Fully automatic heald finishing machine

Abstract

The invention discloses a fully automatic heald finishing machine, comprising a machine platform and a feeding manipulator, a waste material removal device, and a stacking material taking device installed on the machine platform; the feeding manipulator comprises a material grabbing mechanism and a manipulator transfer mechanism, the material grabbing mechanism has a first material taking position and a first material discharging position; the waste material removal device comprises a material taking straightening and shaping mechanism, a waste material removal mechanism, and a material taking transfer mechanism, the material taking straightening and shaping mechanism has a second material discharging position, a waste material removal position, and a second material taking position corresponding to the first material discharging position; the waste material removal mechanism is located on the waste material removal position; the stacking material taking device comprises a loading mechanism, a pushing mechanism, a material rack changing mechanism, a stacking material transfer mechanism, and a material rack, the loading mechanism has a third material discharging position and a third material taking position corresponding to the second material discharging position; the material rack changing mechanism corresponds to the third material discharging position; the pushing mechanism corresponds to the second material discharging position. The invention significantly improves the efficiency of heald sheet finishing and reduces the labor cost of finishing.

Description

Technical Field

[0001] The invention relates to the technical field of textile accessories finishing equipment, and more specifically to a full-automatic heald finishing machine. Background Art

[0002] The heald dropper is an important accessory for many looms. Each warp yarn passes through the hole of the corresponding heald dropper to detect warp yarn breakage. When the warp yarn breaks, the heald dropper falls, blocking the detection infrared beam, and the equipment automatically stops.

[0003] In the prior art, there are various types of heald drop plates, which can be made in different ways, one of which is made of plastic and produced by injection molding. When this type of heald drop plates is injected, the injection mold injects multiple groups of heald drop plate groups at one time, each group has two heald drop plates, and there is a material head injected together between the two drop plates in each group. Therefore, after the heald drop plate group is injection-molded, the staff needs to remove the heald drop plate group from the injection mold, and then remove the material head in each group of heald drop plate groups, and finally neatly connect and stack each heald drop plate together. At present, the above process is all implemented by manual operation, which is not only inefficient but also has high labor costs, so there is room for improvement. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a fully automatic heald finishing machine, which significantly improves the efficiency of heald sheet finishing and reduces the labor cost of finishing.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A fully automatic heald finishing machine, characterized in that it comprises a machine platform and a feeding manipulator, a waste material removing device and a stacking material taking device installed on the machine platform;

[0007] The feeding manipulator comprises a material grabbing mechanism and a manipulator transfer mechanism, the material grabbing mechanism has a first material picking position and a first material discharging position, and the manipulator transfer mechanism is connected to the material grabbing mechanism to drive the material grabbing mechanism to move between the first material picking position and the first material discharging position;

[0008] The waste removal device comprises a material taking, straightening and shaping mechanism, a waste removal mechanism and a material taking and transferring mechanism. The material taking, straightening and shaping mechanism has a second material discharging position, a waste removal position and a second material taking position corresponding to the first material discharging position; the material taking and transferring mechanism is connected with the material taking, straightening and shaping mechanism to drive the material taking, straightening and shaping mechanism to move between the second material taking position, the waste removal position and the second material discharging position; the waste removal mechanism is located at the waste removal position to remove waste from the heald sheet group;

[0009] The stacking and feeding device includes a loading mechanism, a pushing mechanism, a material rack changing mechanism, a stacking and transferring mechanism and a stacking rack. The loading mechanism has a third material discharging position and a third material taking position corresponding to the second material discharging position, and is carried by the stacking rack; the stacking and transferring mechanism is connected to the loading mechanism to drive the loading mechanism to move between the third material taking position and the third material discharging position, and can flip the stacking rack on the loading mechanism at the third material discharging position; the material rack changing mechanism corresponds to the third material discharging position, and provides the loading mechanism with an empty stacking rack and supports and unloads the fully loaded stacking rack on the loading mechanism; the pushing mechanism corresponds to the second material discharging position, and can push the heald sheet on the second material discharging position to the stacking rack on the loading mechanism.

[0010] Preferably, the material grabbing mechanism comprises a robot arm, a connecting plate and a suction nozzle assembly; the connecting plate is slidably fitted on the robot arm transfer mechanism through the robot arm, and the suction nozzle assembly is mounted on the connecting plate to adsorb the heald sheet group.

[0011] Preferably, the material taking, straightening and shaping mechanism comprises a material taking rack and a straightening and shaping component;

[0012] The material taking rack is slidably matched on the material taking and transferring mechanism;

[0013] The straightening and shaping component includes an upper hook mounting plate and a lower hook mounting plate, which are respectively lifted and matched on the upper and lower sides of the material taking frame. The upper hook mounting plate and the lower hook mounting plate are respectively provided with multiple upper hooks and lower hooks, and each corresponding group of upper hooks and lower hooks forms a heald straightening group.

