Steel belt welding device and method for steel belt circumferential strapping machine

Abstract

The invention provides a steel belt welding device and method for a steel belt circumferential strapping machine, and belongs to the technical field of welding structures.The steel belt welding device comprises a bearing mechanism, a feeding trolley is arranged on one side of the bearing mechanism in a sliding mode, a containing table is arranged on the bearing mechanism, and a fixing piece used for fixing a steel coil is integrally formed on the containing table; a supporting table is arranged at the top of the bearing mechanism, a moving table slides on the supporting table, and a flow guide part is arranged on the moving table; a welding mechanical arm and a feeding device are arranged on one side of the supporting table, a welding opening is formed in the flow guide part, a laser welding head of the welding mechanical arm corresponds to the welding opening in position, and the flow guide part is in butt joint with the feeding device so as to receive a steel belt conveyed by the feeding device and guide the steel belt to the periphery of a steel coil to form a bundling ring; a welding seam adjusting control module is arranged on the supporting table, a detection piece used for collecting steel coil specification data is arranged on the fixing piece, and the welding seam adjusting control module obtains the steel coil specification data according to the detection piece and is matched with the welding seam length and the steel belt cutting size in a self-adaptive mode.

Description

Technical Field

[0001] This invention relates to the field of welding structure technology, and more specifically, to a steel strip welding device and method for a steel strip circumferential binding machine. Background Technology

[0002] In the fields of steel production, warehousing and transportation, and heavy machinery manufacturing, in order to ensure the structural stability of steel coils and prevent them from loosening or deforming during transfer and stacking, steel strips are often used to bind and fix the steel coils around their circumference after production. At this time, steel strip circumferential binding machines are needed to realize the automated binding of the outer circumference of the steel coils, which facilitates the subsequent storage, transportation and processing of the steel coils.

[0003] However, the welding structure of traditional steel strip circumferential binding machines lacks adaptive adjustment capabilities and a precise steel coil specification detection and parameter matching mechanism. This leads to a mismatch between the steel strip cutting length and the weld overlap length during the steel coil binding and welding process, due to differences in the inner / outer diameter and thickness of different batches of steel coils. Consequently, the steel strip may become too long and slack, or too short and stretched. Furthermore, the steel coil clamping structure of traditional devices is mostly rigid, and the stability of the steel strip guiding and positioning mechanism is insufficient. Under the action of steel strip conveying and welding tension, this easily leads to steel strip deviation and misalignment of the overlap, resulting in poor weld quality and loose steel coil binding. This not only affects the binding strength of the steel coil, causing a risk of loosening during transportation, but also increases labor costs and production time due to high rework rates and frequent manual adjustments, thus reducing overall production efficiency and failing to meet the demands of large-scale, automated production. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a steel strip welding device and method for a steel strip circumferential binding machine. This addresses the technical issues of existing steel strip circumferential binding machines, such as the lack of adaptive adjustment capabilities in the welding structure, inaccurate steel coil specification detection, low matching degree between steel strip cutting and weld length, and poor stability in steel coil clamping and steel strip positioning. These issues result in easy deviation and loosening of the steel strip, poor weld quality, weak binding, high rework rate, and low production efficiency.

[0005] The purpose and effectiveness of the steel strip welding device and method for a steel strip circumferential binding machine of the present invention are achieved by the following specific technical means: This invention provides a steel strip welding device for a steel strip circumferential binding machine, including a bearing mechanism: A feeding trolley slides on one side of the bearing mechanism, and a placement platform is provided on the bearing mechanism. A fixing component for fixing the steel coil is integrally formed on the placement platform. The bearing mechanism has a support platform at the top, a movable platform that slides on the support platform, and a guide component on the movable platform; A welding robotic arm and a feeding device are provided on one side of the support platform. A welding port is opened on the guide component. The laser welding head of the welding robotic arm is positioned corresponding to the welding port. The guide component is connected to the feeding device to receive the steel strip conveyed by the feeding device and guide the steel strip to the outer periphery of the steel coil to form a binding ring. The support platform is equipped with a weld seam adjustment and control module, and the fixing component is equipped with a detection component for collecting steel coil specification data. The weld seam adjustment and control module obtains the steel coil specification data based on the detection component and adaptively matches the weld seam length with the steel strip cutting size.

[0006] As a preferred embodiment, the guide includes a main body and two sets of clamping arms, the two sets of clamping arms being symmetrically hinged to both sides of the main body, the main body being provided with two sets of telescopic drive members, one end of the movable rod of the telescopic drive member being connected to the clamping arm, and the weld joint being located on the top of the main body; Both sets of clamping arms are equipped with slides, each slide has a mounting base, the mounting base has a limiting plate, the limiting plate has multiple sets of deformation grooves, an electromagnet is provided between the two sets of deformation grooves, and the limiting plate has an over-slip groove. When the two sets of clamping arms are in contact with the steel coil, the two sets of conveyor grooves are arranged in an overlapping manner.

[0007] As a preferred embodiment, the placement platform is provided with a docking platform, and both ends of the two sets of clamping arms are provided with guide platforms. The guide platforms are provided with flared guide grooves that are adapted to the discharge end of the docking platform. The docking platform receives the steel strip output by the feeding device and guides it to the guide platform. The guide platform is equipped with electrically driven rollers for actively conveying the steel belt.

