CN209242522U - Steel cord cutting automatic feeding system - Google Patents

Abstract

The utility model discloses an automatic feeding system for steel cord cutting, which comprises a cord roll grasping and discharging robot, a cord roll storage station and a cord roll guiding device arranged on the rotating station of the cord roll grasping and discharging robot, a cord roll The pick-and-place robot consists of a worktable set on the chassis and driven by a hydraulic motor, a lifting arm set on the workbench and controlled by a variable-amplitude hydraulic cylinder, and a telescopic suspension set on the lifting arm driven by a variable-pitch hydraulic cylinder. The outrigger, the suspension rod suspended on the suspension arm and provided stable support by the back pressure hydraulic cylinder, and the support frame set on the suspension rod and driven by the servo motor to rotate, the left and right coils installed on the support frame The clips are respectively controlled by the left and right opening and closing hydraulic cylinders to synchronously close to grab large rolls of steel cord and to simultaneously open and release large rolls of steel cord. The utility model can run automatically, saves material feeding time and human resources, effectively reduces the working auxiliary time of steel cord cutting, and improves the competitiveness of tire production enterprises.

Description

Steel cord cutting automatic feeding system

technical field

The utility model relates to tire manufacturing equipment, in particular to an automatic feeding system for steel cord cutting.

Background technique

Steel cord cutting is an important process in the production of tires. The belt layer and reinforcement layer parts of the tire need to be cut into products with a certain width and angle, and then conveyed, spliced, glued and coiled to facilitate subsequent processes to form tires. Embryo.

At present, most domestic tire manufacturers still use manual operation of forklifts or cranes for large rolls of steel wire cord, or manually push the loading trolley to a fixed position and use a single-arm hoist to load the material. As the production capacity of tire manufacturers continues to increase, The working speed of the cutting machine production line is getting faster and faster, and the proportion of its effective working time is not large, and the auxiliary time such as frequent replacement of material rolls has become more and more a bottleneck restricting production efficiency. Each shift needs to cut 4 to 5 For a large material roll with a diameter of 1.2 meters, two people need to change the roll. The fastest takes more than ten minutes, and the longest takes 40 minutes. The time consumed has a great impact on production.

When loading, the forklift or driving lifts the material roll through the sling, and gradually moves to the safety chuck at the working position of the guide device. During this period, manpower is required to continuously push and adjust the material roll so that the square shafts at both ends of the material roll fall into the safety chuck bayonet. It is self-evident that each large coil of 3 tons requires a lot of force, and it is even more difficult to manually push the coil trolley to load the material. The disadvantages of this loading method are:

1. The operation is repetitive labor, and the labor intensity of the workers is high.

2. The feeding process occupies a large part of the effective working time and is inefficient.

3. Need to pay higher labor costs.

Utility model content

Aiming at the deficiencies of the prior art, the technical problem to be solved by the utility model is to propose an automatic feeding system for steel cord cutting instead of manual loading.

The steel cord cutting automatic feeding system that can solve the above technical problems, its technical solution includes a cord roll grasping and discharging robot, a cord roll storage station and a cord roll guide device installed on the rotating station of the cord roll grasping and discharging robot, in:

1. The cord roll picking and discharging robot includes a workbench that is set on the chassis and driven by a hydraulic motor to rotate on the horizontal plane, a lifting arm that is set on the workbench and is controlled by a luffing hydraulic cylinder to pitch in the vertical plane, The cantilever arm is set on the lifting arm and is driven by the pitch-variable hydraulic cylinder to extend and retract the front and rear, the suspension arm is suspended on the cantilever arm and provided with stable support by the back pressure hydraulic cylinder, and the suspension arm is set on the suspension arm and controlled by the servo. The motor drives the supporting frame that rotates on the horizontal plane, and the left and right coil clips installed on the supporting frame are respectively controlled by the left and right opening and closing hydraulic cylinders to synchronously close and grab large rolls of steel cord and synchronously open and release large rolls of steel cord .

2. The cord roll storage station includes horizontal rails supported and installed by brackets and parallel to each other. The large steel cord roll is placed between the two rails and the two shaft ends of the coil shaft of the large steel cord roll are respectively rolled and placed on two sides. on track.

Further, the workbench is installed on the chassis through the turntable bearing, and the hydraulic motor drives the workbench to rotate through the first gear transmission pair inside the turntable bearing.

Further, the rear lower end of the lifting arm is hinged on the workbench, the luffing hydraulic cylinder is placed obliquely between the workbench and the lifting arm, and the rear lower end of the luffing hydraulic cylinder is hinged on the workbench. The front upper end of the cylinder rod of the hydraulic cylinder is hinged on the bottom of the boom.

