Manipulator, detection device and fuse

Abstract

A mechanical arm, a detection device and a fuse are provided, the mechanical arm comprises a mechanical arm and the fuse, the fuse is installed on the mechanical arm, and the mechanical arm is provided with a fusing device and the detection device; the fusing device is provided with a notch-shaped fusing port, the mechanical arm drives the fuse to move, so that a tight filiform material enters the fusing device from the fusing port, and the material is fused by the fusing device; the detection device is used for detecting whether the materials in the fusing opening are fused or not. Therefore, by arranging the detection device in the fuse, the detection device can detect the fusing operation in the process of fusing the material by the fuse, so as to determine whether the material in the fusing port is fused or not, thereby ensuring the normal operation of the fusing operation.

Description

Technical Field

[0001] The present invention relates to the technical field of robot equipment, in particular to a manipulator, a detection device and a fuse. Background Art

[0002] In modern production lines, robots are often used to replace manual labor to improve production efficiency and reduce the burden of manual labor. The following example uses steel cord production as an example to illustrate this.

[0003] Steel cord is a wire made of multiple strands of twisted steel wire, boasting exceptional tensile strength and durability. This specialized wire is widely used in the manufacture of tires, power transmission cables, cable casing, bulletproof vests, and other applications. A wet-drawing machine, a wet-drawing machine used to produce steel cord wire, uses a series of processes to wet-draw thick steel wire into fine, custom-sized wire. In the automated production process of steel cord, the end treatment of the wire reel is a crucial step. To ensure the quality of the wire at the end of the reel, high-current fusing is typically used. To improve production efficiency and reduce the burden of manual labor, a fuse is installed on a robotic arm, which controls the movement of the fuse to automatically fuse the wire.

[0004] However, with the increasing automation of steel cord production, automatic fusing of steel wire has become widely used. During automated production, problems can arise, such as the steel wire not reaching the fuse's intended position, the fuse not properly acting on the wire, or the wire not completely melting. If a fusing failure is not detected promptly, it can easily damage surrounding equipment and severely impact subsequent processes. Therefore, there is an urgent need for a robot, detection device, and fuse that can detect the fusing operation during the fuse's operation to ensure proper operation. Summary of the Invention

[0005] In view of the above problems in the prior art, the present application provides a robot, a detection device and a fuse, which can detect the fusing operation while the fuse is fusing the material to ensure the normal progress of the fusing operation.

[0006] To achieve the above-mentioned purpose, the first aspect of the present application provides a robot arm, characterized in that it includes a robot arm and a fuse, the fuse is installed on the robot arm, and has a fuse device and a detection device; the fuse device is provided with a notch-shaped fuse opening, the robot arm drives the fuse to move, so that the taut filamentous material enters the fuse device through the fuse opening, and the fuse device melts the material; the detection device is used to detect whether the material in the fuse opening is melted.

[0007] As described above, by setting a detection device in the fuse, the detection device can detect the fusing operation during the process of the fuse fusing the material to determine whether the material in the fuse opening is fusing, thereby ensuring the normal progress of the fusing operation.

[0008] As a possible implementation of the first aspect, the detection device includes: a sensor; a sensing member, and the robotic arm drives the fuse to move, so that when the taut filamentous material enters the fuse device through the fuse opening, the material drives the sensing member to move to a predetermined position, so that the sensor detects the sensing member.

[0009] As described above, by configuring the sensing element so that when material enters the fuse device through the fuse opening, the material drives the sensing element to move to a predetermined position, and then the sensor detects the sensing element. This allows the sensing element and the sensor to cooperate to detect whether the material is in place when the material enters the fuse device through the fuse opening, that is, when the material reaches the position for the fusing operation. As a result, the fusing device can be controlled to perform the fusing operation on the material after the material is in place, thereby improving the success rate of the material fusing operation, reducing the possibility of fusing failure, and ensuring the normal operation of the fusing operation.