[0008] In a preferred embodiment, the fastener includes a three-jaw chuck and four sets of jaws. The three-jaw chuck is vertically mounted on the end face of the placement platform, and the four sets of jaws are radially slidably connected to the placement platform. The jaw is provided with a pressure plate on the side near the steel coil, and multiple sets of sliding grooves are provided on the jaw, with support plates slidably provided on each set of sliding grooves; The support plate has multiple sets of sliding rods integrally formed on the side near the steel coil. Each set of sliding rods is fitted with a stop rod, and a spring for providing elastic preload is sleeved on the stop rod. The end of each set of stop rods away from the sliding rod is integrally formed with a locking plate, and the locking plate has a slot for locking the steel strip.

[0009] As a preferred embodiment, the detection element includes an infrared profile scanner, a pressure sensing plate, and a laser rangefinder. The infrared profile scanner is mounted on the moving platform, the pressure sensing plate is installed in the slot, and the laser rangefinder is installed on the main body.

[0010] In a preferred embodiment, the feeding device includes a belt source, a straightener, a shearing machine, and a steel belt guide arranged sequentially along the steel belt conveying direction, with the output end of the steel belt guide facing the docking table.

[0011] A method for welding steel strips using a steel strip circumferential binding machine includes the following steps: S1: Multi-source data acquisition, infrared contour scanner scans the outer contour of the steel coil to obtain the outer diameter and roundness data of the steel coil; A laser rangefinder sensor measures the inner diameter of a steel coil. The pressure sensor collects the clamping pressure data between the slot and the starting end of the steel strip, and all data is uploaded to the weld adjustment and control module. S2: Basic parameter calculation. The weld adjustment control module calculates the theoretical circumference of the steel strip binding ring based on the outer diameter data of the steel coil, and corrects the compensation value by combining the roundness deviation data of the steel coil to obtain the target cutting length of the steel strip. At the same time, the corresponding weld lap length is matched according to the steel strip thickness, material parameters and preset binding tension; S3: Cutting execution: The weld adjustment control module sends an instruction to the shearing machine of the feeding device, and the shearing machine completes the steel strip cutting according to the target cutting length; S4: Weld seam adaptation and adjustment. The weld seam adjustment and control module drives the slide of the guide component to slide along the clamping arm according to the matching overlap length, and adjusts the overlap length of the groove to adapt to the weld seam overlap requirements.

[0012] As a preferred method, in step S2: The compensation values ​​include the steel coil roundness deviation compensation value, the steel strip elastic tension compensation value, and the welding allowance compensation value; The roundness deviation compensation value is calculated by fitting the contour data collected by the infrared contour scanner. The elastic tension compensation value is determined based on the elastic modulus of the steel strip material and the preset binding tension. The welding allowance compensation value is a fixed threshold value used to offset the shrinkage of the steel strip during the welding process.

[0013] As a preferred method, in step S1: Data acquisition adopts a dynamic follow-up acquisition mode. The mobile stage drives the infrared contour scanner to move and scan along the steel coil axis. When the main body moves synchronously with the support platform, the laser range sensor synchronously completes the inner circle diameter measurement at multiple points, and takes the average value as the final inner circle diameter data to improve the data acquisition accuracy.

[0014] As a preferred approach, a closed-loop verification step is also included after step S4: S5: Overlap accuracy verification. The weld adjustment control module controls the electromagnet to be energized and adsorb the overlapping part of the steel strip. The length of the overlapping area is measured a second time by the laser range sensor to determine the deviation between the actual overlap length and the theoretical value. S6: Real-time correction. If the deviation exceeds the preset range, the weld adjustment control module drives the slide table to fine-tune the displacement until the overlap length meets the requirements, and then triggers the welding robot arm to start welding.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention, through the coordinated design of the detection component and the weld seam adjustment control module, enables the device to adaptively match the steel strip cutting size and weld seam length of steel coils of different specifications, thereby improving the device's versatility and adaptability. The device dynamically acquires the inner / outer diameter and roundness data of the steel coil through an infrared contour scanner and a laser rangefinder. Combined with the steel strip clamping signal fed back by the pressure sensor, it calculates the target parameters, solving the problem of traditional devices lacking adaptive adjustment capabilities, which leads to frequent manual adjustments and poor adaptability when steel coil specifications change. This improves the device's adaptability to different working conditions.

[0016] 2. When using this device, the elastic clamping structure of the fixing component and the flexible limiting structure of the guide component work together to achieve steel coil clamping and steel strip positioning. This prevents the steel strip from slipping or loosening during the bundling and welding process, improving the bundling and welding accuracy of the device. Simultaneously, through the active feeding of the steel strip by electrically driven rollers, the adjustment of the overlap length by the slide table, and the closed-loop verification mechanism, this device avoids problems such as poor weld quality and loose steel coil bundling caused by unstable steel strip feeding and large overlap deviations in traditional devices. This ensures the quality of bundling and welding, reduces rework rates, lowers labor costs, and improves the production efficiency and operational reliability of the device. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the assembly structure of the invention; Figure 2 This is a schematic diagram of the three-jaw chuck of the invention; Figure 3 This is a structural schematic diagram of the lifting drive component of the invention; Figure 4 This is a schematic diagram of the structure of the mobile station of this invention; Figure 5 This is a schematic diagram of the weld joint structure of the invention; Figure 6 This is a schematic diagram of the mounting base of the invention; Figure 7 This is a schematic diagram of the mounting base of the invention; Figure 8 This is a schematic diagram of the docking platform of the invention; Figure 9 This is a schematic diagram of the structure of the first linear drive component of the invention; Figure 10 This is a schematic diagram of the invention's principle framework.

