CN215625916U - Automatic doffing robot with automatic paper tube feeding function - Google Patents
Automatic doffing robot with automatic paper tube feeding function Download PDFInfo
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- CN215625916U CN215625916U CN202120938700.0U CN202120938700U CN215625916U CN 215625916 U CN215625916 U CN 215625916U CN 202120938700 U CN202120938700 U CN 202120938700U CN 215625916 U CN215625916 U CN 215625916U
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Abstract
The utility model provides an automatic doffing robot with an automatic paper tube feeding function, which comprises a sky rail system, a cantilever frame arranged on the sky rail system and a bearing mechanism arranged on the cantilever frame, wherein a paper tube feeding mechanism is arranged on one side of the cantilever frame, and the paper tube feeding mechanism comprises: the movable base is connected with the bearing mechanism, so that the movable base can move along with the bearing mechanism; the paper tube side blocking base is arranged on the moving base, a primary driving device is arranged between the paper tube side blocking base and the moving base, and the primary driving device can drive the paper tube side blocking base to do linear motion along the length direction of the moving base; the paper tube pushing seat is arranged on the paper tube side blocking base, and a secondary driving device is arranged between the paper tube pushing seat and the paper tube side blocking base and can drive the paper tube pushing seat to do linear motion along the length direction of the moving base. The automatic paper tube feeding and doffing robot has the advantages that the automatic paper tube feeding and doffing robot can feed paper tubes immediately after the completion of the falling of the filaments, the working efficiency of a winding machine is improved, and the working frequency of the automatic doffing robot is reduced.
Description
Technical Field
The utility model relates to the technical field of polyester filament yarn transportation, in particular to an automatic doffing robot with an automatic paper tube feeding function.
Background
The yield of the terylene filament in China is improved year by year, the using number of the winding machine serving as the key production equipment of the terylene filament is continuously increased, the production speed is also continuously improved, the winding speed of the prior advanced winding head can reach 6000m/min, the winding machine is developed in a faster direction in future, the length of a winding chuck of the winding machine is limited within 60 mm before 80 years of 20 th century, the length of the chuck is increased from 900 mm, 1200 mm and 1400 mm to 1500 mm and 1600 mm after 90 years of 20 th century, the longer the length of the chuck is, the more paper tubes can be installed, thereby more yarn strips can be wound simultaneously, and the manual treatment of the package is more difficult to follow the production rhythm and the quality of the product is difficult to ensure due to the development characteristics of the winding machine; therefore, domestic polyester filament yarn production enterprises are gradually reducing the dependence on labor force, and largely use the automatic transportation system.
The automatic doffing robot is an important component of an automatic transportation system, the automatic doffing robot in the prior art can only complete the silk falling and package unloading functions through the carrying rod of the automatic doffing robot, then carry out the paper tube carrying through the carrying rod, and finally complete the paper tube feeding process through the carrying rod, so that the automatic doffing robot still needs to carry out the unloading of packages after the silk falling is completed, the automatic doffing robot can carry out the paper tube feeding on the automatic doffing robot, the automatic doffing robot is transferred again and aligned with the spindle shaft of the winding machine again, and finally the automatic doffing robot can complete the full-roll signal sending, the winding machine which has completed the silk falling carries out the paper tube feeding, the back-and-forth movement not only aggravates the working frequency of the automatic doffing robot, but also reduces the working efficiency of the winding machine.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects in the prior art, the utility model provides an automatic doffing robot with an automatic paper tube feeding function, which solves the technical problem that the prior art does not have an automatic doffing robot capable of feeding paper tubes immediately after the completion of silk dropping and receiving.
According to an embodiment of the present invention, an automatic doffing robot with an automatic paper tube feeding function includes a top rail system, a cantilever frame mounted on the top rail system, and a receiving mechanism mounted on the cantilever frame, wherein a paper tube feeding mechanism is disposed on one side of the cantilever frame, and the paper tube feeding mechanism includes:
the movable base is connected with the bearing mechanism, and the movable base can move along the cantilever frame along with the bearing mechanism;
the paper tube side blocking base is arranged on the moving base, a primary driving device is arranged between the paper tube side blocking base and the moving base, and the primary driving device can drive the paper tube side blocking base to do linear motion along the length direction of the moving base;
the paper tube pushing seat is installed on the paper tube side blocking base, a secondary driving device is installed between the paper tube side blocking base and the paper tube side blocking base, and the secondary driving device can drive the paper tube pushing seat to do linear motion along the length direction of the moving base.
