CN215207842U - Thread end knotting device and winding system - Google Patents

Abstract

The utility model discloses a line head knotting device and winding system, wherein line head knotting device fixes the full line wheel and drives full line wheel rotation through setting up driving shaft and driven shaft, realizes the operation of knoing of full line wheel line head through automatic clamping jaw and the cooperation of line head grasper that can wind the revolution of driven shaft, can take off full line wheel from the coiling machine and carry out the off-line and tie a knot, when knoing, can place the empty line wheel again on the coiling machine and wind, be favorable to improving the utilization ratio of coiling machine, improve machining efficiency.

Description

Thread end knotting device and winding system

Technical Field

The utility model belongs to the technical field of spooling equipment and specifically relates to end of a thread knotting device and winding system.

Background

The winding machine is a device for winding silk threads on a spool, after the spool is full of the silk threads, the silk threads and the silk threads supplied by a pay-off rack need to be cut off or fused, and then the thread ends on the full-thread spool are knotted manually, so that the silk threads wound on the spool are prevented from loosening.

In order to achieve automatic knotting of the thread ends on the full-line wheels, the applicant applied a structure shown in application number 201910851083.8, which can effectively achieve online knotting of the thread ends, but this structure needs to perform knotting operation at the winding machine, and cannot perform feeding on the winding machine and knotting operation on other full-line wheels when knotting, and other full-line wheels must wait until the previous full-line wheel completes knotting, so as to reduce the overall processing efficiency.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a thread end knotting device and winding system in order to solve the above-mentioned problem that exists among the prior art.

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

the string head knotting device comprises a driving shaft and a driven shaft which are coaxial and arranged on a placing table in a clearance mode, the driving shaft and/or the driven shaft are driven by an axial driving mechanism to move axially, the driving shaft is connected with a first driving mechanism for driving the driving shaft to rotate, an automatic clamping jaw which revolves around the driven shaft is driven by a second driving mechanism is arranged on the periphery of the driven shaft, and a chuck of the automatic clamping jaw faces the driving shaft and extends to the front of the driven shaft for a certain distance; and a line head grasper is arranged outside the gap between the driving shaft and the driven shaft and is connected with a translation driving mechanism for driving the line head grasper to reciprocate along the direction parallel to the axis of the driving shaft.

In a preferred embodiment, the chuck comprises a clamping part, a blocking part and an installation part, the clamping part and the outer surface of the blocking part form a v-shaped limiting groove, the two chucks are opened and closed by rotation, and in an open state, the clamping surfaces of the two clamping parts form a notch with a wide front end and a narrow rear end; in a closed state, the two clamping parts form a frustum with a small outer end and a large inner end.

In a preferred embodiment, the automatic gripping jaw is inclined when it is located directly below the driven shaft.

In a preferred embodiment, the second driving mechanism includes a rotating body which is driven by a motor to rotate, the inner side of the rotating body is connected with the automatic clamping jaw at the periphery of the rotating body through a mounting frame, and the inner side of the rotating body is coaxial and is provided with the driven shaft in a manner of rotating relative to the rotating body.

In a preferred embodiment, in the first position, the grip of the two closed jaws of the thread end grasper faces approximately the midpoint of the maximum separation of the drive and driven shafts;

in the second position, the gripping faces of the two closed jaws of the thread end grasper are near the leading end of the driven shaft.

In a preferred embodiment, a blocking pin is horizontally arranged below the thread end grasper and moves synchronously with the thread end grasper, and the blocking pin extends in a direction perpendicular to the drive shaft and is connected to a blocking driving mechanism for driving the blocking driving mechanism to move along the axial direction of the drive shaft.

A winding system comprising any of the above string end knotting devices.

In a preferred embodiment, the device further comprises a loading and unloading robot, which comprises

Line wheel grabbing device, including carrier and two splint by the switching actuating mechanism drive switching on the carrier, be formed with the U-shaped breach that the opening is outwards on the splint, two the relative terminal surface department of splint is provided with spacing lug, spacing lug is located two terminal apex angle positions of every splint at least.

The moving mechanism is connected with the wire wheel grabbing device and drives the wire wheel grabbing device to move, and the front end of the moving mechanism is provided with an image collector;

the thread end clamping jaw is arranged on the side part of the carrier, and the front end of the jaw body faces to the clamping plate which is consistent with the opening of the U-shaped notch and is close to one side.

In a preferred embodiment, the moving mechanism is a 6-axis robot, and the moving mechanism is connected with the wire wheel gripping device through a fast-changing disc.

In a preferred embodiment, the moving mechanism, the axial driving mechanism, the second driving mechanism and the translational driving mechanism are arranged on the moving trolley.

In a preferred embodiment, the moving trolley is provided with an automatic thread breaking mechanism for breaking the thread between the thread end clamping jaw and the winding machine.

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

the full line wheel is fixed through setting up driving shaft and driven shaft to this scheme realizes the operation of knoing of full line wheel end of a thread with automatic clamping jaw and the cooperation of end of a thread grasper that can wind the revolution of driven shaft, can take off full line wheel from the coiling machine and carry out the off-line and tie a knot, when knoing, can place the empty line wheel again on the coiling machine and carry out the wire winding, is favorable to improving the utilization ratio of coiling machine, improves machining efficiency.

The switching mode and the chuck design of this scheme automatic clamping jaw make its can make the silk thread be injectd on it and can not loosen and take off effectively at the revolution in-process to guarantee the stability that the wire loop formed, provide basic condition for the follow-up knot, and when knoing, the chuck conveniently withdraws from the wire loop, be favorable to improving efficiency of knoing and reliability.

The inclined state design of the automatic clamping jaw of this scheme can cooperate in order to prevent when subsequently knoing with the spacer pin effectively, and the wire loop removes along with automatic clamping jaw, is favorable to guaranteeing the validity of knoing.

The feeding and discharging robot can directly transfer the full-line wheel and the line head to the knotting device from the winding machine, so that the automation degree is effectively improved, and manual intervention is reduced.

The scheme further combines the automatic thread breakage mechanism to effectively realize full process automation of automatic thread breakage, full wheel blanking and knotting, the whole process does not need manual intervention, and the automation degree is higher.

The automatic wire breaking mechanism is provided with the wire diameter measuring instrument, the type of wires wound by the wire wheels can be effectively identified, the labeling operation is combined, a data basis can be provided for the classification storage of the subsequent wire wheels, and the tracing to each wire wheel is facilitated.

The knotting structure, the feeding and discharging robot and the automatic wire breaking mechanism are integrated on the moving trolley, a plurality of winding machines can be served through one set of equipment, the structure is simplified, and the equipment utilization rate is improved.

The pin hole positioning mechanism is arranged to effectively position the idle wire wheel and the winding machine, so that basic conditions are provided for automatic replacement of the idle wire wheel, an automatic threading mechanism is further combined, a wire head can be automatically inserted into a threading hole of the idle wire wheel, a silk thread is wound on the wire wheel, manual intervention is not needed, and automation of winding on the wheel is further realized.

The automatic threading mechanism acts in two steps and can penetrate the silk thread into the thread hole as much as possible, the reliability of pre-winding can be effectively guaranteed by combining the pressing roller, and the thread head is prevented from being pulled out of the thread hole.

The moving mechanism of the scheme adopts the quick-change disc to be connected with the wire wheel gripping device and the automatic threading mechanism, so that two sets of tools can effectively share one set of moving structure, and the replacement can be quickly realized; greatly improving the utilization rate of the moving mechanism.

This scheme can continuously supply each coiling machine department and flow back full line wheel to unstacking stack district with empty line wheel through setting up empty wheel transfer chain and full round return flow line effectively, combines to go up the unloading robot and can realize automatic upper and lower unloading effectively, has improved the actual effect that line wheel carried. Meanwhile, the problem that the storage capacity of the movable trolley is limited and the movable trolley needs to frequently return to the unstacking and stacking area for blanking can be effectively solved, and the efficiency of supplying the empty wire wheels and the efficiency of returning the full wire wheels can be improved.

This scheme further combines the stack structure, can realize effectively that the automation of empty line wheel is unstacked and the automatic stack of full line wheel, simultaneously can autosegregation and installation baffle, has fully realized the automation of overall process.

Drawings

Fig. 1 is a perspective view of the thread end knotting device of the present invention (one jaw is hidden from the thread end grasper);

FIG. 2 is a top view of the thread end knotting device of the present invention (in the figure, the driving wheel and the driven wheel are in the maximum clearance position, and a clamping jaw is hidden in the thread end grasper)

FIG. 3 is a view of the full reel mounted on the thread end knotting device;

fig. 4 is a cross-sectional view of the thread end knotting device of the present invention;

fig. 5 is a side view of the thread end knotting device of the present invention;

fig. 6 is a perspective view of the automatic clamping jaw of the present invention;

FIG. 7 is an enlarged view of area A of FIG. 2;

fig. 8 is an end view of the thread end knotting device of the present invention;

fig. 9 is a top view of the thread end knotting device of the present invention with the thread end grasper in a first position;

fig. 10 is a top plan view of the thread end knotting device of the present invention with the thread end grasper in a second position;

fig. 11 is a first perspective view of the automatic loading and unloading mechanism of the end of thread knotting apparatus of the present invention;

fig. 12 is a second perspective view of the automatic loading and unloading mechanism of the end of thread knotting apparatus of the present invention;

fig. 13 is a first perspective view of the thread wheel gripping device and the thread end clamping jaw of the present invention;

fig. 14 is a second perspective view of the wire wheel gripping device and the wire end clamping jaw of the present invention;

FIG. 15 is an enlarged view of area B of FIG. 12;

fig. 16 is a perspective view of the automatic wire cutting mechanism of the present invention;

fig. 17 is a perspective view of the structure of the mounting bracket of the automatic wire cutting mechanism of the present invention;

fig. 18 is a top view of the automatic thread cutting mechanism of the present invention;

fig. 19 is a front view of the automatic wire cutting mechanism of the present invention;

fig. 20 is a partial perspective view of the automatic labeling mechanism area of the present invention;