[0014] Preferably, a guide transmission component is provided on the material taking rack, and the guide transmission component is located at the front side of the hook.

[0015] Preferably, the waste removal mechanism comprises a waste baffle and a waste cutting plate;

[0016] The waste baffle is fixed on the frame of the machine platform, and has a plurality of avoidance openings arranged in parallel and for the upper hook and the lower hook to pass through, and a waste baffle is formed between every two adjacent avoidance openings;

[0017] The waste cutting plates are arranged on the upper and lower sides of the waste baffle plate and are respectively connected with waste removal lifting cylinders, and the waste removal lifting cylinders drive the waste cutting plates to cut off the connection point between the material head and the heald piece.

[0018] Preferably, the material loading mechanism comprises a support plate installed on the stacking material transfer mechanism, a positioning pin installed on the support plate, and a stacking frame positioning cylinder installed on the support plate and capable of driving the positioning pin to move up and down.

[0019] Preferably, the stacking material transfer mechanism comprises a stacking material transfer cylinder, a staggered stacking material transfer assembly and a flip assembly;

[0020] The offset stacking and transferring assembly has a slide seat that slides perpendicular to the moving direction of the material taking and transferring mechanism;

[0021] The stacking material transfer cylinder is installed on the slide seat and the piston rod of the stacking material transfer cylinder is connected to the support plate to drive the support plate to move between the third material discharging position and the third material taking position;

[0022] The flip assembly includes a flip cylinder and a flip base, wherein the flip cylinder is connected to a slide seat, the flip base is hinged at a third material fetching position and can be fixed to a stacking rack moved to the third material fetching position, and the flip base is connected to the flip cylinder and is driven to move by the flip cylinder.

[0023] Preferably, the pushing mechanism includes a pushing plate, a pushing cylinder connected to the pushing plate and capable of driving the pushing plate to push the heald sheet to the stacking rack, and a displacement driving assembly connected to the pushing cylinder and driving the pushing cylinder and the pushing plate to move closer to or away from the heald sheet.

[0024] Preferably, the rack replacement mechanism includes a rack slide rail, a stacking rack base and a rack replacement transfer assembly;

[0025] The stacking rack base has two parts, both of which are slidably matched on the rack slide rails, and the stacking rack can be placed on the stacking rack base;

[0026] The material rack replacement and transfer assembly is connected to the stacking rack base, and drives the two stacking rack bases to be alternately transferred to the third material discharging position.

[0027] Preferably, the stacking rack comprises a stacking base plate and a stacking needle assembly which is arranged on the stacking base plate and can be connected in series with the heald sheets.

[0028] The advantages of the present invention are as follows: the heald sheet groups that have been injected can be taken out of the injection molding machine in sequence through the mechanical structure, waste materials in the taken out heald sheet groups can be removed, and finally the heald sheets after the waste materials have been removed can be connected in series and stacked together, which significantly improves the efficiency of heald sheet arrangement and reduces labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of a fully automatic heald finishing machine provided in this embodiment;

[0030] Figure 2 A schematic diagram of the feeding robot provided in this embodiment;

[0031] Figure 3 A front schematic diagram of the material grabbing mechanism provided in this embodiment;

[0032] Figure 4 A schematic diagram of the back side of the material grabbing mechanism provided in this embodiment;

[0033] Figure 5 A schematic diagram of the waste removal device and stacking material removal provided in this embodiment;

[0034] Figure 6 A three-dimensional schematic diagram of a waste removal device and a stacking material taking device provided in this embodiment;

[0035] Figure 7 A schematic diagram of the stacking material taking device provided in this embodiment;

[0036] Figure 8 A three-dimensional schematic diagram of the stacking material taking device provided in this embodiment;

[0037] Fig. 9 This is a schematic diagram of the heald sheet group provided in this embodiment. DETAILED DESCRIPTION

[0038] Combination Figures 1 to 9 The fully automatic heald finishing machine of the present invention is further described.

[0039] A fully automatic heald finishing machine is characterized by comprising a machine platform 1, a feeding manipulator 4 installed on the machine platform 1, a waste material removing device 2, and a stacking material taking device 3.

[0040] like Figure 2 As shown, the feeding robot 4 includes a grabbing mechanism 41 and a robot transfer mechanism 42, the grabbing mechanism 41 has a first material picking position and a first material discharging position, and the robot transfer mechanism 42 is connected to the grabbing mechanism 41 to drive the grabbing mechanism 41 to move between the first material picking position and the first material discharging position.

