Metal coil clamp processing device and metal coil clamp processing method

Abstract

The present invention discloses a metal coil clamp processing device and a metal coil clamp processing method having the metal coil clamp processing device, wherein the metal coil clamp processing device includes a machine platform, a steel hoop mechanism, a supporting platform, a clamping mechanism and a six-axis manipulator. Through the six-axis freedom, the clamping mechanism holds the steel hoop mechanism and is sleeved on the steel coil on the support seat. The control mechanism and the transverse movement mechanism cooperate to make the steel hoop mechanism clamp the steel coil, thereby realizing full automation of steel coil clamping and improving work efficiency.

Description

Technical Field

[0001] The present invention relates to the field of steel coil bundling equipment, and in particular to a metal coil clamp processing device and a metal coil clamp processing method. Background Art

[0002] In the field of steel production and processing, the packaging and fixing of steel coils are important links, among which steel coil clamping is a key process to ensure that the steel coils remain stable and prevent loosening during transportation and storage. In traditional steel coil clamping operations, most rely on manual or semi-automatic equipment to complete, which has many shortcomings. To this end, a Chinese invention patent with application number CN202111398642.8 discloses a steel coil clamping processing equipment, including a controller, a support box, a transverse guide frame, a longitudinal guide frame, a correction roller frame mechanism, a cutting and punching mechanism, a bending mechanism and a workbench. The support box is connected to one side of the workbench, and the cutting and punching mechanism, the correction roller frame mechanism, the transverse guide frame and the longitudinal guide frame are installed on the support box from left to right in sequence. The bending mechanism is installed on the side of the support box and is located at the lower part of the workbench. The correction roller frame mechanism, the cutting and punching mechanism and the bending mechanism are all connected to the controller via cables. The clamping mechanism has a low degree of automation in the stacking, clamping, moving and position adjustment stages, making it difficult to accurately move the steel clamp mechanism to a position that matches the steel coil. This results in a time-consuming clamping process, affecting overall production efficiency. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a metal coil clamp processing device that can achieve full automation of steel coil clamping and improve work efficiency.

[0004] The present invention also provides a metal coil clamp processing method having the metal coil clamp processing device.

[0005] A metal coil clamp processing device according to a first embodiment of the present invention includes:

[0006] The machine platform has two turntables arranged side by side on one side and multiple support bases arranged side by side on the other side. The turntables can pivot on the machine platform. The multiple support bases are arranged at intervals. The upper ends of the support bases are provided with support grooves for placing steel coils.

[0007] The steel hoop mechanism includes two arc-shaped steel hoop bodies and two locking mechanisms. The two steel hoop bodies are arranged opposite to each other to form a tightening hole between the two steel hoop bodies. The two ends of the locking mechanism are respectively fixedly connected to one end of the two steel hoop bodies. The two locking mechanisms are respectively fixedly connected to the two ends of the steel hoop bodies. The locking mechanism is used to adjust the distance between the ends of the two steel hoop bodies to adjust the area of ​​the tightening hole.

[0008] A carrying platform is detachably fixed on the turntable, and the steel hoop mechanism can be stacked on the carrying platform;

[0009] A clamping mechanism for clamping the steel hoop mechanism, the clamping mechanism being provided with a control mechanism and a transverse movement mechanism, the control mechanism being used to control the locking mechanism so that the two steel hoop bodies move closer to or farther away from each other, and the transverse movement mechanism being used to control the two ends of the steel hoop body to move closer to or farther away from each other;

[0010] A six-axis manipulator has the clamping mechanism fixed at one end, the six-axis manipulator is fixed on the machine platform, and the moving range of the six-axis manipulator covers the entire machine platform.

[0011] The metal coil clamp processing device according to the embodiment of the present invention has at least the following beneficial effects: through the six-axis freedom, the clamping mechanism holds the steel hoop mechanism, and the steel hoop mechanism is sleeved on the steel coil on the support seat, and the control mechanism and the transverse movement mechanism cooperate to make the steel hoop mechanism clamp the steel coil, thereby realizing full automation of steel coil clamping and improving work efficiency.

[0012] According to some embodiments of the present invention, the locking mechanism includes:

[0013] Two connecting pieces are provided, the two connecting pieces are fixedly connected to the ends of the two steel hoop bodies respectively, and a through hole is provided through the connecting piece along the relative movement direction of the two steel hoop bodies;

[0014] A connecting shaft, with both ends passing through the two through holes, and a thread is provided on the shaft body of the connecting shaft;

[0015] a first nut, provided and fixed in one of the connecting members, the connecting shaft passing through the first nut, the first nut being engaged with the thread;

[0016] a limit block fixed to an end of the connecting shaft away from the first nut, the limit block abutting against the connecting piece away from the first nut to cooperate with the first nut to constrain the distance between the two connecting pieces;

[0017] Wherein, the control mechanism can cooperate with the end of the connecting shaft away from the first nut and control the pivoting of the connecting shaft.

[0018] According to some embodiments of the present invention, the clamping mechanism comprises:

[0019] The frame is rectangular, and a connecting portion is provided in the middle of the frame, and the connecting portion is fixedly connected to the end of the six-axis manipulator;

[0020] A vertical slide rail, with its ends respectively connected in a sliding manner to the upper side and the lower side of the frame, wherein two vertical slide rails are provided, and the two vertical slide rails are respectively arranged at the two ends of the frame, and a vertical fixed block is fixed at one end of the vertical slide rail, and a vertical slider is slidably connected to the other end;

[0021] Four clamps are provided, and the four clamps are installed on the two vertical sliders and the two vertical fixing blocks, and the clamps are used to clamp the connecting piece;

[0022] The control mechanism is slidably connected to the vertical slider and corresponds to the position of the locking mechanism; the transverse movement mechanism is fixedly connected to the vertical slide rail, and the transverse movement mechanism is used to control the sliding of the vertical slide rail.

