CN-122009712-A - Loading and unloading device and method for steel wire armoring machine disc

CN122009712ACN 122009712 ACN122009712 ACN 122009712ACN-122009712-A

Abstract

The application relates to a wire armor machine coiling tool loading and unloading device and method. The tray storage mechanism is used for three-dimensionally storing trays and comprises a vertical warehouse goods shelf and a stacker. The automatic transfer mechanism is used for transferring the trays among the production stations of the warehouse-in, warehouse-out and armoring machines and comprises a conveying line body, a transfer manipulator and a transfer trolley. The upper disc locking mechanism is used for installing a disc tool on the armoring machine and realizing automatic locking, and comprises a movable ground rail, an upper disc manipulator, a visual detection assembly and a locking assembly, wherein the visual detection assembly and the locking assembly are arranged on the upper disc manipulator. Through the automatic connection of the whole process, the labor intensity of personnel is obviously reduced, the operation efficiency and locking precision of the disc feeding of the disc tool are improved, and the production continuity of the steel wire armoring procedure and the reliability of equipment operation are ensured.

Inventors

CHEN NANNAN
YUAN XINFENG
ZHANG LEI
JIA JIANHUA
Kang Jinlin
LUO JINWEN
victoria. Riyabchenko
WANG MENGYI
WANG CHAOYANG
LI YONGYU

Assignees

江苏艾吉斯海洋科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260327

Claims (8)

1. Feeding device on steel wire armour installation dish utensil, characterized in that includes: The tray storage mechanism is used for carrying out three-dimensional storage on trays and comprises a vertical warehouse goods shelf and a stacker; The automatic transfer mechanism is used for transferring the trays among the warehousing and ex-warehouse stations and the production stations of the armoring machine and comprises a conveying line body, a transfer manipulator and a transfer trolley; the upper disc locking mechanism is used for installing the disc on the armoring machine and realizing automatic locking and comprises a movable ground rail, an upper disc manipulator, a visual detection assembly and a locking assembly, wherein the visual detection assembly and the locking assembly are arranged on the upper disc manipulator.
2. The steel wire armoring machine disc loading and unloading device according to claim 1, wherein the vertical warehouse goods shelf is of a single-deep double-upright steel structure, and a stackable bracket for bearing the disc is arranged on the vertical warehouse goods shelf.
3. The steel wire armoring machine disc loading and unloading device according to claim 1, wherein the stacker is of a tunnel type double-upright structure and is arranged in an operation tunnel between the vertical warehouse racks and used for executing disc storage and taking operation.
4. The steel wire armoring machine disc loading and unloading device according to claim 1, wherein the visual detection assembly is mounted on an end effector of the disc loading manipulator and is used for acquiring space position coordinates, attitude data and reference characteristic information of a disc in real time.
5. The steel wire armoring machine coiling tool loading and unloading device according to claim 1, wherein the locking assembly is a servo electric locking device, the coiling manipulator performs self-adaptive alignment according to feedback data of the visual detection assembly, and drives the locking assembly to perform locking action on the coiling tool according to preset torque.
6. The steel wire armoring machine disc loading and unloading device according to claim 1, wherein the transferring manipulator is a four-axis manipulator, the transferring trolley is an Automatic Guided Vehicle (AGV), and the disc loading manipulator is a six-axis manipulator.
7. A method for loading and unloading a steel wire armor machine reel as defined in any one of claims 1 to 6, comprising the steps of: Through the cooperation of the conveying line body, the transferring manipulator and the stacker, the tray is placed on a stackable bracket and stored in a preset goods space of the vertical warehouse goods shelf; according to the production instruction, taking out the designated tray from the vertical warehouse goods shelf through the stacker, and transferring the tray to a tray loading station of the armoring machine through the transfer trolley; And the upper disc locking mechanism is used for identifying the pose of the disc tool and executing the disc feeding action so as to complete automatic alignment and locking.
8. The method for loading and unloading steel wire armoring machine tools according to claim 7, wherein the steps of identifying the tool pose by the upper tool locking mechanism and executing the tool loading action to complete automatic alignment and locking are as follows: the disc loading manipulator moves to a preset disc loading station along the movable ground rail; the visual detection assembly scans the disk to obtain real-time pose data of the disk; The disc loading manipulator performs path compensation and self-adaptive alignment according to real-time space pose data so as to enable the locking assembly to be in butt joint with a disc; the locking component completes automatic locking according to preset torque.

