Full-automatic rope belt heading machine and rope belt heading method

Abstract

The invention relates to the technical field of rope belt heading equipment, in particular to a full-automatic rope belt heading machine and a rope belt heading method.The full-automatic rope belt heading machine comprises a heading mechanism, a tensioning mechanism and a discharging mechanism, the tensioning mechanism comprises a limiting clamping jaw and a tensioning clamping jaw, and the discharging mechanism comprises a movable clamping jaw; the movable clamping jaw, the limiting clamping jaw and the tensioning clamping jaw are all used for clamping a rope belt, the limiting clamping jaw and the tensioning clamping jaw are located on the two sides of the heading mechanism respectively, and the movable clamping jaw and the tensioning clamping jaw can move in the arrangement direction of the limiting clamping jaw and the tensioning clamping jaw or move in the opposite direction. The movable clamping jaw can clamp a rope belt and move to the side, away from the tensioning clamping jaw, of the limiting clamping jaw, the movable clamping jaw can further move to the position between the tensioning clamping jaw and the limiting clamping jaw, and after the limiting clamping jaw clamps and fixes the rope belt, the tensioning clamping jaw can clamp the rope belt and move in the direction away from the limiting clamping jaw. The single circulation time is shortened, the efficiency is improved, and the tension fluctuation control precision of the rope belt wrapping section is improved.

Description

Technical Field

[0001] This application relates to the field of rope and tape heading equipment, and in particular to a fully automatic rope and tape heading machine and a rope and tape heading method. Background Technology

[0002] Rope and cord trimming machines are key pieces of equipment in rope and cord processing. They can segment continuous rope and cord into sections at set intervals, wrap them with film, and then cut them. This is used to produce common items like bag handles and shoelaces that require trimming. Currently, the industry generally uses intermittent conveyor grippers to achieve segmented positioning of the rope and cord. During the film wrapping process, the rope and cord at the segmented points needs to be taut to prevent the elasticity of the rope and cord from affecting the wrapping effect. With the increasing demands for consistent appearance in the consumer goods industry, the production efficiency bottleneck of traditional equipment is becoming increasingly apparent.

[0003] In related technologies, a rope and belt heading machine includes a feeding mechanism, a heading mechanism, and a tensioning mechanism. The feeding mechanism is used to feed the rope and belt. The tensioning mechanism includes a movable jaw and a tensioning jaw, which are used to clamp the rope and belt and straighten the clamped middle section of the rope and belt. The heading mechanism is used to head the clamped middle section of the rope and belt and cut the end cap into two sections, thus forming the end cap of the front section of the rope and the beginning end cap of the rear section of the rope and belt. In the actual processing, the movable jaw first clamps the beginning end of the rope and belt and pulls the rope and belt out a certain distance before fixing it. Then, the tensioning jaw clamps the rope and belt and pulls the rope and belt back to straighten the clamped middle section of the rope and belt. After the heading mechanism heads and cuts the rope and belt section, the movable jaw and tensioning jaw reset, and the above operation is repeated.

[0004] The aforementioned rope heading machine uses the same gripper to alternately complete the conveying and straightening actions. Its advantage is its simple structure, but its disadvantages include a long cycle time and significant time loss during idle return. Especially when handling high-elasticity ropes with a large modulus of elasticity, not only is the stroke required to tighten the rope long, but it is also difficult to maintain a stable taut state. Summary of the Invention

[0005] To improve processing efficiency, this application provides a fully automatic rope heading machine and a rope heading method.

[0006] This application provides a fully automatic rope heading machine and rope heading method, which adopts the following technical solution: An automatic rope and tape heading machine includes a heading mechanism, a tensioning mechanism, and a feeding mechanism. The tensioning mechanism includes a limiting gripper and a tensioning gripper, and the feeding mechanism includes a movable gripper. The movable gripper, the limiting gripper, and the tensioning gripper are all used to clamp the rope and tape. The limiting gripper and the tensioning gripper are located on both sides of the heading mechanism. The movable gripper and the tensioning gripper can move along the arrangement direction of the limiting gripper and the tensioning gripper or move in the opposite direction. The movable gripper can clamp the rope and tape and move to the side of the limiting gripper away from the tensioning gripper. The movable gripper can also move between the tensioning gripper and the limiting gripper. After the limiting gripper clamps and fixes the rope and tape, the tensioning gripper can clamp the rope and tape and move in the direction away from the limiting gripper.

