Hot-rolled coil strapping line connecting robot

Abstract

The hot-rolled coil strapping line connecting robot is arranged on one side close to the opening direction of the C-hook and is used for connecting the hot-rolled coil strapping line. It includes a horizontal linear module (1), a connecting wire feeding device (2), a circular moving device (3), a stereo camera (4), a strapping line connecting manipulator (5) and a lifting cylinder (6). The robot of the present invention has automated operation, simple structure, good reliability and high production efficiency; replacing the traditional manual operation mode can effectively reduce the casualty rate of production accidents and labor costs of workers; improving the firmness of strapping brings many conveniences to the transportation and storage of hot-rolled coils.

Description

Technical Field

[0001] The present invention relates to a robot for connecting bundling wires of hot-rolled coils, belonging to the technical field of industrial robots. Background Art

[0002] The bundling and packaging of hot-rolled coils is a prerequisite for the transportation, storage, and shipment of wire rods and is a direct manifestation of the enterprise image positioning. Whether the coil bundling machine can be used normally directly affects the production rhythm of the rolling line and the appearance quality of the products. With the continuous improvement of the automation level of hot-rolled strip steel rolling and the continuous increase in the rolling speed, the low-efficiency manual packaging simply cannot meet the production requirements. In the process of wire rod production in China, innovative optimizations have been carried out on the basis of the original technology. However, there are still deficiencies in actual operation in each production link. For the hot-rolled coil production line, the hot-rolled coil bundling machine is generally located behind the coiler and behind the wire inspection line. The wire rods after coiling will pass through the bundling machine on the production line, and the formed scattered wire rods will be bundled and packed with two bundling wires at four fixed positions respectively. However, due to a certain angular deviation of the coiled coils during bundling, when bundling at the four fixed positions, the knots are often not firm during bundling and are prone to loosening, which brings inconvenience and potential safety hazards to warehousing and transportation. This requires connecting the bundling wires pairwise with connecting wires.

[0003] Currently, the connection of bundling wires is completed manually. After bundling, production workers often wear masks and hold connecting wires in their hands. The different-sized bundling wires are connected pairwise through the connecting wires. Completing the connection of bundling wires by workers has problems such as low efficiency, high labor intensity of workers, and poor quality. In addition, the temperature of hot-rolled coils is generally between 100°C and 200°C, and it is temporarily impossible to connect the bundling wires manually. The wire rods without timely connection of bundling wires will produce loose coiling phenomena. Summary of the Invention

[0004] For the above reasons, the present invention proposes a robot for connecting bundling wires of hot-rolled coils, which can replace manual connection of circumferential hot-rolled coil bundling wires, improve the firmness of bundling, bring convenience to the warehousing and transportation of hot-rolled coils, and can also improve the production automation level of iron and steel enterprises.

[0005] The hot-rolled coil strapping wire connecting robot is arranged on one side close to the opening direction of the C-hook and is used for connecting the hot-rolled coil strapping wire. It includes a horizontal linear module 1, a connecting wire feeding device 2, a circular moving device 3, a stereo camera 4, a strapping wire connecting manipulator 5 and a lifting cylinder 6. Two identical horizontal linear modules 1 are arranged in parallel and fixed on the ground. The connecting wire feeding device 2 is installed on the front horizontal linear module 1. The circular moving device 3 is installed on the sliders of the two horizontal linear modules 1. The circular moving device 3 is fixed at the middle position between the two horizontal linear modules 1. The connecting wire feeding device 2 is arranged on the right side of the circular moving device 3. The stereo camera 4 is installed at the position on the left side of the slider of the circular moving device 3. The strapping wire connecting manipulator 5 is installed at the position on the right side of the slider of the circular moving device 3. The lifting cylinder 6 is arranged in the pit on the right side in the middle of the two horizontal linear modules 1 and is installed directly below the hot-rolled coil strapping wire connecting station.

