CN210558623U - Automatic wire ingot feeding equipment of elasticizer - Google Patents
Automatic wire ingot feeding equipment of elasticizer Download PDFInfo
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- CN210558623U CN210558623U CN201921034415.5U CN201921034415U CN210558623U CN 210558623 U CN210558623 U CN 210558623U CN 201921034415 U CN201921034415 U CN 201921034415U CN 210558623 U CN210558623 U CN 210558623U
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Abstract
The utility model belongs to the technical field of chemical fiber production auxiliary equipment, in particular to automatic yarn feeding equipment of an elasticizer, which comprises an AGV system, wherein the AGV system comprises a chassis; a frame placed on the chassis; a servo positioning system for positioning the position of the frame; the grabbing system is arranged on one side of the frame and used for grabbing the silk ingots in the elasticizer; and the storage system is arranged on the frame and used for storing the ingots grabbed by the grabbing system. The utility model discloses can replace artifical automatic for adding the automatic spindle of going down of bullet machine, reduce the operation personnel, reduce personnel intensity of labour.
Description
Technical Field
The utility model belongs to the technical field of chemical fiber production auxiliary assembly, especially, relate to add automatic spindle equipment down of bullet machine.
Background
DTY is finished yarn which is continuously or simultaneously stretched on an elasticizer and deformed by a twister. At present, all work of taking off DTY (draw textured yarn) ingots from an elasticizer depends on manual work, the average temperature in summer is 40 ℃, the noise pollution is large, therefore, the working environment of workers is severe, the working efficiency is low, and no equipment for automatically taking off the ingots exists in the prior art.
SUMMERY OF THE UTILITY MODEL
For the utility model discloses a solve among the prior art and take off the DTY spindle through the manual work, workman operational environment is abominable, the problem that work efficiency is low provides one kind and adds automatic lower spindle equipment of bullet machine.
In order to realize the technical purpose, the utility model adopts the following technical scheme:
the automatic spinning ingot feeding equipment of the elasticizer comprises an AGV system, wherein the AGV system comprises a chassis; a frame placed on the chassis; a servo positioning system for positioning the position of the frame; the grabbing system is arranged on one side of the frame and used for grabbing the silk ingots in the elasticizer; and the storage system is arranged on the frame and used for storing the ingots grabbed by the grabbing system.
Further, the servo positioning system comprises a driving mechanism and a first linear track; the frame is movably matched with the first linear rail under the action of the driving mechanism so as to be positioned to a position corresponding to the elasticizer.
Further, the servo positioning system also comprises a sensor; the sensor is arranged on the frame and used for detecting a positioning rod on the elasticizer so as to position the frame at the specific position of the first linear track.
Further, the grabbing system comprises a parallel link mechanism and a grabbing mechanism; the grabbing mechanism deflects between the elasticizer and the storage system through a parallel connecting rod mechanism, so that the silk ingots grabbed by the grabbing mechanism are placed in the storage system.
Further, the parallel connecting rod mechanism comprises a connecting block, a long connecting rod, a short connecting rod and a first cylinder; the fixed end of the first cylinder is connected with the frame, and the telescopic end of the first cylinder is connected with the long connecting rod through a connecting block; one end of the short connecting rod is connected with the long connecting rod, and the other end of the short connecting rod is connected with a rotating shaft of the grabbing mechanism.
Furthermore, the grabbing mechanism comprises a second linear rail, a second cylinder, a second bearing seat, a clamping arm and a rotating bottom plate; a rotating shaft of the grabbing mechanism is fixed on the frame through a second bearing seat, and a rotating bottom plate is fixedly connected with the rotating shaft; the clamping arm, the second cylinder and the second linear track are all arranged on the rotating base plate; the clamping arm deflects between the elasticizer and the storage system under the drive of the first air cylinder, and is movably matched with the second linear track under the drive of the second air cylinder.
Further, the storage system comprises a storage material channel, a dividing mechanism and a blocking roller; the storage material channel penetrates through two opposite sides of the frame; the inlet of the storage channel and the grabbing system are positioned on the same side of the frame, and the inlet is higher than the grabbing system; the height of the outlet of the storage channel is lower than that of the inlet; the two sides of the storage material channel are provided with cutting mechanisms which correspond to the wire ingots one by one, and the blocking rollers are arranged at the outlet of the storage material channel to block the wire ingots from sliding down; the adjacent silk ingots in the storage material channel are not contacted with each other through the dividing mechanism.
