A manipulator for taking and placing raw yarn for a doubling twisting machine

Abstract

The present specification provides a raw yarn taking and placing robot for a two-for-one twisting machine, comprising a robot arm and a mechanical claw; the mechanical claw comprises a connecting plate, a torque control module, and at least two mechanical clamps; the torque control module is connected to the at least two mechanical clamps, and the at least two mechanical clamps are opened and closed by outputting torque; the at least two mechanical clamps are connected to the connecting plate, and the grasping direction of the at least two mechanical clamps is perpendicular to the connecting plate and downward, wherein at least one mechanical clamp moves a first two-for-one twisting machine conductor rod perpendicular to the horizontal plane; at least one of the at least two mechanical clamps is provided with a paddle, and the paddle moves a second two-for-one twisting machine conductor rod parallel to the horizontal plane. The raw yarn taking and placing robot for a two-for-one twisting machine can automatically realize the device for taking and placing raw yarn, thereby improving work efficiency and work accuracy.

Description

Technical Field

[0001] The present specification relates to the field of automation, and in particular to a raw yarn taking and placing robot for a two-for-one twisting machine. Background Art

[0002] Twisting is to make the two cross sections of the yarn twist relative to each other. At this time, the fibers in the yarn that were originally parallel to the axis of the yarn are twisted into a spiral shape. The twist direction and twist degree of the yarn in the fabric have a great influence on the appearance and performance of the product.

[0003] The two-for-one twister is a twisting device, that is, a doubling device (multiple strands are combined into one strand), which can achieve two twists in one turn, and the twisting efficiency is doubled compared to traditional twisting equipment. The two-for-one twister is divided into two layers, with the original yarn barrel placed on the bottom layer. The two-for-one twister draws the original yarn through the drawing device, and twists the drawn yarn into one strand through the twisting device and wraps it around the twisting yarn barrel to complete the twisting.

[0004] Since the two-for-one twister extracts the yarn from the original yarn spindle, it is necessary to take out the yarn tube and place a new spindle after the extraction is completed. In this process, it is also necessary to open the conductor rod of the two-for-one twister, and the process is relatively complicated. In the prior art, taking and placing the original yarn requires manual operation by multiple workers in the entire assembly line, which is inefficient and causes a huge waste of manpower and material resources.

[0005] Based on this, how to provide an economical and automated device for taking and placing raw yarn to improve work efficiency and work accuracy is a technical problem that urgently needs to be solved in this field. Summary of the invention

[0006] The embodiment of this specification aims to provide an automated yarn picking and placing robot for a two-for-one twisting machine, which clamps the spindle or yarn tube through torque control, has high clamping accuracy and improves work efficiency.

[0007] An embodiment of the present specification provides a raw yarn picking and placing robot for a two-for-one twisting machine, including a robot arm and a robot claw; the robot claw includes a connecting plate, a torque control module, and at least two mechanical clamps; the torque control module is connected to the at least two mechanical clamps, and the at least two mechanical clamps are opened and closed by outputting torque; the at least two mechanical clamps are connected to the connecting plate, and the grasping direction of the at least two mechanical clamps is perpendicular to the connecting plate and downward, wherein at least one mechanical clamp moves a first two-for-one twisting machine conductor rod perpendicular to the horizontal plane; at least one of the at least two mechanical clamps is provided with a paddle, and the paddle moves a second two-for-one twisting machine conductor rod parallel to the horizontal plane.

[0008] The embodiment of the present specification provides a raw yarn picking and placing robot for a two-for-one twisting machine, which drives the opening and closing of at least two mechanical clamps through a torque control module, and at least one of the at least two mechanical clamps moves a first two-for-one twisting machine conductor rod perpendicular to the horizontal plane, and at least one of the at least two mechanical clamps is provided with a paddle, which can move a second two-for-one twisting machine conductor rod parallel to the horizontal plane. After the conductor rod is opened, the spindle and the drum can be effectively clamped regardless of whether they are installed forward or reverse, thereby realizing the picking and placing of the raw yarn, and greatly improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0010] Figure 1 It is a first stereoscopic view of a raw yarn taking and placing robot for a two-for-one twisting machine provided in an embodiment of this specification;