Further, the cantilever arm is inserted into the lifting arm, the rear end of the cylinder body of the variable-pitch hydraulic cylinder is fixed in the lifting arm, and the front end of the cylinder rod of the variable-pitch hydraulic cylinder is connected to the cantilever arm.

Further, the upper end of the hanging rod is hinged to the cantilever arm, the variable angle hydraulic cylinder is placed obliquely between the vertical hanging rod and the cantilever arm, and the rear upper end of the variable angle hydraulic cylinder is hinged to the cantilever arm. , the front lower end of the cylinder rod of the variable angle hydraulic cylinder is hinged on the rod body of the vertical suspension rod through a clamping mechanism.

Still further, the support frame is installed on the lower end of the hanging rod through the bearing assembly, and the servo motor is arranged on the clamping mechanism and drives the support frame to rotate through the second gear transmission pair on the bearing assembly.

Furthermore, the upper ends of the left and right coil clips are respectively hinged on the support frame, the left and right opening and closing hydraulic cylinders are respectively arranged between the left and right coil clips and the support frame, and the cylinder rods of each opening and closing hydraulic cylinder The lower end is hinged on the corresponding coil clip, and the upper end in the cylinder body of each opening and closing hydraulic cylinder is hinged on the corresponding position of the bearing assembly or the support frame.

In an optimized solution, the hydraulic control unit of the system is set on the workbench, and the hydraulic control unit is set in the opposite direction to the lifting arm to become the lifting counterweight of the system.

In an optimized solution, the cord roll storage station and the cord roll guide device are located within the working range of the cord roll grasping and discharging robot from 15° to 75°.

The beneficial effects of the utility model:

The automatic feeding system for steel cord cutting of the utility model can automatically identify the position of the steel cord large roll at the cord roll storage station, and grasp the manipulator (left and right coil clips) under the control of the hydraulic system for the steel cord large roll. Grab, transfer large rolls of steel cord through the rotation or telescopic movement of the movement mechanism, and automatically identify the cord roll guide device that is within the working range of 15° to 75° with the cord roll storage station, so as to accurately load the large roll of steel cord into the cord roll on the guide device.

The advantages of the utility model are as follows:

1. It has a large operating range and a simple structure.

2. The hydraulic control unit (integrated with hydraulic oil tank, hydraulic pump and hydraulic valve group) is installed on the back side of the boom as a counterweight to reduce the bending moment of the steel cord large roll on the rotary table when the cantilever arm is working, and improve the chassis. solid reliability.

3. The rotational motion of the grasping manipulator (left and right roll clamps) is precisely controlled by the servo motor with feedback, so that the position of the roll can be fine-tuned when the large roll of steel cord is loaded to the roll guide device.

4. No manual intervention, high degree of automation.

Description of drawings

Fig. 1 is a three-dimensional structural schematic diagram of an embodiment of the present invention.

Fig. 2 is a structural schematic diagram of the cord roll grasping and discharging robot in the embodiment of Fig. 1 .

Drawing number identification: 1. Cord roll grasping and discharging robot; 2. Cord roll storage station; 3. Cord roll guide device; 4. Chassis; 5. Hydraulic motor; 6. Workbench; 7. Luffing hydraulic cylinder; 8. Lifting arm; 9. Cantilever arm; 10. Variable distance hydraulic cylinder; 11. Back pressure hydraulic cylinder; 12. Hanging boom; 13. Support frame; 14. Coil clip; 15. Opening and closing hydraulic cylinder; , steel cord large roll; 17, hydraulic valve group; 18, hydraulic pump; 19, hydraulic oil tank; 20, bracket; 21, track; 22, turntable bearing; 23, clamping mechanism; 24, bearing assembly; 25, servo Motor; 26, the second gear transmission pair; 27, the first gear transmission pair.

Detailed ways

The technical solutions of the present utility model will be further described below in conjunction with the embodiments shown in the accompanying drawings.

The utility model steel cord cutting automatic feeding system includes a cord roll grabbing and discharging robot 1, a cord roll storage station 2 and a cord roll guide device 3 (the prior art), and the cord roll storage station 2 and the cord roll guide The opening device 3 is respectively arranged on the rotating station of the manipulator of the cord roll grasping and discharging robot 1 (the working range of 15°-75°), as shown in FIG. 1 .

The cord roll stocking station 2 includes left and right forward and rear horizontal rails 21 supported and installed on the front and rear brackets 20 or front and rear left and right horizontal rails 21 supported and installed on the left and right brackets 20. The steel cord is large The roll 16 can be placed between the rails 21 on both sides, and the two shaft ends of the coil shaft of the steel cord large roll 16 are respectively rolled and placed on the rails 21 on both sides; the cord roll storage station 2 can be connected to the coiler of the steel cord calender In terms of position, the rolled steel cord fabric roll 16 can be erected on the rails 21 on both sides of the bracket 20, and the steel cord fabric roll 16 is rolled to a predetermined position on the track 21 by manpower, as shown in FIG. 1 .