[0006] The connecting wire feeding device 2 includes a feeding device support 2-1, a feeding motor 2-2, a coil 2-3, an adjusting rod 2-4 and a tension sensor 2-5. The feeding device support 2-1 is fixed on the slider of the front horizontal linear module 1. The feeding motor 2-2 is installed on the left side of the feeding device support 2-1. The coil 2-3 is installed on the right side of the feeding device support 2-1. The feeding motor 2-2 and the coil 2-3 are connected to the middle rotating shaft through a coupling. The axial distance of the coil can be adjusted through the buckles on both sides of the coil. Four waist-shaped holes at 90 degrees are opened on the coil. The four adjusting rods 2-4 can slide in the four waist-shaped holes and are used to fix connecting wire bundles of different specifications. The tension sensor 2-5 is fixed on the upper right side of the feeding device support, and the tension sensor 2-5 is arranged directly above the feeding coil. When feeding the wire, the connecting wire passes through the tension sensor 2-5.

[0007] The circular moving device 3 includes columns 3-1, height-adjusting linear modules 3-2, a circular guide rail mounting plate 3-3, a circular guide rail 3-4 and a power slider 3-5. The two columns 3-1 are respectively fixed on the two horizontal linear modules 1. Each column 3-1 is equipped with a height-adjusting linear module 3-2. The circular guide rail mounting plate 3-3 is installed on the slider of each adjusting linear module 3-2. The circular guide rail 3-4 is fixedly installed in the middle of the two circular guide rail mounting plates 3-3. The power slider 3-5 is arranged on the circular guide rail 3-4, and the power slider 3-5 realizes circular motion on the circular guide rail 3-4.

[0008] The power slider 3-5 includes a circular motion motor 3-5-1, two pairs of rollers 3-5-2 and a circular guide plate 3-5-3. The power slider 3-5 is meshed with the circular rack on the circular guide rail 3-4 through the gear on the shaft of the circular motion motor 3-5-1. The two pairs of rollers 3-5-2 and the circular guide plate 3-5-3 cooperate with the double-edge circular track on the circular guide rail 3-4.

[0009] The bale wire connecting manipulator 5 includes a radial linear module 5-1, a fixed bracket 5-2, a wire guiding pneumatic gripper 5-3, a rotating platform 5-4, a pressing welding head 5-5, a pneumatic clamp 5-6 and a pneumatic scissor 5-7. The bale wire connecting manipulator 5 is fixedly connected to the power slider on the annular guide rail moving module through the slider on the radial linear module 5-1. The fixed bracket 5-2 is fixedly connected to the radial linear module 5-1. The wire guiding pneumatic gripper 5-3, the rotating platform 5-4, the pressing welding head 5-5, the pneumatic clamp 5-6 and the pneumatic scissor 5-7 are installed on the fixed bracket 5-2. Among them, the wire guiding pneumatic gripper 5-3 is installed on the leftmost side of the fixed bracket 5-2, the pneumatic scissor 5-7 is installed on the rightmost side, the pneumatic clamp 5-6 is installed on the left side of the pneumatic scissor 5-7, the rotating platform 5-4 is installed in the middle of the wire guiding pneumatic gripper 5-3 and the pneumatic clamp 5-6, and the pressing welding head 5-5 is installed directly below the hollow rotating platform 5-4 and is fixedly connected to the rotating platform 5-4. The pressing welding head 5-5 realizes clockwise and counterclockwise rotation through the rotating platform 5-4, so as to adjust the position and posture of the pressing welding head and ensure that the welding electrode head is in full contact with the bale wire during welding. Two pressing cylinders are installed on the pressing welding head 5-5 to provide pressing force, ensure the contact between the connecting wire and the bale wire during welding, and is beneficial to the welding quality.

[0010] The pressing welding head 5-5 is composed of two pressing cylinders 5-5-1, an insulating plate 5-5-2, three guide sleeves 5-5-3 and three electrodes 5-5-4. The two pressing cylinders 5-5-1 and the three guide sleeves 5-5-3 are fixedly connected through the insulating plate 5-5-2, and the three electrodes 5-5-4 are installed in the guide sleeves 5-5-3. Buffer springs are installed in the guide sleeves 5-5-3 to ensure a certain buffering effect when the electrodes contact the bale wire. One end face of the electrode head is machined into an arc shape, which can ensure a large contact area between the electrode and the bale wire.

