Full-automatic leather roll grinding machine with robot

Abstract

The application discloses a full-automatic leather roller grinding and polishing machine with a mechanical arm, which has a cabinet and the mechanical arm, a to-be-processed placing area and a finished product placing area are arranged on the periphery of the mechanical arm, an operation window with a feeding channel and a discharging channel corresponding to the moving position of the mechanical arm is formed on the cabinet, the feeding channel and the discharging channel are respectively interacted with the mechanical arm, the mechanical arm places the to-be-processed leather roller on the feeding channel, and the processed leather roller is taken out from the discharging channel by the mechanical arm after the grinding and polishing operation of the leather roller is completed in the cabinet. The mechanical arm is automatically controlled, full-automatic control operation of the leather roller grinding and polishing action is realized, the output effect is good, and the work efficiency is high.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of textile machinery equipment, in particular to a full-automatic leather roller grinding machine with a mechanical hand. BACKGROUND

[0002] The leather roller is one of the important parts of the traction device of the textile machine. The feature of the leather roller is that the middle part is an iron core with bearings at both ends, and the bearings at both ends are respectively assembled with rubber rollers that can rotate and have an outer diameter larger than that of the iron core. The leather roller needs to be processed and maintained daily, such as by automatic leather roller wrapping machines, automatic leather roller cleaning machines, automatic leather roller grinding machines, automatic leather roller glue coating machines, and automatic ultraviolet light irradiation machines. Among them, the leather roller grinding machine is a special equipment for grinding various leather rollers. It is well known that the grinding quality of the textile leather roller is one of the core factors affecting the quality of the yarn.

[0003] The existing grinding machine mainly consists of a drag plate, a bottom plate, a movable drag plate, a grinding wheel seat, a grinding wheel, a clamping body, a pressing block, a pressing cylinder, a transmission roller, and a rotating cylinder. The machine structure is difficult to ensure the requirements of grinding high-quality leather rollers, and it cannot realize mechanical automation operation, has low production efficiency, and high labor cost. The existing technology may cause many uncertainties in the quality of the leather roller. If the quality of the leather roller is unstable, it will directly cause spindle differences. The generation of spindle differences will make the yarn draft of each spindle on the same machine different, so as to ensure the indicators of the finished yarn, and the product quality of the spinning will be greatly reduced. SUMMARY

[0004] In view of the above-mentioned problems of the existing leather roller grinding machine, such as the difficulty of the machine structure to ensure the requirements of grinding high-quality leather rollers, and the unstable quality of the leather roller affecting the product quality of the spinning, the present application provides a full-automatic leather roller grinding machine with a mechanical hand, which has a reasonable structure. Through the intelligent cooperation operation of the mechanical hand and the leather roller grinding machine, the full-automatic control operation of the leather roller grinding action is realized, the output effect is good, the work efficiency is high, and the labor cost is low.

[0005] The technical scheme adopted by the present application is as follows:

[0006] A full-automatic leather roller grinding machine with a mechanical hand has a cabinet and a mechanical hand. A waiting processing placement area and a finished product placement area are arranged around the mechanical hand. An operation window with an inlet material channel and an outlet material channel is formed on the cabinet corresponding to the position of the mechanical hand. The inlet material channel and the outlet material channel respectively interact with the mechanical hand. The mechanical hand places the leather roller to be processed on the inlet material channel. After the leather roller completes the grinding operation in the cabinet, the mechanical hand takes out and removes the processed leather roller from the outlet material channel.

[0007] As a further improvement of the above technical scheme:

[0008] The feeding channel and the discharging channel are arranged in parallel and are installed on the cabinet in the corresponding operation window.

[0009] The feeding channel is composed of two single plates arranged in parallel, and the two single plates form an inclined track with the outer end of the cabinet being high and the inner end of the cabinet being low. The inner end of the cabinet is provided with a limiting vertical hook. The discharging channel is composed of two single plates arranged in parallel, and the two single plates form an inclined track with the outer end of the cabinet being low and the inner end of the cabinet being high. The outer end of the cabinet is provided with a limiting vertical hook.

[0010] The inner end of the feeding channel cabinet is referred to as a feeding station, and the inner end of the discharging channel cabinet is referred to as a discharging station. A positioning block and a swing arm are arranged at the middle position between the feeding station and the discharging station. The position of the swing arm after rotating around the rotating shaft and reaching the positioning block is referred to as a taking station. The swing arm clamps or releases the leather roller at the taking station.

