CN113388907B

CN113388907B - Intelligent wire dropping robot and automatic wire dropping method thereof

Info

Publication number: CN113388907B
Application number: CN202110654456.XA
Authority: CN
Inventors: 郑晓航; 郑纯武; 侯�忠
Original assignee: Guangdong Dahongma Textile New Material Co ltd
Current assignee: Guangdong Dahongma Textile New Material Co ltd
Priority date: 2021-06-11
Filing date: 2021-06-11
Publication date: 2022-11-25
Anticipated expiration: 2041-06-11
Also published as: CN113388907A

Abstract

The invention belongs to the technical field of spinning production, and particularly relates to an intelligent silk dropping robot and an automatic silk dropping method thereof, wherein the intelligent silk dropping robot comprises a positioning device, a material loading device, a bionic silk dropping device and a silk winding monitoring device; the positioning device comprises a moving mechanism and a lifting mechanism; the bionic silk dropping device comprises a mounting seat, a material receiving mechanism, a feeding mechanism and a material lifting mechanism, wherein the input end of the feeding mechanism is connected with the output end of the material carrying device and is used for conveying a paper tube to be wound to a winding station of the elasticizer, and the material lifting mechanism is used for temporarily storing spinning and driving a silk spindle support of the elasticizer to move so as to enable a silk spindle to fall off; the winding monitoring device is used for monitoring the working condition of winding and forming of the yarn ingots on each winding station of the elasticizer, adopts a bionic structure to simulate manual yarn falling operation action, realizes automatic yarn falling, overcomes adverse factors of the environment, guarantees yarn falling efficiency, replaces manual yarn falling, is favorable for improving spinning production efficiency, and meanwhile, reduces production cost and is favorable for enterprise development.

Description

Intelligent wire dropping robot and automatic wire dropping method thereof

Technical Field

The invention belongs to the technical field of spinning production, and particularly relates to an intelligent silk dropping robot and an automatic silk dropping method thereof.

Background

The texturing machine is a textile machine which can process untwisted yarns such as terylene (POY), polypropylene and the like into elastic yarns with medium elasticity and low elasticity through false twisting deformation.

The texturing machine is a machine applied to processing chemical fiber POY semi-finished products into DTY finished products, produced yarn products are used for producing fabrics, more than tens of thousands of texturing machines are estimated in China, each texturing machine needs 6 operating personnel, more than 10 thousands of people are counted by people engaged in texturing operation in China, the machine cannot be used for discontinuous production within 24 hours and has certain operation difficulty and labor intensity, the noise of a working environment is large, the temperature of the production operation environment is higher than the outdoor temperature by more than 3 degrees due to the self-heating reason of the machine, and the sensible temperature of people can feel hot. With the economic and living of China getting better and more difficult to recruit such operators, few young people are willing to engage in the industry at present.

Specifically, the wire winding part in the traditional elasticizer comprises a wire ingot support for fixing a paper tube and a friction roller for driving the paper tube to rotate, wherein the wire ingot support is arranged in a structure of a lifting 21274, one end of the wire ingot support is arranged in a structure of an opening and closing type so as to be convenient for taking and placing the wire ingot and the paper tube, a reset spring is arranged at the free end part of the wire ingot support and always drives the end part of the wire ingot support to reset to the lifting 21274type structure, namely the elasticizer is used for tightening the paper tube, a rabbit head of the elasticizer is arranged at the end part of the wire ingot support, and one end of the wire ingot support is in damping rotation connection with one side of the friction roller.

At present, the production operation of the elasticizer is almost manual operation at home, and the manual operation silk falling process of the elasticizer is as follows: the air pipe joint of the raw head suction gun is inserted into the air pipe seat by a handle, a compressed air switch is opened to enable the raw head suction gun to generate negative pressure suction, the silk is pulled apart by hands or a silk cutting plate, the silk coming out of one end of the three rollers is sucked by the suction gun, the silk spindle with the silk is taken to the ground by hands, the empty paper pipe is arranged on a silk spindle support, the silk spindle support with the empty paper pipe is pressed down to a friction roller by hands, the raw head suction gun is held by hands to lead the sucked silk to the raw head silk channel of the empty paper pipe, the silk is led to the transverse rabbit head from the tail silk channel by hands, the raw head suction gun is taken out, and the silk spindle which just falls off is taken away by hands.

This complex operation, the operation speed is slow, and the silk inefficiency falls, and manual work exists tired out nature, and long-term operation influences operating personnel health, and when tired out nature operating condition easily influences the operation security, is unfavorable for the enterprise development, awaits urgent need to improve.

Disclosure of Invention

The invention aims to provide an intelligent wire dropping robot and an automatic wire dropping method thereof, and aims to solve the technical problems that the wire dropping of an elasticizer in the prior art is completed manually through complex operation, the operation is complicated, the environment is severe, long-term operation of operators is not facilitated, the work rate is influenced, and enterprise development is not facilitated.