[0023] According to some embodiments of the present invention, the end of the connecting shaft away from the first nut is fixedly connected to the second nut, and the control mechanism includes:

[0024] a hexagon socket matched with the second nut, wherein the hexagon socket can be sleeved on the second nut;

[0025] A jackhammer wrench is fixedly connected to the hexagon socket, and the jackhammer wrench is used to control the pivoting of the hexagon socket;

[0026] Wherein, the hexagonal socket and the connecting shaft are coaxially arranged, and the control mechanism can slide on the vertical sliding block along the axial direction of the connecting shaft.

[0027] According to some embodiments of the present invention, the transverse movement mechanism includes:

[0028] A transverse slide rail is fixed to the upper and lower sides of the frame, and the transverse slide rail is slidably connected to a transverse slider. At the same end of the frame, two transverse sliders are fixedly connected to the two ends of the vertical slide rail respectively;

[0029] A driving cylinder is fixed on the frame, a driving end of the driving cylinder is fixedly connected to the transverse slider, and the driving cylinder drives the transverse slider to slide along the upper side or the lower side of the frame.

[0030] According to some embodiments of the present invention, a first protrusion is provided on the surface of the connecting member, and the first protrusion is cylindrical. The clamp includes:

[0031] a positioning block fixed on the vertical sliding block or the vertical fixed block, wherein the positioning block is provided with a first limiting groove;

[0032] A sliding block is slidably connected to the vertical sliding block or the vertical fixed block, and the sliding block is provided with a second limiting groove, and the second limiting groove is correspondingly provided to the first limiting groove;

[0033] The sliding block can move along a fixed path to approach or move away from the positioning block, and the first limiting groove cooperates with the second limiting groove to form a limiting hole for clamping the first protrusion.

[0034] According to some embodiments of the present invention, the positioning block is fixedly connected with a pin, the pin is built into the first limiting groove and is coaxial with the first limiting groove, the first protrusion is penetrated by a positioning hole, the pin can be embedded in the positioning hole, wherein the side wall of the pin is provided with an annular positioning airbag, the inner wall of the positioning hole is provided with an annular positioning groove, the positioning airbag can expand or contract so that the positioning airbag is embedded in the positioning groove, or separated from the positioning groove.

[0035] According to some embodiments of the present invention, an air circuit is provided inside the positioning block, and the air circuit is provided with an air inlet and an air outlet. The air inlet is provided on the side wall of the positioning block, and the air inlet is connected to an air source through a pipeline. The air outlet passes through the side wall of the pin, and the positioning airbag is provided with an inflation port. The positions of the inflation port and the air outlet correspond to each other, so that the air circuit and the inner cavity of the positioning airbag are connected.

[0036] According to some embodiments of the present invention, the turntable is provided with two workstations, and the centers of the two workstations are symmetrically arranged with respect to one of the diameters of the turntable. The centers of the two workstations are located on the same diameter of the turntable. On a single turntable, two supporting platforms are provided, and the centers of the two supporting platforms coincide with the centers of the two workstations respectively. The upper surface of the steel hoop mechanism is provided with a first protrusion, the lower surface of the steel hoop mechanism is provided with a hole, and the upper surface of the supporting platform is provided with a second protrusion. The first protrusion is embedded in the hole so that a plurality of the steel hoop mechanisms can be stacked, and the second protrusion is embedded in the hole so that the steel hoop mechanism can be stacked on the supporting platform.

[0037] The metal coil clamp processing method according to the second embodiment of the present invention is used in the metal coil clamp processing device according to the first embodiment of the present invention, comprising the following steps:

[0038] Step 1: Stack the steel hoop mechanism onto the loading platform;

[0039] Step 2: Use the six-axis manipulator to control the clamping mechanism and clamp the steel hoop mechanism from the bearing platform;

[0040] Step 3: Use the six-axis manipulator to move the steel hoop mechanism to a position that matches the steel coil on the support seat;

[0041] Step 4: Use a six-axis manipulator to place the steel hoop mechanism on the portion of the steel coil protruding from the support seat;

[0042] Step 5: Use the control mechanism to operate the locking mechanism to move the steel hoop bodies closer to each other and reduce the distance between the two steel hoop bodies; use the transverse movement mechanism to control the two ends of the steel hoop bodies to move the two ends of the steel hoop bodies closer to each other;

[0043] Step 6: After the inner side of the steel hoop is completely in contact with the outer surface of the steel coil, use the locking mechanism to lock the entire steel hoop to the outer surface of the steel coil;

[0044] Step 7: The clamping mechanism releases the steel hoop mechanism and uses the six-axis manipulator to move the clamping mechanism to the supporting platform of the machine. If the supporting platform does not have a steel hoop mechanism, proceed to step 1; if the supporting platform has a steel hoop mechanism, proceed to step 2.

[0045] The metal coil clamp processing method according to the embodiment of the present invention has at least the following beneficial effects: through the six-axis freedom, the clamping mechanism holds the steel hoop mechanism, and the steel hoop mechanism is sleeved on the steel coil on the support seat, and the control mechanism and the transverse movement mechanism cooperate to make the steel hoop mechanism clamp the steel coil, thereby realizing full automation of steel coil clamping and improving work efficiency.