FIG. 21 is a top view of the table and its upper structure of the present invention;

fig. 22 is a perspective view of the table and its upper structure of the present invention;

fig. 23 is a first perspective front view of the automatic threading mechanism of the present invention;

fig. 24 is a second perspective front view of the automatic threading mechanism of the present invention;

fig. 25 is a top view of the automatic threading mechanism of the present invention;

FIG. 26 is a schematic view of the first threading operation performed by the automatic threading mechanism of the present invention;

FIG. 27 is a schematic view showing the second threading operation of the automatic threading mechanism of the present invention;

FIG. 28 is an end view of the present invention integrated with a dolly, empty wheel conveyor line, full wheel return line (pay-off machine hidden in the figure);

fig. 29 is a partial perspective view of the winding system of the present invention;

fig. 30 is a perspective view of an end plate link line of the empty wheel conveyor line of the present invention;

fig. 31 is a perspective view of the unstacking and stacking area and the truss robot of the present invention;

figure 32 is a top view of the thread end gripper of the present invention gripping the thread end in a second position;

figure 33 is a top view of the thread end grasper of the present invention moving its held thread end to a first position;

figure 34 is a schematic view of the rotation of the automatic clamping jaw of the present invention (the direction of the dotted arrow in the figure is the direction of its rotation);

FIG. 35 is a schematic view showing the continuous rotation of the automatic clamping jaw after contacting the thread and the synchronous rotation of the fulling wheel (in the figure, the arrow direction of the dotted line is the rotation direction of the automatic clamping jaw, and the arrow direction of the solid line is the rotation direction of the fulling wheel);

fig. 36 is a schematic view showing a stop state after the automatic gripper of the present invention rotates to form a wire loop.

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.

Example 1

The thread end knotting device disclosed in the present invention is explained below with reference to the accompanying drawings, as shown in fig. 1, it includes the driving shaft 100 and the driven shaft 200 which are coaxially and intermittently disposed on the placing table 1000, their axes are parallel to the table top plate of the placing table, and their distances from the table top of the placing table 1000 are designed according to the size of the spool to be processed, so as to satisfy that the spool can be suspended and fixed between them.

As shown in fig. 1, the driving shaft 100 and/or the driven shaft 200 are driven by an axial driving mechanism 300 to move axially, the driving shaft 100 is connected with a first driving mechanism 400 for driving the driving shaft to rotate, an automatic clamping jaw 600 which is driven by a second driving mechanism 500 to revolve around the driven shaft 200 is arranged on the periphery of the driven shaft 200, a chuck 610 of the automatic clamping jaw 600 faces the driving shaft 100 and extends to the front of the driven shaft 200 for a certain distance, and the distance is determined according to the position of the trailing edge of the last certain number of turns of the filament on the full reel of the winding machine.

As shown in fig. 1 and 2, a thread end grasping mechanism 700 is disposed beside a gap between the driving shaft 100 and the driven shaft 200, and the thread end grasping mechanism 700 is used for grasping a thread end of a full thread reel and is matched with the driving shaft, the driven shaft and the automatic clamping jaw 600 to tie a knot. The thread end gripping mechanism 700 comprises a thread end grasper 710, the thread end grasper 710 being connected to a translation drive mechanism 720 driving it to reciprocate in a direction parallel to the axis of the main drive shaft 100.

Specifically, as shown in fig. 3, the driving shaft 100 and the driven shaft 200 are used for clamping and fixing the full-line wheel a10 and driving the full-line wheel a10 to rotate by applying opposite pressures from two ends of the full-line wheel a10, and the shapes of the driving shaft 100 and the driven shaft 200 can be adaptively designed according to the shape of the full-line wheel a 10.

In a preferred embodiment, as shown in fig. 1, in order to avoid the structure of the driven shaft 200 being too complex, only the driving shaft 100 is allowed to move along the axis thereof, even if the driving shaft 100 is connected to an axial driving mechanism 300, so that the driving shaft 100 and the driven shaft 200 are fixed by the axial movement of at least one of them.

As shown in fig. 1, the axial driving mechanism 300 includes a driving source 310 capable of generating a linear movement, the driving source 310 may be an air cylinder, a hydraulic cylinder or an electric linear movement device, and is fixed on the placing table 1000, the air cylinder is connected to a vertical plate 320, and the driving shaft 100 is connected to the vertical plate 320 through a first driving mechanism 400. As shown in fig. 2, when the cylinder shaft of the air cylinder is retracted, the driving shaft 100 maintains a maximum distance G1 from the driven shaft 200, which is greater than the width of the full reel a10, and the driving shaft 100 is in the open position, and the full reel a10 can be placed therebetween. When the cylinder shaft of the cylinder extends out, the distance between the driving shaft 100 and the driven shaft 200 is reduced to be smaller than the width of the reel, so that the driving shaft 100 and the driven shaft are matched to clamp and fix the full-width reel a10 between the driving shaft 100 and the driven shaft, and the driving shaft 100 is at a clamping position.

As shown in fig. 4, the first driving mechanism 400 includes a motor 410, the motor 410 is connected to a speed reducer 420, the speed reducer 420 is fixed to the outer side of the vertical plate 320, a rotating shaft 421 of the speed reducer 420 passes through a through hole 321 of the vertical plate 320, a bearing 430 is disposed in the through hole 321, a transmission shaft 440 located on the inner side of the vertical plate is coaxially connected to the bearing 430, the transmission shaft 440 is coaxially connected to the rotating shaft 421 of the speed reducer 420, and the front end of the transmission shaft is coaxially disposed on the driving shaft 100.

As shown in fig. 4 and 5, the revolution of the automatic clamping jaw 600 around the driven shaft 200 can be realized by various possible structures, in this embodiment, the second driving mechanism 500 includes a rotating body 510, the rotating body 510 is preferably a rotating disc, but may also be a cylinder, and the automatic clamping jaw 600 is eccentrically arranged on the inner side 511 of the rotating disc. More specifically, the automatic clamping jaw 600 is fixed on the turntable through an adjusting mounting frame 520 and located on the outer side of the turntable, the adjusting mounting frame 520 comprises an L-shaped straight rod 521 and a T-shaped mounting piece 522, one end of the straight rod 521 is fixed on the inner side of the turntable, the other end of the straight rod 521 is rotatably provided with the T-shaped mounting piece 522 relative to the straight rod 521, the T-shaped mounting piece faces the driving shaft 100, and a cylinder 620 of the automatic clamping jaw 600 is fixed on the T-shaped mounting piece 522 so that the T-shaped mounting piece rotates relative to the straight rod 521 to adjust the mounting angle of the automatic clamping jaw 600.

As shown in fig. 4 and 5, the inner side 511 of the turntable is further coaxially provided with a supporting shaft 530, and the driven shaft 200 is rotatably and coaxially connected to the supporting shaft 530 through a bearing 540 fitted around the supporting shaft 530.

As shown in fig. 4 and 5, a large gear 550 is coaxially connected to an outer side (right side) of the turntable, the large gear is rotatably disposed in a gear box 560, the gear box 560 is fixed to the placing table 1000, a small gear (not shown) engaged with the large gear 550 is further disposed in the gear box 560, the small gear is located below the large gear, and the small gear is coaxially connected to a motor shaft of a motor 570 outside the gear box 560.

In addition to the requirement that the two chucks 610 of the automatic clamping jaw 600 can effectively prevent the filament wound thereon from falling off during the rotation process, the requirement that the chucks are convenient to withdraw from the thread loop during the subsequent knotting is also met, so in a preferred embodiment, as shown in fig. 6 and 7, the chucks 610 include a clamping portion 611, the clamping portion 611 and a blocking portion 612 are in obtuse-angle engagement, the outer surfaces of the clamping portion 611 and the blocking portion 612 form a V-shaped limiting groove 614, the blocking portion 612 and the mounting portion 613 are in obtuse-angle engagement, and the extending direction of the mounting portion 613 is parallel or nearly parallel to the extending direction of the clamping portion 611.

As shown in fig. 6 and 7, when the two chucks 610 are closed, the clamping portions 611 of the two chucks combine into a frustum, preferably a truncated cone, with a small outer end and a large inner end. In the open state of the two chucks 610, the distance L2 between the front ends of the clamping surfaces 615 of the clamping parts 611 of the two chucks is greater than the distance L3 between the rear ends of the two chucks, i.e., the clamping surfaces of the two chucks are trapezoidal with the front ends being larger and the rear ends being smaller, and the opposite clamping surfaces of the two clamping parts 611 are rough surfaces with concave-convex structures, so that the clamping stability is ensured.

As shown in fig. 6, the mounting portion 613 is fixed on an long rod 631 of an L-shaped turning block 630, the inner end of the long rod 631 is pivotally connected to the front end of the cylinder block 621 of the cylinder 620, the outer end of a short rod 632 of the turning block 630 is pivotally connected to the cylinder shaft 622 of the cylinder 620, and the short rods of the two turning blocks 630 are pivotally connected to the cylinder shaft 622 through a connecting shaft 640, so that when the cylinder shaft 622 extends, the two turning blocks 630 are respectively opened by rotating around the connecting shafts with the cylinder block; when the cylinder shaft 622 is retracted, the two turning blocks 630 are closed to close the two collets 610.

Further, when the automatic clamping jaw 600 is located right below the driven shaft 200, it is inclined, that is, the axis of the shaft around which the clamping head 610 rotates is not perpendicular to the horizontal plane, so that when a wire loop is obtained by subsequent winding, the wire loop can be expanded as much as possible to block the wire loop through a subsequent blocking pin, and simultaneously, the distance between the two clamping heads 610 can correspond to the wire held by the wire-end grasper 710.

As shown in fig. 1, the thread end grasper 710 is used to fix the thread end on the full reel a10 fixed between the driving shaft 100 and the driven shaft 200 for winding a thread loop at the time of the subsequent revolution of the automatic gripper 600 as described above, and to avoid interference with the revolution motion of the automatic gripper 600 by the translation of the thread end grasper 710 and to move the length of thread 301 straightened between it and the reel between the two chucks 610 of the automatic gripper 600 so that the automatic gripper 610 grips the thread end.

