An automatic winding drum taking and loading mechanism for glass fiber drawing machine

Abstract

The present invention relates to an automatic winding drum taking and loading mechanism for a glass fiber drawing machine, comprising a middle bracket, an upper bracket, a winding drum pulling and pushing unit and a winding drum supporting unit; the winding drum pulling and pushing unit is mounted on the upper bracket, and the winding drum supporting unit is mounted on the middle bracket; the winding drum pulling and pushing unit comprises an upper linear module fixedly mounted on the upper bracket, a sliding assembly of the upper linear module is fixed with a combined bracket, and a pulling and pushing structure is mounted on the lower end of the combined bracket; the winding drum supporting unit comprises a middle support plate fixedly mounted on the middle bracket, a rear fixed flap and a weighing sensor are inherently provided on the upper side of the middle support plate, a front fixed flap is fixed on the weighing sensor, a supporting mechanism for driving the three supporting drum flaps to move is also mounted on the middle support plate, and a second camera is fixed to the end of the middle support rod. The present invention has the advantages of being able to reduce labor costs, improve the degree of automation, and avoid the risk of mechanical collisions to humans during human-machine collaborative work.

Description

Technical Field

[0001] The present invention relates to the field of mechanical technology, in particular to an automatic winding drum taking and loading mechanism for a glass fiber drawing machine. Background Art

[0002] The winding drum is a cylindrical object made of glass fiber, which is used as the basis for winding glass fiber filaments. After the glass fiber is wound, the winding drum can be pulled out and reused.

[0003] Currently, all operations are done manually, where the wire winding drum is manually pulled out and manually put on the wire drawing machine head to replenish the wire winding drum for the wire drawing machine. This results in high labor costs and there is a safety hazard of mechanical collision during human-machine collaborative work. Summary of the Invention

[0004] In view of the above-mentioned deficiencies in the existing technology, the technical problem to be solved by this patent application is how to provide an automatic winding drum removal and installation mechanism for a glass fiber drawing machine that can reduce labor costs, improve the degree of automation, and avoid the risk of mechanical collision to humans during human-machine collaborative work.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] An automatic winding drum taking and loading mechanism for a glass fiber drawing machine comprises a middle bracket, an upper bracket, a winding drum pulling and pushing unit and a winding drum supporting unit;

[0007] The upper bracket is fixedly mounted on the middle bracket, the wire winding drum pulling and pushing unit is mounted on the upper bracket, and the wire winding drum supporting unit is mounted on the middle bracket;

[0008] The wire winding drum pulling and pushing unit includes an upper linear module fixedly mounted on an upper bracket, a sliding assembly of the upper linear module is fixed with a combined bracket, a floating linear guide rail is mounted on the combined bracket, a correction finger electric cylinder capable of clamping the floating linear guide rail is mounted on the upper linear module, and a pulling and pushing structure is mounted on the lower end of the combined bracket;

[0009] The wire winding tube support unit includes a middle support plate fixedly mounted on a middle bracket, the upper side of the middle support plate has a rear fixed petal and a weighing sensor, the weighing sensor is fixed with a front fixed petal, and the middle support plate is also equipped with a support mechanism for driving the movement of the three support tube petals, and a second camera is fixed to the end of the middle support rod.

[0010] Among them, the pulling and pushing structure includes a third motor installed on the combined bracket, the output shaft of the third motor passes downward through the combined bracket and is fixed with a driving sprocket, the combined bracket is fixed with a driven sprocket through a wheel axle, the driving sprocket and the driven sprocket are connected by a transmission chain, and two fourth linear guide rails are fixed at the lower end of the combined bracket, the sliders on the fourth linear guide rails are respectively fixed with a front fixed seat and a rear fixed seat, the front fixed seat and the rear fixed seat are fixedly connected to the two sides of the transmission chain and are staggered, the front fixed seat and the rear fixed seat are both fixed with electric clamps, and the electric clamps are respectively connected with an outer clamping arm and an inner clamping arm.

[0011] The length of the inner clamping arm is greater than that of the outer clamping arm, and the lengths of the two outer clamping arms are different. Grooves are provided on the inner sides of the inner clamping arms.