The cord roll picking and discharging robot 1 includes a workbench 6, a lifting arm 8, a cantilever arm 9, a hanging rod 12 and a support frame 13 based on a chassis 4, and the chassis 4 is installed on the ground of the production site with anchor bolts. (can carry a load of 20 tons), the workbench 6 is installed on the chassis 4 through the turntable bearing 22, and the hydraulic motor 5 provided on the workbench 6 drives the workbench 6 through the first gear transmission pair 27 inside the turntable bearing 22. Slewing movement, the rear lower end of the folded lifting arm 8 (plate-welded cavity structure with excellent mechanical properties) is hinged on the workbench 6 through the machine base, and the cantilever arm 9 (plate-welded type The rear part of the cavity structure) is inserted and fitted in the front part of the lifting arm 8, and the rear part of the lifting arm 8 is provided with a variable pitch hydraulic cylinder 10, and the rear end of the cylinder body of the variable pitch hydraulic cylinder 10 is fixedly arranged, and the variable pitch The front end of the cylinder rod of the hydraulic cylinder 10 is connected to the rear end of the suspension arm 9, and the upper end of the suspension rod 12 is hinged on the bottom of the front end of the suspension arm 9. Pressure hydraulic cylinder 11 (control the stability of hanging rod 12 when working), the upper end of the cylinder body of the back pressure hydraulic cylinder 11 is hinged on the bottom of the arm body of the cantilever arm 9, and the front of the cylinder rod of the back pressure hydraulic cylinder 11 The lower end is hinged on the clamping mechanism 23 installed on the rod body of the vertical suspension rod 12, and the support frame 13 is installed on the lower end of the vertical suspension rod 12 through the bearing assembly 24, as shown in FIG. 2 .

The bottom of described support frame 13 is respectively provided with left and right coil clip 14, and the upper end of left and right coil clip 14 is respectively hinged on the support frame 13, and left and right opening and closing hydraulic cylinder 15 is arranged on left and right respectively. Between the middle part of the coil clip 14 and the support frame 13, the outer lower end of the cylinder rod of each opening and closing hydraulic cylinder 15 is hinged on the corresponding coil clip 14, and the upper end of the cylinder body of each opening and closing hydraulic cylinder 15 is hinged on the bearing assembly. 24 or the corresponding position of the support frame 13, as shown in FIG. 2 .

A hydraulic system control unit is installed on the base of the workbench 6 opposite to the direction of the lifting arm 8. The hydraulic system control unit is integrated with a hydraulic oil tank 19, a hydraulic pump 18 and a hydraulic valve group 17. The total weight of the hydraulic system control unit is used as the lifting weight of the system. counterweight, as shown in Figure 2.

The mode of operation of the utility model is:

1. Manually roll the steel cord large roll 16 to the preparation station of the cord roll storage station 2. The sensor installed next to the preparation station detects the steel cord large roll 16, the limit stopper on the track 21 and a set of pneumatic small The baffle plate stretches out and stops the steel cord large roll 16 to prevent it from rolling arbitrarily on the track 21.

2. The cord roll grasping and discharging robot 1 returns to zero, and the hydraulic motor 5 drives the workbench 6 to rotate to the cord roll storage station 2. The target of the rotation is the large roll of steel wire cord 16 on the waiting station of the cord roll storage station 2. The camera sensor and the proximity sensor installed on the cantilever arm 9 enter into the working state, and feed back the accurate position of the large roll of steel wire cord 16 to the host computer. After the judgment and comparison of the program, the hydraulic motor 5, the luffing hydraulic cylinder 7, and the variable amplitude hydraulic cylinder 7 are controlled. With the mutual movement of the hydraulic cylinder 10 and the servo motor 25, the left and right material roll clamps 14 are opened and lowered to the large roll steel wire cord 16, and the left and right opening and closing hydraulic cylinders 15 drive the left and right material roll clamps 14 to close the large roll. Steel cord 16 surrounds.

3. After the sensor detects that the large roll of steel wire cord 16 is in place in the left and right roll clamps 14, the luffing hydraulic cylinder 7 pushes the lifting arm 8 up, and the camera sensor and proximity sensor search for the specific position of the cord roll guide device 3 , the program again controls the mutual movement of the hydraulic motor 5, luffing hydraulic cylinder 7, variable pitch hydraulic cylinder 10, and servo motor 25, and accurately puts the large roll of steel wire cord 16 into the cord roll guide device 3 through the left and right roll clamps 14 After the left and right material roll clamps 14 are opened, they rise up and exit the guiding work area. The automatic loading work is completed, and the cord roll grasping and discharging robot 1 returns to zero and waits for the next loading cycle.