[0041] like Figure 5 As shown in FIG. 6 , the waste removal device 2 comprises a material taking, straightening and shaping mechanism 20, a waste removal mechanism 249 and a material taking and transferring mechanism 201. The material taking, straightening and shaping mechanism 20 has a second material discharging position, a waste removal position and a second material taking position corresponding to the first material discharging position; the material taking and transferring mechanism 201 is connected to the material taking, straightening and shaping mechanism 20 to drive the material taking, straightening and shaping mechanism 20 to move between the second material taking position, the waste removal position and the second material discharging position; the waste removal mechanism 249 is located at the waste removal position to remove the waste in the heald sheet group;

[0042] like Figure 5As shown, the stacking and feeding device 3 includes a loading mechanism 35, a pushing mechanism 32, a material rack changing mechanism 34, a stacking and transferring mechanism 31 and a stacking rack 33. The loading mechanism 35 has a third discharging position and a third feeding position corresponding to the second discharging position, and can be carried by the stacking rack 33; the stacking and transferring mechanism 31 is connected to the loading mechanism 35 to drive the loading mechanism 35 to move between the third feeding position and the third discharging position, and can flip the stacking rack on the loading mechanism 35 at the third discharging position; the material rack changing mechanism 34 corresponds to the third discharging position, and provides the loading mechanism 35 with an empty stacking rack 33 and supports and removes the fully loaded stacking rack 33 on the loading mechanism 35; the pushing mechanism 32 corresponds to the second discharging position, and can push the heald sheet on the second discharging position to the stacking rack 33 of the loading mechanism 35.

[0043] like Figure 2-4 As shown, the specific structure of the feeding manipulator 4 is that the gripping mechanism 41 includes a manipulator arm 414, a connecting plate 411 and a suction nozzle assembly 412; the connecting plate 411 is slidably matched on the manipulator transfer mechanism 42 through the manipulator arm 414, that is, the connecting plate 411 is connected to the upper end of the manipulator arm 414 through an adapter plate and corresponding bolts, and the lower end of the manipulator arm 414 is fixedly mounted on a slider 422 of the manipulator transfer mechanism 42. The suction nozzle assembly 412 is mounted on the connecting plate 411 to adsorb the heald sheet group 100.

[0044] The suction nozzle assembly 412 includes a plurality of suction nozzle groups arranged horizontally, each suction nozzle group includes an upper suction nozzle 4121 and a lower suction nozzle 4122 distributed vertically, and the upper suction nozzle and the lower suction nozzle respectively adsorb the upper and lower sides of the heald piece group to achieve a gripping effect on the heald piece group 100.

[0045] In order to improve the stability of the robot in grasping the heald piece set 100 , a clamping plate set 413 is provided on the connecting plate 411 , and the clamping plate set 413 has a positioning hole 4133 for inserting the waste protruding part 101 of the heald piece set 100 .

[0046] The clamping plate group 413 includes a first clamping plate 4131, a second clamping plate 4132 and a sliding rod 414. The first clamping plate 4131 and the second clamping plate 4132 have a plurality of first clamping plates 41311 and a plurality of second clamping plates on the front side, respectively, and a protrusion 4134 on the back side. The protrusion 4134 has an adjustment hole and a locking hole 41341 connected to the adjustment hole. The positioning hole 4133 is formed by the first clamping plate 41311 and the second clamping plate being brought close together; the sliding rod 414 is inserted into the connecting block 4141 on the back side of the connecting plate 411, and is provided for sliding cooperation of the adjustment hole, and a locking bolt is provided in the locking hole. Tightening the locking bolt can fix the first clamping plate and the second clamping plate, and loosening the locking bolt can allow the first clamping plate and the second clamping plate to move relative to each other, so as to adaptively adjust the diameter of the positioning hole 4133. In the specific implementation of the present invention, according to the actual situation, the nozzle assembly and the clamping plate group can be used alone or in combination. When used alone, the heald piece group is adsorbed only by the suction nozzle assembly, or the heald piece group is adsorbed only by the clamping plate assembly.

[0047] The manipulator transfer mechanism 42 includes a transverse arch 421, a slider 422 and a transmission belt 424; the transverse arch is fixed on the machine 1; the slider 422 is slidably fitted on the upper surface of the transverse arch; the transmission belt 424 is wound around the pulleys at both ends of the transverse arch, and the transmission belt is fixedly connected to the slider 422, and a servo motor 423 is connected to the pulley. The servo motor 423 drives the manipulator to move accurately between the first material taking position and the second material discharging position through the transmission belt 424 and the slider 422.

[0048] The fixing structure of the transmission belt 424 and the slider 422 is as follows: the slider 422 has a passage for the transmission belt 424 to pass through, and the inner top wall or the inner bottom wall of the passage has a positioning groove that meshes with the tooth groove of the transmission belt 424.

