CN216688483U - Fixed yarn creel type silk feeding robot - Google Patents

Abstract

The utility model provides a fixed creel type silk feeding robot which comprises an AGV main body device, wherein a linear sliding device is arranged on the AGV main body device, the linear sliding device is provided with a sliding frame capable of sliding up and down, a multi-axis robot with a clamp is arranged on the sliding frame, a creel is arranged on one side of the linear sliding device on the AGV main body device, a plurality of raw yarn supporting rods are arranged on two sides of the creel, a single raw yarn supporting rod is arranged approximately horizontally and used for placing raw yarn rolls, one side, on which the multi-axis robot is arranged, faces the creel, and the problems that the structure of a traditional yarn feeding device with a rotary creel is complex and the cost is high are solved by the raw yarn supporting rods facing the two sides of the AGV main body device.

Description

Fixed yarn creel type silk feeding robot

Technical Field

The utility model relates to the field of feeding of twisting machines, in particular to a fixed creel type feeding robot.

Background

With the continuous development of contemporary production and scientific technology, automation has entered more and more fields. The higher the level of industrial automation is, the more obvious the effects of improving the production efficiency, reducing the production cost, strengthening the safe production and increasing the market competitiveness of enterprises are.

For the twisting process in the textile industry, the silk feeding process is a typical heavy-duty repeated labor process. Therefore, the automation of the yarn feeding process of the twisting equipment is realized, the labor intensity of operators can be greatly reduced, and the production cost of enterprises can be reduced. Automation of the yarn feeding process is necessarily a trend of choice for textile enterprises.

At present, the silk feeding process mainly adopts manual silk feeding, and the defects are as follows:

at present, the silk feeding process of the twisting machine is carried out by manual operation from raw silk unstacking to raw silk transferring and then to raw silk feeding. In order to improve the production efficiency and increase the income, the twisting equipment needs uninterrupted work. Therefore, the manual threading needs to be matched with equipment for working, and uninterrupted work is carried out. For an operator who carries out yarn feeding, the weight of one yarn roll reaches 15 kilograms, and a single person carries out the yarn feeding process of thousands of yarn rolls one shift, so that the process has large workload and high repeatability of working contents.

The prior art refers to a structure described in an automatic yarn hanging robot in CN 113086669 a, which is mainly used for yarn feeding to a creel, and is troublesome for yarn feeding from the creel to a twisting machine.

CN 213703429U a compound robot and adopt the creel of rotation in the assembly line of doffing of going up yarn of twisting frame, the rotary device of creel is complicated and with high costs, and when getting and putting down part of raw yarn, easy robot appears interfering.

Therefore, a yarn feeding device with low cost and reasonable structure is needed on the premise of saving manpower.

SUMMERY OF THE UTILITY MODEL

The utility model provides a fixed creel type yarn feeding robot, which solves the problems of complex structure and high cost of the traditional yarn feeding device with a rotary creel.

In order to solve the technical problems, the technical scheme adopted by the utility model is as follows: the utility model provides a silk robot on fixed yarn posture, including AGV main part device, be equipped with linear sliding device on the AGV main part device, linear sliding device is equipped with gliding carriage from top to bottom, be equipped with the multiaxis robot of taking the clamp on the carriage, one side of linear sliding device is equipped with the creel on the AGV main part device, the creel both sides are equipped with a plurality of raw yarn supporting rods, single raw yarn supporting rod is roughly horizontal to be arranged, raw yarn supporting rod is used for placing raw yarn book, one side orientation creel that is equipped with the multiaxis robot on the linear sliding device, raw yarn supporting rod is towards the both sides of AGV main part device.

The single raw yarn support rod is arranged approximately horizontally, which means that the axis of the raw yarn support rod is approximately horizontal, or slightly inclined upwards, for example, having an inclination angle of 1-5 ° with the horizontal plane, so as to prevent the bobbin from sliding off during the movement and prevent the raw yarn from falling out when the AGV moves.

In the preferred scheme, AGV main part device includes the AGV dolly, and the AGV main part device outside is equipped with keeps away the barrier radar.

In the preferred scheme, the linear sliding device further comprises a vertical frame, a guide rail sliding block device is arranged on the vertical frame, the sliding frame is connected with the vertical frame in a sliding mode through the guide rail sliding block device, a rack is further arranged on the vertical frame, a speed reduction motor is arranged on the sliding frame, a gear is arranged at the shaft end of the speed reduction motor, and the gear is meshed with the rack.

In the preferred scheme, the upper end of the vertical frame is also provided with a rotatable supporting rotating shaft, a balancing weight and a balancing weight connecting piece, one end of the balancing weight connecting piece is connected with the balancing weight, and the other end of the balancing weight connecting piece bypasses the supporting rotating shaft and is connected with the sliding frame.

