Expansion sheet overturning type manipulator capable of automatically sleeving machine head wire winding cylinder

Abstract

The utility model belongs to the technical field of glass fiber production equipment, and particularly relates to an expansion piece overturning type mechanical arm capable of automatically sleeving a machine head wire winding barrel. The expansion piece turnover type mechanical arm comprises an automatic cylinder feeding mechanism and a turnover cylinder conveying mechanism. The automatic cylinder feeding mechanism comprises a lifting feeding set, a first-stage cylinder feeding mechanism and a second-stage cylinder feeding mechanism. The overturning cylinder feeding mechanism comprises a supporting base, an overturning mechanism and an expansion piece rotating mechanism. The expansion piece overturning type mechanical arm and the control method thereof have the technical effects that the barrel feeding efficiency is high, and the wire winding barrel cannot be damaged.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of glass fiber production equipment, and particularly relates to a flange expansion and turnover type mechanical hand capable of automatically sleeving a machine head winding drum. BACKGROUND

[0002] Brief introduction of the production and manufacturing process of glass fibers: after the ore raw material formula is prepared, the ore raw material is melted into a glass liquid through a kiln, flows out through a porous platinum bushing, is coated with an impregnating agent by a single filament oiler, and is drawn into superfine fibers by various drawing equipment such as a drawing machine rotating at a high speed, and is wound into a direct twist-free roving yarn ball or a raw silk cake yarn ball. The three kinds of drawing and winding methods all need to be wound into a yarn ball by a winding drum, such as a paper winding drum or a Teflon winding drum. At present, the drawing process has automatic head feeding, yarn ring feeding without cutting, intermediate connecting yarn cutting, and yarn unloading mechanical hands to replace manual work, but after the yarn ball is taken off by the mechanical hand, the winding drum still needs to be sleeved on the machine head by manual work before drawing and winding, which not only has low efficiency, but also has safety hazards caused by man-machine cooperation, thereby hindering the whole automatic production process.

[0003] Please refer to the Chinese patent: An automatic winding drum taking and sleeving mechanism for a glass fiber drawing machine

Application publication number: CN115783899 A / Application number: 202211622113.6

to adapt to the diameter of the winding drum

corresponding to the actions of taking and pushing the drum sleeve

the action of supporting the winding drum to be round

[0004] Therefore, the application provides a flange expansion and turnover type mechanical hand capable of automatically sleeving a machine head winding drum to solve all or part of the technical problems described in the background art.

[0005] The innovative idea of the present application is: 1. the folding of the winding drum into a sheet is stored and fed by the air cylinder pressure maintaining technology; 2. the opening part of the folded winding drum is opened by the vacuum chuck constituting the upper and lower drum opening assembly; 3. the partially opened winding drum is sleeved on the supporting drum expanding piece of the turnover drum feeding mechanism, the expanding piece is rotated and opened by the expanding piece rotating mechanism to expand the winding drum into a circular shape; 4. the turnover drum feeding mechanism is turned over by 180 degrees to align with the head of the wire drawing machine, and then the winding drum is pushed to the head of the wire drawing machine by the pushing drum mechanism.

[0006] The solution provided by the present application to solve the technical problem is:

[0007] A kind of expanding piece turnover type mechanical hand capable of automatically sleeving head winding drum, comprising automatic feeding mechanism, turnover drum feeding mechanism;

[0008] The automatic feeding mechanism is used to transport the folded winding drum to the turnover drum feeding mechanism;The turnover drum feeding mechanism is used to expand the folded winding drum from the automatic feeding mechanism into a circular shape and complete automatic feeding of the drum.

[0009] As preferred, the automatic feeding mechanism comprises a lifting feeding assembly, a first-stage drum feeding mechanism and a second-stage drum feeding mechanism;The lifting feeding assembly is used to complete the pressure maintaining lifting progressive feeding of the folded winding drum, the first-stage drum feeding mechanism is used to translate the folded winding drum from the lifting feeding assembly to the second-stage drum feeding mechanism, and the second-stage drum feeding mechanism is used to open the opening part of the folded winding drum and transport it to the turnover drum feeding mechanism.

[0010] As preferred, the lifting feeding assembly comprises a lifting driving part and a lifting table;The lifting driving part is drivingly connected to the lifting table. Further preferably, the lifting driving part is a rodless lifting cylinder;The lifting table is arranged on the lifting slide of the rodless lifting cylinder. Further preferably, the lifting feeding assembly further comprises a pressure maintaining valve.

[0011] As preferred, the lifting feeding assembly further comprises a lifting guide column and a limiting part;The lifting guide column is used to guide the lifting movement of the lifting table, and the limiting part is used to limit the movement range of the lifting table.

[0012] The lifting feeding assembly is described as follows: a plurality of winding drums are folded into square sheets and stacked on the lifting table, and the lifting feeding assembly uses a rodless cylinder to complete the progressive feeding of the folded winding drum;Every time the first-stage drum feeding mechanism translates one winding drum, the lifting driving part drives the lifting table to deliver one folded winding drum upwards. Thus, the mechanical hand can carry multiple winding drums and perform automatic feeding, avoiding the reciprocating movement of the mechanical hand between the wire drawing machine and the storage rack when taking the drum.

[0013] As preferred, the first level bobbin feeding mechanism comprises a bobbin pushing and pulling plate, a pushing and pulling driving part; the pushing and pulling driving part is transmissionally connected to the bobbin pushing and pulling plate, and can translate the folded bobbin from the lifting feeding group to the second level bobbin feeding mechanism. Further preferably, the bobbin pushing and pulling plate comprises a horizontal part and a vertical part; the horizontal part is used for transmissionally connecting the pushing and pulling driving part, and the vertical part is used for pushing or pulling the bobbin from the edge of the folded bobbin. Further preferably, the pushing and pulling driving part is a pushing and pulling cylinder; the piston rod of the pushing and pulling cylinder is connected to the horizontal part of the bobbin pushing and pulling plate.

