CN116692185A - Automatic grabbing and shearing device for paper-wrapped multi-strand iron wires and control method - Google Patents

Abstract

The invention relates to an automatic grabbing and shearing device for paper package multi-strand iron wires and a control method, wherein the iron wire processing device, the rotary jacking device, the distance sensor, the intelligent management system and the upper computer are arranged on one side of the rotary jacking device, the distance sensor is arranged at the top end of the rotary jacking device through a distance sensor connecting piece, the distance sensor is used for acquiring position information of the multi-strand iron wires bound on a plurality of groups of paper packages and transmitting the position information to the upper computer, the rotary jacking device is used for rotating the plurality of groups of paper packages by a preset angle and jacking and transporting the multi-strand iron wires bound on the plurality of groups of paper packages by a single side by a preset height, and the iron wire processing device is used for grabbing and shearing the multi-strand iron wires bound on the plurality of groups of paper packages.

Description

An automatic grabbing and shearing device and control method for paper-wrapped multi-strand iron wire

technical field

The invention belongs to the technical field of automatic paper bag unpacking, in particular to an automatic grabbing and shearing device and a control method for paper bag multi-strand iron wires.

Background technique

The method of binding paper bulk raw materials with iron wires is currently the main method. Multiple sets of paper bag raw materials are used to bundle and stack multiple groups of paper bags into a large group of bags. The number of bindings depends on the size of the raw materials. There is enough binding strength during transportation to keep it from falling apart and deforming, which is convenient for storage and transportation.

After the paper package arrives at the destination, it is necessary to cut the bundled multi-strand iron wires on multiple groups of paper packages. In the prior art, the large-scale wire scissors with leverage are used to cut multiple times manually, and multiple operators are required to cooperate. It is time-consuming and labor-intensive to complete the iron wire cutting work. Due to the toughness and elasticity of the iron wire, there will often be safety hazards at the moment of cutting, which can easily cause personal injury; For shearing work, due to the large volume and heavy weight of the semi-automatic shearing equipment, it also requires manual manipulation of the semi-automatic shearing equipment, which is inefficient and not highly automated.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art, and provide an automatic grasping and shearing device and control method for multi-strand iron wires wrapped in paper, so as to solve the problem of cutting the bundled multi-strand iron wires on multiple groups of paper packs in the prior art. In the process of iron wire processing, manual or semi-automatic cutting of iron wire is time-consuming and laborious, and there are technical problems such as potential safety hazards, low efficiency and low degree of automation.

The present invention solves its technical problem and realizes by taking the following technical solutions:

On the one hand, the present invention provides an automatic grabbing and shearing device for wrapping multiple strands of iron wire in paper, a processing device for wrapping iron wire, a rotary jacking device, a distance sensor, an intelligent management system, and a host computer. One side of the rotary jacking device, the distance sensor is arranged on the top of the rotary jacking device through a distance sensor connection piece, and the distance sensor is used to obtain the position information of binding multiple strands of iron wire on multiple groups of paper packages and transmit it to The upper computer, the rotary jacking device is used to rotate multiple sets of paper packages at preset angles, lift and transport them at a preset height on one side, and the wire processing device is used to bind multiple sets of paper packages The multi-strand wire for grabbing and cutting operations,

The intelligent management system is loaded in the upper computer, and the upper computer is wired or wirelessly connected with the iron wire processing device, the rotary jacking device and the distance sensor, and the intelligent management system is used to control the iron wire processing device, rotate the The jacking device and the distance sensor realize continuous and automatic grabbing, cutting and transportation operations for the bundled multi-strand iron wires on multiple groups of paper bags.

