Accurate positioning structure of two-way automatic strip detaching robot for steel coils

Abstract

The utility model belongs to the technical field of steel coil strip detaching, and particularly relates to an accurate positioning structure of a steel coil bidirectional automatic strip detaching robot, which comprises a bottom plate. The device is characterized in that a mechanical arm is mounted at the top of the bottom plate; a belt dismounting mechanism is mounted at the output end of the mechanical arm; a plurality of groups of oil cylinders are fixedly connected to the top of the bottom plate; the top of each oil cylinder is fixedly connected with a supporting plate. A motor is fixedly connected to the side wall of the supporting plate. The middle of the supporting plate is rotationally connected with a supporting roller. The supporting roller is fixedly connected with the output end of the motor. A plurality of fixing rods are fixedly connected to the top of the bottom plate; the middle part of the fixed rod is fixedly connected with a first electric cylinder; a clamping block is slidably connected to the middle of the fixing rod. The side wall of the clamping block is fixedly connected with the end part of a first electric cylinder; by means of the structure, the belt detaching robot can detach and cut the binding belt at the tail end of the steel belt more accurately, and damage caused by cutting to the surface of the steel coil is reduced through the gap between the binding belt and the steel coil.

Description

Technical Field

[0001] The utility model belongs to the technical field of steel coil stripping, in particular to a precise positioning structure of a steel coil bidirectional automatic stripping robot. Background Art

[0002] The steel coil bidirectional stripping robot is a high-tech equipment installed at the entrance of the production line. It can simultaneously strip the steel coils at two workstations.

[0003] The steel coil bidirectional stripping robot carries stripping tools and uses high-precision laser sensors or 3D vision technology to accurately locate the position of the cable ties, and then uses a cutter to cut multiple cable ties in sequence to complete the release of the steel coil. When the steel coil is stripped, there will be a gap at the tail end of the steel strip due to the fault between the tail end of the steel strip and the inner layer of steel strip. When the steel strip is stripped, cutting the cable tie in this gap can reduce the damage of the cutter to the surface of the steel coil. However, the existing positioning mechanism of the steel coil bidirectional stripping robot is not convenient for adjusting the position of the steel strip tail, making it difficult for the stripping robot to accurately cut the cable tie at the tail end of the steel strip.

[0004] To this end, the utility model provides a precise positioning structure of a steel coil bidirectional automatic stripping robot. Utility Model Content

[0005] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0006] The technical solution adopted by the present invention to solve its technical problems is: the precise positioning structure of a bidirectional automatic steel coil stripping robot described in the present invention comprises a base plate; it is characterized in that: a mechanical arm is installed on the top of the base plate; a stripping mechanism is installed on the output end of the mechanical arm; a plurality of groups of oil cylinders are fixedly connected to the top of the base plate; a support plate is fixedly connected to the top of each group of oil cylinders; a motor is fixedly connected to the side wall of the support plate; a support roller is rotatably connected to the middle part of the support plate; the support roller is fixedly connected to the output end of the motor; through the above structure, the stripping robot can more accurately remove and cut the cable tie at the tail end of the steel strip, and reduce the damage to the surface of the steel coil caused by cutting through the gap between the cable tie and the steel coil.

[0007] Preferably, a plurality of fixing rods are fixed to the top of the base plate; a first electric cylinder is fixed to the middle of the fixing rod; a clamp is slidably connected to the middle of the fixing rod; the side wall of the clamp is fixed to the end of the first electric cylinder; a rubber block is fixed to the other side of the clamp; through the above structure, when the cable tie is removed, the occurrence of damage to the surface of the steel coil due to movement of the steel coil is reduced.

[0008] Preferably, a slide groove is provided in the middle of the support roller; a plurality of rings are slidably connected to the middle of the slide groove; through the above structure, the inconvenience of pulling out the cable tie due to being squeezed can be reduced.

[0009] Preferably, a plurality of mounting plates are fixed to the top of the support plate; a second electric cylinder is fixed to the side wall of the mounting plate; a connecting rod is fixed to the end of the second electric cylinder; a pair of clamping rods is fixed to the middle of the connecting rod; each pair of clamping rods is located at both ends of a ring; through the above structure, the position of the ring can be adjusted by terminal control, thereby improving the convenience and safety of use of the device.