Furthermore, the dividing mechanism comprises a dividing sheet and a rotating block, and the dividing sheet is divided into a long side and a short side through the rotating block; when no-wire ingots are stored, the long edges are in an outward opening state under the action of spring elasticity; when the filament ingots are stored, the long edges are folded inwards around the rotating block under the action of the filament ingots so as to prevent the subsequent filament ingots from being touched by the adjacent filament ingots.
Further, after the filament ingots at the outlet of the storage material channel are automatically taken away by the robot, the long edges at two sides of the filament ingots are restored to an outward opening state, and the follow-up filament ingots move to the outlet of the storage material channel.
Further, the driving mechanism comprises a servo motor, and the servo motor is arranged on the motor base; an output shaft of the servo motor is sequentially connected with a coupler, a first bearing seat, a precise ball screw, a nut and a transfer block; the output shaft is connected with the frame through a transfer block.
Compared with the prior art, the beneficial effects of the utility model are that:
through mutual cooperation of the AGV system, the servo positioning system, the grabbing system and the storage system, the automatic feeding of the yarn ingots for the elasticizer can be replaced, the number of operating personnel is reduced, and the labor intensity of the personnel is reduced.
Drawings
FIG. 1 is a front view of the overall structure of an automatic thread feeding device of an elasticizer according to an embodiment of the present invention;
FIG. 2 is a side view of the overall structure of the automatic thread feeding device of the texturing machine according to the embodiment of the present invention;
FIG. 3 is a diagram of a relative position between an AGV system and a servo positioning system according to an embodiment of the present invention;
fig. 4 is a structural diagram of relative positions of the grasping system and the storage system according to the embodiment of the present invention;
FIG. 5 is a structural diagram of a grabbing mechanism according to an embodiment of the present invention;
FIG. 6 is a diagram of a storage system according to an embodiment of the present invention;
fig. 7 is a structural view of a driving mechanism according to an embodiment of the present invention.
In the figure: 1 AGV system, 11 chassis, 2 frame, 3 servo positioning system, 31 driving mechanism, 311 servo motor, 312 motor base, 313 first bearing base, 314 precision ball screw, 315 nut, 316 transfer block, 317 coupling, 32 first linear track, 33 sensor, 4 grabbing system, 41 parallel link mechanism, 411 connecting block, 412 long connecting rod, 413 short connecting rod, 414 first air cylinder, 42 grabbing mechanism, 421 second linear track, 422 second air cylinder, 423 second bearing base, 424 clamping arm, 425 rotating bottom plate, 5 storage system, 51 storage material channel, 52 dividing mechanism, 521 dividing piece, 522 rotating block, 53 blocking roller.
Detailed Description
The invention will be further described with reference to specific examples, but the scope of protection of the invention is not limited thereto:
as shown in fig. 1-7, the automatic thread feeding device of the texturing machine of the present embodiment includes an AGV system 1, a frame 2, a servo positioning system 3, a gripping system 4, and a storage system 5. The AGV system 1 comprises a chassis 11, a frame 2 placed on the chassis 11, and a servo positioning system 3 for positioning the frame 2. The grabbing system 4 is arranged on one side of the frame 2 and used for grabbing the silk ingots in the elasticizer. The storage system 5 is arranged on the frame 2 and used for storing the silk ingots grabbed by the grabbing system 4. This embodiment is mutually supported through AGV system 1, servo positioning system 3, grasping system 4, storage system 5, can replace artifical automatic for adding the automatic spindle of unloading of bullet machine, reduces the operation personnel, reduces personnel intensity of labour.
As shown in fig. 3, the servo positioning system 3 includes a driving mechanism 31 and a first linear track 32. The first linear rail 32 is arranged on the chassis 11, and the frame 2 is movably matched with the first linear rail 32 under the action of the driving mechanism 31 so as to be positioned to a position corresponding to the elasticizer. The servo positioning system 3 further comprises a sensor 33. A sensor 33 is provided on the frame 2 for detecting a positioning rod on the elasticizer to position the frame 2 at a specific position on the first linear rail 32. The position where the first sensor 33 on the frame 2 runs to be aligned with the positioning rod on the elasticizer is the final position where the frame 2 runs. In this embodiment, after the MES system instruction is obtained, the AGV system 1 runs to the position corresponding to the elasticizer, and then the AGV system runs to the position having a distance of 20mm from the position primarily through the laser navigation system and stops, and then the driving mechanism 31 runs to drive the frame 7 to move until the sensor 33 detects the positioning rod installed on the elasticizer. At the moment, the precision of the corresponding station of the grabbing system 4 relative to the elasticizer is within +/-3 mm.
