CN111687348A - Method for realizing automatic cutting of wire end of steel coil - Google Patents

Abstract

The invention relates to a method for realizing automatic cutting of wire ends of steel coils. A balance track is arranged at the top of a workshop, and a C-shaped hook is installed under the balance track; a base slide rail perpendicular to the balance track is installed on the workshop floor, and a base is installed on the base slide rail. The sliding table, the steel coil expansion mechanism is installed on the base sliding table, the first six-degree-of-freedom mechanical arm and the second six-degree-of-freedom mechanical arm are installed on both sides of the base slide rail, and the olecranon hydraulic shear is installed on the first six-degree-of-freedom mechanical arm . Hydraulic clamps are installed on the second six-degree-of-freedom manipulator arm; the steel coil expansion mechanism of the steel coil expansion mechanism extrudes the steel coil so that its single layer is evenly distributed on the expansion barrel of the steel coil expansion mechanism; the machine on the manipulator arm The visual identification module is used to find the position of the coil head, the hydraulic pliers are responsible for grasping and pulling the coil, and the olecranon hydraulic shear is responsible for cutting the coil; the three cooperate with each other to realize the search and cutting of the wire head; liberate manpower from harsh operating environments such as high temperature and ensure personnel safety ;Increase productivity.

Description

Realization method of automatic cutting of wire ends of steel coils

technical field

The invention relates to the technical field of steel shearing equipment, in particular to a method for realizing automatic cutting of wire ends of steel coils.

Background technique

The high-speed wire factory produces 9 kinds of wire diameter specifications from Φ6 to Φ20, each of which is basically divided into 7 types of different materials. According to the production plan formulated for the sales of finished wire products, the production of coils of the same size wire diameter is organized every day. Each group of coils with the same wire diameter is about 2.5 tons. After being suspended by a C-shaped hook and traveling along the track to the designated station, skilled workers will cut off the specified number of coils where the head and tail are located to ensure the quality of the main coil.

The weight of each coil is about 2.5 tons, the diameter of the outer circle of the coil is about 1.1 meters, the width of the whole coil of the smaller wire diameter is 2.7 meters to 3 meters, and the width of the whole coil of the wider coil is about 2.3 meters to 2.5 meters. Different diameters, the number of turns and layers of each coil is about:

Table 1.1 Number of turns and layers of coils with different wire diameters

It can be seen from Table 1.1 that for coils with thinner wire diameters, due to the large number of layers stacked together, the wire ends are easily hidden in each layer of coils and difficult to find. The position of the head and tail of the coil is easy to find, and the skilled worker can directly judge it and pull it out and cut off the corresponding number of coils. For thinner coils such as Φ6/Φ6.5, Φ8, etc., especially optical coils, because their heads and tails are prone to entanglement, deformation or insertion with adjacent coils, it is difficult to find the positions of their heads and tails, usually in The work flow of the on-site technicians is: preliminary judgment of the coil head → grasping part of the coil to loosen axially → clockwise circumferential loosening → local formation of a single-layer coil → find the coil where the head is located → axially lift the head and adjacent Several turns→Hydraulic shearing→Remove waste coils. The essentials of manual action can basically be divided into "grasping", "pulling", "pushing", "pulling", "lifting" and "scissing". It is easy to get tired, and the steel coil that has just been produced still has a certain amount of residual heat, so the temperature of the working environment will also be high, which is easy to cause heat stroke and other phenomena.

SUMMARY OF THE INVENTION

In order to solve the above-mentioned problems, the purpose of the present invention is to provide a method for realizing automatic cutting of steel coil wire ends, instead of manual cutting of steel coil ends.

In the embodiment of the present invention, the following scheme is adopted to realize: Provide the realization method of automatic cutting of the wire end of the steel coil, and realize according to the following steps:

Step S1: Lay a balance track on the top of the workshop, and install a C-shaped hook under the balance track; Coil expansion mechanism, the first six-degree-of-freedom mechanical arm and the second six-degree-of-freedom mechanical arm are installed on both sides of the base slide rail. Install hydraulic pliers;

Step S2: winding and hanging the steel coil on the lower arm of the C-shaped hook, and moving to the designated position in front of the steel coil expanding mechanism, and keeping it horizontal;

Step S3: the two machine vision recognition modules on the first six-degree-of-freedom manipulator arm and the second six-degree-of-freedom manipulator take pictures of the front and side surfaces of the steel coil respectively; through the data processing and identification of the photos, the identification result is obtained ;

Step S4: When the recognition result is that the steel coil is regular and normal, go directly to the next step; when the recognition result is that the wire end of the steel coil is inserted into the steel coil, the wire end is pulled out by the hydraulic pliers of the second six-degree-of-freedom robotic arm ; When the recognition result is that the coil head is messy, cut off the outermost circle of the steel coil with the olecranon hydraulic shear on the first 6-DOF manipulator arm, and clamp the steel coil with the hydraulic clamp on the second 6-DOF manipulator arm Remove the leading part on the left, and repeat this action until the coil head is regular;