[0010] As a possible implementation of the first aspect, the detection device further includes: an elastic member, which is transmission-connected to the sensing member and is used to drive the sensing member to leave the predetermined position.

[0011] As described above, by providing an elastic member, the elastic member drives the sensing member out of the predetermined position. This allows the sensing member to lose the force driving it to the predetermined position when the material has completed fusing and is disconnected and exits the fuse opening. The elastic member can then drive the sensing member out of the predetermined position, ensuring that the material has completed fusing within the fuse opening, even if the sensor cannot detect the sensing member after the material has been placed and fused. This ensures that the material has completed fusing within the fuse opening. This allows for detection of whether the material has completed fusing, ensuring that the fusing operation is proceeding normally.

[0012] As a possible implementation of the first aspect, the detection device also includes: a detection rod, which is arranged at a side position of the fuse opening and is slidingly connected to the fuse device along the direction of the fuse opening; the sensing member is fixedly connected to the detection rod, and the elastic member is transmission-connected to the detection rod; viewed along the extension direction of the material, the elastic member drives the detection rod to slide, so that the detection rod blocks the fuse opening.

[0013] As described above, by providing a detection rod at the side of the fuse opening, the detection rod is connected to the fuse detection device by sliding in the direction of the fuse opening, and the detection rod blocks the fuse opening. As a result, when material enters the fuse opening, it can abut against the detection rod blocking the fuse opening, pushing the detection rod to slide, and then pushing the sensing element to move to the predetermined position, realizing the detection of the material in place.

[0014] As a possible implementation of the first aspect, the fuse device includes: a guide plate, on which the fuse opening is provided; the fuse opening is in the shape of a long strip when viewed along the extension direction of the material, and an opening is provided on the guide plate at one end of the fuse opening, and the material enters the fuse opening through the opening.

[0015] As described above, by setting the guide plate, the fuse opening on the guide plate is set to be a long strip, so that when the material enters the fuse opening, the material can be guided so that the material can reach the position where the fuse operation is performed.

[0016] As a possible implementation manner of the first aspect, the detection device is installed on the guide plate.

[0017] From the above, by installing the detection device on the guide plate, the detection device can be brought closer to the fuse opening, thereby making it easier for the detection device to detect the material in the fuse opening.

[0018] A second aspect of the present application provides a detection device, which is installed on a fuse device and is used to detect whether the tight filamentous material in the fuse opening of the fuse device has melted; it includes: a sensor; and a sensing element. When the material enters the fuse device through the fuse opening, the material drives the sensing element to move to a predetermined position, so that the sensor detects the sensing element.

[0019] As described above, by configuring the sensing element so that when material enters the fuse device through the fuse opening, the material drives the sensing element to move to a predetermined position, and then the sensor detects the sensing element. This allows the sensing element and the sensor to cooperate to detect whether the material is in place when the material enters the fuse device through the fuse opening, that is, when the material reaches the position for the fusing operation. As a result, the fusing device can be controlled to perform the fusing operation on the material after the material is in place, thereby improving the success rate of the material fusing operation, reducing the possibility of fusing failure, and ensuring the normal operation of the fusing operation.

[0020] As a possible implementation of the second aspect, the detection device further includes: an elastic member, which is transmission-connected to the sensing member and is used to drive the sensing member to leave the predetermined position.

[0021] As described above, by providing an elastic member, the elastic member drives the sensing member out of the predetermined position. This allows the sensing member to lose the force driving it to the predetermined position when the material has completed fusing and is disconnected and exits the fuse opening. The elastic member can then drive the sensing member out of the predetermined position, ensuring that the material has completed fusing within the fuse opening, even if the sensor cannot detect the sensing member after the material has been placed and fused. This ensures that the material has completed fusing within the fuse opening. This allows for detection of whether the material has completed fusing, ensuring that the fusing operation is proceeding normally.

[0022] As a possible implementation of the second aspect, the detection device also includes: a detection rod, which is arranged at a side position of the fuse opening and is slidingly connected to the fuse device along the direction of the fuse opening; the sensing member is fixedly connected to the detection rod, and the elastic member is transmission-connected to the detection rod; viewed along the extension direction of the material, the elastic member drives the detection rod to slide, so that the elastic member blocks the fuse opening.