Furthermore, at least one paper tube side blocking base is arranged on the movable base side by side.
Furthermore, a plurality of movable bases are horizontally arranged on the cantilever frame.
Further, be equipped with the one-level slide rail that sets up along removal base length direction on the removal base, the paper tube side keeps off the pedestal mounting on the one-level slide rail, one-level drive arrangement includes one-level motor and one-level rack, the one-level rack is installed on the removal base along removal base length direction, the one-level motor is installed on the paper tube side keeps off the pedestal, the one-level motor passes through gear engagement with the one-level rack and is connected.
Further, paper tube side keeps off base and is divided into storage space and second grade by a baffle and removes the space, storage space is used for placing the paper tube, it is used for installing second grade drive arrangement to remove the space, paper tube side keeps off base one end still is equipped with and adopts a baffle to keep apart out the one-level and removes the space, one-level drive arrangement installs in the one-level removes the space.
Furthermore, two inclined positioning plates are symmetrically arranged in the storage space, and a stop block is arranged at one end, close to the primary driving device, of the storage space.
Furthermore, the baffle side in removal space is equipped with the second grade slide rail that sets up along removal base length direction, the paper tube pushes away the seat and installs on the second grade slide rail, second grade drive arrangement includes second grade motor and second grade rack, the second grade rack is installed on the lateral wall in removal space along removal base length direction, the second grade motor is installed on the paper tube pushes away the seat, the second grade motor passes through gear engagement with the second grade rack and is connected.
Further, the paper tube pushing seat comprises an L-shaped plate and a paper tube pushing block, the paper tube pushing block is installed on one side of the L-shaped plate, the L-shaped plate is installed on the secondary sliding rail, and the secondary motor is fixed on the L-shaped plate.
Furthermore, a protective cover covers the movable base, and the protective cover is connected with the bearing mechanism through a connecting piece.
Furthermore, each movable base is covered with a protective cover, and the protective cover is connected with the bearing mechanism or the protective cover of the bell through a connecting piece.
The technical principle of the utility model is as follows: the paper tube feeding mechanism on one side of the cantilever frame translates a certain distance after the supporting mechanism completes supporting, so that the paper tube feeding mechanism is directly aligned with the winding head, then the paper tube side blocking base is driven to be close to the winding head through the primary driving device, then the paper tube pushing base is driven by the secondary driving device to push the paper tube placed on the paper tube side blocking base, the paper tube is pushed into the winding head, the paper tube feeding is completed, and then the winding machine can continue to work.
Compared with the prior art, the utility model has the following beneficial effects: the paper tube feeding mechanism and the receiving mechanism are adopted to work in a matched mode, the top rail system and the cantilever frame, the paper tube feeding is carried out immediately after receiving is completed, the technical problem that the automatic paper tube feeding and tube falling robot can be carried out immediately after the silk falling and receiving are completed in the prior art is solved, the working efficiency of a winding machine is improved, and the technical effect of the working frequency of the automatic tube falling robot is reduced.
Drawings
Fig. 1 is a schematic structural view of an automatic doffing robot according to embodiment 1 of the present invention.
Fig. 2 is a schematic view of a pulley connection structure according to embodiment 1 of the present invention.
Fig. 3 is a schematic structural diagram of a paper tube feeding mechanism in embodiment 1 of the present invention.
Fig. 4 is a rear view of the paper tube feeding mechanism according to embodiment 1 of the present invention.
Fig. 5 is a top view of the movable base according to embodiment 1 of the present invention.
Fig. 6 is a schematic structural view of a paper tube side stop base in embodiment 1 of the present invention.
Fig. 7 is a schematic view of a connecting structure of the protective cover according to the embodiment of the utility model.