[0014] As preferred, the first level bobbin feeding mechanism further comprises a bobbin pushing and pulling plate guide; the bobbin pushing and pulling plate guide is used for guiding the pushing and pulling action of the bobbin pushing and pulling plate to increase the stability.

[0015] The first level bobbin feeding mechanism is explained as follows: the bobbin pushing and pulling plate can translate the folded bobbin from the feeding position of the lifting feeding group to the feeding position of the second level bobbin feeding mechanism, i.e. between the upper bobbin opening assembly and the lower bobbin opening assembly.

[0016] As preferred, the second level bobbin feeding mechanism comprises a bobbin feeding frame, a bobbin feeding driving part, an upper bobbin opening assembly, and a lower bobbin opening assembly; the upper bobbin opening assembly and the lower bobbin opening assembly are respectively arranged at the upper part and the lower part of the bobbin feeding frame and are opposite to each other, and the bobbin feeding driving part is transmissionally connected to the bobbin feeding frame. Further preferably, the upper bobbin opening assembly and the lower bobbin opening assembly each comprise a bobbin opening cylinder and a bobbin opening suction cup; the bobbin opening cylinder is transmissionally connected to the bobbin opening suction cup. Further preferably, the bobbin feeding driving part is a bobbin feeding cylinder.

[0017] As preferred, the second level bobbin feeding mechanism further comprises a bobbin feeding frame guide; the bobbin feeding frame guide is used for guiding the translation movement of the bobbin feeding frame to increase the stability.

[0018] The second level bobbin feeding mechanism is explained as follows: the upper and lower bobbin opening assemblies respectively suck the bobbin from the upper and lower surfaces of the folded bobbin, and then the bobbin opening cylinder drives the bobbin opening suction cup to open the opening part of the folded bobbin; then the bobbin feeding driving part drives the bobbin feeding frame to forward feed and place the bobbin on the flange of the turnover bobbin feeding mechanism.

[0019] Since the second level bobbin feeding mechanism needs to forward feed the bobbin after opening the opening part of the folded bobbin and place the bobbin on the sleeve part of the turnover bobbin feeding mechanism, the opening degree of the folded bobbin by the upper and lower bobbin opening assemblies depends on the shape and structure of the sleeve part of the turnover bobbin feeding mechanism; in the changed embodiments of the present application, the sleeve part of the turnover bobbin feeding mechanism can be a flat cone, an oval horn structure or a cone; correspondingly, the upper and lower bobbin opening assemblies open the folded bobbin into a corresponding structure which is consistent with the shape and size of the sleeve part.

[0020] Preferably, the turning and feeding mechanism includes a support base, a turning mechanism, and a sheet-increasing and rotating mechanism. The sheet-increasing and rotating mechanism is used to support the sleeve, and the turning mechanism is used to drive the sheet-increasing and rotating mechanism to turn 180 degrees.

[0021] Preferably, the flip mechanism includes a flip frame and a flip drive component; the flip frame is hingedly connected to the support base, and the flip drive component is transmission-connected to the flip frame. Further preferably, the flip drive component is a flip motor or a power cylinder. Further preferably, the flip motor is transmission-connected to the flip frame via a transmission belt.

[0022] Preferably, the sheet expansion rotation mechanism includes a rotating disk, a rotating drive component, a guide disk, and a plurality of sheet expansion cylinders; the rotating drive component is mounted on a flip frame and rotationally connected to the rotating disk; the sheet expansion cylinders are movably mounted on the rotating disk; and the guide disks are mounted on the flip frame; the rotating drive component is capable of driving the sheet expansion cylinders to rotate and expand or contract through the cooperation of the rotating disk and the guide disks. Further preferably, the rotating drive component is a rotating cylinder; the rotating disk is fixedly connected to the rotating piston rod of the rotating cylinder.

[0023] The flipping mechanism describes a number of expansion plates that rotate and expand synchronously under the action of a rotating drive component. During this process, the expansion plates expand the folded winding drum into a circular shape. The flipping mechanism flips the expansion plates, which are fitted with the winding drum, 180 degrees, so that the drum faces outward and is then pushed onto the drawing machine head.

[0024] Preferably, at least two involute grooves are provided on the guide disk, and at least two involute grooves are distributed symmetrically in the center; at least two telescopic grooves are provided on the rotating disk, and at least two telescopic grooves are distributed symmetrically in the center; the support tube expansion sheet is provided with an expansion sheet body and a drive head; the support tube expansion sheet is movably arranged in the telescopic groove, and the drive head is assembled in both the involute groove and the telescopic groove.

[0025] Preferably, a limiting edge is further provided on the rotating disk, and a limiting matching edge is provided at a corresponding position of the support tube expansion piece; the support tube expansion piece is movably arranged in the telescopic slot and is limited by the rotating disk through the cooperation of the limiting edge and the limiting matching edge.

[0026] Preferably, the sheet expansion and rotation mechanism also includes a fixed frame and a synchronization disk; a rotation slot is provided on the fixed frame; at least two drive slots are provided on the synchronization disk, and the at least two drive slots are centrally symmetrically distributed; the guide disk, the synchronization disk, and the rotation disk are sequentially arranged in the rotation slot; the synchronization disk is located between the guide disk and the rotation disk; the drive head is simultaneously assembled in the involute slot, the telescopic slot, and the drive slot.

[0027] The principle of the expansion and retraction of the expansion sleeves is that the rotary drive component drives the rotating disk. As the rotating disk rotates, the interaction between the expansion slots and the expansion sleeves drives the expansion sleeves along the involute slots on the guide disk. As the expansion sleeves move within the involute slots, they also undergo radial movement within the expansion slots on the rotating disk. Thus, the expansion sleeves can be rotated to expand or retract by rotating the drive component in both the forward and reverse directions.

[0028] Preferably, the sheet expansion rotation mechanism further includes a drive head bearing, which is arranged on the drive head for cooperating with the involute groove to increase the smoothness of movement between the drive head and the involute groove.

