CN112591557A - Automatic feeding and head wire cutting combined robot for material collecting and coiling barrel - Google Patents
Automatic feeding and head wire cutting combined robot for material collecting and coiling barrel Download PDFInfo
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- CN112591557A CN112591557A CN202011408159.9A CN202011408159A CN112591557A CN 112591557 A CN112591557 A CN 112591557A CN 202011408159 A CN202011408159 A CN 202011408159A CN 112591557 A CN112591557 A CN 112591557A
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- coil
- cutting
- clamping jaw
- cylinder
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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
- B65H67/0417—Arrangements for removing completed take-up packages or for loading an empty core for loading an empty core
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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
- B65H67/0411—Arrangements for removing completed take-up packages or for loading an empty core for removing completed take-up packages
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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
- B65H67/08—Automatic end-finding and material-interconnecting arrangements
- B65H67/081—Automatic end-finding and material-interconnecting arrangements acting after interruption of the winding process, e.g. yarn breakage, yarn cut or package replacement
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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
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/31—Textiles threads or artificial strands of filaments
- B65H2701/312—Fibreglass strands
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- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Wire Processing (AREA)
Abstract
The invention discloses a composite robot for automatic feeding and head wire cutting of a winding drum, which comprises a multi-joint mechanical arm, a rotary swing head, a winding drum separating device and a composite robot base, wherein the multi-joint mechanical arm is arranged on the composite robot base, the end part of the multi-joint mechanical arm is provided with the rotary swing head, the composite robot base is internally provided with the winding drum separating device, the rotary swing head comprises a mounting seat, a head wire cutting device and a winding drum taking and placing device, the end part of the multi-joint mechanical arm is connected with the mounting seat, and the mounting seat is provided with the head wire cutting device and the winding drum taking and placing device. The full-automatic cutting-off of the first yarns, the separation between the winding barrel and the winding barrel, the alignment and sleeving of the winding barrel and the wire drawing machine head, the positioning of the winding barrel on the wire drawing machine head and the automatic data transmission function are realized, the manual intervention degree is greatly reduced, the manual operation is reduced, the positioning consistency is ensured, and the production efficiency is improved.
Description
Technical Field
The invention relates to the technical field of glass fiber manufacturing, in particular to a composite robot for automatic feeding and head wire cutting of a coil collecting cylinder.
Background
At present, a yarn group produced in a wire drawing workshop in the glass fiber industry, namely the glass fiber yarn group, is formed by winding a plurality of fine glass fibers formed by drawing molten glass, the yarn group is taken down from a wire drawing machine head by manual or other auxiliary equipment and is placed on a yarn trolley tile, and then a yarn trolley provided with a plurality of yarn groups is conveyed out of the wire drawing workshop by manual or other modes. Before the yarn group is taken out, staff need to cut off the connecting filament between the yarn group and the machine head, namely the head yarn (or the head filament) by a knife and throw the head yarn to a specified position. After the yarn ball on the machine head is taken down, a winding cylinder needs to be manually supplemented to the machine head so as to prepare for winding the subsequent yarns on a paper cylinder. The existing primary yarn cutting method is completely manually operated, and the staff can cause accidents such as self cutting or pricking due to slight negligence; meanwhile, the existing glass fiber winding barrel feeding method is completely operated manually, the separation between the winding barrel and the winding barrel, the sleeving of the winding barrel into the head of the wire drawing machine and the positioning operation of the winding barrel on the head of the wire drawing machine are completed, the operation of workers is complex, and the positioning consistency is poor.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a combined robot for automatically feeding a collecting and winding cylinder and cutting a head yarn, and fully automatically realizes the functions of automatically cutting off the head yarn, separating the winding cylinder from the winding cylinder, aligning and sleeving the winding cylinder and a wire drawing machine head, positioning the winding cylinder on the wire drawing machine head and automatically transmitting data, thereby greatly reducing the manual intervention degree, reducing the manual operation, ensuring the positioning consistency and improving the production efficiency.
The purpose of the invention is realized by the following technical scheme: a composite robot for automatic feeding of a coil collecting barrel and cutting of head threads comprises a multi-joint mechanical arm, a rotary swinging head, a coil separating device and a composite robot base, wherein the multi-joint mechanical arm is arranged on the composite robot base, the rotary swinging head is arranged at the end part of the multi-joint mechanical arm, and the coil separating device is arranged in the composite robot base;
the rotary head swinging device comprises a mounting seat, a head wire cutting device and a coil stock cylinder taking and placing device, the end part of the multi-joint mechanical arm is connected with the mounting seat, the mounting seat is provided with the head wire cutting device and the coil stock cylinder taking and placing device, the head wire cutting device is used for cutting head wires on a wire drawing machine head and placing the head wires into a head wire hopper on the composite robot base, and the coil stock cylinder taking and placing device is used for taking out and installing the coil stock cylinder in the coil stock cylinder separating device onto the wire drawing machine head.
