CN209554527U - Winding roll automatic carrying machine working and winding roll automatic loading and unloading robot - Google Patents

Abstract

The utility model discloses winding roll automatic carrying machine working and winding roll automatic loading and unloading robot, wherein, winding roll automatic carrying machine working, including six-joint robot, the free end of the six-joint robot is provided with clamp, the clamp includes two.This programme deft design, structure is simple, make clamping jaw that there is the arcuate structure with winding roll form fit, it is gripped so as to stable from the periphery of winding roll, in conjunction with six-joint robot, the carrying problem of winding roll a small range is effectively realized, is created condition for the automatic feeding, discharge of winding roll, overall structure is easily achieved simultaneously, convenient for control.

Description

Winding roll automatic carrying machine working and winding roll automatic loading and unloading robot

Technical field

The utility model relates to apparatus for spooling thread-like products fields, especially winding roll automatic carrying machine working and winding roll automatic charging & discharging machine Device people.

Background technique

For various silks, line product, generally requires for silk, line to be wound into and form final product on reel, it is existing each Kind coil winding machine, can be carried out effectively the winding of silk, line, but when carrying out coiling, generally requires manually to place wire spool It is removed from coil winding machine to coil winding machine or by the wire spool on coil winding machine, the mode of artificial wire spool up and down needs to configure special messenger Operation, increases the human cost and large labor intensity of enterprise, disagrees with current automation, intelligentized industrial development trend Back.

Utility model content

The purpose of this utility model be exactly in order to solve the above-mentioned problems in the prior art, provide a kind of winding roll from Dynamic carrying implement and winding roll automatic loading and unloading robot.

The purpose of this utility model is achieved through the following technical solutions:

Winding roll automatic carrying machine working, including six-joint robot, the free end of the six-joint robot is provided with clamp, described Clamp includes two.

Preferably, in the winding roll automatic carrying machine working, it is perpendicular that the tail end of each clamping jaw is provided with one Baffle.

Preferably, in the winding roll automatic carrying machine working, the position on the arc surface by two close end is respectively formed with The spacing of arc-shaped slot, two arc-shaped slots is equal with the distance between two block plates of winding roll.

Preferably, in the winding roll automatic carrying machine working, two clamping jaws are set to the two of a double-slider electric cylinders On a sliding block.

Preferably, in the winding roll automatic carrying machine working, the free end of the six-joint robot is additionally provided with for cutting The cutter device of fracture of wire line.

Preferably, in the winding roll automatic carrying machine working, the free end of the six-joint robot also sets up tape-stripping Device.

Preferably, in the winding roll automatic carrying machine working, the free end of the six-joint robot, which is additionally provided with, to be clamped The line grabbing device of the end of a thread.

Preferably, in the winding roll automatic carrying machine working, the free end of the six-joint robot is additionally provided with image and adopts Acquisition means, to acquire the image of vision positioning silk thread position.

Preferably, in the winding roll automatic carrying machine working, the six-joint robot is set to the movement of its movement of driving On device.

Winding roll automatic loading and unloading robot further includes for placing including any of the above-described winding roll automatic carrying machine working The load transfer station of the mounting table of blank coil drum and the winding roll for placing coiling.

The advantages of technical solutions of the utility model, is mainly reflected in:

This programme deft design, structure is simple, and clamping jaw is made to have the arcuate structure with winding roll form fit, so as to The periphery of stable slave winding roll is gripped, and in conjunction with six-joint robot, effective solution winding roll is in a small range Carrying problem, created condition for the automatic feeding, discharge of winding roll, while ensure that the stability of carrying, and integrally tie Structure is easily achieved, convenient for control.

When crawl is effectively guaranteed in the setting of baffle, the restriction of winding roll position avoids winding roll that from may being projected into folder Possibility outside pawl, simultaneously because being provided with card slot, baffle can effectively guarantee the block plate and two groove positions pair of winding roll It answers, and card slot can adequately realize that the position of winding roll is fixed, and avoids the problem that it falls off from clamp, ensure that carrying Stability and reliability.