[0029] Preferably, the flipping and feeding tube mechanism further includes a support seat moving mechanism; the support seat moving mechanism is used to drive the support seat to perform linear reciprocating motion.

[0030] Further preferably, the support base moving mechanism includes a support base guide rail and a support base driving mechanism. The support base driving mechanism can drive the support base to perform reciprocating linear motion along the support base guide rail.

[0031] The support base driving mechanism can be a common power group component such as a motor screw slide module, an oil cylinder or an air cylinder, and the support base can be connected to the support base guide rail through a guide rail pair. The support base moving mechanism belongs to the existing technology and will not be described in detail here.

[0032] Preferably, the flipping and feeding cylinder mechanism further includes a cylinder pushing mechanism; the cylinder pushing mechanism includes a cylinder pushing cylinder and a cylinder pushing member; the cylinder pushing cylinder is arranged on the rotating disk and is transmission-connected to the cylinder pushing member.

[0033] The cylinder pusher can drive the cylinder pusher to extend and retract along the length of the support cylinder expansion plate to complete the cylinder push and return action; the cylinder pusher is preferably in an arc shape to match the edge of the winding cylinder. The cylinder pusher mechanism belongs to the existing technology and will not be described in detail here.

[0034] Preferably, the sheet-expanding and flipping manipulator that can automatically assemble the wire winding drum on the machine head also includes a walking mechanism and a manipulator chassis; the automatic drum feeding mechanism and the flip drum feeding mechanism are arranged on the manipulator chassis, and the walking mechanism is used to drive the manipulator chassis to move.

[0035] To automatically load the wire drawing machine head, the sheet-expanding and flipping manipulator needs to be able to perform reciprocating motion in the X, Y, and Z axes. The AGV platform or X, Y, and Z three-axis drive system known in the prior art can be used as the walking mechanism for this application. Simply attaching the manipulator chassis to the AGV platform or X, Y, and Z three-axis drive system enables the entire machine to be driven. The walking mechanism is state-of-the-art and will not be described in detail here.

[0036] The control methods of the aforementioned various sheet-increasing and flipping manipulators capable of automatically mounting the head winding drum include:

[0037] STEPO1, automatic feeding and opening of the winding drum sleeve step: the lifting drive component of the lifting feeding group automatically feeds the winding drum; the push-pull drive component of the first-level winding drum mechanism drives the wire winding drum push-pull plate to translate the folded winding drum between the upper and lower opening drum components; the upper and lower opening drum components of the second-level winding drum mechanism respectively suck the winding drum from the upper and lower sides of the folded winding drum and open the opening of the winding drum; the feeding drive component of the second-level winding drum mechanism drives the feeding drum frame to feed the material forward so that the winding drum is sleeved on the supporting drum expansion plate of the flip feeding drum mechanism;

[0038] STEP02, automatic drum support and turning step: the rotating drive component of the sheet-expanding rotating mechanism works, the drum support and sheet-expanding rotates and opens to expand the wire winding drum into a circle; the turning drive component of the turning mechanism starts, turning the drum support and sheet-expanding with the wire winding drum 180 degrees to prepare for drum pushing;

[0039] STEP03, automatic barrel pushing step, the robot moves the entire machine to make the wire winding barrel and the head of the wire drawing machine in a coaxial state; the barrel pushing cylinder of the barrel pushing mechanism is actuated, and the barrel pushing member pushes the wire winding barrel onto the head of the wire drawing machine.

[0040] Beneficial technical effects:

[0041] 1. The present application realizes the rotational expansion or rotational contraction of the support tube expansion sheet through the expansion sheet rotation mechanism. The support tube expansion sheet can complete the state conversion when the rotating drive component moves slightly, with high execution efficiency and low energy consumption. At the same time, since the support tube expansion sheet is rotationally opened, the support tube action is also rotationally expanded. The support tube force is basically applied to the winding tube from the inside along the internal tangent direction of the winding tube. Compared with the support tube process of straight line expansion to the left and right or straight line expansion to the top and bottom, it has the technical effect of smooth support tube action and not easy to damage the winding tube.

[0042] 2. This application uses a lifting platform to store the folded wire winding drums, and a rodless pressure-maintaining cylinder to realize the clip-type step-by-step loading of the folded wire winding drums; the robot can carry multiple wire winding drums and perform automatic loading, which can avoid the reciprocating motion between the wire drawing machine and the storage rack when the robot takes the drum, which is beneficial to improving equipment efficiency.

[0043] 3. In the winding process disclosed in the present application, multiple processes can be carried out simultaneously. For example, the lifting platform can immediately deliver the next winding drum upwards after the first-level feeding mechanism completes the push-pull translation of one winding drum; the first-level feeding mechanism can immediately push and pull the next winding drum after feeding a winding drum to the upper and lower opening drum components of the second-level feeding mechanism; the second-level feeding mechanism can immediately absorb and open the next winding drum after putting a winding drum on the supporting drum expansion plate; the supporting process of the winding drum can be synchronized with the turning process of the winding drum. The process proceeds step by step; thus, when the sheet-increasing rotating mechanism is winding the wire bobbin on the machine head, the materials on the loading positions of the lifting platform, the first-level feeding mechanism and the second-level feeding mechanism are all ready; after the sheet-increasing rotating mechanism has wound the wire bobbin on the machine head, the flipping mechanism flips 180 degrees to allow the sheet-increasing rotating mechanism to continue sleeve, and at the same time the whole machine moves to the next wire drawing machine that needs to load the wire bobbin; the actual working performance is: the whole robot moves continuously in front of the wire drawing machine, and the flipping feeding mechanism continuously flips the sleeve, supports the circle, and loads the wire bobbin until all the loading work is completed.