In order to achieve the above object, an embodiment of the present invention provides an intelligent wire-dropping robot, including a positioning device, a material-carrying device, a bionic wire-dropping device, and a wire-winding monitoring device; the positioning device comprises a moving mechanism and a lifting mechanism, the lifting mechanism is arranged on the moving mechanism, the moving mechanism is used for driving the lifting mechanism to move to a position where the wire is to be dropped, and the output end of the lifting mechanism can extend to the output end of the texturing machine where the wire is to be dropped; the material loading device is arranged on the moving mechanism, the output end of the material loading device is used for loading paper tubes to be wound, and the input end of the material loading device is used for collecting formed wire ingots; the bionic silk dropping device comprises a mounting seat, a material receiving mechanism, a feeding mechanism and a material lifting mechanism, the mounting seat is arranged at the output end of the lifting mechanism, the material receiving mechanism, the feeding mechanism and the material lifting mechanism are all arranged on the mounting seat, the input end of the material receiving mechanism can extend to a silk dropping position of the elasticizer, the output end of the material receiving mechanism is connected with the input end of the material carrying device, the input end of the feeding mechanism is connected with the output end of the material carrying device and is used for conveying a paper tube to be wound to a silk winding station of the elasticizer, and the material lifting mechanism is used for temporarily storing spinning and driving a silk spindle support of the elasticizer to move so that a silk spindle drops; the winding monitoring device is used for monitoring the working condition of winding and forming of the filament ingots on each winding station of the elasticizer, and the output end of the winding monitoring device is in signal connection with the winding working condition detection unit of the elasticizer and the moving mechanism.

Optionally, an opening cavity for a formed spindle to pass through is formed in the mounting seat in a penetrating manner, the receiving mechanism includes a receiving plate and a first guide piece, the receiving plate is arranged at an opening end, close to the elasticizer, of the mounting seat, two ends of the first guide piece are respectively connected with an opening, far away from the elasticizer, of the opening cavity and an input end of the loading device, an end portion, far away from the mounting seat, of the receiving plate extends in a back direction and is matched with the moving mechanism and the lifting mechanism to move in a positioning manner, and an end portion of the receiving plate can extend to a position below a spindle support of the elasticizer; the material receiving plate is arranged at the end part, far away from the mounting seat, of the material receiving plate in an upward inclined mode, the first guide piece is arranged in a downward inclined mode gradually from the mounting seat to the direction of the material loading device, and the bottom wall of the open cavity is arranged in a downward inclined mode gradually from the material receiving plate to the first guide piece.

Optionally, the opening cavity comprises a first cavity and a second cavity which are sequentially arranged from top to bottom, the feeding mechanism is arranged in the first cavity, the receiving mechanism is arranged on the bottom wall of the second cavity, and a gap structure for a formed filament ingot to pass through is arranged between the receiving mechanism and the first cavity; feeding mechanism includes first removal seat and propelling movement subassembly, first removal seat sliding connection be in first die cavity, first removal seat adds the bullet machine and makes linear motion, propelling movement subassembly the output with first removal seat drive is connected, first removal seat is provided with the buffering standing groove that is used for holding the paper tube near the tip that adds the bullet machine.

Optionally, sliding grooves are respectively formed on the inner walls of the first cavities opposite to each other, and two ends of the first moving seat are respectively in one-to-one corresponding sliding connection and adaptation with the two groups of sliding grooves; the propelling movement subassembly includes driving source, drive gear and driven rack, driven rack is fixed to be set up on the first removal seat, drive gear rotates to be connected on the inner wall of first die cavity, the output of driving source with drive gear drive is connected, drive gear with driven rack meshes.

Optionally, the driven rack is fixed to be set up the bottom of first removal seat, drive gear is located the below of first removal seat, the driving source is driving motor, the driving source sets up on the lateral wall of mount pad, the output main shaft of driving source stretches into in the first die cavity, drive gear tight fit is connected on the output main shaft of driving source.

Optionally, a sliding groove for slidably adapting to the first moving seat is formed in the first cavity, the pushing assembly includes a pushing member and a transmission unit, the pushing member is disposed at an end portion of the sliding groove far away from the elasticizer, and the pushing member is connected to the first moving seat through the transmission unit in a driving manner.

Optionally, it includes fixing base, multiaxis arm, inhales the silk unit, cuts silk unit, control system and drive plate to lift the material mechanism, control system sets up on the mount pad, the fixing base rotates to be connected the top of mount pad, the multiaxis arm rotates the pin joint and is in on the fixing base, it sets up to inhale the silk unit the free end of multiaxis arm, the output alignment of inhaling the silk unit adds the bullet machine, it sets up to cut the silk unit the free end one side of multiaxis arm just is used for cutting the spinning, the drive plate sets up the free end of multiaxis arm just the both ends of drive plate are dorsad the free end of multiaxis arm is extended towards both sides, control system's output with the multiaxis arm with the fixing base drive is connected.

Optionally, the material loading device includes a first material loading mechanism and a second material loading mechanism, the first material loading mechanism is arranged on the moving mechanism, the second material loading mechanism is arranged at the upper end of the first material loading mechanism, and a gap for a formed wire ingot to pass through is arranged between the first material loading mechanism and the second material loading mechanism; the first material loading mechanism comprises a first material loading box and an inclined guide seat, the first material loading box is provided with a first accommodating cavity for loading a formed wire ingot, the first accommodating cavity is provided with an upward opening, the inclined guide seat is fixedly arranged on the bottom wall of the first accommodating cavity and is used for guiding the formed wire ingot to move and stack towards the end part of the first accommodating cavity, and the end part of the first guide part is connected with the edge of the opening end of the first accommodating cavity; the second carries material mechanism to include that the second carries workbin, second guide and dislocation list material conveying component, the second carries the workbin to be provided with the second that is used for loading the paper tube and accomodates the die cavity, the second carries the workbin to pass through the bracing piece setting first top of carrying the workbin, the upper end that the die cavity was accomodate to the second is provided with the feed inlet, the lateral wall bottom that the die cavity was accomodate to the second is provided with the discharge gate, dislocation list material conveying component sets up just be located on the diapire that the die cavity was accomodate to the second the feed inlet with between the discharge gate, the lateral wall that the die cavity was accomodate to the second is provided with and is used for guiding the paper tube toward the slope direction terminal surface that the output of dislocation list material conveying component removed, the bottom of slope direction terminal surface with form the orientation between the inner wall that the die cavity was accomodate to the second the delivery outlet of dislocation list material conveying component, dislocation list material conveying component is used for forwarding single warp the paper tube of delivery outlet output extremely discharge gate department, the both ends of second guide respectively with the die cavity with the discharge gate is connected.