Fig. 8 is a schematic structural view of an automatic doffing robot according to embodiment 2 of the present invention.
Fig. 9 is a schematic structural view of an automatic doffing robot according to embodiment 3 of the present invention.
Fig. 10 is a schematic structural view of an automatic doffing robot according to embodiment 4 of the present invention.
In the above drawings: 100. a sky rail system; 110. a ground rail system; 111. a pulley; 120. a horizontal transmission mechanism; 200. a cantilever frame; 210. a vertical track; 220. a vertical drive mechanism; 300. a carrying mechanism; 400. a paper tube feeding mechanism; 410. a movable base; 411. a first-stage slide rail; 412. a protective cover; 413. a connecting member; 420. a paper tube side stop base; 421. a baffle plate; 422. a storage space; 422-1, a positioning plate; 422-2, an anti-collision block; 423. a secondary moving space; 423-1, a secondary slide rail; 424. a partition plate; 424-1, distance sensor; 425. a primary movement space; 430. a primary drive device; 431. a first-stage motor; 432. a primary rack; 440. a paper tube pushing seat; 441. an L-shaped plate; 442. a paper tube push block; 450. a secondary drive device; 451. a secondary motor; 452. and a secondary rack.
Detailed Description
The technical solution of the present invention is further explained with reference to the drawings and the embodiments.
The automatic doffing robot with automatic paper tube feeding function shown in fig. 1 includes a top rail system 100, a cantilever frame 200 mounted on the top rail system 100, a receiving mechanism 300 mounted on the cantilever frame 200, and a paper tube feeding mechanism 400 disposed on one side of the cantilever frame 200.
Specifically, as shown in fig. 1-2, a ground rail system 110 is further disposed on the lower side of the cantilever frame 200, the ground rail system 110 is parallel to the sky rail system 100, and a horizontal transmission mechanism 120 is disposed between the cantilever frame 200 and the sky rail system 100, so that the horizontal transmission mechanism 120 can drive the whole cantilever frame 200 to reciprocate along the length direction of the sky rail system 100, and the cantilever frame 200 is connected to the ground rail system 110 through a pulley 111, thereby stabilizing the whole cantilever frame 200.
As shown in fig. 1, the cantilever frame 200 is a square frame, a vertical rail 210 is arranged in the vertical direction of the cantilever frame 200, two sides of the receiving mechanism 300 are respectively connected with the vertical rail 210, so that the receiving mechanism 300 can reciprocate along the direction of the vertical rail 210, and a vertical driving mechanism 220 is installed between the cantilever frame 200 and the receiving device and used for vertical movement of the receiving mechanism 300.
Example 1
The upper paper tube mechanism 400 shown in fig. 3 includes:
the movable base 410 is connected to the receiving mechanism 300, and thus the movable base 410 can move along the cantilever frame 200 along with the receiving mechanism 300.
A paper tube side blocking base 420 is installed on the moving base 410, a primary driving device 430 is installed between the paper tube side blocking base 420 and the moving base 410, and the primary driving device 430 can drive the paper tube side blocking base 420 to move linearly along the length direction of the moving base 410.
The paper tube pushing seat 440 is mounted on the paper tube side blocking base 420, and a secondary driving device 450 is mounted between the paper tube side blocking base 420 and the paper tube side blocking base, and the secondary driving device 450 can drive the paper tube pushing seat 440 to move linearly along the length direction of the moving base 410.
As shown in fig. 4-5, a first-stage sliding rail 411 disposed along a length direction of the moving base 410 is fixed on the moving base 410 by a screw, the paper tube side blocking base 420 is mounted on the first-stage sliding rail 411, so that the paper tube side blocking base 420 can slide along a direction of the first-stage sliding rail 411, the first-stage driving device 430 includes a first-stage motor 431 and a first-stage rack 432, wherein the first-stage rack 432 is mounted on the moving base 410 by a screw along the length direction of the moving base 410, the first-stage motor 431 is mounted on the paper tube side blocking base 420 by a screw, the first-stage motor 431 is connected with the first-stage rack 432 through gear engagement, that is, a key-connected gear is connected to a rotating shaft of the first-stage motor 431, the gear is engaged with the first-stage rack 432, so that the first-stage motor 431 can drive the whole paper tube side blocking base 420 to move along the direction of the first-stage sliding rail 411.
