Automatic listing device

Abstract

An automatic plate hanging device is arranged on the two sides of a plate hanging station PF chain and comprises a six-axis robot and a plate hanging claw, and the plate hanging claw is arranged at the end of the six-axis robot. The listing claw comprises an air cylinder, a connecting piece and a crank arm, the air cylinder is fixedly connected to the end of the six-axis robot, and a first connecting rod is symmetrically connected to the end of the air cylinder; a piston rod of the air cylinder is fixedly connected with a connecting piece, and the two ends of the connecting piece are symmetrically connected with second connecting rods. According to the utility model, the six-axis robot is matched with the listing paws, so that automatic listing of wires is realized. An air cylinder is arranged on the tag hanging claw to drive the first connecting rod and the second connecting rod to operate, so that the tag hanging claw stretches out, draws back and clamps the tag hanging claw; and the label hanging paw is provided with double connecting rods, so that the stability degree of the label hanging paw is guaranteed, and the situations of looseness and deflection in the using process are prevented.

Description

Technical Field

[0001] The utility model relates to the technical field of auxiliary installation equipment for signboards, in particular to an automatic sign hanging device. Background Art

[0002] Wire rod is also called wire rod because it is delivered in coils. After the billet is delivered to the steel rolling mill, it needs to go through a series of production processes to finally be processed into wire rod. At the end of the entire production process, the metrologist needs to mark the produced wire rod with information. The content of the mark generally includes: furnace number, brand, specification, weight, production workshop, inspector and production date. The marking method is to manually insert the hook into the perforated label and then manually hang it on the wire bundling line.

[0003] However, the on-site environment is hot and noisy. When hanging the sign, the worker needs to take the sign from the operation room and then hang it manually on the wire. The worker keeps printing, threading, and hanging the sign on the production line. The frequent back-and-forth movement can easily cause excessive fatigue of the workers. During the production process, the wire is hung on a U-shaped hook. When hanging the sign manually, the worker needs to shuttle around the wire, which weighs about 2 tons and is in motion. There is a certain degree of danger in this process, and there are great safety hazards.

[0004] The Chinese patent application number CN202223152848.5 and the name of the patent document "A robot that can hang a sign" discloses a technical solution, which drives the rotating shaft and the rotating arm to rotate by turning the knob, and drives the clamping member to rotate, and adjusts the clamping angle. At the same time, the second motor is started at a specified tilt angle, and the output end of the second motor drives the limit screw to rotate, so that the horizontal plate can limit the rotation angle under the limit of the limit rod. However, this technical solution has certain requirements on the accuracy of the worker's operation, and it needs to be adjusted at any time according to the angle of the packaging steel wire, and the operation of hanging the sign still needs to be completed manually.

[0005] Therefore, providing a hanging device with high automation, simple operation and precise working is an urgent problem to be solved. Utility Model Content

[0006] The utility model provides an automatic sign hanging device, which can solve the problem of inconvenient manual sign hanging operation in the prior art.

[0007] The utility model solves the above technical problems through the following technical solutions:

[0008] An automatic hanging sign device is arranged on both sides of the PF chain of a hanging sign station, comprising a six-axis robot and a hanging sign gripper. The hanging sign gripper is arranged at the end of the six-axis robot and is used to take a hook and hang a sign; the hanging sign gripper comprises a cylinder, a connecting piece, and a crank arm. The cylinder is fixedly connected to the end of the six-axis robot, and at the end of the cylinder body, a first connecting rod is connected on both sides along an axial symmetry axis; a connecting piece is fixedly connected to the end of the piston rod of the cylinder; the connecting piece is T-shaped, and a groove is opened on it, and a second connecting rod is connected at both ends in the groove along the axial symmetry axis; the first connecting rod, the second connecting rod and the claw clamp are axially connected to the crank arm in sequence.

[0009] The above-mentioned automatic hanging device, the hook includes a first straight rod, the end of the first straight rod is vertically connected to a cross rod; the other end of the cross rod is vertically connected to a second straight rod, the second straight rod is relatively parallel to the first straight rod; the other end of the second straight rod is connected to a folding rod; the other end of the folding rod is connected to a third straight rod, the direction of the third straight rod is opposite to that of the first straight rod, and the overlapping part of the first straight rod and the third straight rod is in an unsealed staggered state.