[0011] The beneficial effects of the device of the present invention are:

[0012] (1) Automated operation, simple structure, good reliability and high production efficiency;

[0013] (2) Replacing the traditional manual operation mode can effectively reduce the casualty rate of production accidents and labor costs of employees;

[0014] (3) Improve the firmness of baling, and bring many conveniences to the transportation and storage of hot-rolled coils. Description of the Drawings

[0015] Figure 1 is the overall structural schematic diagram of the hot-rolled coil bale wire connecting robot of the present invention;

[0016] Figure 2 is the first perspective view of the structural schematic diagram of the connecting wire feeding device 2 of the present invention;

[0017] Figure 3 It is the second perspective of the structural schematic diagram of the connecting wire feeding device 2 of the present invention;

[0018] Figure 4 It is the structural schematic diagram of the annular moving device 3 of the present invention;

[0019] Figure 5 It is the installation structural schematic diagram of the power slider 3-5 and the annular guide rail 3-4 of the present invention;

[0020] Figure 6 It is the overall structural schematic diagram of the tying wire connecting manipulator 5 of the present invention;

[0021] Figure 7 It is the structural schematic diagram of the pressing welding head 5-5 of the present invention;

[0022] Figure 8 It is the schematic diagram of the working scene of the hot-rolled coil tying wire connecting robot of the present invention;

[0023] Figure 9 It is the structural schematic diagram of the completion of the tying wire connection of the present invention. Embodiment

[0024] Combined with the attached Figures 1-9 The structure and operation of the present invention will be described.

[0025] Taking the circumferential connection and fixation operation of the hot-rolled coil tying wire as an example, an automated operation is realized by using a linear module, a connecting wire feeding device, an annular moving device, a stereo camera, a tying wire connecting manipulator, and a lifting cylinder.

[0026] The hot-rolled coil tying wire connecting robot is arranged on one side close to the opening direction of the C-shaped hook and is used for connecting the hot-rolled coil tying wire. It includes a horizontal linear module 1, a connecting wire feeding device 2, an annular moving device 3, a stereo camera 4, a tying wire connecting manipulator 5, and a lifting cylinder 6. Two identical horizontal linear modules 1 are arranged in parallel and fixed on the ground. The connecting wire feeding device 2 is installed on the front horizontal linear module 1. The annular moving device 3 is installed on the sliders of the two horizontal linear modules 1. The annular moving device 3 is fixed at the middle position between the two horizontal linear modules 1. The connecting wire feeding device 2 is arranged on the right side of the annular moving device 3. The stereo camera 4 is installed at a position on the left side of the slider of the annular moving device 3. The tying wire connecting manipulator 5 is installed at a position on the right side of the slider of the annular moving device 3. The lifting cylinder 6 is arranged in a pit on the right side in the middle of the two horizontal linear modules 1 and is installed directly below the hot-rolled coil tying wire connecting station.

[0027] The connecting wire feeding device 2 includes a feeding device support 2-1, a feeding motor 2-2, a spool 2-3, an adjusting rod 2-4, and a tension sensor 2-5. The feeding device support 2-1 is fixed on the slider of the front horizontal linear module 1. The feeding motor 2-2 is installed on the left side of the feeding device support 2-1, and the spool 2-3 is installed on the right side of the feeding device support 2-1. The feeding motor 2-2 and the spool 2-3 are connected to the intermediate rotating shaft through a coupling. The axial spacing of the spool can be adjusted through the buckles on both sides of the spool. Four waist-shaped holes at 90 degrees are opened on the spool, and the four adjusting rods 2-4 can slide in the four waist-shaped holes to fix connecting wire bundles of different specifications. The tension sensor 2-5 is fixed on the upper right side of the feeding device support, and the tension sensor 2-5 is arranged directly above the feeding spool. When feeding the wire, the connecting wire passes through the tension sensor 2-5.