The wire processing device includes a robot and a grabbing and shearing device, and the grabbing and shearing device is detachably connected to the robot through a robot connector,

The grabbing and shearing device includes a gas-hydraulic pressurized cylinder, a shearing device, and a grabbing device, and the gas-liquid booster cylinder, the shearing device, and the grabbing device are detachable from the robot connector through the grabbing and shearing connector Connection,

The gas-liquid booster cylinder and the shearing device are respectively arranged on the top and bottom of the gripping and shearing connector side relative to the robot connector, and the piston rod of the gas-liquid booster cylinder and the shearing device connection, the grabbing device is arranged on the side of the bottom of the shearing device close to the connecting part of the robot,

The rotary jacking device includes a rotary device, a transport device and a single-side jacking device, the transport device is arranged on the top of the rotary device, and the single-side jacking device is arranged on one side inside the transport device, The rotating device is used to drive the transport device to rotate according to a preset angle, and the single-side lifting device is used to layer the paper bags on one side of multiple groups of paper bags, so as to reach the The strands of iron wire are separated, and the transportation device is used for transportation of multiple groups of paper bags;

Preferably, the grabbing device includes a grabbing cylinder and a pneumatic gripper, and the pneumatic gripper is connected to the grabbing cylinder through a gripper connecting frame,

The shearing device includes a knife rest, a push rod, a connecting rod and an L-shaped knife rod, and the push rod, the connecting rod and the L-shaped knife rod are respectively arranged inside the knife rest, and the two ends of the connecting rod are respectively It is connected with the push rod and one end shaft of the knife rod, the other end of the L-shaped knife rod is provided with a blade, and the inflection point of the L-shaped knife rod is connected with the lower shaft of the knife holder,

The piston rod of the gas-liquid pressurized cylinder connects through the grasping and shearing connector and contacts with the top end of the knife holder;

Preferably, the distance sensor is a 3D camera;

On the other hand, the present invention also provides a control method for an automatic grasping and shearing device of a paper-wrapped multi-strand iron wire, and the specific steps are as follows:

Step 1. Under the control of the intelligent management system, when multiple groups of paper packages are transported to the top of the transportation device, the transportation device stops the transmission operation, and uses the rotating device to drive multiple groups of paper packages according to a preset angle Rotate, and at the same time, the single-side jacking device lifts up to layer one side of multiple groups of paper bags, and realizes the separation of multi-strand steel wires from one side of the paper bag. At this time, the distance sensor obtains the single-pack Wrap the position information of the iron wire and transmit it to the host computer;

Step 2. The robot drives the grabbing and shearing device to move to the top of multiple groups of paper-wrapped multi-strand steel wires. The grabbing device performs a grabbing operation on the multi-strand steel wires. Driven by the hydraulic booster cylinder, the multi-strand steel wire is sheared;

Step 3. After the above-mentioned grabbing and cutting operations are completed, the robot drives the grabbing device to grab the cut iron wire to the iron wire winding equipment;

Step 4. After the above operations are completed, the wire processing device performs an initialization operation, the single-side lifting device performs an initialization operation, and the rotation device drives multiple groups of paper bags to rotate at an initialization angle;

Step 5. After completing the rotation of multiple sets of paper packages for initialization angles, the transportation device starts the transmission operation, and drives the multiple sets of paper packages cut by multiple strands of iron wire to be transported to the next operating device;

Preferably, in the step 2, the shearing device performs a shearing operation on multiple strands of steel wires under the drive of the gas-liquid booster cylinder, specifically, the piston rod of the gas-liquid booster cylinder pushes the shearer device for the first time The pre-shearing operation is realized by contacting with multiple strands of iron wires, and the piston rod of the gas-liquid booster cylinder pushes the shearing device again to realize the shearing operation for multiple strands of iron wires.

Advantage and positive effect of the present invention are:

The present invention proposes an automatic grabbing and shearing device and control method for paper-wrapped multi-strand iron wires. Compared with the prior art, the wrapped iron wire processing device, rotary jacking device, distance sensor, intelligent management system and host computer, the described The iron wire processing device is arranged on one side of the rotary jacking device, and the distance sensor is arranged on the top of the rotary jacking device through a distance sensor connection piece, and the distance sensor is used to obtain the The position information of the iron wire is transmitted to the host computer. The rotary jacking device is used to rotate multiple groups of paper packages at preset angles, and lift and transport them at a preset height on one side. The iron wire processing device is used to The operation of grabbing and cutting the multi-strand iron wires bundled on multiple groups of paper bags, the present invention realizes the automatic grabbing and cutting of the multi-strand iron wires bundled with multiple groups of paper bags, with small manual input and high work efficiency. Prevented the occurrence of potential safety hazards.