In the preferred scheme, the AGV main body device comprises an AGV trolley, a first speed reducing motor and a connecting flange are arranged at the upper end of the AGV trolley, the shaft end of the first speed reducing motor is sleeved with the connecting flange, and the connecting flange is connected with the lower end of the consignment platform.

In the preferred scheme, the middle part of the lower end of the AGV trolley is provided with a walking wheel, and the front end steering wheel and the rear end steering wheel are respectively arranged at the front end and the rear end of the walking wheel.

In the preferred scheme, still be equipped with the shell body, the shell body cover is in the AGV dolly outside, keeps away the barrier radar and establishes on the shell body.

The utility model has the beneficial effects that: the whole robot has a degree of freedom in the vertical direction, and the degree of freedom can enlarge the silk feeding range of the robot, so that the composite robot can be suitable for twisting machines with different specifications; the robot is reasonable in position arrangement, so that raw yarns can be conveniently taken and placed without rotating a creel; through the organic combination of all parts, the yarn feeding of a creel of the twisting machine can be accurately and efficiently carried out; through automatic silk feeding, the working intensity and the workload of operators are reduced, the silk feeding efficiency is improved, various redundant labor caused by manual work is saved, the cost is saved for enterprises, and the benefit is increased.

Drawings

The utility model is further illustrated by the following figures and examples.

FIG. 1 is a schematic of the present invention.

Fig. 2 is a top view of the present invention.

Fig. 3 is an internal structure view of the linear sliding apparatus of the present invention.

Fig. 4 is a view of the fixed creel arrangement of the present invention.

FIG. 5 is an exploded view of an AGV body assembly of the present invention.

FIG. 6 is a bottom view of the AGV of the present invention.

In the figure: an AGV main body device 1; an AGV trolley 101; a road wheel 102; a front-end steering wheel 103; a rear-end steering wheel 104; an outer housing 105; an obstacle avoidance radar 106; a multi-axis robot 2; a linear slide device 3; a vertical frame 301; a sliding frame 302; a rail slider device 303; a gear 304; a rack 305; a support shaft 306; a weight block 307; a reduction motor 308; a counterweight attachment member 309; a creel 4; a base yarn support bar 401; a package of raw yarn 5.

Detailed Description

As shown in fig. 1-6, a fixed creel type threading robot includes an AGV main body 1, a linear sliding device 3 is provided on the AGV main body 1, the linear sliding device 3 is provided with a sliding frame 302 capable of sliding up and down, a multi-axis robot 2 with a clamp is provided on the sliding frame 302, the clamp can adopt a similar three-jaw chuck structure or a finger cylinder to clamp an inner cylinder or an outer ring of a raw yarn roll 5, a creel 4 is provided on one side of the linear sliding device 3 on the AGV main body 1, a plurality of raw yarn supporting rods 401 are provided on both sides of the creel 4, the raw yarn supporting rods 401 are used for placing the raw yarn roll 5, the raw yarn supporting rods 401 are slightly inclined upwards by several degrees to prevent the raw yarn roll 5 from falling, one side of the multi-axis robot 2 on the linear sliding device 3 faces the creel 4, the raw yarn supporting rods 401 face both sides of the AGV main body 1, the creel 4 does not need to rotate, and the multi-axis robot 2 can clamp the raw yarn rolls 5 on both sides.

The AGV trolley drives the multi-axis robot to move back and forth in a workshop according to instructions, and feeding of the original yarn roll 5 to the creel 4 and feeding of the original yarn roll 5 on the creel 4 to the twisting machine are achieved.

In the preferred scheme, the AGV main body device 1 comprises an AGV trolley 101, and an obstacle avoidance radar 106 is arranged outside the AGV main body device 1 and used for identifying road obstacles.

The coupling position of the carriage 302 and the multi-axis robot 2 is oriented in the direction of the AGV main body 1 side, i.e., the direction of the upper side and the lower side in fig. 2, i.e., the direction of the longitudinal side of the AGV main body 1.

In a preferable scheme, the linear sliding device 3 further comprises a vertical frame 301, a guide rail slider device 303 is arranged on the vertical frame 301, the sliding frame 302 is connected with the vertical frame 301 in a sliding mode through the guide rail slider device 303, a rack 305 is further arranged on the vertical frame 301, a speed reduction motor 308 is arranged on the sliding frame 302, a gear 304 is arranged at the shaft end of the speed reduction motor 308, the gear 304 is meshed with the rack 305, and the speed reduction motor 308 drives the sliding frame 302 to move up and down.