[0010] Preferably, the middle part of the base plate is rotatably connected to a plurality of groups of rollers; each group of rollers is equidistantly distributed in the middle part of the base plate; through the above structure, the potential safety hazards caused by the position adjustment of the steel coil can be reduced and the safety of the device can be improved.

[0011] Preferably, a third electric cylinder is fixedly connected to the top of the bottom plate; and a top plate is fixedly connected to the top of the third electric cylinder. Through the above structure, the occurrence of steel coil position deviation can be reduced during the period between the completion of steel coil position adjustment and the support roller lifting the steel coil, thereby reducing the impact on strip removal.

[0012] Preferably, the collar is made of a colloid material; through the above structure, the friction damage to the steel coil can be reduced when the collar rotates.

[0013] The beneficial effects of the utility model are as follows:

[0014] 1. The precise positioning structure of the bidirectional automatic steel coil stripping robot described in the utility model, through the arrangement of the base plate, oil cylinder, support plate, motor and support roller, can reduce the damage to the surface of the steel coil caused by the movement of the steel coil when removing the cable tie.

[0015] 2. The precise positioning structure of the bidirectional automatic steel coil stripping robot described in the utility model, through the setting of the fixed rod, the first electric cylinder, the clamping block, and the rubber block, can enable the stripping robot to more accurately cut the cable tie at the tail end of the steel strip, and reduce the damage to the surface of the steel coil caused by cutting through the gap between the cable tie and the steel coil. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below with reference to the accompanying drawings.

[0017] Figure 1 It is a three-dimensional diagram of the utility model;

[0018] Figure 2 This is a schematic structural diagram of the support roller in the utility model;

[0019] Figure 3 This is a schematic structural diagram of the clamping block in the utility model;

[0020] Figure 4 It is a structural diagram of the top plate in the utility model;

[0021] Figure 5 It is a structural diagram of the sleeve ring in the utility model.

[0022] In the figure: 1. Base plate; 12. Robotic arm; 13. Belt removal mechanism; 14. Cylinder; 15. Support plate; 16. Motor; 17. Support roller; 2. Fixing rod; 21. First electric cylinder; 22. Clamping block; 23. Rubber block; 3. Slide; 31. Ring; 4. Mounting plate; 41. Second electric cylinder; 42. Connecting rod; 43. Clamping rod; 5. Roller; 6. Third electric cylinder; 61. Top plate. DETAILED DESCRIPTION

[0023] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0024] like Figures 1 to 5 As shown, a precise positioning structure of a two-way automatic stripping robot for steel coils according to an embodiment of the present invention comprises a base plate 1; it is characterized in that: a mechanical arm 12 is installed on the top of the base plate 1; a stripping mechanism 13 is installed on the output end of the mechanical arm 12; a plurality of groups of oil cylinders 14 are fixedly connected to the top of the base plate 1; a support plate 15 is fixedly connected to the top of each group of oil cylinders 14; a motor 16 is fixedly connected to the side wall of the support plate 15; a support roller 17 is rotatably connected to the middle part of the support plate 15; the support roller 17 is fixedly connected to the output end of the motor 16; when working, the steel coil to be stripped is hoisted above a pair of support rollers 17, and then the steel coil is lifted by a plurality of oil cylinders 14 in cooperation with a pair of support rollers 17 so that the bottom of the steel coil does not contact with other objects, and then the motor 16 is started to drive the support The roller 17 rotates, thereby driving the steel coil to rotate, so that the tail end of the steel strip rotates to the direction close to the robotic arm 12. When the cable tie is used to bundle the steel coil, a fault will appear between the tail end of the steel strip and the inner steel strip due to the thickness of the steel strip. Therefore, a gap will appear between the cable tie and the steel strip at this position. The rotation of the steel coil makes the cable tie at the tail end of the steel strip face the robotic arm 12, so that when the cable tie of the steel coil is removed by the cable tie removal mechanism 13, the cable tie removal mechanism 13 can accurately cut the cable tie at the tail end of the steel strip, reducing the damage to the surface of the steel coil caused by the cable tie removal mechanism 13. Through the above structure, the cable tie removal robot can more accurately cut the cable tie at the tail end of the steel strip, and reduce the damage to the surface of the steel coil caused by cutting through the gap between the cable tie and the steel coil.

