CN215207833U - Loading and unloading device for wire wheel and wire releasing system - Google Patents

Abstract

The utility model discloses a unloader and unwrapping wire system on line wheel, wherein unloader includes the truss on the line wheel, moving mechanism and line wheel grabbing device, line wheel grabbing device includes the carrier, the bottom level of carrier is provided with an at least guide rail, be provided with two sliders and drive their switching actuating mechanism on the guide rail slidable, set up four gyro wheels on every slider, the axis of every gyro wheel is horizontally and the wheel face forms the V-arrangement groove, two pairs about and position correspond about four gyro wheels fall into, every coaxial and interval setting of two gyro wheels, gyro wheel on two sliders is in opposite directions and position one-to-one. The horizontal grabbing of the spool is realized by adopting the mode of clasping the peripheries of the two end plates of the spool, the installation of the spool is facilitated, and the moving mechanism and the truss structure are combined to realize the moving of the wire wheel grabbing device, so that the automatic moving and carrying of the wire wheel can be fully realized, the automation of paying off is greatly improved, and the labor cost is effectively reduced.

Description

Loading and unloading device for wire wheel and wire releasing system

Technical Field

The utility model belongs to the technical field of automation equipment and specifically relates to unloader and unwrapping wire system on line wheel.

Background

The paying-off machine is an auxiliary device of wires and cables which is matched with a stranding machine and plays a paying-off role. Payoff machines can generally be divided into: an active back-twist paying-off machine, a vertical power paying-off machine, a double-shaft multi-head wire drawing disc active paying-off machine, a shaftless paying-off machine and the like. When the paying-off of the wire wheel on the paying-off machine is finished and the wire wheel needs to be replaced, the full-wire wheel is pushed aside the paying-off machine manually, then the empty wire wheel is removed manually, the full-wire wheel is put in, and the full-wire wheel is put in and then the wire wheel can be fixed through the paying-off shaft of the paying-off machine effectively after the full-wire wheel is corrected by manual intervention.

The automatic equipment is expected to be used for carrying the reel, and the most basic is to automatically carry out the grabbing and carrying of the reel, and when grabbing, the existing spool clamping jaws are generally of two types, one type is the structure for grabbing an end plate at one end of a spool, for example, the structure disclosed by application number 201822192784.9; the other is a structure in which the spool is held from both ends thereof, such as the structure shown in application No. 201820729407.1.

Although the grabbing of the spool can be effectively realized by the two structures, in the first structure, the spool needs to be transported in a vertical state due to the fact that the weight of the full spool is very large, the axis of the spool cannot be parallel to the axis of the unwinding shaft of the pay-off machine, the full spool is not convenient to directly install on the installation unwinding shaft directly, even if the spool grabbing device has the overturning function through a certain moving structure, at the moment, the spool grabbing device can also interfere with the installation of the full spool, and the spool grabbing device needs huge bearing capacity. In addition, under the condition of a full wire reel, the wire harness on the spool interferes with the closing action of the clamping jaw, and is not favorable for stable clamping.

In the second structure, the central positions of the two ends of the pay-off reel are embedded by the air claws, so that the problem that the spool cannot be directly installed on the pay-off reel exists; in addition, this arrangement requires the jaws to be in precise positional relationship with the spool for effective gripping.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a unloader and unwrapping wire system on the line wheel in order to solve the above-mentioned problem that exists among the prior art exactly.

The purpose of the utility model is realized through the following technical scheme:

the wire wheel loading and unloading device comprises a truss, a moving mechanism and a wire wheel gripping device, the wire wheel gripping device is connected with the truss through the moving mechanism and can horizontally move and lift relative to the truss, the wire wheel gripping device comprises a carrier, at least one guide rail is horizontally arranged at the bottom of the carrier, the guide rail is provided with two sliding parts in a sliding manner and an opening and closing driving mechanism for driving the two sliding parts to reciprocate along the guide rail, each sliding part is provided with four rollers, the axes of the rollers extend horizontally and are vertical to the extending direction of the guide rail, the wheel surface of each roller forms a V-shaped groove, the four rollers on each sliding part are divided into an upper pair and a lower pair, each pair of two rollers are coaxial and are arranged at intervals, each roller on the upper position is opposite to one roller on the lower position, and the rollers on the two sliding parts are oppositely arranged and are in one-to-one correspondence with each other.

Preferably, in the feeding and discharging device for the reel, RFID sensors are arranged in the middle positions of two sides of the carrier.

Preferably, in the wire wheel loading and unloading device, the carrier is connected with the movement driving mechanism through a horizontal floating mechanism.

Preferably, in the loading and unloading device on the reel, the horizontal floating mechanism includes a first sliding table slidably disposed on the top of the carrier and a first elastic element for keeping the first sliding table at the middle position of the top of the carrier, a second sliding table and a second elastic element for keeping the second sliding table at the middle position of the top of the first sliding table are slidably disposed on the first sliding table, the sliding direction of one of the first sliding table and the second sliding table is perpendicular to the guide rail, and the sliding direction of the other is parallel to the guide rail.