[0018] In the diagram, the correspondence between component names and their corresponding reference numerals is as follows: 101. Loading mechanism; 102. Feeding trolley; 103. Placement platform; 104. Support platform; 105. Moving platform; 202. Three-jaw chuck; 203. Jaw; 204. Pressure plate; 205. Slide groove; 206. Support plate; 207. Slide rod; 208. Push rod; 209. Spring; 210. Clamping plate; 211. Clamping slot; 302. Weld joint; 303. Main body; 304. Clamping arm; 305. Slide table; 306. Mounting base; 307. Limiting plate; 308. 309. Deformation groove; 402. Belt groove; 403. Docking platform; 404. Guide platform; 405. Guide groove; 406. Electric drive roller; 407. Belt source; 408. Straightening machine; 409. Shearing machine; 502. Steel strip guide; 503. Infrared contour scanner; 504. Pressure sensing plate; 505. Laser rangefinder sensor; 606. Weld seam adjustment control module; 607. Telescopic drive component; 608. Electromagnet; 709. Welding robotic arm; 7000. Laser welding head. Detailed Implementation

[0019] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the technical solutions of the present invention, but should not be used to limit the scope of protection of the present invention.

[0020] Example:

[0021] like Figures 1 to 10 The present invention provides a steel strip welding device for a steel strip circumferential binding machine, including a bearing mechanism 101: A feeding cart 102 slides on one side of the bearing mechanism 101, and a placement platform 103 is provided on the bearing mechanism 101. A fixing component for fixing the steel coil is integrally formed on the placement platform 103. The top of the bearing mechanism 101 has a support platform 104, a movable platform 105 slides on the support platform 104, and a guide is provided on the movable platform 105. A welding robotic arm 701 and a feeding device are provided on one side of the support platform 104. A welding port 302 is provided on the guide component. The laser welding head 702 of the welding robotic arm 701 is positioned corresponding to the welding port 302. The guide component is connected to the feeding device to receive the steel strip conveyed by the feeding device and guide the steel strip to the outer periphery of the steel coil to form a binding ring. The support platform 104 is equipped with a weld seam adjustment control module 601, and the fixing component is equipped with a detection component for collecting steel coil specification data. The weld seam adjustment control module 601 obtains the steel coil specification data according to the detection component and adaptively matches the weld seam length with the steel strip cutting size.

[0022] Specifically, the supporting mechanism 101 includes a worktable with two sets of vertically distributed guide rails. A feeding trolley 102 slides on one set of guide rails. The feeding trolley 102 is electrically driven and can be optionally equipped with a stepper motor of model 57BYG250H to realize the transfer of steel coils. A support platform 104 slides on the other set of guide rails. The support platform 104 is equipped with a lifting drive component, which is an electric push rod of model DT300. A placement platform 103 is provided on the movable rod of the lifting drive component. A fixing component for fixing the steel coil is integrally formed at the end of the placement platform 103 near the feeding trolley 102. A first lead screw slide rail is provided on the top of the support platform 104. A moving platform 105 slides on the first lead screw slide rail. A drive motor is provided at one end of the moving platform 105. A second lead screw slide rail is provided on the output shaft of the drive motor. A guide component is provided on the second lead screw slide rail. Understandably, the two sets of vertically distributed guide rails provide mutually perpendicular movement trajectories for the feeding trolley 102 and the support platform 104. The feeding trolley 102 can move along the guide rails to one side of the placement platform 103 to realize the loading and unloading of steel coils. The support platform 104 can adjust its position along another set of guide rails to adapt to the placement and bundling requirements of steel coils of different specifications, thereby improving the space utilization and operational flexibility of the device.

[0023] The lifting drive can move the placement platform 103 up and down, adjusting its horizontal position according to the diameter and height of the steel coil. This ensures that the center of the steel coil is aligned with the working height of the guide component and the welding robotic arm 701, providing a height reference for subsequent steel strip guidance and welding. The fixing component is integrally formed with the placement platform 103, which not only improves the structural strength of the fixing component but also ensures the coaxiality of the steel coil after clamping, avoiding binding deviations caused by steel coil clamping offset.

[0024] The first and second lead screw slide rails form a cross-shaped moving mechanism. The drive motor can rotate the second lead screw slide rail, which, in conjunction with the first lead screw slide rail, drives the moving table 105 to slide, enabling the guide component to move in multiple directions on the horizontal plane. The moving path of the guide component driven by the moving table 105 is set with the center of the steel coil as the origin, ensuring that the guide component can conform to the outer circumference of steel coils of different diameters. The guide component not only serves to receive the steel strip conveyed by the feeding device, but its weld joint 302 also provides clearance and welding guidance for the welding robot arm 701, ensuring that the laser welding head 702 can be aligned with the overlapping part of the steel strip, improving the weld formation quality.

[0025] The weld seam adjustment control module 601, as the core control unit of the device, can adopt an UNO-2473G embedded industrial computer. The dedicated control program running inside is written in C++ and stored in an 8G industrial-grade memory card. By receiving specification data such as the inner / outer diameter and roundness of the steel coil collected by the inspection component, it can automatically calculate the appropriate steel strip cutting length and weld seam overlap length. Parameter matching and execution control can be completed without manual intervention, solving the drawback of traditional devices that require manual parameter adjustment. It realizes automated and precise control of steel coil bundling welding, taking into account both production efficiency and bundling quality.