[0007] By adopting the above technical solution, firstly, the movable jaws hold the rope and move it away from the tensioning jaws until the limiting jaws are on the side away from the tensioning jaws; then, the limiting jaws hold and fix the rope and pull it; next, the movable jaws release the rope and move it back towards the tensioning jaws, while the tensioning jaws hold the rope and move it away from the limiting jaws to taut the rope and pull it; finally, the heading mechanism covers the clamped middle section of the rope and pull it with a film, while the movable jaws move between the tensioning jaws and the limiting jaws to complete the reset. Repeat the above steps, and when the moving jaw re-clamps the rope, the limiting jaw and tensioning jaw release the rope synchronously. When the moving jaw moves the rope away from the tensioning jaw, the tensioning jaw moves synchronously towards the limiting jaw to reset. The heading mechanism can head the middle section of the rope being clamped, cutting the headed part into two sections, which serve as the end cap of the front rope and the beginning cap of the rear rope. The moving jaw pulls out the rope to ensure that each cut rope has sufficient length. By setting up bidirectional moving jaws, limiting jaws, and tensioning jaws, and having them work together in the same direction, automatic clamping, traction, and tensioning of the rope are achieved, significantly improving the automation level and production efficiency of the rope heading process. By adding a limiting gripper, the limiting gripper replaces the moving gripper to hold the rope when the heading mechanism is working, allowing the moving gripper to reset at this time. This reduces the time loss of the gripper returning during idle stroke in traditional equipment, parallelizes the process, reduces the time of a single cycle, improves efficiency, reduces the proportion of idle stroke movement time of the conveying gripper, and the fixed support of the limiting gripper improves the accuracy of tension fluctuation control in the rope wrapping section, which is especially suitable for the stable processing of highly elastic ropes.

[0008] Optionally, the tensioning mechanism further includes a fixed gripper for holding the rope, the fixed gripper being located between the tensioning gripper and the heading mechanism. When the tensioning gripper moves to taut the rope, the fixed gripper clamps and fixes the rope.

[0009] By adopting the above technical solution, when the tensioning jaw moves to taut the rope, the fixed jaw clamps and fixes the rope. At this time, the tensioning jaw can move back to its original position. By adding a fixed jaw and clamping and fixing it after the tensioning jaw tightens the rope, the fixed jaw replaces the tensioning jaw in clamping the rope during the heading mechanism's operation. This allows the tensioning jaw to reset at this point, and the rope only needs to be tightened for a small section. The time and length of rope tightening required are correspondingly reduced, further enhancing the positioning stability of the rope and improving the accuracy of tension fluctuation control in the rope's covered section.

[0010] Optionally, a feeding mechanism is also included, which includes a conveying component, an encoder, a swing arm and a grooved wheel. The conveying component is used to convey the rope belt. The two ends of the swing arm are fixedly connected to the rotating shaft of the encoder and the grooved wheel, respectively. The grooved wheel is used for the rope belt to pass over. The encoder is used to control the conveying speed of the conveying component.

[0011] By adopting the above technical solution, the encoder can sense the remaining amount of the rope at the feeding mechanism by the swing angle of the swing rod, and adjust the feeding speed of the conveying component. Furthermore, if the rope at the feeding point is depleted, the end of the rope away from the heading mechanism loses its fixation and falls from the pulley. The pulley and swing rod will also fall under gravity, and the encoder shaft's rotation angle will be outside the normal range. At this time, the encoder can sense the depletion of the rope and remind the operator to replenish it. In addition, if the rope at the feeding point cannot feed due to knots or other reasons, the pulley will be raised, and the encoder shaft's rotation angle will exceed the normal range. The encoder can sense the abnormality at the feeding point and remind the operator of equipment malfunction. Introducing the encoder, swing rod, and grooved wheel into the feeding mechanism to control the speed of the conveying component achieves precise measurement and synchronous control of the rope conveying, preventing the rope from becoming slack or overstretched during conveying, and ensuring the accuracy and continuity of the subsequent heading process.

[0012] Optionally, the feeding mechanism further includes a feeding gripper for clamping the rope. The feeding gripper is located between the grooved wheel and the tensioning gripper in the arrangement direction of the tensioning gripper and the limiting gripper. The limiting gripper clamps and fixes the rope while the feeding gripper clamps and fixes the rope.

[0013] By adopting the above technical solution, without the feeding gripper, due to the very tight processing flow, the rope belt would be quickly pulled away from the tensioning gripper by the moving gripper, and then immediately pulled back a distance by the tensioning gripper to tighten the rope belt, causing the grooved wheel and the swing rod to shake significantly. This application, by setting up a feeding gripper and simultaneously clamping the rope belt with the limiting gripper, achieves secondary fixation of the rope belt during the feeding stage. When the tensioning gripper pulls back the rope belt, the rope belt only forms a drooping state between the feeding gripper and the tensioning gripper, without causing the grooved wheel to droop, thus not affecting the encoder's sensing judgment and making the feeding speed control more stable.