Step S5: The expanding barrel of the steel coil expanding and supporting mechanism enters in a conical shape, and extends into the end of the steel coil for a specified distance. The hydraulic pliers grab a steel coil near the outer coil, pull it out, and bring out the inner coil and distribute it on the expansion barrel;

Step S6: the expansion barrel of the steel coil expansion and support mechanism performs a "squeeze" action, that is, the front end of the expansion barrel expands and the rear end shrinks to form an inverse conical structure, so that the front end faces the coil to expand and squeeze;

Step S7: the wire-pulling screw of the wire-pulling assembly on the steel coil expanding and supporting mechanism rotates clockwise to drive the steel wire of the steel coil to move one by one like the rear end of the expanding barrel of the steel wire expanding and supporting mechanism, so that the single layer of the steel coil is evenly distributed;

Step S8: The two machine vision recognition modules on the first six-degree-of-freedom manipulator arm and the second six-degree-of-freedom manipulator take a 360-degree photograph of the steel coil on the expanding barrel of the steel coil expanding mechanism, and identify the position of the coil head ; If the recognition result is that the head position is found, go to the next step; if the head position is not found, use the olecranon hydraulic shear of the first 6DOF manipulator to cut the outermost circle of the steel coil, and the hydraulic clamp will The part connected to the head on the left side of the steel coil is pulled out to find a new head;

Step S9: Use the second six-degree-of-freedom hydraulic pliers to lift the coil at the head position of the steel coil and pull it out to the rear end of the expanding barrel, the steel coil expanding mechanism swings to change the pitch angle of the expanding barrel, and the expanding The front end of the barrel is shrunk and the rear end is enlarged, and the coil is reversed by the action of gravity, so that the coils are arranged on the expanding barrel in the order of the head;

Step S10: The two machine vision recognition modules on the first six-degree-of-freedom manipulator arm and the second six-degree-of-freedom manipulator take a 360-degree photograph of the steel coil on the expanding barrel of the steel coil expanding mechanism to count the corresponding number of turns, and then Locate the cutting position, use the olecranon hydraulic shear to lift and cut the steel coil, the expansion barrel of the steel coil expansion mechanism is withdrawn backward, and the first six-degree-of-freedom mechanical arm and the second six-degree-of-freedom mechanical arm cooperate to remove the waste. Partially lift out the C-shaped hook and place it at the designated position next to it; the first 6-DOF robot arm, the second 6-DOF robot arm and the steel coil expansion mechanism are reset, the C-shaped hook is advanced, the coil is processed, and the next cutting is waiting. The coil is in place.

In an embodiment of the present invention, the steel coil expansion mechanism includes a support frame and a support base, the support frame is fixed on the support base, the support base is connected to the base slide, and the support frame is provided with Two symmetrically installed barrel expanding plates form the expanding barrel, and the wire-stripping components are installed on the tops of the inner wall surfaces of the two barrel expanding plates.

In an embodiment of the present invention, the support frame includes two support rods symmetrically installed at the front end of the support seat, and a moving rod seat is passed through the tails of the two support rods; the middle parts of the two support rods are fixed There is a first snap ring, a second snap ring is fixed on the head of the two support rods, a first fork arm is installed on the two first snap rings, and a second fork arm is mounted on the two second snap rings ; The left and right sides of the moving pull rod seat are symmetrically provided with moving pull rods, and the two moving pull rods are respectively connected with the first fork arms on the support rods on the left and right parts of the support seat; the first fork arm on the same support rod A barrel expansion plate is installed and connected to the fork arm and the second fork arm; the support seat is provided with a first motor, and the output shaft of the first motor is fixedly connected with a lead screw, and the lead screw penetrates into the motion pull rod seat .

In an embodiment of the present invention, the heads of the first fork arms on the two support rods are arranged symmetrically to the outside, and the heads of the second fork arms of the two support rods are arranged symmetrically to the outside. The first snap ring is hinged, and the tail of the second fork arm is hinged with the second snap ring; the first fork arm and the head of the second fork arm are both provided with a fixed shaft, and the first fork arm is provided with a fixed shaft. The upper and lower ends of the fixed shaft on a fork arm are fixed on the inner side wall of the tail of the swagger, and the upper and lower ends of the fixed shaft on the second fork arm are fixed on the inner side wall of the head of the swagger on; the moving pull rod is connected with the first fork arm through a fixed shaft.

In an embodiment of the present invention, the barrel expansion plate is an arc-shaped plate, a flat plate, or an L-shaped plate.

In an embodiment of the present invention, the front end surface of the expanding barrel is provided with a tapered guide head cut into two halves, and one of the tapered guide heads is fixed on the front end face of each of the barrel expanding plates. The tip of the tapered guide head faces forward.