[0046] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0048] Figure 1 Schematic diagram of a metal coil clamp processing device according to an embodiment of the present invention;

[0049] Figure 2 A schematic diagram of a steel hoop mechanism and a clamping mechanism of a metal coil hoop processing device according to an embodiment of the present invention, showing one direction;

[0050] Figure 3 for Figure 2 An enlarged schematic diagram of part A;

[0051] Figure 4 A schematic diagram of the steel hoop mechanism and the clamping mechanism of the metal coil hoop processing device according to an embodiment of the present invention, viewed from another direction;

[0052] Figure 5 A schematic diagram of a steel hoop mechanism of a metal coil hoop processing device according to an embodiment of the present invention;

[0053] Figure 6A partial schematic diagram of a steel hoop mechanism of a metal coil hoop processing device according to an embodiment of the present invention;

[0054] Figure 7 Schematic cross-sectional view of a clamp of a clamping mechanism of a metal coil clamp processing device according to an embodiment of the present invention;

[0055] Figure 8 for Figure 7 An enlarged schematic diagram of part B;

[0056] Figure 9 This is a schematic diagram of a turntable and a supporting platform of a metal coil clamp processing device according to an embodiment of the present invention.

[0057] 100, machine platform; 110, turntable; 111, work station; 120, support base;

[0058] 200, steel hoop mechanism; 210, steel hoop body; 220, locking mechanism; 221, connecting piece; 2211, through hole; 2212, first protrusion; 2213, positioning hole; 22131, positioning groove; 222, connecting shaft; 223, first nut; 224, limit block; 225, second nut; 230, hoop tightening hole; 240, hole position;

[0059] 300, carrying platform; 310, second protrusion;

[0060] 400, clamping mechanism; 410, frame; 420, connecting portion; 430, vertical slide rail; 431, vertical slider; 432, vertical fixing block; 440, clamp; 441, positioning block; 4411, first limiting groove; 4412, air path; 4413, air inlet; 4414, air outlet; 442, sliding block; 4421, second limiting groove; 443, limiting hole; 444, pin; 4441, positioning airbag; 44411, inflation port;

[0061] 500, control mechanism; 510, hexagon socket; 520, jackhammer wrench;

[0062] 600, transverse movement mechanism; 610, transverse slide rail; 611, transverse slider; 620, driving cylinder;

[0063] 700, six-axis manipulator; DETAILED DESCRIPTION

[0064] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0065] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0066] In the description of the present invention, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0067] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0068] Reference Figures 1 to 9 The metal coil clamp processing device of the embodiment of the present invention includes a machine 100, a steel hoop mechanism 200, a supporting platform 300, a clamping mechanism 400 and a six-axis manipulator 700. Two turntables 110 are arranged side by side on one side of the machine 100, and a plurality of support seats 120 are arranged side by side on the other side. The turntable 110 can pivot on the machine 100, and the plurality of support seats 120 are arranged at intervals. The upper end of the support seat 120 is provided with a support groove for placing the steel coil; the steel hoop mechanism 200 includes two arc-shaped steel hoop bodies 210 and two locking mechanisms 220. The two steel hoop bodies 210 are arranged opposite to each other to form a clamping hole 230 between the two steel hoop bodies 210. The two ends of the locking mechanism 220 are respectively fixedly connected to one end of the two steel hoop bodies 210, and the two locking mechanisms 220 are respectively fixed to the steel hoop bodies 210. The two ends are fixedly connected, and the locking mechanism 220 is used to adjust the end distance of the two steel hoop bodies 210 to adjust the area of ​​the hoop hole 230; the supporting platform 300 is detachably fixedly installed on the turntable 110, and the steel hoop mechanism 200 can be stacked on the supporting platform 300; the clamping mechanism 400 is used to clamp the steel hoop mechanism 200, and the clamping mechanism 400 is provided with a control mechanism 500 and a transverse mechanism 600, and the control mechanism 500 is used to control the locking mechanism 220 so that the two steel hoop bodies 210 are close to or away from each other, and the transverse mechanism 600 is used to control the two ends of the steel hoop body 210 to be close to or away from each other; the end of the six-axis manipulator 700 is fixed with the clamping mechanism 400, and the six-axis manipulator 700 is fixed on the machine platform 100, and the moving range of the six-axis manipulator 700 covers the entire machine platform 100.

[0069] The metal coil clamp processing device of the embodiment of the present invention has the following metal coil clamp processing method, which includes the following steps:

[0070] Step 1: Stack the steel hoop mechanism 200 onto the supporting platform 300;

[0071] Step 2: Use the six-axis manipulator 700 to control the clamping mechanism 400 to clamp the steel hoop mechanism 200 from the supporting platform 300;

[0072] Step 3: Use the six-axis manipulator 700 to move the steel hoop mechanism 200 to a position that matches the steel coil on the support base 120;

[0073] Step 4: Use the six-axis manipulator 700 to sleeve the steel hoop mechanism 200 onto the portion of the steel coil protruding from the support base 120;

[0074] Step 5: Use the control mechanism 500 to control the locking mechanism 220 to move the steel hoop bodies 210 closer to each other and reduce the distance between the two steel hoop bodies 210; use the transverse movement mechanism 600 to control the two ends of the steel hoop body 210 to move the two ends of the steel hoop body 210 closer to each other;

[0075] Step 6: After the inner side of the steel hoop body 210 is completely in contact with the outer surface of the steel coil, the locking mechanism 220 is used to lock the entire steel hoop body 210 to the outer surface of the steel coil;

[0076] Step 7: The clamping mechanism 400 releases the steel hoop mechanism 200 and uses the six-axis robot 700 to move the clamping mechanism 400 to the supporting platform 300 of the machine 100. If the supporting platform 300 does not have the steel hoop mechanism 200, proceed to step 1; if the supporting platform 300 has the steel hoop mechanism 200, proceed to step 2.