[0014] Optionally, the tensioning mechanism further includes a striking component located between the striking mechanism and the limiting gripper. The striking component is rotatable about a rotation axis extending along the arrangement direction of the tensioning gripper and the limiting gripper. When the moving gripper moves toward the direction closer to the tensioning gripper, the striking component rotates to exit the moving gripper's movement path. When the moving gripper moves away from the tensioning gripper to the side of the limiting gripper away from the tensioning gripper, the striking component rotates to enter the moving gripper's movement path and strikes the rope into the clamping opening of the limiting gripper.

[0015] By adopting the above technical solution, since the rope is elastic, it will bounce up and down when the moving jaw pulls the rope, and may jump out of the clamping mouth of the limiting jaw. This application sets up a rotatable striking component, which can automatically strike the rope into the clamping mouth of the limiting jaw when the moving jaw pulls the rope away from the tensioning jaw. This realizes the automatic alignment and clamping of the rope end, reduces manual intervention, and improves the continuity, stability and automation level of equipment operation.

[0016] Optionally, when the movable gripper holds the rope, the movable gripper is located between the tensioning gripper and the fixed gripper, and the fixed gripper remains in the gripping state. After the movable gripper holds the rope, the fixed gripper releases the rope.

[0017] By adopting the above technical solution, since the heading mechanism cuts the rope, the rope will fall due to gravity at the part of the fixed gripper near the limiting gripper, making it difficult for the moving gripper to achieve precise clamping. The moving gripper of this application clamps the rope between the tensioning gripper and the fixed gripper, and the fixed gripper releases the rope only after the moving gripper clamps it, ensuring that the rope will not fall due to gravity when the moving gripper clamps it, ensuring that the moving gripper can clamp the rope, and ensuring the stability and reliability of the rope during the transfer process.

[0018] Optionally, the feeding mechanism further includes a moving drive assembly, a collecting frame, and a feeding gripper for holding the rope. The feeding gripper is located on the side of the moving gripper away from the tensioning gripper. The moving drive assembly is used to drive the feeding gripper and the moving gripper to move synchronously. When the heading mechanism cuts the rope into two sections, the moving gripper grips the first end of the rear rope and moves in a direction away from the tensioning gripper, while the feeding gripper grips the end of the front rope and sends the rope to the top of the collecting frame.

[0019] By adopting the above technical solution, and setting up a feeding gripper that moves synchronously with the moving gripper, the simultaneous gripping and transfer of the front and rear sections of the rope after the heading is completed is achieved, significantly improving feeding efficiency. At the same time, it ensures the orderly collection of finished ropes, reducing tangling or accumulation. Both the feeding gripper and the moving gripper are synchronously driven by a motion drive component, saving energy.

[0020] Optionally, the heading mechanism includes a base, on which a through slot for the rope to pass through is provided along the arrangement direction of the tensioning gripper and the limiting gripper. When the unloading gripper holds the rope, the unloading gripper is located between the base and the limiting gripper.

[0021] By adopting the above technical solution, since the rope will fall due to gravity in the part of the limiting gripper that is far from the tensioning gripper, it is difficult for the unloading gripper to achieve precise clamping. By setting a through groove on the base of the heading mechanism, the rope can be supported in the part of the limiting gripper that is close to the tensioning gripper, ensuring that the rope will not fall due to gravity when the unloading gripper is clamping the rope, ensuring that the unloading gripper can clamp the rope, and ensuring the stability and reliability of the rope during the transfer process.

[0022] Optionally, the tensioning mechanism further includes a limit drive assembly for driving the opening and closing of the limit gripper, and the unloading mechanism further includes a tray located above the limit drive assembly and on the side of the limit gripper away from the tensioning gripper.

[0023] By adopting the above technical solution, a limit drive component is set to control the opening and closing of the limit gripper. Since the rope will fall due to gravity on the part of the limit gripper that is far from the tension gripper, a tray is set above the limit drive component to support the rope. This can minimize the risk of the rope falling into the limit drive component under the action of gravity and causing the drive structure or transmission structure of the limit drive component to jam.

[0024] A method for heading ropes using a fully automatic rope heading machine includes the following steps: S1: The moving jaws grip the rope and move away from the tensioned jaws; S2: Limiting gripper closes and secures the rope; S3: The moving jaw releases the rope and moves back towards the tensioning jaw to reset. At the same time, the tensioning jaw clamps the rope and moves away from the limit jaw to taut the rope. S4: The leading mechanism covers the clamped middle section of the rope with a film, and at the same time moves the gripper to complete the reset. S5: Repeat S1-S4, and when the moving jaw re-grips the rope, the limiting jaw and the tensioning jaw release the rope synchronously. When the moving jaw moves away from the tensioning jaw while holding the rope, the tensioning jaw moves back to its original position towards the limiting jaw.

