CN111687348B

CN111687348B - Method for realizing automatic cutting of wire end of steel coil

Info

Publication number: CN111687348B
Application number: CN202010542156.8A
Authority: CN
Inventors: 吴龙; 夏泽斌; 纪联南; 任雯; 高�浩; 刘建军; 赖森财; 马豪; 张锐戈
Original assignee: Sanming University
Current assignee: Sanming University
Priority date: 2020-06-15
Filing date: 2020-06-15
Publication date: 2022-03-08
Anticipated expiration: 2040-06-15
Also published as: CN111687348A

Abstract

The invention relates to a method for realizing automatic cutting of a steel coil end, which comprises the following steps of arranging a balance rail at the top in a workshop, and installing a C-shaped hook 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; expanding and extruding the steel coil by the expanding and supporting mechanism of the steel coil to ensure that the single layer of the steel coil is uniformly distributed on the expanding barrel of the expanding and supporting mechanism of the steel coil; the machine vision recognition module on the mechanical arm is used for searching the position of the coil head, the hydraulic clamp is responsible for grabbing and pulling the coil, and the olecranon hydraulic shear is responsible for shearing the coil; the three parts are mutually matched to realize the searching of the thread end and the cutting; manpower is liberated from severe operating environments such as high temperature and the like, so that the safety of personnel is ensured; the production efficiency is improved.

Description

Method for realizing automatic cutting of wire end of steel coil

Technical Field

The invention relates to the technical field of steel shearing equipment, in particular to a method for automatically cutting off a wire end of a steel coil.

Background

The wire diameter specification of the wire rod produced by the high wire plant is 9 specifications from phi 6 to phi 20, the wire rod is respectively basically divided into 7 types of different materials, and coils with the wire diameters of the same specification are organized and produced every day according to a production plan made by selling finished wire rods. And each group of coils with the same wire diameter is about 2.5 tons, and after the coils are suspended by the C-shaped hook and move to a designated station along the track, the specified coil number of the head and the tail is cut off by a technician so as to ensure the quality of the main coil.

The coil weight of each coil is about 2.5 tons, the diameter of the excircle of the coil is about 1.1 m, the width of the whole coil with a smaller wire diameter is 2.7 m-3 m, and the width of the whole coil with a wider coil is about 2.3 m-2.5 m, so the number of turns and the number of layers of each coil are about according to the different wire diameters:

TABLE 1.1 number of turns and layers of coils of different wire diameters

Wire diameter

Φ6

Φ6.5

Φ8

Φ10

Φ12

Φ14

Φ16

Φ18

Φ20

Number of turns

3298

2811

1858

1191

829

610

468

370

300

Number of layers

5～8

5～7

4～6

3～6

3～5

2～4

1～4

1～3

It can be seen from table 1.1 that for the coil with a thinner wire diameter, the wire ends are easily hidden in the coils of each layer and are difficult to find due to the fact that the number of layers is more than that of the coil, and for the coil with a wire diameter larger than phi 12, the wire diameter is thick, the coil is made of alloy materials, the position of the head and the tail of the coil is easy to find, and a technician can directly judge and tear out and cut off corresponding turns. For the thin coils of phi 6/phi 6.5, phi 8 and the like, especially for the optical coil, because the head and the tail of the coil are easy to be entangled, deformed or inserted with the adjacent coils, and the like, it is difficult to find the positions of the head and the tail, and the work flow of a field technician is as follows: preliminarily judging the coil head → axially pulling away the coil at the grabbing part → circumferentially loosening clockwise → locally forming a single-layer coil → finding out the coil where the head is located → axially pulling out the head and a plurality of adjacent coils → hydraulically shearing → removing the waste coil. The manual action can be basically divided into 'grabbing', 'pulling', 'pushing', 'pulling', 'lifting' and 'shearing', and the core purpose is to find the position of the thread end; the steel coil has large mass, so the whole process consumes excessive physical strength, workers are easy to fatigue, and the steel coil which is just produced has certain residual heat, so the temperature of the working environment is also high, and the heat stroke and other phenomena are easy to cause.