The setting of cutter device, adhesive tape sticking device, line grabbing device enriches the function of carrying implement so that carrying implement in addition to It is able to carry out the carrying of charging tray, additionally it is possible to which the end of a thread after tangent line is effectively ensured can be fixed effectively, and coiling is avoided to dissipate Random situation carries out providing possibility for the full process automatization of spiral.

The use of vision positioning technology can effectively be suitable for the accurate determination of the positions of slender bodies such as line, silk, be It automatically grabs filament and is wound on wire spool and provide convenience.

By transfer robot setting on the mobile apparatus, so as to realize one-to-many service, be conducive to save equipment at This, makes full use of the time of each station coiling, improves processing efficiency.

The winding roll automatic loading and unloading robot of this programme has the function of winding roll automatic loading/unloading, trimming, grabs line, from And can be effectively combined automatic feeder and coil winding machine realize feeding, spiral, blanking full process automatization, provide one kind The automatic winding production line completely new, device structure is simple, winding process is easily controllable, in addition, passing through vision positioning technology Using, can effectively be suitable for linear or filamentary matters position accurate determination, automatically to grab, trimming provides can Can, and the flexibility of vision positioning is good, accuracy is good, high-efficient, to be conducive to improve the efficiency of coiling.

On the mobile apparatus by the setting of winding roll automatic loading and unloading robot, and make multiple feeding machines and coil winding machine side by side Setting, can be realized one-to-many service, be had by a winding roll automatic loading and unloading robot and multiple coil winding machine cooperatings Conducive to equipment cost is saved, the coiling time of each station is made full use of, improves processing efficiency, and keep mounting table and load transfer station same Moved further, it may not be necessary to corresponding structure be separately configured for each coil winding machine, be conducive to simplify device structure, reduce cost.

The setting of dynamic load transfer station takes full advantage of the space of trolley, makes under the conditions of keeping device structure more compact The structure for obtaining winding roll automatic loading and unloading robot minimizes, while providing convenience for the blanking of subsequent winding roll.

Detailed description of the invention

Fig. 1 is the perspective view of the winding roll automatic carrying machine working of the utility model；

Fig. 2 is the front elevation of the clamp of the utility model；

Fig. 3 is the back view of the clamp of the utility model；

Fig. 4 is the schematic diagram of the load transfer station of the utility model；

Fig. 5 is the perspective view of the Full-automatic coiling production line of the utility model；

Fig. 6 is the structural schematic diagram of the automatic feeder and coil winding machine in the utility model.

Specific embodiment

The purpose of this utility model, advantage and feature will carry out figure by the non-limitative illustration of preferred embodiment below Show and explains.These embodiments are only the prominent examples using technical solutions of the utility model, all to take equivalent replacement or wait Effect transformation and formed technical solution, all fall within the requires of the utility model protection within the scope of.

In the description of scheme, it should be noted that term " center ", "upper", "lower", "left", "right", "front", "rear", The orientation or positional relationship of the instructions such as "vertical", "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, It is merely for convenience of description and simplification description, rather than the device or element of indication or suggestion meaning there must be specific side Position is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " first ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.Also, in retouching for scheme It is proximal end by the direction of proximal operator using operator as reference, the direction far from operator is distal end in stating.

The winding roll automatic carrying machine working disclosed with reference to the accompanying drawing to the utility model is illustrated, as shown in Fig. 1, Including six-joint robot 1, the six-joint robot 1 can be the six-joint robot of known various brands, various models, for Know technology, details are not described herein again, certainly, in other embodiments, drives the clamp 2 is mobile can also be feasible using other Structure, it is known skill that such as multiple inductance cooperatively formed, which can carry out the mobile structure of tri- axis of XYZ or similar structure etc., Art, the free end for repeating no more the six-joint robot 1 are provided with clamp 2.