[0025] By adopting the above technical solution, the step sequence and gripper coordination of the rope heading method are optimized, achieving continuous and efficient rope heading operation, significantly shortening the single heading cycle, and making it particularly suitable for rope production scenarios with large-volume and high consistency requirements.

[0026] In summary, this application includes at least one of the following beneficial technical effects: 1. Parallel processing reduces cycle time, improves efficiency, enhances the control accuracy of tension fluctuation in the rope and tape covering section, and is applicable to various ropes and tapes with higher elastic modulus; 2. It achieves precise metering and synchronous control of the rope conveyor, avoiding slack or excessive stretching of the rope during the conveying process, and ensuring the accuracy and continuity of the subsequent heading process; 3. The feeding gripper is set up so as not to affect the encoder's sensing judgment, making the feeding speed control more stable. Attached Figure Description

[0027] Figure 1 This is a structural diagram of this application.

[0028] Figure 2 yes Figure 1 Enlarged view of point A in the middle.

[0029] Figure 3 yes Figure 1 Enlarged view of section B in the middle.

[0030] Figure 4 This is a schematic diagram of a partial structure of the gear highlighted in this application.

[0031] Figure 5 yes Figure 4 The image at point D is the larger image.

[0032] Figure 6 yes Figure 1 Enlarged view of point C.

[0033] Figure 7 yes Figure 4 Enlarged view of point E in the middle.

[0034] Explanation of reference numerals in the attached drawings: 1. Heading mechanism; 11. Base; 111. Through slot; 12. Film drive assembly; 13. Storage tank; 14. Spraying drive assembly; 15. Conveying pipe; 16. Nozzle; 17. Heading drive assembly; 18. Covering component; 2. Tensioning mechanism; 21. Limiting gripper; 22. Tensioning gripper; 23. Fixing gripper; 24. Beating component; 241. Fixing part; 242. Elastic part; 243. Beating part; 25. Limiting drive assembly; 26. Tensioning drive assembly; 27. Straightening drive. 28. Moving component; 29. ​​Fixed drive component; 3. Tapping drive source; 30. Unloading mechanism; 31. Moving gripper; 32. Moving drive component; 33. Collecting rack; 34. Unloading gripper; 35. Pallet; 36. Unloading drive component; 37. Clamping drive component; 4. Loading mechanism; 41. Conveying component; 411. Conveying drive source; 412. Driving wheel; 413. Driven wheel; 42. Encoder; 43. Swing rod; 44. Grooved wheel; 45. Loading gripper; 46. Loading drive component; 5. Frame. Detailed Implementation

[0035] The following combination Figures 1-7 This application will be described in further detail.

[0036] This application discloses a fully automatic rope heading machine. (Refer to...) Figure 1 and Figure 2 The fully automatic rope and tape heading machine includes a frame 5 and a heading mechanism 1, a tensioning mechanism 2, and a feeding mechanism 3 mounted on the frame 5. The tensioning mechanism 2 includes a limiting gripper 21 and a tensioning gripper 22, and the feeding mechanism 3 includes a movable gripper 31. The movable gripper 31, the limiting gripper 21, and the tensioning gripper 22 are all used to grip the rope and tape. The limiting gripper 21 and the tensioning gripper 22 are located on opposite sides of the heading mechanism 1. Both the movable gripper 31 and the tensioning gripper 22 can move along the arrangement direction of the limiting gripper 21 and the tensioning gripper 22 or move in the opposite direction. The limiting gripper 21 is fixedly mounted on the frame 5. The movable gripper 31 can grip the rope and tape and move to the side of the limiting gripper 21 away from the tensioning gripper 22. The movable gripper 31 can also move between the tensioning gripper 22 and the limiting gripper 21. Once the limiting gripper 21 clamps and fixes the rope, the tensioning gripper 22 can clamp the rope and move away from the limiting gripper 21.

[0037] Reference Figure 1 and Figure 2 and Figure 3The fully automatic rope and belt heading machine also includes a feeding mechanism 4, which is located on the side of the tensioning gripper 22 away from the limiting gripper 21. The feeding mechanism 4 includes a conveying assembly 41, which is used to feed and transfer the rope and belt. The conveying assembly 41 includes a conveying drive source 411, a drive wheel 412, and a driven wheel 413. The conveying drive source 411 is fixedly mounted on the frame 5. The drive wheel 412 and the driven wheel 413 are both rotatably mounted on the frame 5, and the rotation axes of the drive wheel 412 and the driven wheel 413 extend along a direction perpendicular to the vertical direction and perpendicular to the arrangement direction of the tensioning gripper 22 and the limiting gripper 21.

