CN215625924U

CN215625924U - Automatic doffing robot

Info

Publication number: CN215625924U
Application number: CN202120814320.6U
Authority: CN
Inventors: 姜跃君; 包志刚; 张亚辉; 李飞
Original assignee: Eoslift Logistics Technology Shanghai Co Ltd
Current assignee: Eoslift Logistics Technology Shanghai Co Ltd
Priority date: 2021-04-20
Filing date: 2021-04-20
Publication date: 2022-01-25
Anticipated expiration: 2031-04-20

Abstract

The utility model provides an automatic doffing robot which comprises a sky rail system and a cantilever frame body which is arranged below the sky rail system and moves through the sky rail system, wherein the cantilever frame body comprises a sky rail connecting part, a cantilever frame body and a package bearing mechanism, the cantilever frame body is connected with a vertical rail of the cantilever frame body, and a yarn carrying arm assembly for package bearing is arranged in the cantilever frame body. This automatic doffing robot, including sky rail system and set up the cantilever framework that removes through the sky rail system in sky rail system below, wherein the cantilever framework is inside from last to including sky rail connecting portion and cantilever framework down in proper order, and the inside package receiving mechanism that is provided with of cantilever framework, symmetric distribution is personally submitted along the cantilever framework is perpendicular to the package receiving mechanism, this kind of structure has just in time ensured the holistic barycentric position of automatic doffing robot and central position coincidence, set up the ground rail system simultaneously on the basis of original sky rail system, the two cooperation makes the whole smoothness of automatic doffing robot motion, anti-falling device's setting has further strengthened the security.

Description

Automatic doffing robot

Technical Field

The utility model relates to the technical field of polyester filament yarn transportation, in particular to an automatic doffing robot.

Background

The output of the terylene filament in China is improved year by year, the number of the winding machines used as the key production equipment of the terylene filament is continuously increased, many domestic terylene filament production enterprises have large-scale winding machine production lines, a large number of packages are required to be transported every day, the domestic terylene filament production enterprises gradually reduce the dependence on labor force, and a large number of automatic transportation systems are used. The automatic doffing robot is an important component of an automatic transportation system, and because the available space on the ground of a winding factory is very limited, the rail-mounted automatic doffing robot is applied to an automatic silk falling process. However, the conventional rail-mounted automatic doffing robot needs to frequently lift and drop the package in a heavy load state during doffing and transportation, and the package is suspended at a certain height during transportation. The supporting mechanisms of the suspended packages are all installed on one side of the upright post of the rail suspended automatic doffing robot, the integral gravity center position and the geometric center position are not overlapped, the stability of the framework shape is not strong enough, the risk of gravity instability exists, and certain potential safety hazards exist in the horizontal walking, lifting and doffing processes respectively driven by the control mechanism. Meanwhile, in the long-time transportation process of the automatic doffing robot, partial working procedures of the automatic doffing robot are unbalanced due to the fact that a driving assembly slips or is worn, especially in the vertical movement process, the weight of a plurality of packages is large, and the package supporting mechanism is out of control due to sudden slipping or wearing, so that the body is injured by a crashing object, and the operation of the robot is affected.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects in the prior art, the utility model provides an automatic doffing robot, which solves the problem that partial procedures of the automatic doffing robot are unbalanced due to the fact that the gravity center position and the geometric center position of the whole automatic doffing robot are not coincident and a driving assembly slips or is worn in the prior art.

The automatic doffing robot comprises a sky rail system and a cantilever frame body which is arranged below the sky rail system and moves through the sky rail system, wherein the cantilever frame body comprises a sky rail connecting part and is connected with a sky rail traveling mechanism in the sky rail system so as to drive the cantilever frame body to move horizontally along the sky rail system; the upper part of the cantilever frame body is connected with the bottom of the connecting part of the top rail, a vertical rail connected with the package supporting mechanism is arranged in the cantilever frame body, and the package supporting mechanism realizes vertical movement in the cantilever frame body through the vertical rail; and the package bearing mechanism is connected with the vertical track of the cantilever frame body, and a yarn carrying arm assembly for bearing packages is arranged in the package bearing mechanism.

