A fully automatic glass fiber yarn roll unloading robot

Abstract

The present invention relates to a fully automatic glass fiber yarn roll unloading robot, which is arranged between a wire drawing machine and a winding bobbin shelf. A yarn cart is arranged on one side of the winding bobbin shelf. The robot includes an overhead rail translation system, a rotary lifting system, a head yarn cleaning system, a yarn unloading and placing system, and a winding bobbin picking and placing system. The overhead rail translation system includes a lateral movement unit and a longitudinal movement unit. The rotary lifting system includes a rotary unit and a lifting unit. The head yarn cleaning system includes a hook knife unit, a yarn scraping unit, and a power unit. The yarn unloading and placing system includes a yarn supporting unit and a yarn cutting unit. The winding bobbin picking and placing system includes a winding bobbin expanding unit and a winding bobbin pushing and pulling unit. The present invention has the advantages of automatically cleaning the head yarn on the wire drawing machine, automatically sleeving the winding bobbin on the head of the wire drawing machine, automatically cutting the connection line between two yarn rolls, and being able to realize the full automation and unmanned operation of the yarn unloading process.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment, and particularly to a fully automatic glass fiber yarn roll unloading robot. Background Art

[0002] After the glass fiber drawing machine produces glass fiber yarn rolls, they need to be carried down from the drawing machine and transported away. A single roll of yarn is relatively heavy, about 20 kg, and it is difficult to carry manually. Currently, there are mature unloading robots on the market that can transport the yarn rolls down to the yarn cart, greatly reducing the manual labor intensity. However, during the unloading process, manual labor is required to be on-site to do some auxiliary work.

[0003] Functions of the existing unloading robots:

[0004] 1. It can only achieve automatic unloading and placing of yarn rolls;

[0005] 2. Manual assistance is required to remove the head yarn on the drawing machine;

[0006] 3. Manual assistance is required to put the winding cylinder on the head of the drawing machine;

[0007] 4. Manual assistance is required to cut the connection between multiple yarn rolls.

[0008] Working process of the existing unloading robots:

[0009] 1. Manually remove the head yarn;

[0010] 2. Manually cut the connection between two yarn rolls and press the call unloading button on the drawing machine;

[0011] 3. The robot receives the call request and comes to the drawing machine to unload and weigh the yarn;

[0012] 4. The robot puts the yarn roll into the yarn cart;

[0013] 5. Manually take the winding cylinder from the shelf of the drawing machine and put it on the head of the drawing machine.

[0014] However, the current production method has a poor working environment for manual labor in the workshop, with relatively large glass fiber dust, high air humidity, and high temperature. Moreover, manual labor is required to be on-site to cooperate with the machine all the time, which poses a risk of being mechanically collided. Summary of the Invention

[0015] Aiming at the deficiencies of the above-mentioned prior art, the technical problem to be solved by this patent application is how to provide a fully automatic glass fiber yarn roll unloading robot that can automatically remove the head yarn on the drawing machine, automatically put the winding cylinder on the head of the drawing machine, automatically cut the connection between two yarn rolls, and can achieve full automation and unmanned operation during the unloading process.

[0016] To solve the above technical problems, the present invention adopts the following technical solutions:

[0017] A fully automatic glass fiber yarn roll unloading robot is arranged between a wire drawing machine and a winding bobbin shelf, and a yarn cart is arranged on one side of the winding bobbin shelf. It is characterized in that it includes an overhead rail translation system, a rotary lifting system, a head yarn removal system, a yarn unloading and placing system, and a winding bobbin picking and placing system;

[0018] The overhead rail translation system includes a transverse movement unit and a longitudinal movement unit; the rotary lifting system includes a rotary unit and a lifting unit; the head yarn removal system includes a hook knife unit, a yarn scraping unit, and a power unit; the yarn unloading and placing system includes a yarn supporting unit and a yarn cutting unit; the winding bobbin picking and placing system includes a winding bobbin expanding unit and a winding bobbin pushing and pulling unit.

[0019] Among them, the transverse movement unit includes two transverse overhead rails, and two transverse track pulleys are installed in each of the transverse overhead rails. The longitudinal movement unit includes two longitudinal overhead rails, and two longitudinal track pulleys are installed in each of the longitudinal overhead rails. The two ends of the longitudinal overhead rails are connected to the transverse track pulleys through pulley seats. A control box is fixed on one of the longitudinal overhead rails, and a transverse motor is fixed on the other longitudinal overhead rail through a transverse motor bracket. The transverse motor drives the transmission shaft to rotate through a gear box. A transverse rack is fixedly installed opposite to the transverse overhead rail. Transverse gears capable of meshing with the transverse rack are fixed at both ends of the transmission shaft. A bearing seat for supporting the transmission shaft is installed on the longitudinal overhead rail; the longitudinal track pulleys of the two longitudinal overhead rails are fixedly connected to a longitudinal motor bracket through pulley seats. The longitudinal motor bracket is fixed with a longitudinal motor. The longitudinal motor is connected to a longitudinal gear through a gear box. A longitudinal rack capable of meshing with the longitudinal gear is fixed on the longitudinal overhead rail.

[0020] Among them, the rotary unit includes a worm and gear turntable installed at the lower end of the longitudinal motor bracket. The worm and gear turntable is connected to a rotary motor. The worm and gear turntable is fixedly installed downward with a steel structure main body. The lifting unit includes two sprockets installed on the steel structure main body, a chain installed outside the sprockets, and a lifting motor for driving the sprockets to rotate. One side of the chain is installed with a yarn unloading and placing system and a winding bobbin picking and placing system, and the other side of the chain is installed with a head yarn removal system.

