CN113979224B - Full-automatic yarn changing manipulator - Google Patents
Full-automatic yarn changing manipulator Download PDFInfo
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- CN113979224B CN113979224B CN202111476362.4A CN202111476362A CN113979224B CN 113979224 B CN113979224 B CN 113979224B CN 202111476362 A CN202111476362 A CN 202111476362A CN 113979224 B CN113979224 B CN 113979224B
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- 238000004804 winding Methods 0.000 claims abstract description 47
- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 238000000034 method Methods 0.000 claims abstract description 5
- 230000002457 bidirectional effect Effects 0.000 claims description 25
- 238000013519 translation Methods 0.000 claims description 22
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
- B65H67/06—Supplying cores, receptacles, or packages to, or transporting from, winding or depositing stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
- B65H67/04—Arrangements for removing completed take-up packages and or replacing by cores, formers, or empty receptacles at winding or depositing stations; Transferring material between adjacent full and empty take-up elements
- B65H67/0405—Arrangements for removing completed take-up packages or for loading an empty core
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
- B65H67/06—Supplying cores, receptacles, or packages to, or transporting from, winding or depositing stations
- B65H67/068—Supplying or transporting empty cores
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/31—Textiles threads or artificial strands of filaments
Landscapes
- Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
Abstract
The invention discloses a full-automatic yarn changing manipulator which comprises a support guide rail frame, an annular yarn changing manipulator, a spindle and spool conveying belt, a spool propeller, a yarn pushing device and a controller, wherein the support guide rail frame is arranged on the support guide rail frame; the support guide rail frames are arranged on the front surfaces of the winding machines, the annular yarn changing manipulators are slidably suspended on the support guide rail frames and are pushed by the driving units of the support guide rail frames to stay on the front surfaces of different winding stations in sequence, and yarn taking arms and tube grabbing mechanisms are arranged on the annular yarn changing manipulators at equal intervals; the full-automatic yarn changing manipulator is controlled by the controller, realizes simultaneous multi-station yarn taking in a specified time, changes yarn feeding tubes, ensures that the time and speed of the whole yarn taking and changing process are controllable, improves the working efficiency, automatically controls and reduces the labor cost.
Description
Technical Field
The invention relates to the field of yarn package production lines, in particular to a full-automatic yarn changing manipulator.
Background
In the silk collecting machine industry, in order to improve benefits, a single-station silk collecting machine is upgraded into an automatic double-station silk collecting machine, but after the spindle is fully wound, the spindle needs to be manually unloaded, the spindle is replaced, the operation of high-rise culture personnel is difficult, the technical skill of common personnel is not high, and the responsibility is not strong, so that the production and management are difficult. The ordinary PP and PE wire winding machine can measure the benefit by the yield, and workers are required to carry out work and work, so that people can be tired, and people can always contradict each other, so that the production is influenced.
In the prior art, the mechanical arm is mostly operated in a single-head mode, the whole line operation starting number is operated in hundred units, the mechanical arm for single-head operation cannot meet the requirement of the rhythm that the number is huge, the reel changing speed is high, a plurality of mechanical arms are added for operation together, the cost is greatly increased, the occupied area is also increased, and the obvious effects of reducing the cost and improving the benefit brought by automation are lost.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a full-automatic yarn changing manipulator which solves the problems.