[0011] Figure 2 It is a second stereoscopic view of a raw yarn taking and placing robot for a two-for-one twisting machine provided in an embodiment of this specification;

[0012] Figure 3 It is a third stereoscopic view of a raw yarn taking and placing robot for a two-for-one twisting machine provided in an embodiment of this specification;

[0013] Among them, 100-connecting plate, 110-I-shaped slide groove, 200-torque control module, 310-slider, 311-upper slider, 312-lower slider, 320-right clamping plate, 330-left clamping plate, 340-paddle. DETAILED DESCRIPTION

[0014] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application. Example 1

[0015] An embodiment of the present specification provides a raw yarn picking and placing robot for a two-for-one twisting machine, including a robot arm and a robot claw; the robot claw includes a connecting plate, a torque control module, and at least two mechanical clamps; the torque control module is connected to the at least two mechanical clamps, and the at least two mechanical clamps are opened and closed by outputting torque; the at least two mechanical clamps are connected to the connecting plate, and the grasping direction of the at least two mechanical clamps is perpendicular to the connecting plate and downward, wherein at least one mechanical clamp moves a first two-for-one twisting machine conductor rod perpendicular to the horizontal plane; at least one of the at least two mechanical clamps is provided with a paddle, and the paddle moves a second two-for-one twisting machine conductor rod parallel to the horizontal plane.

[0016] In this embodiment, the connecting plate is connected to the mechanical arm, and the mechanical arm drives the connecting plate to move, thereby driving the entire mechanical claw to move. The connecting plate can be plate-shaped or box-shaped, and can be made of metal or plastic. This specification does not make specific restrictions. As long as it can stably connect the mechanical arm and the mechanical clamp, it can be used as the connecting plate in the embodiment of this specification. The connecting plate can be parallel to the horizontal plane.

[0017] In this embodiment, the torque control module is connected to the at least two mechanical clamps, and the torque control module can be a servo motor, a stepper motor, etc. The torque control module can convert the rotational motion into a linear motion according to the received pulse signal to drive the at least two mechanical clamps to reciprocate linearly along the slide groove of the connection part between the mechanical clamp and the connecting plate, and can also change the angle between the at least two mechanical clamps. For example, the output end of the torque control module can be connected to a screw, and the mechanical clamp can be provided with a positioning nut that cooperates with the screw, so that the mechanical clamp can reciprocate linearly through the rotation of the screw.

[0018] In this embodiment, the torque control module is connected to the at least two mechanical splints, and the at least two mechanical splints are opened and closed by outputting torque. The torque control module can be a servo motor, and the servo motor can operate at a certain speed according to the received pulse signal. The output end of the servo motor is connected to the at least two mechanical splints through a screw rod, and the connecting ends of the at least two mechanical splints can move on the screw rod to achieve the opening and closing of the at least two mechanical splints. The torque output module can adjust the opening and closing size of the mechanical splint according to preset parameters, or can adjust the opening and closing of the mechanical splint according to the received signal. The opening and closing can be to adjust the distance between the at least two mechanical splints, or to adjust the angle between the at least two mechanical splints. One of the at least two mechanical splints can be immovable.

[0019] In this embodiment, the at least two mechanical clamps can be two, three, four or even more. The arrangement of the at least two mechanical clamps, such as the angle and distance between the clamping plates, is not specifically limited in this specification and can be determined according to the required clamping strength. The at least two mechanical clamps can be movably connected to the connecting plate, and can be connected by a groove and a slider, or by a slide rail and a roller.

[0020] In this embodiment, the grabbing direction of the at least two mechanical clamps is perpendicular to the connecting plate and downward, and the grabbing direction can be the clamping direction of the mechanical clamps to clamp the target object. The connecting end of the mechanical clamp and the connecting plate can extend along the setting direction of the connecting plate, and the connecting plate can be parallel to the horizontal plane. Since the original yarn of the double twister is placed in the yarn barrel of the lower layer, the clamping direction can be perpendicular to the horizontal plane, which is convenient for reaching into the yarn barrel to take and place the original yarn.