Disclosure of Invention

In order to solve the problems, the invention aims to provide a method for automatically cutting off a steel coil end, which replaces manual cutting off of the steel coil end.

The embodiment of the invention is realized by adopting the following scheme: the method for automatically cutting off the wire end of the steel coil 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 extrusion 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, and the expanding extrusion of the coil by the front end face is realized;

step S7: the wire smoothing screw of the wire smoothing assembly on the steel coil expanding mechanism rotates clockwise to drive the steel wires of the steel coils to move towards the rear end of the expanding barrel of the steel wire expanding mechanism one by one, so that the 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; the first six-degree-of-freedom mechanical arm, the second six-degree-of-freedom mechanical arm and the steel coil expanding and supporting mechanism reset, the C-shaped hook advances, and the steel coil is processed completely and waits for the next cutting coil to be in place.

In one embodiment of the invention, the steel coil expanding mechanism comprises a support frame and a support seat, the support frame is fixed on the support seat, the support seat is connected with a base sliding table, two symmetrically-installed barrel expanding plates are arranged on the support frame to form the barrel expanding, and the wire smoothing assemblies are installed on the tops of the inner wall surfaces of the two barrel expanding plates.

In one embodiment of the invention, the support frame comprises two support rods 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 manner; 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.

In one embodiment of the invention, the heads of the first forked arms on the two support rods are symmetrically arranged outwards, the heads of the second forked arms of the two support rods are symmetrically arranged outwards, the tail part of the first forked arm is hinged with the first clamping ring, and the tail part of the second forked 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.

In an embodiment of the invention, the barrel expanding plate is an arc plate, a plane plate or an L-shaped plate.

In an embodiment of the invention, a tapered guide head cut into two lobes is arranged on the front end face of the barrel expanding plate, one lobe of the tapered guide head is fixed on the front end face of each barrel expanding plate, and the tip of the tapered guide head faces forwards.

In one embodiment of the invention, the wire smoothing assembly comprises an L-shaped screw swing arm 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 motor with double output shafts is arranged on the rotating shaft, and a shell of the motor with double output shafts 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.

In one embodiment of the invention, the base sliding table comprises a U-shaped sliding chassis, the U-shaped opening end of the sliding chassis faces forwards, rail wheels are symmetrically arranged 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 arranged 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 to the sliding chassis and is positioned in the installation frame, the head part of a push rod of the first hydraulic cylinder is hinged to the sliding rod, a second hydraulic cylinder is hinged to the sliding chassis and is positioned in front of the first hydraulic cylinder, and the head part of the second hydraulic cylinder is hinged to the supporting seat; the rear side of the sliding chassis is connected with a power assembly.

In an embodiment of the invention, 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 surface of the sliding chassis.

In one embodiment of the invention, 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 bending 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 with the peripheral wall of the second fixed seat, and a pressure sensor is arranged at the jaw of the hydraulic clamp; the olecranon hydraulic shear is mounted on a connecting flange at the tail end of the first six-degree-of-freedom mechanical arm. .

The invention has the beneficial effects that: the invention provides a method for automatically cutting off a steel coil end, which can realize intelligent searching and cutting of the end; the head of the steel coil is cut off according to the manual operation key, so that a manual operation tool is omitted for clamping and shearing the steel coil, and the automation level of the steel coil production is improved; manpower is liberated from severe operating environments such as high temperature, labor cost is reduced, and personnel safety is guaranteed; the production efficiency is improved, and the output value of the enterprise is increased.

Drawings

Fig. 1 is a flow chart of an implementation method for automatically cutting off a wire end of a steel coil.

Fig. 2 is a schematic view showing a state in which each component is mounted in practical use.

Fig. 3 is a schematic diagram of the state that the steel coil expanding and supporting mechanism penetrates into the steel coil.

Fig. 4 is a side view of fig. 3.

Fig. 5 is a structural schematic diagram of the steel coil expanding mechanism installed on the base sliding table.

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

Fig. 7 is a top view of fig. 5.

Fig. 8 is a sectional view taken along line B-B of fig. 7.

Fig. 9 is a schematic view of a hydraulic clamp mounted on a second six degree-of-freedom robotic arm.