[0077] In steps 1 to 7, the turntable 110 pivots and adjusts the position of the supporting platform 300, and the support groove on the support seat 120 supports the steel coil; the six-axis manipulator 700 drives the clamping mechanism 400 to clamp the steel hoop mechanism 200 from the supporting platform 300 and move it to the steel coil. The control mechanism 500 and the transverse movement mechanism 600 cooperate to adjust the position and distance of the steel hoop body 210 so that the steel hoop mechanism 200 is wrapped around the steel coil, realizing the automation of storage, clamping, movement and position adjustment of the steel hoop mechanism 200, thereby improving the flexibility of the device and the preparation efficiency of tightening the steel coil.

[0078] Specifically, refer to Figures 2 to 5The upper surface of the steel hoop mechanism 200 is provided with a first protrusion 2212, the lower surface of the steel hoop mechanism 200 is provided with a hole 240, and the upper surface of the supporting platform 300 is provided with a second protrusion 310. The first protrusion 2212 is embedded in the hole 240 to enable multiple steel hoop mechanisms 200 to be stacked, and the second protrusion 310 is embedded in the hole 240 to enable the steel hoop mechanism 200 to be stacked on the supporting platform 300. Accordingly, in step 1, the operator stacks multiple steel hoop mechanisms 200 on the supporting platform 300 in sequence (using tools such as a forklift), and uses the first protrusion 2212 and the hole 240 on the upper and lower surfaces of the steel hoop mechanism 200 to nest with each other to ensure the stability of the stacking. In order to reduce the resistance to insertion, the outer edges of the top ends of the first protrusion 2212 and the second protrusion 310 are chamfered to facilitate the stacking of the steel hoop mechanisms 200 and to facilitate the placement of the steel hoop mechanism 200 on the supporting platform 300.

[0079] It should be mentioned that, in some embodiments, referring to Figure 9 The turntable 110 is provided with two workstations 111. The centers of the two workstations 111 are symmetrically arranged with respect to one of the diameters of the turntable 110. The centers of the two workstations 111 are located on the same diameter of the turntable 110. Two supporting platforms 300 are provided on a single turntable 110. The centers of the two supporting platforms 300 coincide with the centers of the two workstations 111, respectively. In this embodiment, the two workstations 111 are used for loading and processing, respectively. When the workstation 111 is located on the side close to the support seat 120, the steel hoop mechanism 200 on the workstation 111 is used for access by the six-axis manipulator 700. When the workstation 111 is located on the side away from the support seat 120, it is used for the operator to place the stacked steel hoop mechanisms 200. Specifically, in this embodiment, the above-mentioned metal coil clamp processing method includes the following steps:

[0080] Step 1: Stack the steel hoop mechanism 200 onto the supporting platform 300;

[0081] Step 2: Use the six-axis manipulator 700 to control the clamping mechanism 400 to clamp the steel hoop mechanism 200 from the carrier platform 300 on the side close to the support base 120;

[0082] Step 3: Use the six-axis manipulator 700 to move the steel hoop mechanism 200 to a position that matches the steel coil on the support base 120;

[0083] Step 4: Use the six-axis manipulator 700 to sleeve the steel hoop mechanism 200 onto the portion of the steel coil protruding from the support base 120;

[0084] Step 5: Use the control mechanism 500 to control the locking mechanism 220 to move the steel hoop bodies 210 closer to each other and reduce the distance between the two steel hoop bodies 210; use the transverse movement mechanism 600 to control the two ends of the steel hoop body 210 to move the two ends of the steel hoop body 210 closer to each other;

[0085] Step 6: After the inner side of the steel hoop body 210 is completely in contact with the outer surface of the steel coil, the locking mechanism 220 is used to lock the entire steel hoop body 210 to the outer surface of the steel coil;

[0086] Step 7: The clamping mechanism 400 releases the steel hoop mechanism 200, and uses the six-axis manipulator 700 to move the clamping mechanism 400 to the supporting platform 300 on the side of the machine 100 close to the support seat 120. If the supporting platform 300 does not have the steel hoop mechanism 200, the turntable 110 is rotated 180°, and step 1 is performed on the supporting platform 300 on the side away from the support seat 120, and step 2 is performed at the same time.

[0087] As a further optimization of the above solution, the turntable 110 is driven by a cam divider to ensure that each turntable 110 rotates 180 degrees (along the Figure 9 The symmetrical design of the workstations 111 allows the loading time to coincide with the processing time, effectively improving the utilization rate of the equipment and enabling cyclic switching to achieve non-stop loading.

[0088] In some embodiments, reference Figure 3 and Figure 6 The locking mechanism 220 includes a connecting piece 221, a connecting shaft 222, a first nut 223 and a limit block 224. There are two connecting pieces 221, which are fixedly connected to the ends of the two steel hoop bodies 210 respectively. The two connecting pieces 221 in the locking mechanism 220 can be close to or away from each other. The clamping mechanism 400 includes a frame 410, a vertical slide rail 430 and a clamp 440. The frame 410 is rectangular. A connecting part 420 is provided in the middle of the frame 410. The connecting part 420 and the six-axis manipulator 70 0 end fixedly connected; the two ends of the vertical slide rail 430 are respectively slidably connected to the upper side and lower side of the frame 410, and two vertical slide rails 430 are provided. The two vertical slide rails 430 are respectively provided at both ends of the frame 410, and one end of the vertical slide rail 430 is fixed with a vertical fixed block 432, and the other end is slidably connected to a vertical slider 431; four clamps 440 are provided, and the four clamps 440 are installed on the two vertical sliders 431 and the two vertical fixed blocks 432. The clamp 440 is used to clamp the connecting member 221; wherein, with reference to Figure 3 The control mechanism 500 is slidably connected to the vertical slider 431 and corresponds to the position of the locking mechanism 220; the transverse mechanism 600 is fixedly connected to the vertical slide rail 430, and the transverse mechanism 600 is used to control the sliding of the vertical slide rail 430.