[0028] The circular moving device 3 includes columns 3-1, height adjustment linear modules 3-2, circular guide rail mounting plates 3-3, circular guide rails 3-4, and power sliders 3-5. The two columns 3-1 are respectively and fixedly installed on the two horizontal linear modules 1. A height adjustment linear module 3-2 is installed on each column 3-1. A circular guide rail mounting plate 3-3 is installed on the slider of each adjustment linear module 3-2. The circular guide rail 3-4 is fixedly installed in the middle of the two circular guide rail mounting plates 3-3. The power slider 3-5 is arranged on the circular guide rail 3-4, and the power slider 3-5 realizes circular motion on the circular guide rail 3-4.

[0029] The power slider 3-5 includes a circular motion motor 3-5-1, two pairs of rollers 3-5-2, and a circular guide plate 3-5-3. The power slider 3-5 meshes with the circular rack on the circular guide rail 3-4 through the gear on the shaft of the circular motion motor 3-5-1, and the two pairs of rollers 3-5-2 and the circular guide plate 3-5-3 cooperate with the double-edge circular track on the circular guide rail 3-4.

[0030] The tying wire connecting manipulator 5 includes a radial linear module 5-1, a fixed bracket 5-2, a wire guiding gripper 5-3, a rotating platform 5-4, a pressing welding head 5-5, a pneumatic clamp 5-6 and a pneumatic scissor 5-7. The tying wire connecting manipulator 5 is fixedly connected to the power slider on the annular rail moving module through the slider on the radial linear module 5-1. The fixed bracket 5-2 is fixedly connected to the radial linear module 5-1. The wire guiding gripper 5-3, the rotating platform 5-4, the pressing welding head 5-5, the pneumatic clamp 5-6 and the pneumatic scissor 5-7 are installed on the fixed bracket 5-2. Among them, the wire guiding gripper 5-3 is installed at the leftmost side of the fixed bracket 5-2, the pneumatic scissor 5-7 is installed at the rightmost side, the pneumatic clamp 5-6 is installed on the left side of the pneumatic scissor 5-7, the rotating platform 5-4 is installed in the middle of the wire guiding gripper 5-3 and the pneumatic clamp 5-6, and the pressing welding head 5-5 is installed directly below the hollow rotating platform 5-4 and is fixedly connected to the rotating platform 5-4. The pressing welding head 5-5 realizes clockwise and counterclockwise rotation through the rotating platform 5-4, thereby adjusting the pose of the pressing welding head to ensure that the welding electrode head is in full contact with the tying wire during welding. Two pressing cylinders are installed on the pressing welding head 5-5 to provide pressing force to ensure the contact between the connecting wire and the tying wire during welding, which is beneficial to the welding quality.

[0031] The pressing welding head 5-5 is composed of two pressing cylinders 5-5-1, an insulating plate 5-5-2, three guide sleeves 5-5-3 and three electrodes 5-5-4. The two pressing cylinders 5-5-1 and the three guide sleeves 5-5-3 are fixedly connected through the insulating plate 5-5-2, and the three electrodes 5-5-4 are installed in the guide sleeves 5-5-3. Buffer springs are installed in the guide sleeves 5-5-3 to ensure a certain buffering effect when the electrodes contact the tying wire. One end face of the electrode head is machined into an arc shape to ensure a large contact area between the electrode and the tying wire.

[0032] The working process of the hot-rolled coil tying wire connecting robot is as follows:

[0033] (1) Initial stage

[0034] When the hot-rolled coil tying wire robot is in the initial position and receives the measurement data from the production information database, the hot-rolled coil tying wire connecting robot adjusts the height of the annular moving device 3 so that the axis of the annular rail coincides with the axis of the wire.