Optionally, the staggered single-material conveying assembly comprises a second pushing piece and a second moving seat, the second moving seat is slidably connected to the bottom of the second accommodating cavity and located between the discharge port and the output port, a penetrating groove for a single paper tube to pass through is formed in the second moving seat in a penetrating mode, the penetrating groove can be communicated with the output port or the discharge port, the output end of the second pushing piece is in driving connection with the second moving seat, when the penetrating groove moves to the position below the output port, one end of the second moving seat plugs the discharge port, and when the penetrating groove moves to the position above the discharge port, the other end of the second moving seat plugs the output port.

One or more technical solutions in the intelligent wire-dropping robot provided by the embodiment of the present invention at least have one of the following technical effects: the working principle of the intelligent wire-dropping robot is as follows:

positioning and cutting: the wire winding monitoring device receives a wire winding completion signal from the wire winding working condition detection unit, drives the moving mechanism to move to one side of a preset wire falling station, and drives the mounting seat to be close to the preset wire falling station through the lifting mechanism to complete positioning; the output end of the material lifting mechanism moves towards the direction of a formed yarn spindle of the elasticizer, and the spinning at the yarn outlet end of the elasticizer is intercepted;

lifting materials: the output end of the material lifting mechanism lifts the wire ingot support upwards to enable the formed wire ingot which is rotatably connected to the wire ingot support to be far away from a friction roller of the elasticizer, and meanwhile, the end part of the material receiving mechanism moves to the lower part of the formed wire ingot;

receiving materials: the output end of the material lifting mechanism drives the end part of a wire ingot support for fixing a formed wire ingot to horizontally move, the formed wire ingot is far away from the wire ingot, the formed wire ingot falls off due to weight and moves to the material receiving mechanism, and the material receiving mechanism guides the formed wire ingot to move to the input end of the material loading device;

feeding: the material carrying device conveys a paper tube to be wound to the feeding mechanism, the feeding mechanism drives the paper tube to move towards the direction of the filament ingot support and is matched with the lifting mechanism to smoothly drive the filament ingot to the filament ingot support, and the output end of the material lifting mechanism drives the end part of the filament ingot support to reset so that the filament ingot support clamps the paper tube;

rewinding: the material lifting mechanism drives the spindle support clamping the paper tube to reset, the paper tube is abutted against a friction roller of the elasticizer to rotate, the temporarily stored spinning is guided to a spinning channel of the paper tube by the output end of the material lifting mechanism, and then the spinning on the spinning channel is guided to a transverse rabbit head of the elasticizer;

unloading: and the wire winding monitoring device drives the moving mechanism to move to a preset unloading station.

Compared with the technical problems that the silk falling is finished manually through complex operation after the silk winding of the texturing machine in the prior art, the operation is complex, the environment is severe, the long-term operation of operators is not facilitated, the work rate is influenced, and the enterprise development is not facilitated, the intelligent silk falling robot provided by the embodiment of the invention adopts the bionic device to simulate the manual silk falling operation action, realizes automatic silk falling, overcomes the severe environment factors, ensures the silk falling efficiency, replaces the manual silk falling, is favorable for improving the spinning production efficiency, reduces the production cost, and is favorable for the enterprise development.

In order to achieve the above object, an embodiment of the present invention provides an automatic wire-dropping method, which is executed by the above intelligent wire-dropping robot, and includes the following steps:

s100: the wire winding monitoring device receives a wire winding completion signal from the wire winding working condition detection unit, drives the moving mechanism to move to one side of a preset wire falling station, and drives the mounting seat to be close to the preset wire falling station through the lifting mechanism to complete positioning; the output end of the material lifting mechanism moves towards the direction of the formed yarn spindle of the elasticizer, and spinning at the yarn outlet end of the elasticizer is intercepted;

s200: the output end of the material lifting mechanism lifts the wire ingot support upwards to enable the formed wire ingot which is rotatably connected to the wire ingot support to be far away from a friction roller of the elasticizer, and meanwhile, the end part of the material receiving mechanism moves to the lower part of the formed wire ingot;

s300: the output end of the material lifting mechanism drives the end part of a wire spindle bracket for fixing a formed wire spindle to horizontally move, the end part is far away from the wire spindle, the formed wire spindle is dropped due to weight and moves to the material receiving mechanism, and the material receiving mechanism guides the formed wire spindle to move to the input end of the material loading device;

s400: the material loading device conveys a paper tube to be wound to the feeding mechanism, the feeding mechanism drives the paper tube to move towards the direction of the filament support and is matched with the lifting mechanism to smoothly drive the filament to the filament support, and the output end of the material lifting mechanism drives the end part of the filament support to reset so that the filament support clamps the paper tube;

s500: the material lifting mechanism drives the spindle support which clamps the paper tube to reset, the paper tube is abutted against a friction roller of the elasticizer to rotate the paper tube, the output end of the material lifting mechanism guides the temporarily stored spinning to a spinning channel of the paper tube, and then the spinning on the spinning channel is guided to a transverse rabbit head of the elasticizer;

s600: and the wire winding monitoring device drives the moving mechanism to move to a preset unloading station.