[0026] The guide component includes a main body 303 and two sets of clamping arms 304. The two sets of clamping arms 304 are symmetrically hinged to both sides of the main body 303. The main body 303 is provided with two sets of telescopic drive components 602. The telescopic drive components 602 are cylinders of model SC63-100. One end of the movable rod of the telescopic drive component 602 is connected to the clamping arm 304. The weld joint 302 is located at the top of the main body 303. Each set of clamping arms 304 is provided with a slide 305. The slide 305 is provided with a mounting base 306. The mounting base 306 is provided with a limiting plate. 307. Multiple sets of deformation grooves 308 are provided on the limiting plate 307. An electromagnet 603 is provided between two sets of deformation grooves 308. The electromagnet 603 is model MFZ1-2.5, with a power supply voltage of 24V. After being energized, it generates a suction force of ≥50N. The power-on and power-off triggering timing is when the first and last overlapping ends of the steel strip are completely entered into the overlapping area of ​​the strip groove 309, and the power is cut off after welding is completed. The limiting plate 307 has strip grooves 309. When the two sets of clamping arms 304 are in contact with the steel coil, the two sets of strip grooves 309 are arranged in an overlapping manner.

[0027] Understandably, the telescopic drive 602 provides stable power for the opening and closing of the clamping arm 304. Through the telescopic drive 602, the two sets of clamping arms 304 can be driven to rotate around the hinge point, thereby achieving the fit between the clamping arm 304 and the outer circumference of steel coils of different diameters, adapting to the bundling needs of various specifications of steel coils.

[0028] The multiple sets of deformation grooves 308 on the limiting plate 307 give it excellent flexible deformation capability. When the clamping arm 304 is in contact with the steel coil, the limiting plate 307 can adapt to the curvature of the steel coil, ensuring contact between the limiting plate 307 and the steel strip while avoiding damage to the surface of the steel strip caused by rigid extrusion. The electromagnet 603 installed between the two sets of deformation grooves 308 can generate an attraction force when the steel strip overlaps, firmly adsorbing and fixing the overlapping parts of the steel strip, preventing the steel strip from shifting during welding and ensuring the accuracy of the weld formation.

[0029] The two sets of clamping arms 304 have overlapping grooves 309 that are arranged vertically when the clamping arms 304 are in contact with the steel coil, forming a continuous steel strip conveying channel. The steel strip conveyed by the feeding device can pass through the overlapping grooves 309 in sequence, realizing the orderly guidance and overlap of the steel strip. At the same time, the slide table 305 can slide along the clamping arms 304, driving the mounting base 306 and the limiting plate 307 to move synchronously, thereby adjusting the overlap length of the grooves 309 to adapt to different weld overlap length requirements, further improving the adaptability and flexibility of the guide component.

[0030] like Figures 1 to 6 As shown, the placement platform 103 is provided with a docking platform 402, and both ends of the two sets of clamping arms 304 are provided with guide platforms 403. The guide platforms 403 are provided with flared guide grooves 404 that are adapted to the discharge end of the docking platform 402. The docking platform 402 receives the steel belt output by the feeding device and guides it to the guide platform 403. The guide platform 403 is provided with electrically driven rollers 405 for actively conveying the steel belt.

[0031] Understandably, the docking platform 402 and the guide platform 403 form a steel belt transfer and guiding structure from the feeding device to the guide component, and the connection between the two ensures the smoothness and accuracy of the steel belt conveying.

[0032] The docking platform 402 receives the steel belt output from the steel belt guide 409, serving as a transition between the upper and lower sections and preventing the steel belt from falling or deviating when it is directly conveyed from the feeding device to the guide platform 403. The flared guide groove 404 on the guide platform 403 adopts a "large inlet, small outlet" tapering design, which can center and correct the deviation of the incoming steel belt. Even if there is a slight positional deviation in the steel belt conveying, it can be guided back to the preset conveying path by the side wall of the guide groove 404, ensuring that the steel belt enters the belt passage groove 309 of the clamping arm 304.

[0033] The electric drive rollers 405 installed on the guide table 403 provide active power for the steel belt conveying. Compared with the traditional passive conveying method that relies on gravity or material feeding thrust, the active conveying mode can effectively avoid problems such as jamming and loosening of the steel belt during the conveying process. At the same time, the rotation speed of the electric drive rollers 405 can be adjusted as needed by the weld seam adjustment control module 601. In conjunction with the subsequent steel belt tensioning and overlapping actions, the controllability and stability of the steel belt conveying are further improved.

[0034] The fasteners include a three-jaw chuck 202 and four sets of jaws 203. The three-jaw chuck 202 is vertically mounted on the end face of the placement platform 103, and the four sets of jaws 203 are slidably connected to the placement platform 103 in the radial direction. A pressure plate 204 is provided on the side of the chuck 203 near the steel coil. Multiple sets of sliding grooves 205 are provided on the chuck 203, and support plates 206 are slidably provided on each set of sliding grooves 205. The support plate 206 has multiple sets of sliding rods 207 integrally formed on the side near the steel coil. Each set of sliding rods 207 is provided with a stop rod 208. A spring 209 for providing elastic pre-tightening force is sleeved on the stop rod 208. A clamping plate 210 is integrally formed on the end of the multiple sets of stop rods 208 away from the sliding rods 207. The clamping plate 210 has a groove 211 for clamping the steel strip.

