CN107539516A - Fixed unijunction self-binder and its application method - Google Patents

Abstract

A kind of fixed unijunction self-binder and its application method, including frame, the knotting set perpendicular to the side surface direction is fixed with described frame in its side, knot to cover top and be hinged with to stretch into knot and cover the knotting mechanical arm in axle center, frame can cover the rotating mechanical arm that axle center rotates and the tie-down mechanical arm that can be moved along the set direction of axis line that knots with knotting to cover relative side and be respectively arranged with around knotting, frame is being provided with hitching machinery arm perpendicular to the horizontal direction for fastening mechanical arm by the way that guide rail is sliding, frame is fixed with collection frame in one end of guide rail, the bundling machine arm that can control movement is slidably connected in collection frame, frame fixes cutter of the cutting edge towards bundling machine arm in the other end of guide rail, two auxiliary mechanical arms towards guide rail and for spacing rope are fixed with frame between installation cutter side and the set that knots.It is contemplated that saving manpower, realize that the knotting of stalk is bundled by automated setting.

Description

Fixed single-knot automatic strapping machine and its usage method

technical field

The invention relates to the technical field of mechanical automation, in particular to a fixed single-knot automatic bundling machine and a method for using the same.

Background technique

Crop straw is widely used in livestock feed, organic fertilizer, fuel, industrial raw materials and other fields. At present, stalk crop straws mainly rely on manual bundling, which is time-consuming, laborious and inefficient. Some bundling mechanisms in the prior art are usually complex in structure and cumbersome to operate, which is not conducive to popularization and use.

Contents of the invention

Aiming at the deficiencies of the prior art, the present invention provides a fixed single-knot automatic baler and its use method, which can automatically tie straws put into the baler into bundles, liberate the labor force, and improve work efficiency.

The present invention is achieved through the following technical solutions:

A fixed single-knot automatic bundling machine is provided, which includes a frame, a knotting sleeve perpendicular to the side direction is fixed on one side of the frame, and a knotting sleeve that can extend into the knotting sleeve is hinged above the knotting sleeve. The knotting mechanical arm of the knotting sleeve axis, the frame is respectively provided with a rotating mechanical arm that can rotate around the outer edge of the knotting sleeve with the knotting sleeve axis as the center of a circle on the side opposite to the knotting sleeve and can move along the knotting sleeve. A fastening mechanical arm that moves in the direction of the sleeve axis, the frame is provided with a traction mechanical arm slidingly connected by a guide rail in a horizontal direction perpendicular to the fastening mechanical arm, and a collecting device is fixed on the side of the frame at one end of the guide rail. frame, the collection frame is slidably connected with a bundling robot arm that can move toward the traction robot arm; the side of the frame at the other end of the guide rail is fixed with a cutting edge facing the cutter of the bundling robot arm, and the frame Two auxiliary mechanical arms facing the guide rail and used to limit the rope are fixed between the side where the cutter is installed and the knotting sleeve.

Put an appropriate amount of straw into the collection box, pull the rope around the knotting sleeve through the traction robot arm, and cut off the rope with a cutter, and use the auxiliary robot arm to clamp the rope to limit the limit, and then drive the rope around the knotting sleeve through the rotating robot arm After 450°, the rope is clamped by the knotting mechanical arm and dragged into the axis line of the knotting sleeve, and one end of the knotted rope is clamped by the fastening mechanical arm and dragged along the knot tightening direction to tighten the knot. The straw in the collecting box is knotted into bundles.

Further, the collection frame is an arc-shaped collection frame, and an arc-shaped slide rail is arranged on the arc-shaped outer wall of the arc-shaped collection frame, and the described bundling mechanical arm is slid on the arc-shaped slide rail through a motor control superior.

Further, one end of the knotting mechanical arm, the fastening mechanical arm, the rotating mechanical arm, the auxiliary mechanical arm and the bundling mechanical arm are all equipped with automatic clamps that can clamp the rope, and the automatic clamps are all controlled by the control circuit. Electrically connected with the controller.

The automatic clamp can be set to clamp the rope, which is convenient to operate the rope for knotting. The controller controls each automatic clamp to clamp through the control circuit to ensure the smooth progress of the knotting step.

Furthermore, the automatic clamp includes a frame body, two clamping arms are hinged on one side of the frame body and the motor is fixed on the other side of the frame body; The pin is hinged, and the telescopic pin is driven by a motor through a gear.

