CN105107871A - Automatic reel change robot - Google Patents
Automatic reel change robot Download PDFInfo
- Publication number
- CN105107871A CN105107871A CN201510639592.6A CN201510639592A CN105107871A CN 105107871 A CN105107871 A CN 105107871A CN 201510639592 A CN201510639592 A CN 201510639592A CN 105107871 A CN105107871 A CN 105107871A
- Authority
- CN
- China
- Prior art keywords
- robot
- change
- spool
- automatically
- lap axle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000008859 change Effects 0.000 title claims abstract description 63
- 230000009471 action Effects 0.000 claims abstract description 14
- 238000012546 transfer Methods 0.000 claims abstract description 14
- 238000004804 winding Methods 0.000 claims abstract description 9
- 238000010008 shearing Methods 0.000 claims description 13
- 238000005516 engineering process Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 8
- 238000009826 distribution Methods 0.000 claims description 3
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 claims description 2
- 238000005491 wire drawing Methods 0.000 abstract description 19
- 238000004519 manufacturing process Methods 0.000 abstract description 13
- 238000000034 method Methods 0.000 abstract description 7
- 238000005520 cutting process Methods 0.000 abstract description 2
- 230000032258 transport Effects 0.000 description 13
- 241000196324 Embryophyta Species 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 238000007726 management method Methods 0.000 description 4
- 238000009966 trimming Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000007306 turnover Effects 0.000 description 3
- 239000002390 adhesive tape Substances 0.000 description 2
- 210000001217 buttock Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C47/00—Winding-up, coiling or winding-off metal wire, metal band or other flexible metal material characterised by features relevant to metal processing only
- B21C47/24—Transferring coils to or from winding apparatus or to or from operative position therein; Preventing uncoiling during transfer
- B21C47/245—Devices for the replacement of full reels by empty reels or vice versa, without considerable loss of time
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an automatic reel change robot. Automatic change of reels is completed by arranging three manipulators which respectively complete grabbing, clamping and wire cutting actions, functions of automatically winding base wires and automatically starting wire drawing machines are simultaneously possessed, manual operation is not needed, the workload is reduced, one machine can realize reel change operations of a plurality of wire drawing machines, a standby machine can be put into operation when a fault occurs, and the working efficiency is improved. An AGV technique is adopted as a guided positioning basis, and the accurate positioning of the mobile robot is realized by adopting a method in combination with mechanical auxiliary positioning of the machine. In addition, reel conveying is realized by arranging conveying rollers, the reels can be automatically transferred between reel transfer areas of a workshop, a transportation function is possessed, the robot can replace other transportation tools of the production workshop to automatically transfer and transport the reels, and the production efficiency of factories is improved.
Description
Technical field
The invention belongs to the wire drawing machine technical field of Steel Wire Products Industry, be specifically related to a kind of change of lap axle robot automatically.
Background technology
Wire drawing machine is also called drawing machine, is in commercial Application, use plant equipment comparatively widely, is widely used in the industries such as machine-building, five metals processing, petrochemical industry, plastics, bamboo and wood products, electric wire.
Metal drawing belongs to the metallic articles such as standard component and produces pre-processing system, object be in order to the production and transport of steel manufacturer to the wire rod of the metallic article manufacturing enterprises such as standard component or the drawing process of material through wire drawing machine of taking over the baton, make the diameter of wire rod or bar, circularity, inner structure, surface smoothness and aligning degree all reach the Feedstock treating requirement of the metallic article need of productions such as standard component.
In prior art, the taking-up equipment of most wire drawing machine is all fixing, by manually implementing the work of change of lap axle.Also have a kind of from moving wheel admission machine on the market, he is a fixing corresponding wire drawing machine, after spool is completely taken turns, realizes from moving wheel work.Be increase from moving wheel apparatus on the basis of traditional admission machine from moving wheel admission machine, cost is relatively high, and the service efficiency of certainly moving wheel apparatus is low.Especially the drum completely needing more than 2 hours received by a that dish line.This is also from moving wheel admission machine in one of few reason of factory application.And once admission machine breaks down, then need maintenance down, affect work production capacity.