In order to solve the technical problems, the invention provides the following technical scheme:
The invention provides a full-automatic yarn changing manipulator which is characterized in that: comprises a support guide rail frame, an annular yarn changing manipulator, a yarn spindle and spool conveying belt, a spool pusher, a yarn pushing device and a controller; the support guide rail frames are arranged on the front surfaces of the winding machines, the annular yarn changing manipulators are slidably suspended on the support guide rail frames and are pushed by the driving units of the support guide rail frames to stay on the front surfaces of different winding stations in sequence, and yarn taking arms and tube grabbing mechanisms are arranged on the annular yarn changing manipulators at equal intervals; the spindle bobbin conveyor belt is arranged at the lower side of the winding machine, and a plurality of spindle placing positions and a plurality of bobbin placing positions are arranged on the spindle bobbin conveyor belt at equal intervals; the yarn pushing device is arranged at the lower part of the annular yarn changing manipulator; the controller is respectively and electrically connected with the winding machine, the supporting guide rail frame, the annular yarn changing manipulator, the spindle bobbin conveyor belt, the bobbin pusher and the yarn pushing device, and comprises the following control principles:
Reading information of a winding machine, and after a spindle full signal of the winding machine is obtained, adjusting the position of an annular yarn changing manipulator so that a yarn taking arm is opposite to the full spindle, wherein a controller controls the winding machine to push the spindle onto the yarn taking arm;
And a second step of: the method comprises the steps of coordinating the conveying speed of a spindle bobbin conveying belt and the rotating speed of an annular yarn changing manipulator, controlling a bobbin pusher and a yarn pushing device, starting the yarn pushing device when a yarn taking arm is positioned at the lowest end and is opposite to a spindle placing position of the spindle bobbin conveying belt, pushing a fully wound spindle onto the spindle placing position, rotating the annular yarn changing manipulator, enabling a pipe grabbing mechanism to be positioned at the lowest end and to be opposite to the spindle placing position of the spindle bobbin conveying belt, enabling the bobbin pusher to start and enabling the pipe grabbing mechanism to act in a matched mode, and fixing a bobbin on the pipe grabbing mechanism;
And a third step of: repeating the first step and the second step, unloading all the spindles on the annular yarn changing manipulator onto a spindle bobbin conveying belt, and fixing all the bobbins of the spindle bobbin conveying belt on a tube grabbing mechanism;
Fourth step: controlling a tube grabbing mechanism to assemble the bobbins onto a winding machine;
fifth step: the annular yarn changing manipulator is controlled to move to the next winding station.
Further, the support guide rail frame comprises a support frame and a translation rail, wherein the support frame is fixed on the whole line of the winding machine, and the translation rail is arranged on a cross beam of the support frame.
Further, the driving unit is connected with a controller, and the controller controls the track translation speed, the translation distance and the stop time.
Further, the annular yarn changing manipulator comprises a manipulator support, an annular track, a yarn taking arm, a tube grabbing device, a yarn pushing device, a driving motor, a driving belt and a driving wheel; the mechanical arm support is fixed on the translation track through screws, the annular track and the driving motor are fixed on the mechanical arm support through screws, the yarn taking arm and the tube grabbing device are fixed on the transmission belt through the fixing seat, two driving wheels are arranged, one driving wheel is installed on the shaft of the driving motor, and the other driving wheel is installed on the mechanical arm support; and the yarn taking arm and the tube grabbing device are provided with rollers, and when the driving motor rotates, the driving wheel is driven to drive the driving belt to move, and the rollers slide on the annular track.
Further, the pipe grabbing device comprises a first bidirectional air cylinder and a pipe grabbing mechanism, the yarn pushing device comprises a second bidirectional air cylinder and a yarn pushing plate, an electromagnetic valve of the first bidirectional air cylinder, an electromagnetic valve of the second bidirectional air cylinder and a driving motor are respectively connected with a controller, the controller controls pushing-out time and speed of the first bidirectional air cylinder and the second bidirectional air cylinder, and the controller controls rotating speed and stopping time of the driving motor.
Further, the spindle bobbin conveyor belt comprises a conveyor belt assembly, a driving roller, a driving belt wheel, a conveyor belt bracket and a conveyor motor; the driving rollers are fixed on the conveyor belt bracket through bearing blocks, and the conveyor belt assembly is wound on the driving rollers; two driving pulleys are fixed on each driving roller close to the spindle side, and a driving chain or a synchronous belt is arranged on each driving pulley; and a conveying motor is arranged below the conveying belt support, and drives a chain or a synchronous belt to drive the driving roller to rotate so as to drive the conveying belt assembly to move forwards or backwards.
Further, the conveying motor is connected with the controller.