The motor drives the telescopic pin to move back and forth through the gear, indirectly drives the clamping arm hinged with the telescopic pin to realize the opening and closing action of the clamping arm, and completes the clamping and loosening action of the rope.

Further, the knotting sleeve is fixed on the machine frame through the connecting frame, the knotting sleeve is an arc-shaped sleeve with the opening of the arc-shaped sleeve facing upward.

The knotting sleeve is arranged as an arc-shaped sleeve, and the opening is upward, and the rope used for winding the knotting sleeve is clamped by the knotting mechanical arm into the knotting sleeve to realize the knotting action.

Preferably, the knotting mechanical arm is hinged to the connecting frame through two pairs of parallel rods, one of which is rotatable driven by a motor fixed on the connecting frame.

The knotting mechanical arm is hinged to the connecting frame through four parallel bars arranged in parallel, and the movement of the parallel bars is driven by a motor to realize the overall oblique movement.

Further, the traction mechanical arm includes a rotating connecting plate and a base matching the guide rail, and the base is sequentially fixed with a motor that can drive the base to slide along the guiding rail, and a rotating shaft is fixed to one end of the rotating connecting plate and can A motor that drives the rotating connecting plate to rotate in the vertical direction, and the other end of the rotating connecting plate is fixed with an automatic clip parallel to the axis line of the knotting sleeve.

The traction mechanical arm is set to move in both horizontal and vertical directions. In the horizontal direction, the rope on one side of the frame is pulled to the other side of the frame through the guide rail, and the motor drives the rotating connecting plate to drive the automatic clamp to achieve vertical rotation. Return to the original position of the frame after bypassing the limit rod, ready for knotting.

Further, the other end of the rotating mechanical arm is vertically fixed on the turntable concentric with the knotting sleeve, the turntable is connected in the frame through the turntable limit plate, and the turntable is connected to the motor through the gear on the rotating shaft. Match rotation.

The rotating mechanical arm is fixed to the turntable and uses the motor to drive the turntable to rotate 450° to clamp the rope and rotate around the knotting sleeve for one and a half circles to ensure that the fastening mechanical arm can clamp the rope for knotting.

The above-mentioned method of using the fixed single-knot automatic strapping machine includes the following steps:

Step 1. The controller controls the automatic clamp of the traction manipulator through the control circuit to clamp it from the frame on the side where the cutter is installed, and the traction rope moves from one end of the guide rail to the other end, and the traction manipulator clamps the binding rope and delivers it to the machine. The automatic clamp at the end of the baler manipulator, the baler manipulator and the automatic clamp move along the arc slide rail to the edge of the straw collection frame;

Step 2. Put a certain amount of straw into the straw collection box with a baling rope. The baling manipulator drives the automatic clamp to deliver the baling rope to the traction manipulator. The automatic clamp of the traction manipulator grips the baling rope and moves To the auxiliary mechanical arm on the other side of the guide rail, the automatic clamp of the auxiliary mechanical arm clamps the binding rope to complete the limit work, and drives the automatic clamp to rotate through the rotating connecting plate on the traction mechanical arm to pull the binding rope out of the placing frame. The rope is cut from the cutter and ready for the next cycle;

Step 3. Rotate the automatic clamp of the mechanical arm to move the two ropes clamped between the two auxiliary mechanical arms clockwise around the knotting sleeve 450° to the top of the knotting sleeve;

Step 4. The automatic clamp of the knotting mechanical arm clamps the two ropes above the knotting sleeve and moves to the axis of the knotting sleeve by driving the parallel rod;

Step 5. The automatic gripper of the tie-down robot arm clamps the rope that the knotter robot arm feeds into the axis of the knotting sleeve, and the two ropes are clamped by the axis of the knotting sleeve away from the knotting sleeve to fasten the knot to complete the bundling , Manually remove the baled straw.