[0021] In this embodiment, at least one of the at least two mechanical clamps moves a first two-for-one twister conductor rod perpendicular to the horizontal plane. The two-for-one twister conductor rod is used to guide the yarn to the twisting device for twisting. In the process of taking and placing the original yarn, the conductor rod needs to be pushed aside. The at least one mechanical clamp can move axially along a plane perpendicular to the horizontal plane, and can also move horizontally to push aside the conductor rod perpendicular to the horizontal plane.

[0022] In this embodiment, at least one of the at least two mechanical clamps is provided with a paddle, and the paddle can be provided on a mechanical clamp that can be moved along the axial direction of the gripping direction, or on another clamp. The paddle can be parallel to the horizontal plane, and is used to move the two-for-one twister wire rod upward in a direction perpendicular to the horizontal plane. The paddle and the movable mechanical clamp can move the two-for-one twister wire rod according to a preset timing.

[0023] In this embodiment, a torque control module is set to control at least two mechanical clamps to grab the original yarn spindles and yarn bobbins. A paddle and at least one mechanical clamp can be moved to pry open the conductor rod of the double twister, thereby improving the efficiency and accuracy of taking and placing the original yarn. The structure is simple and greatly saves manpower and material resources.

[0024] See also Figures 1 - 3 The implementation manner of this specification provides a scenario example of the raw yarn picking and placing robot for the two-for-one twisting machine.

[0025] In this scenario example, the two-for-one twisting machine uses a raw yarn picking and placing robot to pick and place raw yarn spindles and yarn bobbins.

[0026] In this example scenario, Figures 1 - 3As shown, the raw yarn picking and placing manipulator for the doubling twisting machine may include a connecting plate 100, a torque control module 200, and two mechanical clamping plates on the left and right, including a slider 310, a right clamping plate 320, a left clamping plate 330. An I-shaped sliding groove 110 is provided on the connecting plate 100. The upper slider 311 connected to the right clamping plate 320 is slidably engaged with the upper part of the I-shaped sliding groove 110, and the lower slider 312 connected to the left clamping plate 330 is slidably engaged with the lower part of the I-shaped sliding groove 110. A dial 340 is provided on the left clamping plate 330. The clamping surfaces of the two mechanical clamping plates have a certain taper.

[0027] In this scenario example, the torque control module 200 is placed inside the connecting plate and includes a servo motor and a signal receiving module. The signal receiving module receives image information, and the servo motor outputs torque according to the received image information. The output end of the servo motor is connected to a first transmission lead screw, and nuts for cooperating with the transmission lead screw are provided on the upper slider 311 and the lower slider 312.

[0028] In this scenario example, the output end of the servo motor is connected to a second transmission lead screw. The dial 340 is connected to the second transmission lead screw through a dial lead screw. Driven by the second transmission lead screw, the dial 340 moves axially in a direction parallel to the horizontal plane.

[0029] In this scenario example, the carrier trolley transports the raw yarn picking and placing manipulator for the doubling twisting machine to the designated station. The signal receiving module receives the image information of the raw yarn spindle, drives the servo motor to move. The output end of the servo motor drives the transmission lead screw to rotate, and drives the two mechanical clamping plates on the left and right to clamp through the cooperation of the lead screw and the thread. The spindle is clamped into the yarn barrel. The first transmission lead screw drives the right clamping plate 320 to lower the first wire guide rod to the right, and the second transmission lead screw drives the dial 340 to move to lower the second wire guide rod.

[0030] In this scenario example, during the doubling twisting process, when it is necessary to take out the yarn bobbin placed in the yarn barrel, the dial 340 pushes up the second wire guide rod, and the right clamping plate 320 pushes the first wire guide rod to the left. The left and right mechanical clamping plates extend into the yarn barrel, and the servo motor is driven to clamp out the yarn bobbin.

[0031] In this scenario example, driven by the servo motor, the raw yarn can be picked and placed regardless of whether it is placed upright or upside down. Embodiment 2

[0032] In one embodiment, an I-shaped sliding groove is provided at the connection end of the connecting plate and the at least two mechanical clamping plates; concave sliders that are slidably engaged with the I-shaped sliding groove are respectively provided on the at least two mechanical clamping plates; the engaging directions of the concave sliders on the at least two mechanical clamping plates with the I-shaped sliding groove are different.

