阅读说明：本技术 用于机器人末端的拆剪钢卷打包带装置及其使用方法 (Device for disassembling and shearing steel roll packaging belt for tail end of robot and using method thereof ) 是由 徐磊 李依坤 叶祥 吴小勇 谢利利 古德君 邓子英 于 2019-02-23 设计创作，主要内容包括：本发明涉及用于钢卷生产包装拆解领域,具体为一种用于机器人末端的拆剪钢卷打包带装置及其使用方法。一种用于机器人末端的拆剪钢卷打包带装置,包括剪切气缸(17)、安装套(18)、移动剪刀(19)和固定刀(20),其特征是：还包括连接法兰(1)、气缸安装板(2)、柱销(3)、球头(4)、球头上支座(5)、球头下支座(6)、压板(7)、导向轮轴(8)、导向轮(9)、浮动气缸(10)、上板(12)、右侧板(13)、侧板(14)、左侧板(16)、挡钩(21)、夹紧块(22)、色差传感器(23)、上激光发射器(24)和下激光发射器(25)。本发明定位精确,适应性强,安全可靠。(The invention relates to the field of steel coil production, packaging and disassembling, in particular to a steel coil disassembling and shearing packaging belt device for the tail end of a robot and a using method thereof. The utility model provides a tear open and cut steel roll baling press device for robot is terminal, includes shearing cylinder (17), installation cover (18), removes scissors (19) and stationary knife (20), characterized by: the ball head fixing device is characterized by further comprising a connecting flange (1), a cylinder mounting plate (2), a pin (3), a ball head (4), a ball head upper support (5), a ball head lower support (6), a pressing plate (7), a guide wheel shaft (8), a guide wheel (9), a floating cylinder (10), an upper plate (12), a right side plate (13), a side plate (14), a left side plate (16), a stop hook (21), a clamping block (22), a chromatic aberration sensor (23), an upper laser emitter (24) and a lower laser emitter (25). The invention has the advantages of accurate positioning, strong adaptability, safety and reliability.)

1. The utility model provides a tear open and cut steel roll baling press device for robot is terminal, includes shearing cylinder (17), installation cover (18), removes scissors (19) and stationary knife (20), and the removal end of shearing cylinder (17) piston rod is through the cutter body of installation cover (18) connection removal scissors (19), and the cutting part that removes scissors (19) and stationary knife (20) these two is just right each other, characterized by: also comprises a connecting flange (1), a cylinder mounting plate (2), a pin (3), a ball head (4), a ball head upper support (5), a ball head lower support (6), a pressing plate (7), a guide wheel shaft (8), a guide wheel (9), a floating cylinder (10), an upper plate (12), a right side plate (13), a side plate (14), a left side plate (16), a stop hook (21), a clamping block (22), a chromatic aberration sensor (23), an upper laser emitter (24) and a lower laser emitter (25),

the left side plate (16) and the right side plate (13) are arranged oppositely and in parallel, the side edges of the left side plate (16) and the right side plate (13) which are positioned on the same side are respectively connected through a side plate (14), the upper plate (12) covers the top edges of the left side plate (16), the right side plate (13) and the two side plates (14), the movable scissors (19) and the fixed knives (20) are both arranged in a space formed by the left side plate (16), the right side plate (13), the side plates (14) and the upper plate (12), a piston rod of the shearing cylinder (17) penetrates through the left side plate (16) and then is connected with a knife body of the movable scissors (19) through a mounting sleeve (18), and the fixed knives (20) are fixed on the inner side surface of the right side plate (13);