[0035] (2) Start of operation

[0036] 1) When the hot-rolled coil tying wire connecting robot receives the signal that the coil reaches the specified position, it moves along the horizontal linear module 1 to the tying wire connecting position;

[0037] 2) The lifting cylinder 6 works to support the bottom surface of the wire, and the connecting wire feeding device 2 feeds wire passively;

[0038] 3) The tying wire connecting manipulator 5 holds the connecting wire and moves along the annular guide rail 3-4 through the power slider 3-5. It rotates one week to lay the connecting wire on the wire rod, and the tying wire connecting manipulator 5 reaches the fixed position one;

[0039] 4) The stereo camera 4 identifies the tying wire at the fixed position one. After identifying the welding positions 1 and 2 of the tying wire at the fixed position one, the power slider 3-5 drives the tying wire connecting manipulator 5 to move along the annular guide rail 3-4. At the same time, the rotating platform 5-4 drives the pressing welding head 5-5 to rotate to adjust the pose of the pressing welding head 5-5. When the pressing welding head 5-5 reaches directly above the welding position 1, the power slider 3-5 stops moving. The radial linear module 5-1 drives the tying wire connecting manipulator 5 to approach the welding position 1 radially and lays the connecting wire on the tying wire. Then the pressing cylinder 5-5-1 is ventilated, and the cylinder column moves radially to drive the three electrode heads 5-5-4 to press the connecting wire and the tying wire. The electrode heads 5-5-4 are energized for welding. After welding is completed, the wire guiding gripper 5-3 and the pneumatic clamp 5-6 open. The cylinder column returns to the initial position. The power slider 3-5 drives the tying wire connecting manipulator 5 to move along the annular guide rail 3-4. At the same time, the rotating platform 5-4 drives the pressing welding head 5-5 to rotate to adjust the pose of the pressing welding head 5-5. When the pressing welding head 5-5 reaches directly above the welding position 2, the power slider 3-5 stops moving. The wire guiding gripper 5-3 and the pneumatic clamp 5-6 close. The cylinder column moves radially to drive the three electrode heads 5-5-4 to press the connecting wire and the tying wire. The electrode heads 5-5-4 are energized for welding. After welding is completed, the wire guiding gripper 5-3 and the pneumatic clamp 5-6 open. The cylinder column returns to the initial position. The radial linear module 5-1 drives the tying wire connecting manipulator 5 to reset radially, and the rotating platform 5-4 drives the pressing welding head 5-5 to rotate and reset. The tying wire at the fixed position one is welded;

[0040] 5) The wire gripper 5-3 moves along the connecting wire to the fixed position two, and the stereo camera 4 identifies the binding wire at the fixed position two. After identifying the welding positions 3 and 4 of the binding wire at the fixed position two, the power slider 3-5 drives the binding wire connecting manipulator 5 to move along the annular guide rail 3-4, and at the same time, the rotating platform 5-4 drives the pressing welding head 5-5 to rotate to adjust the pose of the pressing welding head 5-5. When the pressing welding head 5-5 reaches directly above the welding position 3, the power slider 3-5 stops moving. The radial linear module 5-1 drives the binding wire connecting manipulator 5 to approach the welding position 3 radially, and places the connecting wire on the binding wire. Then, the pressing cylinder 5-5-1 is ventilated, and the cylinder column moves radially to drive the three electrode heads 5-5-4 to press the connecting wire and the binding wire. The electrode heads 5-5-4 are energized for welding. After welding is completed, the wire gripper 5-3 and the pneumatic clamp 5-6 open. The cylinder column returns to the initial position. The power slider 3-5 drives the binding wire connecting manipulator 5 to move along the annular guide rail 3-4, and at the same time, the rotating platform 5-4 drives the pressing welding head 5-5 to rotate to adjust the pose of the pressing welding head 5-5. When the pressing welding head 5-5 reaches directly above the welding position 4, the power slider 3-5 stops moving. The wire gripper 5-3 and the pneumatic clamp 5-6 close. The cylinder column moves radially to drive the three electrode heads 5-5-4 to press the connecting wire and the binding wire. The electrode heads 5-5-4 are energized for welding. After welding is completed, the wire gripper 5-3 and the pneumatic clamp 5-6 open. The cylinder column returns to the initial position. The radial linear module 5-1 drives the binding wire connecting manipulator 5 to reset radially, and the rotating platform 5-4 drives the pressing welding head 5-5 to rotate and reset. The welding of the binding wire at the fixed position two is completed;

