CN113020499A - Binding actuating mechanism and binding device - Google Patents
Binding actuating mechanism and binding device Download PDFInfo
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- CN113020499A CN113020499A CN202110400131.9A CN202110400131A CN113020499A CN 113020499 A CN113020499 A CN 113020499A CN 202110400131 A CN202110400131 A CN 202110400131A CN 113020499 A CN113020499 A CN 113020499A
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- 238000000429 assembly Methods 0.000 claims abstract description 52
- 230000001360 synchronised effect Effects 0.000 claims description 30
- 230000003287 optical effect Effects 0.000 claims description 15
- 238000000034 method Methods 0.000 abstract description 15
- 230000003014 reinforcing effect Effects 0.000 description 7
- 239000002184 metal Substances 0.000 description 6
- 229910052751 metal Inorganic materials 0.000 description 6
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 229910001294 Reinforcing steel Inorganic materials 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 239000004568 cement Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F27/00—Making wire network, i.e. wire nets
- B21F27/08—Making wire network, i.e. wire nets with additional connecting elements or material at crossings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F27/00—Making wire network, i.e. wire nets
- B21F27/12—Making special types or portions of network by methods or means specially adapted therefor
- B21F27/20—Making special types or portions of network by methods or means specially adapted therefor of plaster-carrying network
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Abstract
The invention discloses a binding executing mechanism and a binding device. The binding executing mechanism provided by the invention is provided with at least two binding assemblies, and the distance between the adjacent binding assemblies is adjustable, so that at least two different binding positions of a product can be bound simultaneously in the using process, the times of binding operation can be reduced for the same product, the product binding efficiency is improved, and the time occupied by binding is shortened.
Description
Technical Field
The invention relates to the technical field of binding equipment, in particular to a binding executing mechanism. In addition, the invention also relates to a binding device comprising the binding executing mechanism.
Background
With the rapid development of industrial automation, various industries begin to develop automation, for example, in the construction industry, the modular production of PC components begins to be realized, when a PC component module is produced, a reinforcing steel bar needs to be built, the position of the reinforcing steel bar is fixed by using an iron wire, and cement is conveniently poured at the back of the module, so that the strength of the module is ensured.
The steel bar binding is mainly operated by manpower on the market at present: one is to directly tie the cut iron wires by manual work, and the other is to manually tie the hand-held tying machine for operation. In the operation process, an operator needs to keep a stooping state for a long time, the labor intensity is high, only one position can be bound at a time, and the binding efficiency is low.
In conclusion, how to improve the binding efficiency of the product is a problem to be solved urgently by the technical personnel in the field at present.
Disclosure of Invention
In view of this, the present invention provides a binding executing mechanism, which can simultaneously bind two or more binding sites and improve binding efficiency.
It is another object of the present invention to provide a ligating device including the ligating actuator described above.
In order to achieve the above purpose, the invention provides the following technical scheme:
a kind of ligature actuating mechanism, including moving the assembly and at least two ligature assemblies, the said moving assembly is connected with at least some said ligature assemblies, and drive the said ligature assembly to move, so as to make adjacent the said ligature assembly relatively close to or keep away from.
Preferably, the number of the binding assemblies is three, and the three binding assemblies are arranged in sequence along the transverse direction;
the moving assembly comprises two distance adjusting assemblies which drive the binding assemblies located at the end parts to be relatively close to or far away from each other and a lifting assembly which drives the binding assemblies in the middle to lift along the vertical direction.
Preferably, the distance adjusting assembly comprises a fixing plate, a driving wheel and a driven wheel which are rotatably mounted on the fixing plate, a synchronous belt which is wound around the periphery of the driving wheel and the periphery of the driven wheel, and a distance adjusting power part which drives the driving wheel to rotate; the distance-adjusting power part is arranged on the fixed plate;
one of the two binding assemblies at the end is connected with the upper section of the synchronous belt, and the other one is connected with the lower section of the synchronous belt.
