CN109516302B - Spindle feeding and discharging robot system - Google Patents
Spindle feeding and discharging robot system Download PDFInfo
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- CN109516302B CN109516302B CN201811644416.1A CN201811644416A CN109516302B CN 109516302 B CN109516302 B CN 109516302B CN 201811644416 A CN201811644416 A CN 201811644416A CN 109516302 B CN109516302 B CN 109516302B
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- 238000007599 discharging Methods 0.000 title claims abstract description 11
- 239000000463 material Substances 0.000 claims description 73
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 11
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 11
- 241001330002 Bambuseae Species 0.000 claims description 11
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 11
- 239000011425 bamboo Substances 0.000 claims description 11
- 238000005096 rolling process Methods 0.000 claims description 6
- 230000003247 decreasing effect Effects 0.000 claims description 2
- 230000008676 import Effects 0.000 claims description 2
- 239000004753 textile Substances 0.000 abstract description 8
- 238000009987 spinning Methods 0.000 description 17
- 238000004804 winding Methods 0.000 description 12
- 230000007246 mechanism Effects 0.000 description 6
- 230000005484 gravity Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000010330 laser marking Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
- B65H67/04—Arrangements for removing completed take-up packages and or replacing by cores, formers, or empty receptacles at winding or depositing stations; Transferring material between adjacent full and empty take-up elements
- B65H67/0405—Arrangements for removing completed take-up packages or for loading an empty core
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Landscapes
- Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention relates to the technical field of robots or textiles, in particular to a spindle feeding and discharging robot system, which comprises an AGV robot, a stacking device and a spindle frame, wherein the AGV robot comprises an AGV trolley and a manipulator fixed on the AGV trolley, an empty shaft and a spindle are arranged on the AGV trolley in a mode of moving up and down and horizontally relative to the AGV trolley, a camera is arranged at the suspended end part of the empty shaft and/or the spindle, a mark which can be distinguished by the camera is arranged on the spindle frame, so that the AGV trolley can control the relative position of the spindle and the spindle frame according to the camera and the mark, the spindle on the spindle can move to the spindle frame, a mark which can be distinguished by the camera is arranged on the stacking device, so that the AGV trolley can control the relative position of the empty shaft and the stacking device according to the camera and the mark, and the empty cylinder on the stacking device can move to the empty cylinder.
Description
Technical Field
The invention relates to the technical field of robots or textiles, in particular to a spindle feeding and discharging robot system.
Background
In the textile field, square textile threads are required to be wound on a hollow cylinder in a cylindrical state to form a usable spindle, (the hollow cylinder with the textile threads wound is also called a spinning cake), so that the spinning threads are only required to be pulled when the spinning spindle is used. The existing device for winding the textile thread on the empty drums is a mature technology, namely a spinning cake machine (also called a yarn winding machine or a spindle machine), and the spinning cake machine is used for simultaneously winding the textile thread on the empty drums by simultaneously placing a plurality of empty drums on one shaft, so that the efficiency is extremely high.
However, the empty cylinders are placed on the yarn winding machine to form a row, and at present, the empty cylinders are manually fed and discharged, namely, the empty cylinders are placed on the yarn winding machine in an artificial mode, after yarn is wound to form yarn cakes, the yarn cakes are taken down in an artificial mode, so that the production cost is high, and the efficiency is relatively low.
Disclosure of Invention
The invention aims to solve the problems of high feeding and discharging production cost and low efficiency of a spinning winding machine and provides a spindle feeding and discharging robot system.
In order to achieve the above object, the present invention provides the following technical solutions:
the utility model provides a unloading robot system on spindle, includes AGV robot, pile up neatly device and spindle frame, the spindle frame is used for hanging to hold and deposits the spindle, pile up neatly device is used for with scattered empty section of thick bamboo arrangement state, the AGV robot includes the AGV dolly and fixes manipulator on the AGV dolly, the manipulator includes the yarn axle that is used for hanging to hold the spindle and is used for hanging to hold empty section of thick bamboo, empty axle with the yarn axle all can be relative the mode setting that the AGV dolly reciprocated and horizontal migration is in on the AGV dolly, empty axle with/or the unsettled tip of yarn axle is provided with the camera, be provided with on the spindle frame can by the sign of camera set, so that the AGV dolly is according to the camera with the sign is controlled the relative position of yarn axle and spindle frame, thereby the yarn axle can be moved to the spindle frame, pile up neatly device is last to be provided with can be by the sign of the AGV dolly and the device is provided with the camera is empty according to the control position of the picture carrier.
As the preference, unloading robot system is gone up including being used for the AGV dolly walking AGV passageway, the cake machine is arranged to one side of AGV passageway, the opposite side of AGV passageway is arranged pile up neatly device with the spindle frame, empty axle with the yarn axle all sets up with the mode that can pivot on the AGV dolly, so that empty axle with the yarn axle all can point to the both sides of AGV passageway to the AGV dolly need not whole to turn to, and whole conveying efficiency is higher, and it is higher to go up unloading efficiency.
Preferably, the spindle frame comprises at least two yarn rods, the yarn rods are obliquely arranged, and the suspended ends of the yarn rods are higher, so that the spindle can be more firmly hung and held.
The stacking device comprises a material sorting part and a first track, wherein the material sorting part comprises a material sorting section and a limiting section, the material sorting section is gradually reduced from an inlet to an outlet, the outlet of the material sorting section is rectangular, and the width of the outlet of the material sorting section is smaller than twice the height of the empty cylinder; the export of limit section is the rectangle, reason material section export width is less than the twice of empty section of thick bamboo height, reason material section export intercommunication limit section import to make empty section of thick bamboo follow reason material section operation extremely limit section export, limit section export intercommunication first track, first track includes conveyer belt and first limiting plate, first limiting plate sets up the conveyer belt both sides are in order to restrict empty section of thick bamboo and roll.