[0011] The positioning block is fixedly installed on an adjusting mounting seat, the adjusting mounting seat is arranged on the table top in the cabinet, and the rotating shaft of the swing arm is arranged on the adjusting mounting seat and is controlled to swing by a rotary clamping device.

[0012] The outer end of the swing arm is provided with a V-shaped or round-shaped notch as a clamping opening. A limiting clamp is arranged beside the clamping opening of the swing arm and is movably blocked at the clamping opening to clamp the leather roller together.

[0013] The limiting clamp comprises a limiting sheet and a spring connected with the swing arm at the rear end of the limiting sheet. The two sides of the limiting sheet are provided with shaft pins. An arc-shaped groove is formed in the positioning block. The shaft pins on the two sides of the limiting clamp are matched with the arc-shaped groove of the positioning block. When the swing arm and the limiting clamp swing and fall to the positioning block, the shaft pins of the limiting clamp enter the arc-shaped groove of the positioning block and are extruded by the arc-shaped groove to make the limiting clamp exit the clamping opening of the swing arm backward, thereby releasing the clamped leather roller.

[0014] A workpiece transferring device is arranged above the feeding station and the discharging station. The workpiece transferring device can move up and down and laterally. The lateral movement stroke is divided into two sections. The front section is from the feeding station to the taking station, and the rear section is from the taking station to the discharging station. The two sections of the stroke are alternately and reciprocally moved.

[0015] Two downward clamping jaws are arranged on the workpiece transferring device. The two clamping jaws move and grab the leather roller on the feeding station, the taking station and the discharging station.

[0016] The position of the swing arm after swinging to the other side and reaching the roller is referred to as a sharpening station. A sharpening device is arranged beside the roller. The leather roller clamped on the swing arm is matched with the roller. The sharpening device performs sharpening operation on the leather roller clamped on the swing arm. The roller is controlled and operated by a roller rotating device.

[0017] The beneficial effects of the present application are as follows:

[0018] The present application is provided with an automatically controlled mechanical arm, a to-be-processed placing area and a finished product placing area are arranged around the mechanical arm, a feeding channel and a discharging channel are arranged on the cabinet corresponding to the moving position of the mechanical arm, the feeding channel and the discharging channel respectively interact with the mechanical arm, the mechanical arm places the to-be-processed roll on the feeding channel, and the roll is taken out from the discharging channel by the mechanical arm after the grinding operation in the cabinet is completed, so that the automatic control operation of the roll grinding action is realized, the output effect is good, and the work efficiency is high.

[0019] The present application is provided with an automatically controlled mechanical arm, a to-be-processed placing area and a finished product placing area are arranged around the mechanical arm, a feeding channel and a discharging channel are arranged on the cabinet corresponding to the moving position of the mechanical arm, the feeding channel and the discharging channel respectively interact with the mechanical arm, the mechanical arm places the to-be-processed roll on the feeding channel, and the roll is taken out from the discharging channel by the mechanical arm after the grinding operation in the cabinet is completed, so that the automatic control operation of the roll grinding action is realized, the output effect is good, and the work efficiency is high. The present application is provided with an automatically controlled mechanical arm, a to-be-processed placing area and a finished product placing area are arranged around the mechanical arm, a feeding channel and a discharging channel are arranged on the cabinet corresponding to the moving position of the mechanical arm, the feeding channel and the discharging channel respectively interact with the mechanical arm, the mechanical arm places the to-be-processed roll on the feeding channel, and the roll is taken out from the discharging channel by the mechanical arm after the grinding operation in the cabinet is completed, so that the automatic control operation of the roll grinding action is realized, the output effect is good, and the work efficiency is high. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a schematic view of the present application.

[0021] Figure 2 It is a top view of the present application.

[0022] Figure 3 It is a schematic view of the workpiece transfer device of the present application.

[0023] Figure 4 It is a partial schematic view of the present application.

[0024] Figure 5 It is a schematic view of the working of the swing arm of the present application Figure 1 .

[0025] Figure 6 It is a schematic view of the working of the swing arm of the present application Figure 2 .