Preferably, still include the edge the direction of delivery parallel arrangement's of hold-in range last slide rail and lower slide rail are located two of tip the ligature subassembly all be provided with go up slide rail complex top shoe and with slide rail complex lower slide down.
Preferably, the fixing plate is provided with a limiting part protruding towards the surface of the binding assembly for limiting the relative movement distance of the two binding assemblies at the end part.
Preferably, the lifting assembly comprises a lifting fixing plate, a lifting power piece mounted on the lifting fixing plate, and a lifting plate connected with the output end of the lifting power piece;
the lifting fixing plate is provided with a guide hole, and the lifting plate is provided with a vertical lifting optical axis which is matched with the guide hole and penetrates through the guide hole;
a lifting limiting block for adjusting the lifting stroke is arranged at the part of the lifting optical axis extending out of the guide hole;
the middle binding assembly is connected with the lifting plate.
Preferably, the number of the binding assemblies is at least three, and the at least three binding assemblies are arranged in sequence along the transverse direction;
the moving assembly comprises at least three moving parts connected with the binding assemblies in a one-to-one correspondence mode, and the moving parts drive the binding assemblies to move along the transverse moving parts of transverse movement and drive the binding assemblies to move along the vertical moving parts of vertical movement.
Preferably, the device further comprises a camera fixing plate, a shooting device mounted on the camera fixing plate, and a light source assembly which is connected to the camera fixing plate and is vertically mounted and adjustable in position relative to the camera fixing plate;
the camera fixing plate is connected with the moving assembly.
Preferably, the camera fixing plate is provided with a slotted through hole and a locking component;
the light source assembly comprises an annular light source and a light source fixing ring for mounting the annular light source, and the light source fixing ring is provided with a vertical adjusting column which penetrates through the slotted through hole;
the locking component is used for locking and fixing the adjusting column.
A binding device comprises a mechanical arm and the binding executing mechanism, wherein the binding executing mechanism is installed at the end part of the mechanical arm.
In the process of using the binding executing mechanism provided by the invention, the binding executing mechanism is firstly required to be moved to a position close to a product to be bound, then the distance between adjacent binding components is adjusted, so that at least two binding components respectively correspond to different binding positions, then the binding components are controlled to bind the binding positions in the product corresponding to the binding components, and the simultaneous binding of at least two binding positions can be realized.
Compared with the prior art, the binding executing mechanism provided by the invention is provided with at least two binding assemblies, and the distance between the adjacent binding assemblies is adjustable, so that at least two different binding positions of a product can be bound simultaneously in the using process, the times of binding operation can be reduced for the same product, the product binding efficiency is improved, and the time occupied by binding is shortened.
In addition, the invention also provides a binding device comprising the binding executing mechanism.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural view of a particular embodiment of a ligature actuator as provided by the present invention;
FIG. 2 is a schematic view of another angle of the ligating actuator of FIG. 1;
FIG. 3 is a front schematic view of the ligating actuator of FIG. 1;
FIG. 4 is a top schematic view of the ligating actuator of FIG. 1;
FIG. 5 is a left side elevational schematic view of the ligating actuator of FIG. 1;
FIG. 6 is a diagrammatic view of the second ligating assembly of FIG. 3 in an elevated state;
FIG. 7 is a schematic structural view of a distance adjustment assembly;
FIG. 8 is an isometric view of the lift assembly;
FIG. 9 is a front view of the lift assembly of FIG. 8;
fig. 10 is a schematic structural diagram of the visual element.