the floating cylinders (10) are four in total, the cylinder bodies of the four floating cylinders (10) are respectively fixed on four corners of the bottom surface of the cylinder mounting plate (2), the moving ends of piston rods of the floating cylinders (10) are all abutted against the upper plate (12), the top surface of the cylinder mounting plate (2) is connected with the bottom end surface of the connecting flange (1), the ball head lower support (6) is fixed on the upper plate (12) through screws and is arranged between the two floating cylinders (10), guide wheels (9) are rotatably arranged on two sides of the bottom of the ball head upper support (5) through guide wheel shafts (8), the ball head upper support (5) is abutted against the upper plate (12) through the guide wheels (9) and covers the ball head lower support (6), when the floating cylinder (10) floats up and down, the floating cylinder is attached to the ball head (4) and the circular arc surface of the steel coil through the ball head upper support (5), the guide wheel shaft (8) and the guide wheel (9);

the bottom of the pin (3) penetrates through the ball head upper support (5) and is in threaded connection with the top of the ball head (4), the ball head (4) is connected with the ball head lower support (6) through a pressing plate (7), the ball head (4) is in threaded connection with the pin (3), and a guide wheel shaft (8) is connected with a guide wheel (9) through a screw;

the clamping block (22) is fixed on the inner side surface of the right side plate (13), and the stop hook (21) is fixed at the lower part of the clamping block (22);

one side of the cylinder mounting plate (2) is provided with a chromatic aberration sensor (23), and the outer side surface of one side plate (2) is sequentially provided with an upper laser emitter (24) and a lower laser emitter (25).

2. The apparatus for stripping and cutting steel roll baling belt for robot end as claimed in claim 1, wherein: the floating cylinder is characterized by further comprising a backing plate (11) and a sliding rail (15), wherein the backing plate (11) is lined between the moving end of the piston rod of each floating cylinder (10) and the upper plate (12); the slide rail (15) is arranged on the inner side surface of the side plate (14), and the side surface of the movable scissors (19) is arranged on the slide rail (15) and moves along the slide rail (15).

3. The method of using the apparatus for stripping and cutting steel roll packing belt for robot end as claimed in claim 1 or 2, characterized in that: the method is implemented in sequence according to the following steps:

firstly, the top end face of a connecting flange (1) is fixed on a sixth shaft of the robot, when the robot searches the end face, the tail and the position of a steel coil, a proportional valve gives set air pressure for locking, after the steel coil is bundled, the steel coil is conveyed to a bundling belt disassembling station by a steel coil trolley, and then the method is implemented according to the following steps:

secondly, the robot carries the bale breaking head to position the end face of the steel coil by using an upper laser emitter (24) to determine the bandwidth of the steel coil;

the robot moves to the center of the steel coil with the bundling removing head, the steel coil rotates under the driving of the carrier roller, the steel coil strip tail is positioned by using the upper laser emitter (24), and a position signal is sent to the PLC driving carrier roller to press the strip tail, so that the accident caused by the strip tail bouncing off after the bundling strip is cut off is prevented;

the robot carries the bale breaking head to scan the straps on the surface of the steel coil by using a lower laser emitter (25) to determine the quantity and the positions of the straps;

when the robot moves to the binding belt position with the binding belt removing head, the floating cylinder (10) is opened, the robot presses the floating cylinder (10) down to a set position, the induction switch is triggered, and a piston rod of the shearing cylinder (17) extends out to push the movable scissors (19) to shear the binding belt and clamp the binding belt;

judging whether the bundling belt is actually cut off or not by using a color difference sensor (23) according to the color difference between the bundling belt and the surface of the steel coil after the bundling belt is cut off;

seventhly, after the strapping is confirmed to be cut off, the robot head lifts and conveys the strapping to the strapping collecting device, the shearing cylinder (17) is locked back by a piston rod and is unlocked to loosen the strapping, and the whole bale removing process is finished.

Technical Field

The invention relates to the field of steel coil production, packaging and disassembling, in particular to a steel coil disassembling and shearing packaging belt device for the tail end of a robot and a using method thereof.