Preferably, in the wire wheel loading and unloading device, the moving mechanism comprises a guide rail arranged on the truss and perpendicular to the guide rail and a transverse rack parallel to the guide rail, a translation frame is slidably arranged on the guide rail, a translation motor and a translation gear driven by the translation motor are arranged on the translation frame, and the translation gear is engaged with the transverse rack; the translation rack is provided with a guide block, a longitudinal rail is slidably arranged on the guide block, a longitudinal rack parallel to the longitudinal rail is arranged on the longitudinal rail, the longitudinal rack is meshed with a longitudinal moving gear, the longitudinal moving gear is driven by a longitudinal moving motor fixed on the translation rack, a guide shaft is further arranged on the longitudinal rail, and the guide shaft penetrates through a guide rail clamp arranged on the translation rack.

Preferably, the wire wheel loading and unloading device further comprises a shifting table, the shifting table at least comprises a wire wheel limiting table, the wire wheel limiting table is connected with a conversion driving mechanism for driving the wire wheel limiting table to move between a loading position and an unloading position, and the wire wheel gripping device can move to a position right above the wire wheel limiting table of the loading position.

The paying-off system comprises at least one row of paying-off machines and any one of the above feeding and discharging devices for the reel, and the reel grabbing devices can move to each paying-off machine.

Preferably, in the pay-off system, two limit strips are arranged on the side of each pay-off machine, and the limit strips are parallel to the axis of the unreeling shaft of the pay-off machine.

Preferably, in the pay-off system, the pay-off machines are arranged in multiple rows, each row of pay-off machines is provided with one wire wheel loading and unloading device, and the end part of the truss is provided with a full wire wheel storage area and a loading and unloading mechanism used for moving the full wire wheels stored in the full wire wheel storage area to a moving platform of each wire wheel loading and unloading device.

The utility model discloses technical scheme's advantage mainly embodies:

the horizontal grabbing of the spool is realized by the mode of clasping the peripheries of two end plates of the spool in the scheme, after grabbing, center holes at two ends of the spool can be effectively exposed outside, meanwhile, the axis of the spool can be parallel to the axis of a pay-off machine so as to be convenient for installation, and the moving of the wire wheel grabbing device is realized by combining a moving mechanism and a truss structure, so that the automatic moving of the wire wheel can be fully realized, the automation of paying-off is greatly improved, and the labor cost is favorably reduced.

According to the scheme, the RFID identifiers are arranged on the two sides of the wire wheel gripping device, so that the information of the gripped wire wheel can be effectively identified, and therefore the wire wheel and wire specification tracking can be conveniently realized by performing information interaction with an upper computer, namely determining the mounting position.

The line wheel grabbing device of this scheme passes through horizontal relocation mechanism and is connected with moving mechanism, and when horizontal relocation mechanism can effectively reduce and snatch, the position required precision between line wheel grabbing device and the line wheel has reduced the control degree of difficulty, is favorable to improving and snatchs efficiency to when the installation, can self-adaptation unreel the spool the position adjust, can guarantee the installation accuracy.

When the moving mechanism moves in the vertical direction, the safety of equipment operation during transportation can be effectively improved by arranging the guide rail clamp, and the damage to the equipment caused by the fact that the longitudinal rail moves down rapidly under the action of gravity is avoided.

This scheme is convenient for realize the feed with other equipment cooperations through setting up the platform of moving, can reduce the interference between equipment, improves the convenience of operation.

The pay-off system of this scheme is provided with spacing on every paying out machine side and is used for spacing line wheel to can the buffer full line wheel and empty line wheel, therefore can place on the spot when the line wheel is traded, get full line wheel on the spot, change the unloading with empty line wheel again after accomplishing at full line wheel, be favorable to improving the operating efficiency.

The full line wheel storage area of this scheme sets up and can combine to move the mechanism and long-term, last supply full line wheel to each emission line machine on, increased degree of automation, reduce manual intervention.

The method of the scheme can effectively improve the material changing efficiency and avoid time damage caused by large-range movement of the paying-off wheel.

Drawings

Fig. 1 is a perspective view of the feeding and discharging device for the reel of the present invention (only a partial structure of a truss is shown in the figure);

fig. 2 is an end view of the feeding and discharging device for the reel of the present invention;

fig. 3 is a partial top view of the feeding and discharging device for the reel of the present invention (only a partial structure of the truss is shown in the figure);

fig. 4 is a first perspective view of the wire wheel gripping device in the feeding and discharging device for wire wheels of the present invention;

fig. 5 is a second perspective view of the wire wheel gripping device in the feeding and discharging device for wire wheels of the present invention;

fig. 6 is a front view of the wire wheel gripping device in the feeding and discharging device for wire wheels of the present invention;

fig. 7 is a front view of the feeding and discharging device for the reel of the present invention (only a partial structure of the truss is shown in the figure);

fig. 8 is a cross-sectional end view of the transfer table in the loading and unloading device on the reel of the present invention;

fig. 9 is a partial perspective view of a mechanism for driving the wire wheel gripping device to move in embodiment 2 of the present invention (only a part of the i-shaped rail and the lifting rope of the balance crane is shown in the figure);

FIG. 10 is an end view of FIG. 9 (with the balance sling hoist line hidden);

fig. 11 is a sectional view of an active trolley according to embodiment 2 of the present invention;

fig. 12 is a plan view of a driving mechanism of an active trolley according to embodiment 2 of the present invention;

fig. 13 is a perspective view of the driving mechanism of the active trolley according to embodiment 2 of the present invention (the mounting plate is hidden in the drawing);

FIG. 14 is an enlarged view of area A of FIG. 10;

fig. 15 is a partial schematic view of a pay-off line according to embodiment 3 of the present invention;

fig. 16 is a schematic structural view of a plurality of paying-off lines according to embodiment 3 of the present invention.