Fig. 10 is a schematic view of an olecranon hydraulic shears mounted on a first six-dof robotic arm.

Fig. 11 is a schematic view of a structure in which the driving assembly is replaced with a lead screw motor drive.

FIG. 12 is a schematic view of the front end of the expandable barrel with a tapered guide head mounted.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

Referring to fig. 1 to 12, the invention provides a method for automatically cutting off a wire end of a steel coil, which is implemented according to the following steps: step S1: a balance track 2 is arranged at the top in the workshop, and a C-shaped hook 1 is arranged below the balance track; a base sliding rail 8 which is perpendicular to the balance rail 2 is arranged on the workshop ground, a base sliding table 6 is arranged on the base sliding rail 8, a steel coil expanding mechanism 7 is arranged on the base sliding table 6, a first six-degree-of-freedom mechanical arm 4 and a second six-degree-of-freedom mechanical arm 5 are respectively arranged on two sides of the base sliding rail 8, an olecranon hydraulic shear 10 is arranged on the first six-degree-of-freedom mechanical arm 4, and a hydraulic clamp 9 is arranged on the second six-degree-of-freedom mechanical arm 5; the coil is used for grabbing the coil with the head and pulling the coil upwards towards the axial front end so as to achieve the purpose of obtaining enough turns from the head; it should be noted that the central plane of the base slide rail needs to coincide with the central plane of the C-shaped hook; the steel coil expanding mechanism is of a mirror symmetry structure;

Referring to fig. 1 to 8 and 11, in an embodiment of the present invention, the steel coil expanding mechanism 7 includes a supporting frame 72 and a supporting seat 71, the supporting frame 72 is fixed on the supporting seat 71, the supporting seat 71 is connected to the base sliding table 6, the supporting frame 72 is provided with two symmetrically installed barrel expanding plates 73, and the two barrel expanding plates form a barrel expanding; wire stroking assemblies 74 are mounted at the tops of the inner wall surfaces of the two barrel expanding plates 73, so that the steel coils are uniformly distributed on the surface of the barrel in a single layer.

Referring to fig. 2 to 8, in an embodiment of the present invention, the supporting frame 72 includes two supporting rods 721 symmetrically installed at the front end of the supporting seat 71, and a moving rod seat 722 is commonly disposed at the tail of the two supporting rods 721; the middle parts of the two support rods 721 are respectively fixed with a first snap ring 726, the heads of the two support rods 721 are respectively fixed with a second snap ring 727, the two first snap rings 726 are respectively provided with a first fork arm 724, and the two second snap rings 727 are respectively provided with a second fork arm 723; the left side and the 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 with the first fork arms 724 on the support rods 721 at the left part and the right part of the support seat 71; a barrel expanding plate 73 is arranged and connected with a first prong 724 and a second prong 723 on the same supporting rod 721; a first motor 75 is arranged on the supporting seat 71, a lead screw 728 is fixedly connected to an output shaft of the first motor 75, and the lead screw 728 penetrates through the moving pull rod seat 722; provides power for the expansion or contraction of the two barrel expanding plates.

Referring to fig. 5 to 8, in an embodiment of the present invention, heads of first forked arms 724 on two supporting rods 721 are symmetrically disposed outward, heads of second forked arms 723 of the two supporting rods 721 are symmetrically disposed outward, a tail of the first forked arms 724 is hinged to the first snap ring 726, and a tail of the second forked arms 723 is hinged to the second snap ring 727; the head parts of the first prong 724 and the second prong 723 are respectively provided with a fixing shaft 725 in a penetrating way, the upper end and the lower end of the fixing shaft 725 on the first prong 724 are fixed on the inner side wall of the tail part of the barrel expanding plate 73, and the upper end and the lower end of the fixing shaft 725 on the second prong 723 are fixed on the inner side wall of the head part of the barrel expanding plate 73; the motion pull rod 729 is connected with the first yoke 724 through a fixed shaft 725; the lead screw rotates to drive the motion pull rod seat to move back and forth, the motion pull rod drives the fixed shaft to move back and forth, so that the swing arm is driven to rotate, and the expansion of the front end of the barrel (namely the expansion of the rear end of the barrel) or the contraction of the front end of the barrel (namely the expansion of the rear end of the barrel) is realized.