Description of drawings

Fig. 1 is the overall structural connection schematic diagram of the automatic grasping and shearing device of paper-wrapped multistrand iron wire of the present invention;

Fig. 2 is a schematic diagram of the structural connection of the grasping and shearing device of the present invention;

Fig. 3 is a structural connection schematic diagram of the rotary jacking device of the present invention;

Fig. 4 is a side view of the grasping and shearing device of the present invention.

Among them, 1. Iron wire processing device; 2. Rotary jacking device; 3. Distance sensor; 11. Robot; 12. Grabbing and shearing device; 21. Rotating device; 22. Transportation device; 121. Shearing device; 122. Grabbing device; 123. Gas-liquid booster cylinder.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

Those skilled in the art can understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It should also be understood that terms such as those defined in commonly used dictionaries should be understood to have a meaning consistent with the meaning in the context of the prior art, and unless defined as herein, are not to be interpreted in an idealized or overly formal sense explain.

In order to facilitate the understanding of the embodiments of the present invention, several specific embodiments will be taken as examples for further explanation below in conjunction with the accompanying drawings, and each embodiment does not constitute a limitation to the embodiments of the present invention.

The embodiment of the present invention provides an automatic grasping and shearing device for multiple strands of iron wire wrapped in paper, as shown in Figures 1 and 3, a wire-wrapped processing device 1, a rotary jacking device 2, a distance sensor 3, an intelligent management system and Host computer, the wire processing device 1 is arranged on one side of the rotary jacking device 2, the distance sensor 3 is arranged on the top of the rotary jacking device 2 through a distance sensor connector, and the distance sensor 3 is used for After obtaining the position information of binding multiple strands of iron wire on multiple sets of paper packages and transmitting them to the host computer, the rotary jacking device 2 is used to rotate multiple sets of paper packages at preset angles, and lift with preset heights on one side. Lifting and transporting, the iron wire processing device 1 is used to grab and cut the multi-strand iron wires bound on multiple groups of paper bags,

When in use, the wire processing device 1 and the distance sensor 3 can be set to at least two according to actual needs,

The intelligent management system is loaded in the upper computer, and the upper computer is wired or wirelessly connected with the iron wire processing device 1, the rotary jacking device 2 and the distance sensor 3, and the intelligent management system is used to realize the control of the iron wire processing The device 1, the rotary jacking device 2 and the distance sensor 3 realize continuous and automatic grabbing, cutting and transportation operations for the bundled multi-strand iron wires on multiple groups of paper bags,

The functions of the intelligent management system include but are not limited to: realizing the input and reading of device information, and the transmission between each device; realizing the information management and control of automatic grabbing and cutting of single-package paper bags, and displaying each The production status of the device; processes such as grabbing and cutting of the control system through the production plan;

The wire processing device 1 includes a robot 11 and a grasping and shearing device 12, and the grasping and shearing device 12 is detachably connected to the robot 11 through a robot connector,

The grasping and shearing device 12 includes a gas-liquid booster cylinder 123, a shearing device 121 and a grabbing device 122, and the gas-liquid booster cylinder 123, the shearing device 121 and the grabbing device 122 are connected by grabbing and shearing The detachable connection between the parts and the robot connection parts,

The gas-liquid booster cylinder 123 and the shearing device 121 are respectively arranged on the top and the bottom of the gripping and shearing connector side relative to the robot connector, the piston rod of the gas-liquid booster cylinder 123 and the The shearing device 121 is connected, and the grasping device 122 is arranged on the side of the bottom of the shearing device 121 close to the robot connector,

The rotary jacking device 2 includes a rotary device 21, a transport device 22 and a single-side jacking device 23, the transport device 22 is arranged on the top of the rotary device 21, and the single-side jacking device 23 is arranged on the top of the rotary device 21. One side inside the transport device 22, the rotating device 21 is used to drive the transport device 22 to rotate according to a preset angle, and the single-side jacking device 23 is used to realize the Layering, so that one side of the paper package is separated from the multiple strands of iron wire, and the transport device 22 is used for transporting multiple groups of paper packages.