Further, the bobbin pusher comprises a pushing cylinder and a pushing plate; the yarn tube pusher is fixed on the frame of the winding machine of the yarn taking object and is concentric with the position of the yarn tube on the yarn spindle tube conveying belt; the electromagnetic valve connected with the pushing cylinder is connected with the controller, and the controller controls the pushing cylinder to push out and recover according to program setting.
Further, the height of the spindle bobbin conveyor belt is adjustable according to the height of the winding machine.
Compared with the prior art, the invention has the following beneficial effects:
1. The full-automatic yarn changing manipulator is controlled by the controller, achieves simultaneous multi-station yarn taking within a specified time, changes yarn feeding tubes, ensures that the time and speed of the whole yarn taking and changing process are controllable, improves the working efficiency, automatically controls and reduces the labor cost.
2. The manipulator is designed in a hanging reverse hanging mode, and the conveyor belt is arranged below the service object winding machine, so that the walking space is not occupied, and the occupied area of equipment is greatly saved;
3. the frame structure of the invention has simple form, the design of the annular yarn changing manipulator is simple, the spindle bobbin conveyor belt adopts the design of a standard component, and the processing cost is greatly reduced.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
fig. 1 is a control schematic of the present invention.
Figure 2 is a schematic view of one of the support track frame and bobbin pusher of the present invention.
Fig. 3 is a schematic view of the endless yarn changing manipulator of the present invention.
Fig. 4 is a schematic view of the spindle tube conveyor of the present invention.
Figure 5 is a second schematic view of the support track frame and bobbin pusher of the present invention.
Fig. 6 is a schematic diagram of the present invention.
Fig. 7 is a front view of the present invention.
Fig. 8 is a side view of the present invention.
In the figure: 1 is a support guide rail frame, 2 is an annular yarn changing manipulator, 3 is a yarn tube pusher, 4 is a yarn spindle tube conveyor belt, 5 is a conveyor motor, 6 is a controller, 7 is a support frame, 8 is a translation rail, 9 is a yarn pushing device, 10 is a pushing plate, 11 is a pushing cylinder, 12 is a first bidirectional cylinder, 13 is a tube grabbing mechanism, 14 is a fixed seat, 15 is a tube grabbing device, 16 is a yarn taking arm, 17 is a manipulator bracket, 18 is a driving motor, 19 is a driving belt, 20 is a yarn pushing plate, 21 is a second bidirectional cylinder, 22 is an annular rail, 23 is a driving wheel, 24 is a roller, 25 is a driving chain or a synchronous belt, 26 is a bearing seat, 27 is a conveyor belt bracket, 28 is a driving belt wheel, 29 is a driving roller, 30 is a conveyor belt unit, 31 is a yarn spindle, 32 is a yarn spindle, and 33 is a winding machine.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
Wherein like reference numerals refer to like elements throughout.