[0035] Specifically, the fixing components include a three-jaw chuck 202 and four sets of jaws 203. The three-jaw chuck 202 is mounted on the end face of the vertical placement platform 103. The placement platform 103 is equipped with four sets of first linear drive components, and the four sets of jaws 203 are respectively mounted on the four sets of first linear drive components. A pressure plate 204 is provided on the side of the jaws 203 near the steel coil. Multiple sets of sliding grooves 205 are provided on the jaws 203, and support plates 206 slide on the multiple sets of sliding grooves 205. The jaws 203 are located away from the steel coil. A second linear drive is provided on one side of the steel coil, and the support plate 206 is driven by the second linear drive to slide along the slide groove 205. The support plate 206 has multiple sets of slide rods 207 integrally formed on the side near the steel coil. Each set of slide rods 207 is provided with a stop rod 208. A spring 209 for providing elastic pre-tightening force is sleeved on the stop rod 208. A clamping plate 210 is integrally formed on the end of the multiple sets of stop rods 208 away from the slide rods 207. The clamping plate 210 has a clamping groove 211 for clamping the steel strip.

[0036] Understandably, the three-jaw chuck 202 and the four sets of jaws 203 form a dual fixing structure of "inner support + outer clamping". The three-jaw chuck 202 can provide radial support from the inner circle of the steel coil, while the four sets of jaws 203 can synchronously clamp from the outer circumference of the steel coil under the drive of the first linear drive component. The two work together to fix steel coils with different inner and outer diameters, preventing the steel coil from rotating or shifting during the bundling and welding process.

[0037] The second linear drive can drive the support plate 206 to slide along the slide groove 205, thereby adjusting the distance between the clamping plate 210 and the outer periphery of the steel coil to adapt to the clamping requirements of steel coils of different diameters; while the combination of the slide rod 207, the abutment rod 208 and the spring 209 gives the clamping plate 210 elasticity. The preload of the spring 209 can push the abutment rod 208 to drive the clamping plate 210 to flexibly fit against the surface of the steel coil, which not only ensures the firmness of the clamping, but also avoids the rigid extrusion from scratching the surface of the steel coil. The first linear drive and the second linear drive can be selected as electric drive lead screw slides.

[0038] The slots 211 on the clamping plate 210 can clamp the steel strip, providing a stable fixed base for the steel strip winding, preventing the steel strip from slipping or loosening during the conveying and tensioning process; thus ensuring the stability and reliability of the binding and welding.

[0039] like Figure 4 , Figure 5 , Figure 9As shown, the detection components include an infrared profile scanner 502, a pressure sensing plate 503, and a laser rangefinder 504; the infrared profile scanner 502 is mounted on the moving stage 105, the pressure sensing plate 503 is mounted on the slot 211, and the laser rangefinder 504 is mounted on the main body 303.

[0040] Understandably, the distributed installation of the three detection elements enables the monitoring of steel coil specifications and steel strip fixation status, and the installation position of each element is highly matched with the monitoring target, improving the targeting and accuracy of data collection.

[0041] The infrared profile scanner 502 is embedded in the moving stage 105 and can move along the steel coil axis with the moving stage 105 to complete the dynamic scanning of the outer periphery of the steel coil, and obtain key dimensional data such as the outer diameter and roundness deviation of the steel coil, providing a reliable basis for calculating the cutting length of the steel strip. The laser rangefinder 504 is installed on the main body 303 of the guide component. It can move with the guide component and measure the inner diameter of the steel coil at multiple points to further supplement the specifications of the steel coil and improve the accuracy of parameter calculation.

[0042] The pressure sensor 503 is directly installed on the inner wall of the slot 211, which can collect the clamping pressure signal between the slot 211 and the starting end of the steel strip in real time. This allows the sensor to determine whether the steel strip is properly secured, preventing subsequent processes from being accidentally triggered due to loose steel strip. The three types of detection data are synchronously transmitted to the weld adjustment control module 601, forming a complete data chain of "steel coil size detection + steel strip fixation status monitoring", providing core data support for the adaptive adjustment of the device.

[0043] It should be noted that the infrared profile scanner 502 can be an LJ-V7000 series two-dimensional profile measuring instrument; the laser rangefinder 504 can be an OD2-N120W60I0 laser rangefinder; and the pressure sensing plate 503 can be an F3W-D052A thin pressure sensor.

[0044] like Figure 1 As shown, the feeding device includes a belt source 406, a straightener 407, a shearing machine 408 and a steel belt guide 409 arranged sequentially along the steel belt conveying direction. The output end of the steel belt guide 409 faces the docking table 402.

[0045] Understandably, the components of the feeding device are arranged sequentially along the steel belt conveying direction, forming a complete steel belt supply process of "storage-straightening-cutting-guiding", ensuring that the steel belt can be conveyed to the binding station in a flat and accurate state.

[0046] The belt source 406, as a storage component for steel strip, can hold a sufficient amount of steel strip raw materials, providing material support for continuous production. The straightener 407 can perform roller straightening on the steel strip output from the belt source 406, eliminating defects such as bending and curling caused by the steel strip during storage, ensuring a flat surface of the steel strip, and avoiding conveying jams or positioning deviations caused by the bending of the steel strip.

[0047] The shearing machine 408 is linked with the weld seam adjustment control module 601. It can cut the straightened steel strip according to the calculated target cutting length, so as to achieve on-demand adaptation of the steel strip length. The steel strip guide 409 plays the role of directional conveying. Its output end faces the docking table 402, which can smoothly guide the cut steel strip to the docking table 402, and then enter the strip passage groove 309 of the guide component through the guide table 403. This forms a seamless connection from feeding to binding, which improves the overall operation continuity and automation of the device.

[0048] The welding robotic arm 701 is a six-axis articulated robotic arm of model IRB120 with an effective working radius of 580mm. It is fixed to one side of the support platform 104 by an L-shaped bracket. The end is equipped with a fiber laser welding head 702 with a welding power that is infinitely adjustable from 800 to 2000W, a focal length that is adjustable from 150 to 250mm, a welding speed of 0.5 to 2m / min, and welding parameters that can be automatically matched according to the thickness of the steel strip.