[0010] In the automatic hanging sign device, the hanging sign grippers are double-hand grippers that can be used simultaneously, and an elastic rubber layer is provided on the grippers.

[0011] In the above automatic sign hanging device, the first straight rod, the cross rod, the second straight rod, the folding rod and the third straight rod in the hook are all connected in a circular arc manner.

[0012] The above-mentioned automatic hanging device, the folding rod is in a "へ" shape. Beneficial Effects

[0013] The utility model realizes automatic labeling of wires through the cooperation of a six-axis robot and a labeling gripper, without the need for additional manual operation. A cylinder is provided on the labeling gripper to provide mechanical energy, and the telescopic movement of the cylinder drives the operation of the first connecting rod and the second connecting rod, thereby realizing the telescopic and clamping of the labeling gripper; and the labeling gripper is provided with a double connecting rod, which guarantees the stability of the labeling gripper to a certain extent and prevents loosening and skewing during use. An elastic rubber layer is provided on the claw clamp of the labeling gripper, which can increase friction and clamp the hook more firmly.

[0014] The shape of the hook is specially made to match the hanging claw. Firstly, the length of the first straight rod is greater than that of the third straight rod, which makes it more convenient for the hook to hook the baling wire. Secondly, the overlapping part of the first straight rod and the third straight rod is in an unsealed staggered shape, so that the baling wire can enter the hook along the first straight rod and will not fall out of the hook when the hanging claw is released. Finally, the hook can be bent by a whole wire, without the need for additional welding and assembly, thereby improving the manufacturing efficiency of the hook. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural diagram of the tag-hanging gripper;

[0016] Figure 2 is a schematic diagram of the structure of the hook;

[0017] Figure 3 This is a schematic diagram of the structure of a six-axis robot.

[0018] 1. Six-axis robot, 2. Hanging gripper, 3. Hook, 4. Cylinder, 5. Connector, 6. Angled arm, 7. First connecting rod, 8. Second connecting rod, 9. Groove, 10. Claw clamp, 11. First straight rod, 12. Cross bar, 13. Second straight rod, 14. Folding rod, 15. Third straight rod, 16. Sign. DETAILED DESCRIPTION

[0019] An automatic sign-hanging device is arranged on both sides of the PF chain of a sign-hanging station, comprising a six-axis robot 1 and a sign-hanging gripper 2, wherein the sign-hanging gripper 2 is arranged at the end of the six-axis robot 1, and the six-axis robot 1 can move flexibly to drive the sign-hanging gripper 2 to complete the actions of taking a hook 3 and hanging a sign; the sign-hanging gripper 2 comprises a cylinder 4, a connecting piece 5, and a crank arm 6, the cylinder 3 is fixedly connected to the end of the six-axis robot 1 to provide mechanical energy, and at the end of the cylinder body of the cylinder 3, both sides thereof are connected with a first connecting rod 7 along an axially symmetrical axis; a connecting piece 5 is fixedly connected to the end of the piston rod of the cylinder 3; the connecting piece 5 is T-shaped, and a groove 9 is provided on it, and a second connecting rod 8 is connected to the two ends of the groove 9 along the axially symmetrical axis; the first connecting rod 7, the second connecting rod 8 and the claw clamp 10 are axially connected to the crank arm 6 in sequence, and the setting of the double connecting rod increases the stability of the sign-hanging gripper 2 to a certain extent, and can prevent the sign-hanging gripper 2 from loosening and tilting during use.

[0020] The hanging claw 2 is a double-handed claw that can be used simultaneously. It can take two hooks 3 at the same time and perform hanging operations in sequence to improve efficiency. The cylinder 3 is slightly tilted outward when set, and has a certain angle with the end face of the six-axis robot 1 to prevent the double-handed claws from interfering with each other when in use; and an elastic rubber layer is provided on the claw clamp 10 to increase friction, so that the hook 3 can be clamped more firmly.