The beneficial effect of the invention is that the design is reasonable, instead of manual knotting, it is convenient to tie straws into bundles, the labor intensity is reduced, and the labor force is greatly liberated. The present invention is suitable for a wide range of occasions, has relatively low requirements on the working environment, and can be used in conjunction with various machines.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention;

Fig. 2 is the concrete structure schematic diagram of 1 in Fig. 2;

Fig. 3 is the front view of Fig. 1;

Fig. 4 is the top view of Fig. 1;

Fig. 5 is the right view of Fig. 1;

Figure 6 is a schematic diagram of the overall structure of the automatic clip;

As shown in the figure:

1. Rack, 2. Knotting sleeve, 3. Rotating mechanical arm, 4. Automatic clamping, 5. Collection frame, 6. Bundling mechanical arm, 7. Arc slide rail, 8. Traction mechanical arm, 9. System Tightening mechanical arm, 10, bundling rope placement frame, 11, auxiliary mechanical arm, 12, auxiliary mechanical arm fixing plate, 13, knotting mechanical arm, 14, parallel rod, 15, servo motor, 16, knotting sleeve connecting frame , 17, rotating connecting plate, 18, guide rail, 19, turntable, 20, fixed frame, 21, turntable limit plate, 22, cutting knife, 23, limit hole, 24, automatic clamping frame body, 25, clamping arm , 26, clamping arm connecting plate, 27, expansion pin.

detailed description

In order to clearly illustrate the technical features of the solution, the solution will be described below through specific implementation modes.

A fixed single-knot automatic bundling machine, comprising a frame 1, the shape of the frame 1 can be designed according to needs, as a preferred embodiment, the frame 1 adopts a rectangular structure.

Described frame 1 is fixed with knotting cover 2 perpendicular to this side direction in its side, and above described knotting cover 2 is hinged with the knotting mechanical arm 13 that can stretch into knotting cover 2 axle centers, so The knotting sleeve 2 is fixed on the frame 1 through the connecting frame 16. The knotting sleeve 2 is an arc-shaped sleeve with an upward opening for the knotting mechanical arm 13 to enter the axis line of the arc-shaped sleeve. The knotting mechanical arm 13 is hinged with the connecting frame 16 through two pairs of parallel rods 14, and one of the parallel rods 14 is driven by the motor 15 fixed on the connecting frame 16 and can be clamped by the motor 15 to drive the traction knotting mechanical arm 13 The rope enters the knotting sleeve 2 axis from the top of the knotting sleeve 2 to tie a knot.

The frame 1 is respectively fixed with a rotating mechanical arm 3 that can rotate around the outer edge of the knotting sleeve 2 with the axis center of the knotting sleeve 2 as the center of a circle on the side opposite to the knotting sleeve 2 and can move along the axis of the knotting sleeve 2. The fastening mechanical arm 9 moving in the center line direction, the frame 1 is slidably connected with the traction mechanical arm 8 through the guide rail 18 in the horizontal direction perpendicular to the fastening mechanical arm 9, and the frame 1 at one end of the guide rail 18 A collection frame 5 is fixed on the side, and a bundling robot arm 6 that can move toward the frame 1 is slidably connected to the collection frame 5, and the other end of the guide rail 18 is fixed with a cutting blade facing the cutter 22 of the bundling robot arm 6 In the frame 1, two auxiliary mechanical arms 11 facing the guide rail 18 and used for limiting the rope are fixed between the side where the cutter 22 is installed and the knotting sleeve 2, and the auxiliary mechanical arms 11 are fixed on the fixed plate 12. on rack 1.

Frame 1 is provided with limit hole 23 on the side that cutter 22 is installed, is used for rope is introduced in frame 1 and is knotted, and the vertical height of limit hole 23 is consistent with the traction mechanical arm 8 height on the guide rail 18, convenient Gripping of the rope.

One end of described knotting mechanical arm 13, fastening mechanical arm 9, rotating mechanical arm 3, auxiliary mechanical arm 11 and bundling mechanical arm 6 is all provided with the automatic clip 4 that can clamp rope and described automatic clip 4 All are electrically connected with the controller through the control circuit.

Described automatic folder 4 comprises frame body 24, and described frame body 24 one side is hinged with two clamping arms 25 and the other side of frame body 24 is fixed motor 15; 26 is hinged with telescopic pin 27, and described telescopic pin 27 is driven by motor 15 through gear.

The traction mechanical arm 8 includes a rotating connecting plate 17 and a base matched with the guide rail 18, and the base is sequentially fixed with a motor 15 that can drive the base to slide along the guiding rail 18 and a rotating shaft fixed to one end of the rotating connecting plate 17. Knot and can drive the motor 15 that rotating connecting plate 17 rotates in vertical direction, and the other end of described rotating connecting plate 17 is fixed with the automatic folder 4 that is parallel with knotting sleeve 2 axis lines.