Detailed Description

Objects, advantages and features of the present invention will be illustrated and explained by the following non-limiting description of preferred embodiments. These embodiments are merely exemplary embodiments for applying the technical solutions of the present invention, and all technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the scope of the present invention.

In the description of the embodiments, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the embodiment, the operator is used as a reference, and the direction close to the operator is a proximal end, and the direction away from the operator is a distal end.

The utility model discloses a go up unloader below combining the figure to explain the utility model discloses a line wheel, it is used for taking off the empty line wheel on the paying out machine from the paying out machine, and with the full line wheel of full line install on the paying out machine, as shown in figure 1, figure 2, it includes truss 100, moving mechanism 200 and line wheel grabbing device 300.

As shown in fig. 1 and 2, the truss 100 includes a plurality of vertical columns 110, the vertical columns 110 are fixed in a row at equal intervals, a heavy-duty rail 120 is horizontally disposed on the vertical columns 110, and a main body of the heavy-duty rail 120 protrudes to the outside of the vertical columns 110 so as to be installed on the moving mechanism 200. The extending direction and the extending length of the truss 110 are designed according to the arrangement direction and the arrangement length of the paying-off machines, so that the truss can cover one row of the paying-off machines.

The moving mechanism 200 includes a structure for driving the reel gripping device 300 to perform reciprocating translation along the extending direction of the heavy-duty guide rail 120 and a structure for driving the reel gripping device to move in the vertical direction (the direction perpendicular to the first direction X and the second direction Y). It may adopt various known possible structures capable of achieving the above-mentioned two movements.

In a preferred real-time mode, as shown in fig. 1, fig. 2, and fig. 3, the moving mechanism 200 includes a guide rail 210 disposed on the truss and a transverse rack 220 parallel to the guide rail, the guide rail 210 extends along the extending direction of the heavy-duty guide rail 120 and is located at the top and the bottom of the heavy-duty guide rail 120, the transverse rack 220 is fixed at the outer side 121 of the heavy-duty guide rail 120, a translation frame 230 is slidably disposed on the guide rail 210, the translation frame 230 includes an L-shaped horizontal mounting plate 231 and a vertical mounting plate 232 perpendicular to the L-shaped horizontal mounting plate, a sliding block 233 slidably connected to two guide rails 210 is disposed on the inner side of the vertical mounting plate 232, a translation motor 240 is further disposed on the vertical mounting plate 232, the translation motor 240 is a servo motor and is connected to a high-precision speed reducer 250, a rotating shaft of the high-precision speed reducer vertically penetrates through the vertical mounting plate 232 and is coaxially connected to a translation gear (not shown in the figure), the translation gear is meshed with the transverse rack; when the translation motor 240 is activated, the translation gear moves relative to the translation rack 220, thereby driving the translation frame 230 and the upper structure thereof to translate along the heavy-duty guide rail.

As shown in fig. 1, fig. 2, and fig. 3, two pairs of guide blocks 260 distributed up and down are disposed on the outer side of the longitudinal mounting plate 232 of the translation frame 230, a longitudinal rail 270 is slidably disposed on the guide blocks 260 (the longitudinal rail 270 is perpendicular to the heavy-duty guide rail and extends up and down), a longitudinal rack 280 parallel to the longitudinal rail 270 is disposed on the inner side (facing the side of the longitudinal mounting plate 232) of the longitudinal rail 270, the longitudinal rack 280 is engaged with a longitudinal shift gear (not shown in the figure), the axis of the longitudinal gear is perpendicular to the extending direction of the longitudinal rail 270 and the heavy-duty rail, the longitudinal shift gear is driven by a longitudinal shift motor 290 fixed on the horizontal mounting plate, the longitudinal shift motor 290 is connected to the longitudinal gear through a high-precision reducer 2100, further, a guide shaft 2200 is disposed on the side of the longitudinal rail 270, the guide shaft 2200 passes through a guide rail clamp 2300 disposed on the longitudinal mounting plate of the translation frame, the specific structure of the rail clamp 2300 is known in the art and will not be described herein.

As shown in fig. 1, the wire wheel gripping device 300 is connected with the truss 100 through the moving mechanism 200 and can horizontally move and move up and down relative to the truss, as shown in fig. 4, the reel gripping device 300 includes a carrier 310, at least one guide rail 320 is provided at the bottom of the carrier 310, the guide rail 320 is slidably provided with two sliding parts 330 and an opening and closing driving mechanism 340 for driving the two sliding parts to reciprocate along the guide rail, each sliding part 330 is provided with four rollers 350, the axes of the rollers are perpendicular to the extending direction of the guide rail and extend along a first direction X, the wheel surface of each roller 350 forms a V-shaped groove 351, the four rollers 350 on one sliding part are divided into an upper pair and a lower pair, the two rollers 350 on each pair are coaxially arranged at intervals, each roller 350 on the upper position is opposite to one roller 350 on the lower position, and the rollers 350 on the two sliding parts 320 are oppositely arranged and are in one-to-one correspondence with each other.