Furthermore, the head wire cutting device comprises a cutting separation cover, an upper cutting wheel set, a lower cutting wheel set, a right clamping jaw, a left clamping jaw, a clamping jaw telescopic cylinder and a crank assembly, wherein the upper cutting wheel set and the lower cutting wheel set are symmetrically arranged at the upper end and the lower end of the cutting separation cover, the left clamping jaw and the right clamping jaw are symmetrically arranged at the left end and the right end of the cutting separation cover, the left clamping jaw and the right clamping jaw are both connected with the cutting separation cover in a sliding mode, the crank assembly is arranged in the cutting separation cover, the clamping jaw telescopic cylinder is arranged at the top of the cutting separation cover, a telescopic shaft of the clamping jaw telescopic cylinder extends into the cutting separation cover and is hinged to the crank assembly, and the left clamping jaw and the right clamping jaw are both hinged to the crank assembly.
Furthermore, the upper cutting wheel set and the lower cutting wheel set have the same structure and respectively comprise a cutting seat, a motor and a cutting blade, the cutting seat is fixedly connected with the cutting separation cover, the cutting blade is rotatably arranged in the cutting seat, the motor is arranged on the cutting separation cover, and the motor is used for driving the cutting blade to rotate;
the left clamping jaw is the same as the right clamping jaw in structure and comprises a fixed clamping jaw, a movable clamping jaw, a thin cylinder, a guide rail and a clamping jaw seat, the guide rail is connected with the cutting separation cover in a sliding mode, one end of the guide rail is hinged to the crank assembly, the other end of the guide rail is installed on the clamping jaw seat, the movable clamping jaw and the fixed clamping jaw are arranged on the clamping jaw seat in a left-right mode, the thin cylinder is installed on the clamping jaw seat, and an output shaft of the thin cylinder is connected with the movable clamping jaw.
Further, the crank subassembly includes connecting rod, left connecting rod and right connecting rod, the vertical setting of connecting rod and with cutting separation cover sliding connection, the one end of connecting rod with the telescopic shaft of the telescopic cylinder of clamping jaw is articulated, the other end all with the one end of left connecting rod and right connecting rod is articulated, the other end of left connecting rod with a guide rail on the left clamping jaw is articulated, the other end of right connecting rod with another guide rail on the right clamping jaw is articulated.
Furthermore, the coil stock cylinder taking and placing device comprises a friction wheel set and a coil stock cylinder supporting drum, the coil stock cylinder supporting drum is fixedly connected with the mounting seat, and the friction wheel set is arranged in the coil stock cylinder supporting drum;
the friction wheel set comprises a support, a cylinder and two roller assemblies, wherein the support is fixed in the support drum of the coil stock cylinder, the two roller assemblies are connected with the support in a rotating mode and are arranged in a bilateral symmetry mode, the moving directions of the two roller assemblies are opposite, the cylinder is installed on the support, and a telescopic shaft of the cylinder is hinged to one of the roller assemblies.
Further, wheel components includes mounting panel, gear, rubber gyro wheel, small motor and connecting axle, the connecting axle with the support rotates to be connected, the one end of connecting axle is fixed with the gear, the other end is fixed with the mounting panel, the rubber gyro wheel through the pivot with the mounting panel rotates to be connected, be provided with on the mounting panel the small motor, the output shaft of small motor with the pivot is connected, two gear mesh on the wheel components, the telescopic shaft and one of cylinder the mounting panel is articulated.
Further, the coil stock cylinder separating device comprises a base, a coil stock cylinder opening frame, a lifting mechanism, a pressing mechanism and a coil stock cylinder material frame, wherein the base is arranged in the base of the composite robot, the coil stock cylinder material frame is arranged on the base, the coil stock cylinder opening frame is arranged at one end of the top of the coil stock cylinder material frame, a feed inlet for the coil stock cylinder to enter is formed in one side of the coil stock cylinder opening frame, the lifting mechanism is arranged at one side, close to the coil stock cylinder opening frame, of the coil stock cylinder material frame and used for lifting the coil stock cylinder folded in the coil stock cylinder material frame into the coil stock cylinder opening frame, the pressing mechanism is arranged at the other side of the coil stock cylinder material frame and used for pressing the coil stock cylinder in the coil stock cylinder material frame.
Furthermore, the pressing mechanism comprises a transverse rodless cylinder, a sliding seat and two pressing plates, the transverse rodless cylinder is fixed on the side wall of the base and used for driving the sliding seat to move, the two pressing plates are symmetrically fixed on the sliding seat from top to bottom, an avoiding groove is formed in the material frame of the winding barrel and is U-shaped, and the avoiding groove is formed in the moving path of the pressing plates;
the lifting mechanism comprises a vertical rodless cylinder and a lifting plate, the vertical rodless cylinder is vertically arranged on the base, a telescopic shaft of the rodless cylinder is vertically arranged on the base and fixed to the lifting plate, the lifting plate is close to one side of the material winding barrel material frame, lifting blocks are symmetrically and fixedly arranged on the left side and the right side of the material winding barrel material frame, the material winding barrel material frame is close to one side of the lifting plate, a notch is vertically formed in the material winding barrel material frame, and the lifting blocks penetrate through the notches and extend into the material winding barrel material frame.
Further, a coil stock cylinder discharge gate has been seted up at the top of compound robot base, the coil stock cylinder discharge gate is located coil stock cylinder struts the frame directly over, the bottom of compound robot base is provided with mecanum wheel, the one end of first silk hopper with compound robot base is articulated, and the other end is articulated with the telescopic shaft of first cylinder, the setting of first cylinder slope is in the compound robot base, the front end of compound robot base is provided with keeps away barrier laser radar.