In an embodiment of the present invention, the wire-pulling assembly includes an L-shaped screw swing arm and a wire-pulling screw. The front and rear ends of the inner wall of the barrel expansion plate are respectively hinged with a screw swing arm, and the two pieces are respectively hinged. A rotating shaft is fixedly connected between the screw swing arms, a double output shaft motor is arranged on the rotating shaft, and the casing of the double output shaft motor is fixed on the inner side wall of the barrel expansion plate; The wire-pulling screw is installed between the other ends, and the wire-pulling screw is driven by the second motor.

In an embodiment of the present invention, the base sliding table includes a U-shaped sliding chassis, the U-shaped open end of the sliding chassis is facing forward, and rail wheels are symmetrically installed on both sides of the sliding chassis. The track wheel is placed on the base slide rail, the rear part of the sliding chassis is provided with a mounting frame, the inner side wall of the mounting frame is symmetrically provided with a sliding groove, and a sliding rod is installed between the two sliding grooves , the rear part of the support seat is sleeved on the sliding rod, a first hydraulic cylinder is hinged on the sliding chassis in the installation frame, and the head of the push rod of the first hydraulic cylinder is connected to the The sliding shaft is hinged, a second hydraulic cylinder is hinged on the sliding chassis in front of the first hydraulic cylinder, and the head of the second hydraulic cylinder is hinged with the support seat; the sliding A power pack is attached to the rear side of the chassis.

In an embodiment of the present invention, the power assembly includes a fifth hydraulic cylinder fixed at the end of the base slide rail, and the front end of the push rod of the fifth hydraulic cylinder is connected to the rear side of the sliding chassis.

In an embodiment of the present invention, the hydraulic clamp includes a left clamp handle, a right clamp handle and a second fixed seat, the second fixed seat is fixed on the connecting flange at the end of the second six-degree-of-freedom mechanical arm, so The left clamp handle is fixed on the second fixing seat, the cross section of the right clamp handle is L-shaped, the bending part of the right clamp handle is hinged with the rear part of the left clamp handle, and the right clamp handle has an L-shaped cross section. A third hydraulic cylinder is hinged at the end, the cylinder body of the third hydraulic cylinder is hinged on the peripheral wall of the second fixing seat, and a pressure sensor is arranged at the jaw of the hydraulic clamp; the olecranon hydraulic shear is installed on the on the connecting flange at the end of the first six-degree-of-freedom manipulator. .

Beneficial effects of the present invention: The present invention provides a method for realizing automatic cutting of wire ends of steel coils, realizing intelligent search for wire ends and cutting; cutting off the heads of steel coils according to manual operation methods, eliminating the need for manual operation tools to clamp and cut Cutting steel coils improves the automation level of steel coil production; liberates manpower from harsh operating environments such as high temperature, reduces labor costs, and ensures personnel safety; improves production efficiency and increases output value for enterprises.

Description of drawings

Fig. 1 is a flow chart of a method for realizing automatic cutting of wire ends of steel coils.

FIG. 2 is a schematic diagram of a practical state of each component being installed.

FIG. 3 is a schematic diagram of the state in which the steel coil expanding mechanism penetrates the steel coil.

FIG. 4 is a side view of FIG. 3 .

FIG. 5 is a schematic structural diagram of the steel coil expansion support mechanism installed on the base sliding table.

FIG. 6 is a schematic structural diagram of a steel coil expanding mechanism.

FIG. 7 is a plan view of FIG. 5 .

FIG. 8 is a cross-sectional view taken along the line B-B in FIG. 7 .

FIG. 9 is a schematic diagram of the hydraulic tongs being installed on the second six-degree-of-freedom robotic arm.

Figure 10 is a schematic diagram of the olecranon hydraulic shear installed on the first six-degree-of-freedom robotic arm.

Figure 11 is a schematic structural diagram of replacing the drive assembly with a screw motor drive.

Fig. 12 is a schematic view of installing the tapered guide head at the front end of the expanding barrel.

Detailed ways

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

Referring to FIGS. 1 to 12, the present invention provides a method for realizing automatic cutting of the wire ends of the steel coils, which is realized according to the following steps: Step S1: laying a balance track 2 on the top of the workshop, and installing a C-shaped hook 1 under the balance track; Install the base slide rail 8 that is perpendicular to the balance rail 2, install the base slide 6 on the base slide 8, install the steel coil expansion mechanism 7 on the base slide 6, and install the first and sixth free on both sides of the base slide 8. Mechanical arm 4, the second six-degree-of-freedom mechanical arm 5, the first six-degree-of-freedom mechanical arm 4 is installed on the olecranon hydraulic shear 10, and the second six-degree-of-freedom mechanical arm 5 is installed on the hydraulic clamp 9; used to grasp the head The coil in which it is located is pulled up to the top of the axial front end to achieve the purpose of obtaining enough coils from the head; it should be noted that the center plane of the base slide rail needs to coincide with the center plane of the C-shaped hook; the steel coil expansion The support mechanism is a mirror-symmetric structure;