The other end of the fastening mechanical arm 9 is fixed on the center of the turntable 19 and moves in cooperation with the rotating shaft of the motor 15 through the gear, and the automatic clamp 4 on the fastening mechanical arm 9 can be driven by the motor to move along the length direction of the fastening mechanical arm Realize the fastening function. The other end of the rotating mechanical arm 3 is vertically fixed on the turntable 19, the turntable 19 is connected in the frame 1 through the rotation of the turntable limit plate 21, and the turntable 19 is connected through the gear on the rotating shaft. Cooperate with motor 15 to rotate.

The above-mentioned method of using the fixed single-knot automatic strapping machine includes the following steps:

Step 1. The controller controls the automatic clamp of the traction manipulator through the control circuit to clamp it from the frame on the side where the cutter is installed, and the traction rope moves from one end of the guide rail to the other end, and the traction manipulator clamps the binding rope and delivers it to the machine. The automatic clamp at the end of the baler manipulator, the baler manipulator and the automatic clamp move along the arc slide rail to the edge of the straw collection frame;

Step 2. Put a certain amount of straw into the straw collection box with a baling rope. The baling manipulator drives the automatic clamp to deliver the baling rope to the traction manipulator. The automatic clamp of the traction manipulator grips the baling rope and moves To the auxiliary mechanical arm on the other side of the guide rail, the automatic clamp of the auxiliary mechanical arm clamps the binding rope to complete the limit work, and drives the automatic clamp to rotate through the rotating connecting plate on the traction mechanical arm to pull the binding rope out of the placing frame. The rope is cut from the cutter and ready for the next cycle;

Step 3. Rotate the automatic clamp of the mechanical arm to move the two ropes clamped between the two auxiliary mechanical arms clockwise around the knotting sleeve 450° to the top of the knotting sleeve;

Step 4. The automatic clamp of the knotting mechanical arm clamps the two ropes above the knotting sleeve and moves to the axis of the knotting sleeve by driving the parallel rod;

Step 5. The automatic gripper of the tie-down robot arm clamps the rope that the knotter robot arm feeds into the axis of the knotting sleeve, and the two ropes are clamped by the axis of the knotting sleeve away from the knotting sleeve to fasten the knot to complete the bundling , Manually remove the baled straw.

In order to control the opening and closing of each automatic clip conveniently, the above-mentioned motors 15 are all set as servo motors. In the above working process, the action of the automatic clip can be completed by controlling each servo motor through the controller.

Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention can be realized by or using existing technologies, and will not be repeated here; the above embodiments and drawings are only used to illustrate that the technical solutions of the present invention are not is a limitation of the present invention, and the present invention has been described in detail with reference to preferred embodiments, and those of ordinary skill in the art should understand that changes, modifications, Neither addition nor replacement deviates from the gist of the present invention, and should also belong to the protection scope of the claims of the present invention.

Claims (10)

