the left arm 14, the end 22 is accurately passed through the hole position 19 of the 1st hole of the winding drum 23. At the same time, the right arm 17 adjusts its position so that the right arm gripper 18 grips the end 22. The gripper of the left arm 14 releases, and through the rapid adjustment of the position of the left arm 14, the left arm hook 16 pulls up the pressing piece 20 on the winding drum 23. Subsequently, the end 22 gripped by the right arm gripper 18 is pulled under the pressing piece 20 by the movement of the right arm 17. At the same time, the left arm 14 puts down the pulled-up pressing piece 20 to press and fix the end 22. Finally, the right arm 17 rotates 180 degrees to accurately pass the end 22 through the 2nd hole position 21 of the winding drum, and the right arm gripper 18 is released to complete the passing of the end 22 through the 2nd hole position 21 of the winding drum. During this process, the pressing wheel 7 presses the steel cord 24 to ensure that the steel cord 24 is flat when fixing the end 22. Finally, each mechanism returns to its original position, and the finishing and packing of the steel cord 24 are completed.

[0041] The above shows and describes the basic principles, main features and advantages of the present invention. Each component mentioned in the present invention is a common technology in the existing field. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. An application device for the end-packing of steel cord of a two-arm robot, characterized in that, It includes a general base, a working platform, a base of the strand twisting and pressing wheel equipment, a base of the dual-arm robot, a spool, steel cord, a spool fixing chuck, a bearing, a No. 1 hole position of the spool, a No. 2 hole position of the spool, a clamping piece, a wire take-up processing equipment, a wire end processing equipment, and a strand twisting and pressing wheel equipment. A working platform is installed in the middle of the general base. A base of the strand twisting and pressing wheel equipment and a base of the dual-arm robot are respectively installed at both ends of the general base. The base of the dual-arm robot is installed on the right side of the working platform, and the base of the strand twisting and pressing wheel equipment is installed on the left side of the working platform. A spool is installed on the working platform. The steel cord is wound around the outer side of the spool. A spool fixing chuck is installed at the bottom of the spool. A bearing is installed at the lower end of the spool fixing chuck. A No. 1 hole position of the spool and a No. 2 hole position of the spool are respectively opened on the spool. The No. 1 hole position of the spool is opened on the right side of the No. 2 hole position of the spool. A clamping piece is installed between the No. 1 hole position of the spool and the No. 2 hole position of the spool. The clamping piece, the No. 1 hole position of the spool, and the No. 2 hole position of the spool clamp and fix the existing steel cord. A wire take-up processing equipment is installed inside the working platform. A wire end processing equipment is installed on the top of the base of the dual-arm robot. A strand twisting and pressing wheel equipment is installed on the top of the base of the strand twisting and pressing wheel equipment; The wire end processing equipment includes a left arm, a right arm, a left arm gripper, a left arm hook, and a right arm gripper. A left arm and a right arm are equipped on the base of the dual-arm robot. A left arm gripper and a left arm hook are additionally installed on the left arm. A right arm gripper is additionally installed on the right arm.

2. The application device for the end-packaging of steel cord of a two-armed robot according to claim 1, characterized in that, The strand twisting and pressing wheel equipment includes a support of the strand twisting and pressing wheel equipment, a cylinder, a piston rod, and a pressing wheel. A support of the strand twisting and pressing wheel equipment is installed on the top of the base of the strand twisting and pressing wheel equipment. A cylinder is fixed on the support of the strand twisting and pressing wheel equipment. The cylinder is equipped with a piston rod by itself. A pressing wheel is connected to the end of the piston rod.

3. The application device for the end-packing of steel cord of a double-arm robot according to claim 1, wherein, The wire take-up processing equipment includes a motor fixing support, a servo motor, and a reducer. A motor fixing support is fixedly installed inside the working platform. A servo motor is installed inside the motor fixing support. The servo motor is connected to the reducer, and the reducer is connected and used in cooperation with the spool fixing chuck.

4. The application device for the end-packaging of steel cord of a double-arm robot according to claim 2, characterized in that, The left arm and the right arm are six-axis degree-of-freedom collaborative robots, which jointly form a dual-arm robot.

5. The application device for the end-packaging of steel cord of a two-arm robot according to claim 2, wherein The left arm and the right arm are used in cooperation.

6. A method for applying a double-arm robot to finish and pack steel cord, which is an application device for a double-arm robot to finish and pack steel cord according to claim 1, characterized in that, It includes the following steps: S1. Start the servo motor. While the servo motor rotates, the spool drives synchronous rotation, and the steel cord winds itself around the spool. S2. Start the cylinder. The piston rod contracts, driving the pressing wheel to change its position to adjust the distance between the pressing wheel and the spool, ensuring that the steel cord is wound flat. After the steel cord is wound, a fused wire end is left. S3. The left arm gripper clamps the wire end. Through the movement of the left arm, the wire end is accurately passed through the No. 1 hole position of the spool. At the same time, the right arm adjusts its position so that the right arm gripper clamps the wire end. The left arm gripper releases, and the left arm quickly adjusts its position so that the left arm hook pulls up the clamping piece on the spool. Subsequently, the right arm gripper clamps the wire end and, under the movement of the right arm, pulls the wire end under the clamping piece; S4. The pinch piece that lowers and pulls up the left arm presses down and fixes the thread end. Finally, the right arm rotates 180 degrees precisely to pass the thread end through the No. 2 hole of the spool, and then releases the gripper of the right arm to complete passing the thread end through the No. 2 hole of the spool. S5. All mechanisms return to their original positions to complete the final packaging of the steel cord.

7. The application method of the double-arm robot for steel cord end packing according to claim 6, characterized in that, During the whole operation process, the pressure wheel presses the steel cord to ensure that the steel cord is flat when fixing the thread end.

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