[0023] As described above, by providing a detection rod at the side of the fuse opening, the detection rod is connected to the fuse detection device by sliding in the direction of the fuse opening, and the detection rod blocks the fuse opening. As a result, when material enters the fuse opening, it can abut against the detection rod blocking the fuse opening, pushing the detection rod to slide, and then pushing the sensing element to move to the predetermined position, realizing the detection of the material in place.

[0024] A third aspect of the present application provides a fuse, comprising: a fuse device, wherein the fuse device is provided with a notch-shaped fuse opening, and a taut filamentary material enters the fuse device through the fuse opening, and the fuse device melts the material; and a detection device, wherein the detection device is any one of the detection devices described in the first aspect of the present application.

[0025] As described above, by configuring the sensing element so that when material enters the fuse device through the fuse opening, the material drives the sensing element to move to a predetermined position, and then the sensor detects the sensing element. This allows the sensing element and the sensor to cooperate to detect whether the material is in place when the material enters the fuse device through the fuse opening, that is, when the material reaches the position for the fusing operation. As a result, the fusing device can be controlled to perform the fusing operation on the material after the material is in place, thereby improving the success rate of the material fusing operation, reducing the possibility of fusing failure, and ensuring the normal operation of the fusing operation.

[0026] These and other aspects of the invention will be apparent from and elucidated with reference to the following description of the embodiment(s). BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The following further illustrates the various features of the present invention and the relationships between the various features with reference to the accompanying drawings. The accompanying drawings are all exemplary, and some features are not shown in actual proportion. In addition, some drawings may omit features that are customary in the field to which this application relates and are not necessary for this application, or additional features that are not necessary for this application may be shown. The combination of the various features shown in the accompanying drawings is not intended to limit this application. In addition, throughout this specification, the same reference numerals refer to the same content. The specific description of the drawings is as follows:

[0028] Figure 1 This is a schematic diagram of the three-dimensional structure of the robot in this application when performing a fusing operation;

[0029] Figure 2 for Figure 1 A partial enlarged view of the middle part;

[0030] Figure 3 This is a schematic diagram of the structure of the tool head controlling the fuse to perform the fusing operation on the steel wire;

[0031] Figure 4 This is a schematic diagram of the three-dimensional structure of the fuse in this application;

[0032] Figure 5 for Figure 4 Schematic diagram of part of the structure of the middle fuse device;

[0033] Figure 6 Schematic diagram of the structure of the detection device.

[0034] Description of Reference Numerals

[0035] 10 Manipulator; 100 Robotic arm; 110 Tool head; 111 Screw clamp; 112 Clamping jaw; 113 Propelling cylinder; 114 Connecting flange; 200 Fuse; 210 Fuse device; 211 Mounting part; 212 Fuse transformer; 213 Actuating cylinder; 214 Movable connecting plate; 215 Fixed connecting plate; 216 Movable electrode; 217 Fixed electrode; 218 Connecting plate; 219 Guide plate; 219a Fuse port; 220 Detection device; 221 Detection rod; 222 Elastic part; 223 Fixed block; 224 Inductive part; 225 Sensor; 20 Wet drawing machine; 30 Steel wire. DETAILED DESCRIPTION

[0036] The words "first, second, third, etc." or module A, module B, module C and other similar terms in the specification and claims are only used to distinguish similar objects and do not represent a specific ordering of the objects. It is understandable that the specific order or sequence can be interchanged where permitted so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0037] The term "comprising" as used in the specification and claims should not be construed as limiting to what is listed thereafter; it does not exclude other elements. Thus, it should be interpreted as specifying the presence of the features, integers, or components mentioned, but not excluding the presence or addition of one or more other features, integers, or components, or groups thereof. Thus, the expression "a device comprising means A and B" should not be limited to a device consisting solely of components A and B.

