Bundling belt detaching robot device

Abstract

The invention discloses a binding belt detaching robot device which comprises a support plate, an oil cylinder mounting plate is arranged at the bottom of the support plate, and a hydraulic oil cylinder is arranged on the oil cylinder mounting plate; an oil cylinder piston rod is arranged in the hydraulic oil cylinder; a slide way is arranged in the slide way supporting seat, a slide block is arranged in the slide way, the slide block is connected with one end of a piston rod of the oil cylinder, and a movable cutter is arranged on the slide block; a fixed cutter is arranged on one side of the movable cutter; a detection rod is arranged on one side edge of the slide way supporting seat, and a proximity switch is arranged on one side of the detection rod; a pressing cutter is arranged at the tail part of the slide way supporting seat, a second fixing seat is arranged at the tail end of the slide way supporting seat, and a clamping jaw device is arranged on the second fixing seat; and at least one laser range finder is arranged on the bracket plate. The binding belt detaching robot device is high in safety, capable of greatly improving the production efficiency and reducing the labor cost, high in automation degree and diversified in function.

Description

Technical Field

[0001] The invention relates to the technical field of steel coil production, packaging and disassembly, and in particular to a strapping removal robot device. Background Art

[0002] Nowadays, the use of stainless steel, carbon steel, zinc, aluminum and other materials is increasing. During the transportation of these materials, they are usually bundled with steel belts and then transported. Then they need to be unbundled in the next process. However, the unbundling workstation is labor-intensive and has a high risk factor, which brings certain hidden dangers.

[0003] With the rise of China's intelligent manufacturing technology, more and more domestic steel companies have upgraded the existing manual unbundling of steel coils to automatic unbundling of steel coils by robots in order to eliminate the risks of manual operations, improve labor productivity, and reduce labor intensity. A domestic steel company took the lead in introducing several sets of unbundling robot systems from abroad. The overall use is good, but there are still cases of unbundling failures. The main reasons are as follows: First, the robot did not scoop up and cut the straps, and second, the straps were pressed by the steel coils and slipped from the robot's end effector.

[0004] Therefore, people hope that there will be a more intelligent strapping robot device that can automatically cut the strapping, automatically detect the strapping position, improve safety, reduce labor costs, and improve production efficiency. Summary of the invention

[0005] The main purpose of the present invention is to provide a strapping robot device which has high safety, greatly improves production efficiency, reduces labor costs, has a high degree of automation and has multiple functions.

[0006] To achieve the above-mentioned purpose, the present invention provides a strap-removing robot device, comprising a support plate, a cylinder mounting plate is arranged at the bottom of the support plate, the cylinder mounting plate includes a first fixing seat and a slideway support seat, a hydraulic cylinder is arranged on one side of the cylinder mounting plate; the hydraulic cylinder includes a cylinder piston rod;

[0007] The slideway support seat includes a slideway, a slider is arranged in the slideway, the slider is connected to one end of the cylinder piston rod, and the other end of the cylinder piston rod is connected to the hydraulic cylinder; a movable cutter is arranged on the slider; a fixed cutter is arranged on one side of the movable cutter, the movable cutter and the fixed cutter form a scissors structure, and the fixed cutter abuts against one side of the slideway support seat;

[0008] A detection rod is arranged on one side of the slideway support seat, a proximity switch is arranged on one side of the detection rod, and the proximity switch is arranged on the cylinder mounting plate;

[0009] The tail of the slideway support seat is provided with a pressing knife, the tail end of the slideway support seat is provided with a second fixing seat, and the second fixing seat is provided with a clamping claw device; at least one laser rangefinder is provided on the bracket plate.

[0010] Optionally, a first spring shaft is provided between the support plate and the cylinder mounting plate, and the cylinder mounting plate is connected to the support plate via the first spring shaft.

[0011] Optionally, a belt pressing rod is provided at the bottom of the support plate, and the belt pressing rod is provided on one side of the detection rod.

[0012] Optionally, the tape pressing rod comprises a tape pressing head and a second spring shaft, the support plate is provided with a tape pressing rod hole, and the tape pressing head is arranged in the tape pressing rod hole through the second spring shaft.

[0013] Optionally, the second fixing seat is provided with a clamping jaw device including a fixed clamping jaw and a movable clamping jaw, and the fixed clamping jaw and the movable clamping jaw are respectively arranged on both sides of the second fixing seat.

[0014] Optionally, one side of the second fixing seat includes a connecting seat, and the fixed clamp is arranged on the connecting seat; the other side of the second fixing seat includes a groove, and the movable clamp is arranged in the groove.

[0015] Optionally, the pressing knife includes a third spring shaft, the third spring shaft is arranged on the cylinder mounting plate, and the pressing knife is connected to the cylinder mounting plate through the third spring shaft.