[0089] Among them, in the positioning stage, the transverse movement mechanism 600 drives the vertical slide rail 430 to slide horizontally along the frame 410. At the same time, the two vertical sliders 431 slide respectively on the vertical slide rail 430, so that the positions of the four clamps 440 can respectively correspond to the four connecting parts 221 at the four ends of the two steel hoop bodies 210. In the clamping stage, the connecting parts 221 are clamped by the clamps 440, and the six-axis robot 700 puts the steel hoop mechanism 200 into the steel coil, and performs the subsequent tightening process.

[0090] It can be seen from this that the driving cylinder 620 of the transverse movement mechanism 600 is rigidly connected to the vertical slide rail 430, forming a two-axis linkage of the Cartesian coordinate system, thereby facilitating the adjustment of the position of the clamp 440, and the control mechanism 500 and the vertical slide rail 430 can achieve synchronous movement, reducing positioning time.

[0091] As can be seen from the above embodiments, Figure 6 The locking mechanism 220 includes a connecting member 221, a connecting shaft 222, a first nut 223 and a limit block 224. There are two connecting members 221, and the two connecting members 221 are fixedly connected to the ends of the two steel hoop bodies 210 respectively. Further, referring to Figure 6 , along the relative movement direction of the two steel hoop bodies 210, the connecting piece 221 is penetrated by a through hole 2211; the two ends of the connecting shaft 222 pass through the two through holes 2211, and the shaft body of the connecting shaft 222 is provided with a thread; the first nut 223 is provided and fixed in one of the connecting pieces 221, the connecting shaft 222 passes through the first nut 223, and the first nut 223 is engaged with the thread; the limit block 224 is fixed at the end of the connecting shaft 222 away from the first nut 223, and the limit block 224 abuts against the connecting piece 221 away from the first nut 223 to cooperate with the first nut 223 to constrain the distance between the two connecting pieces 221; wherein, the control mechanism 500 can cooperate with the end of the connecting shaft 222 away from the first nut 223 and control the pivoting of the connecting shaft 222. In actual use, in the same locking mechanism 220, the connecting shaft 222 passes through the through holes 2211 of the two connecting parts 221, the first nut 223 is fixed to one of the connecting parts 221, and the limit block 224 abuts against the other connecting part 221; the control mechanism 500 rotates the connecting shaft 222 by manipulating the end of the connecting shaft 222 away from the first nut 223, and the connecting shaft 222 cooperates with the first nut 223 to convert the rotation of the connecting shaft 222 into a straight line and movement relative to the first nut 223. At this time, the distance between the limit block 224 and the first nut 223 gradually increases or decreases, thereby causing the two steel hoop bodies 210 (the steel hoop body 210 is an elastic curved steel belt) to move away from or approach each other.

[0092] As a further optimization of the above embodiment, in some embodiments, referring to Figure 6 The end of the connecting shaft 222 away from the first nut 223 is fixedly connected to the second nut 225. Figure 3 The control mechanism 500 includes an inner hexagon socket 510 and a pneumatic wrench 520. The inner hexagon socket 510 matches the second nut 225, and the inner hexagon socket 510 can be sleeved on the second nut 225; the pneumatic wrench 520 and the inner hexagon socket 510 are fixedly connected, and the pneumatic wrench 520 is used to control the pivoting of the inner hexagon socket 510; wherein, the inner hexagon socket 510 and the connecting shaft 222 are coaxially arranged, and the control mechanism 500 can slide on the vertical slider 431 along the axial direction of the connecting shaft 222.

[0093] Specifically, after the steel hoop mechanism 200 is sleeved on the outside of the steel coil, the hexagonal socket 510 of the control mechanism 500 is sleeved on the end of the connecting shaft 222, and the pneumatic wrench 520 is driven to rotate, and the threaded pair drives the two connecting parts 221 (relative movement between the first nut 223 and the limit block 224) to move toward each other. At the same time, the transverse movement mechanism 600 also drives the vertical slide rail 430 to move closer, so that the four ends of the two steel hoop bodies 210 move closer toward the center of the cross section of the steel coil, and then the two steel hoop bodies 210 cooperate to tighten the steel coil by abutment, and at the same time, the threaded pair between the first nut 223 and the connecting shaft 222 is used to achieve locking.

[0094] Among them, the threaded transmission realizes millimeter-level precision adjustment to meet the tolerance requirements of different steel coil diameters; the mechanical hard limit between the limit block 224 and the connecting piece 221 can prevent overload and protect the steel hoop body 210 and the locking mechanism 220.