One or more technical schemes in the automatic wire-dropping method provided by the embodiment of the invention at least have one of the following technical effects: compared with the technical problems that the silk falling is finished manually through complex operation after the silk winding of the texturing machine in the prior art, the operation is complex, the environment is severe, long-term operation of operators is not facilitated, the working rate is influenced, and enterprise development is not facilitated, the intelligent silk falling robot provided by the embodiment of the invention adopts the bionic device to simulate manual silk falling operation action, automatic silk falling is realized, severe environmental factors are overcome, the silk falling efficiency is guaranteed, manual silk falling is replaced, the spinning production efficiency is favorably improved, meanwhile, the production cost is reduced, and enterprise development is favorably realized.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the embodiments or the prior art description will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.

Fig. 1 is a schematic structural diagram of an intelligent wire-dropping robot provided in an embodiment of the present invention.

Fig. 2 is a top view of an intelligent wire-dropping robot provided in an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of an initial state of a feeding mechanism according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of an output state of the feeding mechanism according to the embodiment of the present invention.

Fig. 5 is a schematic structural diagram of an output state of a feeding mechanism according to another embodiment of the present invention.

Fig. 6 is a schematic structural diagram of an initial state of the second loading mechanism according to the embodiment of the present invention.

Fig. 7 is a schematic structural view of an output paper tube of the second material loading mechanism according to the embodiment of the present invention.

Fig. 8 is a flowchart of an automatic filament dropping method according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

10-positioning device 20-material loading device 30-bionic wire falling device

11-moving mechanism 12-lifting mechanism 31-mounting seat

32-receiving mechanism 33-feeding mechanism 34-lifting mechanism

321, receiving plate 322, first guide 331, first moving seat

332-pushing component 21-first loading mechanism 22-second loading mechanism

221-second loading box 222-second guide piece 226-discharge hole

224-feed inlet 223-dislocation single material conveying component 225-outlet.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to fig. 1 to 8 are exemplary and intended to be used for explaining the embodiments of the present invention, and should not be construed as limiting the present invention.

In the description of the embodiments of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings only for the convenience of describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.

In an embodiment of the present invention, as shown in fig. 1 to 8, an intelligent wire-dropping robot is provided, which includes a positioning device 10, a loading device 20, a bionic wire-dropping device 30 and a wire-winding monitoring device; the positioning device 10 comprises a moving mechanism 11 and a lifting mechanism 12, the lifting mechanism 12 is arranged on the moving mechanism 11, the moving mechanism 11 is used for driving the lifting mechanism 12 to move to a wire-dropping station, and the output end of the lifting mechanism 12 can extend to the wire-dropping output end of the elasticizer; the material loading device 20 is arranged on the moving mechanism 11, the output end of the material loading device 20 is used for loading paper tubes to be wound, and the input end of the material loading device 20 is used for collecting formed wire ingots; the bionic silk dropping device 30 comprises an installation seat 31, a material receiving mechanism 32, a feeding mechanism 33 and a material lifting mechanism 34, wherein the installation seat 31 is arranged at the output end of the lifting mechanism 12, the material receiving mechanism 32, the feeding mechanism 33 and the material lifting mechanism 34 are all arranged on the installation seat 31, the input end of the material receiving mechanism 32 can extend to the silk dropping position of the elasticizer, the output end of the material receiving mechanism 32 is connected with the input end of the material loading device 20, the input end of the feeding mechanism 33 is connected with the output end of the material loading device 20 and is used for conveying paper tubes to be wound to the silk winding station of the elasticizer, and the material lifting mechanism 34 is used for temporarily storing spinning and driving a silk spindle support of the elasticizer to move so that a silk spindle drops; the winding monitoring device is used for monitoring the working condition of winding and forming of the filament ingots on each winding station of the elasticizer, and the output end of the winding monitoring device is in signal connection with the winding working condition detection unit and the moving mechanism 11 of the elasticizer.

Specifically, this intelligence robot that falls:

positioning and cutting the filaments: the winding monitoring device receives a winding completion signal from the winding working condition detection unit, drives the moving mechanism 11 to move to one side of the preset wire falling station, and drives the mounting seat 31 to be close to the preset wire falling station by the lifting mechanism 12 to complete positioning; the output end of the material lifting mechanism 34 moves towards the direction of the formed yarn spindle of the elasticizer, and the spinning at the yarn outlet end of the elasticizer is intercepted;

lifting materials: the output end of the lifting mechanism 34 lifts the spindle support upwards, so that the formed spindle rotatably connected to the spindle support is far away from a friction roller of the elasticizer, and meanwhile, the end part of the receiving mechanism 32 moves to the lower part of the formed spindle;

receiving materials: the output end of the lifting mechanism 34 drives the end of the ingot support for fixing the formed ingot to move horizontally, the formed ingot is far away from the ingot, the formed ingot falls off due to the weight and moves to the receiving mechanism 32, and the receiving mechanism 32 guides the formed ingot to move to the input end of the loading device 20;

feeding: the material loading device 20 conveys a paper tube to be wound to the feeding mechanism 33, the feeding mechanism 33 drives the paper tube to move towards the direction of the filament support and is matched with the lifting mechanism 12 to smoothly drive the filament to the filament support, and the output end of the material lifting mechanism 34 drives the end part of the filament support to reset so that the filament support clamps the paper tube;

rewinding: the material lifting mechanism 34 drives the filament spindle bracket which clamps the paper tube to reset, the paper tube is abutted against a friction roller of the elasticizer, the paper tube is rotated, the temporarily stored spinning is guided to a spinning channel of the paper tube by the output end of the material lifting mechanism 34, and then the spinning on the spinning channel is guided to a transverse rabbit head of the elasticizer;

unloading: the winding monitoring device drives the moving mechanism 11 to move to a preset unloading station.

