Mechanical hand, detection device and fuse

Abstract

A robotic arm, a detection device, and a fuse are disclosed. The robotic arm includes a robotic arm and a fuse. The fuse is mounted on the robotic arm and has a fusing device and a detection device. The fusing device has a notched fusing opening. The robotic arm drives the fuse to move, allowing taut, filamentous material to enter the fusing device through the fusing opening, where the fusing device melts the material. The detection device is used to detect whether the material in the fusing opening has melted. Therefore, by incorporating a detection device into the fuse, the fusing operation can be monitored during the fusing process to determine whether the material in the fusing opening has melted, ensuring the proper execution of the fusing operation.

Description

Technical Field

[0001] This invention relates to the field of robotic equipment technology, and in particular to a robotic arm, a detection device, and a fuse. Background Technology

[0002] In modern production lines, robotic arms are often used to replace manual labor in order to improve production efficiency and reduce the burden on manual workers. The following explanation uses the production of steel cord as an example.

[0003] Steel cord is a wire made of multiple strands of steel wire twisted together, possessing excellent tensile strength and durability. This special wire is widely used in the manufacture of tires, power transmission cables, cable conduits, bulletproof vests, and other fields. A wet drawing machine is a wet-drawing machine used to produce steel cord wire. Through a series of processes, thick steel wires are drawn into thin wires of the required specifications using a wet drawing method. In the automated process of steel cord production, the end treatment of the wire spool is a crucial step. To ensure the quality of the wire at the end of the spool, a high-current fusing method is typically used. To improve production efficiency and reduce manual labor, the fuse is mounted on a robotic arm, which controls the movement of the fuse to automatically perform the fusing operation on the wire.

[0004] However, with the increasing automation of steel cord production, automatic wire melting is widely used. During automated production, problems may arise such as the wire not reaching the predetermined position of the fuse, the fuse not acting correctly on the wire, or the wire not completely melting. If melting failures are not detected in time, they can easily damage surrounding equipment and severely impact subsequent processes. Therefore, there is an urgent need for a robotic arm, detection device, and fuse that can detect the melting process during the wire melting process, ensuring the normal operation of the melting procedure. Summary of the Invention

[0005] In view of the above-mentioned problems of the prior art, this application provides a robotic arm, a detection device and a fuse, which can detect the melting operation during the process of the fuse melting the material, so as to ensure the normal operation of the melting operation.

[0006] To achieve the above objectives, the first aspect of this application provides a robotic arm, characterized in that it includes a robotic arm and a fuse, the fuse being mounted on the robotic arm and having a fusing device and a detection device; the fusing device is provided with a notch-shaped fusing opening, the robotic arm drives the fuse to move, causing taut filamentous material to enter the fusing device through the fusing opening, and the fusing device fusing the material; the detection device is used to detect whether the material in the fusing opening has been fused.

[0007] Therefore, by installing a detection device in the fuse, the fuse can detect the melting process during the melting process to determine whether the material in the fuse opening has melted, thus ensuring the normal operation of the melting process.

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

[0009] As described above, by configuring the sensor to move to a predetermined position when material enters the fusing device through the fusing port, and then detecting the sensor, the sensor and sensor can work together to detect whether the material has reached the fusing position when it enters the fusing device. Therefore, the fusing device can be controlled to perform the fusing operation only after the material has reached its position, thereby improving the success rate of the fusing operation, reducing the possibility of failure, and ensuring the normal operation of the fusing process.

[0010] As one possible implementation of the first aspect, the detection device further includes: an elastic element, which is kinetically connected to the sensing element and is used to drive the sensing element away from the predetermined position.

[0011] As described above, by incorporating an elastic element, the sensing element is driven to move away from a predetermined position. This allows the sensing element to lose the force propelling it to the predetermined position when the material completes the melting process and exits through the melting point. Then, the elastic element can drive the sensing element away from the predetermined position, ensuring that the sensor cannot detect the sensing element after the material has reached its melting point, thus confirming that the material has completed the melting process within the melting point. This enables the detection of whether the material has completed the melting process, ensuring its proper operation.

[0012] As one possible implementation of the first aspect, the detection device further includes: a detection rod disposed on the side of the fuse opening and slidably connected to the fuse device along the orientation of the fuse opening; a sensing element fixedly connected to the detection rod, and an elastic element pulsatorically connected to the detection rod; viewed along the extension direction of the material, the elastic element drives the detection rod to slide, causing the detection rod to block the fuse opening.