As shown in fig. 8, the two jaws 711 of the thread end grasper 710 are opened and closed by a clamp cylinder 712, the shape of the jaws 711 can be adaptively designed according to their orientation, in one embodiment, the front ends of the two jaws 711 are directed toward the gap between the driving shaft and the driven shaft, at this time, the clamp cylinder 712 is located outside the jaws 711, the jaws 711 are approximately L-shaped or include a horizontal portion 7111 and a clamping portion 7112 having an angle of 90 ° to 145 ° with the horizontal portion 7111, and the clamping portion 7112 faces upward and is closer to the driving shaft.

In another embodiment, the front ends of the two clamping jaws 711 are arranged upward, that is, the clamping cylinder 712 is located below the clamping jaws 711, and in this case, the shape of the two clamping jaws 711 may be the shape of a common chuck so as to stably clamp the wire.

As shown in fig. 8, the translational driving mechanism 720 for driving the wire-head grasper 710 to reciprocate may be any known device capable of generating linear motion, such as a cylinder, a hydraulic cylinder, etc., the translational driving mechanism 720 is exemplified by a translational cylinder, the clamping cylinder 712 of the wire-head grasper 710 is fixed on a connecting plate disposed at the front end of the cylinder shaft of the translational cylinder, and the position of the clamping cylinder 712 is higher than that of the translational cylinder, which is fixed.

For better cooperation with the automatic gripper 600, the displacement position of the translational actuation mechanism 720 for actuating the thread-head gripper 710 requires a certain design, the first position of the thread-head gripper 710 when the cylinder shaft of the translational cylinder is retracted and the second position of the thread-head gripper 710 when the cylinder shaft of the translational cylinder is extended;

as shown in FIG. 9, in the first position, the clamping face 7113 of the jaws 711 in the closed position is adjacent the midpoint P of the maximum gap G1 between the drive shaft 100 and the driven shaft, i.e.: when the clamping jaw 711 clamps the thread head and moves to the first position, the thread between the reel and the clamping jaw 711 is in a state of inclining from the edge of the reel to the middle position of the reel.

In the second position, as shown in FIG. 10, the clamping face 7113 of the jaws 711 in the closed position is proximate the leading end 210 of the driven shaft 200 (the end toward the drive shaft).

As shown in fig. 8, the mounting height of the thread end grasper 710 may be designed as desired, for example, when manual feeding is used, the thread end grasper 710 may be at any mounting height. When automatic feeding is used, the thread end gripper 710 is preferably slightly higher than the driving shaft 100 and the driven shaft 200, and specifically, the translation cylinder is fixed on a mounting plate 730, the mounting plate 730 is height-adjustably disposed on two guide posts 750 through two locking blocks 740, and the guide posts 750 are fixed on the placing table 1000 through a seat cover 760.

As shown in fig. 8, in order to prevent the wound wire loop from following the movement of the automatic jaw to affect the knotting when the knot is knotted, a blocking mechanism 900 is horizontally provided below the thread-end grasper 710, and the blocking mechanism follows the synchronous movement of the thread-end grasper 710. The blocking mechanism 900 includes a blocking pin 910, the blocking pin 910 is horizontally disposed (parallel to the deck plate of the placing table 1000), the extending direction of the blocking pin 910 is perpendicular to the axis of the driving shaft 100, and the blocking pin 910 is connected to a blocking driving mechanism 920 for driving the driving shaft to move along the axial direction of the driving shaft, the blocking driving mechanism 920 is preferably an air cylinder, and the blocking driving mechanism 920 is fixed on the mounting plate 730, although the blocking mechanism 900 is not necessary and can be omitted.

In this embodiment, the full-thread wheel on the winding machine can be manually moved to a position between the driving shaft and the driven shaft for fixing, and the thread end can be placed on the clamping jaw of the thread end grasper for fixing.

Example 2

In the above embodiment 1, the manual feeding and discharging is adopted, but the weight of the full-line reel is large, and the manual feeding and fixing of the thread end on the thread end grasper is an inefficient and labor-intensive manner, so that the feeding and discharging and the placing of the thread end between the two jaws of the thread end grasper are preferably performed by using an automated apparatus.

As shown in fig. 11 and 12, in this embodiment, the above functions are realized by a feeding and discharging robot b, the feeding and discharging robot b and the placing table 1000 are both disposed on a substrate c, and the feeding and discharging robot b includes a reel gripping device b1 for gripping a reel, a moving mechanism b2 for driving the reel gripping device b1 to move, and a thread end clamping jaw b3 for clamping a thread between the reel and a pay-off rack e1 of a winding machine e before the thread is not broken.

Specifically, as shown in fig. 13, the wire wheel grabbing device b1 includes a carrier b100, the carrier b100 includes a carrier b110, two parallel guide rails b130 are disposed at a position close to an edge of the bottom of the carrier b110 through a pad b120, two clamping plates b200 are slidably disposed on the two guide rails b130, a U-shaped notch b210 is formed in the clamping plate b200, an opening of the U-shaped notch b210 faces outward, when a wire wheel is grabbed from a winding shaft of the winding machine, the rotating shaft of the winding machine can enter the U-shaped notch b210 by avoiding the rotating shaft of the winding machine through the U-shaped notch b210, so that the wire wheel is clasped by two end surfaces of the wire wheel.

As shown in fig. 13, a backing plate b300 and a limiting protrusion b400 are respectively disposed on opposite end surfaces of the two clamping plates b200, an outer contour of the backing plate b300 is approximately semicircular and does not protrude outside the clamping plates b200, and a notch b310 corresponding to the U-shaped notch b210 in position and having a same shape and size is formed on the backing plate b 300. Spacing lug b400 is four cylinders and encloses and establish the periphery of backing plate b300, spacing lug b400 highly be greater than backing plate b 300's thickness, wherein two are located two lower apex angle positions of splint b200, two in addition with the top height of U-shaped breach is equivalent to they can cooperate the rim plate a2 to full line wheel a10 to restrict, avoid the wheel to drop from splint b200 under the action of gravity. Of course, in other embodiments, only the lower two limit protrusions may be provided.

As shown in fig. 13, in order to ensure the strength of the clamping plate b200, reinforcing plates b500 perpendicular to the clamping plate b are respectively formed at both sides of the clamping plate b, and the clamping plate b200 and the reinforcing plate b500 are both connected to a flat plate b600 at the top thereof, and the flat plate b600 is slidably connected with two guide rails b130 through a slider.

As shown in fig. 14, the two clamping plates b200 are driven by an opening and closing driving mechanism b700 to move along the two guide rails for opening and closing, the opening and closing driving mechanism b300 may be of various known structures, such as a double-headed cylinder, or a double-slider screw rod driven by a motor, and in particular, in order to ensure stability during clamping, the opening and closing driving mechanism b700 includes two cylinders b710 fixed at the bottom of the carrier plate b110, the cylinder shafts of the two cylinders b710 are disposed opposite to each other, and are respectively connected to one of the clamping plates b200 through a connecting plate b 720.

As shown in fig. 11 and 12, the moving mechanism b2 is connected to the reel gripping device b1 and drives it to move, which may be any known mechanism capable of realizing multi-axis movement and rotation, and is preferably a 6-axis robot, and the 6-axis robot can drive at least the reel gripping device b1 to a winding machine e to grip a reel and can coaxially place the reel gripped from the winding machine between the driving shaft 100 and the driven shaft 200.

As shown in fig. 14 and fig. 15, in order to meet different operation requirements, the moving mechanism b2 is connected with the reel gripping device b1 in a quick-release manner, preferably, they are connected through quick-change discs b201, b800, and the specific structure of the quick-change disc b201 is known in the art and will not be described herein again.

As shown in fig. 15, in order to accurately control the moving position of the reel gripping device b1 through the moving mechanism b2, an image collector b202 is further arranged on the moving device b2 and is located on the side of the quick-change disk b201, the axis of the image collector b202 is parallel to the axis of the quick-change disk b201, the lens of the image collector b is outward, and meanwhile, a light source b203 is further arranged beside the image collector b 202.

As shown in fig. 13 and 14, in order to effectively place the thread end on the full reel between the two clamping jaws 711 of the thread end grasper 710, when the full reel a10 is grasped at the winding machine e, the thread end needs to be clamped and limited by the thread end clamping jaw b 3. The thread end clamping jaw b3 is arranged at the side of the carrier plate b110 and between the two clamping plates b200, when the two clamping plates b200 are closed, one clamping plate b200 is next to the thread end clamping jaw b 3. The thread end clamping jaw b3 comprises a clamping jaw cylinder b301 and two clamping blocks b302 driven by the clamping jaw cylinder b301 to open and close, and the front ends of the two clamping blocks b302 face to the same direction as the opening of the U-shaped notch, namely face downwards.

The heights of the front ends (lower ends) of the two clamping blocks b302 are adaptively designed according to the heights of the reel and the U-shaped notch and the height of the filament between the full reel and the pay-off rack e1 on the winding machine, in one embodiment, the filament head clamping jaw can be fixed on the carrier plate through a bracket b4, and the front ends of the two clamping blocks b302 are equivalent to the middle position of the U-shaped notch, so that when the two clamping plates b200 hold the full reel a10 on the winding machine e, the two clamping blocks of the filament head clamping jaw b3 can clamp the filament between the full reel a10 and the pay-off rack e 1.

In another mode, the thread end clamping jaw b3 is connected with a lifting cylinder (not shown in the figure) in a driving connection mode, the lifting cylinder is fixed on the carrier plate, in a normal state, a cylinder shaft of the lifting cylinder keeps retracting, the front end of a clamping block of the thread end clamping jaw b3 is higher than the U-shaped notch, when the clamping plate is opposite to a thread wheel on a winding machine or clamps a full thread wheel, the cylinder shaft of the lifting cylinder extends out, at the moment, the clamping block b302 is in an open state, so that the two clamping blocks b302 move downwards to enable the thread between the thread wheel and a pay-off rack to be located in a gap between the two clamping blocks b302, and then the two clamping blocks b302 are closed to clamp the thread.