[0025] like Figures 1 to 3As shown, a plurality of fixing rods 2 are fixed to the top of the base plate 1; a first electric cylinder 21 is fixed to the middle of the fixing rod 2; a clamping block 22 is slidably connected to the middle of the fixing rod 2; the side wall of the clamping block 22 is fixed to the end of the first electric cylinder 21; a rubber block 23 is fixed to the other side of the clamping block 22; during operation, after the steel coil is adjusted, the plurality of first electric cylinders 21 are started to drive the plurality of clamping blocks 22 to move toward the direction of the steel coil, and the plurality of rubber blocks 23 are squeezed on the surface of the steel coil, so that the steel coil will no longer rotate easily through friction, thereby reducing the damage to the surface of the steel coil caused by the movement of the steel coil when the cable tie is removed.

[0026] like Figures 1 to 5 As shown, a slide groove 3 is provided in the middle of the support roller 17; a plurality of rings 31 are slidably connected to the middle of the slide groove 3; during operation, the positions of the plurality of rings 31 can be adjusted according to the positions of the plurality of cable ties, so that the steel coil falls on the plurality of rings 31, and the cable ties are placed in the gaps between the plurality of rings 31, so that when the cable ties are removed, the cable ties can be easily pulled out. Through the above structure, the occurrence of inconvenience in pulling out the cable ties due to being squeezed can be reduced.

[0027] like Figures 1 to 5 As shown, a plurality of mounting plates 4 are fixed to the top of the support plate 15; a second electric cylinder 41 is fixed to the side wall of the mounting plate 4; a connecting rod 42 is fixed to the end of the second electric cylinder 41; a pair of clamping rods 43 is fixed to the middle of the connecting rod 42; each pair of clamping rods 43 is respectively located at both ends of a ring 31; during operation, when it is necessary to adjust the positions of the plurality of rings 31 according to the position of the cable tie, the corresponding second electric cylinder 41 is started to drive a pair of clamping rods 43 to move, thereby adjusting the position of the ring 31. Through the above structure, the position of the ring 31 can be adjusted by terminal control, thereby improving the convenience and safety of use of the device.

[0028] like Figures 1 to 4 As shown, the middle part of the base plate 1 is rotatably connected to multiple groups of rollers 5; each group of rollers 5 is equidistantly distributed in the middle part of the base plate 1; during operation, when the steel coil is hoisted onto the base plate 1, the position of the steel coil needs to be adjusted. This process is generally carried out by making the steel coil suspended by a hoisting device, and then the steel coil is put to the ground after the adjustment is completed. However, this method has the safety risk of the steel coil falling. The steel coil is made to fall on multiple rollers 5, and then the position of the steel coil is adjusted. This can reduce the risk of the steel coil suddenly falling. After the adjustment is completed, the support roller 17 and the steel coil are lifted up by the cylinder 14. Through the above structure, the safety hazards caused by the steel coil position adjustment can be reduced, and the safety of the device can be improved.

[0029] like Figures 1 to 4As shown, a third electric cylinder 6 is fixedly connected to the top of the bottom plate 1; a top plate 61 is fixedly connected to the top of the third electric cylinder 6; when the steel coil has completed position adjustment on multiple rollers 5, the third electric cylinder 6 is started to drive the top plate 61 to rise so that the top plate 61 rests against the bottom of the steel coil, so that the steel coil will no longer move, and then the steel coil is lifted up by the support roller 17. Through the above structure, the position deviation of the steel coil can be reduced during the period between the completion of the steel coil position adjustment and the support roller 17 lifting the steel coil, thereby reducing the impact on the stripping.

[0030] like Figure 5 As shown, the collar 31 is made of a colloid material; through the above structure, the friction damage to the steel coil can be reduced when the collar 31 rotates.