[0021] Among them, the power unit includes a mounting plate. Upper and lower moving slide rails are installed on both sides of the steel structure main body. The slider of the upper and lower moving slide rails is fixedly connected to the mounting plate. The mounting plate is fixedly connected to the chain through a connecting block. A front and rear moving linear module is fixed on the mounting plate. A moving plate is installed on the front and rear moving linear module. An electric swing table is installed on the moving plate. A hook knife base and a scraping knife base are installed on the electric swing table. The hook knife unit is installed on the hook knife base. The yarn scraping unit is installed on the scraping knife base. A mounting bracket is installed on the moving plate. A first camera is installed on the bracket through a camera mounting bracket.

[0022] Among them, the hook knife unit includes a hook knife support. The hook knife support is fixedly connected to the hook knife base. A hook knife chute is provided on the hook knife support. A hook knife slide rod slides in the hook knife chute. A hook knife linear motion module is installed on the hook knife support. The hook knife sliding component of the hook knife linear motion module is fixedly connected to the hook knife slide rod through a hook knife slider. The hook knife slide rod is hinged to a hook knife arm. The hook knife arm is hinged to a hook knife. The hook knife is hinged to the hook knife support.

[0023] The yarn scraping unit includes a scraping knife support. A scraping knife chute is provided on the scraping knife support. A scraping knife slide rod slides in the scraping knife chute. A scraping knife linear motion module is installed on the scraping knife support. The scraping knife sliding component of the scraping knife linear motion module is fixedly connected to the scraping knife slide rod through a scraping knife slider. The scraping knife slide rod is hinged to a scraping knife arm. The scraping knife arm is hinged to a scraping knife. The scraping knife is hinged to the scraping knife support. And a scraping knife groove is provided on the scraping knife support opposite to the scraping knife.

[0024] Among them, two guide posts are further installed on the electric swing table. A positioning guide block is fixed to the head of the wire drawing machine. A relief opening is provided on the positioning guide block opposite to the notch of the head of the wire drawing machine. A guide hole capable of being inserted and matched with the guide post is provided on the positioning guide block.

[0025] Among them, the yarn supporting unit includes a lifting slide plate, a first-level telescopic mechanism, a second-level telescopic mechanism and two yarn supporting structures. The lifting slide plate is fixedly connected to the slider of the upper and lower moving slide rails on the steel structure main body. The first-level telescopic mechanism is installed on the lifting slide plate. The second-level telescopic mechanism is installed on the first-level telescopic mechanism. A bracket is installed on the second-level telescopic mechanism. The yarn supporting structures are installed on the bracket at intervals.

[0026] The yarn cutting unit includes a guillotine mechanism and an electric scissors. The guillotine mechanism includes a guillotine linear module fixedly installed on the secondary telescopic mechanism. The guillotine slider assembly of the guillotine linear module is fixed with a guillotine mounting bracket through a guillotine frame. The guillotine mounting bracket is fixed with a tool rest. Two blades arranged staggeredly are installed on the tool rest, and the two blades are arranged in a V shape. A middle support and an upper support are fixed on the primary telescopic mechanism. The upper support is fixedly installed on the middle support. The electric scissors are fixedly installed on a scissors support, and the scissors support is fixedly installed at one end of the upper support.

[0027] Among them, the primary telescopic mechanism includes two first linear guides fixedly installed on a lifting slide plate. A slider on the first linear guide is fixed with a housing. A first rack is fixed on the housing. The lifting slide plate is fixed with a first transmission box. A first motor is fixed in the first transmission box. The output shaft of the first motor is fixed with a first gear capable of meshing with the first rack. The secondary telescopic mechanism includes two second linear guides fixedly installed in the housing. A slider on the second linear guide is fixed with a second transmission box. A second rack is fixed in the housing. A second motor is fixed in the second transmission box. The output shaft of the second motor is fixed with a second gear capable of meshing with the second rack. The bracket and the guillotine linear module are fixedly installed on the second transmission box, and the middle support is fixedly installed on the housing.

[0028] Among them, the wire winding cylinder rounding unit includes a middle support plate fixedly installed on the middle support. A servo electric cylinder is fixedly installed on the middle support plate. The servo electric cylinder is connected with a connecting block through a floating joint. The connecting block is in a T shape. A T-shaped chute slidingly matched with the connecting block is arranged through the middle support plate. A third linear guide is fixed on the middle support plate. A slider on the third linear guide is fixedly connected with the connecting block. Three end parts of the connecting block are respectively hinged with a four-bar linkage mechanism through a connecting rod. One end of the four-bar linkage mechanism is fixed on the middle support plate, and the other end is fixed with a cylinder segment. A rear fixed flap and a weighing sensor are fixed on the middle support plate. A front fixed flap is fixed on the weighing sensor. A second camera is fixed at the end of the middle support rod.