As shown in attached drawing 1, attached drawing 2, the clamp 2 can be towards and away from mobile clamping jaw 21, two clamping jaws including two 21 opposite end faces be with the matched arc surface 211 of winding roll 10, the arc surface 211 can be with the spool of the winding roll 10 102 Curvature Matching, can also be with the Curvature Matching of the block plate 101 of winding roll 10, the preferably Curvature Matching with block plate 101.

Specifically, as shown in Fig. 2, two clamping jaws 21 are preferably driven using a double-slider electric cylinders 23 Dynamic, the double-slider electric cylinders 23 are arranged on the turntable 11 of the free end of the six-joint robot 1, divide on two sliding block 231 It is not provided with a bracket 24, a clamping jaw 21 is set on each bracket 24, the clamping jaw 21 includes and the bracket The mounting base 214 of 24 connections and the arc fixture block 213 being bolted in the mounting base 214, the center of the arc fixture block 213 Region is through-hole, and the tail end of each clamping jaw 21 is provided with a perpendicular baffle 22, and the baffle 22 protrudes from described Arc surface 211, the position on the arc surface 211 by two close end are respectively formed with arc-shaped slot 212, two arc-shaped slots 212 Spacing it is equal with the distance between two block plates 101 of winding roll 10, and the width of two arc-shaped slots 212 and the block plate 101 it is of same size, so as to convenient for snapping onto winding roll 10 quickly in arc-shaped slot 212.

Further, before removing the winding roll of the spiral on coil winder and changing empty winding roll, needing first will volume Line on drum or silk cut blend compounds band and the end of a thread region patch are got up in order to avoid silk thread is loose, corresponding, in the six axis machine The free end of people 1 is additionally provided with cutter device 3 and adhesive tape sticking device 4 for cutting off silk thread.

Specifically, as shown in Fig. 3, a mounting plate 25 is provided in the outside of a bracket 24, in the installation The cutter device 3 and adhesive tape sticking device 4 be set on plate 25, the gum outlet of the adhesive tape sticking device 4 to the clamping jaw 21 Distance be greater than the cutter device 3 arrive the clamping jaw 21 distance.

The cutter device 3 is including cylinder 31 and two especially driving rotations to cut in closure with what opening state switched Cutter 32, under normality, the cylinder 31 opens two shear knives 32, and when shearing, cylinder 31 drives two shear knives 32 opposite Rotation, and make their blade by positioned at blade between line or silk cutting.

The adhesive tape sticking device 4 is structure identical with the correction tape that student uses, as shown in Fig. 5, the adhesive tape The distance of the gum outlet of sticking device 4 to the clamping jaw 21 is greater than the distance that the cutter device 3 arrives clamping jaw 21, i.e. 5 institute of attached drawing Show, the cutter device 3 is located at the left side of the gum outlet of the adhesive tape sticking device 4, and the adhesive tape of the adhesive tape sticking device 4 Width and the winding roll 10 spool 101 similar width, thus when the end of a thread for carrying out silk threadlike body is fixed, without examining Consider its position on spool 101, a rubberizing operation can cover entire spool.

Further, it after empty winding roll 10 is replaced on coil winder, needs the end of a thread of cutting being wound into the winding roll Coiling is carried out on 10, it is corresponding, it is additionally provided with the line grabbing device 5 that can clamp the end of a thread in the free end of the six-joint robot 1, has Body, as shown in Fig. 3, the line grabbing device 5 is set on the mounting plate 25, and it is located at 3 He of cutter device Between the gum outlet of adhesive tape sticking device 4 comprising cylinder 51 and especially driving rotate to switch between opening and closing Fixture block 52 is formed with sawtooth 53 on the clamping face of two fixture blocks 52.