[0012] Among them, the circle-supporting mechanism includes a servo electric cylinder fixedly mounted on the middle support plate, the servo electric cylinder is connected to a connecting block through a floating joint, the connecting block is T-shaped, and a T-shaped slide groove is provided through the middle support plate for sliding cooperation with the connecting block. The three ends of the connecting block are respectively hinged with a four-bar linkage through a connecting rod, one end of the four-bar linkage is fixed on the middle support plate, and the other end is connected to the support cylinder petal.

[0013] Wherein, a third linear guide rail is fixed on the middle support plate, and the slider on the third linear guide rail is fixedly connected to the connecting block.

[0014] In summary, the present invention has the advantages of being able to reduce labor costs, improve the degree of automation, and avoid the risk of mechanical collisions to humans during human-machine collaborative work. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The present invention is a schematic structural diagram of an automatic winding drum removal and installation mechanism for a glass fiber drawing machine.

[0016] Figure 2 It is a partial schematic diagram of the winding drum pulling and pushing unit.

[0017] Figure 3 for Figure 2 Schematic diagram of another orientation.

[0018] Figure 4 It is a partial schematic diagram of the wire winding drum support unit. DETAILED DESCRIPTION

[0019] The present invention will be described in further detail below with reference to the accompanying drawings. It should be understood that in the description of the present invention, the directions or positional relationships indicated by directional terms such as "upper" and "lower" and "top" and "bottom" are generally based on the directions or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. Unless otherwise indicated, these directional terms do not indicate or imply that the devices or components referred to must have a specific direction or be constructed and operated in a specific direction, and therefore should not be construed as limiting the scope of protection of the present invention. The directional terms "inside" and "outside" refer to the inside and outside relative to the outline of each component itself.

[0020] like Figure 1-4 As shown, an automatic winding drum taking and loading mechanism for a glass fiber drawing machine includes a middle bracket 1, an upper bracket 2, a winding drum pulling and pushing unit, and a winding drum supporting unit;

[0021] The upper bracket is fixedly mounted on the middle bracket, the wire winding drum pulling and pushing unit is mounted on the upper bracket, and the wire winding drum supporting unit is mounted on the middle bracket;

[0022] The winding drum pulling and pushing unit includes an upper linear module 3 fixedly mounted on an upper bracket, a sliding assembly of the upper linear module is fixed with a combined bracket 4, a floating linear guide rail is mounted on the combined bracket, a correction finger electric cylinder 5 capable of clamping the floating linear guide rail is mounted on the upper linear module, and a pulling and pushing structure is mounted on the lower end of the combined bracket;

[0023] The wire winding tube support unit includes a middle support 6 fixedly mounted on a middle bracket, a rear fixed flap 7 and a weighing sensor 8 are inherently provided on the upper side of the middle support plate, a front fixed flap 9 is fixed on the weighing sensor, and a support mechanism for driving the three support tube flaps 10 to move is also installed on the middle support plate, and a second camera 11 is fixed to the end of the middle support rod.

[0024] In this way, the wire bobbins are placed on the wire bobbins shelf. The wire bobbins pulling and pushing unit can remove the wire bobbins from the wire bobbins shelf. The wire bobbins are rounded into a standard shape by the wire bobbins rounding unit. The rounded wire bobbins are then pushed onto the head of the wire drawing machine by the wire bobbins pulling and pushing unit. The second camera at the front end is used for shooting and positioning. The provision of the wire bobbins rounding unit prevents two wire bobbins with irregular shapes from overlapping when pushed into the head together. The wire bobbins rounding unit can tighten the wire bobbins to prevent them from slipping during transportation.

[0025] In this embodiment, the pushing and pulling structure includes a third motor 12 installed on the combined bracket, the output shaft of the third motor passes downward through the combined bracket and is fixed with a driving sprocket, the combined bracket is fixed with a driven sprocket through a wheel axle, the driving sprocket and the driven sprocket are connected by a transmission chain 13, and two fourth linear guide rails 14 are fixed at the lower end of the combined bracket, the sliders on the fourth linear guide rails are respectively fixed with a front fixed seat and a rear fixed seat, the front fixed seat and the rear fixed seat are fixedly connected to the two sides of the transmission chain and are staggered, the front fixed seat and the rear fixed seat are both fixed with electric clamps 15, and the electric clamps are respectively connected with an outer clamping arm 16 and an inner clamping arm 17.

