CN112846005A

CN112846005A - String head screwing device and automatic string processing equipment using same

Info

Publication number: CN112846005A
Application number: CN202011436233.8A
Authority: CN
Inventors: 范日盛; 陈晋; 娄伟杰
Original assignee: Hangzhou Chenlong Intelligent Technology Co ltd
Current assignee: ZHEJIANG CHENLONG SAWING MACHINE CO Ltd
Priority date: 2020-12-10
Filing date: 2020-12-10
Publication date: 2021-05-28
Anticipated expiration: 2040-12-10
Also published as: CN112846005B; WO2022121812A1

Abstract

The invention relates to a string head twisting device which comprises a head twisting mechanism and a string cross looping mechanism, wherein the head twisting mechanism comprises a head twisting head assembly, the head twisting head assembly comprises a head twisting rod and a string hanging nail, the string cross looping mechanism comprises a cross looping head, a looping rod is arranged on the cross looping head, a string bearing inclined plane is arranged at the front end part of the head twisting rod, the string hanging nail is arranged in the string bearing inclined plane, a convex inclined step surface is arranged at the part, close to a string, of the string bearing inclined plane, a side elevation surface is arranged at the high end of the inclined step surface, after the looping head descends to abut against and press the string, the bottom surface of the looping head, the side elevation surface of the high end surface of the inclined step, the string bearing inclined plane and the outer circumferential surface of the string hanging nail form a closed space surrounded by four sides, and the string is limited in the closed space. The invention also comprises automatic string processing equipment using the string head screwing device. The invention improves the accuracy and efficiency of string head screwing, thereby improving the yield and stability of strings.

Description

String head screwing device and automatic string processing equipment using same

Technical Field

The invention belongs to the technical field of string processing, and particularly relates to a string head twisting device and automatic string processing equipment using the same.

Background

The piano emits musical sound by striking the strings with the hammers to make the strings vibrate to emit sound waves, the strings are the most important parts for determining the tone of the piano, and the amplitudes of the strings depend on the string length, the string tension and the string density. The string is made of special steel with high strength and high elasticity, and is cut to a fixed length, twisted heads are twisted out of two ends of the string, and then the string is fixed on the tuning peg, and tension is generated by tensioning the tuning peg. The head of the string is twisted through the steps of cross looping, twisting, winding, tail removal and the like, wherein the cross looping function is the key prerequisite step of twisting, winding and tail removal, and the reliability of the string needs to be high.

At present, full automation of all steps is realized by a full-automatic head screwing machine for piano string head screwing, but in the actual use process, the problems of loose winding and coiling, large pitch or frequent occurrence of failures such as string falling and string dropping exist. Through analysis and judgment, the reliability of the crossed looping step is too low, which is the root cause of subsequent series of problems.

Disclosure of Invention

The invention aims to provide a string head screwing device and automatic string processing equipment using the same, so as to improve the string head screwing quality and efficiency.

The invention is realized in such a way, and provides a string head twisting device, which comprises a head twisting mechanism for performing head twisting processing on the front section of a string and a string cross looping mechanism for processing a string loop and assisting the head twisting processing, wherein the head twisting mechanism comprises a head twisting head assembly, the head twisting head assembly comprises a head twisting rod and a string hanging nail, the string cross looping mechanism comprises a cross looping head, a looping rod is arranged on the cross looping head, a string bearing inclined plane is arranged at the front end part of the head twisting rod, the string hanging nail is arranged in the string bearing inclined plane, the projection included angle of the axis of the string hanging nail and the axis of the head twisting rod in the vertical direction is an acute angle theta, a convex string inclined step surface is arranged at the part of the string bearing inclined plane, which is close to the string, the high end of the inclined step surface is close to the string hanging nail, and the high end of the inclined step surface is arranged at a side vertical surface of the bearing inclined plane, after the ring-making head descends to press the string, the bottom surface of the ring-making head, the side vertical surface of the high end of the inclined step surface, the string bearing inclined surface and the outer circumferential surface of the string hanging nail form a closed space surrounded by four surfaces, and the string is limited in the closed space.

Furthermore, the head screwing assembly further comprises a chord supporting plate and a chord nail air cylinder, the chord supporting plate is installed on the top surface of the head screwing rod and plays a role in supporting a chord line, the chord nail air cylinder is fixed at the front end of the head screwing rod, the chord hanging nail is fixed on a cylinder rod of the chord nail air cylinder, when the cylinder rod of the chord nail air cylinder is ejected out, the chord hanging nail is higher than a plane where the chord supporting plate is located, and when the cylinder rod of the chord nail air cylinder retracts, the top end of the chord hanging nail is not higher than the plane where the chord supporting plate is located.

Further, the head screwing mechanism further comprises a head screwing driving assembly and a head screwing base, the head screwing base is fixed on the ground and parallel to the string of the musical instrument, the head screwing driving assembly is arranged on the head screwing base, the head screwing assembly is arranged on the head screwing driving assembly, and the head screwing driving assembly drives the head screwing rod to rotate.