Further, many joint arms include swinging boom, big arm, forearm and action arm, the swinging boom with compound robot base rotates to be connected, one side of swinging boom rotates to be connected with big arm, big arm is kept away from the side of swinging boom one end rotates to be connected with the forearm, the forearm is kept away from the side of big arm one end rotates to be connected with the action arm, the action arm is kept away from the one end of forearm with the mount pad is connected.
The invention has the beneficial effects that:
1. the left clamping jaw and the right clamping jaw are in an open state, when the upper cutting wheel set and the lower cutting wheel set cut the head wire and advance to an extreme position, the left clamping jaw and the right clamping jaw clamp the head wire, the head wire cutting device is driven by the multi-joint mechanical arm to withdraw along the axis of the wire drawing machine head, the left clamping jaw and the right clamping jaw clamp the head wire in the withdrawing process, the upper cutting wheel set and the lower cutting wheel set perform secondary cutting action, the head wire is tightly held by the left clamping jaw and the right clamping jaw after being cut off, finally the head wire which is cut off is put into a head wire hopper by the motion of the multi-joint mechanical arm, the head wire cutting device simulates the operation flow of workers, adapts to the existing production equipment to the maximum extent, lightens the working strength of the workers, greatly reduces the manual intervention degree, and improves the production efficiency, the accident caused by frequent use of the cutter by staff is avoided, so that the production device is more suitable for the requirement of automatic production.
2. The base of the compound robot moves to the position near a wire drawing machine head, the multi-joint mechanical arm drives the rotary swinging head to rotate, the coil barrel taking and placing device moves to a working position, the coil barrel is aligned with the machine head and is fed onto the machine head along the axis of the machine head, when the coil barrel enters a certain position of the machine head, the friction wheel set acts to send the coil barrel out of the coil barrel supporting drum, then the multi-joint mechanical arm adjusts the posture, the coil barrel taking and placing device moves to the lower part of the coil barrel which is just sent out for a certain distance, one side of the friction wheel set is tightly attached to the lower part of the coil barrel, and the coil barrel is sent to the bottom of the machine head through the roller assembly rotating at high speed, so that the automatic feeding process is completed; the feeding efficiency is high, the accurate positioning is realized, the intensity of workers is reduced, and the labor cost is reduced.
Drawings
FIG. 1 is a general assembly diagram of a combined robot for automatic feeding and head wire cutting of a coil collecting barrel according to the invention;
FIG. 2 is an exploded view of a combined robot for automatic loading and cutting of a coil collecting barrel according to the present invention;
FIG. 3 is a schematic structural view of a rotary head according to the present invention;
FIG. 4 is a schematic view showing the internal structure of the cutting separation cover according to the present invention;
FIG. 5 is a schematic structural view of the multi-joint robot arm of the present invention;
FIG. 6 is an exploded view of the coil bobbin picking and placing device according to the present invention;
FIG. 7 is a schematic view of the internal structure of the base of the compound robot according to the present invention;
FIG. 8 is an exploded view of the coil bobbin separating device of the present invention;
FIG. 9 is a schematic structural diagram of a base of the compound robot of the present invention;
FIG. 10 is a schematic view of the visual positioning before the crop ends;
FIG. 11 is a schematic view of the head wire cutting device according to the present invention;
FIG. 12 is a schematic view of the operation of removing the roll-out bobbin according to the present invention;
FIG. 13 is a schematic view of the visual positioning before the material is loaded on the material rolling cylinder according to the present invention;
FIG. 14 is a schematic view of a feeding process of the coil bobbin of the present invention;
in the figure, 1-multi-joint mechanical arm, 2-rotary swinging head, 3-coil separating device, 4-composite robot base, 5-mounting seat, 6-head wire cutting device, 7-coil taking and placing device, 8-head wire hopper, 9-rotating arm, 10-big arm, 11-small arm, 12-action arm, 31-base, 32-coil supporting frame, 33-lifting mechanism, 34-pressing mechanism, 35-coil material frame, 36-transverse rodless cylinder, 37-sliding seat, 38-pressing plate, 39-avoiding groove, 40-vertical rodless cylinder, 41-lifting plate, 42-coil discharging port, 43-mecanum wheel, 44-first cylinder, 45-avoiding laser radar, 51-friction wheel set, 52-winding drum supporting drum, 53-support, 54-air cylinder, 55-roller assembly, 56-mounting plate, 57-gear, 58-rubber roller, 59-small motor, 60-connecting shaft, 61-cutting separation cover, 62-upper cutting wheel set, 63-lower cutting wheel set, 64-right clamping jaw, 65-left clamping jaw, 66-clamping jaw telescopic air cylinder, 67-crank assembly, 68-cutting seat, 69-motor, 70-cutting sheet, 71-fixed clamping jaw, 72-movable clamping jaw, 73-thin air cylinder, 74-guide rail, 75-clamping jaw seat, 76-connecting rod, 77-left connecting rod and 78-right connecting rod.
Detailed Description
The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following.