[0029] Among them, the wire winding cylinder pushing and pulling unit includes an upper linear module fixedly installed on the upper bracket. A combined bracket is fixed to the sliding component of the upper linear module. A floating linear guide rail is installed on the combined bracket. A calibration finger electric cylinder capable of clamping the floating linear guide rail is installed on the upper linear module. Two fourth linear guide rails are fixed to the lower end of the combined bracket. The sliders on the fourth linear guide rails are respectively fixed with a front fixed seat and a rear fixed seat. A third motor is fixed to the combined bracket. The output shaft of the third motor passes through the combined bracket downward and is fixed with a driving sprocket. A driven sprocket is fixed to the combined bracket through a wheel shaft. The driving sprocket and the driven sprocket are connected by a transmission chain. The front fixed seat and the rear fixed seat are fixedly connected to both sides of the transmission chain and are arranged in a staggered manner. Electric grippers are fixed to both the front fixed seat and the rear fixed seat. The electric grippers are respectively connected with an outer clamping arm and an inner clamping arm. The length of the inner clamping arm is greater than that of the outer clamping arm, and the lengths of the two outer clamping arms are different. Grooves are arranged on the inner sides of the inner clamping arms.

[0030] In summary, the present invention has the advantages of automatically clearing the head yarn on the wire drawing machine, automatically sleeving the wire winding cylinder on the head of the wire drawing machine, automatically cutting the connection line between two rolls of yarn, and being able to realize the full automation and unmanned operation of the yarn unloading process. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic structural diagram of a fully automatic glass fiber yarn roll unloading robot described in the present invention.

[0032] Figure 2 It is Figure 1 A schematic structural diagram from another perspective.

[0033] Figure 3 It is a schematic diagram of the wire drawing machine.

[0034] Figure 4 It is a schematic diagram of the wire winding cylinder storage rack.

[0035] Figure 5 It is a schematic diagram of the yarn cart.

[0036] Figure 6 It is a schematic diagram of the overhead rail translation system and the rotary lifting system.

[0037] Figure 7 It is Figure 6 A schematic diagram from another perspective.

[0038] Figure 8 It is a schematic diagram of the head yarn clearing system.

[0039] Figure 9 It is a schematic diagram of the yarn unloading and placing system.

[0040] Figure 10It is a schematic diagram of the first-level telescopic mechanism and the second-level telescopic mechanism.

[0041] Figure 11 It is Figure 10 a schematic diagram of another orientation.

[0042] Figure 12 It is a schematic diagram of the wire winding cylinder picking and placing system.

[0043] Figure 13 It is a partial schematic diagram of the wire winding cylinder expanding unit.

[0044] Figure 14 It is a partial schematic diagram of the wire winding cylinder pulling and pushing unit.

[0045] Figure 15 It is Figure 14 a schematic diagram of another orientation of Detailed implementation manners

[0046] The present invention will be further described in detail below with reference to the accompanying drawings. In the description of the present invention, it should be understood that the orientation or positional relationship indicated by orientation words such as "upper, lower" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description. Without contrary description, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the protection scope of the present invention; the orientation words "inner, outer" refer to the inside and outside relative to the contour of each component itself.

[0047] As Figure 1-15 shown, a fully automatic glass fiber yarn roll unloading robot is arranged between a wire drawing machine 1 and a wire winding cylinder shelf 2, and a yarn cart 3 is arranged on one side of the wire winding cylinder shelf; it includes a sky rail translation system 4, a rotary lifting system 5, a head yarn cleaning system 6, a yarn unloading and placing system 7, and a wire winding cylinder picking and placing system 8;

[0048] The sky rail translation system is suspended on a load-bearing I-beam 9 on the roof of the workshop, and it includes a transverse movement unit and a longitudinal movement unit; the rotary lifting system includes a rotary unit and a lifting unit; the head yarn cleaning system includes a hook knife unit, a yarn scraping unit, and a power unit; the yarn unloading and placing system includes a yarn supporting unit and a yarn cutting unit; the wire winding cylinder picking and placing system includes a wire winding cylinder expanding unit and a wire winding cylinder pulling and pushing unit.

[0049] In this embodiment, the lateral movement unit includes two lateral overhead rails 11, and two lateral track pulleys 12 are installed in each of the lateral overhead rails. The longitudinal movement unit includes two longitudinal overhead rails 13, and two longitudinal track pulleys 14 are installed in each of the longitudinal overhead rails. The two ends of the longitudinal overhead rails are connected to the lateral track pulleys through pulley seats. A control box 15 is fixed on one of the longitudinal overhead rails, and a lateral motor 16 is fixed on the other longitudinal overhead rail through a lateral motor bracket. The lateral motor drives a transmission shaft 17 to rotate through a gearbox. A lateral rack 18 is fixedly installed opposite to the lateral overhead rail. Two lateral gears 19 that can mesh with the lateral rack are fixed at both ends of the transmission shaft. A bearing seat for supporting the transmission shaft is installed on the longitudinal overhead rail. The longitudinal track pulleys of the two longitudinal overhead rails are fixedly connected to a longitudinal motor bracket 111 through pulley seats. The longitudinal motor bracket is fixed with a longitudinal motor 112. The longitudinal motor is connected to a longitudinal gear through a gearbox. A longitudinal rack 113 that can mesh with the longitudinal gear is fixed on the longitudinal overhead rail. Through two sets of lateral gear-rack meshing structures, the force during operation is evenly distributed over a large span. The tooth surface of the rack faces downward to ensure that no flying filaments adhere. A follow-up oil groove is installed below the gear to ensure gear lubrication. The control box is installed on the longitudinal overhead rail. During operation, only one set of three-phase five-wire power supply lines and one communication network cable are led out from the control box to the drag chain above the wire drawing machine.