In another embodiment, the cantilever frame is a square frame, the square frame is located right below the top rail traveling mechanism, the vertical rail is embedded in the inner wall of the square frame in the vertical direction, the package receiving mechanism is box-shaped, and a vertical driving device matched with the vertical rail is arranged above the package receiving mechanism, so that the package receiving mechanism can vertically move in the cantilever frame, the center of gravity of the package receiving mechanism in the box structure and the center of gravity of the cantilever frame in the frame structure are located on the same vertical plane, and the vertical plane penetrates through the central axis of the vertical plane of the top rail system.

In another embodiment, the package support mechanism is provided with at least one yarn carrier arm assembly, wherein the yarn carrier arm assembly is disposed at the bottom of the casing of the package support mechanism in a direction perpendicular to the moving direction of the head rail.

In another embodiment, the bottom of the box body of the package receiving mechanism is provided with a slide rail consistent with the arrangement direction of the wire carrying arm assembly and a horizontal rack for the wire carrying arm assembly to move along the arrangement direction; the wire carrying arm assembly comprises a sliding seat matched with the sliding rail, a horizontal driving device arranged on the sliding seat and matched with the horizontal rack, and a wire carrying arm arranged on the sliding seat and arranged along the arrangement direction of the wire carrying arm assembly.

In another embodiment, the tail part of the horizontal rack is provided with a contact sensor and a distance measuring sensor, and the moving distance of the sliding seat on the horizontal rack is limited through the contact sensor and the distance measuring sensor.

In another embodiment, a falling prevention device for preventing the package receiving mechanism from falling is additionally arranged between the vertical rail and the package receiving mechanism in the cantilever frame.

In another embodiment, the anti-falling device comprises a vertical driving device for driving the package bearing mechanism to move along the vertical track, the vertical driving device comprises a driving gear assembly, an anti-falling gear assembly and a driving motor, and the driving gear assembly and the anti-falling gear assembly are connected through a chain which is in a slack state under a normal working condition and in a tension state under a falling working condition.

In another embodiment, the automatic doffing robot further comprises a ground rail system, and the bottom of the cantilever frame body is provided with a cantilever guide pulley block matched with the ground rail system.

In another embodiment, the ground rail system is arranged on the ground, and an inverted T-shaped groove is arranged on the ground rail system; the bottom of the cantilever frame body is provided with a pulley block matched with the inverted T-shaped groove, the pulley block is connected with the bottom of the cantilever frame body through a vertical connecting piece, and the pulley block is contacted with two sides of the inverted T-shaped groove so as to realize the guiding effect on the cantilever frame body.

In another embodiment, the ground rail system is arranged on the ground, and a U-shaped groove is arranged on the ground rail system; the bottom of the cantilever frame body is provided with a pulley block matched with the U-shaped groove, the pulley block is connected with the bottom of the cantilever frame body through a vertical connecting piece, and the pulley block is contacted with the inner walls of two sides of the U-shaped groove so as to realize the guiding effect on the cantilever frame body.

Compared with the prior art, the utility model has the following beneficial effects:

this automatic doffing robot, including sky rail system and set up the cantilever framework that removes through the sky rail system in sky rail system below, wherein the cantilever framework is inside from last to including sky rail connecting portion and cantilever framework down in proper order, and the inside package receiving mechanism that is provided with of cantilever framework, symmetric distribution is personally submitted along the cantilever framework is perpendicular to the package receiving mechanism, this kind of structure has just in time guaranteed the holistic focus position of automatic doffing robot and the coincidence of geometric centre position, set up the ground rail system simultaneously on the basis of original sky rail system, the two cooperation makes the whole smooth-going of automatic doffing robot motion, anti-falling device's setting has further strengthened the security.

Drawings

Fig. 1 is a schematic structural view of an automatic doffing robot provided by the present invention.

FIG. 2 is an enlarged view of the utility model at A in FIG. 1.

FIG. 3 is a schematic view of the gravity center line of the longitudinal surface of the automatic doffing robot provided by the present invention.

FIG. 4 is a schematic view of a transverse section gravity center line of the automatic doffing robot provided by the present invention.