[0026] In the figure: 1, cabinet; 2, mechanical arm; 3, roll; 4, work station disc; 5, to-be-processed placing area; 6, finished product placing area; 7, feeding channel; 8, discharging channel; 9, workpiece transfer device; 10, positioning block; 11, swing arm; 12, adjusting mounting seat; 13, limiting clamp; 14, rotary clamping device; 15, grinding device; 16, roller rotary device; 17, roller. DETAILED DESCRIPTION

[0027] The specific embodiment of the present application will be described below in combination with the drawings.

[0028] AsFigures 1 to 6 As shown, the fully automatic roller grinding machine with a robotic arm of the present invention has a cabinet 1 and a robotic arm 2. A processing area 5 and a finished product area 6 are arranged around the robotic arm 2. Several stacked workstation trays 4 containing rollers 3 to be processed are placed in the processing area 5, and an empty workstation tray 4 is placed in the finished product area 6. An operating window for a feed channel 7 and a discharge channel 8 is provided on the cabinet 1 corresponding to the movement position of the robotic arm 2. The feed channel 7 and discharge channel 8 are arranged in parallel at intervals and installed on the cabinet 1 in the corresponding operating window. The feed channel 7 and discharge channel 8 interact with the robotic arm 2. The robotic arm 2 places the rollers 3 to be processed onto the feed channel 7. After the rollers 3 complete the grinding operation inside the cabinet 1, the robotic arm 2 removes the processed rollers 3 from the discharge channel 8 and removes them. The feeding channel 7 consists of two parallel, oppositely arranged single plates, forming an inclined roller track with a higher outer end and a lower inner end. The two single plates of the feeding channel 7 have a limiting hook at one end inside the cabinet 1, which is the feeding station. The discharging channel 8 consists of two parallel, oppositely arranged single plates, forming an inclined roller track with a lower outer end and a higher inner end. The two single plates of the discharging channel 8 have a limiting hook at one end outside the cabinet 1, which is the discharging station.

[0029] At the midpoint between one end of the feeding channel 7 and the other end of the discharging channel 8 (i.e., the midpoint between the feeding and discharging stations), a positioning block 10 and a swing arm 11 are provided. The positioning block 10 is fixedly mounted on an adjusting mounting base 12, which is located on a platform inside the cabinet 1. The rotation axis of the swing arm 11 is mounted on the adjusting mounting base 12 and is controlled by a rotary clamping device 14 to perform a swinging operation. After the swing arm 11 rotates and swings around its rotation axis, it reaches the position of the positioning block 10, i.e., the material picking station. The outer end of the swing arm 11 has a V-shaped or round notch as a clamping opening. A limiting clamp 13 is provided next to the clamping opening of the swing arm 11. The limiting clamp 13 movably seals the clamping opening and together clamps the roller 3. The limiting clamp 13 includes a limiting plate and a spring connected to the swing arm 11 and installed at the rear end of the limiting plate. Axle pins are provided on both sides of the limiting plate. The positioning block 10 has an arc-shaped groove. The pins on both sides of the limiting clamp 13 cooperate with the arc-shaped groove of the positioning block 10. When the swing arm 11 and the limiting clamp 13 swing down toward the positioning block 10 together, the pins of the limiting clamp 13 enter the arc-shaped groove of the positioning block 10 and are squeezed by the arc-shaped groove, causing the limiting clamp 13 to exit the clamping port of the swing arm 11 and release the clamped roller 3.

[0030] A workpiece transfer device 9 is arranged above the feeding station and the discharging station, and can move up and down and laterally, the lateral movement stroke is divided into two sections, the front section is from the feeding station to the taking station, and the rear section is from the taking station to the discharging station, and the two sections of stroke are alternately reciprocated. Two downward clamping jaws are arranged on the workpiece transfer device 9, and the two clamping jaws can clamp the leather roller 3 on the previous station and place it on the next station.

[0031] Opposite to the taking station, the swing arm 11 swings to the position of the roller 17, i.e. the sharpening station, and a sharpening device 15 is arranged beside the roller 17, the leather roller 3 clamped on the swing arm 11 cooperates with the roller 17, and the sharpening device 15 performs the sharpening operation on the leather roller 3 clamped on the swing arm 11. The roller 17 is controlled and operated by a roller rotating device 16. After the sharpening is completed, the swing arm 11 swings back to the taking station under the action of the rotary clamping device 14.