[0050] In this embodiment, the rotation unit includes a worm and gear turntable 114 installed at the lower end of the longitudinal motor bracket. The worm and gear turntable is connected to a rotation motor 115. The worm and gear turntable is fixedly installed downward with a steel structure main body 116. The lifting unit includes two sprockets installed on the steel structure main body, a chain 117 installed outside the sprockets, and a lifting motor 118 for driving the sprockets to rotate. A yarn unloading and placing system and a winding bobbin picking and placing system are installed on one side of the chain, and a head yarn cleaning system is installed on the other side of the chain. Through the setting of the rotation and lifting system, the working components on this robot face the wire drawing machine or the yarn cart for work. The chain adopts a double-row stainless steel chain, and components are suspended on both sides of the chain. The installation of the yarn unloading and placing system and the winding bobbin picking and placing system on one side of the chain and the head yarn cleaning system on the other side are considered based on limited installation space and chain weight. Laser radars are installed on both the front and the back, which can monitor in real time whether workers or other obstacles appear in front of and behind the robot. When an obstacle enters a certain range, the robot will be controlled to automatically pause operation. The working components on the front and back of the chain move up and down in the opposite direction.

[0051] In this embodiment, the power unit includes a mounting plate 21. Upper and lower moving slide rails 119 are installed on both sides of the steel structure main body. The slider of the upper and lower moving slide rail is fixedly connected to the mounting plate. The mounting plate is fixedly connected to the chain through a connecting block. A front and rear moving linear module 22 is fixed on the mounting plate. A moving plate 23 is installed on the front and rear moving linear module. An electric swing table 24 is installed on the moving plate. A hook knife base 25 and a scraping knife base 26 are installed on the electric swing table. The hook knife unit is installed on the hook knife base, and the yarn scraping unit is installed on the scraping knife base. An installation bracket 27 is installed on the moving plate. A first camera 28 is installed on the bracket through a camera installation bracket.

[0052] In this embodiment, the hook knife unit includes a hook knife support 211. The hook knife support is fixedly connected to the hook knife base. A hook knife chute is provided on the hook knife support. A hook knife slide rod slides in the hook knife chute. A hook knife linear motion module 212 is installed on the hook knife support. The hook knife sliding component of the hook knife linear motion module is fixedly connected to the hook knife slide rod through a hook knife slider 213. The hook knife slide rod is hinged with a hook knife arm 214. The hook knife arm is hinged with a hook knife 215. The hook knife is hinged with the hook knife support; the hook knife motion linear module drives the hook knife mechanism to move, and the hook knife of the hook knife mechanism hooks the head yarn.

[0053] The yarn scraping unit includes a scraping knife support 216. A scraping knife chute is provided on the scraping knife support. A scraping knife slide rod slides in the scraping knife chute. A scraping knife linear motion module 217 is installed on the scraping knife support. The scraping knife sliding component of the scraping knife linear motion module is fixedly connected to the scraping knife slide rod through a scraping knife slider 218. The scraping knife slide rod is hinged with a scraping knife arm 219. The scraping knife arm is hinged with a scraping knife 220. The scraping knife is hinged with the scraping knife support, and a scraping knife groove is provided on the scraping knife support opposite to the scraping knife. The scraping knife motion linear module drives the scraping knife mechanism to move, and the scraping knife of the scraping knife mechanism scrapes the head yarn cut by the hook knife. The front and rear moving linear module moves backward to scrape the yarn out of the head. The scraping knife linear motion module acts, and the scraping knife mechanism releases the scraped yarn, completing the process of removing the head yarn.

[0054] In this embodiment, two guiding columns 221 are further installed on the electric swing table. A positioning guiding block 223 is fixed on the head 222 of the wire drawing machine. A relief opening 224 is provided in the positioning guiding block opposite to the notch of the head of the wire drawing machine. A guiding hole 225 that can be inserted and matched with the guiding column is provided on the positioning guiding block.

[0055] In this way, the first camera can capture the center position of the head of the wire drawing machine to locate the circumferential position of the clearance opening of the guide block. The electric swing table can automatically adjust the matching hook knife rotation according to the circumferential position of the clearance opening captured by the camera. The two guide columns can be inserted into the guide holes to ensure that the head is stable and does not rotate. The mechanism is driven by the forward and backward moving linear module to retract as a whole. After the hook knife is hooked into the groove, the forward and backward moving linear module drives the hook knife to move backward. At the same time, the hook knife makes a slight rotating reciprocating motion and finally cuts the yarn. The scraper drive method is similar to the hook knife, and is used to peel the head yarn cut by the hook knife from the head.

[0056] In this embodiment, the yarn supporting unit includes a lifting slide 31, a primary telescopic mechanism, a secondary telescopic mechanism and two yarn supporting structures 32. The lifting slide is fixedly connected to the slider of the up and down movable slide rail on the steel structure main body, the primary telescopic mechanism is installed on the lifting slide, and the secondary telescopic mechanism is installed on the primary telescopic mechanism. A bracket 33 is installed on the secondary telescopic mechanism, and the yarn supporting structures are installed on the bracket at intervals; the "yarn supporting mechanism" is a double-station pick-up and placement fixture, and each pick-up and placement fixture station can be independently lifted and lifted to lift the yarn roll; taking into account the deviation in the diameter of the yarn roll, the tray of the yarn roll is designed to be a flexible mechanism that can swing adaptively. When the tray lifts the yarn, only when the tray is subjected to a certain force, the tray swings to trigger the proximity switch, and the system will consider that the yarn supporting action is completed.