[0026] In this way, the electric gripper grabs the edge of the winding drum from the winding drum shelf and spreads it open, then inserts it into the rounding mechanism and rounds it. A third motor drives the driving sprocket, which in turn drives the transmission chain and driven sprocket, moving the front and rear fixed seats closer or farther from each other, thereby driving the two electric grippers closer or farther from each other. The electric gripper drives the outer and inner clamping arms to clamp the winding drum.

[0027] In this embodiment, the inner clamping arm is longer than the outer clamping arm, and the two outer clamping arms are of different lengths. A groove 18 is provided on the inner side of each inner clamping arm. When inserting the wire winding drum into the machine head, the groove on the top of the electric clamping jaw engages the end of the wire winding drum to push the clamping jaw. To prevent the clamping jaw from colliding with the edge of the machine head during insertion, a flexible design has been implemented for the push-pull mechanism, with the addition of a floating linear guide and a finger-calibration electric cylinder to prevent the electric clamping jaw from colliding with the machine head.

[0028] In this embodiment, the circular support mechanism includes a servo electric cylinder 19 fixedly mounted on the middle support plate, the servo electric cylinder is connected to a connecting block 21 via a floating joint 20, the connecting block is T-shaped, and a T-shaped slot that slides with the connecting block is provided through the middle support plate. The three ends of the connecting block are respectively hinged to a four-bar linkage 23 via a connecting rod 22, one end of the four-bar linkage is fixed to the middle support plate, and the other end is connected to the support cylinder petal. The servo electric cylinder drives the connecting block to move along the T-shaped slot, and drives the four-bar linkage to move through the connecting rod, thereby driving the support cylinder petal close to or away from the middle support plate. The four-bar linkage is a parallelogram linkage. The wire winding cylinder circular support unit is driven by the servo electric cylinder, which drives the left, right, and lower arc support cylinder petals to expand and contract through the connecting rod system.

[0029] In this embodiment, a third linear guide rail 24 is fixed to the middle support plate, and a slider on the third linear guide rail is fixedly connected to the connecting block. The third linear guide rail guides the movement of the connecting block along the T-shaped slide groove.

[0030] principle:

[0031] The robot moves to the bobbin rack, takes a picture with the second camera, and after adjusting its position, the upper linear module drives the electric gripper forward until it approaches the bobbin. The grippers then move inward and side by side, then extend forward to insert the two grippers into the center of the bobbin. The two grippers close and grip the edge of the paper tube, then move back to pull the tube out a distance. The two grippers then move in the opposite direction, prying the mouth of the bobbin open. The robot then moves back to completely pull the tube out and fit it onto the rear end of the support mechanism. The robot then translates a short distance to the next bobbin retrieval position and repeats the above steps, fitting the bobbin into the front end of the support mechanism. This completes the process of removing two bobbins. The rear fixed flap and the front weighing flap have diffuse reflection sensors to detect whether the bobbins are properly installed. The rounding mechanism holds the two paper tubes in a rounded shape. A servo cylinder, via a floating joint, drives the connecting block forward, which in turn moves the four-bar linkage, including the short and long links, causing the three support petals to open, tightening and rounding the winding tubes. After the winding tubes are removed, the empty shelf can be removed and refilled by calling a human or RGV.

[0032] The robot then moves to the wire drawing machine, takes a picture with a second camera, and after adjusting its positioning, the upper linear module drives the two electric grippers to move inward slightly, aligning the grooves on the two electric grippers with the edges of the wire winding drum. The robot then extends forward, using the grooves in the electric grippers to push the rear wire winding drum forward, squeezing the rear wire winding drum against the front wire winding drum until both are pushed in and placed on the machine head. The robot then retracts and returns to its original position. A conical guide disc is installed at the front end of the wire drawing machine head to facilitate the introduction of the wire winding drums. When the wire winding drums are pushed into position, the through-beam sensor is blocked by the machine head, indicating that they are pushed into position, and the gripper retracts. This completes the installation of the two wire winding drums.