Description

Loading and unloading device and method for steel wire armoring machine disc Technical Field The invention relates to the technical field of steel wire armoring, in particular to a steel wire armoring machine disc feeding and discharging device and method. Background In the production and manufacturing process of umbilical cables and various cables, steel wire armor is a critical core process, and the production efficiency directly influences the manufacturing period of the whole cable. At present, the steel wire armoring machine disc in the related industry in China generally adopts a single-layer spare part placement mode, so that a large number of disc tools are tiled and stacked on a production site, a limited production site is seriously occupied, material management is disordered, and informatization supervision is difficult to realize. In actual production operation, the transportation of dish utensil mainly relies on traditional manual hoisting or simple and easy fork truck to carry, and not only intensity of labour is big, operating efficiency is low, and the security risk is higher. Meanwhile, the upper disc of the armoring machine and the locking procedure are highly dependent on manual operation, and are fixed in a manual screwing mode, so that the defects of large positioning accuracy deviation, inconsistent locking moment and the like are overcome, mechanical faults or hidden quality hazards in the production process are extremely easy to cause, and the requirements of modern industry on large-scale, intelligent and continuous production cannot be met. Disclosure of Invention The invention aims to provide a steel wire armoring machine coiling and discharging device and method, which can obviously reduce the labor intensity of personnel through the automatic connection of the whole process, improve the working efficiency and locking precision of coiling of the coiling machine and ensure the production continuity of steel wire armoring procedures and the reliability of equipment operation. In order to achieve the above object, according to a first aspect of the present invention, there is provided a wire armor machine coiling and blanking device, comprising: The tray storage mechanism is used for carrying out three-dimensional storage on trays and comprises a vertical warehouse goods shelf and a stacker; The automatic transfer mechanism is used for transferring the trays among the warehousing and ex-warehouse stations and the production stations of the armoring machine and comprises a conveying line body, a transfer manipulator and a transfer trolley; the upper disc locking mechanism is used for installing the disc on the armoring machine and realizing automatic locking and comprises a movable ground rail, an upper disc manipulator, a visual detection assembly and a locking assembly, wherein the visual detection assembly and the locking assembly are arranged on the upper disc manipulator. Optionally, the vertical warehouse goods shelf is of a single-deep double-column steel structure, and a stackable bracket for bearing the tray is arranged on the vertical warehouse goods shelf. Optionally, the stacker is a tunnel type double-upright column structure, is arranged in an operation tunnel between the vertical warehouse shelves, and is used for executing the storage and taking operation of the tray. Optionally, the vision detection component is installed on an end effector of the disc loading manipulator and is used for acquiring the space position coordinates, the gesture data and the reference characteristic information of the disc in real time. Optionally, the locking component is a servo electric locking device, the disc feeding manipulator performs self-adaptive alignment according to feedback data of the visual detection component, and drives the locking component to perform locking action on the disc according to preset torque. Optionally, the transferring manipulator is a four-axis manipulator, the transferring trolley is an AGV automatic guiding vehicle, and the disc feeding manipulator is a six-axis manipulator. According to a second aspect of the invention, there is provided a steel wire armoring machine coiling and blanking method, comprising the steps of: Through the cooperation of the conveying line body, the transferring manipulator and the stacker, the tray is placed on a stackable bracket and stored in a preset goods space of the vertical warehouse goods shelf; according to the production instruction, taking out the designated tray from the vertical warehouse goods shelf through the stacker, and transferring the tray to a tray loading station of the armoring machine through the transfer trolley; And the upper disc locking mechanism is used for identifying the pose of the disc tool and executing the disc feeding action so as to complete automatic alignment and locking. Optionally, the identifying the pose of the disc tool by the disc loading locking mechanism and executing the disc l