[0038] Reference Figure 3 The conveying drive source 411 is a drive motor, and its shaft is fixedly connected to the driving wheel 412, thereby driving the driving wheel 412 to rotate. Gears are fixedly mounted on both the driving wheel 412 and the driven wheel 413, and the two gears mesh together, thus the driving wheel 412 drives the driven wheel 413 to rotate. The driving wheel 412 and the driven wheel 413 clamp and convey the rope. In other embodiments, the conveying drive source 411 can be a cylinder, hydraulic cylinder, or electric push rod, etc., any method that can drive the driving wheel 412 to rotate is acceptable.

[0039] Reference Figure 4 and Figure 5 The feeding mechanism 4 also includes an encoder 42, a swing rod 43, and a grooved wheel 44. The encoder 42 is fixedly mounted on the frame 5. The two ends of the swing rod 43 are fixedly connected to the rotating shaft of the encoder 42 and the central shaft of the grooved wheel 44, respectively, so that the swing rod 43 and the grooved wheel 44 can swing around the rotating shaft of the encoder 42. The grooved wheel 44 is used for the rope to pass over from below. When the rope shortens, it drives the swing rod 43 and the grooved wheel 44 to swing upward; when the rope extends, it drives the swing rod 43 and the grooved wheel 44 to swing downward. The encoder 42 controls the rotation speed of the conveyor drive source 411 through a PLC.

[0040] Reference Figure 2 and Figure 4 and Figure 6 The feeding mechanism 4 also includes a feeding gripper 45 for clamping the rope. The feeding gripper 45 is fixedly mounted on the frame 5 and is located between the grooved wheel 44 and the tensioning gripper 22 in the arrangement direction of the tensioning gripper 22 and the limiting gripper 21. The rope passes through the clamping opening of the feeding gripper 45 after passing over the grooved wheel 44. While the limiting gripper 21 clamps and fixes the rope, the feeding gripper 45 also clamps and fixes the rope, which can prevent the tensioning gripper 22 from pulling back the rope and causing the swing rod 43 and the grooved wheel 44 to swing, thereby affecting the sensing judgment of the encoder 42.

[0041] Reference Figure 6The feeding mechanism 4 also includes a feeding drive assembly 46, which includes a drive motor and a transmission structure. The drive motor drives the feeding gripper 45 to open and close through the transmission structure. In other embodiments, the feeding gripper 45 can be driven to open and close by means of a cylinder, hydraulic cylinder, or electric push rod.

[0042] Reference Figure 2 The unloading mechanism 3 also includes an unloading drive assembly 36, which includes a drive motor and a transmission structure. The drive motor drives the moving gripper 31 to open and close through the transmission structure. In other embodiments, the moving gripper 31 can be driven to open and close by means of a cylinder, hydraulic cylinder, or electric push rod.

[0043] Reference Figure 2 The unloading mechanism 3 also includes a moving drive assembly 32, which drives the moving gripper 31 to move along or in the opposite direction of the arrangement of the tensioning gripper 22 and the limiting gripper 21. The moving drive assembly 32 includes a moving drive motor, a transmission structure, and a slide rail. The slide rail extends along the arrangement of the tensioning gripper 22 and the limiting gripper 21, and the moving drive motor drives the moving gripper 31 to move along the slide rail via the transmission structure. In other embodiments, the moving gripper 31 can be driven by a cylinder, hydraulic cylinder, or electric push rod.

[0044] Reference Figure 2 The moving drive assembly 32 also includes a lifting drive motor, a transmission structure, and a slide rail. The slide rail extends vertically, and the lifting drive motor drives the moving gripper 31 to move up and down along the slide rail via the transmission structure. In other embodiments, the moving gripper 31 can be driven to move up and down by means of a cylinder, hydraulic cylinder, or electric push rod.

[0045] Reference Figure 2 The tensioning mechanism 2 also includes a limit drive assembly 25, which includes a drive motor and a transmission structure. The drive motor drives the limit gripper 21 to open and close through the transmission structure. In other embodiments, the limit gripper 21 can be driven to open and close by means of a cylinder, hydraulic cylinder, or electric push rod.

[0046] Reference Figure 2 The tensioning mechanism 2 also includes a tensioning drive assembly 26, which includes a drive motor and a transmission structure. The drive motor drives the tensioning gripper 22 to open and close through the transmission structure. In other embodiments, the tensioning gripper 22 can be driven to open and close by means of a cylinder, hydraulic cylinder, or electric push rod.