[0041] 6) The wire gripper 5-3 moves along the connecting wire to the fixed position three, and the stereo camera 4 identifies the binding wire at the fixed position three. After identifying the welding positions 5 and 6 of the binding wire at the fixed position three, the power slider 3-5 drives the binding wire connecting manipulator 5 to move along the annular guide rail 3-4. At the same time, the rotating platform 5-4 drives the pressing welding head 5-5 to rotate to adjust the pose of the pressing welding head 5-5. When the pressing welding head 5-5 reaches directly above the welding position 5, the power slider 3-5 stops moving. The radial linear module 5-1 drives the binding wire connecting manipulator 5 to approach the welding position 5 radially and places the connecting wire on the binding wire. Then, the pressing cylinder 5-5-1 is ventilated, and the cylinder column moves radially to drive the three electrode heads 5-5-4 to press the connecting wire and the binding wire. The electrode heads 5-5-4 are energized for welding. After welding is completed, the wire gripper 5-3 and the pneumatic clamp 5-6 open. The cylinder column returns to the initial position. The power slider 3-5 drives the binding wire connecting manipulator 5 to move along the annular guide rail 3-4. At the same time, the rotating platform 5-4 drives the pressing welding head 5-5 to rotate to adjust the pose of the pressing welding head 5-5. When the pressing welding head 5-5 reaches directly above the welding position 6, the power slider 3-5 stops moving. The wire gripper 5-3 and the pneumatic clamp 5-6 close. The cylinder column moves radially to drive the three electrode heads 5-5-4 to press the connecting wire and the binding wire. The electrode heads 5-5-4 are energized for welding. After welding is completed, the wire gripper 5-3 and the pneumatic clamp 5-6 open. The cylinder column returns to the initial position. The radial linear module 5-1 drives the binding wire connecting manipulator 5 to reset radially, and the rotating platform 5-4 drives the pressing welding head 5-5 to rotate and reset. The welding of the binding wire at the fixed position three is completed;

[0042] 7) The wire gripper 5-3 moves along the connecting wire to the fixed position four, and the stereo camera 4 identifies the tying wire at the fixed position four. After identifying the welding positions 7 and 8 of the tying wire at the fixed position four, the power slider 3-5 drives the tying wire connecting manipulator 5 to move along the annular guide rail 3-4, and at the same time the rotating platform 5-4 drives the pressing welding head 5-5 to rotate to adjust the pose of the pressing welding head 5-5. When the pressing welding head 5-5 reaches directly above the welding position 7, the power slider 3-5 stops moving. The radial linear module 5-1 drives the tying wire connecting manipulator 5 to approach the welding position 7 radially, and places the connecting wire on the tying wire. Then the pressing cylinder 5-5-1 is ventilated, and the cylinder column moves radially to drive the three electrode heads 5-5-4 to press the connecting wire and the tying wire. The electrode heads 5-5-4 are energized for welding. After welding is completed, the wire gripper 5-3 and the pneumatic clamp 5-6 open. The cylinder column returns to the initial position. The power slider 3-5 drives the tying wire connecting manipulator 5 to move along the annular guide rail 3-4, and at the same time the rotating platform 5-4 drives the pressing welding head 5-5 to rotate to adjust the pose of the pressing welding head 5-5. When the pressing welding head 5-5 reaches directly above the welding position 8, the power slider 3-5 stops moving. The wire gripper 5-3 and the pneumatic clamp 5-6 close. The cylinder column moves radially to drive the three electrode heads 5-5-4 to press the connecting wire and the tying wire. The electrode heads 5-5-4 are energized for welding. After welding is completed, the wire gripper 5-3 and the pneumatic clamp 5-6 open. The cylinder column returns to the initial position. The radial linear module 5-1 drives the tying wire connecting manipulator 5 to return radially, and the rotating platform 5-4 drives the pressing welding head 5-5 to rotate and return. The tying wire at the fixed position four is welded;