[0049] like Figure 10 As shown, a method for welding steel strips using a steel strip circumferential binding machine includes the following steps: S1: Multi-source data acquisition, infrared profile scanner 502 scans the outer perimeter profile of the steel coil to obtain the outer diameter and roundness data of the steel coil; Laser rangefinder sensor 504 measures the inner diameter of steel coil; The pressure sensor 503 collects the clamping pressure data between the slot 211 and the starting end of the steel strip, and all data is uploaded to the weld adjustment and control module 601; S2: Basic parameter calculation. The weld adjustment control module 601 calculates the theoretical circumference of the steel strip binding ring based on the outer diameter data of the steel coil, and corrects the compensation value by combining the roundness deviation data of the steel coil to obtain the target cutting length of the steel strip. At the same time, the corresponding weld lap length is matched according to the steel strip thickness, material parameters and preset binding tension; S3: Cutting execution, the weld seam adjustment control module 601 sends an instruction to the shearing machine 408 of the feeding device, and the shearing machine 408 completes the steel strip cutting according to the target cutting length; S4: Weld seam adaptation adjustment. The weld seam adjustment control module 601 drives the slide table 305 of the guide component to slide along the clamping arm 304 according to the matching lap length, and adjusts the overlap length of the groove 309 to adapt to the weld seam lap requirements.

[0050] In step S2: The compensation values ​​include the steel coil roundness deviation compensation value, the steel strip elastic tension compensation value, and the welding allowance compensation value; The roundness deviation compensation value is calculated by fitting the contour data collected by the infrared contour scanner 502. The elastic tension compensation value is determined based on the elastic modulus of the steel strip material and the preset binding tension. The welding allowance compensation value is a fixed threshold value used to offset the shrinkage of the steel strip during the welding process.

[0051] In step S1: The data acquisition adopts a dynamic follow acquisition mode. The moving stage 105 drives the infrared contour scanner 502 to move and scan along the steel coil axis. When the main body 303 moves synchronously with the support stage 104, the laser range sensor 504 synchronously completes the inner circle diameter measurement at multiple points and takes the average value as the final inner circle diameter data to improve the data acquisition accuracy.

[0052] Step S4 is followed by a closed-loop verification step: S5: Overlap accuracy verification. The weld adjustment control module 601 controls the electromagnet 603 to be energized and adsorb the overlapping part of the steel strip. The length of the overlapping area is measured twice by the laser range sensor 504 to determine the deviation between the actual overlap length and the theoretical value. S6: Real-time correction. If the deviation exceeds the preset range, the weld adjustment control module 601 drives the slide table 305 to fine-tune the displacement until the overlap length meets the requirements, and then triggers the welding robot arm 701 to start welding.

[0053] Understandably, this adaptive matching process forms a complete control closed loop of "data acquisition - parameter calculation - cutting execution - adaptation adjustment". Each step is closely linked and deeply integrated with the hardware structure of the device, realizing the adaptation of steel strip cutting size and weld length.

[0054] The S1 multi-source data acquisition stage integrates steel coil size data and steel strip fixation status data, which not only provides a basis for parameter calculation, but also uses pressure signals to determine whether the steel strip is fixed in place, thus preventing subsequent processes from starting when the steel coil is not clamped stably. In the S2 basic parameter calculation process, the theoretical circumference is calculated based on the outer diameter of the steel coil, and the roundness deviation correction value is combined to ensure that the steel strip cutting length fits the actual bundling requirements of the steel coil. At the same time, the matching weld lap length takes into account the steel strip thickness and bundling tension to ensure the weld strength. In the S3 cutting execution stage, the steel strip is automatically cut through the linkage between the weld seam adjustment control module 601 and the shearing machine 408. In the S4 weld adaptation and adjustment stage, the overlapping length of the grooved 309 is adjusted by sliding the slide table 305, so that the guide can adapt to different overlap length requirements and provide a position reference for subsequent welding.

[0055] To enable those skilled in the art to clearly and completely implement this invention, the specific implementation of the weld seam adjustment control module 601 involved in the above method is explained as follows: The weld seam adjustment control module 601 uses a UNO-2473G embedded industrial computer as its hardware platform, and runs a dedicated control program inside. This module receives raw signals from the infrared profile scanner 502, the laser rangefinder 504, and the pressure sensor 503, and processes and outputs control commands according to preset logic.

[0056] In step S1, the infrared profile scanner 502, using an LJ-V7000 series two-dimensional profile measuring instrument, continuously scans along the steel coil axis at a sampling frequency of no less than 500 times per second to acquire point cloud data of the outer periphery profile of multiple cross-sections; the laser rangefinder 504, using the OD2-N120W60I0 model, measures the distance between the inner rings of the steel coil at eight evenly distributed angular positions as the guide moves around the steel coil; the pressure sensor 503, using an F3W-D052A thin pressure sensor, is installed on the inner wall of the slot 211 to detect whether the starting end of the steel strip is reliably clamped. When the pressure value output by the pressure sensor 503 is no less than 10 Newtons, the system determines that the steel strip has been fixed in place and allows the subsequent steps to proceed; otherwise, the process is aborted and an alarm is triggered.