Preferably, the stacking device further comprises a second rail and a third rail connected with the second rail, wherein an inlet of the second rail is connected with the outlet of the limited number section, and an outlet of the third rail is connected with an inlet of the first rail; the second rail is obliquely arranged in a way of gradually lowering from an inlet to an outlet, the inlet of the first rail is higher than the outlet of the second rail, and the third rail comprises a lifting component for lifting the empty cylinder to the first rail; the second track comprises a bottom plate and baffle plates, wherein the bottom plate is obliquely arranged, the baffle plates are arranged on two sides of the bottom plate, and the bottom plate and the baffle plates on two sides are matched to form a hollow cylinder rolling channel.
Preferably, a laser marker is arranged on the first track so as to print labels on the inner ring of the empty cylinder.
Preferably, the material sorting component comprises a limit box sleeved on the outlet of the material sorting section, the top of the limit box is opened to form a top opening, the side surface corresponding to one width edge of the limit box is opened to form a side opening, the bottom surface of the limit box is obliquely arranged and is close to one end of the inlet of the limit section, the limit box is arranged in a mode that the material sorting component can move up and down in the outlet of the material sorting component relatively, and the side opening corresponds to the inlet of the limit section so that an empty cylinder can move from the side opening of the limit box to the inlet of the limit section.
Preferably, one of the two opposite inner side surfaces in the inner side surfaces corresponding to the outlet edge of the material arranging section is an anti-blocking surface, and the anti-blocking surface is vertically arranged or obliquely arranged in an upper-inner-lower-outer mode.
Preferably, the stacking device comprises two material arranging parts and two second rails, wherein the outlets of the two second rails are connected with the inlet of one third rail, and the outlet of the second rail is provided with a limiting part so that empty cylinders from the second rails enter the third rail one by one.
Preferably, the limiting member includes a first limiting member and a second limiting member which are disposed in a telescopic manner, and the telescopic direction of the first limiting member and the telescopic direction of the second limiting member are inclined with respect to the extending direction of the passage of the second rail, so that when the telescopic manner of the first limiting member and the second limiting member is changed, the first limiting member and the second limiting member can limit the movement of the hollow cylinder in the second rail, and the distance between the first limiting member and the second limiting member is larger than the diameter of the hollow cylinder.
Preferably, the lifting component comprises a lifting support and a lifting part, the lifting part is a belt driving component or a chain driving component, a plurality of lifting supports are arranged on the lifting part, when the lifting part runs, the lifting supports are corresponding to the channel outlets of the second rail one by one so as to enable empty cylinders from the second rail to move to the lifting supports, and the lifting supports are corresponding to the inlets of the third rail one by one so as to enable the empty cylinders on the lifting supports to move to the conveying belt on the third rail under the pushing of the push rod.
Preferably, the lifting piece is formed by two chains which are arranged side by side, the two chains are synchronously driven, a supporting rod is arranged at the same height position of the two chains, and the two supporting rods are matched to form the lifting support.
Preferably, the open top of the side part of the limit box is provided with a connecting rod, two ends of the connecting rod are respectively fixed with two opposite inner side surfaces of the limit box, and the distance between the connecting rod and the bottom surface of the limit box is larger than the diameter of the empty cylinder and smaller than twice the diameter of the empty cylinder so as to only allow one empty cylinder to pass through.
Compared with the prior art, the invention has the beneficial effects that: the AGV robot is adopted to carry empty drums or spinning cakes according to a set track, and is also adopted to feed and discharge the spinning cake machine, so that compared with a manual mode, the automatic feeding machine is lower in cost and higher in efficiency; in addition, because the empty tube diameter on the spinning cake machine is less to the diameter of empty tube is also less, adopts conventional AGV robot can not make empty tube aim at the empty tube on the spinning cake machine, and conventional AGV robot can't utilize to the last unloading of spinning cake machine promptly, and this application adopts conventional AGV's positioning system to carry out coarse positioning, adopts image recognition to carry out more accurate location again, lets the empty tube and the empty tube of spinning cake machine's position error in the range of allowing, makes the last unloading mechanized of spinning cake machine become reality, and is efficient.