As shown in fig. 6, the paper tube side blocking base 420 is divided into a storage space 422 and a secondary moving space 423 by a blocking plate 421, the storage space 422 is used for placing paper tubes, the moving space is used for installing a secondary driving device 450, a partition plate 424 is welded and fixed at one end of the paper tube side blocking base 420 to separate a primary moving space 425, and a primary motor 431 of the primary driving device 430 is installed in the primary moving space 425.
As shown in fig. 6, two inclined positioning plates 422-1 are welded and fixed in the storage space 422, the storage space 422 is fixed with an anti-collision block 422-2 by a screw at one end close to the primary driving device 430 for limiting the paper tube, and a distance sensor 424-1 is fixed on the partition plate 424 by gluing for secondary inspection of whether the paper tube is completely unloaded.
As shown in fig. 6, a secondary slide rail 423-1 is fixed to a side of the baffle 421 of the moving space by a screw, the paper tube pushing seat 440 is mounted on the secondary slide rail 423-1, so that the paper tube pushing seat 440 can only slide along the direction of the secondary slide rail 423-1, the secondary driving device 450 includes a secondary motor 451 and a secondary rack 452, wherein the secondary rack 452 is mounted on a side wall of the moving space by a screw along the length direction of the moving base 410, the secondary motor 451 is mounted on the paper tube pushing seat 440 by a screw, the secondary motor 451 is connected with the secondary rack 452 by gear engagement, i.e., a gear is connected to a rotating shaft of the secondary motor 451 by a key, and the gear is engaged with the secondary rack 452, so that the secondary motor 451 can drive the whole paper tube pushing seat 440 to move along the direction of the secondary slide rail 423-1.
The first-stage motor 431 and the second-stage motor 451 are both stepping motors, the paper tube side blocking base 420 and the paper tube pushing base 440 can move at an accurate distance through the stepping motors, and then secondary verification is carried out through the distance measuring sensor, so that the condition that the moving distance is inaccurate due to abrasion is avoided.
As shown in fig. 4, the paper tube pushing seat 440 includes an L-shaped plate 441 and a paper tube pushing block 442, wherein the paper tube pushing block 442 is integrally formed on one side of the L-shaped plate 441, the L-shaped plate 441 is mounted on the secondary slide rail 423-1, the secondary motor 451 is screwed onto the L-shaped plate 441, and the paper tube pushing block 442 can push the paper tube to the winding head.
As shown in fig. 7, the movable base 410 is covered with a protective cover 412, that is, the protective cover 412 is fixed on the movable base 410 by screws, and the protective cover 412 and the receiving mechanism 300 are connected by a connector 413, specifically, the protective cover 412 and the receiving mechanism 300 are fixed by bolts passing through the connector 413.
Example 2
As shown in fig. 8, the present embodiment is different from embodiment 1 in that: at least two moving bases 410 are horizontally installed on the cantilever frame 200, and the moving bases 410 are disposed at one side of the cantilever frame 200, and the shield 412 and the adjacent shield 412 are also connected by a connection member 413.
Example 3
As shown in fig. 9, the present embodiment is different from embodiment 1 in that: at least two paper tube side stop bases 420 are mounted side by side on the moving base 410.
Example 4
As shown in fig. 10, the present embodiment is different from embodiment 1 in that: at least two moving bases 410 are horizontally installed on the cantilever frame 200, and the moving bases 410 are symmetrically disposed at both sides of the cantilever frame 200.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (10)
1. The utility model provides an automatic doffing robot that has automatic paper tube feeding function, includes sky rail system, installs cantilever frame on sky rail system and installs the supporting mechanism on cantilever frame, its characterized in that: last paper tube mechanism that cantilever frame one side was equipped with, it includes to go up paper tube mechanism:
the movable base is connected with the bearing mechanism, and the movable base can move along the cantilever frame along with the bearing mechanism;
the paper tube side blocking base is arranged on the moving base, a primary driving device is arranged between the paper tube side blocking base and the moving base, and the primary driving device can drive the paper tube side blocking base to do linear motion along the length direction of the moving base;
the paper tube pushing seat is installed on the paper tube side blocking base, a secondary driving device is installed between the paper tube side blocking base and the paper tube side blocking base, and the secondary driving device can drive the paper tube pushing seat to do linear motion along the length direction of the moving base.