As shown in fig. 4, the carrier 310 of the reel gripping device 300 may be made of various feasible materials with sufficient strength and support, and is not limited herein, and is specifically a rectangular plate, two guide rails 320 are disposed at the bottom of the carrier 310, the guide rails 320 are in a convex shape and extend along the length direction of the carrier, they are close to two long sides of the carrier 310, two sliding members 330 are disposed on the two guide rails 320, the sliding members 330 include sliding blocks 331 slidably disposed on the two guide rails 320, the two sliding blocks 331 are connected by a connecting plate 332, two support rods 333 are disposed below the connecting plate 332, two upper and lower wheel mounting arms 334 are disposed at end faces of each support rod 333 facing to the other sliding member 330, the support rods 333 and the wheel mounting arms 334 are approximately F-shaped, one roller 350 is disposed on each wheel mounting arm 334, the axis of the roller 350 is perpendicular to the guide rail 320 and the longitudinal rail 270.

As shown in fig. 5, the opening/closing driving mechanism 340 for driving the two sliding members 330 may be of various known structures, for example, in one embodiment, two sliding members may be respectively connected to a cylinder for actuating the reciprocating movement of the two sliding members along the guide rail. In a preferred embodiment, the opening/closing driving mechanism 340 includes a motor 341 fixed on the top of the carrier 310, a motor shaft of the motor 341 extends out of one end of the carrier and is connected to one end of a screw of a lead screw 343 through a transmission mechanism 342 (a transmission mechanism formed by a synchronous belt, a synchronous wheel, a chain, a sprocket, and the like), the screw of the lead screw 343 is rotatably disposed at the bottom of the carrier 310 and is located between the two guide rails 320, the lead screw 343 is a double-slider lead screw, and the moving directions of two sliders (not shown) on the screw are opposite, that is, the two sliders synchronously move toward each other and synchronously move back, a specific structure of the double-slider lead screw is known in the art, and details are not described herein. The two sliders are connected with the connecting plate of the two sliders 330, so that the two sliders are driven to move, and opening and closing are realized.

As shown in fig. 6, in order to reduce the positioning accuracy during grasping, the reel grasping apparatus 300 is connected to the bottom end of the longitudinal rail 270 through a horizontal floating mechanism 400, the horizontal floating mechanism 400 includes two first guide rods 410 arranged on the top of the carrier 310, the two first guide rods 410 are parallel or perpendicular to the guide rail 320 and extend from one end of the carrier 310 to the other end, a first sliding table 420 is arranged on the two first guide rods 410 in a sliding manner, two first baffles 430 are arranged between the two first guide rods 410, the first baffles 430 are fixed on the top of the carrier 310 and located at two ends of the two first guide rods 410, two first elastic members 440 are respectively arranged at the opposite end surfaces of the two first baffles 430, the first elastic members 440 are preferably springs, the axes of the springs are parallel to the extending direction of the first guide rods, the other end of first elastic component 440 is fixed in the one end of first slip table 420, four the spring is located the both ends that first slip table 420 is relative, four first elastic component makes first slip table 420 is located the intermediate position of first guide arm 310, first slip table 420 is relative when first guide arm 410 slides, compresses the spring of its one side, stretches the spring of its other end, and the reaction force of spring makes first slip table 420 reset to realize floating of first direction X.

As shown in fig. 6, two parallel second guide rods 450 are disposed at the top of the first sliding table 420, the second guide rods 450 are perpendicular to the first guide rods, a second sliding table 460 is slidably disposed on the second guide rods 450, second elastic members 470 are connected to two opposite sides of the second sliding table 460, the other end of each second elastic member 470 is fixed to a second baffle 480 on the first sliding table 420, and the four second elastic members 470 enable the second sliding table to be located at the middle position of the second guide rod 450 in a normal state, so that the second sliding table 460 can float along the second direction Y relative to the first sliding table.

In actual use, the specifications of the wires on the reel are different, so that the specifications of the wires on the gripped reel need to be accurately identified, as shown in fig. 5, an RFID sensor 500 is arranged at the middle position of two sides of the carrier 310, and an RFID tag (not shown in the figure) is correspondingly arranged at the end part of the reel.

Further, for the convenience of loading, as shown in fig. 7, a transfer platform 600 is provided below the truss 100 near one end thereof, as shown in fig. 8, the transfer table 600 includes a base 610, two rails 620 are disposed on the base 610, the rail 620 is provided with a reel limit table 630 in a sliding manner, the reel limit table 630 comprises a substrate 631, the substrate 631 is slidably disposed on the two rails through a set of sliders 632, a height table 633 is disposed on the substrate 631, two limit blocks 634 are arranged on the height-supporting table 633 with a gap, grooves 635 are formed at the tops of the two limit blocks, the grooves are arc-shaped grooves, the distance between the two grooves is equal to the distance between the two end plates of the wire wheel, so that the rolling of the pulley can be effectively prevented and the two grooves 635 can make the axis of the pulley thereon perpendicular to the guide rail 320.