[0016] Optionally, the detection rod includes a detection rod hole, the detection rod hole is arranged on the cylinder mounting plate, and the detection rod is arranged on the cylinder mounting plate through the detection rod hole.

[0017] Optionally, two laser rangefinders, a first laser rangefinder and a second laser rangefinder, are arranged on the support plate.

[0018] Optionally, a connecting flange is provided on the bracket plate.

[0019] The beneficial technical effects of the present invention are as follows: the strapping robot device of the present invention comprises a support plate, a cylinder mounting plate is arranged at the bottom of the support plate, and a hydraulic cylinder is arranged on one side of the cylinder mounting plate; the present invention only has one hydraulic cylinder to provide power for shearing the steel strap, and the structure is more reasonable, the cost is reduced, and it is convenient for users to use; the present invention can automatically cut the strapping and automatically detect the position of the strapping, greatly improving safety and production efficiency; the present invention has a high degree of automation, reduces labor costs, has diverse functions, and is suitable for widespread promotion and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0021] Figure 1 It is a structural schematic diagram of an embodiment of a strap-removing robot device of the present invention;

[0022] Figure 2 Another structural schematic diagram of an embodiment of the strapping removal robot device of the present invention;

[0023] Figure 3 A schematic diagram of the disassembly of an embodiment of a strap-removing robot device of the present invention;

[0024] Figure 4 Another schematic diagram of an embodiment of the strapping removal robot device of the present invention;

[0025] Figure 5 A third disassembly schematic diagram of an embodiment of the strap-removing robot device of the present invention;

[0026] Figure 6 This is a fourth disassembly schematic diagram of an embodiment of the strap-removing robot device of the present invention;

[0027] Figure 7 This is a third structural schematic diagram of an embodiment of a strap-removing robot device according to the present invention.

[0028] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0031] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0033] The invention provides a strapping robot device.

[0034] Example 1

[0035] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 In one embodiment of the present invention, the strapping robot device comprises a support plate 10, a cylinder mounting plate 20 is arranged at the bottom of the support plate 20, the cylinder mounting plate 20 comprises a first fixing seat 30 and a slideway support seat 60, preferably, the first fixing seat 30 and the slideway support seat 60 are fixedly connected, the first fixing seat 30 is used to stabilize and support the slideway support seat 60; a hydraulic cylinder 40 is arranged on one side of the cylinder mounting plate 20; the hydraulic cylinder 40 comprises a cylinder piston rod 50;

[0036] The slideway support seat 60 includes a slideway 63, and a slider 170 is arranged in the slideway 63. The slider 170 is connected to one end of the cylinder piston rod 50, and the other end of the cylinder piston rod 50 is connected to the hydraulic cylinder 40; a movable cutter 64 is arranged on the slider 170; a fixed cutter 65 is arranged on one side of the movable cutter 64, and the movable cutter 64 and the fixed cutter 65 form a scissors structure, and the fixed cutter 65 abuts against one side of the slideway support seat 60;

[0037] A detection rod 80 is disposed on one side of the slideway support seat 60, and a proximity switch 81 is disposed on one side of the detection rod 80, and the proximity switch 81 is disposed on the cylinder mounting plate 20;

[0038] A pressing knife 130 is arranged at the tail of the slideway support seat 60 , and a second fixing seat 180 is arranged at the tail end of the slideway support seat 60 , and a clamping claw device is arranged on the second fixing seat 180 ; at least one laser rangefinder is arranged on the bracket plate 10 .

[0039] See also Figure 2 In this embodiment, preferably, a first spring shaft 21 is provided between the support plate 10 and the cylinder mounting plate 20, and the cylinder mounting plate 20 is connected to the support plate 10 via the first spring shaft 21. According to actual needs, a plurality of first spring shafts 21 may be provided between the cylinder mounting plate 20 and the support plate 10.

[0040] refer to Figure 3 , Figure 4 , Figure 5 , Figure 6 In this embodiment, the slide support seat 60 includes a first side plate 61 and a second side plate 62, and the slide 63 is arranged between the first side plate 61 and the second side plate 63; the fixed cutter 65 abuts against the first side plate 61, preferably; the fixed cutter 65 abuts against the first side plate 61 through the side edges therebetween, and then is fixedly connected together by a nut;

[0041] See also Figure 3 In this embodiment, a slider 170 is provided on the slideway 63, and the slider 170 is connected to one end of the cylinder piston rod 50. The hydraulic cylinder 40 includes a piston rod hole 41, and the other end of the cylinder piston rod 50 is connected to the hydraulic cylinder 40 through the piston rod hole 41; the side wall of the hydraulic cylinder 40 includes a first joint 42 and a second joint 43, and the first joint 42 and the second joint 43 are used to fix the hydraulic cylinder 40 to prevent the hydraulic cylinder 40 from loosening due to vibration when the cylinder piston rod 50 moves.