[0049] like Figure 5 , 6As shown, the specific structure of the waste removal device 2 is as follows: the material picking, straightening and shaping mechanism 20 includes a material picking frame 21 and a straightening and shaping component 22. The material picking frame 21 is slidably matched on the material picking and transferring mechanism 201, and the moving direction of the material picking frame 21 is perpendicular to the moving direction of the manipulator. The straightening and shaping component 22 includes an upper hook mounting plate 221 and a lower hook mounting plate 222, and the upper hook mounting plate 221 and the lower hook mounting plate 222 are respectively lifted and matched on the upper and lower sides of the material picking frame 21; specifically, lifting cylinders 252 are installed on the upper and lower sides of the material picking frame 21, and the upper hook mounting plate 221 and the lower hook mounting plate 222 are respectively installed on the piston rods of the lifting cylinders 252 on the upper and lower sides of the material picking frame 21, so as to realize the lifting and moving of the upper hook mounting plate 221 and the lower hook mounting plate 222. The upper hook mounting plate 221 and the lower hook mounting plate 222 are respectively provided with a plurality of upper hooks 231 and lower hooks 232 , and each corresponding group of upper hooks 231 and lower hooks 232 form a heald straightening group.

[0050] The upper hook mounting plate 221 and the lower hook mounting plate 222 are both L-shaped structures, and include a laterally extending connecting portion 2211 and a vertically extending hook portion 2212, and the upper hook 231 or the lower hook 232 is located on the hook portion 2212. The upper hook mounting plate 221 and the lower hook mounting plate 222 are both provided with an avoidance notch 2221, so that the hook portion can pass through the waste baffle 24 during the movement process.

[0051] The upper hook 231 and the lower hook 232 are installed on the upper hook mounting plate 221 and the lower hook mounting plate 222 in a plug-in structure.

[0052] The material picking and transferring mechanism 201 includes a slide rail 2011, a guide frame 2012 and a ball screw pair 2013. The slide rail 2011 is fixed on the surface of the machine table 1, and the extension direction of the slide rail 2011 is perpendicular to the extension direction of the horizontal arch 421. The slide rail 2011 is provided with a slide seat 2014, and the slide seat is connected to the material picking frame 21. The lead screw in the ball screw pair is mounted in the slide rail 2011, and the nut sleeve is fixed on the slide seat 2014 and cooperates with the lead screw. The guide frame 2012 is installed on the surface of the machine table 1, and has four guide rods 20121 distributed in a square shape. The material picking frame 21 has four guide sleeves 211 that cooperate with the guide rods 20121, so as to achieve stable movement of the material picking frame 21.

[0053] The waste removal mechanism 249 includes a waste baffle 24 and a waste cutting plate 29. The waste baffle 24 is fixed on the machine 1, and has a plurality of avoidance openings 241 arranged in parallel and for the upper hook 231 and the lower hook 232 to pass through, and a waste baffle 242 is formed between each two adjacent avoidance openings 241. The waste cutting plate 29 is arranged on the upper and lower sides of the waste baffle 24, and is respectively connected to the waste removal lifting cylinder 28, and the waste removal lifting cylinder 28 drives the waste cutting plate 29 to cut off the connection point between the material head and the heald sheet.

[0054] like Figure 5-7 As shown, the specific structure of the stacking and taking device 3 is as follows: the material loading mechanism 35 includes a support plate 351 installed on the stacking and transferring mechanism 31, a positioning pin 353 installed on the support plate 351, and a stacking frame positioning cylinder 352 installed on the support plate 351 and capable of driving the positioning pin 353 to move up and down. Specifically, the support plate 351 is a quadrilateral structure, and the positioning pins 353 and the stacking frame positioning cylinder 252 are distributed at the four corners of the support plate 351. The piston rod of the stacking frame positioning cylinder is connected to the positioning pin 353 to drive the positioning pin 353 to move up and down.

[0055] The stacking material transfer mechanism 31 includes a stacking material transfer cylinder 311, a dislocation stacking material transfer assembly 312 and a flip assembly 313. The dislocation stacking material transfer assembly 312 has a slide seat 3121 perpendicular to the material taking and transfer mechanism 201. The stacking material transfer cylinder 311 is installed on the slide seat 3121 and the piston rod of the stacking material transfer cylinder 311 is connected to the support plate 351 to drive the support plate 351 to move between the third material discharging position and the third material taking position. The transfer direction of the stacking material transfer cylinder 311 is the same as the transfer direction of the material taking and transfer mechanism 201. The flip assembly 313 includes a flip cylinder 3131 and a flip base 3132. The flip cylinder 3131 has two and is connected to the slide 3121 and is located on both sides of the stacking and transferring cylinder 311. The flip base 3132 is hinged at the third material picking position and can be used to fix the stacking rack 33 moved to the third material picking position. The flip base 3132 is connected to the flip cylinder 3131 and is driven to rotate by the flip cylinder.

[0056] In this embodiment, the offset stacking material transfer assembly 312 is a ball screw pair installed on the surface of the machine table 1, and the stacking material transfer cylinder 311 and the flip cylinder 3131 are both fixed on the slide seat 3121 of the ball screw pair.