As shown in fig. 1 to 14, a composite robot for automatic feeding of a coil collecting barrel and cutting of a head wire comprises a multi-joint mechanical arm 1, a rotary swing head 2, a coil separating device 3 and a composite robot base 4, wherein the multi-joint mechanical arm 1 is arranged on the composite robot base 4, the rotary swing head 2 is arranged at the end of the multi-joint mechanical arm 1, and the coil separating device 3 is arranged in the composite robot base 4;
the multi-joint mechanical arm 1 has multiple degrees of freedom and can drive the rotary swing head 2 to move in multiple directions.
As shown in fig. 3 and 4, the rotary oscillating head 2 includes a mounting seat 5, a head wire cutting device 6 and a coil bobbin taking and placing device 7, the end of the multi-joint mechanical arm 1 is connected with the mounting seat 5, the mounting seat 5 is provided with the head wire cutting device 6 and the coil bobbin taking and placing device 7, the head wire cutting device 6 is used for cutting a head wire on a head of the drawing machine and placing the head wire into a head wire hopper 8 on the base 4 of the composite robot, and the coil bobbin taking and placing device 7 is used for taking out a coil bobbin in the coil bobbin separating device 3 and installing the coil bobbin on the head of the drawing machine; during specific implementation, the head wire cutting device 6 and the coil stock cylinder taking and placing device 7 are arranged perpendicularly, so that the head wire cutting device 6 and the coil stock cylinder taking and placing device 7 can be switched rapidly.
First silk cutting device 6 and coil stock section of thick bamboo are got and are put device 7 and set up simultaneously on mount pad 5 to the concerted action through articulated arm 1 and rotatory yaw 5 realizes that first silk device 6 and coil stock section of thick bamboo get the fast switch-over of putting device 7, thereby it is as an organic whole with the first silk cutting to collect coil stock section of thick bamboo automatic feeding, the simulation manual operation process, alleviate staff's working strength, greatly reduced artificial intervention degree, improve production efficiency, avoid the accident that the staff frequently used the cutter and brought, thereby make the demand that the apparatus for producing more is fit for automated production.
The head wire cutting device 6 comprises a cutting separation cover 61, an upper cutting wheel set 62, a lower cutting wheel set 63, a right clamping jaw 64, a left clamping jaw 65, a clamping jaw telescopic cylinder 66 and a crank assembly 67, wherein the upper cutting wheel set 62 and the lower cutting wheel set 63 are symmetrically arranged at the upper end and the lower end of the cutting separation cover 61, the left clamping jaw 65 and the right clamping jaw 64 are symmetrically arranged at the left end and the right end of the cutting separation cover 61, the left clamping jaw 65 and the right clamping jaw 64 are both in sliding connection with the cutting separation cover 61, the crank assembly 67 is arranged in the cutting separation cover 61, the clamping jaw telescopic cylinder 66 is arranged at the top of the cutting separation cover 61, a telescopic shaft of the clamping jaw telescopic cylinder 66 extends into the cutting separation cover 61 and is hinged to the crank assembly 67, and the left clamping jaw 65 and the right clamping jaw.
Clamping jaw telescopic cylinder 66 drives crank assembly 67 action, make left clamping jaw 65 and right clamping jaw 64's opposite movement, thereby realize pressing from both sides tightly and open action, accomplish the tight operation of clamp to the head silk, go up cutting wheelset 62 and cut the head silk with lower cutting wheelset 63, then press from both sides the head silk of cutting by left clamping jaw 65 and right clamping jaw 64 tightly, place the head silk in the head silk hopper 8 through multi-joint arm 1 at last, thereby accomplish the location cutting and the receipts material of head silk, the cutting efficiency of head silk has been improved greatly, the accident that manual work brought has been avoided simultaneously.
The upper cutting wheel set 62 and the lower cutting wheel set 63 have the same structure and respectively comprise a cutting seat 68, a motor 69 and a cutting blade 70, the cutting seat 68 is fixedly connected with the cutting separation cover 61, the cutting blade 70 is rotatably arranged in the cutting seat 68, the motor 69 is arranged on the cutting separation cover 61, and the motor 69 is used for driving the cutting blade 70 to rotate;
The left clamping jaw 65 and the right clamping jaw 64 are identical in structure and respectively comprise a fixed clamping jaw 71, a movable clamping jaw 72, a thin air cylinder 73, a guide rail 74 and a clamping jaw seat 75, the guide rail 74 is connected with the cutting separation cover 61 in a sliding mode, one end of the guide rail 74 is hinged to the crank assembly 67, the clamping jaw seat 75 is installed at the other end of the guide rail, the movable clamping jaw 72 and the fixed clamping jaw 71 are arranged on the clamping jaw seat 75 in the left-right mode, the thin air cylinder 73 is installed on the clamping jaw seat 75, and an output shaft of the thin.
The thin cylinder 73 drives the movable clamping jaw to move close to the fixed clamping jaw 71 or move away from the fixed clamping jaw 71, so that the fixed clamping jaw 71 and the movable clamping jaw 72 form an opening and closing of a clamping opening.