[0042] refer to Figure 4In this embodiment, preferably, a limit block fixing seat 161 is arranged between the front end of the slide support seat 60 and the rear end of the hydraulic cylinder 40, and a limit block 160 is arranged on the limit block fixing seat 161. The limit block 160 is used to limit the sliding of the slide support seat 60, so that the slide support seat 60 is more stable and safer to use.

[0043] See also Figure 1 , Figure 3 , Figure 4 , Figure 5 , Figure 6 In this embodiment, preferably, a belt pressing rod 70 is provided at the bottom of the bracket plate 10 , and the belt pressing rod 70 is provided on one side of the detection rod 80 .

[0044] See also Figure 4 In this embodiment, further, preferably, the tape pressing rod 70 includes a tape pressing head 701 and a second spring shaft 702, and the support plate 20 is provided with a tape pressing rod hole 71, and the tape pressing head 701 is arranged in the tape pressing rod hole 71 through the second spring shaft 702. In other words, the tape pressing rod 70 is connected to the support plate 20 through the tape pressing rod hole 71.

[0045] See also Figure 4 , Figure 6 In this embodiment, preferably, the second fixing seat 180 is provided with a clamping jaw device including a fixed clamping jaw 140 and a movable clamping jaw 150 , and the fixed clamping jaw 140 and the movable clamping jaw 150 are respectively arranged on both sides of the second fixing seat 180 .

[0046] In this embodiment, further, preferably, one side of the second fixing seat 180 includes a connecting seat 141 , and the fixed clamping claw 140 is arranged on the connecting seat 141 ; the other side of the second fixing seat 180 includes a groove 151 , and the movable clamping claw 150 is arranged in the groove 151 .

[0047] The connecting seat 141 includes two connecting columns, a first connecting column and a second connecting column. The fixed clamp 140 is provided with a first connecting hole and a second connecting hole. The fixed clamp 140 is connected to the connecting seat 141 through the first connecting hole and the second connecting hole respectively.

[0048] See also Figure 4 , Figure 6 In this embodiment, preferably, the pressing knife 130 includes a third spring shaft 131 , and the third spring shaft 131 is disposed on the cylinder mounting plate 20 , and the pressing knife 130 is connected to the cylinder mounting plate 20 via the third spring shaft 131 .

[0049] In this embodiment, the pressing knife 130 is arranged on the cylinder mounting plate 20 through the third spring shaft 131, so that the pressing knife can clamp the steel belt more easily.

[0050] See also Figure 4 , Figure 6 In this embodiment, preferably, the detection rod 80 includes a detection rod hole 82 , and the detection rod hole 82 is arranged on the cylinder mounting plate 20 , and the detection rod 80 is arranged on the cylinder mounting plate 20 through the detection rod hole 82 .

[0051] In this embodiment, a round hole 66 is provided on the second side plate 62 of the slideway support seat 60 , and the detection rod 80 passes through the round hole 66 and is inserted into the detection rod hole 82 and is provided on the cylinder mounting plate 20 .

[0052] See also Figure 1 , Figure 4 , Figure 6 In this embodiment, preferably, the bracket plate 20 is provided with two laser rangefinders, namely a first laser rangefinder 111 and a second laser rangefinder 121.

[0053] Further, preferably, the support plate 10 includes a first side and a second side, the first side is provided with a first laser rangefinder seat 110, and the second side is provided with a second laser rangefinder seat 120; the first laser rangefinder 111 and the second laser rangefinder 121 are respectively provided in the first laser rangefinder seat 110 and the second laser rangefinder seat 120. The first laser rangefinder seat 110 and the second laser rangefinder seat 120 make the first laser rangefinder 111 and the second laser rangefinder 121 more stable and safe to use.

[0054] In this embodiment, the movable cutter 64 is fixed on a slider 170 , and the slider 170 is connected to a hydraulic cylinder piston rod 50 . The piston rod 50 drives the slider 170 to move rapidly in the slideway 63 .

[0055] When the movable cutter 64 moves, it forms a scissor-like structure with the fixed cutter 65 to quickly cut the steel strip. The pressing knife 130 and the movable cutter 64 clamp one end of the cut steel strip, and the steel strip can be stably pulled out and then put into the wrapping machine.

[0056] The strip pressing rod 70 assists in pressing the steel strip when cutting the steel strip; the detection rod 80 cooperates with the proximity switch 81 to give a signal to determine whether the movable cutter 64 and the pressing knife 130 clamp the steel strip.

[0057] The fixed clamping jaw 140 and the movable clamping jaw 150 cooperate to limit the position of the steel strip, so that the steel strip is fixed at the shearing position during the shearing process.