Description of the drawings:
FIG. 1 is a schematic diagram of a robotic system for loading and unloading a spindle according to the present disclosure;
FIG. 2 is a schematic view of the F-direction of FIG. 1;
FIG. 3 is a schematic view of the AGV robot of the present application;
FIG. 4 is a schematic view of the manipulator of the present application;
FIG. 5 is a schematic view of another working state of the manipulator of the present application, different from that of FIG. 4;
FIG. 6 is a schematic diagram of the principle of operation of the palletizing device of the present application;
FIG. 7 is a schematic view of a semi-sectional structure of the palletizing device of the present application;
FIG. 8 is an enlarged partial schematic view of B in FIG. 7;
FIG. 9 is an enlarged schematic view of part of C in FIG. 7;
FIG. 10 is an enlarged schematic view of portion D of FIG. 7;
FIG. 11 is a schematic view in half section from E in FIG. 7;
FIG. 12 is an enlarged partial schematic view of F in FIG. 11;
FIG. 13 is a schematic view of the material handling unit of the present application;
FIG. 14 is an enlarged partial schematic view of FIG. 13A;
FIG. 15 is a schematic view of the structure of the lifting member of the present application;
FIG. 16 is a schematic view of the structure of the limit case of the present application;
FIG. 17 is a schematic view of a lift assembly of another view of the present application, different from that of FIG. 15;
FIG. 18 is a schematic view of the G-direction cross-section of FIG. 17;
FIG. 19 is a schematic view of another construction of the lifting member of the present application, different from FIG. 18;
FIG. 20 is a schematic view of an empty cartridge retaining state;
FIG. 21 is a schematic illustration of the anti-seize face;
FIG. 22 is a schematic illustration of the anti-seize face;
the marks in the figure: 100-material arranging parts, 110-vertical sections, 120-material arranging sections, 121-anti-clamping surfaces, 122-block increasing inclined surfaces, 130-limit boxes, 131-limit box bottom surfaces, 132-top openings, 133-side openings, 134-support plates, 135-connecting rods, 140-limit sections, 150-limit driving mechanisms, 200-first tracks, 300-second tracks, 311-limit baffles, 400-third tracks, 410-lifting parts, 411-chain wheels, 412-lifting parts, 413-lifting brackets, 500-limiting parts, 511-first limiting parts, 512-second limiting parts, 600-spindle frames, 700-stacking devices, 800-AGV robots, 810-manipulators, 811-fixing frames, 812-vertical members, 813-horizontal members, 814-rotating members, 815-hollow shafts, 816-spindle shafts, 817-cameras, 820-AGV carriages, 900-hollow shafts, 910-laser marking machines, 920-push rods, 930-spindle frames, 950-AGV spindle drives.
Detailed Description
The present invention will be described in further detail with reference to test examples and specific embodiments. It should not be construed that the scope of the above subject matter of the present invention is limited to the following embodiments, and all techniques realized based on the present invention are within the scope of the present invention.
Referring to fig. 1 and 2, a feeding and discharging robot system for a spindle 930 comprises an AGV robot 800, a stacking device 700 and a spindle rack 600, wherein the spindle rack 600 is used for hanging and storing the spindle 930, the stacking device 700 is used for arranging scattered empty bobbins 900 into a columnar arrangement state, the AGV robot 800 comprises an AGV trolley 820 and a manipulator 810 fixed on the AGV trolley 820, the manipulator 810 comprises a spindle 816 for hanging and holding the spindle 930 and an empty bobbin 815 for hanging and holding the empty bobbin 900, the empty bobbin 815 and the spindle 816 are arranged on the AGV trolley 820 in a mode of being capable of moving up and down and horizontally relative to the AGV trolley 820, a camera 817 is arranged at the suspended end of the empty bobbin 815 and/or the suspended end of the spindle 816, a mark capable of being set by the camera 817 is arranged on the spindle rack 600, so that the relative positions of the spindle 816 and the spindle rack 600 can be controlled according to the camera 817 and the mark, the spindle 930 on the spindle 816 can be moved to the spindle rack 600, and the stacking device 700 can be controlled by the camera 817 relative to the empty bobbin 700.
Referring to fig. 1 and 2, the feeding and discharging robot system on spindle 930 includes an AGV channel 950 for the running of an AGV trolley 820, a cake machine 940 is arranged on one side of the AGV channel 950, a stacking device 700 and a spindle frame 600 are arranged on the other side of the AGV channel 950, and an empty shaft 815 and a spindle 816 are arranged on the AGV trolley 820 in a pivotable manner so that both sides of the empty shaft 815 and the spindle 816 can point to the AGV channel 950, so that the AGV trolley 820 does not need to be integrally steered, the overall carrying efficiency is higher, and the feeding and discharging efficiency is higher. The spindle frame 600 includes at least two yarn bars, which are arranged obliquely and have a higher suspended end, thereby being capable of more firmly hanging the spindle 930.
The AGV robot comprises an AGV trolley 820, a control part, a hollow shaft 815 and a yarn shaft 816 parallel to the hollow shaft 815 side by side, wherein the hollow shaft 815 is arranged on the AGV trolley 820 in a mode of being capable of moving up and down and horizontally relative to the AGV trolley 820, and the up and down movement is not only vertical movement, but also vertical movement from a starting point to a stopping point, namely the up and down movement referred to in the application, and the horizontal movement is also the same; one end of the hollow shaft 815 is fixed on the AGV trolley 820, the other end is suspended, a camera 817 is arranged at the suspended end, and the angle error between the visual angle axis of the camera 817 and the extension line of the hollow shaft 815 is not more than 5 degrees; the slidable is provided with the push pedal on the AGV dolly 820, make the push pedal can follow the extension orbit slip of empty axle 815, the distance 148mm-316mm of push pedal and empty axle 815, the distance 294mm-462mm of push pedal and yarn axle 816, thereby remove the push pedal and can promote empty section of thick bamboo 900 on empty axle 815 or the spindle 930 on yarn axle 816 so that they are removed from the AGV dolly 820, this application robot includes control unit, similar control system, be the brain of this application AGV robot, it controls the walking orbit of AGV dolly 820, the removal of control push pedal, obtain the video image of camera 817, handle the video image of camera 817 in order to reach the purpose of this application.
The hollow shaft 815 and the spool 816 are each rotatably disposed on the AGV 820 relative to the AGV 820. Because the empty drum 900 stacker and the wire winding machine are not together, the stacking distance is relatively long, the empty drum 900 stacker and the wire winding machine are relatively large, if the empty drum 900 stacker and the wire winding machine are on the same side and are arranged on the same side of a pedestrian, the AGV trolley 820 walks between the empty drum 900 stacker and the wire winding machine to form an n-shaped track, and walks between the cake machine 940 and the spindle stacker to form an n-shaped track; if the empty drum 900 stacker and the wire winding machine are not placed side by side on the same side but on different sides of a pedestrian, the AGV trolley 820 walks between the empty drum 900 stacker and the wire winding machine in a straight track, so that the running efficiency is higher; empty axle 815 and spool 816 can both rotate in vertical plane relative AGV dolly 820, see specifically fig. 2 and 3 from this, need not AGV dolly 820 turn 180 can realize the switching-over, combines the mode that above-mentioned heterolateral placed, and whole transport efficiency is higher.