Therefore, in view of above problem, be necessary to propose a kind of novel automatic change of lap shaft device, realize automatically carrying out the operation of change of lap axle to wire drawing machine, without the need to manual operation, reduce workload, and can operate multiple wire drawing machine, board for subsequent use can be dropped into when breaking down and use, increase work efficiency.
Summary of the invention
In view of this, the invention provides a kind of change of lap axle robot automatically, crawl, clamping and trimming action is completed respectively by arranging three manipulators, complete the automatic replacing of spool, without the need to manual operation, reduce workload, and a robot can carry out the operation of change of lap axle to multiple stage wire drawing machine, board for subsequent use can be dropped into when breaking down use, increase work efficiency.
The one automatic change of lap axle robot that object according to the present invention proposes, in order to automatically to change the spool on board, described automatic change of lap axle robot comprises: be arranged at the catching robot for capturing spool in a frame respectively, in order to clamp the clamping mechanical hand of wire rod in order to shearing, and wire rod is carried out to the shearing machine hand of shear treatment, frame is also provided with the carrying platform placing spool;
The spool of line full on board Wire winding shaft takes off by catching robot, clamping mechanical hand action clamping wire rod, and wire rod is cut off by shearing machine hand subsequently action, and full coil of wire axle is placed into carrying platform completes and unloads wheel by rear catching robot; An empty reel spool on carrying platform is taken out by catching robot, and now clamping mechanical hand still clamps wire rod one end, and catching robot draws circle centered by clamping mechanical hand, wire rod is around in empty reel spool, complete automatically around bottom line, after this spool loaded Wire winding shaft completes and takes turns, rear each manipulator resets.
Preferred: described catching robot comprises linking arm and swingable mechanical arm, described linking arm one end is rotationally connected with in frame, and the other end and mechanical arm are hinged, and the place of being hinged is provided with the drive motors of driving device arm swing.
Preferred: described carrying platform is be arranged in parallel multiple, respectively in order to place and conveying spool.
Preferred: each carrying platform is arranged by multiple transfer roller be arranged in parallel and formed, transfer roller rotates and is arranged in frame.
Preferred: change of lap axle robot also comprises the travelling car based on AGV technology automatically, and frame is fixedly installed on travelling car.
Preferred: one section of mechanical tracks is installed in board side, after described automatic change of lap axle robot arrives corresponding board, the roller of travelling car snaps in mechanical tracks internal fixtion.
Preferred: described automatic change of lap axle robot is provided with navigation positioning system, and board is provided with wireless transceiver, and described navigation positioning system and described wireless transceiver realize radio communication.
Preferred: communication pattern is the Wireless Network based on modbus agreement, on each board, correspondence arranges a radio receiving transmitting module as RTU terminal, automatic change of lap axle robot is as main website, the unique discernible station number of each RTU terminal distribution one, each RTU terminal adopts different transmission frequencies.
Preferred: described automatic change of lap axle robot also comprises in order to the end of a thread after shearing is pasted fixing sticking device, and the end of described sticking device is tangent with the spool sidewall around full wire rod.
Preferred: the label machine that described automatic change of lap axle robot also comprises radio-frequency card reader and is electrically connected with radio-frequency card reader, board is provided with radio-frequency card, and label machine Print Label is also pasted on spool.
Compared with prior art, the advantage of automatic change of lap axle robot disclosed by the invention is:
Crawl, clamping and trimming action is completed respectively by arranging three manipulators, complete the automatic replacing of spool, drive spool to move in a circle by linking arm and being rotatably assorted of mechanical arm simultaneously, realize, automatically around bottom line, possessing the function automatically also automatically starting wire drawing machine around bottom line, without the need to manual operation, reduce workload, and a robot can carry out the operation of change of lap axle to multiple stage wire drawing machine, board for subsequent use can be dropped into when breaking down and use, increase work efficiency.