In addition, since line, silk are often relatively thin, not will pass through sensor etc. when carrying out tangent line and grabbing the end of a thread and positioned, It is therefore preferable that use the mode of vision positioning to determine the position of silk thread, and it is corresponding, in the free end of the six-joint robot 1 It is additionally provided with image collecting device 6, to acquire the image of vision positioning silk thread position, as shown in Fig. 3, described image acquisition Device 6 be set to it is in the double-slider electric cylinders 23 and ipsilateral with the mounting plate 25, be located at the mounting plate 25 top, Including camera 61 and light source 62, the camera 61 and light source 62 be respectively positioned on the cutter device 3 and with the line grabbing device 3 Between closer clamping jaw 21, the double-slider electric cylinders 23 are adjustably arranged in spacing of the light source 62 apart from the mounting plate 25 Side is specifically bolted in the double-slider electric cylinders 23 by a connection piece 63, is provided on the connector 63 The kidney-shaped connecting hole (not shown) for connecting the support plate in the double-slider electric cylinders 23, by changing the connection in support plate The position adjustment of connector 63 can be realized in position of the hole in kidney-shaped connecting hole.

Also, for the ease of being worked by a winding roll automatic carrying machine working and more coil winder cooperations, such as Shown in attached drawing 1, it is set to the six-joint robot 1 in the mobile device 7 of its movement of driving, the mobile device 7 can be Various feasible equipment or structure, for example, the AGV trolley with independent navigation, the intelligent robot with independent navigation, nobody Machine or the motor-driven carrier moved along guide rail, such as tramcar, naturally it is also possible to be other structures, the preferably described mobile device 7 is Tramcar, as shown in Fig. 1 comprising a guide rail 71 extending in a straight line, and the electricity that can be slided along the guide rail 71 Motor-car 72, is known technology herein, repeats no more；And following coil winding machines 30 is symmetrically arranged in the two of the guide rail 71 Side.

Further, the utility model further discloses winding roll automatic loading and unloading robot, as shown in Fig. 1, including it is above-mentioned Winding roll automatic carrying machine working, further include the shifting for placing the mounting table 8 and the winding roll for placing coiling of blank coil drum Microscope carrier 9.

Wherein, as shown in Fig. 1, the mounting table 8 and load transfer station 9 are arranged at the electric vehicle 72 of the tramcar On, also, the mounting table 8 is a common platform, the load transfer station 9 can be only one as mounting table 8 Platform is also possible to dynamic transfer machine, preferably dynamic load transfer station.

As shown in Fig. 4, the load transfer station 9 includes support platform 91, is provided with two and institute in the support platform 91 State the vertical guide rail 92 of moving direction and the rack gear 93 parallel with the guide rail of trolley 81, the guide rail 92 is from the support One end of platform 91 extends to the other end and is respectively arranged with limited block 98, the rack gear 93 and a tooth at their both ends 94 engagement of wheel, the gear 94 connect motor 95, and the motor 95 is connected with loading plate 96, and the loading plate 96 passes through slide plate 97 It is slidably disposed on two guide rails 92, there are two positive stop strips parallel with the guide rail 92 in the upper surface of the loading plate 96 961, they form the limiting slot for limiting winding roll 10.

Certainly, in other embodiments, the load transfer station 9 can also be various pipelines, such as belt conveyor line, dynamic Or unpowered roller pipeline or other can with the mechanism that can be realized linear movement.

This programme further discloses a kind of Full-automatic coiling production line, as shown in Fig. 5 comprising

An at least automatic feeder 20, for supplying silk threadlike body；

An at least coil winding machine 30, for fixing winding roll 10 and driving its rotation；

And above-mentioned winding roll automatic loading and unloading robot 40, winding roll 10 can be moved on coil winding machine 30 and Winding roll 10 is removed from coil winding machine 30, when carrying out the crawl and cutting of silk threadlike body, silk is determined by vision positioning The position of threadlike body, the herein crawl of silk threadlike body refer to the end of a thread part for the silk threadlike body that crawl automatic feeder 20 is supplied Movement, the cutting of the silk threadlike body refer to the silk threadlike body cutting on automatic feeder 20 and coil winding machine between winding roll 10 Movement.