After the thread head clamping jaw b3 clamps the thread, the thread between the thread head clamping jaw b3 and the pay-off rack e1 is cut off or fused or cut off, so that the feeding and discharging robot b can take down the full thread wheel from the winding machine e and place the full thread wheel between the driving shaft and the driven shaft, and the thread cutting operation can be realized manually or through automatic equipment at the winding machine.

Example 3

In the above embodiment 2, the cutting of the thread between the full thread wheel and the pay-off stand e1 is achieved by manually cutting the thread between the full thread wheel and the pay-off stand e1, or by a clamping jaw and a thread cutting mechanism provided in a winding machine or a pay-off stand.

As shown in fig. 11, in this embodiment, the automatic thread cutting mechanism d is provided to fuse the thread and clamp the thread end on the side of the pay-off rack. Specifically, the automatic wire breaking mechanism d is disposed on the substrate c and between the placing table 1000 and the loading and unloading robot b, and is adjacent to the placing table 1000.

As shown in fig. 16, the automatic wire breaking mechanism d includes a mounting bracket d100, a fuse d200 is disposed on a vertical plate d110 of the mounting bracket d100, the fuse d200 is a device that melts and cuts off a wire or the like located between fuse heads by heating the fuse heads to generate a high temperature, and the specific structure and principle of heating the fuse heads are known technologies and are not described herein again.

As shown in fig. 17, the fuse d200 has fuse heads disposed in a vertical position, the lower fuse heads d210 are two plates d130 mounted adjacent to each other and vertically fixed to the side of the vertical plate d110, the upper fuse head d220 is connected to a lifting cylinder d230 for driving the upper fuse head to lift via a connecting member d240, and the lifting cylinder d230 is fixed to the vertical plate. In addition, the upper fuse head d220 is L-shaped, the lower fuse head d210 is located below the transverse portion d221 of the upper fuse head d220, the vertical portion d222 of the upper fuse head d220 is located inside the lower fuse head d210 and attached to or maintains a micro gap with the inner side wall of the lower fuse head, and the height of the region where the vertical portion d222 is attached to the lower fuse head is greater than the moving stroke of the lifting cylinder d230, so that the movement of the wire to the outside of the gap between the two fuse heads can be effectively avoided.

Of course, the cutting of the thread may be achieved by cutting instead of fusing, and the structure of automatic cutting is known in the art and will not be described herein.

And the height of the fusing surface of the lower fuse head d210 is equal to the top height of the wire of the full reel on the winding machine e, so that the wire can enter the gap between the upper fuse head d220 and the lower fuse head d210 through the translation of the fuse d 200.

As shown in fig. 16 and 18, the horizontal movement of the fuse d200 is achieved by the movement of the mounting bracket d100, the horizontal plate d120 of the mounting bracket d100 is disposed on the sliding portion of a slide cylinder d300, and the slide cylinder d300 drives the fuse d200 to translate in the direction perpendicular to the axial direction of the driving shaft 100 and the driven shaft 200. Slip table cylinder d300 connects its edge through adapter rack d400 and is on a parallel with the sharp module d500 of the extending direction translation of driving shaft 100 and driven shaft 200, and, slip table cylinder d300 is located the outside of sharp module d500, sharp module d 500's structure is known technique, and it is not repeated here, certainly, sharp module d500 also can adopt other equipment that can produce rectilinear movement to replace, for example slip table cylinder, rodless cylinder etc. sharp module d500 can make mounting rack d100 translation arrives the base plate c outside, and its specific removal stroke carries out adaptability according to the interval between the equipment of difference and adjusts. The linear module d500 is disposed on the frame d600, so that the lower fuse head d210 meets the height requirement.

Under a normal state, a gap is kept between the fusing surfaces of the two fusing heads of the fuse d200, the sliding part of the sliding table cylinder d300 retracts, and when the fuse needs to be broken, the linear module d500 drives the sliding table cylinder d300 to move towards the outer side of the substrate c until the gap between the two fusing heads of the fuse d200 is opposite to the wire between the full-wire wheel a10 and the pay-off rack e1 and is positioned at the outer side of the wire. Then, the sliding part of the sliding table cylinder d300 extends out, the fuse d200 moves to the wire direction, the wire enters the gap between the upper fusing head d220 and the lower fusing head d210, then the lifting cylinder d230 drives the upper fusing head to descend to clamp the wire, and the upper fusing head and/or the lower fusing head are heated to complete fusing.

Further, before the disconnection, the wire end between the fusing point and the pay-off rack e1 needs to be clamped firstly, so that after the disconnection, the wire end on one side of the pay-off rack e1 can be limited to a position, and the wire end can be conveniently wound on the idle wire wheel for continuous winding. In a conventional embodiment, a pneumatic jaw may be provided at the winding machine or the pay-off stand, and the wire near the pay-off stand e1 may be held by the pneumatic jaw before the fuse d200 is fused.

In another embodiment, as shown in fig. 17, a pneumatic clamping jaw d700 located outside the fuse d200 may be further disposed on the mounting bracket d100, the pneumatic clamping jaw d700 includes a fixed jaw d710, a movable jaw d720 and a cylinder d730, the fixed jaw d710 is fixed on the horizontal plate d120 of the mounting bracket d100 and corresponds to the fuse head of the fuse d200, a V-shaped clamping groove d711 is formed at the top of the fixed jaw d710, the V-shaped clamping groove d711 extends in a direction parallel to a linear moving direction generated by the linear module d500, and the height of the groove bottom of the V-shaped clamping groove d711 is equal to the height of the fuse surface d211 of the lower fuse block d 210.

As shown in fig. 17, the movable claw d720 is connected to a cylinder shaft of the cylinder d730, the cylinder d730 is fixed to a side portion of a vertical plate d110 of the mounting frame d100 and drives the movable claw d720 to move up and down, and a lower end of the movable claw d720 is a V-shaped tapered portion d721 corresponding to the V-shaped groove d 711. In this way, it is possible to dispense with the provision of pneumatic jaws at each winding machine e or pay-off stand e 1. The pneumatic clamping jaws d700 are two and distributed on two sides of the fuse d200, so that the accuracy of the position of the wire can be guaranteed when the fuse is fused.

As shown in fig. 19, a wire diameter measuring instrument d800 is further disposed on the vertical plate d110 and located between the pneumatic clamping jaw d700 and the fuse d200, and the wire diameter measuring instrument d800 may be various known wire diameter measuring instruments, such as a photoelectric wire diameter measuring instrument, a laser wire diameter measuring instrument, and the like, so that the type of the wire wound by the wire wheel can be measured online, and the measured data is transmitted to a control system, so as to facilitate subsequent sorting and stacking of the wire wheels wound with different types of wires.

The number of the automatic wire breaking mechanisms d can be designed according to the number of the matched winding machines, for example, only one or one row of winding machines is needed when the wire is broken; as shown in fig. 11, when two rows of winding machines break, there are two automatic wire breaking mechanisms d, and their mounting frames d100 are moved to the outside of the two opposite sides of the substrate c for fusing.

Example 4

After knotting is completed, labeling operation needs to be performed at a set position of the outer end face of the end disc of the full-thread wheel, the labeled labels can be bar code labels, two-dimensional code labels or radio frequency labels, and the labels can be identified to obtain various information corresponding to the full-thread wheel, such as a corresponding winding machine, the type of wound threads, and the like.

As shown in fig. 8, 20 and 21, specifically, automatic labeling is performed by a label generating device g, a labeling device h and a visual positioning device i, specifically, the label generating device g is a known device capable of generating a two-dimensional code or a barcode label on line, and is located on the placing table 1000 and below the table panel 1100, and the label generated by the label generating device g includes an adhesive-backed label layer and a release layer covering the adhesive.

As shown in fig. 20, the label falls onto the suction block j100 of the label lifting device j, the suction surface of the suction block j100 faces upward, and the release layer of the label faces the suction block j100 when the label is located on the suction block j 100. The adsorption block j100 is connected with an air cylinder j200, and the air cylinder j200 enables the adsorption block j100 to move from a position far away from the discharge port of the label generating device g to a position close to the discharge port.

As shown in fig. 20, the air cylinder j200 is connected to a lifting air cylinder j300 for driving the air cylinder j to lift, the lifting air cylinder j300 lifts the adsorption block j100 from a position where the top surface thereof is slightly lower than the discharge port of the label generator g to a height close to the lower surface of the suction cup of the labeling device h, and correspondingly, a through hole 1110 for the adsorption block j100 to pass through is formed on the platform 1100.

As shown in fig. 20 and 21, the labeling device h is disposed above the table panel 1100 and outside the driven shaft 200, and includes a suction cup h100, the suction surface of the suction cup h100 is rotatable downward and arc-shaped, so as to match with the shape of the wheel disc of the wheel, the suction cup h100 is connected with a rotary cylinder h300 through a connecting piece h200, the rotary shaft of the rotary cylinder h300 is parallel to the table panel 1100, and the axis of the rotary cylinder is parallel to the axis of the driving shaft 100, the rotary cylinder h300 is fixed on a lifting sliding table cylinder h400, the lifting sliding table cylinder h400 is disposed on a sliding table cylinder h500, the sliding table cylinder h500 drives the lifting sliding table cylinder h400 to move along the axis parallel to the driving shaft, the sliding table cylinder h500 is disposed on a first linear module h600, the sliding table cylinder h500 is driven by the first linear module h600 to move along the axis perpendicular to the driving shaft, the first linear module h600 is slidably disposed on a track h700 and connected to a second linear module h800 for driving the second linear module to move along the track, and the track h700 extends in a direction parallel to the axis of the driving shaft.