By adopting AGV technology as navigator fix basis, the mode simultaneously adopting board mechanical assistance to locate to combine is to realize the accurate location of mobile robot.
In addition, realizing spool conveying, automatically can transport spool, possess transportation function between the spool transit zone in workshop by arranging transfer roller, other means of transports that can substitute workshop carry out spool turnover transport automatically, improve the production efficiency of factory.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the front view of automatic change of lap axle robot disclosed by the invention.
Fig. 2 is the stereogram 1 of automatic change of lap axle robot disclosed by the invention.
Fig. 3 is the stereogram 2 of automatic change of lap axle robot disclosed by the invention.
Fig. 4 is duty Fig. 1.
Fig. 5 is duty Fig. 2.
Fig. 6 is around bottom line schematic diagram.
The title of the numeral in figure or the corresponding component representated by letter:
1, frame 2, travelling car 3, wire drawing machine 4, spool 5, wire rod 31, Wire winding shaft
11, catching robot 12, clamping mechanical hand 13, shearing machine hand 14, carrying platform 15, sticking device 16, label machine 141, empty reel spool 142, full coil of wire axle 111, mechanical arm 112, scroll chuck 113, linking arm
Detailed description of the invention
In prior art, the taking-up equipment of most wire drawing machine is all fixing, by manually implementing the work of change of lap axle.Also have a kind of from moving wheel admission machine on the market, he is a fixing corresponding wire drawing machine, after spool is completely taken turns, realizes from moving wheel work.Be increase from moving wheel apparatus on the basis of traditional admission machine from moving wheel admission machine, cost is relatively high, and the service efficiency of certainly moving wheel apparatus is low.Especially the drum completely needing more than 2 hours received by a that dish line.This is also from moving wheel admission machine in one of few reason of factory application.And once admission machine breaks down, then need maintenance down, affect work production capacity.
The present invention is directed to deficiency of the prior art, provide a kind of change of lap axle robot automatically, crawl, clamping and trimming action is completed respectively by arranging three manipulators, complete the automatic replacing of spool, without the need to manual operation, reduce workload, and a robot can carry out the operation of change of lap axle to multiple stage wire drawing machine, board for subsequent use can be dropped into when breaking down use, increase work efficiency.
To be clearly and completely described technical scheme of the present invention by detailed description of the invention below.Obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Please also refer to Fig. 1 to Fig. 3, as shown in the figure, a kind of change of lap axle robot automatically, in order to automatically to change the spool on board, automatic change of lap axle robot comprises: be arranged at the catching robot 11 for capturing spool in a frame 1 respectively, in order to clamp the clamping mechanical hand 12 of wire rod in order to shearing, and wire rod being carried out to the shearing machine hand 13 of shear treatment, frame 1 being also provided with the carrying platform 14 placing spool.Catching robot 11 comprises linking arm 113 and swingable mechanical arm 111, and linking arm one end is rotationally connected with in frame, and the other end and mechanical arm are hinged, and the place of being hinged is provided with the drive motors (not shown) of driving device arm swing.Catching robot can realize moving, can driving the spool on it centered by clamping mechanical hand, draw circle simultaneously in space, completes the installation of spool and takes off.
Catching robot 11 is rocked to board place and is taken off by the spool of line full on board Wire winding shaft, clamping mechanical hand 12 action clamping wire rod, wire rod is cut off by shearing machine hand 13 subsequently action, and full coil of wire axle is placed on carrying platform 14 by rear catching robot, completes and unloads wheel; An empty reel spool on carrying platform 14 is taken out by rear catching robot 11, now clamping mechanical hand 12 still clamps wire rod one end, the mechanical arm 111 of catching robot 11 draws circle centered by clamping mechanical hand, wire rod is around in empty reel spool, complete automatically around bottom line, after this spool is loaded on Wire winding shaft, complete and take turns, rear each manipulator resets.
Wherein the crawl section of catching robot can be scroll chuck, realizes, to the crawl of spool, also can be sucker etc., specifically not limiting.