Furthermore, the root of the string hanging nail is positioned on a rotating axis of the head screwing rod, and a projection included angle between the axis of the head screwing rod and the axis of the front string clamping mechanism in the horizontal direction is an obtuse angle.

Further, the drive assembly is twisted to the head includes that pivot, pivot case and head are twisted the servo gear motor of rotary drive to and the linear motion subassembly is twisted to the head of drive pivot case linear motion, the pivot case is fixed on the base is twisted to the head, the setting of head subassembly is in the pivot, the pole is twisted to the head passes through the bolt fastening in the pivot and with pivot synchronous revolution, the servo gear motor of rotary drive is twisted to the head and is rotated through pivot case drive pivot.

Furthermore, the head screwing mechanism further comprises a head screwing linear movement driving servo speed reduction motor and an air-electric slip ring, the head screwing head assembly and the string line form an obtuse angle which is larger than 90 degrees and smaller than 180 degrees, and the head screwing linear movement driving servo speed reduction motor drives the head screwing linear movement assembly to slide.

Further, the pivot case includes box, main shaft, input gear and main shaft gear, the linear motion subassembly is twisted to the head includes ball screw and the head twists drive servo motor, the box is twisted linear motion subassembly through installing the nut in its bottom and the head and is twisted the ball screw of linear motion subassembly and link to each other, is twisted drive servo motor drive moving as a whole by the head of the linear motion subassembly of twisting, the head is twisted the drive input shaft of rotary drive servo gear motor, the input shaft drives input gear and twists the moment of torsion and the rotational speed transmission of rotary drive servo gear motor with the head and transmit main shaft gear to it is rotatory to drive the main shaft, thereby drives the head that links to each other with the main shaft and twists the pole rotation.

Further, the straight line removal subassembly is twisted to the head still includes translation motor cabinet, translation ball screw, translation nut, straight line guide, translation slider and translation bearing frame, the translation motor cabinet is fixed in the head and twists on the base to install the head and twist drive servo motor, translation nut, translation slider link firmly with the pivot case, translation ball screw and the cooperation of translation nut, translation ball screw is rotatory, then translation nut rectilinear movement, translation ball screw and head are twisted drive servo motor and are directly linked, are driven rotatoryly by the latter.

Furthermore, the string cross looping mechanism further comprises a looping support, a looping head lifting cylinder and a looping head swing angle cylinder, the looping support is fixed on a rotating shaft box of the head twisting mechanism, the looping head lifting cylinder is fixed on the looping support, the looping head swing angle cylinder is fixed on a cylinder rod of the looping head lifting cylinder, the cross looping head is fixed on a cylinder rod of the looping head swing angle cylinder, a hole groove for avoiding a string hanging nail is formed in the bottom of the cross looping head, the end portion of the looping rod is conical, the looping rod is connected with the cross looping head through a thread pair, and the height of the plane where the bottom of the cross looping head extends out is adjusted through the thread pair.

The present invention is thus achieved, providing an automatic string processing device, on which the string-headpiece device as described above is used.

Compared with the prior art, the string head twisting device and the automatic string processing equipment using the device have the advantages that the string head twisting device is provided with the string head twisting mechanism and the string cross looping mechanism, and string loop processing and head twisting processing procedures of strings are automatically completed. The invention optimizes and improves the technical process of looping and head screwing, and the processed string head has high screwing precision, good repeatability and high stability.

Drawings

Fig. 1 is a schematic view of the head of a string;

FIG. 2 is a perspective view of the string head wrenching device of the present invention in use;

the top view of FIG. 2 in FIG. 3;

FIG. 4 is a perspective view of the head screw mechanism of FIG. 2;

FIG. 5 is a perspective view of the head assembly of FIG. 4;

FIG. 6 is a side view of the head assembly of FIG. 4;

FIG. 7 is a cross-sectional schematic view of the head drive assembly of FIG. 4;

FIG. 8 is a perspective view of the head screw linear motion assembly of FIG. 4;

FIG. 9 is a perspective view of the front string clamping mechanism of FIG. 2;

FIG. 10 is a perspective view of the clamping base assembly of FIG. 9;

FIG. 11 is a perspective view of the swing seat assembly of FIG. 9;

FIG. 12 is a perspective view of the first clamping assembly of FIG. 9;

FIG. 13 is a perspective view of the first pneumatic jaw assembly of FIG. 12 in an open position;

figure 14 is a perspective view of the first pneumatic jaw assembly of figure 12 in a closed position;

FIG. 15 is a front view of the first pneumatic jaw assembly of FIG. 13;

FIG. 16 is a left side view of FIG. 15;

FIG. 17 is a perspective view of the string tail scissors assembly of FIG. 9;

FIGS. 18-1 through 18-4 are schematic views of the states of action of the string tail scissors assembly of FIG. 9;

FIG. 19 is a perspective view of the rear string clamping mechanism of FIG. 2;

FIG. 20 is a perspective view of the combination of the head set and string crossing looper mechanism of FIG. 2;