The linear sliding device 3 can be in the form of not only the matching of a motor, a gear and a rack, but also the matching of an electric cylinder and a lead screw, belt transmission and the like.

In the preferred scheme, the upper end of the vertical frame 301 is further provided with a rotatable supporting rotating shaft 306, pulleys can be sleeved on the supporting rotating shaft 306, a balancing weight 307 and a counterweight connecting piece 309 are further arranged, the counterweight connecting piece 309 can select a steel cable, a belt, a chain and the like, one end of the counterweight connecting piece 309 is connected with the balancing weight 307, the other end of the counterweight connecting piece 309 bypasses the pulleys of the supporting rotating shaft 306 to be connected with the sliding frame 302, and the balancing weight 307 is used for balancing the dead weight of the movement mechanism and reducing the working load of the speed reducing motor 308.

In the preferred scheme, the AGV main body device 1 comprises an AGV trolley 101, an outer shell 105 is sleeved outside the AGV trolley 101, the outer shell 105 mainly plays a role in supporting, connecting and protecting, a first speed reducing motor 102 and a connecting flange 103 are arranged at the upper end of the AGV trolley 101, the shaft end of the first speed reducing motor 102 penetrates through the outer shell 105 to be sleeved with the connecting flange 103, and the connecting flange 103 is connected with the lower end of a delivery platform 104.

In the preferred scheme, the middle of the lower end of the AGV trolley 101 is provided with a traveling wheel 102, the front end and the rear end of the traveling wheel 102 are respectively provided with a front end steering wheel 103 and a rear end steering wheel 104, so that pivot rotation can be realized, and the turning radius is reduced.

In the preferred scheme, an outer shell 105 is further arranged, the outer shell 105 mainly plays a role in supporting, connecting and protecting, the outer shell 105 is sleeved outside the AGV trolley 101, and the obstacle avoidance radar 106 is arranged on the outer shell 105 to avoid being shielded.

The above-described embodiments are merely preferred embodiments of the present invention, and should not be construed as limiting the present invention, and the scope of the present invention is defined by the claims, and equivalents including technical features described in the claims. I.e., equivalent alterations and modifications within the scope hereof, are also intended to be within the scope of the utility model.

Claims (6)

1. The utility model provides a fixed yarn posture goes up silk robot which characterized by: including AGV main part device (1), be equipped with linear sliding device (3) on AGV main part device (1), linear sliding device (3) are equipped with gliding carriage (302) from top to bottom, be equipped with multiaxis robot (2) of taking the utensil on carriage (302), one side of linear sliding device (3) is equipped with creel (4) on AGV main part device (1), creel (4) both sides are equipped with a plurality of raw yarn supporting rod (401), single raw yarn supporting rod (401) is roughly horizontal to be arranged, raw yarn supporting rod (401) are used for placing raw yarn book (5), one side that is equipped with multiaxis robot (2) on linear sliding device (3) is towards creel (4), raw yarn supporting rod (401) are towards the both sides of AGV main part device (1).

2. The fixed creel threading robot of claim 1, wherein: AGV main part device (1) includes AGV dolly (101), and AGV main part device (1) outside is equipped with keeps away barrier radar (106).

3. The fixed creel threading robot of claim 1, wherein: the linear sliding device (3) further comprises a vertical frame (301), a guide rail sliding block device (303) is arranged on the vertical frame (301), the sliding frame (302) is connected with the vertical frame (301) in a sliding mode through the guide rail sliding block device (303), a rack (305) is further arranged on the vertical frame (301), a speed reduction motor (308) is arranged on the sliding frame (302), a gear (304) is arranged at the shaft end of the speed reduction motor (308), and the gear (304) is meshed with the rack (305).

4. The fixed creel threading robot of claim 3, wherein: the upper end of the vertical frame (301) is further provided with a rotatable supporting rotating shaft (306), a balancing weight (307) and a balancing weight connecting piece (309), one end of the balancing weight connecting piece (309) is connected with the balancing weight (307), and the other end of the balancing weight connecting piece (309) bypasses the supporting rotating shaft (306) to be connected with the sliding frame (302).

5. The fixed creel threading robot of claim 2, wherein: the middle of the lower end of the AGV trolley (101) is provided with a traveling wheel (102), and the front end and the rear end of the traveling wheel (102) are respectively provided with a front steering wheel (103) and a rear steering wheel (104).

6. The fixed creel threading robot of claim 2, wherein: the AGV is characterized by further comprising an outer shell (105), wherein the outer shell (105) is sleeved on the outer side of the AGV trolley (101), and an obstacle avoidance radar (106) is arranged on the outer shell (105).

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