The suspended end of the spool 816 is provided with a distance sensor to obtain the distance between the suspended end of the spool 816 and an obstacle in the extending direction of the spool 816.
Specifically, referring to fig. 3 to 5, the AGV cart 820 includes an AGV cart 820 and a robot 810 fixed to the AGV cart 820, the robot 810 includes a fixing frame 811, a vertical member 812, a horizontal member 813 and a rotating member 814, a vertical slide rail is provided on the fixing frame 811, a member matching the vertical slide rail is provided on the vertical member 812 so that the vertical member 812 can slide up and down, a horizontal member 813 is provided on the vertical member 812 so as to be horizontally movable, a rotating member 814 is provided on the horizontal member 813 so as to be rotatable in a vertical plane, a hollow shaft 815 and a yarn shaft 816 are provided on the rotating member 814 so as to be horizontally movable, the horizontal member 813 moves in an X direction relative to the vertical member 812, the hollow shaft 815 and the yarn shaft 816 move in a Y direction relative to the rotating member 814, X and Y are not parallel, the vertical member 812 can move in a Z direction relative to the fixing frame 811, and in particular, X, Y and Z are perpendicular to each other. The push pedal is fixed on the guide rail slider along the x-axis direction, and the guide rail is fixed on the electric cylinder slider along the z-axis direction, and the electric cylinder is fixed on the AGV dolly.
When the AGV robot is adopted to take materials, a first mark which can be recognized by a camera is arranged on the empty cylinder 900 stacker, a control part controls the AGV trolley 820 to move to a preset position of the empty cylinder 900 stacker by adopting a traditional AGV control method, the first mark is arranged in an image obtained by the camera, and the control part obtains a first distance and a first direction of a hanging end part of an empty cylinder 815 and an empty cylinder 900 to be taken down on the stacker according to an image obtained by the camera and provided with the first mark, and the control part enables the empty cylinder 815 to move for a first distance in the first direction, so that a mechanism on the empty cylinder 900 stacker pushes the empty cylinders 900 to enable a preset number of empty cylinders 900 to move to the empty cylinders 815.
When the AGV robot is used for discharging, a second mark which can be identified by a camera is arranged on the spinning cake machine 940/spindle stacker, the control component controls the AGV trolley 820 to move to a preset position of the spinning cake machine 940/spindle stacker by adopting a traditional AGV control method, the second mark is arranged in an image acquired by the camera, the control component acquires the second distance and the second direction between the suspended end of the empty shaft 815/spindle 816 and the position of the empty shaft 900/spindle 930 to be placed on the spinning cake machine 940/spindle stacker according to the image acquired by the camera and the second mark, and then the control component enables the empty shaft 815/spindle 816 to move for the second distance in the second direction, and then the push plate moves to enable the empty shaft 900/spindle 930 on the empty shaft 815/spindle 816 to move to the spinning cake machine 940/spindle stacker.
Referring to fig. 6, a textile empty drum stacking device comprises a material arranging part 100, a first rail 200, a second rail 300 and a third rail 400 which are sequentially connected with each other, wherein the first rail 200 is horizontally arranged, the second rail 300 is obliquely arranged, the third rail is vertically arranged, and an empty drum 900 passes through the second rail 300 and the third rail 400 sequentially after coming out of the material arranging part 100, and finally reaches the first rail 200.
Referring to fig. 13 and 14, the material arranging part 100 includes a vertical section 110, a material arranging section 120 and a number limiting section 140 which are sequentially connected with each other, the inner wall of the vertical section 110 is vertically arranged, and the material arranging section 120 is gradually smaller from an inlet to an outlet. The outlet of the material arranging section 120 is rectangular and 79mm wide, and because the diameter of the empty cylinders 900 is 73mm and the length of the empty cylinders 900 is 83mm, the empty cylinders 900 can only come out of the material arranging section 120 in a single row, and two empty cylinders 900 are not blocked at the outlet of the material arranging section 120 side by side; the outlet of the finite number section 140 is rectangular, 103mm long and 83mm wide so that only one empty cartridge 900 can be run at a time out of the finite number section 140 outlet.