Step S2: winding and hanging the steel coil on the lower arm of the C-shaped hook, and moving to the designated position in front of the steel coil expanding mechanism, and keeping it horizontal;

Step S3: the two machine vision recognition modules on the first six-degree-of-freedom manipulator arm and the second six-degree-of-freedom manipulator take pictures of the front and side surfaces of the steel coil respectively; through the data processing and identification of the photos, the identification result is obtained ;

Step S4: When the recognition result is that the steel coil is regular and normal, go directly to the next step; when the recognition result is that the wire end of the steel coil is inserted into the steel coil, the wire end is pulled out by the hydraulic pliers of the second six-degree-of-freedom robotic arm ; When the recognition result is that the coil head is messy, cut off the outermost circle of the steel coil with the olecranon hydraulic shear on the first 6-DOF manipulator arm, and clamp the steel coil with the hydraulic clamp on the second 6-DOF manipulator arm Remove the leading part on the left, and repeat this action until the coil head is regular;

Step S5: The expanding barrel of the steel coil expanding and supporting mechanism enters in a conical shape, and extends into the end of the steel coil for a specified distance. The hydraulic pliers grab a steel coil near the outer coil, pull it out, and bring out the inner coil and distribute it on the expansion barrel;

Step S6: the expansion barrel of the steel coil expansion and support mechanism performs a "squeeze" action, that is, the front end of the expansion barrel expands and the rear end shrinks to form an inverse conical structure, so that the front end faces the coil to expand and squeeze;

Step S7: the wire-pulling screw of the wire-pulling assembly on the steel coil expanding and supporting mechanism rotates clockwise to drive the steel wire of the steel coil to move one by one like the rear end of the expanding barrel of the steel wire expanding and supporting mechanism, so that the single layer of the steel coil is evenly distributed;

Step S8: The two machine vision recognition modules on the first six-degree-of-freedom manipulator arm and the second six-degree-of-freedom manipulator take a 360-degree photograph of the steel coil on the expanding barrel of the steel coil expanding mechanism, and identify the position of the coil head ; If the recognition result is that the head position is found, go to the next step; if the head position is not found, use the olecranon hydraulic shear of the first 6DOF manipulator to cut the outermost circle of the steel coil, and the hydraulic clamp will The part connected to the head on the left side of the steel coil is pulled out to find a new head;

Step S9: Use the second six-degree-of-freedom hydraulic pliers to lift the coil at the head position of the steel coil and pull it out to the rear end of the expanding barrel, the steel coil expanding mechanism swings to change the pitch angle of the expanding barrel, and the expanding The front end of the barrel is shrunk and the rear end is enlarged, and the coil is reversed by the action of gravity, so that the coils are arranged on the expanding barrel in the order of the head;

Step S10: The two machine vision recognition modules on the first six-degree-of-freedom manipulator arm and the second six-degree-of-freedom manipulator take a 360-degree photograph of the steel coil on the expanding barrel of the steel coil expanding mechanism to count the corresponding number of turns, and then Locate the cutting position, use the olecranon hydraulic shear to lift and cut the steel coil, the expansion barrel of the steel coil expansion mechanism is withdrawn backward, and the first six-degree-of-freedom mechanical arm and the second six-degree-of-freedom mechanical arm cooperate to remove the waste. Partially lift out the C-shaped hook and place it at the designated position next to it; the first 6-DOF robot arm, the second 6-DOF robot arm and the steel coil expansion mechanism are reset, the C-shaped hook is advanced, the coil is processed, and the next cutting is waiting. The coil is in place.

Please refer to FIG. 1 to FIG. 8 and FIG. 11. In an embodiment of the present invention, the steel coil expansion mechanism 7 includes a support frame 72 and a support base 71. The support frame 72 is fixed on the support base 71, so that the The support base 71 is connected with the base slide 6, the support frame 72 is provided with two symmetrically installed barrel expansion plates 73, and the two barrel expansion plates form an expanded barrel; the tops of the inner wall surfaces of the two barrel expansion plates 73 Both are installed with wire-stretching components 74, so that a single layer of steel coils is evenly distributed on the surface of the expanding barrel.

Referring to FIGS. 2 to 8 , in an embodiment of the present invention, the support frame 72 includes two support rods 721 symmetrically installed at the front end of the support base 71 , and a tail part of the two support rods 721 passes through a common one. Move the pull rod seat 722; a first snap ring 726 is fixed at the middle of the two support rods 721, a second snap ring 727 is fixed on the head of the two support rods 721, and a second snap ring 727 is mounted on the two first snap rings 726. A fork arm 724, and a second fork arm 723 is installed on the two second snap rings 727; the left and right side of the motion pull rod seat 722 are symmetrically provided with motion pull rods 729, and the two motion pull rods 729 are respectively connected to the support seat 71 The first fork arm 724 on the left and right support rods 721 is connected; the first fork arm 724 and the second fork arm 723 on the same support rod 721 are installed and connected with a barrel expansion plate 73; the support seat 71 A first motor 75 is provided on the upper part, and the output shaft of the first motor 75 is fixedly connected with a lead screw 728, and the lead screw 728 penetrates into the moving rod seat 722; it is the expansion or contraction of the two barrel expansion plates. Provide power.