As shown in fig. 21, the visual positioning device i includes an image capturing device i100 located outside the outer end of the driving shaft 100 or the driven shaft 200, the image capturing device i100 may be a camera, a CCD, etc., and preferably, a lens of the image capturing device i100 faces the outer end of the driven shaft and is located outside the side of the gear box 560, so that it can capture an image of the outer edge area of the wheel disc of the full reel a10 fixed on the driving shaft and the driven shaft, and the labeling position is determined by the image captured by the image capturing device, because the outer end surface of the wheel disc is in the form of a plurality of grooves rather than a plane, when the labeling position does not correspond to the suction cup, the labeling position can be adjusted by rotating the full reel to a predetermined angle. After the adjustment is completed, the line wheel which is used for accurately finding the labeling position is grabbed and moved to be right opposite to a sucking disc of the labeling device h through the feeding and discharging robot, and the sucking disc moves to attach the label adsorbed by the sucking disc to the labeling position of the line wheel.

The image capturing device i100 may be fixed on the outer side of the gear box 560, or may be movable, as shown in fig. 21, the image capturing device i100 is connected to a cylinder i200 driving the cylinder i100 to move horizontally along the axial direction perpendicular to the driving shaft, when the cylinder shaft of the cylinder i200 retracts, the image capturing device corresponds to the gear box 560, and when the cylinder shaft of the cylinder i200 extends, the lens of the image capturing device i100 moves to the outer side of the edge of the gear box 560, so that the image of the edge area of the end face of the pulley can be captured. Of course, in other embodiments, the image capturing device i100 is not necessary, for example, when the outer end surface of the wheel disc of the pulley is a plane, the label may be attached to any position of the end surface.

In addition, the structure required for labeling is not essential and may be omitted in other embodiments.

Example 5

In the above embodiments, after the full reel on the winding machine is taken down, the upper empty reel needs to be replaced for winding again, and the empty reel can be manually carried and made to be coaxial with the winding shaft of the winding machine.

The more excellent mode is realized through automation equipment, when placing the idle thread wheel on the spool of coiling machine, need to make pinhole a3 on the rim plate of idle thread wheel correspond with the locating pin on the coiling machine, consequently, can't directly carry out automatic laying wheel through the last unloading robot b of foretell, then need be earlier with the idle thread wheel location before the installation.

As shown in fig. 8, 21, and 22, the placing table 1000 is further provided with a pin hole positioning mechanism m, the pin hole positioning mechanism m includes a support base m100 fixed to the placing table 1000, a top plate m110 of the support base m100 is higher than the driving shaft 100, a servo rotary table m200 is provided on the top plate m110, a specific structure of the servo rotary table m200 is a known technology, which is not described herein again, an axis of a rotating shaft thereof is perpendicular to the top plate m110, and the top plate m110 is further provided with a sensor m300 located outside the servo rotary table m200 and used for detecting a pin hole a3 on a wheel disc of the pulley.

During operation, go up unloading robot b and snatch an idle line wheel b20 and coaxial placing on servo revolving stage M200, servo revolving stage M200 starts to drive idle line wheel rotation, works as pinhole on the rim plate of idle line wheel with sensor M300 is just right to the time, servo revolving stage stall realizes the location of pinhole, after the location, can through go up unloading robot b with the idle line wheel removal after the location with the spool of coiling machine e is coaxial and fixed with the idle line wheel through the spool.

Before an idle wire wheel grabbed by the feeding and discharging robot b is coaxially installed to a winding shaft of the winding machine e, the position of a positioning pin at the winding shaft can be determined through the image collector b220 on the feeding and discharging robot, the positioning pin is adjusted to a position corresponding to a pin hole in the idle wire wheel on the feeding and discharging robot through the rotation of the winding shaft, the specific visual positioning and the position adjustment are known technologies, and the details are not repeated here.

Certainly, the pin hole positioning mechanism m is not necessary, and if no positioning pin exists on the winding machine, a corresponding positioning step can be omitted, for example, the winding machine adopts an inflatable shaft to fix the spool.

Example 6

After the wire reel is installed on the winding machine, the wire head on one side of the pay-off rack needs to be wound on a reel shaft of the wire reel so as to continue winding, a threading hole is usually formed in the reel shaft, the wire head needs to be manually penetrated into the threading hole, and then the winding machine and the pay-off machine are started to wind.

In a more preferred mode, as shown in fig. 22, an automatic threading mechanism n is adopted to punch and pre-wind the thread end, as shown in fig. 23 and fig. 24, the automatic threading mechanism includes a bearing member n100, the bearing member n100 is a plate or a block with enough thickness, and the bearing member n100 is provided with a first threading clamping jaw n200 and a second threading clamping jaw n 300.

As shown in fig. 23, the first threading clamping jaw n200 includes a first cylinder n210 and two first clamping heads n220 driven by the first cylinder n210 to open and close, the first threading clamping jaw n200 is located outside the bearing member n100, the first cylinder n210 is fixed at the front end of a cylinder shaft of a pushing cylinder n400, the side portion of the cylinder body of the pushing cylinder n400 is connected with two guide shafts n500 perpendicular to the side surface thereof through a connecting block, the extending direction of the guide shafts n500 is perpendicular to the pushing direction of the pushing cylinder n400 and the opening and closing direction of the first cylinder n210, the guide shafts n500 vertically penetrate through a moving plate n600 and can move relative to a shaft sleeve on the moving plate n600, and the upper ends of the two guide shafts n500 are connected with a limiting plate n700 located outside the moving plate n 600.

As shown in fig. 23 and 24, each guide shaft n500 is sleeved with a spring n800, one end of the spring n800 abuts against the pushing cylinder or the connecting block, and the other end of the spring n800 abuts against the moving plate n600 or the shaft sleeve. The moving plate n600 is connected with a shifting cylinder n900 for driving the moving plate to move along the extending direction parallel to the guide shaft n500, the shifting cylinder n900 is fixed on one side of the bearing member n100, and the pushing cylinder n400 is positioned on the other side of the bearing member n 100.

As shown in fig. 23, the second threading jaw n300 includes a second cylinder n310 fixed on the side of the carrier n100 and a second chuck n320 driven by the cylinder to open and close, the moving direction of the second chuck n320 when opening and closing is parallel to the moving direction of the first chuck n320 when opening and closing, and the length direction extending line Ln3 of the second threading jaw n300 and the length direction extending line Ln2 of the first threading jaw n200 form an acute angle, preferably between 30 ° and 60 °. When the cylinder axis of the pushing cylinder n400 extends and the cylinder axis of the shifting cylinder n700 contracts, the front ends of the first chuck n220 and the second chuck n320 are substantially on the same plane, and the plane is perpendicular to the cylinder axis of the pushing cylinder n 400; and, the two first collets n220 are opened with the gap therebetween facing the gap therebetween and the two second collets n230 are opened with the gap therebetween. In addition, a certain distance is kept between the first clamping head n220 and the second clamping head n320, the specific distance length is designed according to needs, and the distance is preferably equivalent to the length of the first threading air cylinder. So that the first chuck and the second chuck can simultaneously grab different positions of the same straightening wire.

The bearing member n100 is disposed on a device for driving the bearing member n to move, and in an embodiment, the bearing member n100 can be moved by a dedicated 6-axis robot matched with the bearing member n, and can be installed at a free end of the 6-axis robot by means of screwing or the like.

In a more preferred embodiment, since there is one 6-axis robot in the loading and unloading robot b, the automatic threading mechanism n and the loading and unloading robot b can share one 6-axis robot, and at this time, as shown in fig. 23 and 25, a quick-change disk n110 which is matched with a quick-change disk on the 6-axis robot is arranged on the carrier n100, and the axis of the quick-change disk n110 is parallel to the cylinder axis of the pushing cylinder n400, so that quick change of different tools can be performed quickly, and a set of moving mechanisms is saved. At this time, a frame 1300 for placing the reel grabber b2 of the loading and unloading robot b is further provided at a side of the placing table 1000.

As shown in fig. 22, 23, and 25, for convenience of replacement, the quick-change tray n110 on the carrier n100 is disposed upward on the frame 1300 at the side of the placing table 1000, the frame 1300 includes two parallel position-limiting plates 1310 and supports 1320, each position-limiting plate 1310 is formed with a guiding position-limiting groove 1311, the guiding groove 1311 includes a wedge-shaped guiding portion and a large semicircular position-limiting portion at the end, the guiding position-limiting grooves 1311 on the two position-limiting plates 1310 are opened upward and downward, the carrier n100 is disposed with a pin n120 inserted into the two guiding grooves 1311, and when the carrier is limited on the frame, the pin 120 is parallel to the table panel 1100. The support 1320 includes an L-shaped support 1321 and a buffer 1322, and the axis of the buffer 1322 is perpendicular or nearly perpendicular to the length-wise extending line Ln3 of the second threading jaw n 300.

As shown in fig. 23, when the carrier n100 is defined on the frame 1300, the cylinder axis of the pushing cylinder n400 is vertically extended (perpendicular to the table board), the lengthwise extension line Ln2 of the first threading jaw n200 is also vertical, and the front end of the first chuck n220 is disposed downward. The second threading jaw n300 is disposed to be inclined as a whole and is located on the left or right side of the first threading jaw n200, and the second chuck n320 is located below the second cylinder n310 and close to the first threading jaw n 200.

During threading, after the 6-axis robot is connected to the quick-change disk n110 on the bearing member n100, as shown in fig. 23 and 24, the first threading clamping jaw n200 and the second threading clamping jaw n300 are driven to be in a left-right position relationship, so that they can simultaneously clamp a horizontal or nearly horizontal thread between the pneumatic clamping jaw d700 positioned at the outer side of the automatic thread cutting mechanism d and the pay-off rack. After the first threading jaw n200 and the second threading jaw n300 grasp the thread, the 6-axis robot moves the first threading jaw n200 and the second threading jaw n300 to the up-down position relationship, specifically, the first threading jaw n200 is in the down state, and the second threading jaw n300 is in the up-down state and in the right-down inclined state, as shown in fig. 26. After aligning the threading hole on the thread shaft, the 6-axis robot drives the bearing piece n100 to move downwards so that the thread head at the front end of the first threading clamping jaw n200 is inserted into the threading hole firstly. Then, the first threading jaw n200 is opened to release the grip of the thread end, and the cylinder shaft of the pushing cylinder n400 is retracted, the cylinder shaft of the shifting cylinder n900 is extended, and then the 6-axis robot drives the carrier n100 to rotate, so that the second threading jaw n300 is rotated from the inclined state to the vertical or nearly vertical state, as shown in fig. 27, and the second threading jaw n300 re-inserts the thread piece at the front end thereof into the threading hole to complete threading.