[0095] In some embodiments, reference Figure 4The transverse movement mechanism 600 includes a transverse rail 610 and a driving cylinder 620. The transverse rail 610 is fixed to the upper and lower sides of the frame 410. The transverse slide 611 is slidably connected to the transverse slide 611. At the same end of the frame 410, the two transverse slides 611 are respectively fixedly connected to the two ends of the vertical slide 430. The driving cylinder 620 is fixed to the frame 410, and the driving end of the driving cylinder 620 is fixedly connected to the transverse slide 611. The driving cylinder 620 drives the transverse slide 611 to slide along the upper or lower side of the frame 410. The two transverse slides 611 are respectively fixedly connected to the two ends of the vertical slide 430. The sliding of the transverse slide 611 drives the vertical slide 430 and the clamp 440 installed on the vertical slide 430, the control mechanism 500 and other components to move laterally along the upper or lower side of the frame 410. During the sliding of the transverse slider 611, the transverse slide rail 610 plays a guiding role to ensure that the sliding direction of the transverse slider 611 is accurate. By controlling the extension and contraction amount and extension speed of the driving cylinder 620, the moving distance and speed of the transverse slider 611 are precisely controlled, thereby realizing the vertical slide rail 430 and ensuring that the clamp 440 is aligned with the connecting piece 221. Similarly, controlling the moving distance and speed of the transverse slider 611 can achieve precise adjustment of the transverse position of the vertical slide rail 430 and the steel hoop mechanism 200, ensuring that the steel hoop mechanism 200 can accurately move to a transverse position that matches the steel coil.

[0096] In some embodiments, reference Figure 5 Well Figure 7 The surface of the connecting member 221 is provided with a first protrusion 2212, and the first protrusion 2212 is cylindrical. The clamp 440 includes a positioning block 441 and a sliding block 442. The positioning block 441 is fixed on the vertical slider 431 or the vertical fixed block 432. The positioning block 441 is provided with a first limiting groove 4411; the sliding block 442 is slidably connected to the vertical slider 431 or the vertical fixed block 432, and the sliding block 442 is provided with a second limiting groove 4421. The second limiting groove 4421 and the first limiting groove 4411 are correspondingly arranged; wherein the sliding block 442 can move along a fixed path ( Figure 7 ), to move closer to or away from the positioning block 441 , the first limiting groove 4411 cooperates with the second limiting groove 4421 to form a limiting hole 443 for clamping the first protrusion 2212 .

[0097] In actual operation, after the clamping mechanism 400 moves above the steel hoop mechanism 200, the position of the clamp 440 is first adjusted through the transverse mechanism 600 and the vertical slider 431, so that the positioning block 441 and the sliding block 442 are roughly aligned with the first protrusion 2212 on the surface of the connecting member 221. Then, under the action of a driving device (such as a cylinder or a motor), the sliding block 442 moves along a fixed path toward the positioning block 441. When the sliding block 442 approaches the positioning block 441, it shrinks the limiting hole 443 between the first limiting groove 4411 and the second limiting groove 4421. At this time, the first protrusion 2212 is exactly located in the limiting hole 443. The inner wall of the limiting hole 443 exerts a clamping force on the first protrusion 2212, firmly clamping the connecting member 221, thereby achieving stable clamping of the steel hoop mechanism 200. When the steel hoop mechanism 200 needs to be released, the sliding block 442 moves in the opposite direction, away from the positioning block 441, the limiting hole 443 opens, the first protrusion 2212 disengages from the limiting hole 443, and the clamp 440 releases its grip on the steel hoop mechanism 200. Furthermore, the position of the clamp 440 can be adjusted by the transverse movement mechanism 600 and the vertical slider 431 so that the first protrusion 2212 first abuts against the first limiting groove 4411 to achieve pre-positioning, and then the sliding block 442 is used to clamp the first protrusion 2212.

[0098] In this embodiment, a driving cylinder 620 (not shown) is fixed to the positioning block 441, and the driving end of the driving cylinder 620 is connected to the sliding block 442, so that the sliding block 442 can reciprocate under the action of the driving cylinder 620. In addition, during the movement process, the position of the sliding block 442 can be monitored by a sensor or a mechanical limit structure to ensure the accuracy of the movement of the sliding block 442. For example, a proximity sensor can be provided on the positioning block 441 and connected to a solenoid valve. The solenoid valve can then control the start and stop of the driving cylinder 620 to achieve the positioning of the sliding block 442.

[0099] It is understood that, as a supplement to the above embodiments, reference Figure 7 and Figure 8The positioning block 441 is fixedly connected with a pin 444, the pin 444 is built into the first limiting groove 4411 and is coaxial with the first limiting groove 4411, the first protrusion 2212 is penetrated by a positioning hole 2213, the pin 444 can be embedded in the positioning hole 2213, wherein the side wall of the pin 444 is provided with an annular positioning airbag 4441, and the inner wall of the positioning hole 2213 is provided with an annular positioning groove 22131, the positioning airbag 4441 can expand or contract so that the positioning airbag 4441 is embedded in the positioning groove 22131, or separated from the positioning groove 22131. The position of the clamp 440 is adjusted through the transverse mechanism 600 and the vertical slider 431, so that the first protrusion 2212 is first fitted into the first limiting groove 4411 to achieve pre-positioning. At the same time, the pin 444 can be inserted into the positioning hole 2213 and cooperate with the first limiting groove 4411 to perform double pre-positioning on the first protrusion 2212, ensuring that the sliding block 442 can clamp and fix the first protrusion 2212 after sliding.