[0013] As described above, by setting a detection rod on the side of the fuse opening, the detection rod is slidably connected to the fuse detection device along the direction of the fuse opening, and the detection rod blocks the fuse opening. Therefore, when material enters the fuse opening, the material can come into contact with the detection rod blocking the fuse opening, pushing the detection rod to slide, and thus pushing the sensing element to a predetermined position, achieving the detection of the material's arrival.

[0014] As one possible implementation of the first aspect, the fusion device includes: a guide plate having the fusion port provided on the guide plate; the fusion port is elongated when viewed along the extension direction of the material, and one end of the fusion port has an opening on the guide plate, through which the material enters the fusion port.

[0015] As described above, by setting a guide plate and making the melting point on the guide plate into a long strip shape, the material can be guided when it enters the melting point so that the material can reach the position where the melting operation is performed.

[0016] As one possible implementation of the first aspect, the detection device is mounted on the guide plate.

[0017] As described above, by mounting the detection device on the guide plate, the detection device can be placed closer to the fuse opening, thus facilitating the detection of the material inside the fuse opening.

[0018] A second aspect of this application provides a detection device, installed on a fuse, for detecting whether a taut filamentous material inside the fuse opening of the fuse is melted; comprising: a sensor; a sensing element, wherein when the material enters the fuse through the fuse opening, the material drives the sensing element to move to a predetermined position, causing the sensor to detect the sensing element.

[0019] As described above, by configuring the sensor to move to a predetermined position when material enters the fusing device through the fusing port, and then detecting the sensor, the sensor and sensor can work together to detect whether the material has reached the fusing position when it enters the fusing device. Therefore, the fusing device can be controlled to perform the fusing operation only after the material has reached its position, thereby improving the success rate of the fusing operation, reducing the possibility of failure, and ensuring the normal operation of the fusing process.

[0020] As a possible implementation of the second aspect, the detection device further includes: an elastic element, which is kinetically connected to the sensing element and is used to drive the sensing element away from the predetermined position.

[0021] As described above, by incorporating an elastic element, the sensing element is driven to move away from a predetermined position. This allows the sensing element to lose the force propelling it to the predetermined position when the material completes the melting process and exits through the melting point. Then, the elastic element can drive the sensing element away from the predetermined position, ensuring that the sensor cannot detect the sensing element after the material has reached its melting point, thus confirming that the material has completed the melting process within the melting point. This enables the detection of whether the material has completed the melting process, ensuring its proper operation.

[0022] As a possible implementation of the second aspect, the detection device further includes: a detection rod disposed on the side of the fuse opening and slidably connected to the fuse device along the orientation of the fuse opening; a sensing element fixedly connected to the detection rod, and an elastic element pulsatorically connected to the detection rod; viewed along the extension direction of the material, the elastic element drives the detection rod to slide, causing the elastic element to block the fuse opening.

[0023] As described above, by setting a detection rod on the side of the fuse opening, the detection rod is slidably connected to the fuse detection device along the direction of the fuse opening, and the detection rod blocks the fuse opening. Therefore, when material enters the fuse opening, the material can come into contact with the detection rod blocking the fuse opening, pushing the detection rod to slide, and thus pushing the sensing element to a predetermined position, achieving the detection of the material's arrival.

[0024] A third aspect of this application provides a fuse, comprising: a fusing device having a notch-shaped fusing port, through which a taut filamentous material enters the fusing device and is fused by the fusing device; and a detection device, wherein the detection device is any one of the detection devices described in the first aspect of this application.

[0025] As described above, by configuring the sensor to move to a predetermined position when material enters the fusing device through the fusing port, and then detecting the sensor, the sensor and sensor can work together to detect whether the material has reached the fusing position when it enters the fusing device. Therefore, the fusing device can be controlled to perform the fusing operation only after the material has reached its position, thereby improving the success rate of the fusing operation, reducing the possibility of failure, and ensuring the normal operation of the fusing process.

[0026] These and other aspects of the invention will become more apparent from the following description of several embodiments. Attached Figure Description

[0027] The various features of the present invention and the relationships between them are further explained below with reference to the accompanying drawings. The drawings are exemplary; some features are not shown to scale, and some drawings may omit conventional features in the field of this application that are not essential to this application, or additional features that are not essential to this application may be shown. The combination of features shown in the drawings is not intended to limit the present application. Furthermore, throughout this specification, the same reference numerals refer to the same things. Specific descriptions of the drawings are as follows:

[0028] Figure 1 A three-dimensional structural diagram of the robotic arm in this application performing a melting operation;

[0029] Figure 2 for Figure 1 Enlarged view of part A in the middle;

[0030] Figure 3 A schematic diagram of a tool head controlling a fuse to cut a steel wire;

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

[0032] Figure 5 for Figure 4 A partial structural diagram of the fuse device;

[0033] Figure 6 This is a schematic diagram of the detection device.