As shown in fig. 4 and 5, the grasping system 4 includes a parallel link mechanism 41 and a grasping mechanism 42. The gripping mechanism 42 is deflected between the elasticizer and the storage system 5 by the parallel linkage 41 so that the filament ingots gripped by the gripping mechanism 42 are placed in the storage system 5. The parallel link mechanism 41 includes a connecting block 411, a long link 412, a short link 413, and a first cylinder 414. The fixed end of the first cylinder 414 is connected to the frame 2, and the telescopic end is connected to the long link 412 through the connection block 411. One end of the short link 413 is connected to the long link 412, and the other end is connected to the rotation shaft of the grasping mechanism 42.
The grasping mechanism 42 includes a second linear rail 421, a second cylinder 422, a second bearing block 423, a clamping arm 424, and a rotating base plate 425. The rotating shaft of the grasping mechanism 42 is fixed to the frame 2 via the second bearing housing 423, and the rotating base plate 425 is fixedly connected to the rotating shaft. The clamp arm 424, the second cylinder 422, and the second linear rail 421 are all provided on the rotating base plate 425. The gripping arm 424 is deflected between the elasticizer and the storage system 5 by actuation of the first cylinder 414, and is articulated to the second linear track 421 by actuation of the second cylinder 422. The present embodiment includes two relatively movable clamp arms 424, with each clamp arm 424 corresponding to a second cylinder 422.
The motion process of the gripping system 4 is as follows: firstly, the first cylinder 414 extends out, the long connecting rod 412 moves upwards, the short connecting rod 413 rotates clockwise, and the clamping arm 424 is driven to rotate clockwise to the position of the yarn spindle of the elasticizer; second, the second cylinder 422 is retracted, causing the two clamp arms 424 to grip the ingot; then, the first cylinder 414 retracts, the long link 412 moves downwards, the short link 413 rotates counterclockwise, and the clamping arm 424 is driven to rotate counterclockwise above the inlet of the storage material channel 51; the second cylinder 422 is then extended, which causes the gripper arm 424 to release the spindle. The follow-up grabbing action of the silk ingots is analogized.
As shown in fig. 4 and 6, the storage system 5 includes a storage channel 51, a dividing mechanism 52 and a stop roller 53. The storage chute 51 extends through opposite sides of the frame 2. The inlet of the storage chute 51 is located on the same side of the frame 2 as the gripper system 4 and the inlet level is higher than the gripper system 4 level. The height of the outlet of the storage material channel 51 is lower than the height of the inlet of the storage material channel 51, so that the filament ingots can slide in the storage material channel 51 by gravity. Both sides of the storage material channel 51 are provided with a dividing mechanism 52, the dividing mechanisms 52 correspond to the wire ingots one by one, and a blocking roller 53 is arranged at the outlet of the storage material channel 51 to block the wire ingots from sliding down. The adjacent spindles in the stock path 51 are not touched by the dividing mechanism 52.
The dividing mechanism 52 includes a dividing piece 521 and a rotating block 522, and the dividing piece 521 is divided into a long side and a short side by the rotating block 522. When no-filament ingots are stored, the long edges are in an outward opening state under the action of spring elasticity. When the filament ingots are stored, the long edges are folded inwards around the rotating block 522 under the action of the filament ingots so as to block the subsequent filament ingots and prevent the adjacent filament ingots from touching.
The ingot rolls down the storage chute 51 under gravity until it contacts the stop roller 53. After the first ingot is stored, the long edge of the first group separating sheet 521 at the leftmost side of the storage material channel 51 is pushed to fold inwards around the rotating block 522, so as to provide a blocking and leaning surface for the next ingot, and ensure that the ingots are not touched. The storage actions of the second and the third silk spindles are analogized.