As shown in fig. 8, reel limit station 610 is connected with and drives its conversion actuating mechanism 640 that removes between last material level and unloading position, and when the material level was gone up, reel grabbing device 300 can move to with reel limit station 610 is just right, thereby reel grabbing device 300 can with reel on the reel limit station 610 is embraced, and when the material level was gone down, reel limit station 610 is located the outside of reel grabbing device 300. The conversion driving mechanism 640 includes a motor 641 disposed on the base plate 631, wherein the motor 641 is connected to a gear 642 through a speed reducer, and the gear 642 is engaged with a rack 643 on the base.

Example 2

This embodiment has the same wire wheel gripping device as embodiment 1 above, except that: the truss and the moving mechanism have different structures, specifically as follows:

the heavy-duty rails 120 of the truss of the above embodiment 1 are replaced by i-shaped rails 110a, specifically i-shaped steel, which are fixed in position by a vertical column (not shown in the figure) and are used for providing support and guidance for the walking of the active trolley.

The movable active trolley 200a is arranged on the I-shaped track 110a, a balance crane is arranged on the active trolley, the active trolley 200a comprises a frame 201, traveling wheels 202 capable of rolling on the I-shaped track 110a are arranged on the frame 201, at least one of the traveling wheels 202 is connected with a driving mechanism for driving the traveling wheels to rotate, the driving mechanism comprises a transmission shaft 203 which is arranged on the frame in a rotatable manner and has an axis parallel to the axis of the traveling wheels, the transmission shaft 203 is connected with at least one traveling wheel through a first transmission mechanism, the transmission shaft 203 is connected with a motor 204 arranged on the frame through a second transmission mechanism, and the second transmission mechanism comprises an electromagnetic clutch 205 for controlling the transmission shaft to be connected with a transmission torque of the motor 204 in a switchable manner.

During normal work, the electromagnetic clutch 205 enables the motor 204 to be connected with the transmission shaft 203 in a torque transmission mode, and the motor 204 drives the traveling wheel 202 to rotate during work, so that the active trolley can automatically travel along the I-shaped track 110a without manual intervention. The torque transmission connection between the transmission shaft 203 and the motor 204 is realized by the electromagnetic clutch 205, and the electromagnetic clutch 205 disconnects the transmission shaft 203 from the motor 204 in the event of a failure or power failure, so that the operation can be conveniently performed by a human, and the application is flexible.

The frame 201 of the active trolley 200a may be of various feasible structures, as shown in fig. 9 and 10, in a preferred structure, the frame 201 includes two symmetrical mounting frames 2011 which are arranged at two sides of the i-shaped rail 110a with a gap and a connecting member (a screw and a nut) for connecting the two mounting frames 2011, the mounting frame 2011 is assembled by a plurality of members, and the specific shape of the mounting frame 2011 can be adjusted as required.

As shown in fig. 10, a set of the road wheels 202 with parallel axes and equal height is rotatably disposed on the inner side (the side facing to the other support frame) of each support frame 2011, and the axes of the road wheels 202 are horizontal and perpendicular to the extending direction of the i-shaped rail 110 a.

As shown in fig. 11, the number of a set of road wheels of each support 2011 may be designed as required, preferably 3, two of the 3 road wheels are disposed adjacent to a riser 2012, the other one is spaced from the adjacent two, and two sets of road wheels on the two support 2011 are respectively disposed in the two U-shaped grooves 101 of the i-shaped steel.

As shown in fig. 10, two adjacent travelling wheels 202 on one support frame 2011 on the right side are connected with a driving mechanism for driving the travelling wheels to rotate, so that the driving force can be increased, and the effective movement of the trolley is ensured.

As shown in fig. 12 and 13, the transmission shaft 203 extends from the outside of the right support 2011 to the inside thereof, a third gear 207 is coaxially disposed at the inner end of the transmission shaft 203, the third gear 207 is engaged with two fourth gears 208, the two fourth gears 208 are coaxially mounted on the two adjacent road wheels 202, respectively, and the third gear 207 and the fourth gear 208 constitute the first transmission mechanism. The electromagnetic clutch 205 arranged on the transmission shaft 203 is positioned on the outer side of the support frame 2011, the electromagnetic clutch 205 is connected with the second gear 209, the second gear 209 is meshed with the first gear 211, the first gear 211 is coaxially arranged on a motor shaft of the motor 204, and the first gear 211, the second gear 209 and the electromagnetic clutch form the second transmission mechanism. And the motor 204 is located inside the support 2011. Of course, in other embodiments, the transmission structure formed by the gears may also adopt a transmission structure formed by a chain and a chain wheel or a synchronous belt and a synchronous wheel.