During threading, the threading hole and the thread end are positioned by the image collector b210 on the 6-axis robot.

After threading is completed, the winding machine e can be started to wind, but because the thread end is not fixed in the threading hole, the thread end can fall out of the threading hole due to the tensile force of the thread during winding, so that the thread cannot be wound on a thread shaft of the idle thread wheel. As shown in fig. 24, the automatic threading mechanism n further includes a pressing roller n1 and a pressing cylinder n 2. The pressing cylinder n2 is located outside the second threading jaw n300, the extending direction of the cylinder shaft n21 is parallel or approximately parallel to the length direction extending line Ln3 of the second threading jaw n300, the direction of the cylinder shaft n21 is the same as the direction of the second chuck n320, the front end of the cylinder shaft n21 is provided with a pivoting block n3, the pivoting block n3 is pivoted with a rotating mounting block n4, a rotating shaft n5 of the pivoting block n3 pivoted with the rotating mounting block n4 is vertical to the cylinder shaft n21 of the pressing cylinder n2 and the upper and lower surfaces n23 and n24 of the cylinder block, and the press roller n1 is arranged on the rotating mounting block n4 in a rotatable manner. When the rotary mounting block n4 is in a positive state, the axis of the press roller n1 is parallel to the moving direction of the two second clamping heads n320 when opening and closing, and the pressing cylinder n2 can drive the press roller n1 to move to the front of the clamping head of the second threading clamping jaw n300, so that after the second threading clamping jaw n300 finishes threading, the cylinder shaft of the pressing cylinder 102 extends out, the press roller n1 enables the press roller n1 to press the thread between the second threading clamping jaw n300 and the pay-off rack on the thread shaft of the idle thread wheel, at the moment, the winding machine is started again to wind, the press roller n1 can rotate according to the thread, and meanwhile, the tension of the thread is overcome, and the thread head which penetrates into the threading hole is prevented from being pulled out of the threading hole.

Example 7

In the above embodiments 1 to 6, the position of the base plate c may be fixed, so that it may perform actions such as thread fusing, full reel discharging, thread end knotting of a full reel, labeling, winding up, threading, and the like for one winding machine provided around it. Therefore, in a more preferable mode, the thread end knotting device, the automatic feeding and discharging robot, the automatic thread breakage mechanism and the labeling mechanism can work in cooperation with a plurality of winding machines, namely, the thread end knotting device, the automatic feeding and discharging robot, the automatic thread breakage mechanism and the labeling mechanism can preferably move along a certain track, namely, the substrate c needs to move along a preset line, so that the operations of thread fusing, full-line reel feeding, labeling, thread end knotting and the like can be performed on the plurality of winding machines.

As shown in fig. 28 and 29, the base plate c is a member for supporting other parts of a moving cart k, the moving cart g can move along a preset track, and the moving cart k can be various known automatic moving devices, such as an AGV cart with magnetic navigation or laser navigation or an RGV cart or a tram moving along a guide rail. In a preferred mode, in order to ensure the position accuracy, the moving trolley k is preferably a trolley structure capable of moving along a track, and the specific structure thereof is known in the art and will not be described herein. In addition, the moving trolley k moves along a track k100 extending in a straight line, the extending direction of the track k100 is perpendicular to the straight line moving direction generated by the straight line module d500, and at least one side of the track k100 is provided with a row of winding machines e and a row of paying-off machines f, so that the structure on the moving trolley k can be used for performing operations such as fusing silk threads, full-length reel blanking, full-length reel thread end knotting and labeling and the like on a plurality of winding machines.

Example 8

In the above embodiments, the empty reel a20 may be manually transported to the vicinity of each winding machine e for feeding, or a certain number of empty reels a20 may be pre-stored on the substrate c for feeding.

As shown in fig. 28 and 29, in this embodiment, the supply of the idler wheel a20 is performed by an idler conveyor line o, which is preferably a plate chain machine o1 or a belt conveyor and extends linearly, and the extending direction of the idler conveyor line o is parallel to the moving direction of the moving trolley k. The winding machine is arranged on the side of the empty wheel conveying line o.

The axis of the idler a20 is horizontal during transport (i.e., the idler lies flat on the idler transport line), which runs the risk of rolling during transport. Therefore, the idler wheel conveying line o further comprises two parallel limiting rods o2, and the two limiting rods o2 form an isosceles trapezoid groove with a large opening at the upper end and a small opening at the lower end, so that rolling of the idler wheel a20 during conveying can be effectively prevented.

As shown in fig. 29 and fig. 30, in a more preferred embodiment, the idler conveying line o is formed by sequentially connecting a plurality of plate chain machines o10, each plate chain machine o10 is provided with the limiting rod o2, the output end of each plate chain machine o10 is further provided with a stopper o20, the stopper comprises a stopper plate 021 and a stopping cylinder o22 for driving the stopper plate 021 to ascend and descend, and the stopper plate 021 extends above the conveying surface of the chain plate machine o1 when in a high position, so as to stop the movement of the idler; when the blocking plate is at a low position, the top of the blocking plate is positioned below the conveying surface, and the blocking plate does not block the movement of the blank wire wheel.

As shown in fig. 29, an idle wheel buffer groove o3 matched with the position of each winding machine is further arranged at the side of the idle wheel conveying line o for storing at least one idle wheel a 20.

When the idle wheel is placed on the idle wheel conveying line, manual operation can be performed, and robot can also be performed.

Example 9

After the thread ends of the full thread wheels are knotted and labeled, the feeding and discharging robot can move the treated thread wheels to an area outside the placing table, and the feeding is carried out manually or by automatic equipment. Preferably, as shown in fig. 28 and 29, when the winding machine e is provided with a plurality of rows, the full-wheel conveyor a10 for knotting and labeling the thread ends can be conveyed to the unstacking and stacking area q for stacking through the full-wheel return line p.

As shown in fig. 28 and 29, the specific structure of the full-wheel return line p may be the same as that of the empty-wheel conveying line o in the above embodiment, the full-wheel return line p is arranged on two sides of the track k100 in parallel, the full-wheel return line p is located between the track k100 and one row of winding machines e, and the empty-wheel conveying line o is located between the track and the other row of winding machines, so that full-wheel knotting, fusing, labeling, empty-wheel installation of the two rows of winding machines, and full-wheel movement to the full-wheel return line p for return flow can be realized through the structure on one moving trolley k.

Example 10

The full line wheel of the empty line wheel and the stack of supply in the stack breaking district, the line wheel is vertically placed, its axis is perpendicular with the horizontal plane promptly, but when carrying on full wheel return line p and empty wheel transfer chain o, the line wheel need lie flat the setting, the axis of line wheel is parallel with the horizontal plane promptly, can place the empty wheel transfer chain after the vertical empty line wheel upset of stack breaking district and the full line wheel upset that full wheel return line p carried stack breaking district q in some modes is vertical state so that carry out the stack through the manual work.

In a more preferred mode, the switching between the horizontal lying state and the vertical state of the wire wheel is realized through automatic equipment, and correspondingly, a turnover machine (not shown in the figure) is arranged at one end where the full-wheel return line p and the empty-wheel conveying line o are connected with the unstacking and stacking area q. The line wheel upset machine can include a spacing box that is used for spacing line wheel and drive the spacing box of line wheel rotates 90 rotary driving mechanism, under the first state, the opening of spacing box up, under another state, the opening of spacing box is towards the side, the opening orientation rather than linking up promptly empty wheel transfer chain or full round of flow line, and the degree of depth of spacing box is less than the width (the interval before both ends) of line wheel to the manipulator can snatch the end disc of line wheel effectively and the line wheel of lying can carry through empty wheel transfer chain effectively. Of course, the wire wheel turnover machine can also be of other known structures, and the details are not described herein. And it can also adopt 6 axle robots etc. to realize the switching of line wheel state.

And in the unstacking and stacking area q, the automatic equipment is used for placing the overlapped empty line wheel a20 on the overturning machine at the end part of the empty line o and moving the full line wheel on the full-wheel return line p overturning machine to the unstacking and stacking area for stacking.

Specifically, as shown in fig. 31, the depalletize stacking area q includes a plurality of pallet parking positions q1 for placing pallets s, the pallet parking positions q1 are separated by a divider q2 so as to define the position and space size of each pallet parking position q1, and in use, the pallets stacked with empty reels are moved to each pallet parking position q1 for parking by a human or an automated device so as to perform subsequent empty reel supply and full reel stacking.

As shown in fig. 31, a truss robot r is arranged at the unstacking and stacking area q, the truss robot r comprises a truss r1, a manipulator r2 is movably arranged on the truss r1, and the manipulator r2 is driven by a moving assembly r3 to translate and lift relative to the truss r 1.

The truss r1 comprises an upright post r110, a beam r120 connected with the upright post r110 and a main rail r130 arranged at the upright post with a gap, wherein the extension direction of the main rail r130 is perpendicular to the moving direction of the mobile trolley k, and the main rail r130 covers all the pallet parking positions. And, the tipper of full wheel return line and empty wheel transfer line tip is located between two main tracks r 130.

The specific structure of the manipulator r2 can be the structure disclosed in application numbers 201811256855.5 and 201910850997.2, and of course, other feasible structures can be adopted.