1. A fixed single-knot automatic tying machine, including a frame (1), characterized in that: the frame (1) is fixed with a knotting sleeve (2) perpendicular to the side direction on one side of the frame (1), A knotting mechanical arm (13) that can extend into the axis of the knotting sleeve (2) is hinged above the knotting sleeve (2), and the frame (1) is opposite to the knotting sleeve (2). One side is respectively equipped with a rotating mechanical arm (3) that can rotate around the outer edge of the knotting sleeve (2) and a system that can move along the axis of the knotting sleeve (2). Tighten the mechanical arm (9), the bottom of the frame (1) is slidingly connected with the traction mechanical arm (8) through the guide rail (18) in the horizontal direction perpendicular to the fastening mechanical arm (9), and the guide rail ( 18) A collection frame (5) is fixed on the side of the frame at one end, and a bundling robot arm (6) is slidably connected to the collection frame (5) and can move toward the traction robot arm (8); the guide rail ( 18) The fixed cutting edge on the side of the frame at the other end is facing the cutter (22) of the bundling robot arm (6), and the frame (1) is installed with the knotting sleeve (2) on the side where the cutter (22) is installed Two auxiliary mechanical arms (11) facing the guide rail (18) and used for limiting the rope are fixed between them. 2. The fixed single-knot automatic binding machine according to claim 1, characterized in that: the collection frame (5) is an arc-shaped collection frame, and the arc-shaped outer wall of the arc-shaped collection frame is provided with an arc shaped slide rail (7), and the said bundling mechanical arm (6) is slidably set on the arc slide rail (7) through motor control. 3. The fixed single-knot automatic binding machine according to claim 1, characterized in that: the knotting mechanical arm (13), the fastening mechanical arm (9), the rotating mechanical arm (3), and the auxiliary mechanical arm (11) and one end of the bundling mechanical arm (6) are both provided with an automatic clamp (4) capable of clamping the rope, and the automatic clamp (4) is electrically connected to the controller through a control circuit. 4. The fixed single-knot automatic binding machine according to claim 3, characterized in that: the automatic clamp (4) includes a frame (24), and there are two hinges on one side of the frame (24). The clamping arm (25) and the motor (15) are fixed on the other side of the frame (24); the clamping arm (25) is hinged with the telescopic pin (27) through the connecting plate (26), and the Telescoping pin (27) is driven by motor (15) by gear. 5. The fixed single-knot automatic binding machine according to claim 1, characterized in that: the knotting sleeve (2) is fixed on the frame (1) through the connecting frame (16), and the knotting The sleeve (2) is an arc sleeve and the opening of the arc sleeve is upward. 6. The fixed single-knot automatic knotting machine according to claim 4, characterized in that: the knotting mechanical arm (13) is hinged to the connecting frame (16) through two pairs of parallel rods (14), one of which is parallel The rod (14) is rotatable driven by a motor (15) fixed on the connecting frame (16). 7. The fixed single-knot automatic strapping machine according to claim 1, characterized in that: the traction mechanical arm (8) includes a rotating connecting plate (17) and a base matching the guide rail (18), and the The base is sequentially fixed with a motor (15) that can drive the base to slide along the guide rail (18) and a motor that is fixed to one end of the rotating shaft and the rotating connecting plate (17) and can drive the rotating connecting plate (17) to rotate in the vertical direction (15), the other end of the rotating connecting plate (17) is fixed with an automatic clip (4) parallel to the axis line of the knotting sleeve (2). 8. The fixed single-knot automatic binding machine according to claim 1, characterized in that: the other end of the rotating mechanical arm (3) is vertically fixed on the turntable (19) concentric with the knotting sleeve (2) , the turntable (19) is rotatably connected in the frame (1) through the turntable limiting plate (21), and the turntable (19) is rotated in cooperation with the motor (15) through the gear on the rotating shaft. 9. The fixed single-knot automatic tying machine according to claim 1, characterized in that: the frame (1) is fixed with a tying rope placement frame (10) on the side where the cutter (22) is installed and the machine The frame (1) is provided with a limit hole (23) for the passage of the bundling rope above the cutter (22). 10. The method for using the fixed single-knot automatic strapping machine according to claim 1, characterized in that: comprising the following steps: Step 1. Under the control of the controller through the control circuit, the automatic clamp 4 of the traction robot arm (8) clamps from the frame (1) on the side where the cutter (22) is installed and the traction rope passes through the guide rail (18) One end moves to the other end, the traction mechanical arm (8) clamps the binding rope and delivers it to the automatic clamp (4) at the end of the binding mechanical arm (6), and the binding mechanical arm (6) and the automatic clamp (4) move along the arc The shaped slide rail moves to the edge of the straw collecting frame (5); Step 2. Put a certain amount of straw into the straw collection frame (5) with a baling rope, and the baling robot arm (6) drives the automatic clamp (4) to deliver the baling rope to the traction robot arm (8 ), the automatic clamp (4) of the traction mechanical arm (8) clamps the tying rope and moves to the auxiliary mechanical arm (11) on the other side of the guide rail (18), and is clamped by the automatic clamp (4) of the auxiliary mechanical arm (11) Hold the bundling rope to complete the limit work and drive the automatic clamp (4) to rotate through the rotating connecting plate (17) on the traction mechanical arm (8) to pull the bundling rope out of the bundling rope placement frame (10) from the cutter ( 22) cut off and ready to enter the next cycle; Step 3. Rotate the automatic clamp (4) of the mechanical arm (3) to move the two ropes clamped between the two auxiliary mechanical arms (11) around the knotting sleeve (2) clockwise 450° to the center of the knotting sleeve (2). above the knot (2); Step 4. The automatic gripper (4) of the knotting mechanical arm (13) clamps the two ropes above the knotting sleeve (2) and moves to the axis of the knotting sleeve (2) by driving the parallel rod (14); Step 5. Tighten the automatic clamp (4) of the mechanical arm (9) to clamp the rope that is fed into the axis of the knotting sleeve (2) by the knotting mechanical arm (13) and clamped by the axis of the knotting sleeve (2) The two ropes are kept away from the knotting sleeve (2) to complete the bundling by fastening the knots, and the bundled straw is manually taken out.