[0057] In step S2, the weld seam adjustment control module 601 first calculates the average outer diameter of the steel coil based on the data from the infrared profile scanner 502, and combines this with the average inner diameter measured by the laser rangefinder 504 to determine the theoretical circumference of one turn of the steel strip. Subsequently, the system increases the compensation length based on three practical factors: first, it increases the length proportionally according to the maximum roundness deviation of the steel coil to accommodate irregular shapes; second, it calculates and reserves the amount of elastic deformation caused by stretching based on the steel strip material (e.g., carbon steel), thickness, and the user-set binding tension; and third, it adds a 2.0 mm fixed welding allowance to offset the thermal shrinkage effect during laser welding. The sum of the three compensation values, added to the theoretical circumference, is the target cutting length. Simultaneously, the system automatically selects the overlap length based on the steel strip thickness: 8 mm for thicknesses not exceeding 1.0 mm, 10 mm for thicknesses greater than 1.0 mm but not exceeding 1.5 mm, and 12 mm for thicknesses exceeding 1.5 mm.

[0058] To meet the requirement of full disclosure, the specific algorithm implementation of the weld adjustment control module 601 is further clarified as follows: 1. Calculation of outer diameter and roundness: The moving stage 105 drives the infrared profile scanner 502 to move uniformly along the axial direction of the steel coil at a speed of 5 mm / s, acquiring profile point clouds of no less than 20 cross-sections. After Gaussian filtering to remove noise from the point cloud of each cross-section, the least squares method is used to fit the circle equation and calculate the outer diameter of that cross-section. The arithmetic mean of the outer diameters of all cross-sections is taken as the average outer diameter of the steel coil, and the maximum deviation is recorded as the roundness deviation.

[0059] 2. Inner diameter measurement: The laser rangefinder sensor 504 measures distance at eight angles (45° intervals). The inner diameter is calculated by combining this with the sensor's installation offset. Outliers exceeding ±2 standard deviations are removed, and the average is taken to obtain the final inner diameter.

[0060] 3. Theoretical perimeter and compensation calculation: Considering the steel strip thickness (t), the winding diameter is taken as... Theoretical perimeter .

[0061] The compensation value is calculated as follows: Roundness compensation: ; Elastic tension compensation:

[0062] Where T is the preset tension (N). (Carbon steel) The width of the steel strip is (m). Welding allowance: .

[0063] Target cutting length: .

[0064] 4. Overlap length matching: Based on the steel strip thickness t: ; ; .

[0065] 5. Cutting command output: 333 A 32-bit integer instruction is sent to the shear machine 408 via the Modbus TCP protocol. The value is 0.01 mm.

[0066] 6. Closed-loop verification and correction: Electromagnet 603 generates an attraction force of ≥50N when energized; Laser rangefinder sensor 504 performs secondary measurement of overlap length; If so, the slide 305 is finely adjusted in 0.05mm increments, with a limit of ±2.0mm; if the limit is exceeded, the machine will stop and alarm; otherwise, welding will start.

[0067] In step S3, the weld seam adjustment control module 601 sends a cutting command to the shearing machine 408 via the Modbus TCP industrial communication protocol. The command is represented in integer form, with units of 0.01 mm. For example, if the target cutting length is 3142.5 mm, the value 314250 is sent. After receiving the command, the shearing machine 408 precisely cuts the straightened steel strip.

[0068] In step S4, the weld seam adjustment control module 601 sends a position command to the servo driver of the slide table 305, controlling the slide table 305 to slide along the clamping arm 304, so that the two sides of the strip groove 309 form an overlapping area of ​​a specified length. The position control resolution of the drive system reaches 0.01 mm, ensuring accurate adjustment of the overlap length.

[0069] In steps S5 and S6, the system first energizes the electromagnet 603 to generate an attractive force of no less than 50 Newtons, fixing the overlapping part of the steel strip. Then, the laser rangefinder 504 is activated again to measure the distance between the two ends of the overlapping area and calculate the actual overlapping length. If the actual length deviates from the target value by more than 0.3 mm, the slide table 305 is fine-tuned in 0.05 mm increments, with a maximum adjustment of ±2 mm. If the accuracy requirement is still not met within this range, the system stops and alarms; otherwise, the overlapping is confirmed to be qualified, and a start signal is sent to the welding robotic arm 701 to begin laser welding.

[0070] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A steel strip welding device for a steel strip circumferential binding machine, characterized in that, Including the bearing mechanism (101): A feeding car (102) slides on one side of the bearing mechanism (101), and a placement platform (103) is provided on the bearing mechanism (101). A fixing component for fixing the steel coil is integrally formed on the placement platform (103). The bearing mechanism (101) has a support platform (104) on top, and a movable platform (105) slides on the support platform (104). The movable platform (105) is provided with a guide. The support platform (104) is provided with a welding robot arm (701) and a feeding device on one side. The guide is provided with a welding port (302). The laser welding head (702) of the welding robot arm (701) is positioned corresponding to the welding port (302). The guide is connected to the feeding device to receive the steel strip conveyed by the feeding device and guide the steel strip to the outer periphery of the steel coil to form a binding ring. The support platform (104) is provided with a weld seam adjustment control module (601), and the fixing component is provided with a detection component for collecting steel coil specification data. The weld seam adjustment control module (601) obtains the steel coil specification data according to the detection component and adaptively matches the weld seam length with the steel strip cutting size.

2. The steel strip welding device for a steel strip circumferential binding machine according to claim 1, characterized in that: The guide component includes a main body (303) and two sets of clamping arms (304). The two sets of clamping arms (304) are symmetrically hinged to both sides of the main body (303). The main body (303) is provided with two sets of telescopic drive components (602). One end of the movable rod of the telescopic drive component (602) is connected to the clamping arm (304). The welding port (302) is opened on the top of the main body (303). Both sets of clamping arms (304) are provided with slides (305), the slides (305) are provided with mounting bases (306), the mounting bases (306) are provided with limiting plates (307), the limiting plates (307) are provided with multiple sets of deformation grooves (308), an electromagnet (603) is provided between the two sets of deformation grooves (308), and the limiting plates (307) are provided with over-strip grooves (309). When the two sets of clamping arms (304) are in contact with the steel coil, the two sets of overpass grooves (309) are arranged in an overlapping manner.