[0032] The feeding channel 7 and the discharging channel 8 are arranged at the same horizontal position of the cabinet 1 and are spaced apart by a certain distance. The workpiece transfer device 9 is provided with two clamping jaws, and the workpiece transfer device 9 can move up and down and laterally, and the clamping jaws can move in the clamping and releasing modes. The swing arm 11 is provided with a limiting clamp 13, when the swing arm 11 moves to the positioning block 10, the limiting clamp 13 is released, and when the swing arm 11 moves away from the limiting block 8, the limiting clamp 13 is clamped. The limiting clamp 13 is arranged on the swing arm 11 and can slide on the swing arm 11, and a spring is arranged between the limiting clamp 13 and the swing arm 11, and in the free state, the limiting clamp 13 just blocks the clamping opening on the swing arm 11. The swing arm 11 swings from left to right with the limiting clamp 13, when it reaches the positioning block 10, the shaft pin on the limiting clamp 13 enters the arc-shaped groove on the positioning block 10, and under the action of the arc-shaped groove, the limiting clamp 13 gradually moves to the left, and when it reaches the bottom of the arc-shaped groove on the positioning block 10, the limiting clamp 13 is completely opened, so that the leather roller 3 on the swing arm 11 can be easily taken and placed. Similarly, when the swing arm 11 swings from right to left, the shaft pin on the limiting clamp 13 gradually leaves the arc-shaped groove on the positioning block 10 and is closed under the action of the spring, and blocks the leather roller 3 on the swing arm 11, so that it will not fall during the swinging process.

[0033] During the work, several layers of work station plates 4 filled with leather rollers 3 to be processed are placed in the waiting processing area 5, and an empty work station plate 4 is placed in the finished product placement area 6.

[0034] The machine is started, the robot 2 runs from the starting position to above the work station 4 with the roller 3, picks up the roller 3 and runs to above the feeding chute 7, puts down the roller 3 and runs to above the discharging chute 8 to wait. The dropped roller 3 rolls down the feeding chute 7 under its own weight to the lower end of the feeding chute 7 and gives a signal. After receiving the signal, the work piece transfer device 9 picks up the roller 3, and because there is no roller 3 on the swing arm 11, the two clamps of the work piece transfer device 9 only pick up the roller 3 on the feeding chute 7, then go up, and move laterally. At this time, the clamp with the roller 3 moves above the swing arm 11, the other clamp is aligned with the discharging chute 8, the work piece transfer device goes down, the clamps are released, the roller 3 drops onto the swing arm 11 and gives a signal, the work piece transfer device goes up and moves laterally back to the starting position.

[0035] After receiving the signal, the swing arm 11 rotates along its axis to the roller 17 under the action of the rotary clamping device 14 and is pressed on the roller 17. When the swing arm 11 leaves the positioning block 10, the limiting clamp 13 clamps the roller 3 to prevent the roller 3 from falling during rotation. The roller 17 rotates under the action of the roller rotating device 16, and drives the roller 3 on the swing arm 11 to rotate. The grinding device 15 starts the grinding action.

[0036] When the work piece is ground, the swing arm 11 returns to the positioning block 10 under the action of the rotary clamping device 14 and opens the limiting clamp 13 under the action of the positioning block 10. The work piece transfer device 9 moves down to position, the two clamps pick up the roller 3 to be machined on the feeding chute 7 and the roller 3 that has been machined on the swing arm 11, respectively. The work piece transfer device 9 moves up and then moves laterally to position, and then moves down to position. The two clamps are released. In this way, the roller 3 to be machined is placed on the swing arm 11, and the roller 3 that has been machined is placed on the discharging chute 8. The work piece transfer device 9 returns to the starting position, and the swing arm 11 rotates to the roller 17 under the action of the swing arm rotating device 14 to perform the grinding action.

[0037] The roller 3 that has been machined on the discharging chute 8 rolls down to the lower end of the discharging chute 8 under its own weight and gives a signal. The robot 2 above the discharging chute 8 receives the signal, picks up the roller 3, and then places the machined roller 3 on the empty work station 4 of the finished product placement area 6. The robot 2 returns to the starting position to wait for the next cycle.

[0038] Meanwhile, when the roller 3 on the work station 4 of the work piece placement area 5 is taken away and machined, the work station 4 on the finished product placement area 6 is also full. The robot 2 moves the empty work station 4 on the work piece placement area 5 to above the work station 4 full of rollers 3 on the finished product placement area 6 to realize the disc changing operation.