Four sides of the outlet of the material arranging section 120 correspond to four inner side surfaces, one of two opposite inner side surfaces of the four inner side surfaces is an anti-blocking surface 121, that is, two adjacent inner side surfaces of the four inner side surfaces are anti-blocking surfaces 121, and the anti-blocking surfaces 121 are vertically arranged or the anti-blocking surfaces 121 are obliquely arranged in an upper, inner, lower and outer mode. Specifically, referring to fig. 12 to 14, the material sorting section 120 includes four inner sides, two adjacent inner sides of the four inner sides are anti-seizing surfaces 121, the anti-seizing surfaces 121 are vertically arranged, referring to fig. 17 and 18, two adjacent surfaces are vertical planes, which are anti-seizing surfaces 121, and inner wall surfaces opposite to the anti-seizing surfaces 121 are inclined surfaces, so that the material sorting section 120 is gradually narrowed from top to bottom, and the empty cylinder 900 can move towards the outlet of the material sorting section 120 under the action of dead weight after entering the material sorting section 120. Referring to fig. 12, a block is arranged in the material arranging section 120, the block is adjacent to an anti-blocking surface 121, one side surface of the block forms the anti-blocking surface 121, the block surface opposite to the anti-blocking surface 121 adjacent to the block is also a vertical plane, the anti-blocking surface 121 is formed, and the top surface of the block is inclined to form the block inclined surface 122. If the two opposite inner wall surfaces of the material handling section 120 are inclined surfaces, as shown in fig. 19, the problem of the two empty cylinders 900 being clamped can occur on the inner wall surfaces, and the outlet of the material handling section 120 can be blocked. If two opposite inner wall surfaces, one of which is a vertical plane, as shown in fig. 16, the problem of clamping of two empty cylinders 900 does not occur, the empty cylinder 900 next to the vertical plane is stacked on the other empty cylinder 900, and is not clamped, and does not block the outlet of the material arranging section 120, as shown in fig. 12 and 13, two of the four corresponding inner wall surfaces of the outlet of the material arranging section 120 are vertical planes, and are anti-clamping surfaces 121.
Of course, the anti-blocking surface 121 does not have to be vertical, so long as the problem of blocking the two hollow cylinders 900 can be avoided, and two opposite inner wall surfaces are required to be matched. In another way, as shown in fig. 22 and 19, the anti-blocking surface 121 is obliquely arranged in an upper, inner and lower manner, the upper and lower distinction is made according to the gravity direction, the inner and outer distinction is made in the direction toward the material sorting section 120, the direction away from the material sorting section 120 is the outer, the upper, inner and lower distinction is the oblique direction of the inclined surface, the upper inner distinction is the downward direction relative to the inclined surface, that is, the direction above the inclined surface is in the direction toward the material sorting section 120 relative to the direction below the inclined surface, as shown in fig. 19 and 22, the illustrated state is that the upper part of the inclined surface is more toward the left, the lower outer distinction is the direction below the inclined surface is out of the material sorting section 120 relative to the upper part of the inclined surface, as shown in fig. 14 and 17, and the illustrated state is that the lower part of the inclined surface is more toward the right relative to the upper part of the inclined surface.
Referring to fig. 13 and 14, the material arranging part 100 includes a number limiting device, the number limiting device includes a number limiting driving mechanism 150 and a number limiting box 130 sleeved with an outlet of the material arranging part 100, a top opening 132 is formed by opening the top of the number limiting box 130, an outlet of the material arranging part 100 is formed by opening the top opening 132, a side opening 133 corresponding to one width edge of the number limiting box 130 is formed by opening a side, the side opening 133 corresponds to one vertical anti-blocking surface 121 and is also connected with an inlet of the second rail 300, and a number limiting section 140 is formed by an inlet of the second rail 300 in this embodiment. The bottom surface 131 of the limit case is obliquely arranged and the end near the inlet of the limit section 140 is lower, and the limit case 130 is specifically shown in fig. 11.
Referring to fig. 14 and 16, a connecting rod 135 is provided at the top of the side opening 133 of the limit case 130, and both ends of the connecting rod 135 are respectively fixed to two opposite inner sides, and since the limit case 130 has no side at the side, the strength is low, and the two sides are fixed together by adding the connecting rod 135, so that the overall strength of the limit case 130 is good. The distance between the connecting rod 135 and the bottom surface 131 of the limit box is 53mm, so that only one empty cylinder 900 can pass through at a time, and the problem that a plurality of empty cylinders 900 are blocked mutually to block the limit box 130 is avoided.
Referring to fig. 13 and 14, the limit box 130 is slidably disposed in the outlet of the material handling section 120 by a limit driving mechanism 150, and the limit driving mechanism 150 includes a cylinder and a guide rod, the cylinder drives the limit box 130 to lift, and the guide rod is used for guiding the lift of the limit box 130. The outer wall of the limit box 130 is in clearance fit with the outlet of the material sorting section 120, and the side opening of the limit box 130 corresponds to the inlet of the limit section 140, so that the empty cylinder 900 can run from the side opening of the limit box 130 to the inlet of the limit section 140. When the number of empty cylinders 900 in the material arranging part 100 is large, the problem that the empty cylinders 900 are easy to be clamped easily occurs, and the limit box 130 is driven to move up and down in the material arranging part 100 by the limit mechanism to break the clamping state of the plurality of rollers, so that the rollers enter the material arranging box according to the preset gesture, and then enter the second track 300, so that the arrangement efficiency is higher. One side of the material handling part 100 is omitted in fig. 13 and 14, and one side of the limit case 130 is also omitted. The limit case 130 in fig. 10, 13 and 14 is in a low position state in which the limit case bottom surface 131 is higher than the limit stopper 311, and the drum in the limit case 130 moves along the limit case bottom surface 131 under the action of gravity and passes over the limit stopper 311 to enter the second rail 300. The limit box 130 in fig. 3 is in a raised position, where the limit box bottom 131 is below the limit stop 311, and the drum cannot pass over the stop into the second track 300. The number limiting baffle 311 is matched with the number limiting box 130 which can be lifted, and the number and time of the empty cylinders 900 which can enter the second track 300 are controllable. The second track 300 is obliquely arranged, although the limiting part 500 is arranged at the outlet of the second track 300, part of the weight of the empty cylinder 900 in the material arranging part 100 can be transferred to the limiting part 500, so that a larger bearing capacity is caused to the limiting part 500, the limit baffle 311 is added, the weight of the empty cylinder 900 in the material arranging part 100 can be isolated and transferred to the limiting part 500, and the stress of the limiting part 500 is reduced, so that the limiting part 500 works more reliably. Moreover, if the limiting component 500 fails, the empty cylinders 900 in the material arranging component 100 cannot directly enter the second rail 300 and are separated from the stacking device according to the application due to the limitation of the limiting baffle 311, and only the empty cylinders 900 in the second rail 300 are separated, so that the safety is high.