As shown in fig. 4, the crank assembly 67 includes a connecting rod 76, a left connecting rod 77 and a right connecting rod 78, the connecting rod 76 is vertically disposed and slidably connected to the cutting separation hood 61, one end of the connecting rod 76 is hinged to the telescopic shaft of the jaw telescopic cylinder 66, the other ends are hinged to one ends of the left connecting rod 77 and the right connecting rod 78, the other end of the left connecting rod 77 is hinged to one guide rail 74 on the left jaw 65, and the other end of the right connecting rod 78 is hinged to the other guide rail 74 on the right jaw 64.
Through the stretching of clamping jaw telescopic cylinder 66, drive connecting rod 76 up-and-down motion to make left connecting rod 77 and right connecting rod 78 shrink and the diastole, thereby realize the removal of left clamping jaw 65 and right clamping jaw 64, and then change left clamping jaw 65 and right clamping jaw 64 and form open-ended size.
As shown in fig. 10 and 11, the work process of the head wire cutting device 6 is as follows: the multi-joint mechanical arm 1 drives the head wire cutting device 6 to advance to cut head wires along the axis of the wire drawing machine head and does not enter the front of the wire drawing machine head, the left clamping jaw 65 and the right clamping jaw 64 are in an open state, namely, the distance between the left clamping jaw 65 and the right clamping jaw 64 is larger than the diameter of the wire drawing machine head, when the cutting blades 70 on the upper cutting wheel set 62 and the lower cutting wheel set 63 cut the head wires and advance to a limit position, the clamping jaw telescopic cylinder 66 drives the left clamping jaw 65 and the right clamping jaw 64 to move close to the head wires on the machine head, meanwhile, the thin cylinder 73 drives the movable clamping jaw 72 to move close to the fixed clamping jaw 71, the head wires are clamped through a clamping opening formed by the fixed clamping jaw 71 and the movable clamping jaw 72, so that the left clamping jaw 65 and the right clamping jaw 64 clamp the head wires, the head wire cutting device 6 is driven by the multi-joint mechanical arm 1 to withdraw from the axis of the wire drawing machine head, the left clamping jaw 65, the head wire is tightly held by the left clamping jaw 65 and the right clamping jaw 64 after being cut off, and finally the cut head wire is placed into the head wire hopper 8 by the movement of the multi-joint mechanical arm 1, so that the whole head wire cutting and head wire discharging process is completed; the head thread cutting device 6 simulates the operation flow of workers, adapts to the existing production equipment to the maximum extent, lightens the working strength of workers, greatly reduces the manual intervention degree, improves the production efficiency, and avoids accidents caused by frequent use of cutters by the workers, so that the production device is more suitable for the requirement of automatic production.
As shown in fig. 6, the winding drum taking and placing device 7 includes a friction wheel set 51 and a winding drum supporting drum 52, the winding drum supporting drum 52 is fixedly connected with the mounting base 5, and the friction wheel set 51 is disposed in the winding drum supporting drum 52;
the friction wheel set 51 comprises a support 53, a cylinder 54 and two roller assemblies 55, the support 53 is fixed in the charging barrel supporting drum 52, the two roller assemblies 55 are respectively connected with the support 53 in a rotating mode and are arranged in a bilateral symmetry mode, the moving directions of the two roller assemblies 55 are opposite, the cylinder 54 is installed on the support 53, and the telescopic shaft of the cylinder 54 is hinged to one of the roller assemblies 55.
The roller assemblies 55 comprise mounting plates 56, gears 57, rubber rollers 58, small motors 59 and connecting shafts 60, the connecting shafts 60 are rotatably connected with the support 53, the gears 57 are fixed at one ends of the connecting shafts 60, the mounting plates 56 are fixed at the other ends of the connecting shafts 60, the rubber rollers 58 are rotatably connected with the mounting plates 56 through rotating shafts, the small motors 59 are arranged on the mounting plates 56, output shafts of the small motors 59 are connected with the rotating shafts, the gears 57 on the two roller assemblies 55 are meshed, and telescopic shafts of the air cylinders 54 are hinged to the mounting plates 56.
The cylinder 54 stretches out and draws back to drive a mounting panel 56 and rotate, and a mounting panel 56 drives another mounting panel 56 through the meshing of two gears 57 and rotates, because the transmission direction of gear engagement is opposite, thereby make the rotation direction of two mounting panels 56 opposite, and then drive two mounting panels 56 through the stretching out and drawing back of cylinder 54 and expand or contract, offer the via hole that supplies rubber roller 58 to stretch out on the winding reel support drum 52, stretch out from the via hole when being convenient for rubber roller 58 on two roller assemblies 55 to open.
As shown in fig. 12 to 14, the operation process of the coil bobbin taking and placing device 7 is as follows: when taking materials; the two mounting plates 56 are in a contraction state, the multi-joint mechanical arm 1 drives the rotary swing head 2 to rotate, the coil cylinder support drum 52 is sleeved in the coil cylinder separating device 3, the air cylinder 54 drives one mounting plate 56 to rotate, the two mounting plates 56 are opened under the action of the gear 57, so that the two rubber rollers 58 extend out of the through holes and abut against the inner wall of the coil cylinder, then the small motor 59 drives the rubber rollers 58 to rotate, the coil cylinder is taken out of the coil cylinder separating device 3 through friction force, then the coil cylinder is positioned and mounted, the coil cylinder taking and placing device 7 is moved to a working position, the coil cylinder is aligned with the machine head and is fed onto the machine head along the axis of the machine head, when the coil cylinder enters a certain position of the machine head, the rubber rollers 58 on the friction wheel group 51 act to send the coil cylinder out of the coil cylinder support drum 52, and then the multi-joint mechanical arm 1 adjusts the posture, moving the coil taking and placing device 7 to the lower part of the coil which is just sent out for a certain distance, enabling the rubber roller 58 on one side of the friction wheel set to be tightly attached to the lower part of the coil, and sending the coil to the bottom of the machine head through the rubber roller 58 rotating at a high speed, thereby completing the automatic feeding process; the feeding efficiency is high, the accurate positioning is realized, the intensity of workers is reduced, and the labor cost is reduced.