[0057] A slide rail seat is fixed to the upper surface of the cylinder body of the stacking material transfer cylinder 311 by bolts, a slide rail 3112 is fixed to the slide rail seat by bolts, a slider is provided on the lower surface of the support plate 351, and the support plate 351 is slidably fitted on the slide rail 3112 by the slider. In this way, the stacking material transfer cylinder 311 drives the support plate 351 to move stably.

[0058] The flip base 3132 includes a support plate 31321 and a positioning plate 31322. The support plate is an L-shaped structure, and has a vertical plate and a horizontal plate. The vertical plate has a first hinge piece 3133 on the side facing the flip cylinder, and the support plate is hinged at the third material taking position through the first hinge piece 3133; the piston rod of the flip cylinder 3131 is connected to the first hinge piece 3133 to drive the flip base to rotate; the positioning plate is fixed to the support plate by bolts, and has a limit pin 3136 for the stacking rack 33 to be inserted. A support column 3137 is provided on the lower surface of the horizontal plate to facilitate the support and positioning of the support plate after it is flipped upward.

[0059] Two hinged walls 31311 are integrally formed on the cylinder body of the flip cylinder 3131 , and the first hinged piece 3133 is hinged between the two hinged walls 31311 via a hinge pin 3135 .

[0060] The piston rod of the flip cylinder 3131 is connected with a second hinge piece 3134 , and is connected with the first hinge piece 3133 via the second hinge piece 3134 , so as to effectively drive the rotation of the flip base.

[0061] The pushing mechanism 32 includes a pushing plate 321, a pushing cylinder 322 connected to the pushing plate 321 and capable of driving the pushing plate 321 to push the heald sheet to the stacking rack 33, and a displacement driving assembly 323 connected to the pushing cylinder 322 and capable of driving the pushing cylinder 322 and the pushing plate 321 to move closer to or away from the heald sheet. The displacement driving assembly 323 is a ball screw pair, and the pushing cylinder 322 is mounted on a slide seat 3231 of the ball screw pair.

[0062] like Figure 8 As shown, the rack replacement mechanism 34 includes a rack slide rail 341, a stacking rack base 342, and a rack replacement transfer assembly 343. The rack slide rail 341 is perpendicular to the transfer direction of the stacking transfer cylinder 311. The stacking rack base 342 has two racks that are slidably fitted on the rack slide rail 341, and the stacking rack 33 can be placed on the stacking rack base 342. The rack replacement transfer assembly 343 is connected to the stacking rack base 342, and drives the two stacking rack bases to alternately transfer to the third material discharge position to form a stacking rack double-station replacement structure.

[0063] The rack replacement transfer assembly 343 is similar in structure to the robot transfer mechanism 42 , and both drive the two stacking rack bases 342 to move synchronously on the rack slide rails 341 through a servo motor and a transmission belt.

[0064] The stacking frame base 342 includes a moving bottom plate 3421, a lifting cylinder 3422 vertically mounted on the moving bottom plate 3421, and a lifting frame 3423 connected to the piston rod of the lifting cylinder. The lifting frame 3423 is provided with a latch 3424 that can be inserted and matched with the stacking frame 33 moved to the third material discharge position. A guide sleeve and a guide rod are arranged between the moving bottom plate 3421 and the lifting frame 3423.

[0065] The stacking rack 33 includes a stacking base plate 331 and a stacking needle assembly disposed on the stacking base plate 331 and capable of being connected in series with the healds.

[0066] The stacking bottom plate 331 is provided with a first positioning hole 337 for inserting the positioning pin 353 , and connecting blocks are provided on both sides of the stacking bottom plate 331 , and the connecting blocks are provided with a second positioning hole 332 for inserting the plug pin 3424 .

[0067] The stacking needle assembly includes a positioning rod 333, a fixing plate 334 and a stacking needle 335. Positioning seats 3331 are connected to both ends of the positioning rod 333, and the positioning rod 333 is fixed to the stacking bottom plate 331 through the positioning seats 3331. The positioning rod 333 has two parallel rods. There are two fixing plates 334, and each fixing plate 334 is installed on two positioning rods 333 through a linear bearing. At the same time, a locking sleeve assembly 336 is arranged between the positioning rod 333 and the fixing plate 334. The stacking needle 335 is divided into two groups, and the two groups of stacking needles 335 are respectively installed on the two fixing plates 334, and the two stacking needles 335 corresponding to each other on the two fixing plates 334 are provided for the upper and lower openings 105 and 106 on the heald sheet to penetrate.