[0038] References in this specification to "one embodiment" or "an embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Therefore, appearances of the phrases "in one embodiment" or "in an embodiment" throughout this specification do not necessarily refer to the same embodiment, but may do so. Furthermore, in one or more embodiments, the particular features, structures, or characteristics may be combined in any suitable manner, as would be apparent to one of ordinary skill in the art from this disclosure.

[0039] The present application provides a robot arm 10. Below, in conjunction with the accompanying drawings, a possible embodiment of the robot arm 10 in the present application is exemplarily described.

[0040] The manipulator 10 in the present application includes a manipulator arm 100 and a fuse 200. The fuse 200 is mounted on the manipulator arm 100 and has a fuse device 210 and a detection device 220. The fuse device 210 is provided with a notch-shaped fuse opening 219a. The manipulator arm 100 drives the fuse 200 to move, so that the taut filamentary material enters the fuse device 210 through the fuse opening 219a, and the fuse device 210 melts the material. The detection device 220 is used to detect whether the material in the fuse opening 219a is melted. Therefore, by providing the detection device 220 in the fuse 200, the detection device 220 can detect the melting operation during the process of the fuse 200 melting the material to determine whether the material in the fuse opening 219a is melted, so as to ensure the normal progress of the melting operation.

[0041] In some embodiments, the detection device 220 includes a sensor 225 and a sensing element 224. When the robotic arm 100 drives the fuse 200 to move, causing the taut, filamentary material to enter the fuse device 210 through the fuse opening 219a, the material drives the sensing element 224 to move to a predetermined position, allowing the sensor 225 to detect the sensing element 224. Thus, by configuring the sensing element 224 so that when the material enters the fuse device 210 through the fuse opening 219a, the material drives the sensing element 224 to move to a predetermined position, and then the sensor 225 detects the sensing element 224, the sensing element 224 and the sensor 225 can cooperate to detect whether the material has entered the fuse device 210 through the fuse opening 219a, that is, when the material has reached the position for the fusing operation. Consequently, the fusing device 210 can be controlled to perform the fusing operation on the material only after the material is in place, thereby improving the success rate of the material fusing operation, reducing the possibility of fusing failure, and ensuring the normal execution of the fusing operation.

[0042] In some embodiments, the detection device 220 further includes an elastic member 222, which is transmission-connected to the sensing member 224 and is used to drive the sensing member 224 to leave the predetermined position. Thus, by providing the elastic member 222, the sensing member 224 is driven by the elastic member 222 to leave the predetermined position. Thus, when the material completes the fusing operation and the material is disconnected and exits from the fuse port 219a, the sensing member 224 loses the force driving it to move to the predetermined position. Then, the elastic member 222 can drive the sensing member 224 to leave the predetermined position, even if the sensor 225 cannot detect the sensing member 224 after the material is in place and has been fused, thereby determining that the material has completed the fusing operation in the fuse port 219a. Thus, it is possible to detect whether the material has completed the fusing operation to ensure the normal progress of the fusing operation.

[0043] In some embodiments, the detection device 220 further includes a detection rod 221, which is disposed at a side position of the fuse opening 219a and is slidably connected to the fuse device 210 along the direction of the fuse opening 219a. The sensing member 224 is fixedly connected to the detection rod 221, and the elastic member 222 is transmission-connected to the detection rod 221. Viewed along the extension direction of the material, the elastic member 222 drives the detection rod 221 to slide, causing the detection rod 221 to block the fuse opening 219a. Thus, by arranging the detection rod 221 at a side position of the fuse opening 219a, the detection rod 221 is slidably connected to the detection fuse device 210 along the direction of the fuse opening 219a, and the detection rod 221 blocks the fuse opening 219a. Thus, when the material enters the fuse opening 219a, the material can abut against the detection rod 221 blocking the fuse opening 219a, pushing the detection rod 221 to slide, thereby pushing the sensing member 224 to move to a predetermined position, thereby realizing the in-place detection of the material.