The motion assembly r3 includes a mechanism for driving the robot r2 to X, Y, Z three-axis motion, which may also be implemented using a motion mechanism such as that disclosed in application No. 201811256855.5. Of course, other structures capable of achieving the three-axis movement may be used, for example, a three-axis movement mechanism including a plurality of linear modules. The moving mechanism can drive the manipulator r2 to move to two tilters for wire wheel grabbing. The moving assembly r3 controls the moving position of the manipulator r2 through visual positioning, and an image acquisition device (not shown) for the visual positioning can be arranged on the moving assembly r3, and of course can be arranged on the manipulator r2 with the lens facing.

As shown in fig. 31, when the empty reel and the full reel are supplied to be stacked, the reels at different layers on the pallet s need to be separated by the separator t, so that the separator t needs to be operated when the reels are to be unpicked and stacked. Specifically, in the pallet parking position q1, reserve a pallet parking position and place and be used for placing empty pallet, empty pallet is used for stacking the baffle that takes off when breaking a jam from other pallets to realize the removal of baffle through automatic adsorption equipment r 4.

As shown in fig. 31, the suction assembly r4 includes a set of suction heads r410, the suction heads r410 are vacuum suction heads and are distributed on a frame r420 in a matrix, a mechanism for driving the frame r420 to move is connected to a top middle position of the frame r420, the frame r420 may have a set of independent moving mechanisms, and in a more preferable manner, the frame r420 and the robot r2 share a moving assembly r3, so that the moving assembly r3 is also fast disassembled with the frame r420 through a fast-change disc r430 and with the robot r2 through a fast-change disc. Meanwhile, a manipulator placing table r5 and a suction component placing table r6 for placing the manipulator r2 and the suction component r4 are further provided below the truss r 1.

Example 11

The present embodiment discloses an automatic winding system, as shown in fig. 29, which includes structures of conventional winding systems such as a winding machine e/a paying out machine f, and at least one structure of the foregoing embodiments, for example, when the paying out machine and the winding machine are only one set, only a partial structure of a thread end knotting device may be required, or structures such as a thread end knotting device, a loading and unloading robot, and an automatic thread breaking mechanism may be required to be configured. If the paying-off machine and the winding machine are provided with a plurality of sets, the track and the movable trolley are needed besides the thread end knotting device, the feeding and discharging robot and the automatic thread breaking mechanism. Of course, the automatic supply of the backflow concentration of the empty wheel and the full wheel can be realized only by the full wheel backflow line, the empty wheel conveying line and the loading and unloading robot; and automatic feeding and discharging can be realized only by arranging structures such as an automatic wire breaking mechanism, a movable trolley and the like. The preferred embodiment has all the structures, so that the automation of the whole processes of stacking, automatic feeding and discharging, knotting, labeling and the like can be realized.

When the whole system works, the automatic control is realized through a control system part, and the corresponding control technology is the prior art and is not limited here.

Example 12

When the whole winding system works, the process is as follows:

s01, manually or by an automated device, the plurality of pallets with empty reel a20 are parked to the pallet parking positions, and an empty pallet is placed at one of the outermost or inner pallet parking positions q1 to store the partition.

S02, the moving assembly r3 is connected with the manipulator r2 firstly and drives the manipulator r2 to move to a pallet to grab the empty reel a20 stacked on the pallet and place the empty reel a20 on the end of the empty reel conveying line o, the empty reel conveying line o conveys the empty reel to each winding machine e after turning over for 90 degrees, when one layer of empty reel a20 on the pallet is taken out, the moving assembly r3 moves the manipulator r2 to the manipulator placing table r5 and is separated from the manipulator, then the manipulator is connected with the adsorption assembly r4, and the pallet is moved to adsorb the partition board t above the manipulator t and is moved to the empty pallet to place the partition board t. After the partition plate is taken away, the moving module r3 changes the adsorption module r4 into a manipulator r3, and places the layer of empty wheels a20 at the overturning machine connected with the empty wheel conveying line o for empty wheel supply.

And S03, in the initial state, manually installing an idle wire wheel on each winding machine and winding the wire end of the wire on one side of the pay-off rack on the idle wire wheel for winding. It is of course also possible to mount the idler wheel on each of said winding machines and thread the thread end into the threading hole of the idler wheel by means of the above-mentioned structure on the travelling carriage k.

When the empty wheel on one winding machine is fully wound and the full wheel a10 needs to be discharged and replaced by the empty wheel a20, the following processes are carried out:

and S10, moving the moving trolley k to the side of the corresponding winding machine.

And S20, the moving mechanism b2 is connected with the wire wheel grabbing device b1 and drives the wire wheel grabbing device b1 to hold a full wire wheel a10 on the winding machine, meanwhile, the wire head clamping jaw b3 clamps the wire between the full wire wheel a10 and the pay-off rack e1, and the moving mechanism b2 drives the wire wheel grabbing device and the wire head clamping jaw to translate the held full wire wheel and the clamped wire to the outer side of the winding machine e for a certain distance. Of course, if there is a sufficient distance between the full reel and the pay-off rack, the reel gripping device b1 may not move the full reel after gripping the full reel, but directly extend the fuse and the pneumatic clamping jaw according to the following steps to perform the wire breaking operation.

And S30, the linear module d500 of the automatic wire-breaking mechanism d drives the mounting frame d100 to extend out of the moving trolley k to reach the gap between the upper fusing head and the lower fusing head of the fuse d200 on the moving trolley k, and the gap corresponds to the position of the wire between the wire head clamping jaw b3 and the pay-off frame e1 and is positioned outside the wire section. Then the sliding table cylinder d300 drives the mounting rack d100 to move towards the silk thread direction, the silk thread between the thread end clamping jaw b3 and the pay-off rack e1 is located in a gap between the upper fusing head and the lower fusing head, then the upper fusing head and the lower fusing head are closed to complete fusing, before fusing, the fusing point and the silk thread of the pay-off rack support are clamped by the pneumatic clamping jaw d700 on the outer side, meanwhile, the diameter of the wound silk thread is measured by the silk diameter detector, and the diameter of the wound silk thread is transmitted to the control system.

S40, after the thread end is fused, the feeding and discharging robot can move the full thread wheel to a knotting position to knot the thread end, and the thread end knotting process comprises the following steps:

s1, initial state, the cylinder shaft of the power source of the axial driving mechanism is retracted, the cylinder shaft of the translation cylinder is retracted, the thread-end grasper 710 is located at the second position, and the driving shaft 100 is kept at the maximum distance from the driven shaft 200.

S2, the moving mechanism b2 drives the reel gripping device b1 to place the full reel gripped by it coaxially between the driving shaft 100 and the driven shaft 200 and at the same time, the thread end gripper b3 places the thread end a12 of the thread a11 on the full reel (the thread between the full reel and the thread end gripper) between the two grippers 711 of the thread end gripper 710 as shown in fig. 32.

And S3, the axial driving structure 300 drives the driving shaft 100 to move towards the driven shaft 200, the driving shaft and the driven shaft are matched to fix the full-length reel, and the clamping jaws of the thread end grasper 700 are closed to clamp the thread end between the two clamping jaws. Subsequently, the reel gripping device b1 releases the full reel and the thread end clamping jaw b3 releases the thread end, and then the reel gripping device b1 can grip the empty reel to position the pin hole.

S4, as shown in fig. 33, the translational driving mechanism 720 drives the thread end grasper 710 to move and reset in the direction of the driving shaft 100 (first position), and the thread a13 between the translational driving mechanism and the reel inclines from the edge to the middle, at which time the thread end grasper 710 does not interfere with the revolving motion of the automatic gripper.

S5, as shown in fig. 34 and 35, the motor 410 drives the automatic chuck 600 with opened chuck to revolve around the driven shaft 200 and contact the wire between the reel and the wire end gripper from above, and then continue to rotate until the gap between the two chucks 610 of the automatic chuck corresponds to the position of the wire a13 between the wire a11 on the reel and the wire end gripper 710, at which time the wire wound on the two chucks 610 forms a wire loop a14, as shown in fig. 36. As shown in fig. 35, during the period from the rotation of the automatic gripper to the contact with the thread to the stop of the rotation, the driving shaft and the driven shaft drive the full-length wheel to synchronously rotate, and the rotation direction of the full-length wheel is the same as the revolution direction of the automatic gripper.

S6, the translational driving mechanism 720 drives the wire-end grasper 710 to move toward the driven shaft 200 so that the wire between the wire-end grasper and the reel moves to between the two chucks 610 of the automatic clamping jaw 600.

S7, the two jaws 610 are closed to clamp the wire a13 therebetween, and then the two jaws of the thread end grasper 710 are opened to release the clamped thread end.

S8, the full reel a10 rotates reversely and/or the automatic clamping jaw 600 revolves downwards, so that the clamping head of the automatic clamping jaw 600 moves out of the wire loop a14 to complete knotting.

And S9, the chuck of the automatic clamping jaw 600 is loosened, and the moving mechanism b2 drives the reel gripping device b1 to place the reel at the full-wheel return line p.

Of course, in a more preferred embodiment, after the step S6 and before the step S8, the blocking pin is extended, so that the wire loop can be prevented from following the action of the automatic clamping jaw 600 by the blocking pin, and the reliability of knotting is ensured, although the process is not necessary and can be omitted.

And before the knotted full-length reel is placed on the full-length-reel return line p, labeling is carried out on the full-length reel by a labeling device h, after the end of the line is knotted, the position of a groove on the end face of the full-length reel is determined by an image collected by an image collecting device i100, and when the position is not suitable for labeling, the driving wheel 100 rotates to drive the full-length reel a10 to rotate to a suitable labeling position and then stops. Then, the moving mechanism b2 drives the reel gripping device b1 to grip and move the reel adjusted in position to the labeling position. Label that this full line wheel of label generation device g on-line generation corresponds and export adsorb piece j100, adsorb piece j100 will the label adsorbs, jacking cylinder j300 drive adsorb piece j100 lifting to deck plate 1100 top, labeling device h's lift slip table cylinder h400, translation slip table cylinder h500 and first straight line module h600, the cooperation of second straight line module h800 drive sucking disc h100 move to with the label on adsorbing piece j100 just adsorbs from the top of label to the separation of glue film and release layer is realized under the effect of upper and lower adsorption to the label of taking the gum is adsorbed on sucking disc h100, revolving cylinder h300 drive the sucking disc is rotatory 90, makes the label of adsorbing on it towards the terminal surface of full line wheel, then lift cylinder h400, translation slip table cylinder h500 and first straight line module h600, And the second linear module h800 is matched with the label to be attached to the end face of the full-line wheel, and after the label is attached, the full-line wheel is placed on the full-line return line p for backflow conveying.