FIG. 21 is a perspective view of the cross-looper head of FIG. 20;

fig. 22 is a perspective view of the front string clamping mechanism and string length control mechanism of fig. 2 in a combined state;

fig. 23 is a perspective view of the string straightening mechanism of fig. 2;

FIG. 24 is a perspective view of the threading head assembly and cross-looper head of FIG. 2 in operation;

FIG. 25 is a side view of FIG. 24;

FIG. 26 is an enlarged schematic view of the head rod and its end of FIG. 24;

FIG. 27 is a schematic view of the cross looper head of FIG. 24 pressed against the head screw;

fig. 28-1a to 28-1c to 28-7a to 28-7c are schematic diagrams illustrating a string looping process, wherein fig. 28-1a to 28-7a are front views of respective steps, fig. 28-1b to 28-7b are top views of the respective steps, and fig. 28-1c to 28-7c are left views of the respective steps.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 2 and 3, the preferred embodiment of the string head turning device of the present invention includes a head turning mechanism 1 for performing head turning on the front end of the string X and a string cross looper mechanism 4 for processing the string loop and assisting the head turning. The string head twisting device of the invention is combined with a front string clamping mechanism 2 for clamping the front end of a string X and assisting head twisting processing, a rear string clamping mechanism 3 for clamping the rear section of the string X when the front section of the string X is subjected to head twisting processing and cutting the string X after the string X is drawn to a fixed length, a string fixed length mechanism 5 for drawing the string X to a set length by driving the front string clamping mechanism 2 and a string straightening mechanism 6 for straightening the string X into automatic string processing equipment. The automatic string processing equipment further comprises a discharging frame 7 for bearing finished strings after being processed, a protective cover 8 and a control console (not shown in the figure).

The front string clamping mechanism 2 is mounted on the string length-fixing mechanism 5 and moves along with the string length-fixing mechanism 5, and the string cross looping mechanism 4 is fixed on the head screwing mechanism 1 and moves linearly along with the head screwing mechanism 1. The rear string clamping mechanism 3 is located at the rear part of the head screwing mechanism 1 and is located on the same side of the string X together with the head screwing mechanism 1 and the string cross looping mechanism 4, and the front string clamping mechanism 2 and the string length fixing mechanism 5 are located on the other side of the string X. The string straightening mechanism 6 is arranged at the tail section of the string X.

Referring to fig. 4, the included angle between the moving direction of the head screwing mechanism 1 and the string line X is an obtuse angle larger than 90 ° and smaller than 180 °, as shown by the included angle C in fig. 3, and the included angle a and the included angle C are complementary angles. The head screwing mechanism 1 comprises a head screwing assembly 11, a head screwing driving assembly 12, a head screwing base 13, a head screwing linear movement driving servo speed reduction motor 14 and an air-electric slip ring 15.

Referring to fig. 5 and fig. 6, the head screwing head assembly 11 includes a head screwing rod 111, a chord supporting plate 112, a string hanging nail 113, a string hanging nail cylinder 114 and a positioning rod 115. The head screw drive assembly 12 drives the head screw shaft 111 for rotation. The string supporting plate 112 is mounted on the top surface of the head screw 111 to support the string X, and prevent the string X from falling off when it is cross looped. The peg cylinder 114 is fixed at the front end of the head screw 111, and the peg 113 is fixed on the cylinder rod of the peg cylinder 114. When the cylinder rod of the peg cylinder 114 is ejected out, the peg 113 is higher than the plane where the chord supporting plate 112 is located, when the cylinder rod of the peg cylinder 114 is retracted, the top end of the peg 113 is not higher than the plane where the chord supporting plate 112 is located, and the peg 113 can be freely separated from the peg 113 after the string X is completely screwed. The positioning rod 115 is used to determine the initial position of the head screw 111.

The root of the string hanging nail 113 is positioned on the rotation axis of the head screw rod 111. The projection included angle between the axis of the string hanging nail 113 and the axis of the head screwing rod 111 in the vertical direction is an acute angle theta. The string X is wound around the base of the peg 113 in a knot shape after being looped in a crossing manner, so that when the head screw 111 is rotated to face the ground, it is ensured that the string does not come off the peg 113 due to the tension. The projection included angle between the axis of the head screwing rod 111 and the axis of the front string clamping mechanism 1 in the horizontal direction is an obtuse angle B.

Referring to fig. 4 and 7, the head-screw driving assembly 12 includes a rotating shaft 121, a rotating shaft housing 122, a head-screw rotation driving servo motor 123, and a head-screw linear moving assembly 124 for driving the rotating shaft housing 122 to move linearly. The head assembly 11 is disposed on the rotating shaft 121, and the head assembly 11 rotates along with the rotating shaft 121. The head screw 111 is fixed to the rotation shaft 121 by a bolt and rotates in synchronization with the rotation shaft 121. The head screw rotation drives the servo motor 123 to rotate the rotary shaft 121 via the rotary shaft housing 122.

The head screw base 13 is fixed to the ground in parallel with the string X. The head screwing head assembly 11 and the string line X form an obtuse angle of more than 90 degrees and less than 180 degrees, as shown by an included angle C in fig. 3, and the head screwing linear movement driving servo speed reduction motor 14 drives the head screwing linear movement assembly 124 to slide.