[0047] Reference Figure 2The tensioning mechanism 2 also includes a straightening drive assembly 27. The straightening drive assembly 27 drives the tensioning gripper 22 to move along or in the opposite direction of the arrangement of the tensioning gripper 22 and the limiting gripper 21. The straightening drive assembly 27 includes a straightening drive motor, a transmission structure, and a slide rail. The slide rail extends along the arrangement direction of the tensioning gripper 22 and the limiting gripper 21, and the straightening drive motor drives the tensioning gripper 22 to move along the slide rail through the transmission structure. In other embodiments, the tensioning gripper 22 can be driven to move by a cylinder, hydraulic cylinder, or electric push rod.

[0048] Reference Figure 2 The tensioning mechanism 2 also includes a fixed gripper 23 for holding the rope, which is fixedly mounted on the frame 5. The fixed gripper 23 is located between the tensioning gripper 22 and the heading mechanism 1. When the tensioning gripper 22 moves to taut the rope, the fixed gripper 23 clamps and fixes the rope.

[0049] Reference Figure 2 The tensioning mechanism 2 also includes a fixed drive assembly 28, which includes a drive motor and a transmission structure. The drive motor drives the fixed gripper 23 to open and close through the transmission structure. In other embodiments, the fixed gripper 23 can be driven to open and close by means of a cylinder, hydraulic cylinder, or electric push rod.

[0050] Reference Figure 2 When the movable jaw 31 clamps the rope, the movable jaw 31 is located between the tensioning jaw 22 and the fixed jaw 23, and the fixed jaw 23 remains in the clamping state. After the movable jaw 31 clamps the rope, the fixed jaw 23 releases the rope.

[0051] Reference Figure 2 and Figure 7 The tensioning mechanism 2 also includes a striking element 24 rotatably mounted on the frame 5. The rotation axis of the striking element 24 extends along the arrangement direction of the tensioning gripper 22 and the limiting gripper 21. The striking element 24 is located between the striking mechanism 1 and the limiting gripper 21. When the moving gripper 31 moves toward the tensioning gripper 22, the striking element 24 rotates to exit the moving path of the moving gripper 31. When the moving gripper 31 moves away from the tensioning gripper 22 to the side of the limiting gripper 21 away from the tensioning gripper 22, the striking element 24 rotates to enter the moving path of the moving gripper 31 and strikes the rope into the clamping opening of the limiting gripper 21.

[0052] Reference Figure 7 The tensioning mechanism 2 also includes a striking drive source 29, which drives the striking element 24 to rotate. The striking drive source 29 is a drive motor, and its rotating shaft is fixedly connected to the end of the striking element 24, thereby driving the striking element 24 to rotate. In other embodiments, the striking element 24 can be driven to rotate by a cylinder, hydraulic cylinder, or electric push rod.

[0053] Reference Figure 7 The striking component 24 includes a fixing part 241, an elastic part 242, and a striking part 243. The fixing part 241 is fixedly connected to the rotating shaft of the striking drive source 29. The elastic part 242 is located between the fixing part 241 and the striking part 243, and is connected to both the fixing part 241 and the striking part 243. The elastic part 242 is a stiff spring with high rigidity. The striking part 243 is used to strike the rope.

[0054] Reference Figure 1 and Figure 2 The heading mechanism 1 includes a base 11 fixedly mounted on the frame 5. A through groove 111 for the rope to pass through is provided on the base 11 along the arrangement direction of the tensioning gripper 22 and the limiting gripper 21. The rope passes through the clamping opening of the feeding gripper 45, then through the clamping opening of the tensioning gripper 22, and finally extends into the through groove 111.

[0055] Reference Figure 2 The heading mechanism 1 also includes a film driving assembly 12 mounted on the base 11. The film driving assembly 12 includes a drive motor and a transmission structure. The drive motor transports the film into the slot 111 through the transmission structure. In other embodiments, the film can be fed by means of a cylinder, hydraulic cylinder, or electric push rod.

[0056] Reference Figure 1 and Figure 2 The heading mechanism 1 also includes a storage tank 13, a spraying drive assembly 14, a conveying pipe 15, and a nozzle 16. The storage tank 13 is used to store acetone, and the conveying pipe 15 connects the storage tank 13 and the nozzle 16. The nozzle 16 faces the through-slot 111. The spraying drive assembly 14 includes a drive motor and a transmission structure. The drive motor pressurizes the inside of the conveying pipe 15 through the transmission structure, causing the acetone to be sprayed through the nozzle 16 onto the film. Through a chemical reaction, the film dissolves on the rope.

[0057] Reference Figure 2 and Figure 4 The heading mechanism 1 also includes a heading drive assembly 17 and a covering component 18. The heading drive assembly 17 includes a drive motor and a transmission structure. The drive motor drives the covering component 18 to move through the transmission structure, so that the covering component 18 wraps the film on the rope and cuts the rope.