[0033] The reason for using the groove to push the winding drum instead of directly grasping the winding drum and pushing it forward is that the gap in the diameter direction between the winding drum and the machine head is small, only about 2mm, and the claw hand must be made thicker to ensure clamping strength. If a thicker claw hand is used to push the winding drum, when the machine head is in place, the thickness of the claw hand will eat up the gap between the winding drum and the machine head, causing the claw hand and the winding drum to be tightened. At this time, if the tightened claw hand is pulled out, the winding drum will be pulled back with it. Using a thinner groove instead of a clamping claw to clamp and push the winding drum can avoid the above problem.

[0034] The connection between the upper linear module and the gripper mounting bracket is not a fixed connection, but a flexible floating connection. Because the gap between the gripper and the outer wall of the machine head is small when pushing the winding drum, in order to avoid the positioning mechanical deviation causing a hard collision between the gripper and the machine head, a floating linear guide and a correction finger electric cylinder are added. When the winding drum is pushed into the machine head, the correction finger electric cylinder opens. At this time, the clamping system under the mechanism becomes a flexible state that can float left and right. Even if the pushing path is eccentric with the machine head, the flexible system can automatically correct it. In other working conditions, the correction finger electric cylinder maintains the clamping state, and the flexible system becomes a rigid system that will not shake.

[0035] Finally, it should be noted that various modifications and variations of the present invention may be made by those skilled in the art without departing from the spirit and scope of the present invention. Thus, the present invention is intended to include such modifications and variations as fall within the scope of the claims and their equivalents.

Claims

1. A mechanism for automatically taking out and loading a winding drum for a glass fiber drawing machine, characterized in that: It includes a middle bracket, an upper bracket, a winding drum pulling and pushing unit and a winding drum supporting unit; The upper bracket is fixedly mounted on the middle bracket, the wire winding drum pulling and pushing unit is mounted on the upper bracket, and the wire winding drum supporting unit is mounted on the middle bracket; The wire winding drum pulling and pushing unit includes an upper linear module fixedly mounted on an upper bracket, a sliding assembly of the upper linear module is fixed with a combined bracket, a floating linear guide rail is mounted on the combined bracket, a correction finger electric cylinder capable of clamping the floating linear guide rail is mounted on the upper linear module, and a pulling and pushing structure is mounted on the lower end of the combined bracket; The wire winding cylinder support unit includes a middle support plate fixedly mounted on the middle bracket, the upper side of the middle support plate has a rear fixed petal and a weighing sensor, the weighing sensor is fixed with a front fixed petal, the middle support plate is also equipped with a support mechanism for driving the three support petals to move, and a second camera is fixed to the end of the middle support plate; The pulling and pushing structure includes a third motor installed on the combined bracket, the output shaft of the third motor passes downward through the combined bracket and is fixed with a driving sprocket, the combined bracket is fixed with a driven sprocket through a wheel axle, the driving sprocket and the driven sprocket are connected by a transmission chain, the lower end of the combined bracket is fixed with two fourth linear guides, the sliders on the fourth linear guides are respectively fixed with a front fixed seat and a rear fixed seat, the front fixed seat and the rear fixed seat are fixedly connected to the two sides of the transmission chain and are staggered, the front fixed seat and the rear fixed seat are both fixed with electric clamps, and the electric clamps are respectively connected with an outer clamping arm and an inner clamping arm; The circle-supporting mechanism includes a servo electric cylinder fixedly mounted on a middle support plate, the servo electric cylinder is connected to a connecting block via a floating joint, the connecting block is T-shaped, a T-shaped slot is provided through the middle support plate and slides with the connecting block, the three ends of the connecting block are respectively hinged with a four-bar linkage through connecting rods, one end of the four-bar linkage is fixed on the middle support plate, and the other end is connected to the support cylinder petal.

2. The automatic winding drum taking and loading mechanism for a glass fiber drawing machine according to claim 1 is characterized in that: The length of the inner clamping arm is greater than that of the outer clamping arm, and the lengths of the two outer clamping arms are different. The inner sides of the inner clamping arms are both provided with grooves.

3. The automatic winding drum taking and loading mechanism for a glass fiber drawing machine according to claim 2 is characterized in that: A third linear guide rail is fixed on the middle support plate, and a slider on the third linear guide rail is fixedly connected to the connecting block.

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