Carrying platform 14 is multiple for what be arranged in parallel, respectively in order to place and conveying spool.Carrying platform comprises the region of placing full coil of wire axle and the region of placing empty reel spool, specifically arrange as required.
Each carrying platform is arranged by multiple transfer roller (not shown) be arranged in parallel and is formed, and transfer roller rotates and is arranged in frame 1.Automatic change of lap axle robot also comprises the travelling car 2 based on AGV technology, and frame is fixedly installed on travelling car.By arranging live-roller, automatically can transport spool, possess transportation function under the drive of travelling car between the spool transit zone in workshop, other means of transports that can substitute workshop carry out spool turnover transport automatically, improve the production efficiency of factory.And the spool on carrying platform can be realized automatically to export by arranging live-roller, or by spool automatic transport on carrying platform, without the need to manual operation, reduce workload, operating efficiency is provided.
One section of mechanical tracks is installed in board side, and after automatic change of lap axle robot arrives corresponding board, the roller of travelling car snaps in mechanical tracks internal fixtion.Automatic change of lap axle robot is provided with navigation positioning system (not shown), and board is provided with wireless transceiver (not shown), navigation positioning system and wireless transceiver realize radio communication.By adopting AGV technology as navigator fix basis, the mode simultaneously adopting board mechanical assistance to locate to combine is to realize the accurate location of mobile robot.
Meanwhile, creation data can also be transferred in plant server by the mode of wireless transmission by the present invention, realizes plant information.
Communication pattern is the Wireless Network based on modbus agreement, on each board, correspondence arranges a radio receiving transmitting module as RTU terminal, automatic change of lap axle robot is as main website, and the unique discernible station number of each RTU terminal distribution one, each RTU terminal adopts different transmission frequencies.Once RTU triggering signal, main website then identifies its station number, to AGV sending destination driving instruction.
Automatic change of lap axle robot also comprises in order to the end of a thread after shearing is pasted fixing sticking device 15, and the end of sticking device 15 is tangent with the spool sidewall around full wire rod.Automatically effectively can stick the buttock line of wire rod by arranging sticking device, preventing wire rod from coming off, improve the automaticity of equipment.Wherein sticking device can be adhesive tape.
The label machine 16 that automatic change of lap axle robot also comprises radio-frequency card reader (not shown) and is electrically connected with radio-frequency card reader, board is provided with radio-frequency card, and label machine Print Label is also pasted on spool.After travelling car to board, automatically read board radio-frequency card content, then by content delivery to label machine, after treating the taking-up of full wire I-shape reel wheel, Print Label, and be attached in I-beam wheel by label, is convenient to the tracing management of factory quality system.
After the invention process, greatly can reduce the labour intensity (especially Steel Wire Products Industry) of workman, reduce factory's labor, reduce cost of human resources.
Improve the material flows automation level of factory simultaneously, improve logistics week transfer efficient.
The application only need improve on AGV dolly, and because improvement expenses is low, dependability is high.Can use at factory's Rapid Popularization, improve the intelligent level of factory.Comparing from moving wheel admission machine with fixed, once admission machine breaks down, then needing maintenance down, affecting factory's production capacity.And use the present invention, if the present invention is broken down in using, board for subsequent use can be dropped into immediately, and factory is to be repaired without the need to shutting down.Due to needs charging reasons, when factory-configured is of the present invention, need to carry out board setting for subsequent use according to the ratio of 3:1.
In addition, due to the communication technology of the technology of Internet of things and wireless transmission that have employed RF identification, plant produced is made really to realize informationization and intellectuality.
Robot of the present invention, by control system control operation, coordinates sensor operation simultaneously.
The a set of intelligent solution that portable change of lap axle robot automatically provides mainly for the water tank drawbench factory of Steel Wire Products Industry.Especially for change of lap axial period at 60 ~ 180 minutes, spool is containing the spool of line weight within 20Kg.Robot can the automatic change of lap work of corresponding 20 ~ 60 water tank drawbench.It is the most economical mode of conventional plant intelligentized updating.