In FIGS. 1-10:
1 is a fixing plate, 2 is a lifting component, 2-1 is a lifting cylinder, 2-2 is a lifting fixing plate, 2-3 is a lifting plate, 2-4 is a lifting optical axis, 2-5 is a lifting limiting block, 2-6 is a cylinder connecting block, 2-7 is a second binding component fixing plate, 2-8 is a reinforcing rib, 2-9 is a second binding component connecting plate, 2-10 is a lifting component reinforcing rib, 3 is a distance adjusting component, 3-1 is a motor reducer component, 3-2 is a synchronous belt, 3-3 is a limiting block, 3-4 is a driven shaft, 3-5 is a driven wheel, 3-6 is a tensioning plate, 3-7 is a synchronous belt connecting metal piece, 3-8 is a synchronous belt connecting block, 3-9 is a driving wheel, 4-1 is an upper sliding rail fixing plate, 4-2 is an upper slide rail, 4-3 is a lower slide rail, 4-4 is a lower slide rail fixing plate, 4-5 is a lower slide block, 4-6 is an upper slide block, 4-7 is a slide rail connecting plate, 5 is a first binding component, 6 is a second binding component, 7 is a third binding component, 8 is a visual component, 8-1 is a camera fixing plate, 8-2 is a camera, 8-3 is a lens, 8-4 is a camera connecting metal plate, 8-5 is a light source fixing ring, 8-6 is an annular light source, 8-7 is an adjusting column, 8-8 is a light source fixing block, 8-9 is a slotted through hole, and 9 is a binding component connecting reinforcing rib.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a binding executing mechanism which can simultaneously bind two or more than two binding positions and improve the binding efficiency. Another core of the present invention is to provide a ligating device including the ligating actuator described above.
Please refer to fig. 1 to 10.
This concrete embodiment provides a ligature actuating mechanism, including removal subassembly and two at least ligature subassemblies, the removal subassembly is connected with at least some ligature subassemblies to drive ligature subassembly and remove, so that adjacent ligature subassembly is close to relatively or keeps away from.
The binding executing mechanism provided by the embodiment can be arranged on a robot in the using process, and the robot drives the binding executing mechanism to move or rotate; the device can also be arranged on a three-axis manipulator, a multi-axis manipulator and the like, and is determined according to actual conditions.
The binding assembly is required to be a structure capable of completing binding, can be a structure improved on the basis of the existing binding machine, and can also be a brand-new structure for binding, and is determined according to actual conditions.
The product to be bound can be a steel bar or other products capable of being bound; the quantity of ligature subassembly can be two, also can be a plurality of, and the position that sets up of ligature subassembly can set gradually along same direction, also can set up along different directions, specifically confirms according to the condition of placing of product in the in-service use process.
The movable assembly at least drives one of all the binding assemblies to move so as to adjust the distance between the movable assembly and the adjacent binding assemblies, and also can simultaneously drive a plurality of binding assemblies to move so as to adjust the distance between the adjacent binding assemblies, so that the binding assemblies can all correspond to the binding positions one by one, and the binding of the binding positions can be simultaneously completed, and the movable assembly is determined according to the actual condition.
In the process of using the binding executing mechanism provided by the specific embodiment, the binding executing mechanism is firstly required to be moved to a position close to a product to be bound, then the distance between adjacent binding components is adjusted, at least two binding components are respectively corresponding to different binding positions, then the binding components are controlled to bind the binding positions in the product corresponding to the binding components, and the products at least two binding positions can be bound simultaneously.
Compared with the prior art, the binding executing mechanism provided by the specific embodiment is provided with at least two binding assemblies, and the distance between the adjacent binding assemblies is adjustable, so that the binding of at least two different binding positions of a product can be realized simultaneously in the using process, the times of binding operation can be reduced for the same product, the binding efficiency of the product is improved, and the time occupied by binding is shortened.
On the basis of the embodiment, the number of the binding assemblies can be three, and the three binding assemblies are arranged in sequence along the transverse direction; the moving assembly comprises a distance adjusting assembly 3 which drives the two binding assemblies positioned at the end parts to be relatively close to or far away from each other and a lifting assembly 2 which drives the middle binding assembly to vertically lift.
The distance adjusting component 3 can only drive one of the two binding components at the end part to move so as to enable the two binding components to be relatively close to or far away from each other, and can also drive the two binding components at the end part to move simultaneously so as to enable the two binding components to be relatively close to or far away from each other.