And S50, after the full-line wheel is fed from the winding machine, another empty line wheel needs to be installed on the winding machine, namely the moving mechanism b2 drives the line wheel gripping device b1 to the empty wheel cache groove o3 or the empty wheel conveying line o corresponding to the winding machine to grip an empty line wheel, the empty line wheel is coaxially placed on the servo rotating platform m200, the servo rotating platform m200 drives the empty line wheel to rotate, the pin holes in the wheel disc of the line wheel are determined through the sensor m300, and when the pin holes are opposite to the sensor, the servo rotating platform m200 stops rotating. During the action of pin hole finding, the wire wheel gripping device b1 can move the full wire wheel which is knotted to the labeling position for labeling and blanking, after blanking is completed, the moving mechanism b2 drives the wire wheel gripping device b1 to grip the empty wire wheel with the aligned pin hole on the servo rotating platform m200 and move the empty wire wheel to the winding machine, the position of the positioning pin on the winding machine is determined by the image collector b202 on the moving mechanism b2, then the moving mechanism b2 drives the wire wheel gripping device b1 to move the empty wire wheel which is gripped by the wire wheel gripping device b1 to the state that the empty wire wheel is coaxial with the winding shaft of the winding machine and the pin hole on the wheel disc is coaxial with the winding wire and the positioning pin on the winding wire, and then the winding shaft on the winding machine fixes the wire wheel.

S60, after the aerial wheel is installed, a thread head needs to penetrate into a threading hole in a thread shaft of the aerial wheel, and the method specifically comprises the following steps:

s601, the moving mechanism b2 drives the wire wheel gripping device b1 to move to a placing frame 1200 on the side of the placing table, then the moving mechanism b2 is separated from the wire wheel gripping device b1, and the wire wheel gripping device b is moved to the position of the automatic threading mechanism n and connected with a quick-change disc n110 of the automatic threading mechanism n.

And S602, the winding machine drives the idle wheel to rotate, the image collector b202 on the moving mechanism b2 searches for the threading hole on the idle wheel, and the winding machine stops when the threading hole is upward.

S603, the moving mechanism b2 drives the automatic threading mechanism n to move and grab the silk thread between the pneumatic clamping jaw d700 and the pay-off rack e1 on the outer side at the position of the automatic thread breakage mechanism d, during thread grabbing, the cylinder shaft of the pushing cylinder n400 extends out, the cylinder shaft of the shifting cylinder n900 retracts, and after the thread head is grabbed, the automatic thread breakage mechanism d resets to wait for next thread breakage.

S604, as shown in fig. 26, the moving mechanism b2 drives the automatic threading mechanism n to move to a state where the first threading jaw n200 is below and the second threading jaw n300 is above, and then moves the carrier n100 downward to insert a section of thread end below the first threading jaw n200 into the threading hole of the aerial wheel after determining the position relationship between the thread end and the threading hole according to the visual positioning.

S605, when the first threading clamping jaw n200 approaches to the reel shaft of the aerial reel a20, stopping moving downwards, then, the first threading clamping jaw n200 is opened, and then moves leftwards and upwards to avoid (i.e. the cylinder shaft of the pushing cylinder n400 retracts, and the cylinder shaft of the shifting cylinder n900 extends);

s606, the moving mechanism b2 drives the bearing member n100 to rotate (clockwise), so that the second threading jaw n300 rotates from the inclined state to the vertical or near vertical state, as shown in fig. 27, and thus the second threading jaw n300 inserts the thread at the front end into the threading hole again to complete threading.

And S607, extending out the cylinder shaft of the pressing cylinder n2, so that the press roller n1 presses the silk thread between the second threading clamping jaw n300 and the pay-off rack on the reel shaft of the aerial reel.

And S608, the second threading clamping jaw loosens the thread grabbed by the second threading clamping jaw, the winding shaft of the winding machine e drives the idle wheel to rotate for winding, after the idle wheel is pre-wound for a plurality of circles, the pressing cylinder n2 retracts, and the winding machine continues to wind the thread.

S609, after the threading is completed, the moving mechanism b2 drives the automatic threading mechanism n to move to the frame 1300 at the side of the placing table 1000, and then separates from the automatic threading mechanism n.

S70, the knotted full reel a10 returns to the overturning machine at the tail end of the full reel along with a full-wheel return flow line p, and the overturning machine overturns the full reel from a flat lying state to a vertical state.

And S80, the moving assembly r3 drives the manipulator r2 to move to the overturning machine to clamp the full-line wheel and move the full-line wheel to a stacking position on a pallet for stacking.

S90, when a layer of full-line wheel is placed on the pallet, the moving assembly r3 changes the mechanical arm r2 connected with the moving assembly r3 into the adsorption device r4, and the adsorption device r4 sucks a partition board from the pallet on which the partition board is stacked and places the partition board on the full-line wheel.

After the number of layers of the full-line wheels on one pallet is required, the system automatically sends out a pallet moving-out instruction to remind a worker to output the pallet by using a forklift or arrange automatic equipment to output the full pallet outside the unstacking and stacking area.

Further, when a full reel flows back to the unstacking and stacking area, the label information on the full reel is read through an image acquisition device on the manipulator r2 or the moving assembly r3, so that the placement position of the full reel is determined, and the sorting of the full reels wound with different similar threads is realized.

Of course, the sequence of the above-mentioned working processes is not exclusive, or some working steps are not necessary, and can be omitted.

The utility model discloses still have multiple embodiment, can carry out multiple different combinations with the structure of above-mentioned embodiment and use, for example with full round of return line, empty wheel transfer chain, travelling car, go up unloading robot and constitute one set of structure and realize convenient last unloading. Or the automatic threading mechanism and the six-axis robot with the image collector form a set of structure to realize automatic threading; or, constitute a set of structure with silk footpath detector, automatic labeller, truss robot and full round of streamline and realize automatic categorised stack of unloading, all technical scheme that all adopt equal transform or equivalent transform and form all fall within the utility model discloses a protection within range.

Claims (11)

1. End of a thread knotting device, its characterized in that: the automatic clamping jaw mechanism comprises a driving shaft and a driven shaft which are coaxial and arranged at intervals, wherein the driving shaft and/or the driven shaft is driven by an axial driving mechanism to move along the axial direction, the driving shaft is connected with a first driving mechanism for driving the driving shaft to rotate, an automatic clamping jaw which is driven by a second driving mechanism to revolve around the driven shaft is arranged on the periphery of the driven shaft, and a chuck of the automatic clamping jaw faces the driving shaft and extends to the front of the driven shaft for a certain distance; and a line head grasper is arranged outside the gap between the driving shaft and the driven shaft and is connected with a translation driving mechanism for driving the line head grasper to reciprocate along the direction parallel to the axis of the driving shaft.

2. The string head knotting apparatus of claim 1, wherein: the clamping heads comprise clamping parts, blocking parts and mounting parts, v-shaped limiting grooves are formed on the outer surfaces of the clamping parts and the blocking parts, the two clamping heads are opened and closed in a rotating mode, and in an open state, the clamping surfaces of the two clamping parts form a notch with a wide front end and a narrow rear end; in a closed state, the two clamping parts form a frustum with a small outer end and a large inner end.

3. The string head knotting apparatus of claim 1, wherein: the automatic clamping jaw is inclined when located directly below the driven shaft.

4. The string head knotting apparatus of claim 1, wherein: the second driving mechanism comprises a rotating body, the rotating body is driven by a motor to rotate, the inner side of the rotating body is connected with the automatic clamping jaw positioned on the periphery of the rotating body through a mounting rack, and the inner side of the rotating body is coaxial and can be provided with the driven shaft in a rotating mode relative to the rotating body.

5. The string head knotting apparatus of claim 1, wherein:

in a first position, the gripping faces of the two closed jaws of the thread end grasper are near the midpoint of the maximum separation of the drive and driven shafts;

in the second position, the gripping faces of the two closed jaws of the thread end grasper are near the leading end of the driven shaft.

6. The string head knotting apparatus of claim 1, wherein: and a blocking pin which synchronously moves with the thread end grasper is horizontally arranged below the thread end grasper, and the extending direction of the blocking pin is vertical to the driving shaft and is connected with a blocking driving mechanism for driving the blocking pin to move along the axial direction of the driving shaft.

7. Winding system, its characterized in that: comprising the string head knotting apparatus as claimed in any one of claims 1 to 6.

8. The winding system of claim 7, wherein: also comprises a loading and unloading robot which comprises

The wire wheel gripping device comprises a carrier and two clamping plates which are driven to be opened and closed by an opening and closing driving mechanism on the carrier, wherein U-shaped notches with outward openings are formed in the clamping plates, and limiting lugs are arranged at the opposite end surfaces of the two clamping plates and are at least positioned at the vertex angles of the two tail ends of each clamping plate;

the moving mechanism is connected with the wire wheel grabbing device and drives the wire wheel grabbing device to move, and the front end of the moving mechanism is provided with an image collector;

the thread end clamping jaw is arranged on the side part of the carrier, and the front end of the jaw body faces to the clamping plate which is consistent with the opening of the U-shaped notch and is close to one side.

9. The winding system of claim 8, wherein: the moving mechanism is a 6-axis robot, and the moving mechanism is connected with the wire wheel grabbing device through a quick change disc.

10. The winding system of claim 8, wherein: the moving mechanism, the axial driving mechanism, the second driving mechanism and the translation driving mechanism are arranged on the moving trolley.

11. The winding system of claim 10, wherein: and the moving trolley is provided with an automatic wire breaking mechanism for breaking the wire between the wire end clamping jaw and the winding machine.

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