[0034] Explanation of reference numerals in the attached figures

[0035] 10 Robotic arm; 100 Robotic arm; 110 Tool head; 111 Wire clamping rod; 112 Gripper; 113 Propulsion cylinder; 114 Connecting flange; 200 Fuse; 210 Fuse device; 211 Mounting component; 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 outlet; 220 Detection device; 221 Detection rod; 222 Elastic element; 223 Fixing block; 224 Sensing element; 225 Sensor; 20 Wet drawing machine; 30 Steel wire. Detailed Implementation

[0036] The terms "first, second, third, etc." or similar terms such as module A, module B, module C, etc., used in the specification and claims are only used to distinguish similar objects and do not represent a specific ordering of objects. It is understood that a specific order or sequence may be interchanged where permitted so that the embodiments of this 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 itself to what follows; it does not exclude other elements. Therefore, it should be interpreted as specifying the presence of the mentioned feature, integral, or component, but does not exclude the presence or addition of one or more other features, integrals, or components, or groups thereof. Thus, the statement "equipment comprising means A and B" should not be limited to an equipment consisting solely of components A and B.

[0038] The term "an embodiment" or "an embodiment" as used in this specification means that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in at least one embodiment of the invention. Therefore, the terms "in one embodiment" or "in an embodiment" appearing throughout this specification do not necessarily refer to the same embodiment, but may refer to the same embodiment. Furthermore, in one or more embodiments, the particular features, structures, or characteristics can be combined in any suitable manner, as will be apparent to those skilled in the art from this disclosure.

[0039] This application provides a robotic arm 10. Below, with reference to the accompanying drawings, possible embodiments of the robotic arm 10 in this application will be described by way of example.

[0040] The robotic arm 10 in this application includes a robotic arm 100 and a fuse 200. The fuse 200 is mounted on the robotic arm 100 and has a fusing device 210 and a detection device 220. The fusing device 210 has a notched fusing opening 219a. The robotic arm 100 drives the fuse 200 to move, allowing taut, filamentous material to enter the fusing device 210 through the fusing opening 219a, where the fusing device 210 melts the material. The detection device 220 is used to detect whether the material in the fusing opening 219a has melted. Thus, by providing the detection device 220 in the fuse 200, the fusing operation can be detected during the fusing process to determine whether the material in the fusing opening 219a has melted, ensuring the normal operation of the fusing process.

[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 taut, filamentous material to enter the fuse device 210 through the fuse opening 219a, the material drives the sensing element 224 to a predetermined position, allowing the sensor 225 to detect it. Thus, by configuring the sensing element 224 so that it is driven to a predetermined position when the material enters the fuse device 210 through the fuse opening 219a, and then detected by the sensor 225, the detection of whether the material is in place can be achieved through the cooperation of the sensing element 224 and the sensor 225 when the material enters the fuse device 210 through the fuse opening 219a, i.e., when the material reaches the position for the fusing operation. Therefore, the fuse device 210 can be controlled to perform the fusing operation only after the material has reached its position, thereby improving the success rate of the fusing operation, reducing the possibility of fusing failure, and ensuring the normal operation of the fusing process.

[0042] In some embodiments, the detection device 220 further includes an elastic element 222, which is tractively connected to the sensing element 224 and is used to drive the sensing element 224 away from a predetermined position. Thus, by providing the elastic element 222, the sensing element 224 is driven away from the predetermined position. Therefore, when the material completes the melting process and exits through the melting port 219a, the sensing element 224 loses the force that drives it to the predetermined position. Then, the elastic element 222 can drive the sensing element 224 away from the predetermined position, so that even if the sensor 225 cannot detect the sensing element 224 after the material has melted in place, it can be determined that the material has completed the melting process within the melting port 219a. Thus, it is possible to detect whether the material has completed the melting process, ensuring the normal operation of the melting process.