[0044] The technical solutions and technical effects of this application are described in detail below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 : Schematic diagram of the sheet-expanding and flipping robot that can automatically install the wire winding drum on the machine head;

[0046] Figure 2 : Schematic diagram of the three-dimensional structure of the automatic feeding drum mechanism;

[0047] Figure 3 : Front view of automatic feeding mechanism;

[0048] Figure 4 : Side view of automatic feeding mechanism;

[0049] Figure 5 : Top view of automatic feeding mechanism;

[0050] Figure 6 : Schematic diagram of the three-dimensional structure of the flip-feeding tube mechanism;

[0051] Figure 7 : Front view of the flip-up feeding mechanism;

[0052] Figure 8 : Side view of the flip-up feeding mechanism;

[0053] Figure 9 : Top view of the flip-up feeding mechanism;

[0054] Figure 10 : Exploded view of the flipping tube feeding mechanism structure;

[0055] Figure 11: Schematic diagram of the sheet expansion, rotation and extension of the flipping barrel feeding mechanism;

[0056] Icon Description:

[0057] 10-automatic tube feeding mechanism, 20-tumbling tube feeding mechanism, 30-manipulator chassis;

[0058] 110-lifting feeding group, 120-first-level feeding tube mechanism, 130-second-level feeding tube mechanism;

[0059] 1110-lifting drive component, 1120-lifting material platform, 1130-lifting guide column, 1140-limiting component;

[0060] 1210-wire winding drum push-pull plate, 1220-push-pull driving component, 1230-push-pull plate guide rod;

[0061] 1211- horizontal part, 1212- vertical part;

[0062] 1310-bottle feeding rack, 1320-bottle feeding drive component, 1330-upper barrel opening assembly, 1340-lower barrel opening assembly, 1350-bottle feeding rack guide rod;

[0063] 1331-opening cylinder, 1332-opening suction cup;

[0064] 210-support seat, 220-turning mechanism, 230-sheet expansion and rotation mechanism;

[0065] 2210-turn frame, 2220-turn drive component;

[0066] 2310-rotating disc, 2320-rotating drive component, 2330-guide disc, 2340-supporting cylinder expansion plate, 2350-fixed frame, 2360-synchronizing disc;

[0067] 2311- expansion slot, 2312- limiting edge;

[0068] 2331-gradient groove;

[0069] 2341- expansion body, 2342- driving head, 2343- limiting matching edge, 2344- expansion seat;

[0070] 2351-rotating tank;

[0071] 2361-Drive slot. DETAILED DESCRIPTION

[0072] Component naming conventions: This application uses first-level, second-level ordinal numbers and function + name markings (such as push-pull cylinder, barrel feeding cylinder, etc.) to name related components or assemblies. This is only to distinguish similar components or assemblies with the same structure or function, and does not imply that the related components or assemblies have functional or structural priorities or differences in importance, and should not be understood as a limitation on this application.

[0073] Direction description: In this application, the end where the automatic tube feeding mechanism 10 is located is regarded as the back, and the end where the flip tube feeding mechanism 20 is located is regarded as the front.

[0074] See also Figure 1 The present invention discloses a sheet-increasing and flipping robot capable of automatically attaching a die head to a wire bobbin, comprising an automatic bobbin feeding mechanism 10, a flip bobbin feeding mechanism 20, a robot chassis 30, and a travel mechanism. Both the automatic bobbin feeding mechanism 10 and the flip bobbin feeding mechanism 20 are mounted on the robot chassis 30, and the travel mechanism is used to drive the robot chassis 30.

[0075] To automatically load the wire drawing machine head, the sheet-expanding and flipping manipulator must be capable of reciprocating motion in the X, Y, and Z axes. The traveling mechanism of this application can be an AGV platform or an X, Y, and Z three-axis drive system, as known in the prior art. Simply attaching the manipulator chassis 30 to the AGV platform or X, Y, and Z three-axis drive system enables the complete machine's travel. The traveling mechanism is known in the prior art and will not be described in detail here.

[0076] See also Figures 2 to 5 The automatic barrel feeding mechanism 10 includes a lifting feeding group 110, a primary barrel feeding mechanism 120, and a secondary barrel feeding mechanism 130.

[0077] The lifting and feeding group 110 is used to complete the pressure-maintaining lifting and progressive feeding of the folding wire winding drum. The first-level feeding drum mechanism 120 is used to translate the folding wire winding drum from the lifting and feeding group 110 to the second-level feeding drum mechanism 130. The second-level feeding drum mechanism 130 is used to open the opening part of the folding wire winding drum and transport it to the flipping feeding drum mechanism 20.

[0078] Among them: the lifting feeding group 110 uses the cylinder pressure maintaining method to perform clip-type pressure maintaining and progressive feeding of the winding drum; every time the first-level feeding drum mechanism 120 moves a folded winding drum horizontally, the lifting feeding group 110 delivers the next folded winding drum upward.

[0079] The lifting feeding group 110 comprises a lifting driving component 1110, a lifting feeding table 1120, a lifting guide column 1130, and a limiting component 1140. The lifting driving component 1110 is drivingly connected to the lifting feeding table 1120. The lifting driving component 1110 and the lifting guide column 1130 are arranged on the mechanical hand chassis 30 and extend in the vertical direction; the limiting component 1140 is arranged at the top of the lifting guide column 1130. The lifting driving component 1110 is a rodless lifting cylinder, and the lifting feeding table 1120 is arranged on the lifting slide of the rodless lifting cylinder. The lifting feeding table 1120 is provided with a corresponding structure such as a guide sleeve and the like for matching the lifting guide column 1130.

[0080] The folded wire winding drum is in the shape of a square sheet and is stacked on the lifting feeding table 1120. The rodless lifting cylinder realizes step-by-step pressure maintaining feeding of the folded wire winding drum through a throttle valve or a pressure maintaining valve. The lifting guide column 1130 is used to provide movement guidance for the lifting feeding table 1120 to improve the stability of feeding. The limiting component 1140 is used to limit the movement range of the lifting feeding table 1120. Thus, the mechanical hand can carry multiple wire winding drums and realize automatic feeding, avoiding the reciprocating movement of the mechanical hand between the wire drawing machine and the wire winding drum storage rack when taking the drum.