Referring to fig. 7, the pivot housing 122 includes a housing 1221, a main shaft 1222, an input shaft 1223, an input gear 1224, a main shaft gear 1225, and a roller bearing, a retainer ring, an end cover, etc. for supporting the main shaft 1222 and the input shaft 1223. The box 1221 is connected to the ball screw 1241 of the head screwing linear movement assembly 124 through a nut installed at the bottom thereof, and is driven to move integrally by a head screwing driving servo motor 1242 of the head screwing linear movement assembly 124. The head screw rotation driving servo deceleration motor 123 drives the input shaft 1223, and the input shaft 1223 drives the input gear 1224 to transmit the torque and the rotation speed of the head screw rotation driving servo deceleration motor 123 to the spindle gear 1225, and drives the spindle 1222 to rotate, thereby driving the head screw rod 111 connected to the spindle 1222 to rotate. The main shaft 1222 is hollow, and the tail end of the main shaft 1222 is connected with the rotating part of the gas electric slip ring 15. The air pipe of the head screw assembly 11 is connected with the rotating part of the gas-electric slip ring 15 through the hollow part of the main shaft 1222 to realize air supply.

Referring to fig. 7 and 8, the head-screwing linear movement assembly 124 includes a translational ball screw 1241, a head-screwing driving servo motor 1242, a translational motor base 1243, a translational nut 1245, a translational linear guide track 1246, a translational slide 1247, a translational bearing seat 1244, and further includes a bearing, a retainer ring, a coupling, and the like supporting the translational ball screw 1241. The translational motor base 1243 is fixed on the head screwing base 13 and is provided with a head screwing driving servo motor 1242. The translational nut 1245 and the translational slide block 1247 are fixedly connected with the rotating shaft box 122. The translational ball screw 1241 is engaged with the translational nut 1245, and when the translational ball screw 1241 rotates, the translational nut 1245 moves linearly. The translational ball screw 1241 is directly connected to a head screw driving servo motor 1242, and is driven to rotate by the latter.

Referring to fig. 2, 3 and 9, the front clamping mechanism 2 includes a first clamping assembly 21, a swing seat assembly 22, a clamping base assembly 23 and a string tail-removing scissors assembly 24. The string clamping base assembly 23 is mounted on the string length fixing mechanism 5 and moves on the string length fixing mechanism 5. The swing seat assembly 22 is mounted on a string clamping base assembly 23, and the first string clamping assembly 21 and the string tail-removing scissors assembly 24 are respectively mounted on the swing seat assembly 22. The swing seat assembly 22 drives the first string clamping assembly 21 and the string tail scissors assembly 24 to swing horizontally around the intersection point of the axis of the head screw 111 and the axis of the string hanging nail 113.

Referring to fig. 9 and 10, the string clamping base assembly 23 includes a base body 231, a string clamping motor base 232, a front string clamping linear movement driving servo deceleration motor 233, a string clamping ball screw 234, a string clamping nut 235, a string clamping linear guide rail 236, a string clamping slider 237 and a bearing base 238, and further includes a bearing, a retaining ring, a coupling and the like for supporting the string clamping ball screw 234. The string clamping motor base 232 is fixed on the base body 231 and is provided with a front string clamping linear movement driving servo speed reducing motor 233. The string clamping nut 235 and the string clamping sliding block 237 are fixedly connected with the swinging seat assembly 22. The chordal ball screw 234 engages the chordal nut 235, and rotation of the chordal ball screw 234 results in linear movement of the chordal nut 235. The string clamping ball screw 234 is directly connected with a front string clamping linear movement driving servo speed reducing motor 233, and is driven to rotate by the rear string clamping ball screw.

Referring to fig. 9 and 11, the swing seat assembly 22 includes a swing seat support 221 and a swing nut seat 222. The swing nut base 222 is fixed to the bottom of the swing base bracket 221, is fixedly connected to the swing nut, and moves synchronously with the swing nut.

Referring to fig. 9 and 12, the first string clamping assembly 21 includes a first string clamping seat 211, a first air jaw support 212, a first string clamping linear guide rail 213, a first air jaw assembly 214, a first air cylinder 215, a first swing driving servo-deceleration motor 216, a first driving gear 217, a first slider and roller 218, an arc-shaped guide rail 219, a gear ring 2110, and a pushing air cylinder 2111. The arc-shaped guide rail 219 and the gear ring 2110 are respectively fixed on the swing seat bracket 21 of the swing seat assembly 22. The first string clamping seat 211, the upper part of the first string clamping seat 211 and the first swing driving servo speed reducing motor 216 are fixedly connected to the string clamping slide block 237 and the roller of the string clamping base component 23, the first swing driving servo speed reducing motor 216 drives the first driving gear 217 directly connected to the first swing driving servo speed reducing motor and is meshed with the gear ring 2110 to drive the first string clamping seat 211 and the string tail removing scissors component 24 to integrally rotate around the center of the gear ring 2110, and the rotation angle is larger than 0 degrees and smaller than 90 degrees, namely, the swing of the front string clamping mechanism 2 is realized. The first pneumatic clamping jaw assembly 214 is fixedly connected with a first pneumatic clamping jaw support 212, the first pneumatic clamping jaw support 212 is installed on a sliding block of a first clamping string linear guide rail 213, and the first pneumatic clamping jaw assembly 214 is driven by the first air cylinder 215 to extend and retract. The first string clamping linear guide rail 213 is fixedly connected to the first string clamping seat 211, and the string tail removing scissors assembly 24 is installed on the first string clamping seat 211 and synchronously swings along with the first string clamping seat 211. The material pushing cylinder 2111 is fixedly connected to the first string clamping seat 211, and a material pushing plate (not shown in the figure) is mounted at the end of a rod of the material pushing cylinder 2111 and used for pushing out a finished string after the head is screwed.