[0043] In some embodiments, the detection device 220 further includes a detection rod 221, which is disposed on the side of the fuse opening 219a and slidably connected to the fuse-breaking device 210 along the orientation of the fuse opening 219a. The sensing element 224 is fixedly connected to the detection rod 221, and the elastic element 222 is kinetically connected to the detection rod 221. Viewed along the material's extension direction, the elastic element 222 drives the detection rod 221 to slide, causing the detection rod 221 to block the fuse opening 219a. Thus, by disposing the detection rod 221 on the side of the fuse opening 219a, the detection rod 221 is slidably connected to the detection fuse-breaking device 210 along the orientation of the fuse opening 219a, and the detection rod 221 blocks the fuse opening 219a. Therefore, when 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 element 224 to a predetermined position, achieving material arrival detection.

[0044] In some embodiments, the fusing device 210 includes a guide plate 219, on which a fusing opening 219a is provided. Viewed along the material's extension direction, the fusing opening 219a is elongated, and one end of the fusing opening 219a has an opening on the guide plate 219, through which the material enters the fusing opening 219a. Thus, by providing the guide plate 219 and setting the fusing opening 219a on the guide plate 219 to be elongated, the material can be guided when it enters the fusing opening 219a, so that the material can reach the position where the fusing operation is performed.

[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] This application also provides a detection device 220. The specific structure of the detection device 220 in this application will be described in detail below with reference to the accompanying drawings.

[0047] The detection device 220 in this application is installed on the fusing device 210 and is used to detect whether the taut filamentous material inside the fusing port 219a of the fusing device 210 has melted. The detection device 220 includes a sensor 225 and a sensing element 224. When the material enters the fusing device 210 through the fusing port 219a, the material drives the sensing element 224 to move to a predetermined position, so that the sensor 225 detects the sensing element 224. Thus, by setting the sensing element 224 so that when the material enters the fusing device 210 through the fusing port 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 detection of whether the material is in position can be achieved through the cooperation of the sensing element 224 and the sensor 225 when the material enters the fusing device 210 through the fusing port 219a, that is, when the material reaches the position for fusing operation. Therefore, the fusing device 210 can be controlled to fuse the material after the material has arrived, thereby improving the success rate of fusing the material, reducing the possibility of fusing failure, and ensuring the normal operation of the fusing operation.

[0048] In some embodiments, the detection device 220 further includes an elastic element 222, which is tractively connected to the sensing element 224 and is used to drive the sensing element 224 away from a predetermined position. Thus, by providing the elastic element 222, the sensing element 224 is driven away from the predetermined position. Therefore, when the material completes the melting process and exits through the melting port 219a, the sensing element 224 loses the force that drives it to the predetermined position. Then, the elastic element 222 can drive the sensing element 224 away from the predetermined position, so that even if the sensor 225 cannot detect the sensing element 224 after the material has melted in place, it can be determined that the material has completed the melting process within the melting port 219a. Thus, it is possible to detect whether the material has completed the melting process, ensuring the normal operation of the melting process.

[0049] In some embodiments, the detection device 220 further includes: a detection rod 221, which is disposed on the side of the fuse opening 219a and slidably connected to the fuse-breaking device 210 along the orientation of the fuse opening 219a; a sensing element 224 is fixedly connected to the detection rod 221, and an elastic element 222 is tractively connected to the detection rod 221; viewed along the extension direction of the material, the elastic element 222 drives the detection rod 221 to slide, thereby blocking the fuse opening 219a. Thus, by disposing the detection rod 221 on the side of the fuse opening 219a, the detection rod 221 is slidably connected to the detection fuse-breaking device 210 along the orientation of the fuse opening 219a, and the detection rod 221 blocks the fuse opening 219a. Therefore, when the material enters the fuse opening 219a, the material can come into contact with the detection rod 221 blocking the fuse opening 219a, pushing the detection rod 221 to slide, thereby pushing the sensing element 224 to a predetermined position, achieving the detection of the material's arrival.

[0050] This application also provides a fuse 200, including a fusing device 210 and a detection device 220. The fusing device 210 has a notched fusing opening 219a. Tight, filamentous material enters the fusing device 210 through the fusing opening 219a and is then melted by the fusing device 210. The detection device 220 can be implemented in any of the above-mentioned ways; specific details will not be elaborated here.

[0051] The above description provides an exemplary description of possible embodiments of the robotic arm 10, the detection device 220, and the fuse 200 in this application. Below, with reference to the accompanying drawings, a detailed description of the specific structure of the robotic arm 10 in this application will be provided in a particular embodiment.