[0057] The yarn cutting unit includes a gate knife mechanism and an electric scissors 34. The gate knife mechanism includes a gate knife linear module 35 fixedly mounted on the secondary telescopic mechanism. The gate knife slider assembly of the gate knife linear module is fixed with a gate knife mounting frame 36 through a gate knife frame. The gate knife mounting frame is fixed with a knife holder. Two staggered blades 37 are mounted on the knife holder. The two blades are arranged in a V shape. The first telescopic mechanism is fixed with a middle bracket and an upper bracket. The upper bracket is fixedly mounted on the middle bracket. The electric scissors are fixedly mounted on the scissor bracket. The scissor bracket is fixedly mounted on one end of the upper bracket. The gate knife mechanism is mounted on the yarn supporting mechanism to cut the connection between the two yarn rolls. The two blades are staggered on the knife holder between the two yarn roll trays. The gate knife mechanism is driven upward by the gate knife linear module to cut the yarn between the two yarn rolls. Even if it is not cut, the yarn can be gathered at the bottom of the V groove and then cut with electric scissors. The blade adopts a straight blade, which is low in cost and easy to replace.

[0058] In this embodiment, the first-level telescopic mechanism includes two first linear guide rails 311 fixedly installed on the lifting slide plate. The slider on the first linear guide rail is fixed with a housing 312, and a first rack 313 is fixed on the housing. The lifting slide plate is fixed with a first transmission box, and a first motor 314 is fixed inside the first transmission box. The output shaft of the first motor is fixed with a first gear 315 capable of meshing with the first rack; the second-level telescopic mechanism includes two second linear guide rails 316 fixedly installed inside the housing. The slider on the second linear guide rail is fixed with a second transmission box 317, and a second rack 318 is fixed inside the housing. A second motor 319 is fixed inside the second transmission box, and the output shaft of the second motor is fixed with a second gear 320 capable of meshing with the second rack. The bracket and the knife gate linear module are fixedly installed on the second transmission box, and the middle bracket is fixedly installed on the housing. The first-level and second-level telescopic mechanisms are mainly composed of their corresponding motors, gear racks, and linear guide rails. The first-level and second-level telescopic mechanisms are both driven by servo motors to drive the gear racks, enabling the working system to perform precise horizontal telescopic movements. Since the telescopic length of the first level is insufficient, two levels of telescoping are adopted.

[0059] In this embodiment, the wire winding cylinder rounding unit includes a middle support plate fixedly installed on the middle bracket. A servo cylinder 41 is fixedly installed on the middle support plate. The servo cylinder is connected with a connecting block 43 through a floating joint 42. The connecting block is T-shaped. A T-shaped chute that is slidably matched with the connecting block is arranged through the middle support plate. A third linear guide rail 44 is fixed on the middle support plate. The slider on the third linear guide rail is fixedly connected with the connecting block. Three end parts of the connecting block are respectively hinged with a four-bar linkage 46 through a connecting rod 45. One end of the four-bar linkage is fixed on the middle support plate, and the other end is fixed with a cylinder supporting lobe 47. A rear fixed lobe 48 and a weighing sensor 49 are fixed on the middle support plate. A front fixed lobe 441 is fixed on the weighing sensor; a second camera 442 is fixed at the end of the middle support rod. The wire winding cylinder rounding unit can round the wire winding cylinder into a standard shape, ensuring that the electric gripper can accurately catch the edge of the wire winding cylinder and push it in, avoiding the possible overlap when two wire winding cylinders are pushed into the machine head together under an irregular shape; the wire winding cylinder rounding unit can tighten the wire winding cylinder to prevent the wire winding cylinder from slipping during transportation. The wire winding cylinder rounding unit is driven by a servo cylinder, and drives the left, right, and lower three arc-shaped cylinder supporting lobes to expand and contract through a connecting rod system. The second camera at the front is used for shooting and positioning.

[0060] In this embodiment, the wire winding cylinder pushing and pulling unit includes an upper linear module 51 fixedly installed on the upper bracket. A combined bracket 52 is fixed to the sliding component of the upper linear module. A floating linear guide rail is installed on the combined bracket. A calibration finger electric cylinder 53 capable of clamping the floating linear guide rail is installed on the upper linear module. Two fourth linear guide rails 54 are fixed to the lower end of the combined bracket. Sliders on the fourth linear guide rails are respectively fixed with a front fixed seat and a rear fixed seat. A third motor 55 is fixed to the combined bracket. The output shaft of the third motor passes through the combined bracket downward and is fixed with a driving sprocket. A driven sprocket is fixed to the combined bracket through a wheel shaft. The driving sprocket and the driven sprocket are connected by a transmission chain 56. The front fixed seat and the rear fixed seat are fixedly connected to both sides of the transmission chain and are arranged in a staggered manner. Electric grippers 57 are fixed to both the front fixed seat and the rear fixed seat. The electric grippers are respectively connected with an outer clamping arm 58 and an inner clamping arm 59. The length of the inner clamping arm is greater than that of the outer clamping arm, and the lengths of the two outer clamping arms are different. Grooves 511 are arranged on the inner sides of the inner clamping arms.