[0068] The locking sleeve assembly 336 includes a sleeve body and a locking bolt. The sleeve body is sleeved on the positioning rod 333, and the end of the sleeve body is fixed to the fixing plate 334 by means of a screw. The sleeve body has a locking hole, and the locking bolt is threadedly engaged in the locking hole. When the locking bolt is loosened, the fixing plate 334 can move on the positioning rod 333; when the locking bolt is tightened, the end of the locking bolt can abut against the positioning rod 333, thereby achieving the fixation between the fixing plate 334 and the positioning rod 333.

[0069] The fixing plate 334 is provided with a slot, and the lower end of the stacking needle 335 is inserted into the slot.

[0070] The end of the stacking needle 335 facing away from the slot is pointed to facilitate insertion of the heald piece.

[0071] In this embodiment, in order to facilitate the movement of the heald piece on the hook to the stacking needle 335, a guide transmission component 26 is provided on the material picking rack 21. The guide transmission component 26 is located on the front side of the hook, that is, between the hook and the stacking needle 335.

[0072] The guide transmission assembly 26 includes two guide plates located at the front side of the hook and a cylinder 281 connected to the guide plates. The two guide plates are divided into an upper guide plate 261 and a lower guide plate 262. The cylinder is divided into an upper cylinder and a lower cylinder, and is respectively installed on the upper and lower sides of the material picking rack 21. The piston rods of the upper cylinder and the lower cylinder are respectively connected to the upper guide plate 261 and the lower guide plate 262 to drive the upper guide plate 261 and the lower guide plate 262 to move up and down. There is a guide groove 263 on the guide plate. The guide groove on the upper guide plate 261 corresponds to the upper hook 231, and the guide groove 263 on the lower guide plate 262 corresponds to the lower hook 232, so that the stacking needle enters the guide groove before threading, which plays a positioning effect on the stacking needle, avoids vibration of the stacking needle and other problems, and improves the stability of the insertion of the heald sheet.

[0073] The guide groove of the upper guide plate 261 has a lower groove with the groove opening facing downward, and the guide groove of the lower guide plate 262 has an upper groove with the groove opening facing upward. The lower groove can facilitate the upper guide plate 261 to be separated from the stacking needle from above the stacking needle, and the upper groove can facilitate the lower guide plate 262 to be separated from the stacking needle from below the stacking needle, so as to facilitate the cooperation and separation between the guide plate and the stacking needle.

[0074] The front notch of the guide groove 263 is an expanded structure, which can increase the size of the front notch of the guide groove 263 to facilitate the insertion of the stacking needle into the guide groove.

[0075] In summary, the working principle of the present invention is:

[0076] The manipulator transfer mechanism 42 delivers the material grabbing mechanism 41 to the first material picking position in the injection molding machine. The material grabbing mechanism 41 grabs the heald sheet group 100 on the injection mold through the suction nozzle assembly 412 and the clamping plate assembly 413. Figure 2 As shown, at the same time, the material taking and conveying mechanism 201 drives the material taking and straightening shaping mechanism 20 to move to the second material taking position. In this position state, the upper hook 231 and the lower hook 232 are located at the rear side of the heald sheet group at the first material discharging position, that is, Figure 1 The position of the material picking, straightening and shaping mechanism 20 is shown; the manipulator transfer mechanism 42 moves the grabbing mechanism 41 with the heald sheet group to the first discharge position, so that the heald sheet moves to the front side of the upper hook and the lower hook, and the material picking and transfer mechanism 201 drives the material picking frame 21 to move toward the second discharge position, that is, move forward.

[0077] During the movement of the material taking frame 21, the upper hook 231 and the lower hook 232 penetrate into the upper and lower through holes 105 / 106 of the heald sheet to realize the transfer of the heald sheet group; when the upper hook 231 and the lower hook 232 hook the heald sheet group and the heald sheet group is separated from the material grabbing mechanism 41, the lifting cylinder 252 on the material taking frame 21 drives the upper hook mounting plate 221 to move upward, and tightens the lower hook mounting plate 222 downward, so as to straighten and shape the heald sheet group. It should be noted that, according to actual use, only one lifting cylinder 252 can be set, and it is located above the material taking frame to straighten the heald sheet group.

[0078] After straightening and shaping, the heald sheet group passes through the waste baffle 24, and the material head, i.e. the waste 102, in the heald sheet group collides with the waste baffle 242, so that the connection point between the material head and one of the heald sheets is disconnected, and the material taking rack 21 stops moving at the same time; the waste removal lifting cylinder 28 drives the upper and lower waste cutting plates 29 to move toward each other, cutting off the only remaining connection point between the material head 102 and the heald sheet, thereby achieving the purpose of waste removal, and at the same time, the two heald sheets 105 / 106 in the same heald sheet group are separated, and the material taking rack 21 continues to move forward to the second discharging position, so that the heald sheet group corresponds to the stacking needle 335 at the third material taking position.