[0033] In this embodiment, the connecting plate is provided with an I-shaped slide groove, and the at least two connecting clamping plates can be respectively provided with concave sliders engaged with the I-shaped slide groove, and the concave sliders can slide on the I-shaped slide groove. The concave sliders respectively provided on the at least two mechanical clamping plates have different engagement directions with the I-shaped slide groove. For example, two mechanical clamping plates are provided, and the concave slider of one mechanical clamping plate is engaged with the upper part of the I-shaped slide groove, and the concave groove of the other mechanical clamping plate is engaged with the lower part of the I-shaped slide groove.

[0034] In this embodiment, the different engagement directions of the concave slider and the I-shaped slide groove increase the movement stroke of the mechanical splint, and can adapt to more sizes of raw yarns. At the same time, the slider is connected to the torque control module, and the different settings are also conducive to independent control between the mechanical splints. Example 3

[0035] In one embodiment, the torque control module includes a servo motor, an output end of the servo motor is connected to a first transmission screw, and the first transmission screw is connected to the at least two mechanical clamping plates to drive the opening and closing of the at least two mechanical clamping plates.

[0036] In this embodiment, the servo motor may include a motor that controls the rotation angle by controlling the length of the pulse time. The output end of the servo motor is connected to the first transmission screw. The at least two mechanical clamps can be provided with a nut or a screw rod that cooperates with the first transmission screw rod and is connected to the first transmission screw rod to convert the rotational motion of the servo motor into the linear motion of the at least two mechanical clamps, so as to control the opening and closing of the at least two mechanical clamps.

[0037] In this embodiment, torque control can be simply performed by setting up a servo motor, and the rotational motion of the motor can be stably and efficiently converted into linear motion through the connection between the screw rod and the at least two mechanical clamps, thereby improving the clamping accuracy and clamping efficiency while simplifying the device. Example 4

[0038] In one embodiment, the torque control module includes a servo motor, the output end of the servo motor is connected to the second transmission screw; the paddle is provided with a paddle screw that cooperates with the second transmission screw; the second transmission screw and the paddle screw cooperate to enable the paddle to paddle a second twister conductor rod parallel to the horizontal plane.

[0039] In this embodiment, the output end of the servo motor can be connected to the second transmission screw. Since the paddle is set on the mechanical clamping plate and is far away from the servo motor, a paddle screw is set on the paddle to connect with the second transmission screw. The paddle screw can be set inside the mechanical clamping plate or outside the mechanical clamping plate. Through the mutual cooperation between the screws, the paddle can move the second twister wire rod in a direction perpendicular to the horizontal plane.

[0040] In this embodiment, the movement of the paddle and the movement of the mechanical clamp are kept independent of each other by providing the second transmission screw, and the structure is simple. Example 5

[0041] In one embodiment, the torque control module drives the at least two mechanical clamps and the paddle to move according to a preset timing.

[0042] In this embodiment, the raw yarn picking and placing robot for the two-for-one twister needs to complete two tasks of picking and placing. During the placing process, the two-for-one twister wire rod needs to be put down first, and when taking, the wire rod of the two-for-one twister needs to be opened. Therefore, the torque control module can complete the steps of putting down or opening the wire rod according to the preset timing, and then control the opening and closing of the at least two mechanical clamps to complete the clamping of the raw yarn after a certain time interval.

[0043] In this embodiment, the torque control module can drive the movement of the at least two mechanical clamping plates and the paddle according to a preset timing, thereby ensuring smooth implementation of the pick-up and placement of the robot and improving the pick-up and placement accuracy. Example 6

[0044] In one embodiment, the torque control module includes a signal receiving unit, and the torque control module drives the at least two mechanical clamps and the paddle to move according to the instructions received by the signal receiving unit.

[0045] In this embodiment, the torque control module may include a signal receiving unit, which may include a signal receiver that meets the corresponding communication protocol, which may be wired or wireless. The signal receiving unit may drive the torque output module to open and close the at least two mechanical clamps or drive the paddle to move according to the received image information or instructions.