[0039] The above description is an explanation of the present application, not a limitation of the present application, and the present application can be modified in any form without departing from the spirit of the present application.

Claims

1. A fully automatic leather roller grinding machine with a robotic arm, characterized in that: It has a cabinet (1) and a robot (2). Around the robot (2), there are a processing area (5) and a finished product area (6). On the cabinet (1), there are operation windows for the feed channel (7) and the discharge channel (8) corresponding to the movement position of the robot (2). The feed channel (7) and the discharge channel (8) interact with the robot (2). The robot (2) puts the roller (3) to be processed onto the feed channel (7). After the roller (3) completes the grinding operation in the cabinet (1), the robot (2) takes the processed roller (3) out from the discharge channel (8) and removes it. One end of the feed channel (7) inside the cabinet is called the feed channel (7). The feeding station and the discharge channel (8) are located at one end of the cabinet and are called the discharge station. A positioning block (10) and a swing arm (11) are provided in the middle of the feeding station and the discharge station. The swing arm (11) rotates and swings around its rotation axis and reaches the position of the positioning block (10), which is called the picking station. The swing arm (11) clamps or releases the roller (3) at the picking station. A workpiece transfer device (9) is provided above the feeding station and the discharge station. The workpiece transfer device (9) can move up and down and laterally. The lateral movement is divided into two sections: the front section is from the feeding station to the picking station, and the back section is from the picking station to the discharge station. The two sections are repeated alternately.

2. The fully automatic leather roller grinding machine with a robotic arm according to claim 1, characterized in that: The feeding channel (7) and the discharging channel (8) are set in parallel at intervals and installed on the cabinet (1) in the corresponding operation window.

3. The fully automatic leather roller grinding machine with a robotic arm according to claim 1, characterized in that: The feeding channel (7) consists of two parallel and opposite single plates. The two single plates form an inclined roller with the outer end of the cabinet higher and the inner end of the cabinet lower. A limit hook is provided at one end of the cabinet. The discharging channel (8) consists of two parallel and opposite single plates. The two single plates form an inclined roller with the outer end of the cabinet lower and the inner end of the cabinet higher. A limit hook is provided at one end of the cabinet.

4. The fully automatic leather roller grinding machine with a robotic arm according to claim 1, characterized in that: The positioning block (10) is fixedly installed on the adjusting mounting base (12), which is set on the table inside the cabinet (1). The rotation axis of the swing arm (11) is set on the adjusting mounting base (12) and is controlled by the rotary clamping device (14) to perform the swing operation.

5. The fully automatic leather roller grinding machine with a robotic arm according to claim 4, characterized in that: The outer end of the swing arm (11) is provided with a V-shaped or round notch as a clamping port. A limiting clamp (13) is provided next to the clamping port of the swing arm (11). The limiting clamp (13) is movably sealed at the clamping port to clamp the roller (3).

6. The fully automatic leather roller grinding machine with a robotic arm according to claim 5, characterized in that: The limiting clamp (13) includes a limiting piece and a spring connected to the swing arm (11) installed at the rear end of the limiting piece. The limiting piece has pins on both sides. The positioning block (10) has an arc-shaped groove. The pins on both sides of the limiting clamp (13) cooperate with the arc-shaped groove of the positioning block (10). When the swing arm (11) and the limiting clamp (13) swing down toward the positioning block (10), the pin of the limiting clamp (13) enters the arc-shaped groove of the positioning block (10) and is squeezed by the arc-shaped groove, causing the limiting clamp (13) to exit the clamping port of the swing arm (11) and release the clamped roller (3).

7. The fully automatic leather roller grinding machine with a robotic arm according to claim 6, characterized in that: The workpiece transfer device (9) is provided with two downward-facing grippers at intervals. The two grippers move and grip the rollers (3) on the feeding station, picking station and discharging station.

8. The fully automatic leather roller grinding machine with a robotic arm according to claim 1, characterized in that: The position where the swing arm (11) swings to the other side and reaches the roller (17) is called the grinding station. A grinding device (15) is provided next to the roller (17). The roller (3) held on the swing arm (11) cooperates with the roller (17). The grinding device (15) performs grinding operation on the roller (3) held on the swing arm (11). The roller (17) is controlled by the roller rotation device (16).

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