[0061] The wire winding cylinder pushing and pulling unit can take the wire winding cylinder from the wire winding cylinder shelf and send it into the machine head. The electric gripper grabs the edge of the wire winding cylinder from the wire winding cylinder shelf and spreads it open, then sets it into the wire winding cylinder rounding mechanism and rounds it. When the wire winding cylinder is set into the machine head, the groove at the top of the electric gripper is stuck into the end of the wire winding cylinder for pushing. Considering the risk of collision between the gripper and the edge of the machine head during pushing, the pushing and pulling mechanism is designed flexibly, adding a floating linear guide rail and a calibration finger electric cylinder to avoid rigid collision between the electric gripper and the machine head.

[0062] In this embodiment, the design of the wire winding cylinder shelf refers to the yarn cart, adopts a double-sided design, has 5 layers, a width of 1.2 meters, and a capacity of 300. It adopts the standard pallet height design, which is convenient for the transportation of AGV or electric forklift.

[0063] Specifically, the working process is as follows:

[0064] 1. Clearing the yarn at the machine head:

[0065] The robot moves to the wire drawing machine, takes a photo with the first camera, adjusts the position, and then the front and rear moving linear module extends to the yarn hooking working position. The hooking knife hooks into the yarn and then pulls it backward to break the yarn at the machine head. To prevent the broken yarn at the machine head from still adhering to the machine head, the front and rear moving linear module extends to the yarn scraping working position again. The scraping knife scrapes into the residual yarn and then pulls it backward to pull out the residual yarn from the machine head, and the yarn falls under the action of gravity.

[0066] 2. Cutting the connection between multiple rolls of yarn:

[0067] The robot moves horizontally a short distance to face the yarn supporting unit towards the wire drawing machine, takes a photo with the first camera, and after adjusting the positioning, the first telescopic mechanism and the second telescopic mechanism extend to the yarn unloading working position to lift both yarn rolls. When both yarn rolls are completely lifted, the in-place sensor on the tray will be triggered, and at this time, the lifting stops. The first telescopic mechanism and the second telescopic mechanism move backward to move both yarn rolls to the gate wire position. After lowering and hanging the rear yarn roll on the machine head, the first telescopic mechanism moves backward to separate both yarn rolls by a short distance. The gate knife rises to cut off the connecting line between the two yarn rolls. Even if it is not cut off, the V-shaped knife can be used to gather the wire harness together, and finally, the electric scissors are used to cut it off. Thus, the work of cutting off the connecting line between the two yarn rolls is completed.

[0068] 3. Yarn unloading and weighing:

[0069] Lower, place the front yarn roll on the weighing platform for weighing, then rise, lift both yarn rolls, the first telescopic mechanism and the second telescopic mechanism retract, move the rear yarn roll to the weighing platform, and lower to place the rear yarn roll on the weighing platform for weighing. Thus, the yarn unloading and weighing of both yarn rolls are completed. When weighing, the weighing sensor is used, that is, placed on the front fixed flap.

[0070] 4. Place the yarn roll into the yarn cart:

[0071] The robot moves to the position of the yarn cart assigned by the system, takes a photo with the first camera, and after adjusting the positioning, the yarn supporting structure lifts to lift both yarn rolls. The first telescopic mechanism and the second telescopic mechanism extend to the yarn unloading working position, lower to place both yarn rolls on the yarn cart, and then the first telescopic mechanism and the second telescopic mechanism retract. Thus, the yarn placing action of both yarn rolls is completed. After the yarn cart is full, it can call for manual or RGV to take away the full shelf and replenish the empty shelf.

[0072] 5. Take the winding bobbin:

[0073] The robot moves to the filament winding cylinder shelf, takes pictures with the second camera. After adjusting the positioning, the upper linear module drives the electric gripper to move forward to a position close to the filament winding cylinder, drives the electric gripper to move inwards and side by side, and then extends forward so that the two electric grippers insert into the center of the filament winding cylinder. The two electric grippers close to clamp the edge of the paper tube, move backward to pull out the paper tube for a certain distance, then drive the two electric grippers to move in the reverse direction to open the mouth of the filament winding cylinder, and move backward to completely pull out the paper tube and sleeve it on the tail of the round support mechanism; the robot as a whole translates a short distance to the next filament winding cylinder taking position, repeats the above actions, and sleevs the filament winding cylinder on the front of the round support mechanism. Thus, the action of taking two filament winding cylinders is completed. The rear fixed flap and the front weighing flap are equipped with diffuse reflection sensors to detect whether the filament winding cylinder is properly installed. The round support mechanism expands and tightens the two paper tubes. The servo electric cylinder drives the connecting block to move forward through the floating joint, and then drives the four-bar mechanism including the short connecting rod and the long connecting rod to move, so that the three cylinder expanding flaps open to expand and tighten the filament winding cylinder. After the extraction of the filament winding cylinder is completed, the empty shelf can be taken away by calling for manual labor or RGV, and the shelf can be replenished.

[0074] 6. Installing the filament winding cylinder:

[0075] The robot then moves to the wire drawing machine, takes pictures with the second camera. After adjusting the positioning, the upper linear module drives the two electric grippers to move inwards a little so that the grooves on the two electric grippers align with the edge of the filament winding cylinder, extends forward, and uses the grooves of the electric grippers to push the rear filament winding cylinder forward. The rear filament winding cylinder squeezes the front filament winding cylinder until both filament winding cylinders are pushed in and sleeved on the machine head, and then retracts to the original position. A conical guide disk is installed at the front end of the wire drawing machine head to facilitate the introduction of the filament winding cylinder. When the filament winding cylinder is pushed in place, the through-beam sensor will be blocked by the machine head, which means it is pushed in place at this time, and then the claw hand retracts. Thus, the action of installing two filament winding cylinders is completed.