Referring to fig. 13, 14, 15 and 16, the first pneumatic jaw assembly 214 includes a first pneumatic jaw cylinder 2141, a first upper jaw 2142, a first lower jaw 2143, a first guiding cone 2144 and a first adjusting locking nut 2145. The first upper clamping jaw 2142 and the first lower clamping jaw 2143 are opened and closed at an angle of-2 to 23 degrees. The first upper jaw 2142 and the first lower jaw 2143 are in a closed state to clamp the string X. The first upper clamping jaw 2142 and the first lower clamping jaw 2143 are respectively installed on the upper and lower opening and closing connecting piece of the first pneumatic clamping jaw cylinder 2141. The first upper jaw 2142 and the first lower jaw 2143 have a plurality of threaded holes respectively for mounting a first guiding taper rod 2144. Two first longitudinal grooves 2146 and two first transverse grooves 2147 are disposed on the opposite contact surfaces of the first upper jaw 2142 and the first lower jaw 2143, respectively. When the string X is clamped, the string X is longitudinally clamped by the first longitudinal groove 2146, or the string X is transversely clamped by the first transverse groove 2147. Each of the first guiding tapered rods 2144 has a tapered end portion, a thread at a tail portion, and is adapted to cooperate with the threaded holes of the first upper jaw 2142 and the first lower jaw 2143 to adjust a height of the tapered portion of the first guiding tapered rod 2144 extending out of the contact surface of the first upper jaw 2142 and the first lower jaw 2143, and the height is adjusted and locked by the first adjusting locking nut 2145. The first upper jaw 2142 and the first lower jaw 2143 are respectively provided with a lower groove 2148 and an upper groove 2149 opposite to the tapered portion of the first guide cone 2144 for receiving the tapered portion of the first guide cone 2144 to insert, so as to ensure that the first upper jaw 2142 and the first lower jaw 2143 are closed without obstruction. The first guiding tapered rod 2144 is respectively installed at two sides of the first longitudinal groove 2146 or the first transverse groove 2147 to form a V-shaped groove. When the straight line segment of the end of the string X after being crossed and looped is located in the jaws of the first upper jaw 2142 and the first lower jaw 2143, the string X may deviate a little from the first longitudinal groove 2146 due to uncontrollable and precise reasons, so the V-shaped groove can effectively guide the string X back into the first longitudinal groove 2146, ensure that the relative angle of the string head is not changed when the string head is twisted, and improve the reliability. The first transverse groove 2147 and the corresponding first guide cone 2144 function in the same manner as the first longitudinal groove 2146, except that the first transverse groove 2147 is used to clamp the transverse string X and perform a string pulling function.

Referring to fig. 17, fig. 18-1 to fig. 18-4, the string tail-removing scissors assembly 24 includes a tail scissors support 241, a scissors frame 242, a tail scissors pneumatic scissors 243, a tail scissors lifting cylinder 244, a tail scissors telescopic cylinder 245, a tail scissors horizontal linear guide 246 and a tail scissors vertical linear guide 247. The tail shear horizontal linear guide rail 246 and the tail shear telescopic cylinder 245 are fixed on the first string clamping seat 211, the tail shear support 241 is fixedly connected with a sliding block of the tail shear horizontal linear guide rail 246 and is fixedly connected with a cylinder rod of the tail shear telescopic cylinder 245, and the tail shear telescopic cylinder 245 pushes the tail shear horizontal linear guide rail 246 to slide horizontally. The tail shear vertical linear guide rail 247 and the tail shear lifting cylinder 244 are fixed on the tail shear support 241. The tail shear pneumatic scissors 243 are fixedly connected to the scissors frame 242, the scissors frame 242 is mounted on a sliding block of the tail shear vertical linear guide rail 247 and fixedly connected with a cylinder rod of the tail shear lifting cylinder 244, and the tail shear lifting cylinder 244 pushes the tail shear vertical linear guide rail 247 to vertically slide. The string-tail-removing scissors assembly 24 performs the flow of the actions of extending → raising → cutting → dropping → retracting of the tail-removing scissors 243, as shown in fig. 18-1 to 18-4. In the figure, the direction indicated by the half arrow is the direction of movement of the string tail scissors assembly 24, and the open large arrow indicates the process flow direction. The string tail scissors assembly 24 is shown in its extended state in fig. 18-1, its raised and cut-out state in fig. 18-2, its lowered state in fig. 18-3, and its retracted state in fig. 18-4. After the scissor mouth of the tail-cutting pneumatic scissors 243 rises, the scissor mouth can exceed the string X clamped after the first pneumatic clamping jaw assembly 214 is closed, so that the tail-cutting pneumatic scissors 243 can cut the string X conveniently.