[0044] In some embodiments, the fuse device 210 includes a guide plate 219, which is provided with a fuse opening 219a. Viewed along the material's extension direction, the fuse opening 219a is elongated. One end of the fuse opening 219a is provided with an opening on the guide plate 219, through which the material enters the fuse opening 219a. Thus, by providing the guide plate 219 and configuring the fuse opening 219a on the guide plate 219 as an elongated strip, the material can be guided as it enters the fuse opening 219a, ensuring that it reaches the location where the fuse is to be fused.

[0045] In some embodiments, the detection device 220 is mounted on the guide plate 219. Thus, by mounting the detection device 220 on the guide plate 219, the detection device 220 can be brought closer to the fuse opening 219a, thereby facilitating the detection device 220 to detect the material in the fuse opening 219a.

[0046] The present application also provides a detection device 220. Below, in conjunction with the accompanying drawings, the specific structure of the detection device 220 in the present application is described in detail and exemplarily.

[0047] The detection device 220 of the present application is mounted on the fuse device 210 and is used to detect whether the taut filamentary material within the fuse opening 219a of the fuse device 210 has melted. The detection device 220 includes a sensor 225 and a sensing element 224. When the material enters the fuse device 210 through the fuse opening 219a, the material drives the sensing element 224 to move to a predetermined position, causing the sensor 225 to detect the sensing element 224. Thus, by configuring the sensing element 224 so that when the material enters the fuse device 210 through the fuse opening 219a, the material drives the sensing element 224 to move to a predetermined position, and then the sensor 225 detects the sensing element 224, the sensing element 224 and the sensor 225 can cooperate to detect whether the material has entered the fuse device 210 through the fuse opening 219a, that is, when the material reaches the position for the melting operation. Therefore, the fusing device 210 can be controlled to perform a fusing operation on the material after the material is in place, thereby improving the success rate of the fusing operation on the material, reducing the possibility of fusing failure, and ensuring the normal progress of the fusing operation.

[0048] In some embodiments, the detection device 220 further includes an elastic member 222, which is transmission-connected to the sensing member 224 and is used to drive the sensing member 224 to leave the predetermined position. Thus, by providing the elastic member 222, the sensing member 224 is driven by the elastic member 222 to leave the predetermined position. Thus, when the material completes the fusing operation and the material is disconnected and exits from the fuse port 219a, the sensing member 224 loses the force driving it to move to the predetermined position. Then, the elastic member 222 can drive the sensing member 224 to leave the predetermined position, even if the sensor 225 cannot detect the sensing member 224 after the material is in place and has been fused, thereby determining that the material has completed the fusing operation in the fuse port 219a. Thus, it is possible to detect whether the material has completed the fusing operation to ensure the normal progress of the fusing operation.

[0049] In some embodiments, the detection device 220 further includes: a detection rod 221, which is arranged at a side position of the fuse opening 219a and is slidably connected to the fuse device 210 along the direction of the fuse opening 219a; a sensing member 224 is fixedly connected to the detection rod 221, and an elastic member 222 is transmission-connected to the detection rod 221; along the extension direction of the material, the elastic member 222 drives the detection rod 221 to slide, so that the elastic member 222 blocks the fuse opening 219a. Thus, by arranging the detection rod 221 at a side position of the fuse opening 219a, the detection rod 221 is slidably connected to the detection fuse device 210 along the direction of the fuse opening 219a, and the detection rod 221 blocks the fuse opening 219a. Thus, when the material enters the fuse opening 219a, the material can be brought into contact with the detection rod 221 that blocks the fuse opening 219a, pushing the detection rod 221 to slide, and then pushing the sensing member 224 to move to a predetermined position, thereby realizing the detection of the material in place.

[0050] This application also provides a fuse 200, comprising a fuse device 210 and a detection device 220. Fuse device 210 is provided with a notched opening 219a, through which a taut, filamentary material enters fuse device 210, where it is melted by fuse device 210. Detection device 220 is an implementation of any of the aforementioned detection devices 220, and its specific details are omitted here.