FIG. 5 is a schematic top view of the gravity center of the automatic doffing robot according to the present invention

FIG. 6 is a schematic diagram of a structure of a package receiving mechanism of the automatic doffing robot according to the present invention.

FIG. 7 is a schematic structural view of a fall preventing device in the automatic doffing robot provided by the utility model.

Fig. 8 is a schematic diagram of a ground rail system in an automatic doffing robot according to an embodiment of the present invention.

Fig. 9 is a schematic view of a ground rail system in an automatic doffing robot according to another embodiment of the present invention.

Detailed Description

The technical solution of the present invention is further explained with reference to the drawings and the embodiments.

Fig. 1, which is described according to an embodiment of the present invention, discloses an automatic doffing robot, which includes a sky rail system 10 and a cantilever frame 20 disposed below the sky rail system 10 and moving through the sky rail system 10, wherein the cantilever frame 20 includes a sky rail connecting portion 21 connected to a sky rail traveling mechanism 11 in the sky rail system 10, so as to drive the cantilever frame 20 to move horizontally along the sky rail system 10; a cantilever frame 20 having an upper portion connected to a bottom of the top rail connecting portion 21 and a vertical rail 21 connected to the package receiving mechanism 30 provided therein, the package receiving mechanism 30 vertically moving in the cantilever frame 20 via the vertical rail 21; the package receiving mechanism 30 is connected to the vertical rail 21 of the arm frame 21120, and a yarn loading arm unit 31 for receiving a package is provided therein.

The connection between the sky-rail connecting part 21 and the sky-rail system 10 may be a conventional fixed connection, that is, the lower part 211 (see the enlarged view at a in fig. 1) of the bottom guide wheel in the sky-rail system 10 is connected to the sky-rail connecting part 21 in the form of a bolt. The structure of the top rail connecting part 21 can be various, a conventional fixing structure can be adopted, and an internal hinged flexible connection can be adopted, wherein the internal flexible connection can be better, the moving stability of the cantilever frame body 20 is improved, the manufacturing cost is relatively higher, and the specific structure can refer to fig. 2.

In another embodiment, the cantilever frame 20 is a square frame located right below the top rail traveling mechanism 11, the upper and lower parts of the square frame may be designed as square tubes, the two sides of the middle part of the square frame may be vertically arranged and connected by groove-shaped tubes, and the groove-shaped tubes on the two sides are symmetrically arranged in opposite directions, so as to facilitate the embedding of the vertical rail 21. The vertical rail 21 is embedded in the inner wall of the square frame in the vertical direction, and the vertical rail 21 is realized by a rack which is vertically arranged. The package receiving mechanism 30 is box-shaped, the whole box-shaped is symmetrically embedded in a square frame, and a vertical driving device 22 matched with the vertical rail 21 is arranged above the box-shaped, so that the package receiving mechanism 30 can move vertically in the cantilever frame 20, and the gravity center of the box-shaped package receiving mechanism 30 and the gravity center of the frame-shaped cantilever frame 20 are on the same vertical plane, and the vertical plane penetrates through the central axis of the vertical plane of the sky rail system 10. Wherein, fig. 3, fig. 4 and fig. 5 respectively disclose the gravity center positions of each part of the automatic doffing robot provided by the utility model, wherein, when seen from the longitudinal section of the automatic doffing robot, the gravity center Ozy-10 of the sky rail system, the gravity center Ozy-20 of the cantilever frame body and the gravity center Ozy-30 of the package receiving mechanism are positioned on the same gravity center line Lzy; from the transverse section of the automatic doffing robot, the gravity center Oxy-10 of the sky rail system, the gravity center Oxy-20 of the cantilever frame body and the gravity center Oxy-30 of the package receiving mechanism are positioned on the same gravity center line Lxy; and when viewed from the top of the automatic doffing robot, the gravity center Oxy-10 of the sky rail system, the gravity center Oxy-20 of the cantilever frame body and the gravity center Oxy-30 of the package receiving mechanism are superposed with each other and pass through Lxz gravity center lines.