[0058] In this embodiment, the hydraulic cylinder 40 provides the main power for shearing. The first laser rangefinder 111 and the second laser rangefinder 121 mainly detect the position of the steel strip and the distance between the unbundling head and the steel coil.

[0059] See also Figure 1 , Figure 7 In this embodiment, preferably, a connecting flange 100 is provided on the support plate 10. Further, preferably, a disc flange 101 may be provided on the connecting flange 100. The connecting flange 100 is used to connect the manipulator and the unbundling head assembly.

[0060] The unbundling head of the present invention approaches the goods to be unbundled along with the manipulator, and determines the outer diameter of the goods to be unbundled by analyzing through the distance measuring sensor.

[0061] Then the position of the steel strip is found by the laser rangefinder. The robot moves the stripping head to the area to detect the tail of the steel coil, and scans the tail of the steel coil by the laser rangefinder to see if it appears. When the tail of the steel coil appears in the scanning area, the present invention drives the stripping head to another position to rescan the tail of the steel coil. The tail of the steel coil confirmed by the two positions is determined by the stripping machine as the real tail of the steel coil. The stripping machine feeds back the rotation distance to the ground roller, so that the steel coil rotates until the tail of the steel coil stops at the specified position.

[0062] The present invention drives the strap removal head to rescan the strap position and record the scanned strap position coordinates. The present invention drives the strap removal head to slowly approach the first strap to be cut.

[0063] When the strapping head reaches the position, the hydraulic cylinder of the strapping head extends, drives the cutter to cut the strapping belt, and clamps the cut strapping belt between the pressing knife and the cutter. The present invention drives the strapping head to slowly rise, and moves the cut strapping belt to the top of the roll-up machine according to the pre-planned path of the present invention.

[0064] The above descriptions are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A strapping robot device, characterized in that: It includes a bracket plate, a cylinder mounting plate is arranged at the bottom of the bracket plate, the cylinder mounting plate includes a first fixing seat and a slideway support seat, a hydraulic cylinder is arranged on one side of the cylinder mounting plate; the hydraulic cylinder includes a cylinder piston rod; The slideway support seat includes a slideway, a slider is arranged in the slideway, the slider is connected to one end of the cylinder piston rod, and the other end of the cylinder piston rod is connected to the hydraulic cylinder; a movable cutter is arranged on the slider; a fixed cutter is arranged on one side of the movable cutter, the movable cutter and the fixed cutter form a scissors structure, and the fixed cutter abuts against one side of the slideway support seat; A detection rod is arranged on one side of the slideway support seat, a proximity switch is arranged on one side of the detection rod, and the proximity switch is arranged on the cylinder mounting plate; The tail of the slideway support seat is provided with a pressing knife, the tail end of the slideway support seat is provided with a second fixing seat, and the second fixing seat is provided with a clamping claw device; at least one laser rangefinder is provided on the bracket plate.

2. The strapping robot device according to claim 1, characterized in that: A first spring shaft is arranged between the support plate and the oil cylinder mounting plate, and the oil cylinder mounting plate is connected to the support plate through the first spring shaft.

3. The strapping robot device according to claim 2, characterized in that: A belt pressing rod is arranged at the bottom of the support plate, and the belt pressing rod is arranged at one side of the detection rod.

4. The strapping robot device according to claim 3, characterized in that: The tape pressing rod comprises a tape pressing head and a second spring shaft. The support plate is provided with a tape pressing rod hole. The tape pressing head is arranged in the tape pressing rod hole through the second spring shaft.

5. The strapping robot device according to claim 1, characterized in that: The second fixing seat is provided with a clamping jaw device including a fixed clamping jaw and a movable clamping jaw, and the fixed clamping jaw and the movable clamping jaw are respectively arranged on both sides of the second fixing seat.

6. The strapping robot device according to claim 5, characterized in that: One side of the second fixing seat includes a connecting seat, and the fixed clamp is arranged on the connecting seat; the other side of the second fixing seat includes a groove, and the movable clamp is arranged in the groove.

7. The strapping robot device according to claim 1, characterized in that: The pressing knife comprises a third spring shaft, and the third spring shaft is arranged on the oil cylinder mounting plate, and the pressing knife is connected to the oil cylinder mounting plate through the third spring shaft.

8. The strapping robot device according to claim 1, characterized in that: The detection rod comprises a detection rod hole, and the detection rod hole is arranged on the oil cylinder mounting plate, and the detection rod is arranged on the oil cylinder mounting plate through the detection rod hole.

9. The strapping robot device according to claim 1, characterized in that: The support plate is provided with two laser rangefinders, a first laser rangefinder and a second laser rangefinder.

10. The strap-removing robot device according to claims 1 to 9, characterized in that: The support plate is provided with a connecting flange.

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