System communication pattern: based on the Wireless Network of modbus agreement.Increase a radio receiving transmitting module in region in every platform water tank unit for electromechanical cabinet as RTU terminal, the present invention is as main website.Each RTU distributes a unique discernible station number, once RTU triggering signal, main frame then identifies its station number, to AGV sending destination driving instruction.Each region adopts different transmission frequency.
System navigate locate mode: adopt AGV airmanship to add board mechanical device assistant positioning system.Namely AGV airmanship is used for the pattern that the present invention locates at whole workshop walking navigation, and every platform machine is installed the mechanical tracks of one section of auxiliary positioning, the present invention to board position is, the roller of travelling car snaps among the track of board automatically.Thus realize relatively between robot with board accurately locating.All subsequent actions be all depend on accurate positioning basis on.
Information interaction system: general in original management system of factory, each board can arrange a product information card.In the present system, product information card replacement becomes non-contact type radio-frequency identification card, and card pastes words identification simultaneously, is made by workshop unified management.When changing product specification, change card.When the present invention drives to board position, unload after wheel completes, directly read the information of radio-frequency identification card, and be printed as label, automatically paste on the finished product spool that takes off, this information is by wireless network transmissions on production management server simultaneously, realizes production information real-time Transmission.
Change wheel process: when a certain board send change wheel signal after, this robot automatic running, to this board position, comes to a complete stop, and catching robot reaches the spool place of board, by carry sensor detecting location, clamping spool, taking-up.Be transplanted on carrying platform, in the process of transfer, spool face through sticking device, thus on automatically being pasted by adhesive tape, prevents buttock line at random.After the transfer of finished product spool puts in place, robot is also provided with two manipulators, a clamping mechanical hand, first action, clamped by wire rod, the action subsequently of another wire cutting mechanical hand, cuts off wire rod, and finished product wheel is put into finished product carrying platform by catching robot.Then catching robot gets an empty reel spool from empty reel spool carrying platform, starts low rate start water tank drawbench.Fix because wire rod one end is clamped manipulator, catching robot is clamped wire rod in reel strip centered by clamping mechanical hand, is drawn circle, then wire rod by around on spool, can realize the first around work of spool bottom line.Just after completing, spool loads on the Wire winding shaft of water tank drawbench by catching robot, unclamps catching robot, is moved back into ownship position.The present invention wirelessly sends enabled instruction, and main frame is opened.The present invention then cruises along fixed route, waits for that the next one changes wheel instruction.
Spool transport and transport process: factory floor arranges a transfer region, is some conveyers, place spool and the empty reel spool of full line respectively.The present invention reads information by radio-frequency card after driving to this region, identifies the product information that this row conveyer is deposited, whether the product information of transporting with the machine conforms to, then stop, aimed the place by optoelectronic switch, and the machine product is transported on this row conveyer.
Around bottom line principle: as shown in Figure 6, clamping mechanical hand clamping steel wire wire rod, now, wire rod has just pulled into a line between clamping mechanical hand and wire drawing machine main frame, when manipulator catches spool at diagram point line ball material from the top down, and when carrying out circular motion along the direction of arrow centered by clamping mechanical hand, I-beam wheel also moves along its axial direction simultaneously, then steel wire just detours in I-beam wheel, completes automatically around bottom line.
The course of work in the present invention is all controlled by electric-control system.
The invention discloses a kind of change of lap axle robot automatically, crawl, clamping and trimming action is completed respectively by arranging three manipulators, complete the automatic replacing of spool, possesses the function automatically also automatically starting wire drawing machine around bottom line simultaneously, without the need to manual operation, reduce workload, and a robot can carry out the operation of change of lap axle to multiple stage wire drawing machine, board for subsequent use can be dropped into when breaking down use, increase work efficiency.
By adopting AGV technology as navigator fix basis, the mode simultaneously adopting board mechanical assistance to locate to combine is to realize the accurate location of mobile robot.