Referring to FIGS. 5 to 8 , in an embodiment of the present invention, the heads of the first fork arms 724 on the two support rods 721 are disposed symmetrically outward, and the heads of the second fork arms 723 of the two support rods 721 are symmetrically disposed outward Setting, the tail of the first fork arm 724 is hinged with the first snap ring 726, and the tail of the second fork arm 723 is hinged with the second snap ring 727; the first fork arm 724 and the The head of the second fork arm 723 is provided with a fixed shaft 725 , the upper and lower ends of the fixed shaft 725 on the first fork arm 724 are fixed on the inner side wall of the tail of the barrel expansion plate 73 , the second The upper and lower ends of the fixed shaft 725 on the fork arm 723 are fixed on the inner side wall of the head of the barrel expansion plate 73; the moving rod 729 is connected with the first fork arm 724 through the fixed shaft 725; the rotation of the lead screw drives The moving rod seat moves back and forth, and the moving rod drives the fixed shaft to move back and forth, thereby driving the rotation of the swing arm, thereby realizing the expansion of the front end of the barrel (that is, the contraction of the rear end of the barrel) or the contraction of the front end of the barrel (the support of the rear end of the barrel). open.

Referring to FIGS. 5 to 8 , in an embodiment of the present invention, the barrel expansion plate 73 is an arc-shaped plate, a flat plate, or an L-shaped plate.

Please refer to FIG. 11 , in an embodiment of the present invention, the front end surface of the expansion barrel is provided with a tapered guide head 76 cut into two parts, and the front end surface of each barrel expansion plate 73 is fixed to the tapered guide head One of the heads of the head 73, the tip of the tapered guide head faces forward; it can better guide the expanding barrel to extend into the steel coil.

Referring to FIGS. 3 to 8 , in an embodiment of the present invention, the wire-pulling assembly 74 includes an L-shaped screw swing arm 743 and a wire-pulling screw 744 , and the front and rear ends of the inner wall of the barrel expansion plate 73 are respectively A piece of the screw swing arm 743 is hinged, and a rotating shaft 742 is fixedly connected between the two screw swing arms. The rotating shaft 742 is provided with a double output shaft motor 741, and the casing of the double output shaft motor 741 is fixed on the The inner side wall of the barrel expansion plate 73 is used to drive the swing arm to rotate, so that the thread-stretching screw protrudes from the barrel expansion plate and can contact the steel coil for threading and retraction into the barrel expansion plate and no longer touch the steel coil; two The wire-pulling screw 744 is installed between the other end of the screw swing arm 743, and the wire-pulling screw 744 is driven by the second motor 745; The coil moves like the end of the barrel expansion plate, and this part of the coil is peeled off into a single layer arrangement. When the coil moves to the end of the screw, the screw stops rotating, which is convenient for the machine vision recognition module on the robotic arm to find the wire end of the steel coil.

Please refer to FIG. 2 to FIG. 5 , FIG. 7 , and FIG. 8 . In an embodiment of the present invention, the base sliding table 6 includes a U-shaped sliding chassis 61 , and the U-shaped open end of the sliding chassis 61 faces forward. The two sides of the sliding chassis 61 are symmetrically installed with track wheels 66, the track wheels 66 are placed on the base slide rail 8, and the rear part of the sliding chassis 61 is provided with a mounting frame 63. The mounting frame The inner side wall of 63 is symmetrically provided with a chute 68, a sliding rod is installed between the two sliding grooves 68, the rear part of the support base 71 is sleeved on the sliding rod, and the sliding chassis A first hydraulic cylinder 64 is hinged on the mounting frame 63 on the 61, the head of the push rod of the first hydraulic cylinder 64 is hinged with the sliding shaft 68, and the sliding chassis 61 is located on the first hydraulic cylinder 61. A second hydraulic cylinder 65 is hinged in front of a hydraulic cylinder 64, and the head of the second hydraulic cylinder 65 is hinged with the support base 71; the rear side of the sliding chassis 61 is connected with a power component for pushing The front and rear movement of the sliding chassis, that is, the expansion barrel can be extended into or out of the steel ring.

3 , 5 , 7 , and 11 , in an embodiment of the present invention, the power assembly includes a fifth hydraulic cylinder 62 fixed at the end of the base slide 8 , and a push rod of the fifth hydraulic cylinder 62 The front end of the sliding chassis is connected to the rear side of the sliding chassis 61; the power component can also use a motor screw rod, or a four-bar linkage mechanism to drive the front and rear movement of the sliding chassis.