As shown in fig. 10, in order to reduce the risk of axial deviation during the moving process of the road wheel, the surface 102 of the i-beam contacting the road wheel is an inclined surface inclined from inside to outside, and the corresponding road wheel 202 has a frustum 2021 matching with the surface 102. Further, as shown in fig. 10, two side guide wheels 206 are rotatably disposed on the two mounting frames 2011, the axis of each side guide wheel 206 is perpendicular to the axis of the traveling wheel 202 and the extending direction of the i-shaped rail 110a, the distance between the side guide wheels 206 of the two mounting frames 2011 is equivalent to the width of the i-shaped rail 110a, and the two side guide wheels 206 on the two mounting frames 2011 are abutted to the two side edges of the lower wing plate 103 of the i-shaped steel.

As shown in fig. 10, in order to prevent the frame 201 from jumping during movement, the frame 201 may further be provided with two lower guide wheels, two of which are located at two ends of the frame 201, wherein one of the lower guide wheels 212 has a larger diameter and is located between the two mounting brackets 2011, and is located at one end far away from the two traveling wheels connected to the driving mechanism, the other lower guide wheel 214 has a smaller diameter and is located on one of the mounting brackets 2011, and the mounting bracket 2011 is not mounted with the driving mechanism.

As shown in fig. 10, the frame 201 is further provided with an electric control cabinet 225, and the electric control cabinet 225 and the driving mechanism are located on two different mounting racks 2011 of the frame 201, so that the center of gravity of the active trolley can be balanced, and the load difference of the walking wheels 202 on different sides caused by the eccentricity of the center of gravity of the trolley is avoided, and the stable use of the walking wheels 202 is influenced.

As shown in fig. 10 and 14, a hanger rail 500a is hung below the frame 201 through two hanger rods 213, a pivot connecting block 215 is arranged at the upper end of each hanger rod 213, the pivot connecting block 215 is pivoted on a supporting shaft 217 at the end of the frame 201, and the axis of the supporting shaft 217 is parallel to the axis of the traveling wheel 202, so that the upper end of the hanger rod 213 can rotate relative to the supporting shaft 217.

As shown in fig. 9 and 11, the lower ends of the two suspension rods 213 are provided with suspension rails 500a, which are relatively movable, as shown in fig. 14, the suspension rails 500a are a section with an approximate shape of a Chinese character ri, notches 530 and 540 linearly extending from one end to the other end are formed on the top plate 510 and the bottom plate 520 of the section, and the suspension rods 213 extend into the upper through grooves 550 of the section from above the top plate 510 through the notches 530.

As shown in fig. 11, a limiting plate 219 perpendicular to the suspension rod 213 is disposed at one end in the profile, the limiting plate 219 is disposed in a space enclosed by two L-shaped limiting members 221, the two L-shaped limiting members 221 are fixed in an upper through slot 550 of the suspension rail 500a, for example, the L-shaped limiting members 221 may be fixed in the suspension rail 500a by a conventional connection manner such as welding. The combination of the two plates of the L-shaped member 221 parallel to the top plate 510 of the hanger rail forms a through hole 223, the diameter of the through hole 223 is larger than the diameter of the hanger rod 213 and smaller than the size of the limiting plate 219, so that the hanger rod 213 can slightly move in the through hole 223, and the whole hanger rail 500a and the frame 201 are of a floating structure, so that when the active trolley stops or starts, the balance crane is prevented from generating large swing due to inertia, and flexible unloading can be realized. Of course, the lower end of the suspension rod 213 may be connected to the suspension rail through a ball joint, or may be pivotally connected to the suspension rail.

As shown in fig. 11 and 14, the balance crane 300a is disposed on the hanger rail 500a, to facilitate fine adjustment of the balance crane 300a for facilitating the matching with a machine tool, the balance crane 300a is disposed on the hanger rail 500a by a movable frame 400a movable along the hanger rail, the moving frame 400a comprises two pairs of rollers 401 arranged in the lower through groove 560 of the hanging rail 500a in a rolling way, the axes of the rollers 401 are parallel to the axes of the walking wheels, and each pair of the pulleys 610 is coaxially and rotatably disposed at both sides of the moving member 402, the moving member 402 extends from the lower through groove 560 to the lower part of the hanger rail 500a through the notch on the bottom plate, the moving member 402 is approximately Y-shaped, the moving member 402 is connected with the balance crane 300a through a connecting plate 403, and the balance crane 300a is connected with the connecting plate 403 through bolts and nuts. The hanger rail 500a is provided with a limit structure for limiting the roller 401 to roll out of the hanger rail 500a, for example, stoppers for closing ends of the hanger rail 500a are respectively provided at both ends of the hanger rail 500 a.

In addition, the balance crane 300a may be an electric hoist, a pneumatic hoist, or the like, and is preferably a pneumatic balance crane, and the balance crane 300a may control the automatic lowering of the lifting rope by air pressure, specifically, as shown in fig. 9, it is determined whether the position to which the balance crane 300a moves is a set machine tool by a sensor 600a, the plurality of sensors 600a are installed on the i-shaped rail 110a, a trigger (not marked in the figure) for triggering the sensor 600a is provided on the frame of the active trolley, and after it is determined that the balance crane moves in place, the lifting rope of the balance crane automatically lowers, where the automatic lowering of the lifting rope of the balance crane by air pressure is a known technology, and is not described herein.