As shown in fig. 7 and 8, the material roll separating device 3 includes a base 31, a material roll spreading frame 32, a lifting mechanism 33, a pressing mechanism 34 and a material roll frame 35, the base 31 is disposed in the base 4 of the composite robot, the material roll frame 35 is disposed on the base 31, the material roll spreading frame 32 is disposed at one end of the top of the material roll frame 35, a feed port for the material roll to enter is disposed at one side of the material roll spreading frame 32, the lifting mechanism 33 is disposed at one side of the material roll frame 35 close to the material roll spreading frame 32, the lifting mechanism 33 is configured to lift the material roll folded in the material roll frame 35 into the material roll spreading frame 32, the pressing mechanism 34 is disposed at the other side of the material roll frame 35, and the pressing mechanism 34 is configured to press the material roll in the material roll frame 35.
The working process of the coil stock cylinder separating device 3 is as follows: the winding barrel is filled into the winding barrel material frame 35 in a flattened mode, the winding barrel is extruded through the pressing mechanism 34, the winding barrel is prevented from being restored to be cylindrical in the winding barrel material frame 35, the space accommodation rate of the winding barrel material frame 35 is increased, meanwhile, the winding barrel is always located on the lifting mechanism 33 through the pressing mechanism 34, then the flattened winding barrel is lifted into the winding barrel unfolding frame 32 through the lifting mechanism 33, and the winding barrel unfolding frame 32 has a space for accommodating the cylindrical winding barrel, so that the winding barrel is restored to be cylindrical in the winding barrel unfolding frame 32, and the winding barrel taking and placing of the winding barrel in the winding barrel unfolding frame 32 can be conveniently taken out by the winding barrel device 7.
As shown in fig. 8, the pressing mechanism 34 includes a transverse rodless cylinder 36, a sliding seat 37 and two pressing plates 38, the transverse rodless cylinder 36 is fixed on the side wall of the base 31, the transverse rodless cylinder 36 is used for driving the sliding seat 37 to move, the two pressing plates 38 are symmetrically fixed on the sliding seat 37 up and down, an avoiding groove 39 is formed on the material frame 35 of the winding cylinder, the avoiding groove 39 is u-shaped, and the avoiding groove 39 is arranged on the moving path of the pressing plates 38;
the working process of the pressing mechanism 34 is as follows: the transverse rodless cylinder 36 drives the sliding seat 37 to move, the pressing plate 38 is moved, the pressing plate 38 presses the coiled material cylinder in the coiled material cylinder material frame 35, when the coiled material cylinder is lifted to the coiled material cylinder opening frame 32 by the lifting mechanism 33, the pressing mechanism 34 acts to drive the pressing plate 38 to move the thickness distance for flattening the coiled material cylinder, and the coiled material cylinder in the coiled material cylinder material frame 35 is always in a pressing state.
The lifting mechanism 33 comprises a vertical rodless cylinder 40 and a lifting plate 41, the vertical rodless cylinder 40 is vertically arranged on the base 31, a telescopic shaft of the vertical rodless cylinder 40 is fixed to the lifting plate 41, the lifting plate 41 is fixed to a lifting block in bilateral symmetry on one side close to the material coiling barrel material frame 35, a notch is vertically formed in one side, close to the lifting plate 41, of the material coiling barrel material frame 35, and the lifting block penetrates through the notch and extends into the material coiling barrel material frame 35.
The working process of the lifting mechanism is as follows: the vertical rodless cylinder 40 acts to drive the lifting block to ascend, further drive the coiling barrel on the lifting block to ascend into the coiling barrel opening frame 32, and finally the vertical rodless cylinder 40 contracts to drive the lifting block to return to the original position.
As shown in fig. 9, a coil stock cylinder discharge port 42 is formed in the top of the composite robot base 4, the coil stock cylinder discharge port 42 is located right above the coil stock cylinder expanding frame 32, a mecanum wheel 43 is arranged at the bottom of the composite robot base 4, one end of the head wire hopper 8 is hinged to the composite robot base 4, the other end of the head wire hopper is hinged to a telescopic shaft of a first air cylinder 44, the first air cylinder 44 is obliquely arranged in the composite robot base 4, and an obstacle avoidance laser radar 45 is arranged at the front end of the composite robot base 4.
Realize the all direction movement of compound robot base 4 through mecanum wheel 43, through the extension of first cylinder 44, drive first silk hopper 8 round with compound robot base 4's pin joint rotate, make first silk hopper 8 slope to be convenient for unload, keep away barrier laser radar 45 and be favorable to compound robot base 4 to keep away the barrier in the removal process.