Background

The existing robot is used for detecting the head of the binding band by adopting ultrasonic wave, has the defect of uneven positioning, is difficult to identify the binding band with the thickness of 0.5-1.0 mm, is easy to misjudge the oxide skin on the surface of a hot-rolled steel coil, and has lower success rate of removing the binding band by the robot; the existing robot judges whether to cut the tie when removing the tie head through the in-place signal of the position sensor of the actuating mechanism, because the steel tie on the existing market has high strength, after the stroke of the actuating mechanism is in place, the tie is not cut, thus sending an erroneous judgment instruction to the robot, leading the robot to be unable to lift and give an alarm; the head of the prior robot band for removing and shearing mostly adopts a spring floating mode. The floating and locking are difficult to control, the band-splitting and bundling executing mechanism is driven by a hydraulic cylinder and needs to be provided with a hydraulic station; in addition, the existing detection technology can only be applied to cold-rolled steel coils produced on line, and is difficult to apply to hot-rolled steel coils and finished coils produced on line. Therefore, the detection of the existing robot for removing and shearing the steel coil packing belt has a large fault risk.

Disclosure of Invention

The invention discloses a device for unpacking, shearing and packing steel coils at the tail end of a robot and a using method thereof, aiming at overcoming the defects of the prior art and providing an uncoiling device with accurate positioning, strong adaptability, safety and reliability.

The invention achieves the purpose by the following technical scheme:

the utility model provides a tear open and cut steel roll baling belt device for robot is terminal, is including shearing cylinder, installation cover, removal scissors and stationary knife, cuts the cutter body that the removal end of cylinder piston rod connected the removal scissors through the installation cover, removes the cutting part between these two scissors and stationary knife just to each other, characterized by: also comprises a connecting flange, a cylinder mounting plate, a pin, a ball head upper support, a ball head lower support, a pressing plate, a guide wheel shaft, a guide wheel, a floating cylinder, an upper plate, a right side plate, a left side plate, a stop hook, a clamping block, a chromatic aberration sensor, an upper laser emitter and a lower laser emitter,

the movable scissors and the fixed knife are arranged in a space formed by the left side plate, the right side plate, the side plates and the upper plate, a piston rod of the shearing cylinder penetrates through the left side plate and then is connected with a knife body of the movable scissors through an installation sleeve, and the knife body of the fixed knife is fixed on the inner side surface of the right side plate;

the floating cylinder is provided with four floating cylinders, the cylinder bodies of the four floating cylinders are respectively fixed on four corners of the bottom surface of the cylinder mounting plate, the moving ends of piston rods of the floating cylinders are abutted against the upper plate, the top surface of the cylinder mounting plate is connected with the bottom end surface of the connecting flange, the ball head lower support is fixed on the upper plate through screws and is arranged between the two floating cylinders, two sides of the bottom of the ball head upper support are rotatably provided with guide wheels through guide wheel shafts, the ball head upper support is abutted against the upper plate through the guide wheels and is covered on the ball head lower support, and the floating cylinders are attached to the ball head and a steel coil arc surface through the ball head upper support, the guide wheel shafts and the;

the bottom of the pin penetrates through the upper ball head support and is in threaded connection with the top of the ball head, the ball head is connected with the lower ball head support through the pressing plate, the ball head is in threaded connection with the pin, the guide wheel shaft is connected with the guide wheel through the screw, and the upper ball head support provides a guide effect for the guide wheel and gives an allowable rotation offset;

the clamping block is fixed on the inner side surface of the right side plate, the stop hook is fixed on the lower part of the clamping block, the movable scissors move left and right through the sliding rail to match the fixed knife and the stop hook to finish shearing action, and the movable scissors and the clamping block are matched to finish clamping the strap;

a color difference sensor is arranged on one side of the cylinder mounting plate, an upper laser emitter and a lower laser emitter are sequentially arranged on the outer side face of one side plate, the color difference sensor is used for judging whether the strapping tape is cut off or not, the upper laser emitter is used for positioning the end face and the tail of the steel coil, the lower laser emitter is used for positioning the strapping tape, and the inductive switch is used for judging the floating value of the floating cylinder.