[0058] Reference Figure 1 and Figure 2The unloading mechanism 3 also includes a collection frame 33 and an unloading gripper 34 for holding the rope. The collection frame 33 is fixedly mounted on the frame 5 and is located on the side of the limiting gripper 21 away from the tensioning gripper 22. The unloading gripper 34 is located on the side of the moving gripper 31 away from the tensioning gripper 22, and the moving drive assembly 32 is used to drive the unloading gripper 34 to move synchronously with the moving gripper 31. When the heading mechanism 1 cuts the rope into two sections, the moving gripper 31 grips the beginning of the rear rope and moves away from the tensioning gripper 22, while the unloading gripper 34 grips the end of the front rope and feeds the rope above the collection frame 33. When the unloading gripper 34 grips the rope, it is located between the base 11 and the limiting gripper 21.

[0059] Reference Figure 2 The unloading mechanism 3 also includes a clamping drive assembly 37, which includes a drive motor and a transmission structure. The drive motor drives the unloading gripper 34 to open and close through the transmission structure. In other embodiments, the unloading gripper 34 can be driven to open and close by means of a cylinder, hydraulic cylinder, or electric push rod.

[0060] Reference Figure 2 and Figure 7 The unloading mechanism 3 also includes a tray 35 fixedly mounted on the base 11. The tray 35 is located above the limit drive assembly 25 and is located on the side of the limit gripper 21 away from the tension gripper 22. The tray 35 is used to support the rope and prevent the rope from falling naturally and getting tangled in the limit drive assembly 25, causing the limit drive assembly 25 to jam.

[0061] This application also discloses a method for heading a rope or strap, using the aforementioned fully automatic rope or strap heading machine, including the following steps: S1: The movable jaw 31 moves the rope away from the tensioning jaw 22 until the limiting jaw 21 is away from the tensioning jaw 22; S2: Limiting gripper 21 closes and secures the rope; S3: The moving jaw 31 releases the rope and moves back to its original position towards the tensioning jaw 22. At the same time, the tensioning jaw 22 clamps the rope and moves away from the limit jaw 21 to straighten the rope. S4: The leading mechanism 1 covers the clamped middle section of the rope with a film, and at the same time moves the gripper 31 to complete the reset. S5: Repeat S1-S4, and when the moving jaw 31 re-grips the rope, the limiting jaw 21 and the tensioning jaw 22 release the rope synchronously. When the moving jaw 31 moves the rope away from the tensioning jaw 22, the tensioning jaw 22 moves back to the limit jaw 21 synchronously.

[0062] Before step S1, there is also step S0: the conveying component 41 feeds the rope.

[0063] Step S1 also includes: the unloading gripper 34 and the moving gripper 31 move synchronously.

[0064] If a fixed gripper 23 and a feeding gripper 45 are added, then Step S2 also includes: closing and fixing the feeding clamp 45 with the rope.

[0065] Between steps S3 and S4, there is also step S31: the fixed clamp 23 closes and fixes the rope to form a stable tension zone.

[0066] Step S4 also includes: the fixed gripper 23 releasing the rope and moving it back to its original position towards the limit gripper 21.

[0067] Step S5 is changed to: repeat S1-S4, and when the moving gripper 31 re-grips the rope, the limiting gripper 21, the fixing gripper 23 and the feeding gripper 45 release the rope synchronously. When the moving gripper 31 moves the rope away from the tensioning gripper 22, the tensioning gripper 22 completes the reset. The unloading gripper 34 works synchronously with the moving gripper 31. The unloading gripper 34 clamps the cut rope and moves it above the collection rack 33.

[0068] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A fully automatic rope and tape heading machine, characterized in that: The device includes a heading mechanism (1), a tensioning mechanism (2), and a feeding mechanism (3). The tensioning mechanism (2) includes a limiting gripper (21) and a tensioning gripper (22). The feeding mechanism (3) includes a movable gripper (31). The movable gripper (31), the limiting gripper (21), and the tensioning gripper (22) are all used to clamp the rope. The limiting gripper (21) and the tensioning gripper (22) are located on both sides of the heading mechanism (1). The movable gripper (31) and the tensioning gripper (22) are all... The movable jaw (31) can move along the arrangement direction of the limiting jaw (21) and the tensioning jaw (22) or in the opposite direction. The movable jaw (31) can clamp the rope and move to the side of the limiting jaw (21) away from the tensioning jaw (22). The movable jaw (31) can also move between the tensioning jaw (22) and the limiting jaw (21). After the limiting jaw (21) clamps and fixes the rope, the tensioning jaw (22) can clamp the rope and move in the direction away from the limiting jaw (21).