2. The automatic doffing robot having an automatic paper tube feeding function as claimed in claim 1, wherein: at least two paper tube side blocking bases are arranged on the movable base side by side.
3. The automatic doffing robot having an automatic paper tube feeding function as claimed in claim 1, wherein: the cantilever frame is horizontally provided with at least two movable bases.
4. An automatic doffing robot having an automatic paper tube feeding function according to claim 2 or 3, wherein: the paper tube side blocking device is characterized in that a one-level slide rail arranged along the length direction of the moving base is arranged on the moving base, the paper tube side blocking base is installed on the one-level slide rail, the one-level driving device comprises a one-level motor and a one-level rack, the one-level rack is installed on the moving base along the length direction of the moving base, the one-level motor is installed on the paper tube side blocking base, and the one-level motor is connected with the one-level rack through gear engagement.
5. An automatic doffing robot having an automatic paper tube feeding function according to claim 2 or 3, wherein: the paper tube side keeps off the base and is divided into storage space and second grade by a baffle and removes the space, storage space is used for placing the paper tube, it is used for installing second grade drive arrangement to remove the space, paper tube side keeps off base one end still is equipped with a baffle and keeps apart out the one-level and removes the space, one-level drive arrangement installs in the one-level removes the space.
6. An automatic doffing robot having an automatic paper tube feeding function as claimed in claim 5, wherein: two inclined positioning plates are symmetrically arranged in the storage space, an anti-collision block is arranged at one end, close to the primary driving device, of the storage space, and a distance sensor is arranged on the partition plate.
7. An automatic doffing robot having an automatic paper tube feeding function as claimed in claim 5, wherein: the paper tube pushing device is characterized in that a second-stage sliding rail arranged along the length direction of the moving base is arranged on the side of the baffle plate of the moving space, the paper tube pushing seat is installed on the second-stage sliding rail, the second-stage driving device comprises a second-stage motor and a second-stage rack, the second-stage rack is installed on the side wall of the moving space along the length direction of the moving base, the second-stage motor is installed on the paper tube pushing seat, and the second-stage motor is connected with the second-stage rack through gear engagement.
8. An automatic doffing robot having an automatic paper tube feeding function as claimed in claim 7, wherein: the paper tube pushing seat comprises an L-shaped plate and a paper tube pushing block, the paper tube pushing block is fixed on one side of the L-shaped plate, the L-shaped plate is installed on the secondary sliding rail, and the secondary motor is fixed on the L-shaped plate.
9. The automatic doffing robot having an automatic paper tube feeding function as claimed in claim 2, wherein: the movable base is covered with a protective cover, and the protective cover is connected with the bearing mechanism through a connecting piece.
10. An automatic doffing robot having an automatic paper tube feeding function as claimed in claim 3, wherein: each movable base is covered with a protective cover, and the protective covers are connected with the bearing mechanism or the adjacent protective covers through connecting pieces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120938700.0U CN215625916U (en) | 2021-04-30 | 2021-04-30 | Automatic doffing robot with automatic paper tube feeding function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120938700.0U CN215625916U (en) | 2021-04-30 | 2021-04-30 | Automatic doffing robot with automatic paper tube feeding function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215625916U true CN215625916U (en) | 2022-01-25 |
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ID=79937428
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120938700.0U Active CN215625916U (en) | 2021-04-30 | 2021-04-30 | Automatic doffing robot with automatic paper tube feeding function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215625916U (en) |
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2021
- 2021-04-30 CN CN202120938700.0U patent/CN215625916U/en active Active
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