Referring to fig. 3 and 19, the motion direction of the rear string clamping mechanism 3 is perpendicular to the string line X, as shown by the included angle D in fig. 3. The rear string clamping mechanism 3 comprises a rear string clamping base 31, a second string clamping assembly 32, a fixed length scissors 33, a rear string clamping linear guide rail 34, a rear string clamping cylinder 35 and a rear string clamping air claw support 36. The rear string clamping base 31 is fixed on the ground, and a rear string clamping linear guide rail 34 is fixed on the rear string clamping base. The second clamping assembly 32 is mounted on a rear clamping air jaw bracket 36. The rear string clamping pneumatic claw support 36 is fixedly connected to a sliding block of the rear string clamping linear guide rail 34, is fixedly connected with a cylinder rod of the rear string clamping cylinder 35, and is driven by the rear string clamping cylinder 35 to drive the second string clamping assembly 32 to slide on the rear string clamping linear guide rail 34. The length-fixing scissors 33 are fixed on the side surface of the rear string clamping air claw support 36, are parallel to the second string clamping assembly 32 and move synchronously with the second string clamping assembly 32, the scissor mouth of the length-fixing scissors 33 can exceed the string X clamped after the second string clamping assembly 32 is closed, the length-fixing scissors 33 can conveniently cut the string X, and the second string clamping assembly 32 is perpendicular to the string X and is positioned on the rear side of the front string clamping mechanism 2.

Referring to fig. 20 and 21, the string crossing looper mechanism 4 includes a looper support 41, a crossing looper head 42, a looper head lifting cylinder 43, and a looper head pivot angle cylinder 44. The looper bracket 41 is fixed to a pivot case 122 of the head-screw mechanism 1. The looping head lifting cylinder 43 is fixed on the looping support 41, the looping head swing angle cylinder 44 is fixed on a cylinder rod of the looping head lifting cylinder 43, and the cross looping head 42 is fixed on a cylinder rod of the looping head swing angle cylinder 44. A hole groove 46 for avoiding the string hanging nail 113 is arranged at the bottom of the cross looping head 42. A looper rod 45 is provided on the cross looper head 42. The included angle between the axis of the looping rod 45 and the axis of the crossed looping head 42 is an acute angle psi, and the end part of the looping rod 45 extends out of the plane of the bottom of the crossed looping head 42.

The looping rod 45 is connected with the cross looping head 42 through a thread pair, and the height of the plane of the bottom of the cross looping head 42, which extends out of the cross looping rod, is adjusted through the thread pair. The end of the looping rod 45 is conical.

The head screwing head assembly 11 effectively fixes the string ring of the string, and prevents the string X from falling and separating in the rotation process of the string ring; the string cross looping mechanism 4 is internally provided with the looping rod 45, so that the directions of the string body and the tail end after cross looping are effectively fixed, and the string X is prevented from being deviated and losing efficacy in the head twisting process.

Referring to fig. 24 to 27 together, the process of looping and heading strings by the cooperation of the headpiece assembly 11 with the string crossing looper mechanism 4 will now be described.

A string bearing inclined surface a1 is provided at the front end portion of the head screw 111 to play a role of cradling the string X, and the peg 113 is provided in this string bearing inclined surface a 1. The provision of the string-bearing slope a1 makes it possible to prevent the string X from falling before the cross-looping action of the string X is performed, and to tilt the leading section a of the string X, which is suspended from the string-bearing slope a1 near the peg 113 b. A convex inclined step surface A2 is provided at a portion of the string bearing inclined surface A1 near the string X, and the inclined step surface A2 is parallel to the axis of the string X. The high end of the inclined step surface A2 is close to the peg 113. And a side elevation A3 perpendicular to the string bearing inclined surface A1 is arranged at the high end of the inclined step surface A2.

The sloped step surface a2 is located near the left side of the peg 113 (with the peg 113 forward as viewed perpendicular to the axis of rotation of the head screw 111) and when the head screw 111 is near the string X, the string X slides along the sloped step surface a2 to the high end interface and rests on the side elevation A3. When the cross looping head 42 is pressed down, a closed space surrounded by four surfaces is formed by the bottom surface A4 of the cross looping head 42, the string bearing inclined surface A1, the side vertical surface A3 and the circumferential surface of the string hanging nail 113, so that the string X is just positioned in the closed space, and when the looping rod 45 is subjected to cross looping again, the string X is limited in the closed space, the string X cannot be greatly bent, the string X cannot be arched, and the problem that the length of the tail end of the looped string is uncontrollable due to the fact that the head of the cross looped string is loose is effectively solved.