[0100] In the above embodiment, the clamping and fixing between the limit block 224 and the first protrusion 2212 is achieved by friction. In order to further improve the clamping stability, refer to Figure 7 and Figure 8 The positioning block 441 is internally provided with an air path 4412, which is provided with an air inlet 4413 and an air outlet 4414. The air inlet 4413 is provided on the side wall of the positioning block 441 and is connected to an air source via a pipeline. The air outlet 4414 penetrates the side wall of the pin 444. The positioning airbag 4441 is provided with an inflation port 44411. The inflation port 44411 and the air outlet 4414 correspond in position to each other, so that the air path 4412 communicates with the inner cavity of the positioning airbag 4441. The air source is connected to the air inlet 4413 on the side wall of the positioning block 441 through a pipeline, and the air enters the air path 4412. The air in the air path 4412 passes through the air outlet 4414 that penetrates the side wall of the pin 444 and enters the inflation port 44411 of the positioning airbag 4441, thereby increasing the air pressure inside the positioning airbag 4441. As the air pressure increases, the positioning airbag 4441 expands, and the positioning airbags 4441 on its side walls also expand. The expanded positioning airbag 4441 embeds into the positioning groove 22131 on the inner wall of the positioning block 441, thereby securing the pin 444 to the first protrusion 2212 and further enhancing the clamping stability of the connector 221 by the clamp 440. When the connector 221 needs to be released, the air source is turned off, and the gas in the air path 4412 is discharged through the air outlet 4414 and the air inlet 4413. The air pressure inside the positioning airbag 4441 decreases, causing the positioning airbag 4441 to contract and separate from the positioning groove 22131. The pin 444 is no longer secured to the first protrusion 2212, allowing the clamp 440 to release the steel hoop mechanism 200.

[0101] In summary, through the six-axis degrees of freedom, the clamping mechanism 400 supports the steel hoop mechanism 200, and the steel hoop mechanism 200 is placed on the steel coil on the support seat 120. The control mechanism 500 and the transverse movement mechanism 600 cooperate to make the steel hoop mechanism 200 tighten the steel coil, thereby realizing full automation of steel coil tightening and improving work efficiency.

[0102] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the scope of the present invention.

Claims

1. A metal coil clamp processing device, characterized in that: include: A machine (100) is provided with two turntables (110) arranged side by side on one side, and a plurality of support seats (120) are arranged side by side on the other side, wherein the turntables (110) can pivot on the machine (100), the plurality of support seats (120) are arranged at intervals, and the upper ends of the support seats (120) are provided with support grooves for placing steel coils; The steel hoop mechanism (200) comprises two arc-shaped steel hoop bodies (210) and two locking mechanisms (220), wherein the two steel hoop bodies (210) are arranged opposite to each other to form a tightening hole (230) between the two steel hoop bodies (210), and the two ends of the locking mechanism (220) are respectively fixedly connected to one end of the two steel hoop bodies (210), and the two locking mechanisms (220) are respectively fixedly connected to the two ends of the steel hoop bodies (210), and the locking mechanism (220) is used to adjust the distance between the ends of the two steel hoop bodies (210) to adjust the area of ​​the tightening hole (230); A bearing platform (300) is detachably fixedly mounted on the turntable (110), and the steel hoop mechanism (200) can be stacked on the bearing platform (300); a clamping mechanism (400) for clamping the steel hoop mechanism (200); the clamping mechanism (400) is provided with a control mechanism (500) and a transverse movement mechanism (600); the control mechanism (500) is used to control the locking mechanism (220) so that the two steel hoop bodies (210) are moved closer to or farther away from each other; and the transverse movement mechanism (600) is used to control the two ends of the steel hoop body (210) to move closer to or farther away from each other; a six-axis manipulator (700), the clamping mechanism (400) being fixed at one end thereof, the six-axis manipulator (700) being fixed on the machine platform (100), and the moving range of the six-axis manipulator (700) covering the entire machine platform (100); Wherein, the locking mechanism (220) comprises: Two connecting pieces (221) are provided, and the two connecting pieces (221) are fixedly connected to the ends of the two steel hoop bodies (210) respectively. Along the relative movement direction of the two steel hoop bodies (210), the connecting pieces (221) are provided with through holes (2211); A connecting shaft (222), with both ends passing through the two through holes (2211), and a thread is provided on the shaft body of the connecting shaft (222); a first nut (223) fixed in one of the connecting members (221), the connecting shaft (222) passing through the first nut (223), and the first nut (223) being engaged with the thread; a limit block (224) fixed to one end of the connecting shaft (222) away from the first nut (223), wherein the limit block (224) abuts against the connecting member (221) away from the first nut (223) to cooperate with the first nut (223) to constrain the distance between the two connecting members (221); Wherein, the control mechanism (500) can cooperate with an end of the connecting shaft (222) away from the first nut (223) and control the pivoting of the connecting shaft (222); Wherein, the clamping mechanism (400) comprises: The frame (410) is rectangular, and a connecting portion (420) is provided in the middle of the frame (410). The connecting portion (420) is fixedly connected to the end of the six-axis manipulator (700); A vertical slide rail (430), the two ends of which are respectively slidably connected to the upper side and the lower side of the frame (410), and two vertical slide rails (430) are provided. The two vertical slide rails (430) are respectively arranged at the two ends of the frame (410), and a vertical fixed block (432) is fixed at one end of the vertical slide rail (430), and a vertical sliding block (431) is slidably connected to the other end; Four clamps (440) are provided, and the four clamps (440) are installed on the two vertical sliders (431) and the two vertical fixing blocks (432), and the clamps (440) are used to clamp the connecting member (221); The control mechanism (500) is slidably connected to the vertical slider (431) and corresponds to the position of the locking mechanism (220); the transverse movement mechanism (600) is fixedly connected to the vertical slide rail (430), and the transverse movement mechanism (600) is used to control the sliding of the vertical slide rail (430); The surface of the connecting member (221) is provided with a first protrusion (2212), and the first protrusion (2212) is cylindrical. The clamp (440) includes: A positioning block (441) is fixed on the vertical sliding block (431) or the vertical fixing block (432), and the positioning block (441) is provided with a first limiting groove (4411); A sliding block (442) is slidably connected to the vertical sliding block (431) or the vertical fixed block (432), and the sliding block (442) is provided with a second limiting groove (4421), and the second limiting groove (4421) and the first limiting groove (4411) are correspondingly provided; The sliding block (442) can move along a fixed path to approach or move away from the positioning block (441), and the first limiting groove (4411) cooperates with the second limiting groove (4421) to form a limiting hole (443) for clamping the first protrusion (2212); The positioning block (441) is fixedly connected with a pin (444), and the pin (444) is built into the first limiting groove (4411) and is coaxial with the first limiting groove (4411). The first protrusion (2212) is provided with a positioning hole (2213) through which the pin (444) can be embedded. The side wall of the pin (444) is provided with an annular positioning airbag (4441), and the inner wall of the positioning hole (2213) is provided with an annular positioning groove (22131). The positioning airbag (4441) can expand or contract so that the positioning airbag (4441) is embedded in the positioning groove (22131) or separated from the positioning groove (22131).