In addition, realizing spool conveying, automatically can transport spool, possess transportation function between the spool transit zone in workshop by arranging transfer roller, other means of transports that can substitute workshop carry out spool turnover transport automatically, improve the production efficiency of factory.
To the above-mentioned explanation of the disclosed embodiments, professional and technical personnel in the field are realized or uses the present invention.To be apparent for those skilled in the art to the multiple amendment of these embodiments, General Principle as defined herein can without departing from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention can not be restricted to these embodiments shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. an automatic change of lap axle robot, in order to automatically to change the spool on board, it is characterized in that: described automatic change of lap axle robot comprises: be arranged at the catching robot for capturing spool in a frame respectively, in order to clamp the clamping mechanical hand of wire rod in order to shearing, and wire rod is carried out to the shearing machine hand of shear treatment, frame is also provided with the carrying platform placing spool;
The spool of line full on board Wire winding shaft takes off by catching robot, clamping mechanical hand action clamping wire rod, and wire rod is cut off by shearing machine hand subsequently action, and full coil of wire axle is placed into carrying platform completes and unloads wheel by rear catching robot; An empty reel spool on carrying platform is taken out by catching robot, and now clamping mechanical hand still clamps wire rod one end, and catching robot draws circle centered by clamping mechanical hand, wire rod is around in empty reel spool, complete automatically around bottom line, after this spool loaded Wire winding shaft completes and takes turns, rear each manipulator resets.
2. change of lap axle robot automatically as claimed in claim 1, it is characterized in that: described catching robot comprises linking arm and swingable mechanical arm, described linking arm one end is rotationally connected with in frame, the other end and mechanical arm are hinged, and the place of being hinged is provided with the drive motors of driving device arm swing.
3. change of lap axle robot automatically as claimed in claim 1, is characterized in that: described carrying platform is be arranged in parallel multiple, respectively in order to place and conveying spool.
4. change of lap axle robot automatically as claimed in claim 3, it is characterized in that: each carrying platform is arranged by multiple transfer roller be arranged in parallel and formed, transfer roller rotates and is arranged in frame.
5. change of lap axle robot automatically as claimed in claim 1, is characterized in that: change of lap axle robot also comprises the travelling car based on AGV technology automatically, and frame is fixedly installed on travelling car.
6. change of lap axle robot automatically as claimed in claim 5, it is characterized in that: one section of mechanical tracks is installed in board side, after described automatic change of lap axle robot arrives corresponding board, the roller of travelling car snaps in mechanical tracks internal fixtion.
7. change of lap axle robot automatically as claimed in claim 1, is characterized in that: described automatic change of lap axle robot is provided with navigation positioning system, and board is provided with wireless transceiver, and described navigation positioning system and described wireless transceiver realize radio communication.
8. change of lap axle robot automatically as claimed in claim 7, it is characterized in that: communication pattern is the Wireless Network based on modbus agreement, on each board, correspondence arranges a radio receiving transmitting module as RTU terminal, automatic change of lap axle robot is as main website, the unique discernible station number of each RTU terminal distribution one, each RTU terminal adopts different transmission frequencies.
9. change of lap axle robot automatically as claimed in claim 1, is characterized in that: described automatic change of lap axle robot also comprises in order to the end of a thread after shearing is pasted fixing sticking device, and the end of described sticking device is tangent with the spool sidewall around full wire rod.