[0079] When the material taking frame 21 moves to the second material discharging position, the cylinder 281 connected to the guide plate in the material taking frame 21 drives the upper guide plate 261 to move downward, and drives the lower guide plate 262 to move upward, so that the guide grooves on the upper guide plate and the lower guide plate cooperate with the stacking needle to guide the stacking needle at the third material taking position; after the material taking frame moves to the second material discharging position, the upper hook and the lower hook are connected to the stacking needle, and the displacement driving component 323 in the pushing mechanism 32 drives the pushing plate 321 to move To the back of the heald piece, the push block 3211 on the push plate 321 corresponds to the first heald piece 105 in each heald piece group, and then the push cylinder 322 drives the push plate 321 to push the first heald piece 105 in each heald piece group to the stacking needle 335; the cylinder 281 drives the upper guide plate 261 to move up, drives the lower guide plate 262 to move down, so that the guide groove is separated from the stacking needle, and the push cylinder 322 drives the push plate 321 to retreat a certain distance, and then the displacement drive assembly 32 3 drives the push plate to separate to the left and right sides, and the material taking frame also retreats a certain distance; the offset stacking transfer assembly 312 drives the slide 3121 and the stacking needle on the slide 3121 to move toward the second heald piece 106 in the same heald piece group, so that the stacking needle that has been connected in series with the first heald piece 105 corresponds to the second heald piece 106 in the same heald piece group; the material taking frame moves toward the second discharging position again, and at the same time, the cylinder 281 on the material taking frame 21 drives the upper guide plate 261 and the lower guide plate 262 to move to the second heald piece 106 in the same heald piece group. When the guide plate 262 moves to move the material taking rack toward the second material discharging position, the guide grooves in the upper guide plate 261 and the lower guide plate 262 cooperate with the stacking needle for guidance; the displacement drive assembly 323 in the pushing mechanism 32 drives the push plate 321 to move, so that the push block on the push plate 321 corresponds to the second heald sheet, and pushes the second heald sheet 106 to the stacking needle 335, so as to realize the staggered stacking of two heald sheets in the same heald sheet group on the same stacking needle in this cycle. Since the stacking needle is long and vibrates, the stability of the stacking needle can be improved by the guide groove.

[0080] When the stacking needle is fully stacked with heald sheets, the turning cylinder 3131 drives the turning base 3132 and the stacking rack 33 on the turning base 3132 to rotate 90 degrees, and the stacking rack 33 is rotated to a horizontal state, and the positioning cylinder of the stacking rack 33 on the support plate 351 drives the positioning pin 353 to move upward, so that the positioning pin 353 enters the first positioning hole 337, and the stacking transfer cylinder 311 moves the support plate 351 and the stacking rack 33 to the third discharging position, and the second positioning hole 332 on the stacking rack 33 is inserted into the pin 3424 on the stacking rack base 342 located at the third discharging position; the lifting cylinder 3422 drives the lifting rack 3423 to move upward, so that the stacking rack 33 is separated from the positioning pin 353 and the support plate; the rack replacement transfer assembly 343 moves the fully loaded stacking rack 33 along the rack slide rail 341 is sent away, and at the same time, another stacking rack base 342 transfers the empty stacking rack 33 to just above the support plate 351; the lifting cylinder 3422 in the corresponding stacking rack base 342 drives the lifting rack 3423 to descend, so that the first positioning hole 337 on the empty stacking rack 33 is matched with the positioning pin 353; the stacking transfer cylinder 311 drives the support plate 351 and the empty stacking rack 33 to move to the third material taking position, and at the same time, the third positioning hole 338 on the back of the stacking rack 33 is installed on the limit pin 3136, the flip base 3132 is positioned with the stacking rack 33 through the limit pin, and cooperates with the flip cylinder 3131 to drive the stacking rack 33 to flip 90 degrees, so that the stacking rack rotates to a vertical state.

[0081] In the above process, when the material picking and transferring mechanism 201 drives the material picking rack 21 to move, the displacement driving assembly 323 drives the push plate 321 to leave the moving line of the material picking rack 21 .

[0082] It should be noted that the connection between the various processes in the above process can be achieved through travel switches and photoelectric sensing components.

[0083] Unless otherwise specified, in the present invention, the terms "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicating orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the orientation or positional relationship in the present invention are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood in conjunction with the accompanying drawings and according to specific circumstances.