Example 1
As shown in fig. 1,2, 3 and 4, a fully automatic yarn changing manipulator is characterized in that: comprises a support guide rail frame 1, an annular yarn changing manipulator 2, a yarn spindle and yarn tube conveying belt 4, a yarn tube pusher 3, a yarn pushing device 9 and a controller 6; the support guide rail frames 1 are arranged on the front surfaces of a plurality of winding machines, the annular yarn changing manipulators 2 are slidably suspended on the support guide rail frames 1 and are pushed by driving units of the support guide rail frames 1 to sequentially stay on the front surfaces of different winding stations, and yarn taking arms 16 and tube grabbing mechanisms 13 are arranged on the annular yarn changing manipulators 2 at equal interval; the spindle bobbin conveyor belt 4 is arranged at the lower side of the winding machine, and a plurality of spindle placing positions and a plurality of bobbin placing positions are arranged on the spindle bobbin conveyor belt 4 at equal intervals; the yarn pushing device 9 is arranged at the lower part of the annular yarn changing manipulator 2; the controller 6 is respectively and electrically connected with the winding machine, the supporting guide rail frame 1, the annular yarn changing manipulator 2, the spindle bobbin conveying belt 4, the bobbin pusher 3 and the yarn pushing device 9, and comprises the following control principles:
Reading information of a winding machine, and after a spindle full signal of the winding machine is obtained, adjusting the position of an annular yarn changing manipulator 2 so that a yarn taking arm 16 is opposite to the full spindle, wherein a controller 6 controls the winding machine to push the spindle onto the yarn taking arm 16;
And a second step of: the method comprises the steps of coordinating the conveying speed of a spindle bobbin conveying belt 4 and the rotating speed of an annular yarn changing manipulator 2, controlling a bobbin pusher 3 and a yarn pushing device 9, starting the yarn pushing device 9 when a yarn taking arm 16 is positioned at the lowest end and faces to a spindle placing position of the spindle bobbin conveying belt 4, pushing a fully wound spindle onto the spindle placing position, then rotating the annular yarn changing manipulator 2, starting the bobbin pusher 3 when a pipe grabbing mechanism 13 is positioned at the lowest end and faces to the spool placing position of the spindle bobbin conveying belt 4, and fixing a spool on the pipe grabbing mechanism 13 in cooperation with the action of the pipe grabbing mechanism 13;
And a third step of: repeating the first step and the second step, unloading all yarn ingots on the annular yarn changing manipulator 2 onto the yarn ingot bobbin conveying belt 4, and fixing all yarn bobbins on the yarn ingot bobbin conveying belt 4 on the pipe grabbing mechanism 15;
Fourth step: the bobbin grabbing mechanism 13 is controlled to assemble the bobbins onto a winding machine;
fifth step: the annular yarn changing manipulator 2 is controlled to move to the next winding station.
The support guide rail frame 1 comprises a support frame 7 and a translation rail 8, wherein the support frame 7 is fixed on the whole line of the winding machine, and the translation rail 8 is arranged on a cross beam of the support frame 7.
The driving unit is connected with the controller 6, and the controller 6 controls the track translation speed, the translation distance and the stop time.
The annular yarn changing manipulator 2 comprises a manipulator bracket 17, an annular track 22, a yarn taking arm 16, a tube grabbing device 15, a yarn pushing device 9, a driving motor 18, a driving belt 19 and a driving wheel 23; the manipulator support 17 is fixed on the translation rail 8 through screws, the annular rail 22 and the driving motor 18 are fixed on the manipulator support 17 through screws, the yarn taking arm 16 and the tube grabbing device 15 are fixed on the transmission belt 19 through fixing seats, two driving wheels 23 are arranged, one driving wheel 23 is arranged on the shaft of the driving motor 18, and the other driving wheel 23 is arranged on the manipulator support 17; the yarn taking arm 16 and the tube grabbing device 15 are provided with rollers 24, and when the driving motor 18 rotates, the driving wheel 23 drives the driving belt 19 to move, and the rollers 24 slide on the annular track 22.
The pipe grabber 15 comprises a first bidirectional air cylinder 12 and a pipe grabbing mechanism 13, the yarn pushing device 9 comprises a second bidirectional air cylinder 21 and a yarn pushing plate 20, an electromagnetic valve of the first bidirectional air cylinder 12, an electromagnetic valve of the second bidirectional air cylinder 21 and a driving motor 18 are respectively connected with the controller 6, the controller 6 controls pushing-out time and speed of the first bidirectional air cylinder 12 and the second bidirectional air cylinder 21, and the controller 6 controls rotation speed and stopping time of the driving motor 18.
The spindle bobbin conveyor belt 4 comprises a conveyor belt assembly 30, a driving roller 29, a driving belt wheel 28, a conveyor belt bracket 27 and a conveyor motor 5; the driving rollers 29 are fixed on the conveyor belt bracket 27 through bearing blocks 26, and the conveyor belt assembly 30 is wound on the driving rollers 29; each driving roller 29 is fixed with two driving pulleys 28 near the spindle side, and each driving pulley 28 is provided with a driving chain or a synchronous belt 25; a conveyor motor 5 is mounted below the conveyor support 27, and the conveyor motor 5 drives a chain or timing belt 25, which drives a drive roller 29 to rotate, which moves the conveyor assembly 30 forward or backward.