Referring to fig. 6, 7, 9, 11 and 12, the palletizing device includes two material arranging parts 100 and two second rails 300, wherein the outlets of the two second rails 300 are connected with the inlet of one third rail 400, and particularly as shown in fig. 1 and 4, the two second rails 300 and one third rail 400 are connected to form an inverted "character" shape, and the outlets of the second rails 300 are provided with a limiting part 500 to allow empty cartridges 900 from the second rails 300 to enter the third rail 400 one by one. The use of two material handling members 100 to simultaneously provide the empty cartridges 900 to one first rail 200 can improve palletizing efficiency. The stop member 500 is employed to avoid the empty cartridges 900 from the two second rails 300 from seizing at the junction.
Specifically, the limiting member 500 includes a first limiting member 511 and a second limiting member 512 that are disposed in a telescopic manner, where the telescopic directions of the first limiting member 511 and the second limiting member 512 are inclined with respect to the extending direction of the channel of the second rail 300, so that when the telescopic manners of the first limiting member 511 and the second limiting member 512 are changed, the first limiting member 511 and the second limiting member 512 can limit the movement of the hollow cylinder 900 in the second rail 300, and preferably, the telescopic directions of the first limiting member 511 and the second limiting member 512 are identical to the axial direction of the hollow cylinder 900, that is, perpendicular to the extending direction of the channel of the second rail 300, and the distance between the first limiting member 511 and the second limiting member is greater than the diameter of the hollow cylinder 900. Preferably, referring to fig. 12, the expansion and contraction directions of the first stopper 511 and the second stopper 512 are the same as the axial direction of the hollow cylinder 900, that is, perpendicular to the extending direction of the passage of the second rail 300, the first stopper 511 is in contact with the outer wall of the hollow cylinder 900 after being expanded, and the second stopper 512 is in contact with the inner wall of the hollow cylinder 900 after being expanded, so that when the first stopper 511 is contracted, the state of the second stopper 512 remains unchanged, at this time, one hollow cylinder 900 rolls into the third rail 400, then the first stopper 511 is expanded, after the first stopper 511 is fully expanded, remains in an expanded state, then the second stopper 512 is contracted, the other hollow cylinder 900 rolls out of the second stopper 512 in the second rail 300 until in contact with the first stopper 511, is blocked from entering the third rail 400 by the first stopper 511, and the hollow cylinder 900 after the other hollow cylinder 900 also rolls along with the other hollow cylinder 900 until being blocked by the inner wall of the other hollow cylinder 900 after the second stopper 512 rolls to limit the other hollow cylinder 900. In this way, control of the number of empty cartridges 900 exiting the second track 300 is achieved. The number of the empty cylinders 900 may be limited in various ways, and the first limiting member 511 may be in contact with the inner wall of the empty cylinder 900 in addition to the above-mentioned method, which is not easy to control, only by combining the rolling speed of the empty cylinder 900. The second limiting member 512 may also contact the outer wall of the empty cylinder 900 to limit the empty cylinder 900 from rolling, which may increase the length of the second track 300 or reduce the number of empty cylinders 900 in the second track 300, which may reduce the temporary storage amount of the whole stacking apparatus. The first and second stoppers 511 and 512 may be formed by driving one rod using a cylinder.
Referring to fig. 6, 11 and 12, the third rail 400 is vertically disposed and is communicated with the second rail 300 and the first rail 200, the second rail 300 is obliquely disposed, the first rail 200 is horizontally disposed, the empty drum 900 descends along the second rail 300 after coming out of the material arranging part 100, ascends along the third rail 400, and finally the stacking action is completed on the first rail 200. The second rail 300 is inclined to enable the empty cylinders 900 to move under the action of dead weight, no additional driving force is needed, and the third rail 400 is added, so that the height of the first rail 200 is improved, the empty cylinders 900 which are stacked conveniently run, and the material arranging part 100 does not need to be arranged too high, so that scattered empty cylinders 900 can be poured into the material arranging part 100 manually. By adding the second track 300 and the third track 400, the buffer capacity of the hollow cylinder 900 in the whole stacking device can be increased, the buffer capacity still allows continuous stacking under the condition that the hollow cylinder 900 in the material arranging part 100 is not available, and enough time is reserved for manual dumping, so that the stacking device can continuously and intermittently stack, and the production efficiency is improved.
Referring to fig. 6, 7, 9, 12 and 13, the second rail 300 is inclined in such a manner that the inlet is gradually lowered from the inlet to the outlet, the inlet of the first rail 200 is higher than the outlet of the second rail 300, the second rail 300 includes a bottom plate arranged in an inclined manner and baffles provided at both sides of the bottom plate, the baffles at both sides of the bottom plate are spaced apart by 63mm, the bottom plate and the baffles at both sides cooperate to form a channel along which the hollow cylinder 900 rolls, and the hollow cylinder 900 can roll under the action of its own gravity in the second rail 300 from the inlet of the second channel to the outlet of the second channel.