As shown in fig. 5, the multi-joint mechanical arm 1 includes a rotating arm 9, a large arm 10, a small arm 11 and an actuating arm 12, the rotating arm 9 is rotatably connected with the composite robot base 4, one side of the rotating arm 9 is rotatably connected with the large arm 10, the side of the large arm 10 far away from one end of the rotating arm 9 is rotatably connected with the small arm 11, the side of the small arm 11 far away from one end of the large arm 10 is rotatably connected with the actuating arm 12, and one end of the actuating arm 12 far away from the small arm 11 is connected with the mounting base 5. The multi-degree-of-freedom operation of the multi-joint mechanical arm is realized by the rotation of the rotating arm 9, the large arm 10, the small arm 11 and the action arm 12, and the implementation of the actions is facilitated.
The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The composite robot for automatic feeding of the coil collecting barrel and cutting of the head wire is characterized by comprising a multi-joint mechanical arm (1), a rotary swinging head (2), a coil collecting barrel separating device (3) and a composite robot base (4), wherein the multi-joint mechanical arm (1) is arranged on the composite robot base (4), the rotary swinging head (2) is arranged at the end part of the multi-joint mechanical arm (1), and the coil collecting barrel separating device (3) is arranged in the composite robot base (4);
rotatory yaw (2) are including mount pad (5), first silk cutting device (6) and a coil stock section of thick bamboo get and put device (7), the end connection of many joints arm (1) has mount pad (5), be provided with first silk cutting device (6) and a coil stock section of thick bamboo on mount pad (5) and get and put device (7), first silk cutting device (6) are used for cutting the first silk on the wire drawing machine aircraft nose and put into extremely with the first silk in first silk hopper (8) on compound robot base (4), coil stock section of thick bamboo get and put device (7) be used for with a coil stock section of thick bamboo in coil stock section of thick bamboo separator (3) takes out and installs to the wire drawing machine aircraft nose.
2. The compound robot for automatic loading and head wire cutting of the coil collecting barrel is characterized in that the head wire cutting device (6) comprises a cutting separation cover (61), an upper cutting wheel set (62), a lower cutting wheel set (63), a right clamping jaw (64), a left clamping jaw (65), a clamping jaw telescopic cylinder (66) and a crank assembly (67), wherein the upper cutting wheel set (62) and the lower cutting wheel set (63) are symmetrically arranged at the upper end and the lower end of the cutting separation cover (61), the left clamping jaw (65) and the right clamping jaw (64) are symmetrically arranged at the left end and the right end of the cutting separation cover (61), the left clamping jaw (65) and the right clamping jaw (64) are both in sliding connection with the cutting separation cover (61), the crank assembly (67) is arranged in the cutting separation cover (61), and the telescopic cylinder (66) is arranged at the top of the cutting separation cover (61), the telescopic shaft of the clamping jaw telescopic cylinder (66) extends into the cutting separation cover (61) and is hinged to the crank assembly (67), and the left clamping jaw (65) and the right clamping jaw (64) are hinged to the crank assembly (67).
3. The automatic coil collecting cylinder feeding and head wire cutting composite robot according to claim 2, wherein the upper cutting wheel set (62) and the lower cutting wheel set (63) have the same structure and each comprise a cutting seat (68), a motor (69) and a cutting blade (70), the cutting seat (68) is fixedly connected with the cutting separation cover (61), the cutting blade (70) is rotatably arranged in the cutting seat (68), the motor (69) is arranged on the cutting separation cover (61), and the motor (69) is used for driving the cutting blade (70) to rotate;
left side clamping jaw (65) are the same with the structure of right clamping jaw (64), all include fixed clamping jaw (71), activity clamping jaw (72), thin cylinder (73), guide rail (74) and clamping jaw seat (75), guide rail (74) with cutting separation cover (61) sliding connection, its one end with crank assembly (67) are articulated, and the other end is installed clamping jaw seat (75), be provided with about on clamping jaw seat (75) activity clamping jaw (72) and fixed clamping jaw (71), install on clamping jaw seat (75) thin cylinder (73), the output shaft of thin cylinder (73) with activity clamping jaw (72) are connected.
4. The compound robot for automatic coil collecting barrel feeding and head wire cutting is characterized in that the crank assembly (67) comprises a connecting rod (76), a left connecting rod (77) and a right connecting rod (78), the connecting rod (76) is vertically arranged and is slidably connected with the cutting separation cover (61), one end of the connecting rod (76) is hinged with the telescopic shaft of the clamping jaw telescopic cylinder (66), the other ends of the connecting rod are hinged with one ends of the left connecting rod (77) and the right connecting rod (78), the other end of the left connecting rod (77) is hinged with one guide rail (74) on the left clamping jaw (65), and the other end of the right connecting rod (78) is hinged with the other guide rail (74) on the right clamping jaw (64).