The steel roll packaging belt device for the tail end of the robot is characterized in that: the floating cylinder is characterized by further comprising a base plate and a sliding rail, wherein the base plate is lined between the moving end of the piston rod of each floating cylinder and the upper plate so as to increase the contact surface between the floating cylinder and the upper plate; the slide rail is arranged on the inner side surface of the side plate, and the side surface of the movable scissors is arranged on the slide rail and moves along the slide rail.

When the steel coil binding machine is used, the top end face of the connecting flange is fixed on the sixth shaft of the robot, when the robot searches the end face, the tail and the binding strip of the steel coil, the proportional valve gives 0.5Mpa air pressure for locking, after the steel coil is bound by the binding strip, the steel coil is conveyed to a binding strip detaching station by the steel coil trolley, and then the steel coil binding machine is implemented according to the following steps:

1. the robot carries the bale breaking head to position the end face of the steel coil by using the upper laser emitter so as to determine the bandwidth of the steel coil;

2. the robot drives the bundle removing head to move to the center of the steel coil, the steel coil rotates under the driving of the carrier roller, the steel coil strip tail is positioned by using the upper laser emitter, and a position signal is sent to the PLC driving carrier roller to press the strip tail, so that accidents caused by the strip tail bouncing off after the bundling strip is cut off are prevented;

3. the robot with the bale breaking head utilizes the lower laser emitter to scan the straps on the surface of the steel coil, and the quantity and the positions of the straps are determined. The binding belt with the diameter of 0.5 mm-1.2 mm can be accurately identified no matter the binding belt is a manual binding belt or a machine binding belt;

4. when the robot drives the bale breaking head to move to the position of the bale, the floating cylinder is opened, the robot presses the floating cylinder down to a set position, the inductive switch is triggered, and a piston rod of the shearing cylinder extends out to push the movable scissors to shear the bale and clamp the bale;

5. after the binding belt is cut off, judging whether the binding belt is actually cut off or not by using a color difference sensor according to the color difference between the binding belt and the surface of the steel coil;

6. after the strapping is confirmed to be cut off, the robot head lifts the strapping and carries the strapping to the strapping collecting device, a piston rod of the cutting cylinder is locked back and unlocked to loosen the strapping, and the whole bale removing process is finished.

The steel coil stripping and shearing and packaging belt device applied to the tail end of the robot is arranged at the tail end of a sixth shaft of the robot, a cylinder is used as a driving source of a movable shear, the shearing cylinder pushes a movable shear shovel to shear a binding belt, a fixed knife is used for hooking and blocking the binding belt, and the movable shear shears shear and clamp the binding belt; the robot adopts a cylinder floating mechanism to realize that the movable scissors are attached to the bottom of the binding belt and the arc of the surface of the steel coil, the mechanism adopts four one-way floating cylinders, a ball head in the middle of the four one-way floating cylinders is connected by a floating pin, the floating cylinders are lifted in place when the robot searches the binding belt, no floating state exists, the detection accuracy is ensured, after the bundling belt is searched, the pneumatic proportional valve is utilized to adjust air pressure to open the floating cylinders, the robot drives the head to press downwards to trigger a floating set value, and the shearing cylinders complete shearing action. The binding band is cut.

The invention can be used for accurately positioning and removing the steel coil packing belt during the operation of the robot, can accurately position the binding belts with various thicknesses and ensures the accuracy of removing and cutting.

The invention has the following beneficial effects:

1. the shearing mechanism adopts a pneumatic driving mode and is easy to realize;

2. the better fit between the scissors and the binding belt is realized by adopting the cylinder floating mechanism and the ball stud;

3. the laser sensor is adopted to accurately position the end face and the strip tail of the steel coil;

4. the laser sensor is utilized to position the binding belt, so that the binding belt meets different specifications, and the range can reach 0.5 mm-1.2 mm;

5. the color difference sensor is used in conjunction with a laser sensor to adapt to hot rolling, cold rolling and finished steel coil.

Drawings

FIG. 1 is a front view of the present invention;

fig. 2 is a view from a-a in fig. 1.

Detailed Description

The invention is further illustrated by the following specific examples.