Referring to fig. 9, 12 and 15, the third rail 400 includes a lifting member 410 to lift the hollow cylinder 900 to the first rail 200, the lifting member 410 includes a lifting bracket 413 and a lifting member 412, the lifting member 412 is a belt driving member or a chain driving member, the lifting member 412 is provided with a plurality of lifting brackets 413, referring specifically to fig. 10, the lifting member 412 is a chain driving member, two chains are arranged in parallel, one chain is matched with two chain wheels 411, the chain wheels 411 adopted at one end of the two chains are fixed together, the two chains are driven relative to one chain wheel 411 to realize synchronous rotation of the two chains, two parallel side-by-side struts are respectively provided with one strut, the parallel side-by-side struts form the lifting bracket 413, the side-by-side distance of the two chains is 98mm, so that the side-by-side strut distance is 58mm smaller than the diameter of the hollow cylinder 900, and thus the hollow cylinder 900 does not fall directly after rolling to the lifting bracket 413 composed of the two struts, and at the same time, the hollow cylinder 900 is trapped in the gap between the two struts and does not roll, thereby, the two chains have the function of a baffle plate. When the lifting member 412 is operated, the plurality of lifting brackets 413 correspond one by one to the passage outlet of the second rail 300 to allow the empty cylinder 900 from the second rail 300 to move to the lifting brackets 413, the plurality of lifting brackets 413 also correspond one by one to the inlet of the third rail 400 to allow the empty cylinder 900 on the lifting brackets 413 to move to the conveyor belt on the third rail 400 under the pushing of the push rod 920, the push rod 920 is disposed at the top of the lifting member 410, between two chains, and can pass through from the middle of the two chains, see fig. 7 and 10, the head of the push rod 920 is sized larger in the vertical direction than the empty cylinder 900 so as to push the entire empty cylinder 900, the push rod 920 is driven by the cylinder, so that when the empty cylinder 900 is lifted to a predetermined position under the driving of the two chains, the cylinder-start push rod 920 pushes the empty cylinder 900 through the two chains until the empty cylinder 900 is pushed to the conveyor belt on the first rail 200, as in fig. 7, even though the push rod 920 has pushed one drum to the conveyor belt, and then the push rod 920 waits for the next empty cylinder 900 to be lifted to a preset position under the driving of the cylinder.
The outlet of the material sorting section 120 is communicated with the inlet of the limit section 140 so that the empty cylinders 900 run from the material sorting section 120 to the outlet of the limit section 140, thus, the length of the outlet of the limit section 140 enables the empty cylinders 900 to only come out of the limit section 140 one by one, and the position mode of the outlet is determined, so that a great number of disordered empty cylinders 900 are discharged one by one according to a certain position mode through the material sorting component 100, and since the outlet of the limit section 140 is communicated with the first rail 200 through the second rail 300 and the third rail 400, the first rail 200 comprises a conveying belt and a first limiting plate, the first limiting plates are arranged on two sides of the conveying belt so as to limit the empty cylinders 900 to roll, therefore, the empty cylinders 900 coming out of the material sorting component 100 according to a certain position mode are conveyed onto the conveying belt one by one, are arranged in rows on the conveying belt according to a certain speed, and the conveying belt is operated at a certain speed, so that after the last empty cylinder 900 runs a certain distance on the conveying belt, the next empty cylinder 900 falls down again, and the two empty cylinders 900 cannot be overlapped. The finite number section 140 outlets described herein are in communication with the first rail 200, including the finite number section 140 outlets being directly connected to the first rail 200, and also including the finite number section 140 outlets being connected to the first rail 200 by other rails or other means, so long as the empty cartridge 900 is capable of traveling to the first rail 200 through the finite number section 140 outlets.
The second rail 300 is obliquely arranged in a manner of gradually decreasing from the inlet to the outlet, the inlet of the first rail 200 is higher than the outlet of the second rail 300, the second rail 300 comprises an obliquely arranged bottom plate and baffle plates arranged on two sides of the bottom plate, the baffle plates on two sides of the bottom plate are 63mm apart, the bottom plate and the baffle plates on two sides cooperate to form a channel for rolling the hollow cylinder 900, and the hollow cylinder 900 can roll along the channel under the action of self gravity in the second rail 300 and roll from the inlet of the second channel to the outlet of the second channel.
A laser marking machine 910 is provided on the first rail 200 to print marks on the inner circumference of the empty cylinder 900, and the laser marking machine 910 refers to a device that uses a laser beam to mark permanent marks on the surfaces of various substances.
Claims (10)
1. The spindle feeding and discharging robot system is characterized by comprising an AGV robot (800), a stacking device (700) and a spindle frame (600), wherein the spindle frame (600) is used for hanging and storing spindles (930), the stacking device (700) is used for arranging scattered empty cylinders (900) into a columnar arrangement state,
the AGV robot (800) comprises an AGV trolley (820) and a manipulator (810) fixed on the AGV trolley (820), the manipulator (810) comprises a yarn shaft (816) for hanging a yarn spindle (930) and an empty shaft (815) for hanging an empty cylinder (900), the empty shaft (815) and the yarn shaft (816) are arranged on the AGV trolley (820) in a mode of being capable of moving up and down and horizontally relative to the AGV trolley (820),
the hanging end of the hollow shaft (815) and/or the yarn shaft (816) is provided with a camera (817), the yarn spindle frame (600) is provided with a mark which can be identified by the camera (817), so that the AGV trolley (820) can control the relative positions of the yarn shaft (816) and the yarn spindle frame (600) according to the camera (817) and the mark, and therefore the yarn spindle (930) on the yarn shaft (816) can move to the yarn spindle frame (600),
the stacking device (700) is provided with a mark which can be identified by the camera (817), so that the AGV trolley (820) can control the relative position of the empty shaft (815) and the stacking device (700) according to the camera (817) and the mark, and the empty cylinder (900) on the stacking device (700) can move to the empty cylinder (900).