[0081] The primary drum feeding mechanism 120 comprises a wire winding drum push-pull plate 1210, a push-pull driving component 1220, and a push-pull plate guide rod 1230. The wire winding drum push-pull plate 1210 comprises a horizontal part 1211 and a vertical part 1212. The horizontal part 1211 is used to receive driving force from the push-pull driving component 1220, and the vertical part 1212 is used to push or pull the wire winding drum from the edge part of the folded wire winding drum. The push-pull driving component 1220 is a push-pull cylinder, which is drivingly connected to the horizontal part 1211. The push-pull plate guide rod 1230 is horizontally arranged and is used to provide movement guidance for the wire winding drum push-pull plate 1210 to increase the stability of the push-pull action.

[0082] When the piston rod of the push-pull cylinder is extended, the wire winding drum push-pull plate 1210 is pushed to the rear end of the lifting feeding position. When the piston rod of the push-pull cylinder is retracted, the wire winding drum push-pull plate 1210 and the wire winding drum are pulled to the front end of the lifting feeding position, i.e., between the upper drum opening assembly 1330 and the lower drum opening assembly 1340 of the secondary drum feeding mechanism 130.

[0083] In a variable embodiment, the push-pull cylinder can also be arranged at the rear side of the lifting feeding position. When the piston rod of the push-pull cylinder is extended, the folded wire winding drum is pushed to between the upper drum opening assembly 1330 and the lower drum opening assembly 1340. When the piston rod of the push-pull cylinder is retracted, the wire winding drum push-pull plate 1210 is pulled to the rear end of the lifting feeding position.

[0084] The secondary drum feeding mechanism 130 comprises a drum feeding frame 1310, a drum feeding driving component 1320, an upper drum opening assembly 1330, a lower drum opening assembly 1340, and a drum feeding frame guide rod 1350.

[0085] The barrel feeder guide rod 1350 is horizontally mounted on the manipulator chassis 30 via a vertical column. The barrel feeder chassis 1310 is slidably connected to the barrel feeder guide rod 1350 via a guide sleeve. The barrel feeder drive component 1320 is a barrel feeder cylinder, which is mounted on the manipulator chassis 30 and is transmission-connected to the barrel feeder chassis 1310. The upper barrel opening assembly 1330 and the lower barrel opening assembly 1340 are respectively mounted on the upper and lower portions of the barrel feeder chassis 1310 and are positioned opposite each other.

[0086] The upper and lower opening barrel assemblies 1330 and 1340 each include an opening barrel cylinder 1331 and an opening barrel suction cup 1332. The opening barrel cylinder 1331 is connected to the opening barrel suction cup 1332. The upper and lower opening barrel suction cups 1332 face each other to simultaneously secure the folding winding barrel from both sides. The upper and lower opening barrel cylinders 1331 extend and retract in opposite directions, opening the opening of the folding winding barrel through the simultaneous contraction of their piston rods.

[0087] Since the secondary feeding drum mechanism 130 needs to feed the material forward to sleeve the winding drum into the sleeve part of the flip feeding drum mechanism 20 after opening the opening part of the folding winding drum, the degree to which the upper opening drum component 1330 and the lower opening drum component 1340 open the opening part of the folding winding drum depends on the shape and structure of the sleeve part of the flip feeding drum mechanism 20; in the embodiment of the variation of the present application, the sleeve part of the flip feeding drum mechanism 20 can be a flat cone, an elliptical trumpet structure or a cone; correspondingly, the upper and lower opening drum components open the folding winding drum into a corresponding structure that matches the shape and size of the sleeve part.

[0088] In this embodiment, the cross-sectional shape of the support and expansion piece 2340 of the retracted state of the reel-flipping mechanism 20 presents an elliptical bell-mouth structure. Thus, the upper and lower reel-opening assemblies in this embodiment open the folded winding reel into an elliptical bell-mouth structure that matches the shape and position of the support and expansion piece 2340.

[0089] Description of the secondary winding drum mechanism: the upper and lower opening drum components suck the winding drum from the upper and lower sides of the folded winding drum respectively, and then the opening drum cylinder drives the opening drum suction cup to open the folded winding drum into an elliptical trumpet mouth; then the feeding drum driving component 1320 drives the feeding drum frame 1310 to feed forward and place the partially opened winding drum on the supporting drum expansion plate 2340 of the flipping feeding drum mechanism 20.

[0090] See also Figures 6 to 10 The flipping and feeding tube mechanism 20 includes a support base 210, a flipping mechanism 220, and a sheet-increasing rotating mechanism 230. The sheet-increasing rotating mechanism 230 is used to support the sleeve, and the flipping mechanism 220 is used to drive the sheet-increasing rotating mechanism 230 to flip 180 degrees.

[0091] The flipping mechanism 220 includes a flipping frame 2210 and a flipping drive component 2220; the flipping frame 2210 is hinged on the support base 210 through the cooperation of bearings and rotating shafts, and the flipping drive component 2220 is connected to the flipping frame 2210 through transmission; the flipping drive component 2220 can be a flipping motor or a power cylinder, and the flipping motor can be connected to the flipping frame 2210 through the cooperation of a transmission belt and a driving wheel and a driven wheel.

[0092] When the flip driving component 2220 rotates forward or reversely, it can drive the flip frame 2210 to flip 180 degrees clockwise or counterclockwise to adjust the direction or position of the support tube expansion piece 2340.

[0093] In a variation of the present application, the flipping and feeding mechanism 20 further includes a support seat moving mechanism, which is used to drive the support seat 210 to perform linear reciprocating motion on the manipulator chassis 30. The support seat moving mechanism includes a support seat guide rail and a support seat driving mechanism. The support seat guide rail is horizontally arranged and extends back and forth, and the support seat driving mechanism can drive the support seat 210 to perform linear reciprocating motion back and forth on the manipulator chassis 30 along the support seat guide rail. The support seat driving mechanism can be a commonly used power component part such as a motor screw slide module, an oil cylinder or an air cylinder, and the support seat 210 can establish a slidable connection with the support seat guide rail through a guide rail pair. The structure and connection of the support seat moving mechanism belong to the prior art and will not be elaborated here.