10. change of lap axle robot automatically as claimed in claim 1, it is characterized in that: the label machine that described automatic change of lap axle robot also comprises radio-frequency card reader and is electrically connected with radio-frequency card reader, board is provided with radio-frequency card, and label machine Print Label is also pasted on spool.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510639592.6A CN105107871B (en) | 2015-09-30 | 2015-09-30 | A kind of automatic change of lap axle robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510639592.6A CN105107871B (en) | 2015-09-30 | 2015-09-30 | A kind of automatic change of lap axle robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105107871A true CN105107871A (en) | 2015-12-02 |
| CN105107871B CN105107871B (en) | 2017-07-07 |
Family
ID=54656106
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510639592.6A Active CN105107871B (en) | 2015-09-30 | 2015-09-30 | A kind of automatic change of lap axle robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105107871B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105905652A (en) * | 2016-07-12 | 2016-08-31 | 吴江市华运纺织品有限公司 | Woven cloth winding and conveying mechanism |
| CN107322263A (en) * | 2017-08-21 | 2017-11-07 | 山东日发纺织机械有限公司 | Replacing system and its transport vehicle |
| CN107934683A (en) * | 2017-12-30 | 2018-04-20 | 无锡华工大光电智能科技有限公司 | A kind of I-beam wheel remnants waste silk removal devices |
| CN109436951A (en) * | 2018-12-19 | 2019-03-08 | 无锡敏功科技有限公司 | Full-automatic coiling production line and its processing method |
| CN109592505A (en) * | 2018-12-19 | 2019-04-09 | 无锡敏功科技有限公司 | Winding roll automatic carrying machine working and winding roll automatic loading and unloading robot |
| CN110961862A (en) * | 2019-10-30 | 2020-04-07 | 西安远方航空技术发展有限公司 | Method for processing damping ring in air inlet measuring rake |
| CN113649777A (en) * | 2021-07-15 | 2021-11-16 | 江苏兴达智能制造有限公司 | Automatic 800 spool replacing system |
| CN114226475A (en) * | 2021-11-15 | 2022-03-25 | 江苏赛福天钢索股份有限公司 | Automatic shaft-changing mechanical arm |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58163525A (en) * | 1982-03-23 | 1983-09-28 | Daifuku Co Ltd | Lug bending device of outside circumference winding sheet for cylindrical body |
| US4610404A (en) * | 1983-11-18 | 1986-09-09 | S.A.M.P. S.P.A. Meccanica Di Precisione | Robot device for loading and unloading spools in wire winding machines |
| JPS62162033A (en) * | 1986-01-13 | 1987-07-17 | Teijin Ltd | Automatic traveling operation device |
| CN202346466U (en) * | 2011-11-30 | 2012-07-25 | 李金光 | Automatic cutting, roll-changing and coiling device |
| CN202429761U (en) * | 2012-01-06 | 2012-09-12 | 广东达诚机械有限公司 | Reel alternation mechanism |
| CN205085167U (en) * | 2015-09-30 | 2016-03-16 | 王波 | Automatic change of lap axle robot |
-
2015
- 2015-09-30 CN CN201510639592.6A patent/CN105107871B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58163525A (en) * | 1982-03-23 | 1983-09-28 | Daifuku Co Ltd | Lug bending device of outside circumference winding sheet for cylindrical body |
| US4610404A (en) * | 1983-11-18 | 1986-09-09 | S.A.M.P. S.P.A. Meccanica Di Precisione | Robot device for loading and unloading spools in wire winding machines |
| JPS62162033A (en) * | 1986-01-13 | 1987-07-17 | Teijin Ltd | Automatic traveling operation device |
| CN202346466U (en) * | 2011-11-30 | 2012-07-25 | 李金光 | Automatic cutting, roll-changing and coiling device |
| CN202429761U (en) * | 2012-01-06 | 2012-09-12 | 广东达诚机械有限公司 | Reel alternation mechanism |
| CN205085167U (en) * | 2015-09-30 | 2016-03-16 | 王波 | Automatic change of lap axle robot |
Non-Patent Citations (1)
| Title |
|---|
| 朱苏康，陈元甫: "《织造学 上册》", 30 September 1996, 中国纺织出版社 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105905652A (en) * | 2016-07-12 | 2016-08-31 | 吴江市华运纺织品有限公司 | Woven cloth winding and conveying mechanism |