[0046] In this embodiment, by providing a signal receiving unit, the pick-and-place step can be implemented more accurately, thereby improving the precision of pick-and-place. Example 7

[0047] In one embodiment, the clamping surfaces of the at least two mechanical clamping plates are conical surfaces.

[0048] In this embodiment, the clamping surface of the mechanical clamp can have a certain taper to adapt to the shape of the raw yarn to be clamped, which can effectively prevent the yarn spindle and the yarn bobbin from falling off after being clamped, and can provide buffering during the clamping process to prevent product damage. Example 8

[0049] In one embodiment, a fixing block is provided on the mechanical claw, and the fixing block is fixedly connected to the robotic arm. The fixing block can fixedly connect the mechanical claw and the robotic arm by means of nuts or the like, and assemble the robotic arm and the mechanical claw separately, so that it can be conveniently replaced after any part is damaged. Example 9

[0050] In one embodiment, the torque control module is driven by a 24V DC motor.

[0051] The various embodiments in this specification are described in a progressive manner. For the same or similar parts between the various embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this specification. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples. The drawings in the specification of this application are only schematic diagrams and do not represent the actual structures of the various components.

[0052] The above is only the embodiment of one or more embodiments of this specification and is not used to limit one or more embodiments of this specification. For those skilled in the art, one or more embodiments of this specification can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the scope of the claims.

Claims

1. A raw yarn picking and placing robot for a two-for-one twisting machine, comprising a robot arm and a robot claw; characterized in that: The mechanical claw includes a connecting plate, a torque control module, and two mechanical clamping plates; The torque control module is connected to the two mechanical clamps and causes the two mechanical clamps to open and close by outputting torque; The two mechanical clamps are connected to the connecting plate, and the grasping direction of the two mechanical clamps is perpendicular to the connecting plate and downward, wherein at least one mechanical clamp moves the first two-for-one twister conductor rod perpendicular to the horizontal plane; At least one of the two mechanical clamps is provided with a paddle, and the paddle paddles the second two-for-one twister conductor rod parallel to the horizontal plane, and when the yarn tube placed in the yarn barrel needs to be taken out, the paddle paddles the second two-for-one twister conductor rod upward; The torque control module includes a servo motor, the output end of which is connected to the second transmission screw; the paddle is connected to the second transmission screw through the paddle screw, and driven by the second transmission screw, the paddle moves axially in a direction parallel to the horizontal plane; when the spindle is clamped into the yarn barrel, the second transmission screw drives the paddle to move and lower the second twister wire rod; An I-shaped sliding groove is provided at the connection end between the connecting plate and the two mechanical clamping plates; The two mechanical clamping plates are respectively provided with concave sliding blocks which are slidably engaged with the I-shaped sliding grooves; The engagement directions of the concave sliding blocks on the two mechanical clamping plates and the I-shaped sliding grooves are different.

2. The raw yarn taking and placing robot for the two-for-one twisting machine according to claim 1 is characterized in that: The torque control module includes a servo motor, an output end of the servo motor is connected to a first transmission screw, and the first transmission screw is connected to the two mechanical clamping plates to drive the opening and closing of the two mechanical clamping plates.

3. The raw yarn taking and placing robot for the two-for-one twisting machine according to claim 2 is characterized in that: The torque control module drives the two mechanical clamps and the paddle to move according to a preset timing.

4. The raw yarn taking and placing robot for the two-for-one twisting machine according to claim 3 is characterized in that: The torque control module includes a signal receiving unit, and the torque control module drives the two mechanical clamping plates and the paddle to move according to the instructions received by the signal receiving unit.

5. The raw yarn taking and placing robot for the two-for-one twisting machine according to claim 1 is characterized in that: The clamping surfaces of the two mechanical clamping plates are conical surfaces.

6. The raw yarn taking and placing robot for the two-for-one twisting machine according to claim 1 is characterized in that: The mechanical claw is provided with a fixing block, and the fixing block is fixedly connected to the mechanical arm.

7. The raw yarn taking and placing robot for the two-for-one twisting machine according to claim 4 is characterized in that: The torque control module is driven by a 24V DC motor.

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