Compared with the technical problems that the silk falling is finished manually through complex operation after the silk winding of the texturing machine in the prior art, the operation is complex, the environment is severe, long-term operation of operators is not facilitated, the working rate is influenced, and enterprise development is not facilitated, the intelligent silk falling robot provided by the embodiment of the invention adopts the bionic device to simulate manual silk falling operation action, automatic silk falling is realized, severe environmental factors are overcome, the silk falling efficiency is guaranteed, manual silk falling is replaced, the spinning production efficiency is favorably improved, meanwhile, the production cost is reduced, and enterprise development is favorably realized.

As shown in fig. 3 to 5, in another embodiment of the present invention, an opening cavity for passing a molded ingot is formed in the mounting seat 31, the receiving mechanism 32 includes a receiving plate 321 and a first guiding member 322, the receiving plate 321 is disposed at an opening end of the mounting seat 31 close to the elasticizer, two ends of the first guiding member 322 are respectively connected to an opening of the opening cavity far from the elasticizer and an input end of the loading device 20, an end of the receiving plate 321 far from the mounting seat 31 extends in a back direction, and in cooperation with positioning movement of the moving mechanism 11 and the lifting mechanism 12, an end of the receiving plate 321 can extend to a position below an ingot support of the elasticizer; the material receiving plate 321 is inclined upward away from the end of the mounting seat 31, the first guide piece 322 is inclined downward gradually from the mounting seat 31 to the loading device 20, and the bottom wall of the open cavity is inclined downward gradually from the material receiving plate 321 to the first guide piece 322;

specifically, when the lifting mechanism 34 drives the ingot holder to ascend, the end of the material receiving plate 321 moves to the lower side of the ingot holder, when the forming ingot falls, the material receiving plate 321 smoothly receives the forming ingot, and since the material receiving plate 321, the bottom wall of the open cavity and the first guide 322 are all obliquely arranged, the forming ingot is smoothly moved to the input end of the material loading device 20 along the material receiving plate 321, the bottom wall of the open cavity and the first guide 322 by gravity, in this embodiment, the first guide 322 is an elastic crawler structure.

As shown in fig. 3 to 5, in another embodiment of the present invention, the open cavity includes a first cavity and a second cavity which are sequentially arranged from top to bottom, the feeding mechanism 33 is arranged in the first cavity, the receiving mechanism 32 is arranged on the bottom wall of the second cavity, and a gap structure for passing a formed filament ingot is arranged between the receiving mechanism 32 and the first cavity; the feeding mechanism 33 includes a first movable seat 331 and a pushing component 332, the first movable seat 331 is slidably connected in the first cavity, the first movable seat 331 moves linearly toward the elasticizer, an output end of the pushing component is in driving connection with the first movable seat 331, and a buffering placing groove for accommodating a paper tube is arranged at an end portion of the first movable seat 331 close to the elasticizer.

As shown in fig. 3 to 5, specifically, the output end of the material loading device 20 extends into the first cavity, the output end of the material loading device 20 aligns with the initial position of the buffer placement groove, when the paper tube is conveyed to the buffer placement groove through the material loading device 20, the pushing component 332 drives the first moving seat 331 to move toward the elasticizer, and along with the movement of the first moving seat 331, when the paper tube in the buffer placement groove moves onto the filament ingot support, the material lifting mechanism 34 drives the end of the filament ingot support to reset, so that the filament ingot support clamps the paper tube, and the lifting mechanism 12 cooperates with the pushing component 332 to drive the first moving seat 331 to reset, thereby completing the feeding of the paper tube.

As shown in fig. 3 to 5, in another embodiment of the present invention, sliding grooves are respectively formed on the inner walls of the first cavity opposite to each other, and two ends of the first movable seat 331 are respectively slidably connected to and adapted to two sets of sliding grooves in a one-to-one correspondence manner; the pushing assembly 332 comprises a driving source, a driving gear and a driven rack, the driven rack is fixedly arranged on the first moving seat 331, the driving gear is rotatably connected to the inner wall of the first cavity, the output end of the driving source is in driving connection with the driving gear, and the driving gear is meshed with the driven rack; specifically, the driving source drives the driving gear to rotate to drive the driven rack to move, so that the first movable seat 331 moves.

As shown in fig. 3 to 5, in another embodiment of the present invention, the driven rack is fixedly disposed at the bottom of the first movable base 331, the driving gear is disposed below the first movable base 331, the driving source is a driving motor, the driving source is disposed on an outer sidewall of the mounting base 31, an output spindle of the driving source extends into the first cavity, and the driving gear is tightly fitted to the output spindle of the driving source.

As shown in fig. 3 to 5, in another embodiment of the present invention, a sliding groove for slidably fitting the first moving seat 331 is disposed on the first cavity, the pushing assembly 332 includes a pushing member and a transmission unit, the pushing member is disposed at an end of the sliding groove away from the elasticizer, the pushing member is connected to the first moving seat 331 through the transmission unit, specifically, the pushing member is a cylinder or an electric push rod, and the pushing member drives the first moving seat 331 to slide along the sliding groove, so as to move the first moving seat 331.

As shown in fig. 1-2, in another embodiment of the present invention, the material lifting mechanism 34 includes a fixing base, a multi-axis robot arm, a filament sucking unit, a filament cutting unit, a control system and a driving plate, the control system is disposed on the mounting base 31, the fixing base is rotatably connected to the top end of the mounting base 31, the multi-axis robot arm is rotatably pivoted to the fixing base, the filament sucking unit is disposed at the free end of the multi-axis robot arm, the output end of the filament sucking unit is aligned with the elasticizer, the filament cutting unit is disposed at one side of the free end of the multi-axis robot arm and is used for cutting the spun filament, the driving plate is disposed at the free end of the multi-axis robot arm, two ends of the driving plate extend to two sides away from the free end of the multi-axis robot arm, and the output end of the control system is drivingly connected to the multi-axis robot arm and the fixing base.