| CN107322263A (en) * | 2017-08-21 | 2017-11-07 | 山东日发纺织机械有限公司 | Replacing system and its transport vehicle |
| CN107322263B (en) * | 2017-08-21 | 2024-01-26 | 山东日发纺织机械有限公司 | Replacement system and transport vehicle thereof |
| CN107934683A (en) * | 2017-12-30 | 2018-04-20 | 无锡华工大光电智能科技有限公司 | A kind of I-beam wheel remnants waste silk removal devices |
| CN107934683B (en) * | 2017-12-30 | 2023-10-03 | 无锡华工大光电智能科技有限公司 | I-shaped wheel residual waste silk remove device |
| CN109436951A (en) * | 2018-12-19 | 2019-03-08 | 无锡敏功科技有限公司 | Full-automatic coiling production line and its processing method |
| CN109592505A (en) * | 2018-12-19 | 2019-04-09 | 无锡敏功科技有限公司 | Winding roll automatic carrying machine working and winding roll automatic loading and unloading robot |
| CN110961862A (en) * | 2019-10-30 | 2020-04-07 | 西安远方航空技术发展有限公司 | Method for processing damping ring in air inlet measuring rake |
| CN113649777A (en) * | 2021-07-15 | 2021-11-16 | 江苏兴达智能制造有限公司 | Automatic 800 spool replacing system |
| CN113649777B (en) * | 2021-07-15 | 2023-08-15 | 江苏兴达智能制造有限公司 | 800 spool automatic replacement system |
| CN114226475A (en) * | 2021-11-15 | 2022-03-25 | 江苏赛福天钢索股份有限公司 | Automatic shaft-changing mechanical arm |
| CN114226475B (en) * | 2021-11-15 | 2024-06-21 | 江苏赛福天集团股份有限公司 | Automatic shaft-changing mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105107871B (en) | 2017-07-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105107871A (en) | Automatic reel change robot | |
| CN111386505B (en) | Unmanned conveying vehicle and unmanned conveying vehicle control system | |
| CN105858031B (en) | Intelligent warehousing system | |
| CN109858791B (en) | Logistics flowing method and system | |
| CN108803507B (en) | Production line feeding management method and system | |
| CN204433222U (en) | A kind of full automaticity PCB labelling machine | |
| CN203855079U (en) | Automatic handling system | |
| CN201153234Y (en) | Special miniature motor automatic production line | |
| CN107563708B (en) | Article sorting system and method | |
| US11505352B2 (en) | Device and method for processing containers by means of a driverless transport system | |
| CN108500949A (en) | Mobile robot with multiple catching devices | |
| CN107599462A (en) | Fetus automatic weighing, automatic strip sticking code, automatic transport, automatic storage method | |
| CN118226789A (en) | Control system for automatic traveling vehicle | |
| CN112405008A (en) | Full-automatic straight pipe flange group is to welding production line | |
| CN205085167U (en) | Automatic change of lap axle robot | |
| JP6029928B2 (en) | Cutting equipment | |
| CN104723028B (en) | The production method and equipment of a kind of double-interface card | |
| KR20090116904A (en) | A process of automatic measurement and packing for cncturnery | |
| CN110116178B (en) | MES system-based cabinet workshop sheet metal blanking turnover method | |
| CN109706466B (en) | Intelligent pickling inspection line, equipment arrangement structure and process inspection method for hot-rolled steel coil | |
| CN112008892B (en) | Automatic large-size rock plate processing and non-landing assembly line and processing technology thereof | |
| CN114682519A (en) | Equipment defect tracing system | |
| CN211569752U (en) | Wire drawing district conveyer and fine automated production system of glass | |
| CN112801459B (en) | Execution system and execution method for 5G intelligent production line | |
| CN209746415U (en) | intelligent factory training system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200225 Address after: Yangshe shoal Lake Park in Suzhou Branch Chong Hua Chang Lu 215600 cities in Jiangsu city of Zhangjiagang Province Patentee after: Ruichang, Zhangjagang City intelligent machine System Co., Ltd Address before: 215600, room 71, 408 Chengbei Village, Zhangjiagang City, Jiangsu, Suzhou Patentee before: Wang Bo |
|
| TR01 | Transfer of patent right |