Wherein, the equipment that the automatic feeder 20 and coil winding machine 30 can be known various brands and model, and The automatic feeder 20 makes a threadlike body reciprocally mobile from one end of the spool of the winding roll when supplying silk threadlike body To the other end, to guarantee the uniformity that silk threadlike body is distributed on winding roll 10, and the shaft 301 of the coil winding machine 30 is swollen Swelling shaft is known technology herein, repeats no more so as to effectively carry out the fixation of winding roll 10.

Also, as shown in attached drawing 5, attached drawing 6, manipulator 302, the manipulator 302 are provided on the coil winding machine 30 Top and the close automatic feeder 20 positioned at the shaft 301 of the coil winding machine, the manipulator 302 includes cylinder 3021 And the clamping jaw 3022 for rotating and switching between opening and closing is driven by the cylinder, before by the cutting of silk threadlike body, Silk threadlike body between automatic feeder 20 and winding roll 10 is gripped, thus automatically upper and lower for subsequent winding roll Expect that convenience is created in the positioning of robot 40 and crawl silk threadlike body.

In the operational process of entire machine, the start and stop and work of the electrical equipments such as each cylinder, motor, image capture device The switching of state can be controlled by the signal combination software programming of various sensors, preferably through various sensors (figure In be not shown) controlled in conjunction with PLC control system (not shown), be known technology, repeat no more herein.

When above-mentioned Full-automatic coiling production line is processed, process is as follows:

The end of a thread for the silk threadlike body for manually or by automation equipment supplying the automatic feeder 20 passes through the machine Tool hand simultaneously clamps the silk threadlike body by the manipulator 302, this certain step is not certain, it is only necessary to make automatic feeder The end of a thread of the silk threadlike body of 20 supplies is exposed outside and can be crawled.

S1, the top for the winding roll 10 that the six-joint robot 1 drives the clamp 2 to be moved at mounting table 8, and And so that two clamping jaw 21 is located at the two sides of the winding roll 10, the starting of double-slider electric cylinders 23 make two clamping jaws 21 move towards by Winding roll 10 clamps, and it is coaxial with the shaft 301 of coil winding machine 30 then to make the centre bore of winding roll by six-joint robot 1, and makes Shaft 301 is inserted into the centre bore of winding roll, and the expansion of shaft 301 is fixed by the winding roll 10.

S2, the six-joint robot 1 drive image collecting device 6 to the image of suitable shooting angle acquisition silk threadlike body And analyzed to obtain the position of a threadlike body by PLC control system, then, the six-joint robot 1 drives line grabbing device 5 to be moved to Silk thread shape body position, two fixture block 52 closure carry out the crawl of silk threadlike body, and line is grabbed in the driving of six-joint robot 1 after crawl Silk threadlike body is moved at the spool 101 of the winding roll on coil winding machine by device 5, and makes a threadlike body from the top of spool 101 Around to lower section and contact a threadlike body with the surface of spool, naturally it is also possible to so that a threadlike body is wound a few on spool, this The starting of Shi Suoshu coil winding machine 30 drives the rotation of winding roll 10 to carry out coiling.Also, it, can be with before the starting of coil winding machine 30 Coiling is carried out again after silk threadlike body is fixed on the winding roll 10 by the adhesive tape sticking device 4.

S3, after coiling, the automatic feeder 20 stops feed, and coil winding machine 30 stops, and sets on the coil winding machine 30 The manipulator 301 set grips silk threadlike body, and the six-joint robot 1 drives image collecting device 6 to suitable shooting The image of angle acquisition silk threadlike body and the position for analyzing to obtain the silk threadlike body between manipulator and winding roll by PLC control system Set, six-joint robot driving cutter device 3 is moved to silk thread shape body position, and will be located at winding roll and automatic feeder it Between silk threadlike body cutting, specifically by between the manipulator 301 and winding roll 10 silk threadlike body cut off.Certainly, herein It can also not have to manipulator 302 and clamp a threadlike body.