[0031] During operation, the steel coil that needs to be unstrap is hoisted above a pair of support rollers 17, and then the steel coil is lifted by a plurality of oil cylinders 14 in cooperation with a pair of support rollers 17 so that the bottom of the steel coil does not touch other objects, and then the motor 16 is started to drive the support rollers 17 to rotate, thereby driving the steel coil to rotate, so that the tail end of the steel belt rotates to the direction close to the mechanical arm 12. When the cable tie is used to bundle the steel coil, a gap will appear between the tail end of the steel belt and the inner layer of the steel belt due to the thickness of the steel belt, so the cable tie will have a gap with the steel belt at this position. The rotation of the steel coil makes the cable tie at the tail end of the steel strip face the robotic arm 12, so that when the cable tie of the steel coil is removed by the stripping mechanism 13, the stripping mechanism 13 can accurately cut the cable tie at the tail end of the steel strip, reducing the damage caused to the surface of the steel coil by the stripping mechanism 13. After the adjustment of the steel coil is completed, the multiple first electric cylinders 21 are started to drive the multiple clamping blocks 22 to move toward the direction of the steel coil, and the multiple rubber blocks 23 are squeezed on the surface of the steel coil. The friction force prevents the steel coil from rotating easily, and the position of the multiple cable ties can be adjusted according to the position of the multiple cable ties. The positions of the multiple rings 31 make the steel coil fall on the multiple rings 31, and make the tie in the gap between the multiple rings 31, so that when the tie is removed, the tie can be easily pulled out. When the positions of the multiple rings 31 need to be adjusted according to the position of the tie, the corresponding second electric cylinder 41 is started to drive a pair of clamping rods 43 to move, thereby adjusting the position of the ring 31. When the steel coil is hoisted onto the base plate 1, the position of the steel coil needs to be adjusted. This process is generally carried out by making the steel coil suspended by the hoisting device. Empty state, after completing the adjustment, the steel coil is placed on the ground, but this method has the safety risk of the steel coil falling, so the steel coil is placed on multiple rollers 5, and then the position of the steel coil is adjusted to reduce the risk of the steel coil falling suddenly. After completing the adjustment, the oil cylinder 14 is used to lift the support roller 17 and the steel coil. When the position of the steel coil is adjusted on the multiple rollers 5, the third electric cylinder 6 is started to drive the top plate 61 to rise so that the top plate 61 is against the bottom of the steel coil, so that the steel coil will not move anymore, and then the support roller 17 is used to lift the steel coil.

[0032] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements are intended to fall within the scope of the present invention. The scope of protection claimed in this invention is defined by the appended claims and their equivalents.

Claims

1. A precise positioning structure for a two-way automatic stripping robot for steel coils, comprising a bottom plate (1); characterized in that: A mechanical arm (12) is installed on the top of the base plate (1); a belt removal mechanism (13) is installed on the output end of the mechanical arm (12); a plurality of groups of oil cylinders (14) are fixedly connected to the top of the base plate (1); a support plate (15) is fixedly connected to the top of each group of oil cylinders (14); a motor (16) is fixedly connected to the side wall of the support plate (15); a support roller (17) is rotatably connected to the middle of the support plate (15); the support roller (17) is fixedly connected to the output end of the motor (16).

2. The precise positioning structure of the bidirectional automatic steel coil stripping robot according to claim 1 is characterized in that: A plurality of fixing rods (2) are fixedly connected to the top of the bottom plate (1); a first electric cylinder (21) is fixedly connected to the middle of the fixing rod (2); a clamping block (22) is slidably connected to the middle of the fixing rod (2); a side wall of the clamping block (22) is fixedly connected to the end of the first electric cylinder (21); and a rubber block (23) is fixedly connected to the other side of the clamping block (22).

3. The precise positioning structure of the bidirectional automatic steel coil stripping robot according to claim 1 is characterized in that: A sliding groove (3) is provided in the middle of the support roller (17); and a plurality of sleeve rings (31) are slidably connected to the middle of the sliding groove (3).

4. The precise positioning structure of the bidirectional automatic steel coil stripping robot according to claim 3 is characterized by: The top of the support plate (15) is fixedly connected to a plurality of mounting plates (4); the side wall of the mounting plate (4) is fixedly connected to a second electric cylinder (41); the end of the second electric cylinder (41) is fixedly connected to a connecting rod (42); the middle of the connecting rod (42) is fixedly connected to a pair of clamping rods (43); each pair of the clamping rods (43) is respectively located at the two ends of a collar (31).

5. The precise positioning structure of the bidirectional automatic steel coil stripping robot according to claim 1 is characterized in that: The middle of the bottom plate (1) is rotatably connected to a plurality of groups of rollers (5); each group of rollers (5) is equidistantly distributed in the middle of the bottom plate (1).

6. The precise positioning structure of the bidirectional automatic steel coil stripping robot according to claim 1 is characterized in that: The top of the bottom plate (1) is fixedly connected to a third electric cylinder (6); the top of the third electric cylinder (6) is fixedly connected to a top plate (61).

7. The precise positioning structure of the bidirectional automatic steel coil stripping robot according to claim 3 is characterized by: The collar (31) is made of a colloid material.

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