Meanwhile, when the head screw 111 approaches the string X, the high end of the string contacting the sloped step a2 is lifted, and the portion near the peg 113 is suspended from the sloped step a2 due to the rigidity of the string X itself. Therefore, when the cross-looping head 42 is pressed down, the suspended part is pressed down to be closely attached to the inclined step surface A2, so that a tiny folded angle is generated on the position of the cross-looping head 42 by the string X, the front section of the string is bent back to an angle larger than 180 degrees when the cross-looping is carried out on the string X, and the folded angle is in a relationship of crossing and passing through the bottom of the body of the main string, so that the interference with the main string is effectively avoided, and the looping process is realized.

An annular groove used for avoiding the end part of the looping rod 45 is further formed in the string bearing inclined plane A1 close to the string hanging nail 113, and the annular groove is a V-shaped groove so as to avoid the end part cone of the looping rod 45. Meanwhile, the rigidity of the cross looping head 42 is improved, and when the string X is tightened after being twisted, the head of the string X slides into the intersection line of the V-shaped groove surface B1 and the circumferential surface of the string hanging nail 113 due to the relation of the V-shaped grooves, so that the head of the string is always positioned on a rotating axis during rotation, and the problem of poor quality of the string caused by eccentric rotation is effectively avoided.

The V-shaped groove surface B1 and the circumferential surface A5 of the string hanging nail 113 form an intersection line L1, the string X slides to the intersection line L1 after being wound and tensioned, the surface formed by the intersection line L1 and the axis of the string hanging nail 113 are intersected at a point O1, and a point O1 is positioned on the rotation axis L0, so that when the head screwing rod 111 rotates, the string head screwing head rotates symmetrically around the rotation axis L0, and the string head screwing quality is guaranteed.

Referring to fig. 24 to 27 and fig. 28-1a to 28-1c to 28-7a to 28-7c, the looping process of the string X is specifically as follows:

(1) the head screw 111 is moved forward to abut the peg 113 against the string X, in the course of which the string-bearing inclined surface a1 is chamfered into the bottom surface of the string X, and the string X is lifted up because the contact point with the string X is raised stepwise in the vertical direction due to the low front and high back of the string-bearing inclined surface a 1. In the process, due to the inclined step surface a2, the string X first contacts the inclined step surface a2 and slides along the inclined step surface a2 to the high end point, and finally locates at the side elevation surface A3 of the inclined step surface a 2.

(2) The cross-looping head 42 is pressed down, the bottom surface A4 of the cross-looping head presses the string X to be tightly attached to the string bearing inclined surface A1, and due to the closed space formed by the side vertical surface A3 of the inclined step surface A2, the bottom surface A4 of the cross-looping head 42, the string bearing inclined surface A1 and the outer circular surface A5 of the string hanging nail 113, the string X is clamped in the closed space, and after the cross-looping of the string X is started, the string X cannot be arched greatly.

(3) The looper 45 is turned, and the string X is looped along the cylindrical surface a5 of the peg 113 to the front end of the string X passing through the body of the main string X and forming an angle. Due to the string bearing inclined plane A1, and the front part is low and the rear part is high, after the string X rotates, the states that the end part a is low and the head part b is high are formed, at the moment, the end part of the string X can penetrate through the string body of the string X and is always positioned below the string body, and the looping process of the string X is completed.

Referring to fig. 3 and 22, the string length fixing mechanism 5 moves in a direction parallel to the string X. The string length fixing mechanism 5 comprises a length fixing base 51, a length fixing moving guide rail 52, a length fixing driving servo speed reducing motor 53 and a length fixing connecting seat 54. The fixed length base 51 is fixed on the ground, the fixed length moving guide rail 52 is fixed on the fixed length base 51, the fixed length driving servo deceleration motor 53 is fixed on the fixed length connecting base 54, the fixed length connecting base 54 is installed on the fixed length base 51 and is driven by the fixed length driving servo deceleration motor 53 to move along the fixed length moving guide rail straight line 52, the fixed length moving guide rail 52 is parallel to the string X, and the front string clamping mechanism 2 is installed on the fixed length connecting base 54.