[0076] Pushing the filament winding cylinder with the card slot instead of directly grasping the filament winding cylinder with the claw hand is because the gap in the diameter direction between the filament winding cylinder and the machine head is relatively small, only about 2 mm. In order to ensure the clamping strength, the claw hand must be made thicker. If the thicker claw hand is used to push the filament winding cylinder, when it reaches the machine head in place, the thickness of the claw hand will eat up the gap between the filament winding cylinder and the machine head, resulting in the claw hand being tightened with the filament winding cylinder. At this time, if the tightened claw hand is pulled out, the filament winding cylinder will be taken back together. Using the thinner groove instead of the gripper to clamp and push the filament winding cylinder can avoid the above problems.

[0077] The connection between the upper linear module and the jaw mounting bracket is not a fixed connection, but a flexible floating connection. When pushing the wire winding cylinder, the clearance between the jaw and the outer wall of the machine head is small. To avoid hard collision between the jaw and the machine head caused by positioning mechanical deviation, a floating linear guide and a calibration finger electric cylinder are added. When pushing the wire winding cylinder into the machine head, the calibration finger electric cylinder opens. At this time, the clamping system below the mechanism becomes a flexible state that can float left and right. Even if the pushing path is eccentric with the machine head, the flexible system can automatically correct it. Under other working conditions, the calibration finger electric cylinder maintains the clamping state, and the flexible system becomes a rigid system without shaking.

[0078] Finally, it should be noted that those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these changes and modifications.

Claims

1. A fully automatic glass fiber yarn roll unloading robot is arranged between a wire drawing machine and a winding cylinder shelf, and a yarn cart is arranged on one side of the winding cylinder shelf; characterized in that, It includes an overhead rail translation system, a rotary lifting system, a head yarn cleaning system, a yarn unloading and discharging system, and a bobbin picking and placing system; The overhead rail translation system includes a lateral movement unit and a longitudinal movement unit; the rotary lifting system includes a rotary unit and a lifting unit; the head yarn cleaning system includes a hook knife unit, a yarn scraping unit, and a power unit; the yarn unloading and discharging system includes a yarn supporting unit and a yarn cutting unit; the bobbin picking and placing system includes a bobbin expanding unit and a bobbin pushing and pulling unit; The hook knife unit includes a hook knife support seat, which is fixedly connected to a hook knife base. A hook knife sliding groove is provided on the hook knife support seat. A hook knife sliding rod slides in the hook knife sliding groove. A hook knife linear motion module is installed on the hook knife support seat. The hook knife sliding component of the hook knife linear motion module is fixedly connected to the hook knife sliding rod through a hook knife slider. The hook knife sliding rod is hinged to a hook knife arm, the hook knife arm is hinged to a hook knife, and the hook knife is hinged to the hook knife support seat; The yarn scraping unit includes a scraper support seat. A scraper sliding groove is provided on the scraper support seat. A scraper sliding rod slides in the scraper sliding groove. A scraper linear motion module is installed on the scraper support seat. The scraper sliding component of the scraper linear motion module is fixedly connected to the scraper sliding rod through a scraper slider. The scraper sliding rod is hinged to a scraper arm, the scraper arm is hinged to a scraper, and the scraper is hinged to the scraper support seat. And a scraper groove is provided on the scraper support seat opposite to the scraper; 2. The fully automatic glass fiber yarn roll unloading robot according to claim 1, characterized in that, The lateral movement unit includes two lateral overhead rails. Two lateral track pulleys are installed in each of the lateral overhead rails. The longitudinal movement unit includes two longitudinal overhead rails. Two longitudinal track pulleys are installed in each of the longitudinal overhead rails. The two ends of the longitudinal overhead rails are connected to the lateral track pulleys through pulley seats. A control box is fixed on one of the longitudinal overhead rails. A lateral motor is fixed on the other longitudinal overhead rail through a lateral motor bracket. The lateral motor drives a transmission shaft to rotate through a gear box. A lateral rack is fixedly installed opposite to the lateral overhead rail. Transverse gears capable of meshing with the lateral rack are fixed at both ends of the transmission shaft. A bearing seat for supporting the transmission shaft is installed on the longitudinal overhead rail; The longitudinal track pulleys of the two longitudinal overhead rails are fixedly connected to a longitudinal motor bracket through a pulley seat. The longitudinal motor bracket is fixed with a longitudinal motor. The longitudinal motor is connected to a longitudinal gear through a gear box. A longitudinal rack capable of meshing with the longitudinal gear is fixed on the longitudinal overhead rail.

3. The fully automatic glass fiber yarn roll unloading robot according to claim 2, characterized in that, The rotary unit includes a worm and gear turntable installed at the lower end of the longitudinal motor bracket. The worm and gear turntable is connected to a rotary motor. The worm and gear turntable is fixedly connected downward to a steel structure main body. The lifting unit includes two sprockets installed on the steel structure main body, a chain installed outside the sprockets, and a lifting motor for driving the sprockets to rotate. One side of the chain is installed with a yarn unloading and discharging system and a bobbin picking and placing system. The other side of the chain is installed with a head yarn cleaning system.