In another embodiment, the package holding mechanism 30 is provided with at least one yarn carrier arm assembly 31, wherein the yarn carrier arm assembly 31 is disposed at the bottom of the case of the package holding mechanism 30 in a direction perpendicular to the moving direction of the head rail. The yarn carrying arm assembly 31 is mainly used for receiving the package, and the package corresponding to the doffing robot is a cylinder with a circular hole. The package receiving mechanism 30 is provided at the bottom of the case with a slide rail 32 in accordance with the arrangement direction of the yarn carrier arm assembly 31 and a horizontal rack 33 for moving the yarn carrier arm assembly 31 in the arrangement direction; the wire carrying arm assembly 31 comprises a slide 311 matched with the slide rail 32, a horizontal driving device 312 mounted on the slide 311 and matched with the horizontal rack 33, and a wire carrying arm 313 mounted on the slide 311 and arranged along the arrangement direction of the wire carrying arm assembly 31. The entire yarn loading arm assembly 31 is horizontally moved by the horizontal driving device 312 at the bottom thereof to facilitate the mounting and dismounting of the package on the yarn loading arm 313.

In another embodiment, a contact sensor 331 and a distance measuring sensor 332 are disposed at the tail of the horizontal rack 33, and the moving distance of the sliding seat 311 on the horizontal rack 33 is limited by the contact sensor 331 and the distance measuring sensor 332. The horizontal movement distance of the package is limited by various sensors, thereby realizing accurate displacement of the package.

In another embodiment, a fall preventing device 40 for preventing the package receiving mechanism 30 from falling down is additionally provided between the vertical rail 21 and the package receiving mechanism 30 in the cantilever frame 20. The fall arrest device 40 comprises a vertical drive means 22 for driving the package support mechanism 30 along the vertical track 21, the vertical drive means 22 comprising a drive gear assembly 221, a fall arrest gear assembly 222 and a drive motor 223, wherein the drive gear assembly 221 and the fall arrest gear assembly 222 are connected by a chain 224 in a slack condition in normal operation and in a tensioned condition in fall operation.

Wherein the drive gear subassembly includes drive gear group one and with drive gear group coaxial center and follow drive gear one pivoted drive gear group two, and prevent weighing down the gear assembly and be located drive gear subassembly below, it is including preventing weighing down gear assembly one and preventing weighing down gear assembly two, the two is also coaxial center and install on package supporting mechanism, meanwhile, drive gear one with prevent weighing down gear assembly one all directly with perpendicular track in the straight rack meshing that hangs down, and link to each other through the chain between drive gear group two and the prevent weighing down gear assembly two, the chain is in lax state under the normal operating mode, be provided with chain guider on the chain, this chain guider can follow the elasticity of chain and move. When the driving gear assembly normally works, the chain is in a loose state, the second driving gear set cannot drive the second anti-falling gear assembly, but when the first driving gear set is worn or fails to drive, the whole package bearing mechanism moves downwards under the action of gravity, so that the chain is in a tensioning state, the second driving gear set drives the second anti-falling gear assembly to prevent the package bearing mechanism from moving downwards, meanwhile, the chain is tensioned to enable the chain guide device to displace, and the displacement corresponding to the corresponding sensor can be fed back to an operator.

In another embodiment, the automatic doffing robot further comprises a ground rail system 40, and the bottom of the cantilever frame body 20 is provided with a cantilever guide pulley block 23 matched with the ground rail system 40.

In another embodiment, the ground rail system 40 is provided on the ground, with an inverted T-shaped groove 41 provided thereon; and the bottom of the cantilever frame body 20 is provided with a cantilever guide pulley block 23 matched with the inverted T-shaped groove, the cantilever guide pulley block 23 is connected with the bottom of the cantilever frame body 20 through a vertical connecting piece, and the cantilever guide pulley block 23 is contacted with two sides of the inverted T-shaped groove so as to realize the guide effect on the cantilever frame body 20.

In another embodiment, the ground rail system 40 is disposed on the ground, with a U-shaped groove disposed thereon; and the bottom of the cantilever frame body 20 is provided with a cantilever guide pulley block 23 matched with the U-shaped groove 42, the cantilever guide pulley block 23 is connected with the bottom of the cantilever frame body 20 through a vertical connecting piece, and the cantilever guide pulley block 23 is contacted with the inner walls of two sides of the U-shaped groove so as to realize the guide effect on the cantilever frame body 20.