[0094] The expansion and rotation mechanism 230 includes a rotating disk 2310, a rotation drive component 2320, a guide disk 2330, and a plurality of expansion and support cylinders 2340. The rotation drive component 2320 is mounted on the rotating frame 2210 and is rotationally connected to the rotating disk 2310. The expansion and support cylinders 2340 are movably mounted on the rotating disk 2310, and the guide disk 2330 is mounted on the rotating frame 2210. The rotation drive component 2320 drives the expansion and support cylinders 2340 to rotate and expand or retract through the engagement between the rotating disk 2310 and the guide disk 2330.

[0095] The driving cooperation relationship between the rotating disk 2310 and the guide disk 2330 is:

[0096] The guide plate 2330 is provided with at least two, or four in this embodiment, involute grooves 2331 , which are centrally symmetrically distributed. Furthermore, the four involute grooves 2331 extend in an arc shape from a portion close to the axis of the guide plate 2330 toward an edge portion.

[0097] The rotating disk 2310 is provided with at least two, or four in this embodiment, expansion slots 2311, which are centrally symmetrically distributed and extend radially along the rotating disk 2310. A limiting edge 2312 is provided at the edge of the expansion slot 2311.

[0098] The number of the support tube expansion pieces 2340 is four, which is consistent with the number of the involute slots 2331 and the telescopic slots 2311. Each support tube expansion piece 2340 is provided with an expansion piece body 2341, a driving head 2342, and a limiting matching edge 2343.

[0099] The support tube expansion piece 2340 is movably disposed within the telescopic slot 2311 and is restrained by the rotating disk 2310 through the interaction between the limiting engagement edge 2343 and the limiting edge 2312, so that the support tube expansion piece 2340 can slide back and forth radially within the telescopic slot 2311 without falling off the rotating disk 2310. The drive head 2342 is assembled in both the involute slot 2331 and the telescopic slot 2311.

[0100] The guide plate 2330 is directly or indirectly fixed to the turning frame 2210, and the rotating plate 2310 is connected to the rotating shaft of the rotating driving component 2320 through the shaft hole on the guide plate 2330. The rotating driving component 2320 can be a rotating cylinder, a rotating oil cylinder or a driving motor.

[0101] When the rotary drive component 2320 rotates, it can drive the rotary disk 2310 to rotate together, and then the interaction between the rotary disk 2310 and the support tube expansion plate 2340 drives the support tube expansion plate 2340 to move: the support tube expansion plate 2340 rotates and slides along the involute groove 2331 while radially expanding and contracting along the expansion groove 2311. Therefore, through the driving cooperation between the rotary drive component 2320, the rotary disk 2310, and the guide disk 2330, the support tube expansion plate 2340 can complete the state conversion when the rotary drive component 2320 moves slightly; at the same time, because the support tube expansion plate 2340 is rotated and opened, the support tube action is also rotated and opened. The support tube force is basically applied to the winding tube from the inside of the winding tube along the internal tangential direction of the winding tube. Compared with the support tube process of straight-line expansion left and right or straight-line expansion up and down, the support tube action is smooth and stable, and it is not easy to damage the winding tube.

[0102] See also Figure 11 , Figure 11The diagram shows the support and expansion plates 2340 in their retracted and extended states. In the retracted state, the drive head 2342 of each support and expansion plate 2340 is located on the involute slot 2331 closest to the axis of the guide disc 2330 (and also located on the telescopic slot 2311 on the rotating disc 2310 closest to the axis of the rotating disc 2310). In the extended state, the drive head 2342 of each support and expansion plate 2340 is located on the involute slot 2331 closest to the edge of the guide disc 2330 (and also located on the telescopic slot 2311 on the rotating disc 2310 closest to the edge of the rotating disc 2310). Therefore, when the support and expansion plates 2340 transition from the retracted state to the extended state, the rotating disc 2310 rotates 90 degrees; conversely, the reverse rotation occurs. This means that the support and expansion plates 2340 can transition from retracted state to extended state with the slightest movement of the rotating cylinder.

[0103] See also Figure 10 In this embodiment, the expansion piece 2340 of the support cylinder adopts a separate structure, with the expansion piece body 2341 and the driving head 2342. Each expansion piece body 2341 includes a expansion piece seat 2344, and the driving head 2342 and the limiting engagement edge 2343 are both mounted on the expansion piece seat 2344. The expansion piece body 2341 and the driving head 2342 are fastened together as a whole by the expansion piece seat 2344. In alternative embodiments, the expansion piece body 2341, the driving head 2342, and the expansion piece seat 2344 can also adopt an integrated structure.

[0104] In a variant embodiment of the present application, the sheet expansion and rotation mechanism 230 further includes a fixed frame 2350 and a synchronization disk 2360. The fixed frame 2350 is provided with rotation slots 2351; the synchronization disk 2360 is provided with a driving slot 2361 having the same number as the involute slots 2331 and the expansion slots 2311; the driving slots 2361 are centrally symmetrically distributed and extend radially along the synchronization disk 2360.

[0105] The guide plate 2330, synchronizing plate 2360, and rotating plate 2310 are sequentially positioned within the rotating slot 2351. The drive head 2342 is simultaneously mounted within the involute slot 2331, the telescopic slot 2311, and the drive slot 2361. The fixed frame 2350 is positioned on the tilting frame 2210, and the rotating drive component 2320 is connected to the rotating plate 2310 via a shaft hole in the fixed frame 2350.

[0106] The fixing frame 2350 can increase the stability of the operation of the sheet expansion rotating mechanism 230 , and the synchronization disk 2360 can increase the stability of the sheet expansion rotation and telescopic driving force and the synchronization of the radial sliding between the support tube sheet expansion 2340 and the rotating disk 2310 .