Specifically, the thread suction unit is a threading suction gun, and the thread cutting unit is a thread cutting plate.

The working principle of the material lifting mechanism 34 is as follows:

cutting the silk: when the moving mechanism 11 drives the mounting seat 31 to move to a preset yarn dropping station, the control system drives the multi-shaft mechanical arm to move to the elasticizer, the yarn suction unit arranged on the multi-shaft mechanical arm moves to a position between a roller of the elasticizer and a formed yarn spindle, the yarn cutting unit cuts the spun yarn, and the yarn suction unit sucks the broken spun yarn to realize spinning interception.

Silk falling: the multi-shaft mechanical arm lifts the top of the spindle support through the driving plate to stop the rotation of the formed spindle; the drive plate is provided with a groove structure for clamping the end part of the spindle support, and the multi-shaft mechanical arm drives the drive plate to horizontally move so that the formed spindle falls.

Feeding: when the paper tube moves into the no-load spindle support, the multi-shaft mechanical arm drives the drive plate to reset, the end part of the spindle support resets and clamps the paper tube, and the multi-shaft mechanical arm presses down the spindle support clamped with the paper tube through the drive plate to enable the paper tube to abut against the friction roller of the elasticizer to start rotating.

Winding: the multi-shaft mechanical arm drives the yarn suction unit to move, spinning is guided into a spinning channel of the rotating paper tube, the yarn tail of the spinning channel is guided to the transverse rabbit head of the yarn spindle support, and the yarn suction unit resets to finish yarn winding.

As shown in fig. 6 to 7, in another embodiment of the present invention, the loading device 20 includes a first loading mechanism 21 and a second loading mechanism 22, the first loading mechanism 21 is disposed on the moving mechanism 11, the second loading mechanism 22 is disposed at the upper end of the first loading mechanism 21, and a gap for passing the formed wire ingot is disposed between the first loading mechanism 21 and the second loading mechanism 22; the first material loading mechanism 21 comprises a first material loading box and an inclined guide seat, the first material loading box is provided with a first accommodating cavity for loading the formed wire ingots, the first accommodating cavity is provided with an upward opening, the inclined guide seat is fixedly arranged on the bottom wall of the first accommodating cavity and is used for guiding the formed wire ingots to move and stack towards the end part of the first accommodating cavity, and the end part of the first guide piece 322 is connected with the edge of the opening end of the first accommodating cavity; the second material loading mechanism 22 comprises a second material loading box 221, a second guide piece 222 and a staggered single material conveying assembly 223, the second material loading box 221 is provided with a second storage cavity for loading paper tubes, the second material loading box 221 is arranged above the first material loading box through a support rod, the upper end of the second storage cavity is provided with a feed port 224, the bottom of the side wall of the second storage cavity is provided with a discharge port 226, the staggered single material conveying assembly 223 is arranged on the bottom wall of the second storage cavity and located between the feed port 224 and the discharge port 226, the side wall of the second storage cavity is provided with an inclined guide end face for guiding the paper tubes to move towards the output end of the staggered single material conveying assembly 223, an output port 225 facing the output end of the staggered single material conveying assembly 223 is formed between the bottom of the inclined guide end face and the inner wall of the second storage cavity, the staggered single material conveying assembly 223 is used for conveying the single paper tubes output through the output port 225 to the discharge port 226, and two ends of the second guide piece 222 are respectively connected with the open cavity and the discharge port 226.

Specifically, the method comprises the following steps:

the stacking principle of the first loading mechanism 21 is as follows: the molding filament ingots are conveyed to the bottom wall of the first material carrying box through the first guide piece 322 and are guided by the inclined guide seat, the molding filament ingots move and abut against the side wall of the first accommodating cavity, and the subsequent molding filament ingots are guided by the inclined guide seat and are orderly stacked towards the same side wall.

The stacking principle of the second loading mechanism 22 is as follows: in this embodiment, the quantity of slope spigot surface is two sets of and the symmetry sets up, and the slope spigot surface keeps away from the second between from top to bottom and accomodates the inner wall of die cavity and set up towards the outside slope, makes the second accomodate the die cavity and from top to bottom shrink gradually, and delivery outlet 225 is located the second and accomodates the extreme position that the die cavity shrinks, and delivery outlet 225 only holds single paper tube to pass through, and second guide 222 is the elasticity track structure.

In another embodiment of the present invention, the staggered single-material conveying assembly 223 includes a second pushing member and a second moving seat, the second moving seat is slidably connected to the bottom of the second receiving cavity and located between the discharge port 226 and the output port 225, a through groove for a single paper tube to pass through is formed in the second moving seat, the through groove can be communicated with the output port 225 or the discharge port 226, the output end of the second pushing member is drivingly connected to the second moving seat, when the through groove moves to below the output port 225, one end of the second moving seat blocks the discharge port 226, and when the through groove moves to above the discharge port 226, the other end of the second moving seat blocks the output port 225.

Specifically, the second pushing member is an air cylinder or an electric push rod, in other embodiments, the second pushing member may also be a gear-rack driving structure (refer to the above embodiments), in this embodiment, the discharge port 226 is located between the output port 225 and the second guide 222, and the operation principle of the staggered single material conveying assembly 223 is as follows:

one paper tube in the paper tube stack accumulated at the conveying port 225 falls into the through groove, the second pushing piece drives the second moving seat to move, the second moving seat drives the paper tube to move towards the discharging port 226, when the through groove is aligned with the discharging port 226, the paper tube falls into the discharging port 226 from the through groove and moves into the feeding mechanism 33 along with the second guide piece 222, because when the through groove moves to the position below the discharging port 225, one end of the second moving seat seals the discharging port 226, when the through groove moves to the position above the discharging port 226, the other end of the second moving seat seals the discharging port 225, the second moving seat carries a single paper tube to move to the discharging port 226 every time, and single material staggered conveying is achieved.