The conveying motor 5 is connected with the controller 6.
The bobbin pusher 3 comprises a pushing cylinder 11 and a pushing plate 10; the bobbin pusher 3 is fixed on a winding machine frame of a yarn taking object and is concentric with the position of a bobbin on the spindle bobbin conveyor belt 4; the electromagnetic valve connected with the pushing cylinder 11 is connected with the controller 6, and the controller 6 controls the pushing cylinder 11 to push out and recover according to program setting.
The spindle bobbin conveyor 4 is height-adjustable according to the height of the winder 33.
The manipulator support 17 of the annular yarn changing manipulator 2 is fixed below the support guide rail frame 1 through the translation track 8, the translation track 8 is controlled by the controller 8, the translation speed and the distance can be set according to the needs, the spindle bobbin conveyor belt 4 is arranged below the service object winding machine, the height position of the conveyor belt support 27 is adjustable, the pushing cylinder 11 in the bobbin pusher 3 is fixed below the frame of the service object winding machine through screws, the position of the pushing cylinder is opposite to the central position of the bobbin of the spindle bobbin conveyor belt 4, and the purpose is that the pushing cylinder 11 pushes out the pushing plate 10 when the bobbin is gripped by the bobbin gripper 15, the bobbin is firmly gripped by the bobbin gripper 15, and the bobbin is not easy to drop when the bobbin does not enter the winding machine.
As shown in fig. 1,2 and 3, the controller 6 receives the full spindle winding signal of the winding machine, sends a signal to a driving element in the translation track 8, and drives the translation track 8 to drive the annular yarn changing manipulator 2 to slide to the spindle position sent by the signal; after the yarn is in place, the controller 6 controls the winding machine to push out the yarn spindle, the yarn taking arm 16 receives a yarn spindle in place signal and feeds the yarn spindle in place signal back to the controller 6, the controller 6 controls the driving motor 18 to rotate, and the driving motor 18 controls the driving wheel 23 to rotate clockwise; the yarn taking arm 16 and the tube grabbing device 15 are fixed on a transmission belt through a fixed seat, and the transmission belt drives the fixed seat to drive together when rotating; the roller 24 is arranged on the back of the fixing seat, the roller groove is matched with the annular track, the fixing seat rotates to drive the roller to move along the annular track, and the yarn taking arm and the tube grabbing device rotate along the track of the annular track.
As shown in fig. 1, 2 and 4, the controller 6 controls the driving motor 18 to rotate for a certain pulse number, the yarn taking arm 16 rotates to stop at the lower end corresponding to the yarn spindle position of the yarn spindle tube conveyor belt 4, the second bidirectional cylinder 21 of the yarn pushing device 9 pushes out the yarn pushing plate 20, the yarn pushing plate 20 pushes out the yarn spindle 32 onto the yarn spindle tube conveyor belt 4, and the second bidirectional cylinder 21 withdraws the yarn pushing plate 20; the spindle bobbin conveyor belt 4 is provided with a sensing device to send a signal to the controller 6, and the controller 6 receives a spindle 32 in-place signal; the transmission motor 5 is controlled to rotate for a certain number of turns according to the set pulse number, the transmission motor 5 drives the driving belt pulley 28 to rotate, the driving belt on the driving belt pulley 28 and the driving roller 29 simultaneously rotate, the transmission belt 30 is synchronously transmitted, the controller 6 is informed to control the driving motor 18 to rotate for a certain number of turns according to the set pulse number, and the pipe grabbing device 15 is enabled to just move down to the position of the bobbin 31 on the transmission belt 30; the in-place controller 6 controls the first bidirectional air cylinder 12 of the tube grabbing device 15 to push out of the tube grabbing mechanism 13, meanwhile, the pushing air cylinder 11 of the yarn tube pusher 3 pushes out of the pushing plate 10, at the moment, the yarn tube 31 enters the tube grabbing mechanism 13, the second bidirectional air cylinder 21 withdraws the tube grabbing mechanism 13 to take away the yarn tube 31, the yarn spindle tube conveyor belt 4 sends a signal to the controller from the induction device, and the controller 6 receives the yarn tube 31 taking-away signal; the transmission motor 5 is controlled to rotate for a certain number of turns according to the set pulse number, the transmission motor 5 drives the driving belt pulley 28 to rotate, the driving belt and the driving roller 29 on the driving belt pulley 28 simultaneously rotate, the transmission belt 30 synchronously transmits, the controller 6 is informed to control the driving motor 18 to rotate for a certain number of turns according to the set pulse number, the yarn taking arm 16 just moves down to the position of the yarn spindle 32 on the yarn spindle tube transmission belt 4, after the set number of times of circulation, the yarn spindle 32 is completely unloaded, the yarn spindle 31 is also completely in place, the controller 6 controls the first bidirectional cylinder 12 to push out, the yarn spindle 31 is completely inserted into the winding machine, the controller 6 controls the driving element of the translation track 8 to translate to the next yarn taking signal position, the yarn spindle is repeatedly taken, the yarn spindle is unloaded, the yarn spindle is grabbed, and the yarn spindle is loaded.