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

1. The automatic doffing robot comprises a sky rail system and a cantilever frame body arranged below the sky rail system and moving through the sky rail system, and is characterized in that the cantilever frame body comprises

The head rail connecting part is connected with a head rail traveling mechanism in the head rail system so as to drive the cantilever frame body to move horizontally along the head rail system;

the upper part of the cantilever frame body is connected with the bottom of the connecting part of the top rail, a vertical rail connected with the package supporting mechanism is arranged in the cantilever frame body, and the package supporting mechanism realizes vertical movement in the cantilever frame body through the vertical rail;

and the package bearing mechanism is connected with the vertical track of the cantilever frame body, and a yarn carrying arm assembly for bearing packages is arranged in the package bearing mechanism.

2. The automatic doffing robot according to claim 1, wherein the boom frame is a square frame, the square frame is located right below the head rail traveling mechanism, the vertical rail is embedded in the inner wall of the square frame in the vertical direction, the package receiving mechanism is box-shaped, and a vertical driving device matching with the vertical rail is provided above the package receiving mechanism, so that the package receiving mechanism performs vertical movement in the boom frame, and the center of gravity of the package receiving mechanism in the box structure and the center of gravity of the boom frame in the frame structure are located on the same vertical plane, which penetrates the central axis of the vertical plane of the head rail system.

3. The automatic doffing robot according to claim 2 wherein the package receiving mechanism is provided with at least one yarn loading arm assembly, wherein the yarn loading arm assembly is provided at a bottom of a casing of the package receiving mechanism in a direction perpendicular to a moving direction of the head rail.

4. The automatic doffing robot according to claim 3, wherein a slide rail in accordance with the arrangement direction of the yarn carrier arm assembly and a horizontal rack for moving the yarn carrier arm assembly in the arrangement direction are provided at a bottom of a casing of the package holding mechanism; the wire carrying arm assembly comprises a sliding seat matched with the sliding rail, a horizontal driving device arranged on the sliding seat and matched with the horizontal rack, and a wire carrying arm arranged on the sliding seat and arranged along the arrangement direction of the wire carrying arm assembly.

5. The automatic doffing robot as claimed in claim 4, wherein the tail of the horizontal rack is provided with a contact sensor and a distance measuring sensor, and the moving distance of the sliding base on the horizontal rack is limited by the contact sensor and the distance measuring sensor.

6. The automatic doffing robot according to claim 5, wherein a fall preventing device for preventing the package receiving mechanism from falling down is further provided between the vertical rail and the package receiving mechanism in the cantilever frame.

7. The automatic doffing robot of claim 6 wherein the fall arrest device comprises a vertical drive for driving the package receiving mechanism along the vertical track, the vertical drive comprising a drive gear assembly, a fall arrest gear assembly and a drive motor, wherein the drive gear assembly is connected to the fall arrest gear assembly by a chain which is slack during normal operation and tight during fall.

8. The automatic doffing robot according to any one of claims 1 to 7, further comprising a ground rail system, wherein the bottom of the cantilever frame body is provided with a cantilever guide pulley block matched with the ground rail system.

9. The automatic doffing robot of claim 8 wherein said ground rail system is disposed on the ground with an inverted T-slot disposed thereon; the bottom of the cantilever frame body is provided with a pulley block matched with the inverted T-shaped groove, the pulley block is connected with the bottom of the cantilever frame body through a vertical connecting piece, and the pulley block is contacted with two sides of the inverted T-shaped groove so as to realize the guiding effect on the cantilever frame body.

10. The automatic doffing robot of claim 8 wherein said ground rail system is disposed on the ground with a U-shaped slot disposed thereon; the bottom of the cantilever frame body is provided with a pulley block matched with the U-shaped groove, the pulley block is connected with the bottom of the cantilever frame body through a vertical connecting piece, and the pulley block is contacted with the inner walls of two sides of the U-shaped groove so as to realize the guiding effect on the cantilever frame body.