2. The spindle loading and unloading robot system according to claim 1, comprising an AGV aisle (950) for the AGV trolley (820) to travel, a cake machine (940) is arranged on one side of the AGV aisle (950), the stacking device (700) and the spindle rack (600) are arranged on the other side of the AGV aisle (950), and the empty spindle (815) and the spindle (816) are both pivotally arranged on the AGV trolley (820) so that the empty spindle (815) and the spindle (816) can be directed to both sides of the AGV aisle (950).
3. The spindle loading and unloading robot system according to claim 1, wherein the spindle carrier (600) comprises at least two yarn bars, the yarn bars being arranged obliquely and the suspended ends of the yarn bars being higher.
4. The spindle loading and unloading robot system according to claim 1, wherein the stacking device comprises a material sorting component (100) and a first track (200), the material sorting component (100) comprises a material sorting section (120) and a limiting section (140), the material sorting section (120) is gradually reduced from an inlet to an outlet, the outlet of the material sorting section (120) is rectangular, and the outlet width of the material sorting section (120) is less than twice the height of the empty cylinder; the export of limit section (140) is the rectangle, the export of limit section (140) is less than the twice of empty section of thick bamboo height, reason material section (120) export intercommunication limit section (140) import to make empty section of thick bamboo (900) from reason material section (120) operation extremely limit section of thick bamboo (140) export, limit section of thick bamboo (140) export intercommunication first track (200), first track (200) include conveyer belt and first limiting plate, first limiting plate sets up in the conveyer belt both sides are in order to restrict empty section of thick bamboo (900) roll.
5. The spindle loading and unloading robot system according to claim 4, wherein the palletizing device further comprises a second rail (300) and a third rail (400) connected with the second rail (300), an inlet of the second rail (300) being connected with an outlet of the finite number section (140), an outlet of the third rail (400) being connected with an inlet of the first rail (200);
the second rail (300) is arranged in an inclined manner in a gradually decreasing manner from an inlet to an outlet, the inlet of the first rail (200) is higher than the outlet of the second rail (300), and the third rail (400) comprises a lifting part (410) to lift the empty cylinder (900) to the first rail (200);
the second track (300) comprises a bottom plate and baffle plates arranged on two sides of the bottom plate in an inclined mode, and the bottom plate and the baffle plates on two sides are matched to form a channel for rolling the hollow cylinder (900).
6. The spindle loading and unloading robot system according to claim 4, wherein one of the two opposite inner sides of the inner side corresponding to the outlet side of the material arranging section (120) is an anti-seizing surface (121), and the anti-seizing surface (121) is vertically arranged or the anti-seizing surface (121) is obliquely arranged in an upper, inner, lower and outer manner.
7. The spindle loading and unloading robot system according to claim 5, wherein the stacking device comprises two material handling components (100) and two second rails (300), wherein the outlets of the two second rails (300) are connected with the inlet of one third rail (400), and the outlet of the second rail (300) is provided with a limiting component (500) to allow empty cylinders (900) from the second rail (300) to enter the third rail (400) one by one.
8. The spindle loading and unloading robot system according to claim 7, wherein the limiting member (500) includes a first limiting member (511) and a second limiting member (512) that are disposed in a telescopic manner, and a telescopic direction of the first limiting member (511) and the second limiting member (512) is inclined with a channel extending direction of the second rail (300), so that when the telescopic manner of the first limiting member (511) and the second limiting member (512) is changed, the first limiting member (511) and the second limiting member (512) can limit movement of the hollow cylinder (900) in the second rail (300), and a distance between the first limiting member (511) and the second limiting member is larger than a diameter of the hollow cylinder (900).
9. The spindle loading and unloading robot system according to claim 5, wherein the lifting component (410) comprises a lifting support (413) and a lifting member (412), the lifting member (412) is a belt driving component or a chain driving component, a plurality of lifting supports (413) are arranged on the lifting member (412), when the lifting member (412) operates, the lifting supports (413) are corresponding to the channel outlets of the second track (300) one by one so as to enable the empty cylinders (900) from the second track (300) to move to the lifting supports (413), and the lifting supports (413) are also corresponding to the inlets of the third track (400) one by one so as to enable the empty cylinders (900) on the lifting supports (413) to move onto the conveying belt on the third track (400) under the pushing of the push rod (920).
10. The spindle loading and unloading robot system according to claim 9, wherein the lifting member (412) is formed by two chains arranged side by side, the two chains are synchronously driven, a supporting rod is arranged at the same height position of the two chains, and the two supporting rods are matched to form the lifting support (413).
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| CN201811644416.1A CN109516302B (en) | 2018-12-29 | 2018-12-29 | Spindle feeding and discharging robot system |
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| CN201811644416.1A CN109516302B (en) | 2018-12-29 | 2018-12-29 | Spindle feeding and discharging robot system |
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| CN111498610B (en) * | 2020-04-02 | 2022-03-18 | 浙江理工大学 | Yarn bobbin head yarn tail yarn capturing and knotting device and method |
| CN112061799B (en) * | 2020-09-29 | 2021-09-07 | 闽江学院 | Nylon spinning cake stacking device |
| CN113979224B (en) * | 2021-12-06 | 2024-09-24 | 广州赛奥碳纤维技术股份有限公司 | Full-automatic yarn changing manipulator |
| CN116334798A (en) * | 2021-12-23 | 2023-06-27 | 合肥松宝科技有限公司 | Automatic and efficient collection method for full wire cylinder |
| CN115467179B (en) * | 2022-10-08 | 2023-12-15 | 江苏亚盛金属制品有限公司 | Stainless steel wire stranded device |
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