3. The steel strip welding device for a steel strip circumferential binding machine according to claim 2, characterized in that: The placement platform (103) is provided with a docking platform (402), and both ends of the two sets of clamping arms (304) are provided with guide platforms (403). The guide platforms (403) are provided with flared guide grooves (404) that are adapted to the discharge end of the docking platform (402). The docking platform (402) receives the steel strip output by the feeding device and guides it to the guide platform (403). The guide table (403) is equipped with electrically driven rollers (405) for actively conveying the steel belt.

4. The steel strip welding device for a steel strip circumferential binding machine according to claim 3, characterized in that: The fastener includes a three-jaw chuck (202) and four sets of jaws (203). The three-jaw chuck (202) is vertically mounted on the end face of the placement platform (103), and the four sets of jaws (203) are slidably connected to the placement platform (103) in the radial direction. The jaw (203) is provided with a pressure plate (204) on the side near the steel coil. Multiple sets of sliding grooves (205) are provided on the jaw (203), and support plates (206) are slidably provided on the multiple sets of sliding grooves (205). The support plate (206) has multiple sets of sliding rods (207) integrally formed on the side near the steel coil. Each set of sliding rods (207) is provided with a stop rod (208). A spring (209) for providing elastic preload is sleeved on the stop rod (208). A clamping plate (210) is integrally formed on the end of the multiple sets of stop rods (208) away from the sliding rods (207). The clamping plate (210) is provided with a groove (211) for clamping the steel strip.

5. The steel strip welding device for a steel strip circumferential binding machine according to claim 4, characterized in that: The detection components include an infrared profile scanner (502), a pressure sensing plate (503), and a laser rangefinder (504). The infrared profile scanner (502) is mounted on the moving stage (105), the pressure sensing plate (503) is mounted on the slot (211), and the laser rangefinder (504) is mounted on the main body (303).

6. The steel strip welding device for a steel strip circumferential binding machine according to claim 5, characterized in that: The feeding device includes a belt source (406), a straightener (407), a shearing machine (408), and a steel belt guide (409) arranged sequentially along the steel belt conveying direction, with the output end of the steel belt guide (409) facing the docking platform (402).

7. A method for welding steel strips in a steel strip circumferential binding machine, used in the steel strip welding device for a steel strip circumferential binding machine as described in claims 1 to 6, characterized in that... Includes the following steps: S1: Multi-source data acquisition, infrared profile scanner (502) scans the outer periphery of the steel coil to obtain the outer diameter and roundness data of the steel coil; A laser rangefinder (504) measures the inner diameter of a steel coil. The pressure sensor (503) collects the clamping pressure data between the slot (211) and the starting end of the steel strip, and all data is uploaded to the weld adjustment and control module (601). S2: Basic parameter calculation, weld adjustment control module (601) calculates the theoretical circumference of the steel strip binding ring based on the outer diameter data of the steel coil, and corrects the compensation value by combining the roundness deviation data of the steel coil to obtain the target cutting length of the steel strip; At the same time, the corresponding weld lap length is matched according to the steel strip thickness, material parameters and preset binding tension; S3: Cutting execution, the weld adjustment control module (601) sends an instruction to the shearing machine (408) of the feeding device, and the shearing machine (408) completes the cutting of the steel strip according to the target cutting length; S4: Weld seam adaptation adjustment. The weld seam adjustment control module (601) drives the slide (305) of the guide component to slide along the clamping arm (304) according to the matching overlap length, and adjusts the overlap length of the groove (309) to adapt to the weld seam overlap requirements.

8. The method for welding steel strips in a steel strip circumferential binding machine according to claim 7, characterized in that, In step S2: The compensation values ​​include the steel coil roundness deviation compensation value, the steel strip elastic tension compensation value, and the welding allowance compensation value; The roundness deviation compensation value is calculated by fitting the contour data collected by the infrared contour scanner (502). The elastic tension compensation value is determined based on the elastic modulus of the steel strip material and the preset binding tension. The welding allowance compensation value is a fixed threshold value used to offset the shrinkage of the steel strip during the welding process.

9. A method for welding steel strips using a steel strip circumferential binding machine according to claim 7, characterized in that, In step S1: The data acquisition adopts a dynamic follow acquisition mode. The mobile stage (105) drives the infrared contour scanner (502) to move and scan along the steel coil axis. When the main body (303) moves synchronously with the support stage (104), the laser range sensor (504) synchronously completes the inner circle diameter measurement at multiple points and takes the average value as the final inner circle diameter data to improve the data acquisition accuracy.

10. A method for welding steel strips in a steel strip circumferential binding machine according to claim 7, characterized in that, Step S4 is followed by a closed-loop verification step: S5: Overlap accuracy verification, the weld adjustment control module (601) controls the electromagnet (603) to be energized and adsorb the steel strip overlap part, and the laser range sensor (504) measures the length of the overlap area twice to determine the deviation between the actual overlap length and the theoretical value. S6: Real-time correction. If the deviation exceeds the preset range, the weld adjustment control module (601) drives the slide (305) to fine-tune the displacement until the overlap length meets the requirements, and then triggers the welding robot arm (701) to start welding.

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