The lifting component 2 can drive the binding component in the middle to lift, when the distance between the binding positions to be bound is matched with the distance between the two binding components at the end part, the lifting component 2 can move the binding component in the middle upwards, so that the two binding components at the end part work simultaneously to complete binding, and the binding component in the middle does not work; the interval of the ligature position that needs the ligature is less, when the interval with the ligature subassembly that is located the centre matches with the ligature subassembly at both ends, can be through lifting unit 2 with the ligature subassembly that is located the centre remove to the ligature height downwards, make three ligature subassembly simultaneous working.
The distance adjusting assembly 3 comprises a fixing plate 1, a driving wheel 3-9 and a driven wheel 3-5 which are rotatably arranged on the fixing plate 1, a synchronous belt 3-2 which is wound on the outer peripheries of the driving wheel 3-9 and the driven wheel 3-5, and a distance adjusting power part which drives the driving wheel 3-9 to rotate; the distance-adjusting power part is arranged on the fixed plate 1; one of the two binding assemblies at the end part is connected with the upper section of the synchronous belt 3-2, and the other one is connected with the lower section of the synchronous belt 3-2.
As shown in figure 7, the distance-adjusting power part is a motor reducer component 3-1, the output end of the motor reducer component 3-1 is connected with a driving wheel 3-9 to drive the driving wheel 3-9 to rotate, a driven wheel 3-5 is mounted on a driven shaft 3-4, the driven shaft 3-4 is connected with a tensioning plate 3-6, and the distance between the driven shaft 3-4 and the central axis of the driving wheel 3-9 can be adjusted by adjusting the position of the tensioning plate 3-6 so as to tension the synchronous belt 3-2. Of course, the distance-adjusting power part may also be other power parts, which are determined according to actual conditions and are not described herein.
The upper segment of the synchronous belt 3-2 is that in the state shown in fig. 7, the central axis of the driving wheel 3-9 and the central axis of the driven wheel 3-5 are located in the same horizontal plane, the upper segment of the synchronous belt 3-2 is located at the upper part of the horizontal plane, and the lower segment of the synchronous belt 3-2 is located at the lower part of the horizontal plane.
To connect the binding component to the synchronous belt 3-2 conveniently, a synchronous belt connecting metal piece 3-7 can be installed on the synchronous belt 3-2, and a synchronous belt connecting block 3-8 is connected with the synchronous belt connecting metal piece 3-7, one side of a slide rail connecting plate 4-7 is connected to the synchronous belt connecting block 3-8, the other side is connected with the binding component, and a binding component connecting reinforcing rib 9 is arranged.
In the installation process, the connection mode of the first binding component 5 and the synchronous belt 3-2 and the connection mode of the third binding component 7 and the synchronous belt 3-2 are the same, and one of the first binding component 5 and the third binding component 7 is connected to the upper section of the synchronous belt 3-2, and the other one is connected to the lower section of the synchronous belt 3-2, so that the first binding component 5 and the third binding component 7 can be driven to move in the conveying process of the synchronous belt 3-2, and the first binding component 5 and the third binding component 7 can be relatively close to or relatively far away from each other.
The surface of the fixing plate 1 facing the lashing assemblies is convexly provided with a limiting part 3-3 for limiting the relative moving distance of the two lashing assemblies at the end part.
As shown in fig. 1, the fixing plate 1 is provided with four limiting parts 3-3, the limiting parts 3-3 are cylindrical structures protruding from the surface of the fixing plate 1, and the limiting parts 3-3 are disposed on both sides of the moving range of the first and third binding assemblies 5 and 7, so as to limit the distance range between the first and third binding assemblies 5 and 7.
Preferably, the limiting part 3-3 is made of a material with hardness lower than that of the sliding rail connecting plate 4-7, so that the sliding rail connecting plate 4-7 is prevented from being damaged in the limiting collision process, but the hardness of the two parts cannot be different too much, or an anti-collision buffer structure can be arranged on the surface of the limiting part 3-3.
The binding executing mechanism also comprises an upper sliding rail 4-2 and a lower sliding rail 4-3 which are arranged in parallel along the conveying direction of the synchronous belt 3-2, and the two binding assemblies at the end parts are respectively provided with an upper sliding block 4-6 matched with the upper sliding rail 4-2 and a lower sliding block 4-5 matched with the lower sliding rail 4-3.