5. The composite robot for automatic coil collecting barrel feeding and head wire cutting is characterized in that the coil barrel taking and placing device (7) comprises a friction wheel set (51) and a coil barrel supporting drum (52), the coil barrel supporting drum (52) is fixedly connected with the mounting seat (5), and the friction wheel set (51) is arranged in the coil barrel supporting drum (52);
the friction wheel set (51) comprises a support (53), an air cylinder (54) and two roller assemblies (55), the support (53) is fixed in the coiling barrel supporting drum (52), the two roller assemblies (55) are rotationally connected with the support (53) and are arranged in a bilateral symmetry mode, the moving directions of the two roller assemblies (55) are opposite, the air cylinder (54) is installed on the support (53), and a telescopic shaft of the air cylinder (54) is hinged to one of the roller assemblies (55).
6. The automatic loading and head wire cutting composite robot of the coil collecting cylinder according to claim 5, it is characterized in that the roller component (55) comprises a mounting plate (56), a gear (57), a rubber roller (58), a small motor (59) and a connecting shaft (60), the connecting shaft (60) is rotationally connected with the support (53), one end of the connecting shaft (60) is fixed with the gear (57), the other end is fixed with the mounting plate (56), the rubber roller (58) is rotationally connected with the mounting plate (56) through a rotating shaft, the mounting plate (56) is provided with the small motor (59), the output shaft of the small motor (59) is connected with the rotating shaft, gears (57) on the two roller assemblies (55) are meshed, the telescopic shaft of the air cylinder (54) is hinged with the mounting plate (56).
7. The composite robot for automatic feeding and first silk cutting of the coil collecting barrel according to claim 1, wherein the coil separating device (3) comprises a base (31), a coil separating frame (32), a lifting mechanism (33), a pressing mechanism (34) and a coil material frame (35), the base (31) is arranged in the composite robot base (4), the coil material frame (35) is arranged on the base (31), the coil separating frame (32) is arranged at one end of the top of the coil material frame (35), a feed inlet for the coil to enter is arranged at one side of the coil separating frame (32), the lifting mechanism (33) is arranged at one side of the coil material frame (35) close to the coil separating frame (32), and the lifting mechanism (33) is used for lifting the coil folded in the coil material frame (35) to the coil separating frame (32), and a pressing mechanism (34) is arranged on the other side of the material frame (35) of the material winding barrel, and the pressing mechanism (34) is used for pressing the material winding barrel in the material frame (35) of the material winding barrel.
8. The composite robot for automatic feeding and head wire cutting of winding cylinder according to claim 7, characterized in that said pressing mechanism (34) comprises a horizontal rodless cylinder (36), a sliding seat (37) and two pressing plates (38), said horizontal rodless cylinder (36) is fixed on the side wall of said base (31), said horizontal rodless cylinder (36) is used for driving the sliding seat (37) to move, said two pressing plates (38) are fixed on said sliding seat (37) in a vertical symmetry, an avoiding groove (39) is opened on said winding cylinder material frame (35), said avoiding groove (39) is "U" shaped, said avoiding groove (39) is disposed on the moving path of said pressing plates (38);
elevating system (33) are including erecting rodless cylinder (40) and lifting plate (41) put, erect rodless cylinder (40) and vertically set up on base (31), erect the telescopic shaft that puts rodless cylinder (40) with lifting plate (41) are fixed, lifting plate (41) are close to one side bilateral symmetry of coil stock section of thick bamboo material frame (35) is fixed with the promotion piece, coil stock section of thick bamboo material frame (35) are close to one side of lifting plate (41) is vertical has seted up the notch, the promotion piece passes the notch extends to in coil stock section of thick bamboo material frame (35).
9. The composite robot for automatic loading of a coil collecting barrel and cutting of a head wire according to claim 8, wherein a coil discharging port (42) is formed in the top of the composite robot base (4), the coil discharging port (42) is located right above the coil supporting frame (32), a mecanum wheel (43) is arranged at the bottom of the composite robot base (4), one end of the head wire hopper (8) is hinged to the composite robot base (4), the other end of the head wire hopper is hinged to a telescopic shaft of a first air cylinder (44), the first air cylinder (44) is obliquely arranged in the composite robot base (4), and a barrier-avoiding laser radar (45) is arranged at the front end of the composite robot base (4).
10. The compound robot for automatic feeding and head wire cutting of the winding cylinder is characterized in that the multi-joint mechanical arm (1) comprises a rotating arm (9), a large arm (10), a small arm (11) and an action arm (12), the rotating arm (9) is rotatably connected with the compound robot base (4), one side of the rotating arm (9) is rotatably connected with the large arm (10), the side, far away from one end of the rotating arm (9), of the large arm (10) is rotatably connected with the small arm (11), the side, far away from one end of the large arm (10), of the small arm (11) is rotatably connected with the action arm (12), and the end, far away from the small arm (11), of the action arm (12) is connected with the mounting seat (5).
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| CN202011408159.9A CN112591557B (en) | 2020-12-04 | 2020-12-04 | Automatic feeding and head wire cutting composite robot for coil collecting cylinder |
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| CN202011408159.9A CN112591557B (en) | 2020-12-04 | 2020-12-04 | Automatic feeding and head wire cutting composite robot for coil collecting cylinder |
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| CN112591557B CN112591557B (en) | 2022-09-13 |
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| CN114955728B (en) * | 2022-02-14 | 2024-05-31 | 云南昆发塑业有限公司 | Modified polypropylene plastic flat wire cam type winding machine |
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