[0052] Figure 1 A three-dimensional structural diagram of the robotic arm 10 in this application when performing a melting operation; Figure 2 for Figure 1 A magnified view of part A in the middle. (See image below.) Figure 1 , Figure 2 As shown, the robotic arm 10 includes a robotic arm 100 and a fuse 200. The robotic arm 100 is a multi-axis robotic arm, and the fuse 200 is mounted on the robotic arm 100. The robotic arm 100 drives the fuse 200 to move, controlling the fuse 200 to perform a melting operation on the steel wire 30 pulled out by the wet drawing machine 20.

[0053] Figure 3 This is a schematic diagram illustrating the structure by which the tool head 110 controls the fuse 200 to perform the melting 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 gripper 112, a propulsion cylinder 113, and a connecting flange 114. The connecting flange 114 is used to fix the tool head 110 to the end of the robotic arm 100. The wire clamping rod 111, the gripper 112, and the propulsion cylinder 113 are fixedly mounted on the connecting flange 114. The wire clamping rod 111 is used to clamp and fix the wire 30, and the gripper 112 is used to clamp and fix the I-beams on the wet drawing machine 20 that are wound with the wire 30. The fuse 200 is fixedly mounted on the drive rod of the propulsion cylinder 113. The propulsion cylinder 113 controls the extension and retraction of the drive rod, thereby pushing the fuse 200 to move, so that the wire 30 enters the fuse 200 and the fuse 200 can perform a melting operation on the wire 30. Therefore, when the wet pulling machine 20 sends a full wheel lowering signal, the robotic arm 100, carrying the tool head 110 and the fuse 200, arrives at... Figure 1 As shown in the work position, the robotic arm 100 moves to clamp the wire 30 with the clamping rod, pulling the wire 30 to... Figure 2 The indicated position. At this time, the propulsion cylinder 113 pushes the fuse 200 to the position shown. Figure 3 The work position shown is used to perform a melting operation on the steel wire 30.

[0054] Figure 4 This is a three-dimensional structural diagram 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 and determine whether the material in the fusing port 219a has been melted, so as to ensure the normal operation of the fusing operation.

[0055] Figure 5 for Figure 4 A partial structural schematic diagram of the fuse device 210. Figure 5As shown, the fuse device 210 includes a mounting component 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 component 211, and the movable connecting plate 214 is fixedly mounted on the drive rod of the actuating cylinder 213. The fixed connecting plate 215 and the movable connecting plate 214 are arranged parallel to each other. 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 surfaces of the movable connecting plate 214 and the fixed connecting plate 215. Therefore, the movable electrode 216 can be moved by the actuating cylinder 213, causing the movable electrode 216 to move 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 moves the movable electrode 216 toward the fixed electrode 217. When the movable electrode 216 contacts the fixed electrode 217, the steel wire 30 is 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 melt 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, installed on the bottom and rear side (the side facing away from the movable electrode 216 and fixed electrode 217) of the fuse transformer 212, for fixed connection with the drive rod of the propulsion cylinder 113. Two guide plates 219 are provided, fixedly positioned on both sides of the fixed electrode 217 and the movable electrode 216 along the extension direction of the steel wire 30. The guide plate 219 has a fuse opening 219a, which is notched and divided into two connected parts. One part extends along a straight line from the movable electrode 216 and the fixed electrode 217 in a direction away from the fuse transformer 212, and the other part has a flared opening at the edge of the guide plate 219 to facilitate the entry of the steel wire 30 into the fuse opening 219a. Looking 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 fusion cut 219a. This allows the movable electrode 216 and the fixed electrode 217 to be positioned on both sides of the steel wire 30 after the steel wire 30 enters the interior along the fusion cut 219a, so that the movable electrode 216 and the fixed electrode 217 can clamp the steel wire 30 in the middle for the fusion cut operation.

[0057] Figure 6 This is a schematic diagram 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 element 222, a fixing block 223, a sensing element 224, and a sensor 225. The fixing block 223 is fixedly mounted on the guide plate 219, located away from the flared opening of the fuse opening 219a. The detection rod 221 passes through the fixing block 223 and is slidably connected to it along the orientation of the fuse opening 219a. Viewed along the extension direction of the steel wire 30, the detection rod 221 coincides with the fuse opening 219a and extends along its orientation, partially obscuring the fuse opening 219a. Therefore, when the steel wire 30 enters the fuse opening 219a, it can push the detection rod 221 to slide on the fixing block 223.