Referring to fig. 3 and 23, since the string is wound in a coil form on the string tray in the initial state and the string is deformed in a spiral form, it is necessary to first perform the straightening process on the string and to perform the straightening operation by the string straightening mechanism 6. The string straightening mechanism 6 comprises a straightening base 61, a string guide sleeve 62 and a straightening roller 63. The alignment base 61 is fixed on the ground, the string guide 62 is fixed on the alignment base 61, the alignment roller 63 is fixed on the alignment base 61 and is positioned right behind the string guide 62, the axis of the string guide 62 is collinear with the central axis of the alignment roller 63, and the string X aligned by the alignment roller 63 passes through the central hole of the string guide 62. The string straightening mechanism 6 conducts straightening operation before and during string head twisting operation and in the fixed-length shearing process.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. The string head twisting device is characterized by comprising a head twisting mechanism for performing head twisting processing on the front section of a string of the musical instrument and a string cross looping mechanism for processing a string ring of the string and assisting the head twisting processing, wherein the head twisting mechanism comprises a head twisting head assembly, the head twisting head assembly comprises a head twisting rod and a string hanging nail, the string cross looping mechanism comprises a cross looping head, a looping rod is arranged on the cross looping head, a string bearing inclined plane is arranged at the front end part of the head twisting rod, the string hanging nail is arranged in the string bearing inclined plane, the projection included angle between the axis of the string hanging nail and the axis of the head twisting rod in the vertical direction is an acute angle theta, a raised inclined step surface is arranged at the position, close to the string, of the vertical surface, the high end of the inclined step surface is close to the string hanging nail, the high end of the inclined step surface is arranged at the side, perpendicular to the string bearing inclined plane, after the ring-making head descends to press the string, the bottom surface of the ring-making head, the side vertical surface of the high end of the inclined step surface, the string bearing inclined surface and the outer circumferential surface of the string hanging nail form a closed space surrounded by four surfaces, and the string is limited in the closed space.

2. The string head screwing device according to claim 1, wherein the head screwing assembly further comprises a string supporting plate and a string screw cylinder, the string supporting plate is mounted on the top surface of the head screwing rod and plays a role in supporting a string, the string screw cylinder is fixed at the front end of the head screwing rod, the string hanging nail is fixed on the cylinder rod of the string screw cylinder, the string hanging nail is higher than the plane where the string supporting plate is located when the cylinder rod of the string screw cylinder is ejected, and the top end of the string hanging nail is not higher than the plane where the string supporting plate is located when the cylinder rod of the string screw cylinder is retracted.

3. The string head device according to claim 2, wherein said head screwing mechanism further comprises a head screwing drive assembly and a head screwing base, said head screwing base being fixed to the ground in parallel with the string, said head screwing drive assembly being provided on the head screwing base, said head screwing drive assembly being provided on the head screwing drive assembly, said head screwing drive assembly driving the head screwing rod to rotate.

4. The string head device according to claim 2, wherein the root of said string hanging nail is on the pivot line of the head rod, and the projection angle of the axis of said head rod and the axis of the front clamping mechanism in the horizontal direction is an obtuse angle.

5. The string head driving device according to claim 2, wherein said head driving assembly includes a rotation shaft, a rotation shaft box and a head rotation driving servo reduction motor, and a head rotation linear moving assembly for driving the rotation shaft box to linearly move, said rotation shaft box being fixed to the head driving base, said head driving assembly being provided on the rotation shaft, said head driving rod being fixed to the rotation shaft by means of a bolt and rotating in synchronization with the rotation shaft, said head rotation driving servo reduction motor driving the rotation shaft to rotate by means of the rotation shaft box.

6. The string head driving device according to claim 2, wherein said head screwing mechanism further comprises a head screwing linear movement driving servo speed reduction motor and an electro-pneumatic slip ring, said head screwing head assembly forms an obtuse angle of more than 90 ° and less than 180 ° with the string, and said head screwing linear movement driving servo speed reduction motor drives sliding on the head screwing linear movement assembly.

7. The string head driving device according to claim 5, wherein said rotation case includes a case body, a main shaft, an input gear and a main shaft gear, said head screw linear moving assembly includes a ball screw and a head screw driving servo motor, said case body is connected to the ball screw of the head screw linear moving assembly through a nut installed at a bottom thereof, said case body is driven to integrally move by the head screw driving servo motor of the head screw linear moving assembly, said head screw rotation driving servo motor drives the input shaft, said input shaft drives the input gear to transmit torque and rotation speed of the head screw rotation driving servo motor to the main shaft gear and drives the main shaft to rotate, thereby driving the head screw rod connected to the main shaft to rotate.

8. The string head driving device according to claim 5, wherein said head driving linear movement assembly further comprises a translational motor base, a translational ball screw, a translational nut, a translational linear guide, a translational slide block and a translational bearing seat, said translational motor base is fixed on the head driving base and is provided with a head driving servo motor, said translational nut and translational slide block are fixedly connected with the rotating shaft box, said translational ball screw is engaged with the translational nut, said translational ball screw rotates, then the translational nut moves linearly, said translational ball screw is connected with the head driving servo motor directly, and is driven by the latter to rotate.

9. The string head screwing device according to claim 5, wherein said string cross looper further comprises a looper support fixed to a pivot housing of the head screwing mechanism, a looper head lifting cylinder fixed to the looper support, and a looper head pivot angle cylinder fixed to a cylinder rod of the looper head lifting cylinder, wherein said cross looper head fixed to a cylinder rod of the looper head pivot angle cylinder, wherein a hole groove for avoiding the string hanging nail is provided at the bottom of the cross looper head, wherein the end of the looper rod is conical, the looper rod is coupled to the cross looper head through a thread pair, and the height of the plane in which the bottom of the cross looper head extends out is adjusted by the thread pair.

10. An automatic string processing device, characterized in that a string headpiece device according to any one of claims 1-9 is used on said string processing machine.