As shown in fig. 1, in another embodiment of the present invention, the moving mechanism 11 is a remote-controlled carrier, the lifting mechanism 12 is a vertically disposed cylinder or a push rod, and the remote-controlled carrier is a technically formed and technically mature structure, which is not repeated herein.

As shown in fig. 8, another embodiment of the present invention provides an automatic wire-dropping method of an intelligent wire-dropping robot, comprising the steps of:

s100: the winding monitoring device receives a winding completion signal from the winding working condition detection unit, drives the moving mechanism 11 to move to one side of the preset wire falling station, and drives the mounting seat 31 to be close to the preset wire falling station by the lifting mechanism 12 to complete positioning; the output end of the material lifting mechanism 34 moves towards the direction of the formed yarn spindle of the elasticizer, and the spinning at the yarn outlet end of the elasticizer is intercepted;

s200: the output end of the lifting mechanism 34 lifts the spindle support upwards, so that the formed spindle rotatably connected to the spindle support is far away from a friction roller of the elasticizer, and meanwhile, the end part of the receiving mechanism 32 moves to the lower part of the formed spindle;

s300: the output end of the lifting mechanism 34 drives the end of the ingot support for fixing the formed ingot to move horizontally, the formed ingot is far away from the ingot, the formed ingot falls off due to the weight and moves to the receiving mechanism 32, and the receiving mechanism 32 guides the formed ingot to move to the input end of the loading device 20;

s400: the material loading device 20 conveys a paper tube to be wound to the feeding mechanism 33, the feeding mechanism 33 drives the paper tube to move towards the direction of the filament support and is matched with the lifting mechanism 12 to smoothly drive the filament to the filament support, and the output end of the material lifting mechanism 34 drives the end part of the filament support to reset so that the filament support clamps the paper tube;

s500: the material lifting mechanism 34 drives the filament spindle bracket which clamps the paper tube to reset, the paper tube is abutted against a friction roller of the elasticizer, the paper tube is rotated, the temporarily stored spinning is guided to a spinning channel of the paper tube by the output end of the material lifting mechanism 34, and then the spinning on the spinning channel is guided to a transverse rabbit head of the elasticizer;

s600: the winding monitoring device drives the moving mechanism 11 to move to a preset unloading station.

Specifically, compared with the technical problems that the silk falling is finished manually through complex operation after the silk winding of the texturing machine in the prior art, the intelligent silk falling robot is complex in operation, bad in environment, not beneficial to long-term operation of operators, influencing the working rate and not beneficial to enterprise development, the intelligent silk falling robot provided by the embodiment of the invention adopts the bionic device to simulate manual silk falling operation action, realizes automatic silk falling, overcomes the bad factors of the environment, ensures the silk falling efficiency, replaces manual silk falling, is beneficial to improving the spinning production efficiency, reduces the production cost and is beneficial to enterprise development.

The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Claims

1. An intelligent wire-dropping robot, comprising:

the positioning device comprises a moving mechanism and a lifting mechanism, the lifting mechanism is arranged on the moving mechanism, the moving mechanism is used for driving the lifting mechanism to move to a position where the wire is to be dropped, and the output end of the lifting mechanism can extend to the output end of the texturing machine where the wire is to be dropped;

the material loading device is arranged on the moving mechanism, the output end of the material loading device is used for loading paper tubes to be wound, and the input end of the material loading device is used for collecting formed wire ingots;

the bionic silk dropping device comprises a mounting seat, a material receiving mechanism, a feeding mechanism and a material lifting mechanism, wherein the mounting seat is arranged at the output end of the lifting mechanism, the material receiving mechanism, the feeding mechanism and the material lifting mechanism are all arranged on the mounting seat, the input end of the material receiving mechanism can extend to a silk dropping position of the elasticizer, the output end of the material receiving mechanism is connected with the input end of the material carrying device, the input end of the feeding mechanism is connected with the output end of the material carrying device and is used for conveying a paper tube to be wound to a silk winding station of the elasticizer, and the material lifting mechanism is used for temporarily storing spinning and driving a silk spindle support of the elasticizer to move so that a silk spindle drops;

the winding monitoring device is used for monitoring the working condition of winding and forming of the filament ingots on each winding station of the elasticizer, and the output end of the winding monitoring device is in signal connection with the winding working condition detection unit of the elasticizer and the moving mechanism;

the mounting seat is provided with an opening cavity for a formed spindle to pass through in a penetrating manner, the receiving mechanism comprises a receiving plate and a first guide piece, the receiving plate is arranged at the opening end, close to the elasticizer, of the mounting seat, two ends of the first guide piece are respectively connected with the opening, far away from the elasticizer, of the opening cavity and the input end of the loading device, the end, far away from the mounting seat, of the receiving plate extends in a back direction and is matched with the positioning movement of the moving mechanism and the lifting mechanism, and the end of the receiving plate can extend to the position below a spindle support of the elasticizer;

the material receiving plate is arranged at the end part, far away from the mounting seat, of the material receiving plate in an upward inclined mode, the first guide piece is arranged in a downward inclined mode gradually from the mounting seat to the direction of the material loading device, and the bottom wall of the open cavity is arranged in a downward inclined mode gradually from the material receiving plate to the first guide piece.