Referring to FIGS. 2 and 10 , in an embodiment of the present invention, the hydraulic clamp 9 includes a left clamp handle 92 , a right clamp handle 91 and a second fixing seat 95 , and the second fixing seat 95 is fixed on the second fixing seat 95 . On the connecting flange at the end of the six-degree-of-freedom robotic arm 5, the left clamp handle 92 is fixed on the second fixing seat 95, the cross-section of the right clamp handle 91 is L-shaped, and the bending of the right clamp handle 91 It is hinged with the rear of the left clamp handle 92 , the end of the right clamp handle 91 is hinged with a third hydraulic cylinder 94 , and the cylinder body of the third hydraulic cylinder 94 is hinged to the peripheral wall of the second fixed seat 95 . , a pressure sensor 93 is arranged at the jaw of the hydraulic tongs 9, which is used to monitor the pressure transmitted by the hydraulic tongs to the steel coil in real time, so as to prevent the surface of the steel coil from being damaged due to excessive clamping force of the hydraulic tongs; The hydraulic shear is mounted on the connecting flange at the end of the first six-degree-of-freedom mechanical arm. .

In an embodiment of the present invention, it should be noted that the casings of the first motor, the second motor, and the dual-output shaft motor are all wrapped with a thermal insulation layer to avoid damage to the motors caused by the high-heat environment of the workshop; the first six-degree-of-freedom robotic arm, The second six-degree-of-freedom manipulator, the C-shaped hook, the balance track, the pressure sensor and the olecranon hydraulic shear, the machine vision recognition module, and their control are all existing technologies, and no protection requirements are made here.

The present invention has the following working principle:

Hang the steel coil to be cut on the C-shaped hook, the C-shaped hook reaches the designated position through the balance track and stops, and the posture remains horizontal and stable. At this time, the machine vision recognition modules installed on the two robotic arms are triggered to take pictures of the front and side of the coil respectively, and through data processing and recognition of the photos, the recognition result is obtained (this machine vision recognition technology is the existing technology and does not require protection , only to introduce how to use it, so it will not be explained in detail). The identification results are divided into three cases, namely, the head is found to be inserted outside the coil, the coil is regular, and the coil head is messy. According to long-term observation, most of the coils are regular and normal, and the other two situations are relatively rare.

When the recognition result is that the coil is regular, the expanding barrel cone (that is, the front end of the expanding barrel shrinks) enters, and extends into the coil end for a certain distance; when the recognition result is that the head is inserted into the coil, then the robot arm Perform the "pull" action to pull out the thread end, and then execute the barrel expansion to enter; when the recognition result is that the coil head is messy, cut off the outermost circle first, and perform the "pull" action to remove the leading part on the left. This action This can be repeated until the coil head is trimmed, followed by barrel entry. After the expansion barrel enters, the robotic arm performs "grasping" and "pulling" actions, that is, the hydraulic clamp of the second six-degree-of-freedom robotic arm grabs a coil near the outside and pulls it out to bring out the inner coil and distribute it in the above the barrel. Immediately afterwards, the barrel expansion performs the "squeeze" action, that is, the front end of the barrel expands and the rear end shrinks to form an inverse cone structure, so that the front end faces the coil to squeeze, and then the coil can slide down on the barrel through the inverse cone. . Next, the screw rotates clockwise to perform the "squeeze" action. The pitch of the screw is similar to the diameter of the steel wire, so that the coils on the expansion barrel can be squeezed into a state that is close to a single-layer uniform distribution.

Next, two machine vision recognition modules are used to take a 360-degree photo of the coil on the expansion barrel, in order to identify the position of the coil head. If the recognition result is that the head position is found, the robotic arm will perform a "lift" action at this time; When the position of the head is found, perform the "pump" action, first cut off the outermost circle, pull out the part connected to the head on the left, and then find a new head, and then perform the "pump" action. The "lifting" action lifts the head position coil and pulls it out to the rear end face of the expansion barrel, and then through the cooperation of the first hydraulic cylinder and the second hydraulic cylinder, the expansion barrel is raised and inclined, and the coil is reversed by the gravity of the coil. , so that the coils are arranged in the order of the head and on the barrel, and then take pictures for the corresponding number of turns, and then use the mechanical arm to perform the "scissor" action.

The mechanical arm finds the cutting position through positioning, uses hydraulic shears to lift and cut, expand the barrel and withdraw (the push rod of the fifth hydraulic cylinder is retracted, which drives the sliding chassis to move backwards), and through the cooperation of the two mechanical arms, the waste part is removed. Lift out the C-shaped hook and place it at the designated position next to it. The last two mechanical arms and the expansion barrel are reset, the C-shaped hook is advanced, and the rewinding coil is processed, waiting for the next coil to be in place.

The above descriptions are only preferred embodiments of the present invention, and should not be construed as limitations to the present application. All equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope of the present invention.