[0058] The elastic element 222 is a spring, sleeved on the detection rod 221, located on the side of the fixed block 223 facing the opening of the fuse opening 219a. One end of the elastic element 222 abuts against the fixed block 223, and the other end abuts against the end of the detection rod 221, pushing the detection rod 221 to move towards the opening of the fuse opening 219a. The sensing element 224 is fixedly installed on the detection rod 221 and can move along the direction of the fuse opening 219a as the detection rod 221 slides. The sensor 225 is a position detection sensor 225, fixedly installed on the guide plate 219. The sensor 225 is positioned such that when the steel wire 30 enters the fuse opening 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 element 224 to a predetermined position. After the sensor 224 reaches the predetermined position, looking along the extension direction of the steel wire 30, the sensor 224 blocks the sensor 225, that is, the sensor 224 is in the detection area of ​​the sensor 225, and the sensor 225 can detect that the sensor 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 element 222, and the sensing element 224 connected to the detection rod 221 moves away from the sensor 225, giving the control system a signal that the wire 30 is not in position. When the detection device 220 is in an operating state, the wire 30 passes through the fuse opening 219a of the guide plate 219. The wire 30 itself has a certain tension, which will press down the detection rod 221. At this time, the sensing element 224 moves with the detection rod 221 to the corresponding position of the sensor 225. The sensor 225 detects the sensing element 224 and gives the control system a signal that the wire 30 is in position. The control system gives a command to the actuating cylinder 213 to fuse. After the actuating cylinder 213 performs the action to the position, the fuse transformer 212 fuses the wire 30, and the actuating cylinder 213 returns to its original position. If the steel wire 30 is melted, its tension is released, the detection rod 221 extends under the elastic force of the elastic element 222, the sensing element 224 returns to its original position, and the sensor 225 sends a signal to the control system indicating that the steel wire 30 is not in position, thus the control system determines that the melting is successful. If the steel wire 30 is not melted, its tension is not released, the detection rod 221 remains in its original position, the sensing element 224 remains in its original position (predetermined position), the sensor 225 sends a signal to the control system indicating that the steel wire 30 is in position, and the control system determines that the melting is unsuccessful.

[0060] Note that the above are merely preferred embodiments and the technical principles employed in this application. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present application has been described in 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 robotic arm, characterized in that, The device includes a robotic arm and a fuse. The fuse is mounted on the robotic arm and has a fusing device and a detection device. The fusing device has a notch-shaped fusing opening. The robotic arm drives the fuse to move, so that the taut filamentous material enters the fusing device through the fusing opening and is then melted by the fusing device. The detection device is used to detect whether the material in the fuse hole has melted; The detection device includes: sensor; The sensing element is used in a robotic arm that drives the fuse to move. When the taut, filamentous material enters the fuse device through the fuse opening, the material drives the sensing element to a predetermined position, blocking the sensor and causing the sensor to detect the sensing element. An elastic element is connected to the sensing element in a transmission manner, and is used to drive the sensing element away from the predetermined position; A detection rod is disposed on the side of the fuse opening and slidably connected to the fuse device along the orientation of the fuse opening; a sensing element is fixedly connected to the detection rod, and an elastic element is kinetically connected to the detection rod; viewed along the extension direction of the material, the elastic element drives the detection rod to slide, so that the detection rod blocks the fuse opening.

2. The robotic arm according to claim 1, characterized in that, The fuse device includes: A guide plate is provided with the fusion cut-off port; viewed along the extension direction of the material, the fusion cut-off port is elongated, and one end of the fusion cut-off port is provided with an opening on the guide plate, through which the material enters the fusion cut-off port.

3. The robotic arm according to claim 2, characterized in that, The detection device is mounted on the guide plate.

4. A detection device, characterized in that, Installed on a fuse, used to detect whether the taut filamentous material inside the fuse opening of the fuse has melted; including: sensor; When the material enters the fuse device through the fuse opening, the material drives the sensor to move to a predetermined position, blocking the sensor and causing the sensor to detect the sensor. An elastic element is connected to the sensing element in a transmission manner, and is used to drive the sensing element away from the predetermined position; A detection rod is disposed on the side of the fuse opening and slidably connected to the fuse device along the orientation of the fuse opening; a sensing element is fixedly connected to the detection rod, and an elastic element is kinetically connected to the detection rod; viewed along the extension direction of the material, the elastic element drives the detection rod to slide, causing the elastic element to block the fuse opening.

5. A fuse, characterized in that, include: A fusing device is provided with a notch-shaped fusing opening. Tight, filamentous material enters the fusing device through the fusing opening and is then melted by the fusing device. The detection device is the detection device according to claim 4.

Images