The upper slide rail 4-2 is fixedly arranged on an upper slide rail fixing plate 4-1, the lower slide rail 4-3 is fixedly arranged on a lower slide rail fixing plate 4-4, the upper slide rail fixing plate 4-1 and the lower slide rail fixing plate 4-4 are both fixedly arranged on the fixing plate 1, the upper slide rail 4-2 is positioned at the upper part of the synchronous belt 3-2, the lower slide rail 4-3 is positioned at the lower part of the synchronous belt 3-2, the upper slide rail 4-2 is provided with at least two upper slide blocks 4-6, the lower slide rail 4-3 is provided with at least two lower slide blocks 4-5, the same slide rail connecting plate 4-7 is connected with at least one upper slide block 4-6 and at least one lower slide block 4-5, as shown in figure 1, the slide rail connecting plate 4-7 at the left side is connected with the, the slide rail connecting plate 4-7 on the right side is connected with the upper slide block 4-6 on the right side and the lower slide block 4-5 on the right side, the first binding component 5 is connected with the slide rail connecting plate 4-7 on the left side, and the third binding component 7 is connected with the slide rail connecting plate 4-7 on the right side.
The lifting assembly 2 comprises a lifting fixed plate 2-2, a lifting power part arranged on the lifting fixed plate 2-2 and a lifting plate 2-3 connected with the output end of the lifting power part; the lifting fixed plate 2-2 is provided with a guide hole, and the lifting plate 2-3 is provided with a vertical lifting optical axis 2-4 which is matched with the guide hole and penetrates through the guide hole; a lifting limiting block 2-5 with the size larger than that of the guide hole is arranged at the part of the lifting optical axis 2-4 extending out of the guide hole; the middle binding component is connected with the lifting plate 2-3.
As shown in fig. 8 and 9, the lifting power member may be a lifting cylinder 2-1, and of course, the lifting power member may also be a motor, an electric cylinder, or other structures meeting the requirements. The lifting cylinder 2-1 is fixed on the lifting fixing plate 2-2, the telescopic end of the lifting cylinder 2-1 is connected with the lifting plate 2-3 through a cylinder connecting block 2-6, the lifting fixing plate 2-2 is fixedly connected with the fixing plate 1, and a lifting assembly reinforcing rib 2-10 is arranged at the joint of the lifting fixing plate 2-2 and the fixing plate 1. The upper surface of the lifting plate 2-3 is vertically provided with lifting optical axes 2-4, the lifting optical axes 2-4 are arranged by penetrating through guide holes in the lifting fixing plate 2-2, in the process of lifting the lifting plate 2-3 up and down, the lifting optical axes 2-4 slide along the guide holes, the lifting direction of the lifting plate 2-3 can be limited, only one lifting optical axis 2-4 can be arranged, or two or more lifting optical axes can be arranged, and the lifting optical axes are determined according to actual conditions. The lifting optical axis 2-4 is provided with a lifting limiting block 2-5, the lifting limiting block 2-5 is adjusted to be installed at the height of the lifting optical axis 2-4, the lifting range of the lifting plate 2-3 can be adjusted, and therefore the lifting stroke of the second binding assembly 6 is adjusted. The lower part of the lifting plate 2-3 is provided with a second binding component fixing plate 2-7, a reinforcing rib 2-8 connected with the second binding component fixing plate 2-7 and a second binding component connecting plate 2-9, and a second binding component 6 is arranged on the second binding component connecting plate 2-9.
It should be noted that only one or a plurality of reinforcing ribs 2-8 connected to the second binding assembly fixing plate 2-7 may be provided; the number of the second binding component connecting plates 2-9 can be only one or a plurality of; the method is determined according to actual conditions.
In this embodiment, the first and third ligature assemblies 5 and 7 located at the two ends can be relatively close to or far away from each other under the drive of the distance adjusting assembly 3, and the ligature assembly located in the middle can lift along the vertical direction.