[0107] In a variation of the present application, the sheet expansion rotation mechanism 230 further includes a drive head bearing; the drive head bearing is arranged on the drive head 2342 to cooperate with the involute groove 2331 to reduce friction and increase the smoothness of movement between the drive head 2342 and the involute groove 2331.

[0108] Description of the Flipping and Feeding Mechanism: The four support and expansion plates 2340 can be synchronously rotated to expand or retract under the action of the rotary drive component 2320. During this rotational expansion, the support and expansion plates 2340 can expand the folded wire winding drum into a circular shape. The flipping mechanism 220 can flip the support and expansion plates, which are sleeved with the wire winding drum, 180 degrees, so that the winding drum is oriented outward, facilitating the delivery of the winding drum to the wire drawing machine head. After the support and expansion plates 2340 have completed automatic winding, they flip 180 degrees in the opposite direction and simultaneously rotate and retract to facilitate the next winding operation.

[0109] In a variant embodiment of the present application, the flipping and feeding mechanism 20 also includes a pushing mechanism, which is used to push the wire winding drum that is expanded into a circle onto the head of the wire drawing machine. The pushing mechanism includes a pushing cylinder and a pushing member; the pushing cylinder is arranged on the rotating disk 2310 and is connected to the pushing member by transmission. The pushing cylinder can drive the pushing member to extend and retract along the length direction of the supporting tube expansion sheet to complete the pushing and resetting actions; the structure of the pushing member is preferably consistent with the end edge of the wire winding drum. The pushing mechanism belongs to the prior art and will not be described in detail here.

[0110] The control method of the aforementioned sheet-increasing and flipping manipulator capable of automatically mounting the head winding drum includes the following process steps:

[0111] To simplify the description, the lifting drive component 1110 of the lifting feeding group 110 is a rodless lifting cylinder, the push-pull drive component 1220 of the first-level barrel feeding mechanism 120 is a push-pull cylinder, the barrel feeding drive component of the second-level barrel feeding mechanism 130 is a barrel feeding cylinder, the drive component of the upper and lower barrel opening assemblies is an opening barrel cylinder, the flipping drive component 2220 is a flipping motor, and the rotating drive component 2320 is a rotating cylinder.

[0112] S01, in the pressure-maintaining state of the rodless lifting cylinder, the lifting and feeding group 110 starts working;

[0113] S02, the push-pull cylinder of the first-level bobbin feeding mechanism 120 starts to work, and moves the folded winding bobbin forward to the designated position (i.e., between the upper and lower opening bobbin assemblies);

[0114] S03, the upper opening barrel assembly 1330 and the lower opening barrel assembly 1340 of the secondary barrel feeding mechanism 130 work, and the vacuum generator starts;

[0115] S04, the upper and lower cylinders for opening the winding tube are simultaneously actuated to open the opening of the winding tube (for example, to separate it into an elliptical bell mouth);

[0116] S05, the feeding cylinder of the secondary feeding mechanism 130 feeds the material forward, and the wire winding tube is placed on the tube support and expansion plate 2340 of the flip feeding mechanism 20;

[0117] S06, flip the support base 210 of the feeding drum mechanism 20 and move it toward the winding drum, so that the drum support and expansion piece 2340 is completely inserted into the winding drum;

[0118] S07, the upper and lower opening cylinders are blown away in the opposite direction to separate the upper and lower opening suction cups from the winding drum;

[0119] S08, the cylinder of the secondary barrel feeding mechanism 130 drives the secondary barrel feeding mechanism 130 to return to its original position;

[0120] S09, the rotary cylinder of the sheet expansion rotating mechanism 230 works, and the tube expansion sheet 2340 rotates and opens to expand the wire winding tube into a round shape;

[0121] S10, the support base of the flipping bobbin feeding mechanism 20 moves forward, and the flipping motor flips the bobbin support and expansion plate 2340 with the winding bobbin 180°;

[0122] S11, the robot moves the entire machine so that the wire bobbin after being rounded and the head of the wire drawing machine to be loaded are in a coaxial state;

[0123] S12, the cylinder pusher of the cylinder pusher mechanism is actuated to drive the cylinder pusher to push the wire winding cylinder onto the head of the wire drawing machine;

[0124] S13, the tube feeding mechanism 20 is turned 180 degrees, and at the same time, the tube supporting and expanding piece 2340 is rotated and retracted, returning to the initial state, and the tube supporting and pushing mechanism 20 is again inserted into the tube supporting and pushing mechanism 20;

[0125] S14, looping the above steps to complete the automatic sleeve operation of all machine heads.

[0126] The automatic barrel loading process of the above-mentioned sheet-increasing flip-type robot can be summarized as follows:

[0127] STEPO1, automatic feeding and opening of the winding drum, the lifting drive component of the lifting feeding group automatically feeds the winding drum; the push-pull drive component of the first-level winding drum mechanism translates the folded winding drum between the upper and lower winding drum components; the upper and lower winding drum components of the second-level winding drum mechanism respectively suck the winding drum from the upper and lower sides and open the opening of the winding drum; the winding drum driving component of the second-level winding drum mechanism drives the winding drum frame to feed the material forward so that the winding drum is sleeved on the supporting drum expansion plate of the flipping winding drum mechanism;

[0128] STEP02, automatic drum support and turning step: the rotating drive component of the sheet-expanding rotating mechanism works, the drum support and expanding sheet rotates and opens to expand the wire winding drum into a circle; the turning drive component of the turning mechanism starts, turning the drum support and expanding sheet with the wire winding drum 180 degrees to prepare for drum pushing;

[0129] STEP03, automatic barrel pushing step, the robot moves the entire machine to make the wire winding barrel and the head of the wire drawing machine in a coaxial state; the barrel pushing cylinder of the barrel pushing mechanism is actuated, and the barrel pushing member pushes the wire winding barrel onto the head of the wire drawing machine.