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A full-automatic mechanical arm that trades yarn, its characterized in that: comprises a support guide rail frame, an annular yarn changing manipulator, a yarn spindle and spool conveying belt, a spool pusher, a yarn pushing device and a controller; the support guide rail frames are arranged on the front surfaces of the winding machines, the annular yarn changing manipulators are slidably suspended on the support guide rail frames and are pushed by the driving units of the support guide rail frames to stay on the front surfaces of different winding stations in sequence, and yarn taking arms and tube grabbing mechanisms are arranged on the annular yarn changing manipulators at equal intervals; the spindle bobbin conveyor belt is arranged at the lower side of the winding machine, and a plurality of spindle placing positions and a plurality of bobbin placing positions are arranged on the spindle bobbin conveyor belt at equal intervals; the yarn pushing device is arranged at the lower part of the annular yarn changing manipulator; the controller is respectively and electrically connected with the winding machine, the supporting guide rail frame, the annular yarn changing manipulator, the spindle bobbin conveyor belt, the bobbin pusher and the yarn pushing device, and comprises the following control principles:
Reading information of a winding machine, and after a spindle full signal of the winding machine is obtained, adjusting the position of an annular yarn changing manipulator so that a yarn taking arm is opposite to the full spindle, wherein a controller controls the winding machine to push the spindle onto the yarn taking arm;
And a second step of: the method comprises the steps of coordinating the conveying speed of a spindle bobbin conveying belt and the rotating speed of an annular yarn changing manipulator, controlling a bobbin pusher and a yarn pushing device, starting the yarn pushing device when a yarn taking arm is positioned at the lowest end and is opposite to a spindle placing position of the spindle bobbin conveying belt, pushing a fully wound spindle onto the spindle placing position, rotating the annular yarn changing manipulator, enabling a pipe grabbing mechanism to be positioned at the lowest end and to be opposite to the spindle placing position of the spindle bobbin conveying belt, enabling the bobbin pusher to start and enabling the pipe grabbing mechanism to act in a matched mode, and fixing a bobbin on the pipe grabbing mechanism;
And a third step of: repeating the first step and the second step, unloading all the spindles on the annular yarn changing manipulator onto a spindle bobbin conveying belt, and fixing all the bobbins of the spindle bobbin conveying belt on a tube grabbing mechanism;
Fourth step: controlling a tube grabbing mechanism to assemble the bobbins onto a winding machine;
fifth step: controlling the annular yarn changing manipulator to move to the next winding station;
The support guide rail frame comprises a support frame and a translation rail, the support frame is fixed on the whole line of the winding machine, and the translation rail is arranged on a cross beam of the support frame;
The annular yarn changing manipulator comprises a manipulator support, an annular track, a yarn taking arm, a tube grabbing device, a yarn pushing device, a driving motor, a driving belt and a driving wheel; the mechanical arm support is fixed on the translation track through screws, the annular track and the driving motor are fixed on the mechanical arm support through screws, the yarn taking arm and the tube grabbing device are fixed on the transmission belt through the fixing seat, two driving wheels are arranged, one driving wheel is installed on the shaft of the driving motor, and the other driving wheel is installed on the mechanical arm support; the yarn taking arm and the tube grabbing device are provided with rollers, and when the driving motor rotates, the driving wheel is driven to drive the driving belt to move, and the rollers slide on the annular track; the pipe grabbing device comprises a first bidirectional cylinder and a pipe grabbing mechanism, the yarn pushing device comprises a second bidirectional cylinder and a yarn pushing plate, an electromagnetic valve of the first bidirectional cylinder, an electromagnetic valve of the second bidirectional cylinder and a driving motor are respectively connected with the controller, the controller controls the pushing-out time and the pushing-out speed of the first bidirectional cylinder and the second bidirectional cylinder, and the controller controls the rotating speed and the stopping time of the driving motor.