In this embodiment, the grabbing device 122 includes a grabbing cylinder and a pneumatic gripper, and the pneumatic gripper is connected to the gripping cylinder through a jaw connection frame,

The shearing device 121 includes a knife rest, a push rod, a connecting rod and an L-shaped knife rod. The push rod, the connecting rod and the L-shaped knife rod are respectively arranged inside the knife rest. Respectively connected to the push rod and one end shaft of the knife rod, the other end of the L-shaped knife rod is provided with a blade, and the inflection point of the L-shaped knife rod is connected to the lower shaft of the knife holder,

The piston rod of the air-liquid pressurizing cylinder 123 is connected through the grabbing and shearing connector and contacts with the top end of the knife holder.

In this embodiment, the distance sensor 123 is a 3D camera.

The present invention also provides a control method for an automatic grasping and shearing device of a paper-wrapped multi-strand iron wire; specifically:

It should be noted that, under the control of the intelligent management system, the wire processing device 1 and the rotary jacking device 2 can execute the operation of the process synchronously or asynchronously,

1. Under the control of the intelligent management system, when multiple groups of paper packages are transported to the top of the transportation device 22, the transportation device 22 stops the transmission operation, and the rotating device 21 is used to drive multiple groups of paper packages according to the preset At the same time, the single-side jacking device 23 lifts the paper bags on one side of the multiple groups of paper bags to achieve layering, and realizes the separation of the multi-strand steel wires from the paper bags on one side. At this time, the distance sensor 3 Obtain the position information of a single package of paper-wrapped iron wire and transmit it to the host computer;

2. The robot 11 drives the grabbing and shearing device 12 to move to the top of multiple groups of paper-wrapped multi-strand steel wires, and the grabbing device 122 performs a grabbing operation on the multi-strand steel wires. The shearing device 121 Under the drive of the gas-liquid booster cylinder 123, the multi-strand steel wires are sheared;

In this step, the shearing device 121 performs a shearing operation on multiple strands of steel wires under the drive of the gas-liquid booster cylinder 123. Specifically, the piston rod of the gas-liquid booster cylinder 123 pushes the shearer for the first time. The cutting device 121 is in contact with the multi-strand iron wire to realize the preparatory shearing operation, and the piston rod of the gas-liquid booster cylinder 123 pushes the shearing device 121 again to realize the shearing operation for the multi-strand iron wire connection;

3. After the above-mentioned grabbing and cutting operations are completed, the robot 11 drives the grabbing device 122 to grab the cut iron wire to the iron wire winding equipment;

4. After the above operations are completed, the wire processing device 1 performs an initialization operation, the one-side jacking device 23 performs an initialization operation, and the rotation device 21 drives multiple groups of paper bags to rotate at an initialization angle;

5. After completing the rotation of multiple sets of paper packages for the initialization angle, the transport device 22 starts the transmission operation, and drives the multiple sets of paper packages cut by multiple strands of iron wire to be transported to the next operating device.

Relative steps, numerical expressions and numerical values of components and steps set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the above-described system and device can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

In summary, the content of the present invention is not limited to the above-mentioned embodiments, and those skilled in the art can propose other embodiments within the technical guidance of the present invention, but these embodiments are all included in the scope of the present invention. within range.

It should be emphasized that the embodiments described in the present invention are illustrative rather than restrictive, so the present invention includes and is not limited to the embodiments described in the specific implementation, and those skilled in the art according to the technology of the present invention Other implementations derived from the scheme also belong to the protection scope of the present invention.

Claims (5)