After the storage material channel 51 is saturated, the AGV system 1 runs to a robot wire ingot discharging station, after a wire ingot at the outlet end of the storage material channel 51 is automatically taken away by the robot, the long edges of the two sides of the wire ingot are outwards opened under the action of the spring pieces, the next wire ingot is released to run to the outlet end of the storage material channel 51, and therefore all wire ingots are completely grabbed. The embodiment is provided with twelve storage material channels 51, each storage material channel 51 is corresponding to a corresponding gripping system 4, a dividing mechanism 52 and a blocking roller 53, each storage material channel 51 stores four wire ingots, at most forty-eight wire ingots can be taken down, and the wire ingots are finally transferred and stored in a storage at a wire ingot dropping station of a robot.
As shown in fig. 7, the driving mechanism 31 includes a servo motor 311, and the servo motor 311 is disposed on a motor base 312. An output shaft of the servo motor 311 is sequentially connected with a coupling 317, a first bearing seat 313, a precision ball screw 314, a nut 315 and a switching block 316. The output shaft is connected to the frame 2 by a transfer block 316. The driving mechanism 31 is connected with the frame 2, and the frame 2 is driven to move along the first linear track 32 by the driving mechanism 31.
The embodiments of the present invention have been described in detail, and those skilled in the art can easily understand that there are various changes in the embodiments according to the idea of the present invention, and such changes should be considered as the protection scope of the present invention.
Claims (10)
1. Automatic spindle equipment down of elasticizer, its characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
an AGV system (1), the AGV system (1) comprising a chassis (11);
a frame (2) placed on the chassis (11);
a servo positioning system (3) for positioning the position of the frame (2);
the grabbing system (4) is arranged on one side of the frame (2) and used for grabbing the wire ingots in the elasticizer;
and the storage system (5) is arranged on the frame (2) and is used for storing the wire ingots grabbed by the grabbing system (4).
2. The automatic spinning ingot feeding device of the elasticizer according to claim 1, characterized in that: the servo positioning system (3) comprises a driving mechanism (31) and a first linear track (32); the first linear rail (32) is arranged on the chassis (11), and the frame (2) is movably matched with the first linear rail (32) under the action of the driving mechanism (31) so as to be positioned to a position corresponding to the elasticizer.
3. The automatic spinning ingot feeding device of the elasticizer according to claim 2, wherein:
the servo positioning system (3) further comprises a sensor (33); the sensor (33) is arranged on the frame (2) and used for detecting a positioning rod on the elasticizer so as to position the specific position of the frame (2) on the first linear track (32).
4. The automatic spinning ingot feeding device of the elasticizer according to claim 1, characterized in that:
the grabbing system (4) comprises a parallel link mechanism (41) and a grabbing mechanism (42); the grabbing mechanism (42) deflects between the elasticizer and the storage system (5) through a parallel link mechanism (41), so that the silk ingots grabbed by the grabbing mechanism (42) are placed in the storage system (5).
5. The automatic spinning ingot feeding device of the elasticizer according to claim 4, wherein:
the parallel connecting rod mechanism (41) comprises a connecting block (411), a long connecting rod (412), a short connecting rod (413) and a first cylinder (414); the fixed end of the first air cylinder (414) is connected with the frame (2), and the telescopic end is connected with the long connecting rod (412) through a connecting block (411); one end of the short connecting rod (413) is connected with the long connecting rod (412), and the other end is connected with the rotating shaft of the grabbing mechanism (42).
6. The automatic spinning ingot feeding device of the elasticizer according to claim 5, wherein:
the grabbing mechanism (42) comprises a second linear rail (421), a second air cylinder (422), a second bearing seat (423), a clamping arm (424) and a rotating bottom plate (425);
a rotating shaft of the grabbing mechanism (42) is fixed on the frame (2) through a second bearing seat (423), and a rotating bottom plate (425) is fixedly connected with the rotating shaft; the clamping arm (424), the second cylinder (422) and the second linear track (421) are all arranged on the rotating base plate (425);
the clamping arm (424) is driven by the first air cylinder (414) to deflect between the elasticizer and the storage system (5) and is driven by the second air cylinder (422) to be movably matched with the second linear track (421).