For example, on the basis of the above embodiment, the distance between the first binding component 5 and the third binding component 7 is 200mm to 400mm, and the distance between the binding positions is 100mm to 200mm, the first binding component 5, the second binding component 6 and the third binding component 7 can be used simultaneously, and binding of three nodes can be completed simultaneously, and the three nodes can be located in the same product or different products. In another embodiment, the interval between first ligature subassembly 5 and the third ligature subassembly 7 is 200mm to 400mm, and the interval between the ligature position is 200mm to 400mm, in the operation process, can make lifting unit 2 drive second ligature subassembly 6 and rise, and the ligature is accomplished simultaneously to first ligature subassembly 5 and third ligature subassembly 7 this moment, and second ligature subassembly 6 does not participate in ligature work.
On the basis of the embodiment, the number of the binding assemblies can be at least three, and the at least three binding assemblies are sequentially arranged along the transverse direction; the moving assembly comprises at least three moving parts which are connected with the binding assemblies in a one-to-one correspondence mode, and the moving parts comprise transverse moving parts which drive the binding assemblies to move along the transverse direction and vertical moving parts which drive the binding assemblies to move along the vertical direction.
The ligature actuating mechanism in this embodiment can be applied to the product and put irregular condition, drives corresponding ligature subassembly through the removal portion and removes, makes the removal portion remove the ligature subassembly to the ligature position that corresponds, then a plurality of ligature subassemblies carry out the ligature simultaneously.
On the basis of the above embodiment, the binding executing mechanism may further include a vision component 8, where the vision component 8 includes a camera fixing plate 8-1, a shooting device mounted on the camera fixing plate 8-1, and a light source component connected to the camera fixing plate 8-1 and adjustable in vertical mounting position relative to the camera fixing plate 8-1; the camera fixing plate 8-1 is connected with the moving component so as to be moved by the moving component.
The camera fixing plate 8-1 is provided with a slotted through hole 8-9 and a locking component for adjusting the opening size of the slotted through hole 8-9; the light source component comprises an annular light source 8-6 and a light source fixing ring 8-5 used for installing the annular light source 8-6, and the light source fixing ring 8-5 is provided with a vertical adjusting column 8-7 which penetrates through a slotted through hole 8-9.
As shown in FIG. 10, the vision component 8 is connected with the moving component through a camera connecting metal plate 8-4, and can be connected with a lifting fixing plate 2-2 of the lifting component 2, a camera fixing plate 8-1 is connected with a camera connecting metal plate 8-4, a camera 8-2 is installed on the camera fixing plate 8-1, a lens 8-3 of the camera 8-2 is arranged downwards, an annular light source 8-6 is installed on a light source fixing ring 8-5, an adjusting column 8-7 is arranged on the upper surface of the light source fixing ring 8-5, a light source fixing block 8-8 is arranged on the camera fixing plate 8-1, a slotted through hole 8-9 is arranged on the light source fixing block 8-8, the adjusting column 8-7 penetrates into the slotted through hole 8-9, a threaded hole can be arranged at the slotted position of the, and the locking bolt is matched and connected, the width of the groove through hole 8-9 can be adjusted by screwing the locking bolt so as to lock or loosen the adjusting column 8-7, the mounting height of the light source fixing ring 8-5 is adjusted, and the distance between the light source and the lens is adjusted.
Besides the ring-shaped light source, other kinds of light sources can be arranged, which is determined according to actual conditions.
The arrangement of the visual component 8 can enable the binding executing mechanism to shoot a product to be bound in the using process, and transmit the shooting result to a related control system, and the control system acquires the binding position according to the shooting result and controls the corresponding binding component to move to the corresponding binding position; especially under the condition that the products to be banded are randomly placed, the banding position can be more accurately acquired.
Besides the binding executing mechanism, the invention also provides a binding device comprising a manipulator and the binding executing mechanism disclosed in the above embodiment, and the structure of other parts of the binding device refers to the prior art and is not repeated herein. The manipulator can be a three-axis manipulator, a six-axis manipulator and the like, and is determined according to actual conditions.