Claims (10)

1. The method for automatically cutting off the wire end of the steel coil is characterized by comprising the following steps of: the method is realized according to the following steps:

step S1: a balance rail is arranged at the top in the workshop, and a C-shaped hook is arranged below the balance rail; a base sliding rail perpendicular to the balance rail is mounted on the workshop ground, a base sliding table is mounted on the base sliding rail, a steel coil expanding mechanism is mounted on the base sliding table, a first six-degree-of-freedom mechanical arm and a second six-degree-of-freedom mechanical arm are mounted on two sides of the base sliding rail respectively, an olecranon hydraulic shear is mounted on the first six-degree-of-freedom mechanical arm, and a hydraulic clamp is mounted on the second six-degree-of-freedom mechanical arm;

step S2: winding and hanging the steel coil on a lower arm of the C-shaped hook, moving the steel coil to a specified position in front of the steel coil expanding mechanism, and keeping the steel coil horizontal;

step S3: the two machine vision recognition modules on the first six-degree-of-freedom mechanical arm and the second six-degree-of-freedom mechanical arm respectively take pictures of the front side and the side of the steel coil; obtaining an identification result through data processing and identification of the photo;

step S4: when the recognition result is that the steel coil is regular and normal, directly entering the next step; when the recognition result is that the wire head of the steel coil is inserted into the steel coil, pulling out the wire head through hydraulic tongs of the second six-degree-of-freedom mechanical arm; when the coil head is in disorder, shearing the outermost circle of the steel coil through an olecranon hydraulic shear on the first six-degree-of-freedom mechanical arm, clamping the steel coil through a hydraulic clamp on the second six-degree-of-freedom mechanical arm to draw the left headed part away, and repeating the action until the coil head is regular;

step S5: the barrel expanding taper of the steel coil expanding mechanism enters and extends into the end part of the steel coil for a specified distance, the second six-degree-of-freedom mechanical arm executes grabbing and pulling actions, hydraulic pincers on the second six-degree-of-freedom mechanical arm grab a coil of the steel coil close to the outside and pull the coil outwards, and the coil which is taken out of the second six-degree-of-freedom mechanical arm is distributed on the barrel expanding;

step S6: the expanding barrel of the steel coil expanding mechanism executes squeezing action, namely the front end of the expanding barrel is expanded, the rear end of the expanding barrel is reduced to form a reverse conical structure, expanding extrusion on the coil by the front end face is realized, and the expanding loosening of the steel coil is realized;

step S7: the wire smoothing screw of the wire smoothing assembly on the steel coil expanding mechanism rotates clockwise to smooth wires, so that steel wires of the steel coils are driven to move like the rear end of a barrel of the steel wire expanding mechanism one by one, and single layers of the steel coils are uniformly distributed;

step S8: two machine vision recognition modules on the first six-degree-of-freedom mechanical arm and the second six-degree-of-freedom mechanical arm take 360-degree pictures of the steel coil on the expanding barrel of the steel coil expanding mechanism to recognize the head position of the coil; if the head position is found in the recognition result, entering the next step; if the head position is not found, shearing the outermost circle of the steel coil by using an olecranon hydraulic shear of the first six-degree-of-freedom mechanical arm, and drawing out the part, connected to the head, of the left side of the steel coil by using the hydraulic clamp so as to find a new head;

step S9: lifting the head position coil of the steel coil by using a second six-degree-of-freedom hydraulic clamp to pull the head position coil outwards to the rear end of the expanded barrel, swinging the steel coil expansion mechanism to change the pitch angle of the expanded barrel, reducing the expansion of the front end and the rear end of the expanded barrel of the steel coil expansion mechanism, and enabling the coil to fall back under the action of gravity to achieve the purpose that the coils are sequentially arranged on the expanded barrel according to the head sequence;

step S10: the two machine vision recognition modules on the first six-degree-of-freedom mechanical arm and the second six-degree-of-freedom mechanical arm take pictures of the steel coil on the expanding barrel of the steel coil expanding mechanism for 360 degrees to count corresponding turns, then the shearing position is located, the olecranon hydraulic shear is used for lifting and shearing the steel coil, the expanding barrel of the steel coil expanding mechanism is withdrawn backwards, and the waste material part is lifted out of the C-shaped hook and placed at the specified position beside the barrel through the cooperation of the first six-degree-of-freedom mechanical arm and the second six-degree-of-freedom mechanical arm; and resetting the first six-degree-of-freedom mechanical arm, the second six-degree-of-freedom mechanical arm and the steel coil expanding and supporting mechanism, advancing the C-shaped hook, finishing the processing of the winding ring, and waiting for the next cutting coil to be in place.

2. The method for realizing automatic cutting of the wire end of the steel coil according to claim 1, is characterized in that: the steel coil expands and props the mechanism and includes support frame, supporting seat, the support frame is fixed on the supporting seat, the supporting seat is connected with base slip table, be provided with the bucket board that expands of two symmetry installations on the support frame, two expand the bucket board and constitute expand the bucket, two expand the top of bucket inboard face and all install smooth out the line subassembly.