[0130] The above describes the technical solution and technical effects of the present application in detail in combination with the drawings and specific embodiments of the specification. It should be noted that technicians in this field can also develop other embodiments on this basis; any simple deformation and equivalent substitution that does not deviate from the innovative concept of the present application are covered by the present application and fall within the scope of protection of this patent.

Claims

1. A sheet-increasing and flipping manipulator capable of automatically mounting a wire winding drum on a die head, characterized in that: It includes an automatic barrel feeding mechanism (10) and a barrel flipping feeding mechanism (20); The automatic drum feeding mechanism (10) is used to open the opening of the folded winding drum and feed it to the flip drum feeding mechanism (20); The overturning drum feeding mechanism (20) is used to expand the folded wire winding drum from the automatic drum feeding mechanism (10) into a circle and complete automatic drum loading.

2. The sheet-expanding and flipping manipulator capable of automatically mounting a die head winding drum according to claim 1 is characterized in that: The automatic barrel feeding mechanism (10) comprises a lifting feeding group (110), a primary barrel feeding mechanism (120), and a secondary barrel feeding mechanism (130); The lifting and feeding group (110) is used to complete the lifting and progressive feeding of the folding wire winding drum, the first-level feeding drum mechanism (120) is used to translate the folding wire winding drum from the lifting and feeding group (110) to the second-level feeding drum mechanism (130), and the second-level feeding drum mechanism (130) is used to open the opening part of the folding wire winding drum and convey it to the flip feeding drum mechanism (20).

3. The sheet-expanding and flipping manipulator capable of automatically mounting a die head winding drum according to claim 2 is characterized in that: The lifting and feeding group (110) comprises a lifting driving component (1110) and a lifting platform (1120); The lifting drive component (1110) is transmission-connected to the lifting platform (1120).

4. The sheet-expanding and flipping manipulator capable of automatically mounting a die head winding drum according to claim 2 is characterized in that: The primary drum feeding mechanism (120) comprises a wire winding drum push-pull plate (1210) and a push-pull driving component (1220); The push-pull driving component (1220) is transmission-connected to the wire winding drum push-pull plate (1210).

5. The sheet-expanding and flipping manipulator capable of automatically mounting a die head winding drum according to claim 2 is characterized in that: The secondary barrel feeding mechanism (130) comprises a barrel feeding frame (1310), a barrel feeding driving component (1320), an upper barrel opening assembly (1330), and a lower barrel opening assembly (1340); The upper barrel opening assembly (1330) and the lower barrel opening assembly (1340) are respectively arranged at the upper and lower parts of the barrel feeding frame (1310), and the barrel feeding driving component (1320) is transmission-connected to the barrel feeding frame (1310).

6. The sheet-expanding and flipping manipulator capable of automatically mounting a die head winding drum according to claim 1 is characterized in that: The flipping and feeding tube mechanism (20) comprises a support seat (210), a flipping mechanism (220), and a sheet expansion and rotation mechanism (230); The turning mechanism (220) comprises a turning frame (2210) and a turning drive component (2220); The turning frame (2210) is hinged on the support seat (210), and the turning drive component (2220) is transmission-connected to the turning frame (2210); The sheet expansion rotating mechanism (230) comprises a rotating disk (2310), a rotating drive component (2320), a guide disk (2330), and a plurality of supporting tubes for expanding the sheets (2340); The rotary drive component (2320) is arranged on the flip frame (2210) and is rotatably connected to the rotating disk (2310); the support tube expansion piece (2340) is movably arranged on the rotating disk (2310); and the guide disk (2330) is arranged on the flip frame (2210); The rotary drive component (2320) can drive the support tube expansion plate (2340) to rotate and open or rotate and contract through the cooperation of the rotary disk (2310) and the guide disk (2330).

7. The sheet-expanding and flipping manipulator capable of automatically mounting a die head winding drum according to claim 6 is characterized in that: The guide plate (2330) is provided with at least two involute grooves (2331), and the at least two involute grooves (2331) are distributed symmetrically with respect to the center; At least two telescopic slots (2311) are provided on the rotating disk (2310), and the at least two telescopic slots (2311) are distributed symmetrically with respect to the center; The support tube expansion piece (2340) is provided with an expansion piece body (2341) and a driving head (2342); The support tube expansion piece (2340) is movably arranged in the telescopic slot (2311), and the driving head (2342) is simultaneously assembled in the involute slot (2331) and the telescopic slot (2311).

8. The sheet-expanding and flipping manipulator capable of automatically mounting a die head winding drum according to claim 7 is characterized in that: The sheet expansion and rotation mechanism (230) further includes a fixing frame (2350) and a synchronization disk (2360); The fixing frame (2350) is provided with a rotation slot (2351); At least two driving grooves (2361) are provided on the synchronization disk (2360), and the at least two driving grooves (2361) are distributed symmetrically with respect to the center; The guide disc (2330), the synchronous disc (2360), and the rotating disc (2310) are sequentially arranged in the rotating groove (2351); and the driving head (2342) is simultaneously assembled in the involute groove (2331), the telescopic groove (2311), and the driving groove (2361).

9. The sheet-increasing and flipping manipulator capable of automatically mounting a die head winding drum according to claim 6 is characterized in that: The flipping and feeding tube mechanism (20) further includes a support seat moving mechanism; The support seat moving mechanism is used to drive the support seat (210) to perform linear reciprocating motion; The flip cylinder feeding mechanism (20) further includes a cylinder pushing mechanism; The cylinder pushing mechanism includes a cylinder pushing cylinder and a cylinder pushing member; The push cylinder is arranged on the rotating disk (2310) and is transmission-connected to the push cylinder member.

10. The sheet-increasing and flipping manipulator capable of automatically mounting a die head winding drum according to claim 1 is characterized in that: The sheet-expanding and flipping manipulator capable of automatically mounting the machine head winding drum further comprises a walking mechanism and a manipulator chassis (30); The automatic tube feeding mechanism (10) and the flip tube feeding mechanism (20) are arranged on the manipulator chassis (30), and the walking mechanism is used to drive the manipulator chassis (30) to move.

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