2. The full-automatic yarn changing manipulator according to claim 1, wherein: the driving unit is connected with the controller, and the controller controls the track translation speed, the translation distance and the stop time.
3. The full-automatic yarn changing manipulator according to claim 2, wherein: the spindle bobbin conveyor belt comprises a conveyor belt assembly, a driving roller, a driving belt wheel, a conveyor belt bracket and a conveyor motor; the driving rollers are fixed on the conveyor belt bracket through bearing blocks, and the conveyor belt assembly is wound on the driving rollers; two driving pulleys are fixed on each driving roller close to the spindle side, and a driving chain or a synchronous belt is arranged on each driving pulley; a transmission is arranged below the conveyor belt bracket
And the conveying motor drives the chain or the synchronous belt to drive the driving roller to rotate and drive the conveying belt assembly to move forwards or backwards.
4. A fully automatic yarn changing manipulator according to claim 3, wherein: the conveying motor is connected with the controller.
5. The full-automatic yarn changing manipulator according to claim 4, wherein: the bobbin pusher comprises a pushing cylinder and a pushing plate; the yarn tube pusher is fixed on the frame of the winding machine of the yarn taking object and is concentric with the position of the yarn tube on the yarn spindle tube conveying belt; the electromagnetic valve connected with the pushing cylinder is connected with the controller, and the controller controls the pushing cylinder to push out and recover according to program setting.
6. The fully automatic yarn changing manipulator according to claim 5, wherein: the height of the spindle bobbin conveyor belt is adjustable according to the height of the winding machine.
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| CN202111476362.4A CN113979224B (en) | 2021-12-06 | 2021-12-06 | Full-automatic yarn changing manipulator |
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| CN202111476362.4A CN113979224B (en) | 2021-12-06 | 2021-12-06 | Full-automatic yarn changing manipulator |
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| CN216583562U (en) * | 2021-12-06 | 2022-05-24 | 赛奥机械(广州)有限公司 | Full-automatic yarn changing manipulator |
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| EP0405188B2 (en) * | 1989-06-15 | 1999-06-23 | W. SCHLAFHORST AG & CO. | Combination of a spinning and winding machine with an integrating transporting system |
| CN109516302B (en) * | 2018-12-29 | 2024-02-20 | 重庆朗正科技有限公司 | Spindle feeding and discharging robot system |
| CN110407029B (en) * | 2019-08-01 | 2021-02-19 | 江苏共创人造草坪股份有限公司 | Automatic doffing device of artificial turf curved yarn machine |
| CN111392513B (en) * | 2020-04-17 | 2025-02-18 | 浙江宝耀智能科技有限公司 | Automatic yarn inserting robot device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN216583562U (en) * | 2021-12-06 | 2022-05-24 | 赛奥机械(广州)有限公司 | Full-automatic yarn changing manipulator |
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| Publication number | Publication date |
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| CN113979224A (en) | 2022-01-28 |
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