[0021] The hook 3 includes a first straight rod 11, the end of which is vertically connected to a cross bar 12; the other end of the cross bar 12 is vertically connected to a second straight rod 13, which is relatively parallel to the first straight rod 11; the other end of the second straight rod 13 is connected to a folding rod 14; the other end of the folding rod 14 is connected to a third straight rod 115, the direction of the third straight rod 15 is opposite to that of the first straight rod 11, and the overlap of the first straight rod 11 and the third straight rod 15 is in an unsealed dislocation state, and the first straight rod 11 and the third straight rod 15 are not in the same plane. And the folding rod 14 is in a "へ" shape. The connection mode of the first straight rod 11, the cross bar 12, the second straight rod 13, the folding rod 14 and the third straight rod 15 in the hook 3 is all arc connection. The length of the first straight rod 11 is greater than the length of the second straight rod.

[0022] The hook 3 can be formed by bending an integral wire. The identification plate 16 passes through the first straight rod 11 and is suspended in the hook 3.

[0023] The device is installed on both sides of the PF chain of the hanging station and can be flexibly set according to the placement or transportation method of the wire.

[0024] Usage: The six-axis robot 1 drives the cylinder 4 of the tag-hanging gripper 2 to operate. The operation of the cylinder 4 changes the angle between the first connecting rod 6, the second connecting rod 7 and the curved arm 8. When the piston rod of the cylinder 4 is pushed out, the angle becomes smaller, and the tag-hanging gripper 2 is in a clamped state; when the piston rod of the cylinder 4 is retracted, the angle becomes larger, and the tag-hanging gripper 2 is in a loose state. The tag-hanging gripper 2 clamps the first straight rod 11 and the second straight rod 13 of the hook 3, and uses the end of the first straight rod 11 to hook the baling wire of the binding wire. The baling wire moves downward along the first straight rod 11, passes through the overlapping position of the first straight rod 11 and the third straight rod 15, and then the tag-hanging gripper 2 is released, and finally the hook 3 is hung on the baling wire.

[0025] Due to the overlap of the first straight rod 11 and the third straight rod 15 of the hook 3, when the tag hanging claw 2 is released, the hook 3 will not accidentally fall out when no other external force is applied.

[0026] The above operations can all be completed autonomously by the six-axis robot 1 without the need for additional manual operations.

Claims

1. An automatic hanging device, arranged on both sides of the hanging station PF chain, characterized in that: The invention comprises a six-axis robot (1) and a hanging card gripper (2), wherein the hanging card gripper (2) is arranged at the end of the six-axis robot (1) and is used to take a hook (3) and hang a card; the hanging card gripper (2) comprises a cylinder (4), a connecting piece (5), and a crank arm (6); the cylinder (4) is fixedly connected to the end of the six-axis robot (1); at the end of the cylinder body of the cylinder (4), first connecting rods (7) are connected to the two sides along the axial symmetry axis; a connecting piece (5) is fixedly connected to the end of the piston rod of the cylinder (4); the connecting piece (5) is T-shaped and has a groove (9) formed thereon, and second connecting rods (8) are connected to the two ends of the groove (9) along the axial symmetry axis; the first connecting rod (7), the second connecting rod (8), and the claw clamp (10) are axially connected to the crank arm (6) in sequence.

2. The automatic hanging device according to claim 1, characterized in that: The hook (3) comprises a first straight rod (11), the end of the first straight rod (11) being vertically connected to a cross rod (12); the other end of the cross rod (12) being vertically connected to a second straight rod (13), the second straight rod (13) being relatively parallel to the first straight rod (11); the other end of the second straight rod (13) being connected to a folding rod (14); the other end of the folding rod (14) being connected to a third straight rod (15), the direction of the third straight rod (15) being opposite to that of the first straight rod (11), and the overlapping portion of the first straight rod (11) and the third straight rod (15) being in an unsealed dislocation state.

3. The automatic hanging device according to claim 1 is characterized in that: The tag hanging claw (2) is a double-hand claw that can be used simultaneously, and an elastic rubber layer is provided on the claw clamp (10).

4. The automatic hanging device according to claim 2, characterized in that: In the hook (3), the first straight rod (11), the cross rod (12), the second straight rod (13), the folding rod (14) and the third straight rod (15) are all connected in an arc manner.

5. The automatic hanging device according to claim 2, characterized in that: The folding rod (14) is in a "へ" shape.

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