Left and right material roll clamps 14 are in the operation process of carrying large roll steel wire cord 16, and the working stability (not rocking) of hanging rod 12 is provided guarantee by back pressure hydraulic cylinder 11.

Claims (9)

1. Automatic feeding system for steel cord cutting, including the cord roll grabbing and discharging robot (1) and the cord roll storage station (2) and cord roll unwinding station located on the rotary station of the cord roll grabbing and discharging robot (1) means (3), wherein: The curtain roll picking and discharging robot (1) includes a workbench (6) which is arranged on the chassis (4) and driven by a hydraulic motor (5) to rotate on a horizontal plane, and is arranged on the workbench (6) The hydraulic cylinder (7) controls the lifting arm (8) that is pitched in the vertical plane, the outrigger (9) that is set on the lifting arm (8) and is driven by the pitch-variable hydraulic cylinder (10) The hanging rod (12) which is stably supported by the back pressure hydraulic cylinder (11) on the cantilever arm (9) and the hanging rod (12) which is set on the hanging rod (12) and driven by the servo motor (25) to rotate on the horizontal plane The support frame (13), the left and right roll clips (14) installed on the support frame (13) are respectively controlled by the left and right opening and closing hydraulic cylinders (15) to synchronously close and grab the steel cord large roll (16) and Synchronously open and release the large roll of steel cord (16); The cord roll storage station (2) includes horizontal rails (21) supported and installed by brackets (20) and parallel to each other, the large roll of steel cord (16) is placed between the two rails (21), and the steel cord is large The coil material shaft two shaft ends of roll (16) are rolled and placed on two tracks (21) respectively. 2. The automatic feeding system for steel cord cutting according to claim 1, characterized in that: the workbench (6) is mounted on the chassis (4) through a turntable bearing (22), and the hydraulic motor (5) passes through The first gear transmission pair (27) inside the turntable bearing (22) drives the workbench (6) to rotate. 3. The automatic feeding system for steel cord cutting according to claim 1, characterized in that: the rear lower end of the lifting arm (8) is hinged on the workbench (6), and the luffing hydraulic cylinder (7) It is obliquely placed between the workbench (6) and the lifting arm (8), the rear lower end of the cylinder body of the luffing hydraulic cylinder (7) is hinged on the workbench (6), and the front of the cylinder rod of the luffing hydraulic cylinder (7) The upper end is hinged on the bottom of the boom (8). 4. The automatic feeding system for steel cord cutting according to claim 1, characterized in that: the cantilever arm (9) is inserted into the lifting arm (8), and the cylinder of the variable pitch hydraulic cylinder (10) The rear end of the body is fixed in the lifting arm (8), and the cylinder rod front end of the pitch-variable hydraulic cylinder (10) is connected with the cantilever arm (9). 5. The automatic feeding system for steel cord cutting according to claim 1, characterized in that: the upper end of the hanging rod (12) is hinged to the cantilever arm (9), and the back pressure hydraulic cylinder (11) Placed obliquely between the suspension rod (12) and the outrigger (9), the rear upper end of the cylinder body of the back pressure hydraulic cylinder (11) is hinged to the outrigger (9), and the cylinder of the back pressure hydraulic cylinder (11) The front lower end of the rod is hinged on the rod body of the vertical suspension rod (12) through a clamping mechanism (23). 6. The automatic feeding system for steel cord cutting according to claim 5, characterized in that: the support frame (13) is installed on the lower end of the hanging rod (12) through a bearing assembly (24), and the servo motor (25) is located on the clamping mechanism (23) and drives the support frame (13) to rotate through the second gear transmission pair (26) on the bearing assembly (24). 7. The automatic feeding system for steel cord cutting according to claim 6, characterized in that: the upper ends of the left and right coil clamps (14) are respectively hinged on the support frame (13), and the left and right open and close hydraulic cylinders (15) are respectively arranged between the left and right coil clips (14) and the support frame (13), and the outer lower ends of the cylinder rods of each opening and closing hydraulic cylinder (15) are hinged on the corresponding coil clips (14), The upper end in the cylinder body of each opening and closing hydraulic cylinder (15) is hinged on the corresponding position of the bearing assembly (24) or the support frame (13). 8. The automatic feeding system for steel cord cutting according to any one of claims 1 to 7, characterized in that: a hydraulic system integrating a hydraulic oil tank (19), a hydraulic pump (18) and a hydraulic valve group (17) The control unit is arranged on the workbench (6), and the control unit of the hydraulic system is arranged in the opposite direction to the lifting arm (8) to become the lifting counterweight of the system. 9. The automatic feeding system for steel cord cutting according to any one of claims 1 to 7, characterized in that: the cord roll storage station (2) and the cord roll guide device (3) are located The discharging robot (1) is within the working range of 15°～75°.