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

Referring to fig. 11, in an embodiment of the present invention, a tapered guide head 76 cut into two pieces is disposed on a front end surface of the barrel expanding plate 73, one piece of the tapered guide head 73 is fixed on the front end surface of each barrel expanding plate 73, and a tip of the tapered guide head faces forward; can better guide and expand the bucket and stretch into inside the steel coil.

Referring to fig. 3 to 8, in an embodiment of the present invention, the wire smoothing assembly 74 includes an L-shaped screw swing arm 743 and a wire smoothing screw 744, the front end and the rear end of the inner wall surface of the barrel expanding plate 73 are respectively hinged to one screw swing arm 743, a rotating shaft 742 is fixedly connected between the two screw swing arms, a dual output shaft motor 741 is disposed on the rotating shaft 742, a housing of the dual output shaft motor 741 is fixed on an inner side wall of the barrel expanding plate 73 and is used for driving the swing arms to rotate, so that the wire smoothing screw protrudes out of the barrel expanding plate and can contact a steel coil to smooth the wire and can be retracted into the barrel expanding plate without contacting the steel coil; the wire smoothing screw 744 is arranged between the other ends of the two screw swing arms 743, and the wire smoothing screw 744 is driven by a second motor 745; the screw rotates to drive the pulled steel coil to move along the thread of the screw one by one like the tail end of the barrel expanding plate, the part of the coil is stripped to be arranged in a single layer, the screw stops rotating when the coil moves to the tail end of the screw, and a machine vision identification module on the mechanical arm can find the thread end of the steel coil conveniently.

Referring to fig. 2 to 5, 7 and 8, in an embodiment of the present invention, the base sliding table 6 includes a U-shaped sliding chassis 61, the U-shaped opening end of the sliding chassis 61 faces forwards, rail wheels 66 are symmetrically arranged on two side edges of the sliding chassis 61, the rail wheels 66 are arranged on the base slide rails 8, the rear part of the sliding chassis 61 is provided with an installation frame 63, the inner side wall of the mounting frame 63 is symmetrically provided with sliding grooves 68, a sliding rod is arranged between the two sliding grooves 68, the rear part of the supporting seat 71 is sleeved on the sliding rod in a penetrating way, a first hydraulic cylinder 64 is hinged on the sliding chassis 61 in the mounting frame 63, the head of the push rod of the first hydraulic cylinder 64 is hinged with the sliding rod, a second hydraulic cylinder 65 is hinged to the sliding chassis 61 in front of the first hydraulic cylinder 64, and the head of the second hydraulic cylinder 65 is hinged with the support seat 71; the rear side of the sliding chassis 61 is connected with a power assembly for pushing the sliding chassis to move back and forth, namely, the barrel expanding can stretch into or withdraw from the steel ring.

Fig. 3, 5, 7 and 11 show that in an embodiment of the present invention, the power assembly includes a fifth hydraulic cylinder 62 fixed at the end of the base slide rail 8, and the front end of the push rod of the fifth hydraulic cylinder 62 is connected to the rear side of the sliding chassis 61; the power assembly can also adopt a motor screw rod or a four-bar mechanism to drive the sliding chassis to move back and forth.

Referring to fig. 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, the second fixing seat 95 is fixed on a connecting flange at the end of the second six-degree-of-freedom mechanical arm 5, the left clamp handle 92 is fixed on the second fixing seat 95, the right clamp handle 91 has an L-shaped cross section, a bending portion of the right clamp handle 91 is hinged to the rear portion of the left clamp handle 92, a tail of the right clamp handle 91 is hinged to a third hydraulic cylinder 94, a cylinder body of the third hydraulic cylinder 94 is hinged to a peripheral wall of the second fixing seat 95, and a jaw of the hydraulic clamp 9 is provided with a pressure sensor 93 for monitoring a pressure transmitted to a steel coil by the hydraulic clamp in real time, so as to prevent the surface of the steel coil from being damaged due to an excessive clamping force of the hydraulic clamp; the olecranon hydraulic shear is mounted on a connecting flange at the tail end of the first six-degree-of-freedom mechanical arm. .