7. The automatic spinning ingot feeding device of the elasticizer according to claim 1, characterized in that:
the storage system (5) comprises a storage material channel (51), a dividing mechanism (52) and a blocking roller (53); the storage material channel (51) penetrates through two opposite sides of the frame (2); the inlet of the storage material channel (51) and the grabbing system (4) are positioned on the same side of the frame (2), and the inlet is higher than the grabbing system (4); the outlet height of the storage channel (51) is lower than the inlet height;
the two sides of the storage material channel (51) are respectively provided with a dividing mechanism (52), the dividing mechanisms (52) correspond to the wire ingots one by one, and the blocking rollers (53) are arranged at the outlet of the storage material channel (51) to block the wire ingots from sliding off; adjacent filament ingots in the storage material channel (51) are not contacted with each other through the dividing mechanism (52).
8. The automatic spinning ingot feeding device of the elasticizer according to claim 7, wherein:
the dividing mechanism (52) comprises a dividing sheet (521) and a rotating block (522), wherein the dividing sheet (521) is divided into a long side and a short side through the rotating block (522); when no-wire ingots are stored, the long edges are in an outward opening state under the action of spring elasticity; when the filament ingots are stored, the long edges are folded inwards around the rotating block (522) under the action of the filament ingots so as to block the subsequent filament ingots and prevent the adjacent filament ingots from touching.
9. The automatic spinning ingot feeding device of the elasticizer according to claim 8, wherein: after the filament ingots at the outlet of the storage material channel (51) are automatically taken away by a robot, the long edges at the two sides of the filament ingots are restored to an outward opening state, and the subsequent filament ingots move to the outlet of the storage material channel (51).
10. The automatic spinning ingot feeding device of the elasticizer according to claim 1, characterized in that:
the driving mechanism (31) comprises a servo motor (311), and the servo motor (311) is arranged on the motor base (312);
an output shaft of the servo motor (311) is sequentially connected with a coupler (317), a first bearing seat (313), a precise ball screw (314), a nut (315) and a switching block (316); the output shaft is connected with the frame (2) through a transfer block (316).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921034415.5U CN210558623U (en) | 2019-07-04 | 2019-07-04 | Automatic wire ingot feeding equipment of elasticizer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921034415.5U CN210558623U (en) | 2019-07-04 | 2019-07-04 | Automatic wire ingot feeding equipment of elasticizer |
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| Publication Number | Publication Date |
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| CN210558623U true CN210558623U (en) | 2020-05-19 |
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| CN201921034415.5U Active CN210558623U (en) | 2019-07-04 | 2019-07-04 | Automatic wire ingot feeding equipment of elasticizer |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115142157A (en) * | 2021-03-30 | 2022-10-04 | 合肥松宝科技有限公司 | Full-yarn-tube fetching and storing method with tracing function in textile field |
| WO2022242588A1 (en) * | 2021-05-17 | 2022-11-24 | 北京机科国创轻量化科学研究院有限公司 | Fully automatic intelligent feeding apparatus and feeding method for chemical fiber poy filament ingot |
| CN114538205B (en) * | 2022-03-23 | 2024-02-23 | 深圳东瑞兴联智能科技有限公司 | Wire ingot material collecting and stacking system |
-
2019
- 2019-07-04 CN CN201921034415.5U patent/CN210558623U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115142157A (en) * | 2021-03-30 | 2022-10-04 | 合肥松宝科技有限公司 | Full-yarn-tube fetching and storing method with tracing function in textile field |
| WO2022242588A1 (en) * | 2021-05-17 | 2022-11-24 | 北京机科国创轻量化科学研究院有限公司 | Fully automatic intelligent feeding apparatus and feeding method for chemical fiber poy filament ingot |
| CN114538205B (en) * | 2022-03-23 | 2024-02-23 | 深圳东瑞兴联智能科技有限公司 | Wire ingot material collecting and stacking system |
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Effective date of registration: 20231009 Address after: No.1809 Jianhu Road, Huashe street, Keqiao District, Shaoxing City, Zhejiang Province Patentee after: Zhejiang Jinggong Integrated Technology Co.,Ltd. Address before: No.1809 Jianhu Road, Huashe street, Keqiao District, Shaoxing City, Zhejiang Province Patentee before: ZHEJIANG JINGGONG ROBOTICS & INTELLIGENT EQUIPMENT CO.,LTD. |