[0043] 8) The wire guide gripper 5-3 draws the connecting wire back to the welding position 1. The rotating platform 5-4 drives the pressing welding head 5-5 to rotate, and adjusts the pose of the pressing welding head 5-5 to be the same as that of the welding position 1. At the same time, the hot-rolled coil tying wire connecting robot moves 10 mm along the horizontal linear module 1 direction. The radial linear module 5-1 drives the tying wire connecting manipulator 5 to approach the welding position 1 radially, and places the connecting wire on the tying wire. Then, the pressing cylinder 5-5-1 is ventilated, and the radial movement of the cylinder column drives the three electrode heads 5-5-4 to press the connecting wire and the tying wire. The electrode heads 5-5-4 are energized for welding. After welding is completed, the wire guide gripper 5-3 and the pneumatic clamp 5-6 open. The cylinder column returns to the initial position. The power slider 3-5 drives the tying wire connecting manipulator 5 to move along the annular guide rail 3-4, and at the same time, the rotating platform 5-4 drives the pressing welding head 5-5 to rotate, and adjusts the pose of the pressing welding head 5-5 to be the same as that of the welding position 2. When the pressing welding head 5-5 reaches directly above the welding position 2, the power slider 3-5 stops moving. The wire guide gripper 5-3 and the pneumatic clamp 5-6 close. The radial movement of the cylinder column drives the three electrode heads 5-5-4 to press the connecting wire and the tying wire. The electrode heads 5-5-4 are energized for welding. After welding is completed, the wire guide gripper 5-3 and the pneumatic clamp 5-6 open. The cylinder column returns to the initial position. The radial linear module 5-1 drives the tying wire connecting manipulator 5 to reset radially, and the rotating platform 5-4 drives the pressing welding head 5-5 to rotate and reset. The welding connection of the entire tying wire is completed;

[0044] (3) End stage

[0045] 1) The power slider 3-5 drives the tying wire connecting manipulator 5 to move along the annular guide rail 3-4 to above the shearing position. The radial linear module 5-1 drives the tying wire connecting manipulator 5 to reach the shearing height radially. The wire guide gripper 5-3 and the pneumatic clamp 5-6 close, and the pneumatic scissors 5-7 are ventilated to cut the connecting wire;

[0046] 2) The power slider 3-5 drives the tying wire connecting manipulator 5 to move along the annular guide rail 3-4 to the initial position, and the tying wire connecting robot moves to the initial position;

[0047] 3) Wait for the measurement data of the next bundle received by the production information database.