In one embodiment of the invention, it is to be noted that the housings of the first motor, the second motor and the dual-output-shaft motor are all wrapped with heat insulation layers, so that the motors are prevented from being damaged by a high-heat environment in a workshop; the first six-degree-of-freedom mechanical arm, the second six-degree-of-freedom mechanical arm, the C-shaped hook, the balance track, the pressure sensor, the olecranon hydraulic shear and the machine vision identification module are controlled by the prior art, and the protection requirement is not met.

The invention has the following working principle:

and hanging the steel coil to be cut on a C-shaped hook, stopping the C-shaped hook at a specified position through a balance track, and keeping the posture horizontal and stable. At the moment, the machine vision recognition modules arranged on the two mechanical arms are triggered to respectively shoot the front and the side of the coil, and the recognition result is obtained by processing and recognizing the data of the picture (the recognition machine vision recognition technology does not make the protection requirement for the prior art, only plays a role in introducing how to use, and therefore, detailed description is not given). The recognition result is divided into three conditions, namely that the head is inserted outside the coil, the coil is regular and normal, and the head of the coil is messy. According to long-time observation, the condition that the coil is regularly and normally is most, and the other two conditions are less.

When the coil is in a regular normal state, the cone shape of the expanded barrel (namely the front end of the expanded barrel is contracted) enters and extends into the end part of the coil for a certain distance; when the recognition result is that the head is inserted into the coil, the mechanical arm performs a 'pulling' action to pull out the wire head, and then performs barrel expanding to enter; and when the coil head is in disorder as a recognition result, firstly cutting off the outermost circle, executing a 'drawing' action, drawing away the left head-carrying part, repeating the action until the coil head is regular, and then executing barrel expanding entry. After the expanded barrel enters, the mechanical arm executes grabbing and pulling actions, namely a hydraulic clamp of the second six-degree-of-freedom mechanical arm grabs an outer coil and pulls out the outer coil, so that the inner coil is taken out and distributed on the expanded barrel. The expansion barrel executes extrusion action, namely the front end of the expansion barrel is expanded, the rear end is reduced to form a reverse conical structure, the coil is extruded by the front end face, and the coil can slide on the expansion barrel through the reverse conical structure. And then the screw rotates clockwise to execute a 'stroking' action, the pitch of the screw is almost the same as the diameter of a steel wire, and therefore coils on the expanding barrel can be stroked to be in a state close to single-layer uniform distribution.

Then, the coil on the expansion barrel is photographed for 360 degrees through two machine vision recognition modules, the purpose is to recognize the head position of the coil, and if the head position is found out as a recognition result, the mechanical arm executes a lifting action; if the head position is not found, the 'extracting' action is executed, the outermost circle is firstly cut off, the part of the left side connected to the head is extracted, a new head is found, and the 'lifting' action is executed. The action of 'lifting' lifts up the head position coil and outwards pulls the rear end face of expanding the bucket, and then through the cooperation of first pneumatic cylinder, second pneumatic cylinder, raises and inclines to expand the bucket, utilizes the action of coil gravity to make the coil fall back, reaches the coil and arranges according to head order and expand on the bucket, and then shoots and count corresponding number of turns, recycles the arm and carries out the action of 'cutting'.

The mechanical arms find out the shearing position through positioning, the hydraulic shears are used for lifting and shearing, the barrel is expanded and withdrawn (the push rod of the fifth hydraulic cylinder is retracted to drive the sliding chassis to move backwards), and the waste material part is lifted out of the C-shaped hook and placed at a specified position beside the sliding chassis through the cooperation of the two mechanical arms. And finally, resetting the two mechanical arms and the expanding barrel, advancing the C-shaped hook, finishing the coil winding process, and waiting for the next coil to be in place.

The above description is only a preferred embodiment of the present invention, and should not be construed as limiting the present invention, and all equivalent variations and modifications made in the claims of the present invention should be covered by the present invention.

Claims

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 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 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 towards 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;

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 rod, 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.