[0051] The above descriptions are exemplary descriptions of possible embodiments of the manipulator 10, the detection device 220, and the fuse 200. Next, in conjunction with the accompanying drawings, the specific structure of the manipulator 10 in the present application is described in detail in a specific embodiment.

[0052] Figure 1 This is a schematic diagram of the three-dimensional structure of the robot 10 in the present application when performing a fusing operation; Figure 2 for Figure 1 A partial enlarged view of the middle A part. Figure 1 、 Figure 2 As shown, the manipulator 10 includes a manipulator arm 100 and a fuse 200. The manipulator arm 100 is a multi-axis manipulator, and the fuse 200 is mounted on the manipulator arm 100. The manipulator arm 100 drives the fuse 200 to move and controls the fuse 200 to fuse the steel wire 30 drawn by the wet drawing machine 20.

[0053] Figure 3 This is a schematic diagram of the structure of the tool head 110 controlling the fuse 200 to perform a fusing operation on the steel wire 30. Figure 3 As shown, a tool head 110 is provided at the end of the robotic arm 100, and a fuse 200 is mounted on the tool head 110. The tool head 110 includes a wire clamping rod 111, a clamping jaw 112, a propulsion cylinder 113, and a connecting flange 114. The connecting flange 114 is used to securely connect to the end of the robotic arm 100. The wire clamping rod 111, the clamping jaw 112, and the propulsion cylinder 113 are fixedly mounted on the connecting flange 114. The wire clamping rod 111 is used to clamp and secure the steel wire 30, and the clamping jaw 112 is used to clamp and secure the I-shaped pulley around which the steel wire 30 is wound on the wet drawing machine 20. The fuse 200 is fixedly mounted on the driving rod of the propulsion cylinder 113. The propulsion cylinder 113 controls the extension and retraction of the driving rod, thereby pushing the fuse 200 to move, allowing the steel wire 30 to enter the fuse 200 so that the fuse 200 can perform a melting operation on the steel wire 30. Therefore, when the wet puller 20 sends a full wheel lowering signal, the robot arm 100 arrives with the tool head 110 and the fuse 200 Figure 1 The working position shown in the figure, at this time, the robot arm 100 drives the clamping rod to clamp the wire 30, and pulls the wire 30 to Figure 2 At this time, the propulsion cylinder 113 pushes the fuse 200 to Figure 3 In the working position shown, the steel wire 30 is subjected to a fusing operation.

[0054] Figure 4 Schematic diagram of the three-dimensional structure of the fuse 200 in this application. Figure 4 As shown, the fuse 200 includes a fusing device 210 and a detection device 220. The fusing device 210 is used to perform a fusing operation on the steel wire 30, and the detection device 220 is installed on the fusing device 210 to detect the fusing operation to determine whether the material in the fuse opening 219a is melted, so as to ensure the normal operation of the fusing operation.

[0055] Figure 5 for Figure 4 Schematic diagram of a portion of the structure of the middle fuse device 210. Figure 5As shown, the fuse device 210 includes a mounting member 211, a fuse transformer 212, an actuating cylinder 213, a movable connecting plate 214, a fixed connecting plate 215, a movable electrode 216, and a fixed electrode 217. The fuse transformer 212, the actuating cylinder 213, and the fixed connecting plate 215 are fixedly mounted on the mounting member 211, while the movable connecting plate 214 is fixedly mounted on the drive rod of the actuating cylinder 213. The fixed connecting plate 215 is arranged parallel to the movable connecting plate 214. The movable electrode 216 is mounted on the movable connecting plate 214, and the fixed electrode 217 is mounted on the fixed connecting plate 215. The movable electrode 216 and the fixed electrode 217 are respectively located on opposite sides of the movable connecting plate 214 and the fixed connecting plate 215. Thus, the movable electrode 216 can be driven by the actuating cylinder 213 to move, moving the movable electrode 216 closer to or further away from the fixed electrode 217. After the steel wire 30 enters between the movable electrode 216 and the fixed electrode 217, the actuating cylinder 213 is actuated to drive the movable electrode 216 toward the fixed electrode 217. When the movable electrode 216 contacts the fixed electrode 217, the steel wire 30 is located between the movable electrode 216 and the fixed electrode 217. The controller of the fuse transformer 212 sends a fuse signal, and the fuse transformer 212 releases a large current to fuse the steel wire 30 between the movable electrode 216 and the fixed electrode 217.