3. The method for realizing automatic cutting of the wire end of the steel coil according to claim 2 is characterized in that: the support frame comprises two support rods which are symmetrically arranged at the front end of the support seat, and a movable pull rod seat is arranged at the tail part of the two support rods in a penetrating way; first clamping rings are fixed at the middle parts of the two support rods, second clamping rings are fixed at the heads of the two support rods, first fork arms are arranged on the two first clamping rings, and second fork arms are arranged on the two second clamping rings; the left side and the right side of the motion pull rod seat are symmetrically provided with motion pull rods, and the two motion pull rods are respectively connected with first fork arms on support rods at the left part and the right part of the support seat; a barrel expanding plate is arranged and connected with the first fork arm and the second fork arm on the same supporting rod; the support seat is provided with a first motor, an output shaft of the first motor is fixedly connected with a lead screw, and the lead screw penetrates into the motion pull rod seat.

4. The method for realizing automatic cutting of the wire end of the steel coil according to claim 3, is characterized in that: the heads of the first fork arms on the two support rods are symmetrically arranged outwards, the heads of the second fork arms of the two support rods are symmetrically arranged outwards, the tail part of the first fork arm is hinged with the first clamping ring, and the tail part of the second fork arm is hinged with the second clamping ring; the head parts of the first fork arm and the second fork arm are respectively provided with a fixing shaft in a penetrating way, the upper end and the lower end of the fixing shaft on the first fork arm are fixed on the inner side wall of the tail part of the barrel expanding plate, and the upper end and the lower end of the fixing shaft on the second fork arm are fixed on the inner side wall of the head part of the barrel expanding plate; the motion pull rod is connected with the first fork arm through a fixed shaft.

5. The method for realizing automatic cutting of the wire end of the steel coil according to claim 2 is characterized in that: the barrel expanding plate is an arc-shaped plate, a plane plate or an L-shaped plate.

6. The method for realizing automatic cutting of the wire end of the steel coil according to claim 2 is characterized in that: expand the preceding terminal surface of bucket and be provided with the toper guide head of cutting open into two lamellas, every expand the front end terminal surface of bucket board and fix one of them lamella of toper guide head, the pointed end of toper guide head is forward.

7. The method for realizing automatic cutting of the wire end of the steel coil according to claim 2 is characterized in that: the wire smoothing assembly comprises L-shaped screw swing arms and a wire smoothing screw, the front end and the rear end of the inner wall surface of the barrel expanding plate are respectively hinged with one screw swing arm, a rotating shaft is fixedly connected between the two screw swing arms, a double-output-shaft motor is arranged on the rotating shaft, and a shell of the double-output-shaft motor is fixed on the inner side wall of the barrel expanding plate; and the wire smoothing screw is arranged between the other ends of the two screw swing arms and is driven by a second motor.

8. The method for realizing automatic cutting of the wire end of the steel coil according to claim 2 is characterized in that: the base sliding table comprises a U-shaped sliding chassis, the U-shaped opening end of the sliding chassis faces forward, rail wheels are symmetrically installed on two side edges of the sliding chassis and are arranged on a base sliding rail, an installation frame is arranged at the rear part of the sliding chassis, sliding grooves are symmetrically formed in the inner side wall of the installation frame, a sliding rod is installed between the two sliding grooves, the rear part of the supporting seat is sleeved on the sliding rod in a penetrating manner, a first hydraulic cylinder is hinged in the installation frame on the sliding chassis, the head of a push rod of the first hydraulic cylinder is hinged to the sliding shaft, a second hydraulic cylinder is hinged in front of the first hydraulic cylinder on the sliding chassis, and the head of the second hydraulic cylinder is hinged to the supporting seat; the rear side of the sliding chassis is connected with a power assembly.

9. The method for realizing automatic cutting of the wire end of the steel coil according to claim 8 is characterized in that: the power assembly comprises a fifth hydraulic cylinder fixed at the tail of the base sliding rail, and the front end of a push rod of the fifth hydraulic cylinder is connected with the rear side face of the sliding chassis.

10. The method for realizing automatic cutting of the wire end of the steel coil according to claim 1, is characterized in that: the hydraulic clamp comprises a left clamp handle, a right clamp handle and a second fixed seat, the second fixed seat is fixed on a connecting flange at the tail end of the second six-degree-of-freedom mechanical arm, the left clamp handle is fixed on the second fixed seat, the section of the right clamp handle is L-shaped, the bent part of the right clamp handle is hinged with the rear part of the left clamp handle, the tail of the right clamp handle is hinged with a third hydraulic cylinder, the cylinder body of the third hydraulic cylinder is hinged on the peripheral wall of the second fixed seat, and a jaw of the hydraulic clamp is provided with a pressure sensor; the olecranon hydraulic shear is mounted on a connecting flange at the tail end of the first six-degree-of-freedom mechanical arm.

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