2. The intelligent drop robot of claim 1, wherein: the opening cavity comprises a first cavity and a second cavity which are sequentially arranged from top to bottom, the feeding mechanism is arranged in the first cavity, the receiving mechanism is arranged on the bottom wall of the second cavity, and a gap structure for a formed filament ingot to pass through is arranged between the receiving mechanism and the first cavity;

feeding mechanism includes first removal seat and propelling movement subassembly, first removal seat sliding connection be in first die cavity, first removal seat orientation adds the bullet machine and makes linear motion, the output of propelling movement subassembly with first removal seat drive is connected, the tip that first removal seat is close to adding the bullet machine is provided with the buffering standing groove that is used for holding the paper tube.

3. The intelligent drop robot of claim 2, wherein: sliding grooves are respectively formed in the inner walls of the first cavities, which are opposite to each other, and two ends of the first movable seat are respectively in one-to-one corresponding sliding connection and adaptation with the two groups of sliding grooves; the propelling movement subassembly includes driving source, drive gear and driven rack, driven rack is fixed to be set up on the first removal seat, drive gear rotates to be connected on the inner wall of first die cavity, the output of driving source with drive gear drive is connected, drive gear with driven rack meshes.

4. The intelligent drop robot of claim 3, wherein: the driven rack is fixedly arranged at the bottom of the first movable seat, the driving gear is located below the first movable seat, the driving source is a driving motor and is arranged on the outer side wall of the mounting seat, an output main shaft of the driving source extends into the first cavity, and the driving gear is tightly matched and connected to the output main shaft of the driving source.

5. The intelligent filature robot of claim 2, wherein: the first die cavity is provided with a sliding groove matched with the first moving seat in a sliding mode, the pushing assembly comprises a pushing piece and a transmission unit, the pushing piece is arranged at the end portion, far away from the elasticizer, of the sliding groove, and the pushing piece is in driving connection with the first moving seat through the transmission unit.

6. The intelligent wire-dropping robot according to any one of claims 1 to 5, characterized in that: it includes fixing base, multiaxis arm, inhales the silk unit, cuts silk unit, control system and drive plate to lift material mechanism, control system sets up on the mount pad, the fixing base rotates to be connected the top of mount pad, the multiaxis arm rotates the pin joint and is in on the fixing base, it sets up to inhale the silk unit the free end of multiaxis arm, it aims at the elasticizer to inhale the output of silk unit, it sets up to cut the silk unit the free end one side of multiaxis arm just is used for cutting the spinning, the drive plate sets up the free end of multiaxis arm just the both ends of drive plate dorsad the free end of multiaxis arm is extended toward both sides, control system's output with the multiaxis arm with the fixing base drive is connected.

7. The intelligent doffing robot according to any one of claims 1-5, wherein: the material loading device comprises a first material loading mechanism and a second material loading mechanism, the first material loading mechanism is arranged on the moving mechanism, the second material loading mechanism is arranged at the upper end of the first material loading mechanism, and a gap for a formed wire ingot to pass through is formed between the first material loading mechanism and the second material loading mechanism;

the first material loading mechanism comprises a first material loading box and an inclined guide seat, the first material loading box is provided with a first accommodating cavity for loading a formed wire ingot, the first accommodating cavity is provided with an upward opening, the inclined guide seat is fixedly arranged on the bottom wall of the first accommodating cavity and is used for guiding the formed wire ingot to move and stack towards the end part of the first accommodating cavity, and the end part of the first guide part is connected with the edge of the opening end of the first accommodating cavity;

the second carries material mechanism to include that the second carries workbin, second guide and dislocation list material conveying component, the second carries the workbin to be provided with the second that is used for loading the paper tube and accomodates the die cavity, the second carries the workbin to pass through the bracing piece setting first top of carrying the workbin, the upper end that the die cavity was accomodate to the second is provided with the feed inlet, the lateral wall bottom that the die cavity was accomodate to the second is provided with the discharge gate, dislocation list material conveying component sets up just be located on the diapire that the die cavity was accomodate to the second the feed inlet with between the discharge gate, the lateral wall that the die cavity was accomodate to the second is provided with and is used for guiding the paper tube toward the slope direction terminal surface that the output of dislocation list material conveying component removed, the bottom of slope direction terminal surface with form the orientation between the inner wall that the die cavity was accomodate to the second the delivery outlet of dislocation list material conveying component, dislocation list material conveying component is used for forwarding single warp the paper tube of delivery outlet output extremely discharge gate department, the both ends of second guide respectively with the die cavity with the discharge gate is connected.

8. The intelligent drop robot of claim 7, wherein: the staggered single-material conveying assembly comprises a second pushing piece and a second moving seat, the second moving seat is connected to the bottom of the second accommodating cavity in a sliding mode and located between the discharge port and the output port, a penetrating groove for a single paper tube to pass through is arranged on the second moving seat in a penetrating mode and can be communicated with the output port or the discharge port, the output end of the second pushing piece is connected with the second moving seat in a driving mode, when the penetrating groove moves to the position below the output port, one end of the second moving seat plugs the discharge port, and when the penetrating groove moves to the position above the discharge port, the other end of the second moving seat plugs the output port.

9. An automatic silk falling method is characterized in that: the intelligent wire-dropping robot as claimed in any one of claims 1 to 8, comprising the following steps:

s300: the output end of the material lifting mechanism drives the end part of a wire ingot support for fixing a formed wire ingot to horizontally move, the formed wire ingot is far away from the wire ingot, the formed wire ingot falls off due to weight and moves to the material receiving mechanism, and the material receiving mechanism guides the formed wire ingot to move to the input end of the material loading device;

s400: the material carrying device conveys a paper tube to be wound to the feeding mechanism, the feeding mechanism drives the paper tube to move towards the direction of the filament ingot support and is matched with the lifting mechanism to smoothly drive the filament ingot to the filament ingot support, and the output end of the material lifting mechanism drives the end part of the filament ingot support to reset so that the filament ingot support clamps the paper tube;