[0056] like Figure 4 As shown, the fuse device 210 also includes a connecting plate 218 and a guide plate 219. Two connecting plates 218 are provided, mounted on the bottom and rear surface (facing away from the movable electrode 216 and the fixed electrode 217) of the fuse transformer 212, for secure connection to the drive rod of the propulsion cylinder 113. Two guide plates 219 are provided, fixedly positioned on either side of the fixed electrode 217 and the movable electrode 216 along the extension direction of the steel wire 30. The guide plates 219 are provided with a fuse opening 219a, which is notched and divided into two interconnected portions. One portion extends in a straight line from the movable electrode 216 and the fixed electrode 217 away from the fuse transformer 212, while the other portion has a flared opening at the edge of the guide plate 219 to facilitate entry of the steel wire 30 into the fuse opening 219a. Viewed along the extension direction of the steel wire 30, the movable electrode 216 and the fixed electrode 217 are respectively located on both sides of the fuse opening 219a, so that after the steel wire 30 enters the interior along the fuse opening 219a, the movable electrode 216 and the fixed electrode 217 are respectively located on both sides of the steel wire 30, so that the movable electrode 216 and the fixed electrode 217 can clamp the steel wire 30 in the middle to perform the fusing operation.

[0057] Figure 6 Schematic diagram of the structure of the detection device 220. Figure 4 、 Figure 6As shown, the detection device 220 is fixedly mounted on the guide plate 219 and includes a detection rod 221, an elastic member 222, a fixed block 223, an inductive member 224 and a sensor 225. Among them, the fixed block 223 is fixedly mounted on the guide plate 219 and is located at a position where the fuse opening 219a is away from the flared opening. The detection rod 221 is passed through the fixed block 223 and is slidably connected to the fixed block 223 along the direction of the fuse opening 219a. Viewed along the extension direction of the steel wire 30, the detection rod 221 overlaps with the fuse opening 219a and extends along the direction of the fuse opening 219a, partially blocking the fuse opening 219a. Thus, when the steel wire 30 enters the fuse opening 219a, the detection rod 221 can be pushed by the steel wire 30 to slide on the fixed block 223.

[0058] The elastic member 222 is a spring, which is sleeved on the detection rod 221 and is located on the side of the opening of the fixed block 223 facing the fuse port 219a. One end of the elastic member 222 abuts against the fixed block 223, and the other end abuts against the end position of the detection rod 221, pushing the detection rod 221 to move toward the opening direction of the fuse port 219a. The sensing member 224 is fixedly mounted on the detection rod 221 and can move along the direction of the fuse port 219a as the detection rod 221 slides. The sensor 225 is an in-position detection sensor 225, which is fixedly mounted on the guide plate 219. The position of the sensor 225 is set so that when the steel wire 30 enters the fuse port 219a and reaches the position between the movable electrode 216 and the fixed electrode 217, the steel wire 30 pushes the detection rod 221 and the sensing member 224 to move to a predetermined position. After the sensing member 224 reaches the predetermined position, the sensing member 224 blocks the sensor 225 along the extension direction of the steel wire 30 , that is, the sensing member 224 is in the detection area of ​​the sensor 225 , and the sensor 225 can detect that the sensing member 224 is in place.