The manipulator in the above embodiments may also be a robot.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. Any combination of all embodiments provided by the present invention is within the scope of the present invention, and will not be described herein.
The binding executing mechanism and the binding device provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. The utility model provides a ligature actuating mechanism which characterized in that, includes removal subassembly and two at least ligature subassemblies, the removal subassembly with at least part the ligature subassembly is connected to drive ligature subassembly removes, so that adjacent ligature subassembly is close to relatively or keeps away from.
2. The ligature actuator of claim 1, wherein the number of ligature assemblies is three, and the three ligature assemblies are arranged in a transverse direction;
the moving assembly comprises a distance adjusting assembly (3) which drives the two binding assemblies positioned at the end part to be relatively close to or far away from each other and a lifting assembly (2) which drives the middle binding assemblies to vertically lift.
3. The banding execution mechanism as claimed in claim 2, characterized in that said distance adjusting assembly (3) includes a fixed plate (1), a driving wheel (3-9) and a driven wheel (3-5) rotatably mounted on said fixed plate (1), a synchronous belt (3-2) wound around the periphery of said driving wheel (3-9) and said driven wheel (3-5), and a distance adjusting power member for driving said driving wheel (3-9) to rotate; the distance-adjusting power part is mounted on the fixed plate (1);
one of the two binding assemblies at the end is connected with the upper section of the synchronous belt (3-2), and the other one is connected with the lower section of the synchronous belt (3-2).
4. The banding actuator as claimed in claim 3, further comprising an upper slide rail (4-2) and a lower slide rail (4-3) arranged in parallel along the conveying direction of said timing belt (3-2), both of said banding assemblies at the ends being provided with an upper slide (4-6) cooperating with said upper slide rail (4-2) and a lower slide (4-5) cooperating with said lower slide rail (4-3).
5. A ligature actuator according to claim 3, characterised in that the fixing plate (1) is provided with a stop (3-3) projecting towards the surface of the ligature assembly for limiting the relative distance of movement of the two ligature assemblies at the ends.
6. The ligature actuator of claim 2, wherein the lifting assembly (2) comprises a lifting fixing plate (2-2), a lifting power member mounted on the lifting fixing plate (2-2), and a lifting plate (2-3) connected with an output end of the lifting power member;
the lifting fixing plate (2-2) is provided with a guide hole, and the lifting plate (2-3) is provided with a vertical lifting optical axis (2-4) which is matched with the guide hole and penetrates through the guide hole;
a lifting limiting block (2-5) used for adjusting the lifting stroke is arranged at the part of the lifting optical axis (2-4) extending out of the guide hole;
the middle binding component is connected with the lifting plate (2-3).
7. The ligature actuator of claim 1, wherein the number of ligature assemblies is at least three, and at least three of the ligature assemblies are arranged in a transverse direction in sequence;
the moving assembly comprises at least three moving parts connected with the binding assemblies in a one-to-one correspondence mode, and the moving parts drive the binding assemblies to move along the transverse moving parts of transverse movement and drive the binding assemblies to move along the vertical moving parts of vertical movement.
8. The ligature actuator according to any one of claims 1 to 7, further comprising a camera fixing plate (8-1), a photographing device mounted on the camera fixing plate (8-1), and a light source assembly connected to the camera fixing plate (8-1) and adjustable in vertical mounting position relative to the camera fixing plate (8-1);
the camera fixing plate (8-1) is connected with the moving assembly.
9. The ligature actuator according to claim 8, wherein the camera fixing plate (8-1) is provided with a slotted through hole (8-9) and a locking feature;
the light source assembly comprises an annular light source (8-6) and a light source fixing ring (8-5) used for mounting the annular light source (8-6), and the light source fixing ring (8-5) is provided with a vertical adjusting column (8-7) which penetrates through the slotted through hole (8-9);
the locking component is used for locking and fixing the adjusting columns (8-7).
10. A banding device characterized in that, comprises a manipulator and a banding actuator as claimed in any of claims 1-9, said banding actuator being mounted at the end of said manipulator.
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