[0084] Unless otherwise clearly specified and limited, in the present invention, the terms "disposed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0085] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A fully automatic heald finishing machine, characterized by: It includes a machine platform and a feeding robot, a waste material removal device and a stacking material taking device installed on the machine platform; The feeding manipulator comprises a material grabbing mechanism and a manipulator transfer mechanism, the material grabbing mechanism has a first material picking position and a first material discharging position, and the manipulator transfer mechanism is connected to the material grabbing mechanism to drive the material grabbing mechanism to move between the first material picking position and the first material discharging position; The waste removal device comprises a material taking, straightening and shaping mechanism, a waste removal mechanism and a material taking and transferring mechanism. The material taking, straightening and shaping mechanism has a second material discharging position, a waste removal position and a second material taking position corresponding to the first material discharging position; the material taking and transferring mechanism is connected with the material taking, straightening and shaping mechanism to drive the material taking, straightening and shaping mechanism to move between the second material taking position, the waste removal position and the second material discharging position; the waste removal mechanism is located at the waste removal position to remove waste from the heald sheet group; The stacking and fetching device comprises a loading mechanism, a pushing mechanism, a material rack changing mechanism, a stacking and transferring mechanism and a stacking rack, wherein the loading mechanism has a third material discharging position and a third material fetching position corresponding to the second material discharging position, and is supported by the stacking rack; the stacking and transferring mechanism is connected to the loading mechanism to drive the loading mechanism to move between the third material fetching position and the third material discharging position, and can flip the stacking rack on the loading mechanism at the third material discharging position; the material rack changing mechanism corresponds to the third material discharging position, and provides the loading mechanism with an empty stacking rack and supports and unloads the fully loaded stacking rack on the loading mechanism; the pushing mechanism corresponds to the second material discharging position, and can push the heald sheet on the second material discharging position to the stacking rack on the loading mechanism; The material loading mechanism includes a support plate installed on the stacking material transfer mechanism, a positioning pin installed on the support plate, and a stacking frame positioning cylinder installed on the support plate and capable of driving the positioning pin to rise and fall; The stacking material transfer mechanism comprises a stacking material transfer cylinder, a staggered stacking material transfer assembly and a flip assembly; The offset stacking and transferring assembly has a slide seat that slides perpendicular to the moving direction of the material taking and transferring mechanism; The stacking material transfer cylinder is installed on the slide seat and the piston rod of the stacking material transfer cylinder is connected to the support plate to drive the support plate to move between the third material discharging position and the third material taking position; The flip assembly includes a flip cylinder and a flip base, wherein the flip cylinder is connected to the slide seat, the flip base is hinged at the third material taking position, and can be fixed to the stacking rack moved to the third material taking position, and the flip base is connected to the flip cylinder, and the flip cylinder drives the flip base to move; The material grabbing mechanism comprises a robot arm, a connecting plate and a suction nozzle assembly; the connecting plate is slidably matched on the robot hand transfer mechanism through the robot arm, and the suction nozzle assembly is installed on the connecting plate to adsorb the heald sheet group.

2. The fully automatic heald finishing machine according to claim 1, characterized in that: The material taking, straightening and shaping mechanism comprises a material taking frame and a straightening and shaping component; The material taking rack is slidably matched on the material taking and transferring mechanism; The straightening and shaping component includes an upper hook mounting plate and a lower hook mounting plate, which are respectively lifted and matched on the upper and lower sides of the material taking frame. The upper hook mounting plate and the lower hook mounting plate are respectively provided with multiple upper hooks and lower hooks, and each corresponding group of upper hooks and lower hooks forms a heald straightening group.

3. The fully automatic heald finishing machine according to claim 2, characterized in that: A guide transmission component is arranged on the material taking rack, and the guide transmission component is located at the front side of the hook.

4. The fully automatic heald finishing machine according to claim 2, characterized in that: The waste removal mechanism includes a waste baffle and a waste cutting plate; The waste baffle is fixed on the frame of the machine platform, and has a plurality of avoidance openings arranged in parallel and for the upper hook and the lower hook to pass through, and a waste baffle is formed between every two adjacent avoidance openings; The waste cutting plates are arranged on the upper and lower sides of the waste baffle plate and are respectively connected with waste removal lifting cylinders, and the waste removal lifting cylinders drive the waste cutting plates to cut off the connection point between the material head and the heald piece.

5. The fully automatic heald finishing machine according to claim 1, characterized in that: The pushing mechanism includes a pushing plate, a pushing cylinder connected to the pushing plate and capable of driving the pushing plate to push the heald sheet to the stacking frame, and a displacement driving component connected to the pushing cylinder and capable of driving the pushing cylinder and the pushing plate to approach or move away from the heald sheet.

6. The fully automatic heald finishing machine according to claim 1, characterized in that: The rack replacement mechanism includes a rack slide rail, a stacking rack base and a rack replacement transfer assembly; The stacking rack base has two parts, both of which are slidably matched on the rack slide rails, and the stacking rack can be placed on the stacking rack base; The material rack replacement and transfer assembly is connected to the stacking rack base, and drives the two stacking rack bases to be alternately transferred to the third material discharging position.

7. The fully automatic heald finishing machine according to claim 1, characterized in that: The stacking rack comprises a stacking bottom plate and a stacking needle assembly which is arranged on the stacking bottom plate and can be connected in series with the heald sheets.

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