In this embodiment, the wire wheel gripping device (not shown) may be manually assisted to position a workpiece, and a control button for controlling the start and stop of the motor 341 and the forward and reverse rotation of the motor and a button for controlling the lifting rope of the balance crane may be disposed on the wire wheel gripping device or at other positions.

By adopting the structure, the positioning precision of the manipulator can be effectively reduced, the manipulator can be quickly positioned by adopting a manual auxiliary mode, and the application is flexible.

Example 3

This scheme further discloses a unwrapping wire system, including last unloader 20 of the line wheel of at least one row of paying out machine 10 and above-mentioned embodiment, the concrete structure of paying out machine 10 is known technique, is not the innovation point of this scheme, and here does not describe repeatedly, the axis of the axle of unreeling the axle 110 of paying out machine 10 with the extending direction of the heavily loaded guide rail 120 of truss is parallel, and, line wheel grabbing device can move to every directly over the axle 110 of unreeling the machine.

One row pay-off machine 10 is equidistant to be set up, and the interval between adjacent pay-off machine 10 is not less than the width of line wheel, and the clearance department of adjacent pay-off machine 10 is provided with two parallel spacing strips 30, spacing strip 30 with the axis of unreeling axle 110 is parallel, just spacing strip 30's interval is less than the radius of line wheel.

Further, the paying out machine 10 is provided with a plurality of rows, each wire discharging machine 10 supplies power through one wire wheel loading and unloading device 20, a track 620 of a wire wheel limiting table 600 in the wire wheel loading and unloading device 20 is parallel to the guide rail 320, and the wire wheel limiting table 600 is located on the outer side of the end portion of the truss 100 when in a loading position. Meanwhile, full-line wheel storage areas 40 are further arranged on the outer sides of a group of paying-off machines, each line wheel limiting table 600 extends to the full-line wheel storage area, the full-line wheel storage areas 40 are used for placing various full-line wheels wound with silk threads of different specifications, each full-line wheel storage area 40 comprises a plurality of rows of second limiting strips 60 or limiting blocks, and when the second limiting strips 60 are arranged, the second limiting strips are parallel to the extending direction of the limiting strips 30 between the paying-off machines; when the limiting block is arranged, the extending direction of the limiting block is vertical to the extending direction of the limiting strip 30, and the limiting block is formed on the limiting block.

Meanwhile, the paying-off system further comprises a transferring mechanism 50 which moves the full reel of the full reel storage area 40 to the reel limiting table 600 at different positions, the transferring mechanism comprises the reel grabbing device in the embodiment, the reel grabbing device is movably arranged on the second truss, and the reel grabbing device can movably cover the full reel storage area 40. At this moment, the movement of the wire wheel gripping device comprises translational movement in a first direction X and a second direction Y and vertical movement perpendicular to the first direction X and the second direction Y, and a corresponding movement structure is a known technology and is not described herein any more, so that the whole system can automatically perform feeding and discharging on the wire wheel for a long time.

Example 4

The scheme further discloses a wire wheel loading and unloading method of the pay-off system, which at least comprises the following steps:

when no full reel exists on all paying out machines, the full reel is manually conveyed and moved to the reel limiting table 630 of the transfer table 600 through a forklift or other transportation equipment, the moving mechanism 200 drives the reel grabbing device 300 to move to two sides of the reel limiting table 630, then the opening and closing driving mechanism 340 drives two sliders to move oppositely and close, the reel is held by eight rollers, then the moving mechanism 200 drives the reel grabbing device 300 to move to one paying out machine 10, the full reel held by the reel grabbing device 300 is coaxial with the paying off shaft of the paying out machine 10, and the paying off shaft of the paying out machine 10 fixes the full reel. And repeating the steps to a row of all paying-off machines according to the sequence, and mounting the wire wheels.

Subsequently, moving mechanism 200 drive line wheel grabbing device 300 places a full line wheel on the spacing strip 30 of the lateral part of most paying out machine for change when needing, this moment, the spacing strip for placing full line wheel is called full line wheel buffer position, make at least one the spacing strip of the lateral part of paying out machine keeps the vacancy so that place the idle line wheel of taking off from the paying out machine when changing the line wheel, the spacing strip that keeps the vacancy is done as idle line wheel buffer position, the quantity of idle line wheel buffer position sets up according to on-the-spot operating mode, for example, when a product of unreeling the production line has the product of three kinds of specifications, make idle line wheel buffer position be 3, and, their concrete position can be for the equidistance and equally divide the unreeling production line.

When the reel on a pay-off machine is completely unreeled and needs to be replaced, the operation is carried out according to the following steps:

s1, the moving mechanism 200 drives the wire wheel gripping device 300 to move to the unreeling machine which is unreeled, the wire wheel gripping device 300 grips the wire wheel, and the unreeling machine loosens the fixation of the wire wheel.

S2, the moving mechanism 200 drives the wire wheel gripping device 300 to move the gripped empty wire wheel to the nearest empty wire wheel buffer position.

And S3, the moving mechanism 200 drives the wire wheel gripping device to move to a full wire wheel storage area closest to the vacant paying-off machine, and after the wire wheel gripping device grips the full wire wheels in the full wire wheel cache area, the moving mechanism drives the wire wheel gripping device to move until the gripped full wire wheels are coaxial with the paying-off shaft of the vacant paying-off machine.