2. The fully automatic rope heading machine according to claim 1, characterized in that: The tensioning mechanism (2) also includes a fixed clamp (23) for clamping the rope. The fixed clamp (23) is located between the tensioning clamp (22) and the heading mechanism (1). When the tensioning clamp (22) moves to taut the rope, the fixed clamp (23) clamps and fixes the rope.

3. The fully automatic rope heading machine according to claim 2, characterized in that: It also includes a feeding mechanism (4), which includes a conveying assembly (41), an encoder (42), a swing rod (43) and a grooved wheel (44). The conveying assembly (41) is used to convey the rope. The two ends of the swing rod (43) are fixedly connected to the rotating shaft of the encoder (42) and the grooved wheel (44) respectively. The grooved wheel (44) is used for the rope to pass around. The encoder (42) is used to control the conveying speed of the conveying assembly (41).

4. The fully automatic rope heading machine according to claim 3, characterized in that: The feeding mechanism (4) also includes a feeding gripper (45) for clamping the rope. The feeding gripper (45) is located between the grooved wheel (44) and the tensioning gripper (22) in the arrangement direction of the tensioning gripper (22) and the limiting gripper (21). While the limiting gripper (21) clamps and fixes the rope, the feeding gripper (45) clamps and fixes the rope.

5. The fully automatic rope heading machine according to claim 1, characterized in that: The tensioning mechanism (2) also includes a striking element (24), which is located between the striking mechanism (1) and the limiting gripper (21). The striking element (24) can rotate around a rotation axis extending along the arrangement direction of the tensioning gripper (22) and the limiting gripper (21). When the moving gripper (31) moves toward the direction close to the tensioning gripper (22), the striking element (24) rotates to the movement path of exiting the moving gripper (31). When the moving gripper (31) moves away from the tensioning gripper (22) to the side of the limiting gripper (21) away from the tensioning gripper (22), the striking element (24) rotates to the movement path of entering the moving gripper (31) and strikes the rope into the clamping opening of the limiting gripper (21).

6. The fully automatic rope heading machine according to claim 2, characterized in that: When the movable jaw (31) clamps the rope, the movable jaw (31) is located between the tensioning jaw (22) and the fixed jaw (23), and the fixed jaw (23) remains in the clamping state. After the movable jaw (31) clamps the rope, the fixed jaw (23) releases the rope.

7. The fully automatic rope heading machine according to claim 1, characterized in that: The feeding mechanism (3) also includes a moving drive assembly (32), a collection rack (33), and a feeding gripper (34) for clamping the rope. The feeding gripper (34) is located on the side of the moving gripper (31) away from the tensioning gripper (22). The moving drive assembly (32) is used to drive the feeding gripper (34) and the moving gripper (31) to move synchronously. When the heading mechanism (1) cuts the rope into two sections, the moving gripper (31) clamps the beginning of the rear rope and moves away from the tensioning gripper (22). At the same time, the feeding gripper (34) clamps the end of the front rope and sends the rope to the top of the collection rack (33).

8. The fully automatic rope heading machine according to claim 7, characterized in that: The heading mechanism (1) includes a base (11), and a through slot (111) for the rope to pass through is provided on the base (11) along the arrangement direction of the tensioning clamp (22) and the limiting clamp (21). When the unloading clamp (34) clamps the rope, the unloading clamp (34) is located between the base (11) and the limiting clamp (21).

9. The fully automatic rope heading machine according to claim 1, characterized in that: The tensioning mechanism (2) further includes a limit drive assembly (25), which is used to drive the limit gripper (21) to open and close. The unloading mechanism (3) further includes a tray (35), which is located above the limit drive assembly (25) and on the side of the limit gripper (21) away from the tension gripper (22).

10. A method for tying the end of a rope, characterized in that: The fully automatic rope heading machine according to claim 1 includes the following steps: S1: The moving jaw (31) grips the rope and moves it away from the tensioning jaw (22); S2: Limiting gripper (21) closes and fixes the rope; S3: The moving jaw (31) releases the rope and moves back to its original position in the direction of moving closer to the tensioning jaw (22). At the same time, the tensioning jaw (22) clamps the rope and moves it away from the limiting jaw (21) to straighten the rope. S4: The heading mechanism (1) covers the clamped middle section of the rope with a film, and at the same time moves the gripper (31) to complete the reset; S5: Repeat S1-S4, and when the moving jaw (31) re-clamps the rope, the limiting jaw (21) and the tensioning jaw (22) release the rope synchronously. When the moving jaw (31) clamps the rope and moves away from the tensioning jaw (22), the tensioning jaw (22) moves synchronously towards the limiting jaw (21) to reset.

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