[0059] Specifically, when the detection device 220 is in a non-operating state, the detection rod 221 extends under the elastic force of the elastic member 222, and the sensing member 224 connected to the detection rod 221 moves away from the sensor 225, giving the control system a signal that the steel wire 30 is not in place. When the detection device 220 is in an operating state, the steel wire 30 passes through the fuse opening 219a of the guide plate 219. The steel wire 30 itself has a certain tension, which will press the detection rod 221 down. At this time, the sensing member 224 follows the detection rod 221 to move to the corresponding position of the sensor 225. The sensor 225 detects the sensing member 224 and gives the control system a signal that the steel wire 30 is in place. The control system gives a fuse instruction to the actuating cylinder 213. After the actuating cylinder 213 performs the action in place, the fuse transformer 212 is fused to the steel wire 30, and the actuating cylinder 213 returns to its original position. At this time, if the steel wire 30 is fused, the tension of the steel wire 30 is released, the detection rod 221 extends under the elastic force of the elastic member 222, and the sensing member 224 returns to its original position. The sensor 225 sends a signal to the control system indicating that the steel wire 30 is not in place, and the control system determines that the fusion is successful. At this time, if the steel wire 30 is not fused, the tension of the steel wire 30 is not released, the detection rod 221 remains in place, the sensing member 224 remains in place (predetermined position), the sensor 225 sends a signal to the control system indicating that the steel wire 30 is in place, and the control system determines that the fusion is unsuccessful.

[0060] Note that the above are only preferred embodiments of the present application and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present application has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, all of which fall within the scope of protection of the present invention.

Claims

1. A robot, characterized in that: The invention comprises a robotic arm and a fuse, wherein the fuse is mounted on the robotic arm and has a fuse device and a detection device; the fuse device is provided with a notch-shaped fuse opening, the robotic arm drives the fuse to move, so that the taut filamentous material enters the fuse device through the fuse opening, and the fuse device melts the material; the detection device is used to detect whether the material in the fuse opening has melted.

2. The manipulator according to claim 1, characterized in that: The detection device comprises: sensor; The sensing element is driven by the robot arm to move the fuse, so that when the taut filamentous material enters the fuse device through the fuse opening, the material drives the sensing element to move to a predetermined position, so that the sensor detects the sensing element.

3. The manipulator according to claim 2, characterized in that: The detection device also includes: An elastic member is transmission-connected to the induction member and is used to drive the induction member to leave the predetermined position.

4. The manipulator according to claim 3, characterized in that: The detection device also includes: A detection rod is arranged at a side position of the fuse opening and is slidably connected to the fuse device along the direction of the fuse opening; the sensing member is fixedly connected to the detection rod, and the elastic member is transmission-connected to the detection rod; viewed along the extension direction of the material, the elastic member drives the detection rod to slide so that the detection rod blocks the fuse opening.

5. The robot according to claim 4, characterized in that: The fuse device includes: A guide plate is provided with the fuse opening; viewed along the extension direction of the material, the fuse opening is in the shape of an elongated strip, one end of the fuse opening is provided with an opening on the guide plate, and the material enters the fuse opening through the opening.

6. The robot according to claim 5, characterized in that: The detection device is mounted on the guide plate.

7. A detection device, characterized in that: Installed on the fuse device, used to detect whether the tight filamentary material in the fuse opening of the fuse device has melted; including: sensor; The induction member is configured such that when the material enters the fuse device through the fuse opening, the material drives the induction member to move to a predetermined position, so that the sensor detects the induction member.

8. The detection device according to claim 7, characterized in that Also includes: An elastic member is transmission-connected to the induction member and is used to drive the induction member to leave the predetermined position.

9. The detection device according to claim 8, characterized in that The detection device also includes: A detection rod is arranged at a side position of the fuse opening and is slidably connected to the fuse device along the direction of the fuse opening; the sensing member is fixedly connected to the detection rod, and the elastic member is transmission-connected to the detection rod; viewed along the extension direction of the material, the elastic member drives the detection rod to slide, so that the elastic member blocks the fuse opening.

10. A fuse, characterized in that: include: A fuse device is provided with a notch-shaped fuse opening, through which the taut filamentary material enters the fuse device, and the fuse device melts the material; The detection device is the detection device according to any one of claims 7 to 9.

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