2. The metal coil clamp processing device according to claim 1, characterized in that: One end of the connecting shaft (222) away from the first nut (223) is fixedly connected to a second nut (225), and the control mechanism (500) includes: An inner hexagon socket (510) matches the second nut (225), and the inner hexagon socket (510) can be sleeved on the second nut (225); A jackhammer wrench (520) is fixedly connected to the hexagonal socket (510), and the jackhammer wrench (520) is used to control the pivoting of the hexagonal socket (510); The hexagonal socket (510) and the connecting shaft (222) are coaxially arranged, and the control mechanism (500) can slide on the vertical slider (431) along the axial direction of the connecting shaft (222).

3. The metal coil clamp processing device according to claim 2, characterized in that: The transverse movement mechanism (600) comprises: A transverse slide rail (610) is fixed to the upper and lower sides of the frame (410), and the transverse slide rail (610) is slidably connected to a transverse slider (611). At the same end of the frame (410), two transverse sliders (611) are fixedly connected to the two ends of the vertical slide rail (430) respectively; A driving cylinder (620) is fixed on the frame (410), a driving end of the driving cylinder (620) is fixedly connected to the transverse slider (611), and the driving cylinder (620) drives the transverse slider (611) to slide along the upper side or the lower side of the frame (410).

4. The metal coil clamp processing device according to claim 1, characterized in that: An air circuit (4412) is provided inside the positioning block (441), and the air circuit (4412) is provided with an air inlet (4413) and an air outlet (4414). The air inlet (4413) is provided on the side wall of the positioning block (441), and the air inlet (4413) is connected to an air source through a pipeline. The air outlet (4414) passes through the side wall of the pin (444). The positioning airbag (4441) is provided with an inflation port (44411), and the inflation port (44411) and the air outlet (4414) are positioned correspondingly so that the air circuit (4412) and the inner cavity of the positioning airbag (4441) are connected.

5. The metal coil clamp processing device according to claim 1, characterized in that: The turntable (110) is provided with two workstations (111), the centers of the two workstations (111) are symmetrically arranged with respect to one of the diameters of the turntable (110), and the centers of the two workstations (111) are located on the same diameter of the turntable (110). On a single turntable (110), two bearing platforms (300) are provided, and the centers of the two bearing platforms (300) respectively coincide with the centers of the two workstations (111). 0) is provided with a first protrusion (2212), the lower surface of the steel hoop mechanism (200) is provided with a hole (240), the upper surface of the supporting platform (300) is provided with a second protrusion (310), the first protrusion (2212) is embedded in the hole (240) to enable multiple steel hoop mechanisms (200) to be stacked, and the second protrusion (310) is embedded in the hole (240) to enable the steel hoop mechanism (200) to be stacked on the supporting platform (300).

6. A method for processing a metal coil clamp, used to control the metal coil clamp processing device according to any one of claims 1 to 5, characterized in that: The following steps are involved: Step 1: stacking the steel hoop mechanism (200) onto the supporting platform (300); Step 2: Using a six-axis manipulator (700) to control the clamping mechanism (400) to clamp the steel hoop mechanism (200) from the supporting platform (300); Step 3: Using the six-axis manipulator (700) to move the steel hoop mechanism (200) to a position matching the steel coil on the support seat (120); Step 4: Using a six-axis manipulator (700), the steel hoop mechanism (200) is sleeved onto the portion of the steel coil protruding from the support seat (120); Step 5: Using the control mechanism (500) to manipulate the locking mechanism (220) to move the steel hoop bodies (210) closer to each other and reduce the distance between the two steel hoop bodies (210); using the transverse movement mechanism (600) to control the two ends of the steel hoop body (210) to move the two ends of the steel hoop body (210) closer to each other; Step 6: After the inner side of the steel hoop body (210) is completely attached to the outer surface of the steel coil, the locking mechanism (220) is used to lock the entire steel hoop body (210) to the outer surface of the steel coil; Step 7: The clamping mechanism (400) releases the steel hoop mechanism (200) and uses the six-axis manipulator (700) to move the clamping mechanism (400) to the supporting platform (300) of the machine (100). If the supporting platform (300) does not have the steel hoop mechanism (200), proceed to step 1; if the supporting platform (300) has the steel hoop mechanism (200), proceed to step 2.

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