S4, the six-joint robot 1 drive the adhesive tape sticking device 4 will be after the shearing of the silk threadlike body on winding roll The end of a thread region carries out stickup fixation, it is of course also possible to first pass through adhesive tape before shearing and consolidate the silk threadlike body on winding roll It is fixed.

S5, the six-joint robot 1 drives the clamp to be moved at the winding roll on the coil winding machine, according to S1 step Process crawl coil winding machine on coiled strip, and it is removed from coil winding machine and is moved on load transfer station 9.

S6 repeats S1-S5 step.

In two rows of coil winding machines 30, when the coil winding machine on some is idle, the electric vehicle 70 drives the winding roll Automatic loading and unloading robot 40 is moved to the position of corresponding coil winding machine 30, carries out feeding according to S1, S2 step；When a certain coil winding machine After spiral wire winding on 30, the electric vehicle 70 drives the winding roll automatic loading and unloading robot 40 to be moved to accordingly The position of coil winding machine 30, carries out winding roll blanking according to S3-S5 step, carries out winding roll feeding according still further to S1-S2 step；Work as institute When stating the winding roll 10 after placing full coiling on load transfer station 9, the motor 95 starts, and rotates the gear 94, the gear 94 move along the rack gear 93, thus make the loading plate being connected to motor 96 extend to outside the support platform 91 carry out it is artificial or Automation equipment blanking.

Still there are many embodiment, all technologies formed using equivalents or equivalent transformation for the utility model Scheme is all fallen within the protection scope of the utility model.

Claims (10)

1. winding roll automatic carrying machine working, it is characterised in that: including six-joint robot (1), the free end of the six-joint robot (1) Be provided with clamp (2), the clamp (2) include two can be towards and away from mobile clamping jaw (21), two clamping jaws (21) are opposite End face be and winding roll (10) matched arc surface (211).

2. winding roll automatic carrying machine working according to claim 1, it is characterised in that: the tail end of each clamping jaw (21) is set It is equipped with a perpendicular baffle (22).

3. winding roll automatic carrying machine working according to claim 1, it is characterised in that: close to two on the arc surface (211) The position at end is respectively formed with arc-shaped slot (212), the spacing of two arc-shaped slots (212) and two block plates of winding roll (10) The distance between (101) equal.

4. winding roll automatic carrying machine working according to claim 1, it is characterised in that: two clamping jaws (21) are set to one On two sliding blocks of a double-slider electric cylinders (23).

5. winding roll automatic carrying machine working according to claim 1, it is characterised in that: the freedom of the six-joint robot (1) End is additionally provided with the cutter device (3) for cutting off silk thread.

6. winding roll automatic carrying machine working according to claim 1, it is characterised in that: the freedom of the six-joint robot (1) End also sets up adhesive tape sticking device (4).

7. winding roll automatic carrying machine working according to claim 1, it is characterised in that: the freedom of the six-joint robot (1) End is additionally provided with the line grabbing device (5) that can clamp the end of a thread.

8. winding roll automatic carrying machine working according to claim 1, it is characterised in that: the freedom of the six-joint robot (1) End is additionally provided with the image collecting device (6) of vision positioning.

9. -8 any winding roll automatic carrying machine working according to claim 1, it is characterised in that: the six-joint robot (1) It is set in the mobile device (7) of its movement of driving.

10. winding roll automatic loading and unloading robot, it is characterised in that: automatic including any winding roll of claim 1-9 Carrying implement further includes the load transfer station (9) of the winding roll for placing the mounting table of blank coil drum (8) and for placing coiling.