4. The fully automatic glass fiber yarn roll unloading robot according to claim 3, characterized in that, The power unit includes a mounting plate. Upper and lower moving slide rails are installed on both sides of the steel structure main body. The slider of the upper and lower moving slide rail is fixedly connected to the mounting plate. The mounting plate is fixedly connected to the chain through a connecting block. A front and rear moving linear module is fixed on the mounting plate. A moving plate is installed on the front and rear moving linear module. An electric swing table is installed on the moving plate. A hook knife base and a scraping knife base are installed on the electric swing table. The hook knife unit is installed on the hook knife base. The yarn scraping unit is installed on the scraping knife base. An installation bracket is installed on the moving plate. The bracket is provided with a first camera through a camera installation bracket.

5. The fully automatic glass fiber yarn roll unloading robot according to claim 4, characterized in that, Two guiding columns are also installed on the electric swing table. A positioning guiding block is fixed to the head of the wire drawing machine. A relief opening is provided in the positioning guiding block opposite to the notch of the head of the wire drawing machine. A guiding hole that can be inserted and matched with the guiding column is provided on the positioning guiding block.

6. The fully automatic glass fiber yarn roll unloading robot according to claim 5, characterized in that, The yarn supporting unit includes a lifting slide plate, a first-level telescopic mechanism, a second-level telescopic mechanism and two yarn supporting structures. The lifting slide plate is fixedly connected to the slider of the upper and lower moving slide rail on the steel structure main body. The first-level telescopic mechanism is installed on the lifting slide plate. The second-level telescopic mechanism is installed on the first-level telescopic mechanism. A bracket is installed on the second-level telescopic mechanism. The yarn supporting structures are installed on the bracket at intervals. The yarn cutting unit includes a guillotine mechanism and an electric scissors. The guillotine mechanism includes a guillotine linear module fixedly installed on the second-level telescopic mechanism. The guillotine slider assembly of the guillotine linear module is fixedly provided with a guillotine mounting bracket through a guillotine frame. A knife rest is fixed to the guillotine mounting bracket. Two blades arranged in an alternating manner are installed on the knife rest. The two blades are arranged in a V shape. A middle bracket and an upper bracket are fixed to the first-level telescopic mechanism. The upper bracket is fixedly installed on the middle bracket. The electric scissors are fixedly installed on a scissors bracket. The scissors bracket is fixedly installed at one end of the upper bracket.

7. The fully automatic glass fiber yarn roll unloading robot according to claim 6, characterized in that, The first-level telescopic mechanism includes two first linear guides fixedly installed on the lifting slide plate. The slider on the first linear guide is fixedly provided with a housing. A first rack is fixed to the housing. The lifting slide plate is fixedly provided with a first transmission box. A first motor is fixed in the first transmission box. A first gear capable of meshing with the first rack is fixed to the output shaft of the first motor. The second-level telescopic mechanism includes two second linear guides fixedly installed in the housing. The slider on the second linear guide is fixedly provided with a second transmission box. A second rack is fixed in the housing. A second motor is fixed in the second transmission box. A second gear capable of meshing with the second rack is fixed to the output shaft of the second motor. The bracket and the guillotine linear module are fixedly installed on the second transmission box. The middle bracket is fixedly installed on the housing.

8. The fully automatic glass fiber yarn roll unloading robot according to claim 7, characterized in that, The wire winding cylinder supporting and rounding unit includes a middle support plate fixedly installed on the middle bracket. A servo electric cylinder is fixedly installed on the middle support plate. The servo electric cylinder is connected to a connecting block through a floating joint. The connecting block is T-shaped. A T-shaped sliding groove that is slidably matched with the connecting block is penetrated through the middle support plate. A third linear guide rail is fixed on the middle support plate. The slider on the third linear guide rail is fixedly connected to the connecting block. Three end parts of the connecting block are respectively hinged with a four-bar linkage mechanism through a connecting rod. One end of the four-bar linkage mechanism is fixed on the middle support plate, and the other end is fixed with a cylinder supporting lobe. A rear fixed lobe and a weighing sensor are fixed on the middle support plate. A front fixed lobe is fixed on the weighing sensor; a second camera is fixed at the end of the middle support plate.

9. The fully automatic glass fiber yarn roll unloading robot according to claim 8, characterized in that, The wire winding cylinder pushing and pulling unit includes an upper linear module fixedly installed on the upper bracket. A combined bracket is fixed on the sliding component of the upper linear module. A floating linear guide rail is installed on the combined bracket. A calibration finger electric cylinder capable of clamping the floating linear guide rail is installed on the upper linear module. Two fourth linear guide rails are fixed at the lower end of the combined bracket. The sliders on the fourth linear guide rails are respectively fixed with a front fixed seat and a rear fixed seat. A third motor is fixed on the combined bracket. The output shaft of the third motor passes downward through the combined bracket and is fixed with a driving sprocket. A driven sprocket is fixed on the combined bracket through a wheel shaft. The driving sprocket and the driven sprocket are connected by a transmission chain. The front fixed seat and the rear fixed seat are fixedly connected to both sides of the transmission chain and are arranged in a staggered manner. Electric grippers are fixed on both the front fixed seat and the rear fixed seat. The electric grippers are respectively connected with an outer clamping arm and an inner clamping arm. The length of the inner clamping arm is greater than that of the outer clamping arm, and the lengths of the two outer clamping arms are different. Grooves are arranged on the inner sides of the inner clamping arms.

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