Claims

1. A tying wire connecting robot for hot-rolled coils, arranged on one side close to the opening direction of the C-hook, used for connecting the tying wires of hot-rolled coils, comprising a horizontal linear module (1), a connecting wire feeding device (2), an annular moving device (3), a stereo camera (4), a tying wire connecting manipulator (5) and a lifting cylinder (6), characterized in that, Two identical horizontal linear modules (1) are arranged in parallel and fixed on the ground. The connecting wire feeding device (2) is installed on the front horizontal linear module (1). The annular moving device (3) is installed on the sliders of the two horizontal linear modules (1). The annular moving device (3) is fixed at the middle position between the two horizontal linear modules (1). The connecting wire feeding device (2) is arranged on the right side of the annular moving device (3). The stereo camera (4) is installed at the position on the left side of the slider of the annular moving device (3). The tying wire connecting manipulator (5) is installed at the position on the right side of the slider of the annular moving device (3). The lifting cylinder (6) is arranged in the pit on the right side in the middle of the two horizontal linear modules (1), directly below the tying position of the hot-rolled coil tying wire. The connecting wire feeding device (2) includes a wire feeding device bracket (2-1), a wire feeding motor (2-2), a coil (2-3), an adjusting rod (2-4), and a tension sensor (2-5). The wire feeding device bracket (2-1) is fixed on the slider of the front horizontal linear module (1). The wire feeding motor (2-2) is installed on the left side of the wire feeding device bracket (2-1). The coil (2-3) is installed on the right side of the wire feeding device bracket (2-1). The wire feeding motor (2-2) and the coil (2-3) are connected to the middle rotating shaft through a coupling. The axial distance of the coil can be adjusted by the buckles on both sides of the coil. Four waist-shaped holes are opened on the coil at 90 degrees. Four adjusting rods (2-4) can slide in the four waist-shaped holes to fix connecting wire bundles of different specifications. The tension sensor (2-5) is fixed on the upper right side of the wire feeding device bracket, directly above the feeding coil. When feeding wire, the connecting wire passes through the tension sensor (2-5). The annular moving device (3) includes columns (3-1), a height adjustment linear module (3-2), an annular guide rail mounting plate (3-3), an annular guide rail (3-4), and a power slider (3-5). The two columns (3-1) are respectively fixed on the two horizontal linear modules (1). A height adjustment linear module (3-2) is installed on each column (3-1). The annular guide rail mounting plate (3-3) is installed on the slider of each height adjustment linear module (3-2). The annular guide rail (3-4) is fixedly installed in the middle of the two annular guide rail mounting plates (3-3). The power slider (3-5) is arranged on the annular guide rail (3-4). The power slider (3-5) realizes circular motion on the annular guide rail (3-4). The power slider (3-5) includes an annular motion motor (3-5-1), two pairs of rollers (3-5-2), and an annular guide plate (3-5-3). The power slider (3-5) meshes with the annular rack on the annular guide rail (3-4) through the gear on the shaft of the annular motion motor (3-5-1). The two pairs of rollers (3-5-2) and the annular guide plate (3-5-3) cooperate with the double-edge annular track on the annular guide rail (3-4).The bale wire connecting manipulator (5) includes a radial linear module (5-1), a fixed bracket (5-2), a wire guiding air gripper (5-3), a rotating platform (5-4), a pressing welding head (5-5), a pneumatic clamp (5-6) and a pneumatic scissors (5-7).

2. The hot-rolled coil strapping line connecting robot according to claim 1, characterized in that The bale wire connecting manipulator (5) is fixedly connected to the power slider on the annular guide rail moving module through the slider on the radial linear module (5-1). The fixed bracket (5-2) is fixedly connected to the radial linear module (5-1). The wire guiding gripper (5-3), the rotating platform (5-4), the pressing welding head (5-5), the pneumatic clamp (5-6) and the pneumatic scissors (5-7) are installed on the fixed bracket (5-2). Among them, the wire guiding gripper (5-3) is installed on the leftmost side of the fixed bracket (5-2), the pneumatic scissors (5-7) are installed on the rightmost side, the pneumatic clamp (5-6) is installed on the left side of the pneumatic scissors (5-7), the rotating platform (5-4) is installed in the middle of the wire guiding gripper (5-3) and the pneumatic clamp (5-6), and the pressing welding head (5-5) is installed directly below the rotating platform (5-4) and is fixedly connected to the rotating platform (5-4). The pressing welding head (5-5) realizes clockwise and counterclockwise rotation through the rotating platform (5-4), thereby adjusting the pose of the pressing welding head to ensure that the welding electrode head is in full contact with the bale wire during welding. Two pressing cylinders are installed on the pressing welding head (5-5).

3. The tying wire connecting robot for hot-rolled coils according to claim 2, characterized in that, The pressing welding head (5-5) is composed of two pressing cylinders (5-5-1), an insulating plate (5-5-2), three guide sleeves (5-5-3) and three electrodes (5-5-4). The two pressing cylinders (5-5-1) and the three guide sleeves (5-5-3) are fixedly connected through the insulating plate (5-5-2). The three electrodes (5-5-4) are installed in the guide sleeves (5-5-3), and buffer springs are installed in the guide sleeves (5-5-3).

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