1. An automatic grabbing and shearing device for multiple strands of iron wire wrapped in paper, characterized in that: a wrapping iron wire processing device, a rotary jacking device, a distance sensor, an intelligent management system and a host computer, and the iron wire processing device is arranged on the One side of the rotary jacking device, the distance sensor is arranged on the top of the rotary jacking device through a distance sensor connection piece, and the distance sensor is used to obtain the position information of binding multiple strands of iron wire on multiple groups of paper packages and transmit it to The upper computer, the rotary jacking device is used to rotate multiple sets of paper packages at preset angles, lift and transport them at a preset height on one side, and the wire processing device is used to bind multiple sets of paper packages The multi-strand wire for grabbing and cutting operations, The intelligent management system is loaded in the upper computer, and the upper computer is wired or wirelessly connected with the iron wire processing device, the rotary jacking device and the distance sensor, and the intelligent management system is used to control the iron wire processing device, rotate the The jacking device and the distance sensor realize continuous and automatic grabbing, cutting and transportation operations for the bundled multi-strand iron wires on multiple groups of paper bags. The wire processing device includes a robot and a grabbing and shearing device, and the grabbing and shearing device is detachably connected to the robot through a robot connector, The grabbing and shearing device includes a gas-hydraulic pressurized cylinder, a shearing device, and a grabbing device, and the gas-liquid booster cylinder, the shearing device, and the grabbing device are detachable from the robot connector through the grabbing and shearing connector Connection, The gas-liquid booster cylinder and the shearing device are respectively arranged on the top and bottom of the gripping and shearing connector side relative to the robot connector, and the piston rod of the gas-liquid booster cylinder and the shearing device connection, the grabbing device is arranged on the side of the bottom of the shearing device close to the connecting part of the robot, The rotary jacking device includes a rotary device, a transport device and a single-side jacking device, the transport device is arranged on the top of the rotary device, and the single-side jacking device is arranged on one side inside the transport device, The rotating device is used to drive the transport device to rotate according to a preset angle, and the single-side lifting device is used to layer the paper bags on one side of multiple groups of paper bags, so as to reach the The strands of iron wire are separated, and the transport device is used for transporting multiple groups of paper packages. 2. The automatic grabbing and shearing device for paper-wrapped multi-strand iron wire according to claim 1, characterized in that: the grabbing device includes a grabbing cylinder and a pneumatic gripper, and the pneumatic gripper is connected to the gripper connected with the grabbing cylinder, The shearing device includes a knife rest, a push rod, a connecting rod and an L-shaped knife rod, and the push rod, the connecting rod and the L-shaped knife rod are respectively arranged inside the knife rest, and the two ends of the connecting rod are respectively It is connected with the push rod and one end shaft of the knife rod, the other end of the L-shaped knife rod is provided with a blade, and the inflection point of the L-shaped knife rod is connected with the lower shaft of the knife holder, The piston rod of the air-hydraulic pressurized cylinder is connected through the grasping and shearing connecting piece and is in contact with the top end of the knife holder. 3. The automatic grabbing and cutting device for paper-wrapped multi-strand iron wire according to claim 1, characterized in that: the distance sensor is a 3D camera. 4. a kind of control method of the automatic grasping and shearing device of paper bag multistrand iron wire as claimed in claim 1, it is characterized in that: concrete steps are as follows: Step 1. Under the control of the intelligent management system, when multiple groups of paper packages are transported to the top of the transportation device, the transportation device stops the transmission operation, and uses the rotating device to drive multiple groups of paper packages according to a preset angle Rotate, and at the same time, the single-side jacking device lifts up to layer one side of multiple groups of paper bags, and realizes the separation of multi-strand steel wires from one side of the paper bag. At this time, the distance sensor obtains the single-pack Wrap the position information of the iron wire and transmit it to the host computer; Step 2. The robot drives the grabbing and shearing device to move to the top of multiple groups of paper-wrapped multi-strand steel wires. The grabbing device performs a grabbing operation on the multi-strand steel wires. Driven by the hydraulic booster cylinder, the multi-strand steel wire is sheared; Step 3. After the above-mentioned grabbing and cutting operations are completed, the robot drives the grabbing device to grab the cut iron wire to the iron wire winding equipment; Step 4. After the above operations are completed, the wire processing device performs an initialization operation, the single-side lifting device performs an initialization operation, and the rotation device drives multiple groups of paper bags to rotate at an initialization angle; Step 5. After completing the rotation of multiple sets of paper packages for the initialization angle, the transport device starts the transmission operation, and drives the multiple sets of paper packages cut by the multiple strands of iron wire to be transported to the next operating device. 5. The control method of a paper-wrapped multi-strand iron wire automatic grabbing and shearing device according to claim 4, characterized in that: in the step 2, the shearing device is driven by the gas-liquid pressurized cylinder The shearing operation of multiple strands of steel wire is specifically as follows: the piston rod of the gas-liquid booster cylinder pushes the shearing device to contact with the multiple strands of iron wire for the first time to realize the preliminary shearing operation, and the piston rod of the gas-liquid booster cylinder again Pushing the shearing device realizes the shearing operation on multi-strand iron wire joints.