And S4, after the full-line wheel is fixed by the pay-off machine, the moving mechanism drives the line wheel gripping device to move to the empty wheel cache position, and the line wheel gripping device grips the empty line wheel and moves the empty line wheel to the line wheel limit table for blanking.

During the unloading, line wheel grabbing device places the idle wire wheel in the spacing platform 610 of line wheel that is in the material loading level, the spacing platform 610 of line wheel is removed to the unloading position by the material loading level, then is removed the idle wire wheel by fork truck to remove new full line wheel through fork truck extremely on the spacing platform 610 of line wheel, the spacing platform 610 of line wheel resumes the material loading level, moving mechanism 200 drive line wheel grabbing device snatchs and supplements the full line wheel buffer position of no full line wheel with the full line wheel on the spacing platform 610 of line wheel. In order to realize full-automatic unloading of going up, fork truck can adopt laser navigation's AGV fork truck to remove full drum to the spacing platform 610 of line wheel and take off the idle line wheel from the spacing bench of line wheel automatically.

And when the feeding is carried out, the wire wheel gripping device reads the RFID label on the wire wheel through the RFID identifier and interacts the read information with an upper computer, so that the information of the paying-off machine and the like to be installed is determined.

The utility model has a plurality of implementation modes, and all technical schemes formed by adopting equivalent transformation or equivalent transformation all fall within the protection scope of the utility model.

Claims (9)

1. Line wheel loading and unloading device, including truss, moving mechanism and line wheel grabbing device, line wheel grabbing device passes through moving mechanism connects the truss just can be relative truss horizontal migration and elevating movement, line wheel grabbing device includes the carrier, the bottom level of carrier is provided with an at least guide rail, be provided with two sliders and drive on the guide rail slidable two the slider is followed guide rail reciprocating motion's switching actuating mechanism, its characterized in that: four idler wheels with axes extending horizontally and vertical to the extending direction of the guide rail are arranged on each sliding piece, a V-shaped groove is formed in the wheel surface of each idler wheel, the four idler wheels on each sliding piece are divided into an upper pair and a lower pair, each pair of idler wheels are coaxial and arranged at intervals, each idler wheel on the upper position is opposite to one idler wheel on the lower position, and the idler wheels on the two sliding pieces are arranged oppositely and correspond to one another in position.

2. The wire wheel loading and unloading device of claim 1, wherein: and RFID sensors are arranged on two sides of the carrier.

3. The wire wheel loading and unloading device of claim 1, wherein: the carrier is connected with the movement driving mechanism through a horizontal floating mechanism.

4. The wire wheel loading and unloading device according to claim 3, wherein: the horizontal floating mechanism comprises a first sliding table and a first elastic piece, wherein the first sliding table is slidably arranged on the top of the carrier, the first elastic piece enables the first sliding table to be kept at the middle position of the top of the carrier, a second sliding table and a second elastic piece enables the second sliding table to be kept at the middle position of the top of the first sliding table are slidably arranged on the first sliding table, the sliding direction of one of the first sliding table and the second sliding table is perpendicular to the guide rail, and the sliding direction of the other sliding table is parallel to the guide rail.

5. The wire wheel loading and unloading device of claim 1, wherein: the moving mechanism comprises a guide rail which is arranged on the truss and is vertical to the guide rail and a transverse rack which is parallel to the guide rail, a translation frame is arranged on the guide rail in a sliding mode, a translation motor and a translation gear driven by the translation motor are arranged on the translation frame, and the translation gear is meshed with the transverse rack; the translation rack is provided with a guide block, a longitudinal rail is slidably arranged on the guide block, a longitudinal rack parallel to the longitudinal rail is arranged on the longitudinal rail, the longitudinal rack is meshed with a longitudinal moving gear, the longitudinal moving gear is driven by a longitudinal moving motor fixed on the translation rack, a guide shaft is further arranged on the longitudinal rail, and the guide shaft penetrates through a guide rail clamp arranged on the translation rack.

6. The loading and unloading device for the reel of any one of claims 1 to 5, wherein: the wire wheel gripping device comprises a wire wheel limiting table, the wire wheel limiting table is connected with a conversion driving mechanism for driving the wire wheel limiting table to move between a feeding position and a discharging position, and the wire wheel gripping device can move to a position right above the wire wheel limiting table of the feeding position.

7. Unwrapping wire system includes at least one row of paying out machine, its characterized in that: the reel loading and unloading device comprises a reel gripping device and a reel unloading and loading device, wherein the reel gripping device can be moved to each paying-off machine.

8. The payoff system as set forth in claim 7, wherein: and two limiting strips are arranged on the side part of each pay-off machine and are parallel to the axis of the unreeling shaft of the pay-off machine.

9. The payoff system as set forth in claim 7, wherein: the paying-off machine is in multiple rows, each row of paying-off machine is provided with a wire wheel feeding and discharging device, and the end part of the truss is provided with a full wire wheel storage area and a feeding and discharging mechanism which is used for moving full wire wheels stored in the full wire wheel storage area to a shifting platform of each wire wheel feeding and discharging device.

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