Expansion sheet overturning type manipulator capable of automatically sleeving machine head wire winding cylinder and control method thereof

Abstract

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

Description

Technical Field

[0001] The present application belongs to the technical field of glass fiber production equipment, and specifically relates to a sheet-expanding and flipping manipulator capable of automatically assembling a machine head winding drum and a control method thereof. Background Art

[0002] Brief introduction to the manufacturing process of glass fiber: After the ore raw materials are formulated, they are melted into glass liquid through a kiln, flow out through a porous platinum leak plate, and are coated with an impregnating agent by a single-filament oiler. They are then drawn into ultra-fine fibers by various high-speed rotating drawing equipment such as a wire drawing machine. There are two types of yarn balls that are wound into direct untwisted coarse yarn balls and raw silk cake yarn balls. Several drawing and winding methods require the use of a winding drum to wind the yarn balls, such as paper winding drums or Teflon winding drums. At present, the drawing process has automatic head-up, cut-free yarn wire rings, cut intermediate connecting yarns, and unloading yarn robots to replace manual labor. However, after the robot removes the yarn ball, the winding drum must be manually put on the head of the wire drawing machine before drawing and winding. Not only is the efficiency low, but there are also safety hazards caused by human-machine cooperation, which hinders the entire automated production process.

[0003] Please refer to the Chinese patent: An automatic winding drum taking and loading mechanism for glass fiber drawing machine [application publication number: CN115783899 A / application number: 202211622113.6]. The patent adjusts the lateral distance between the two electric clamps through the third motor, sprocket system, front and rear fixed seats [to adapt to the diameter of the winding drum]; drives the electric clamps forward and backward through the upper linear module [corresponding to the action of taking the drum sleeve and pushing the drum]; and realizes the telescopic drive of the supporting drum petal [the action of supporting the winding drum] through the servo motor, floating joint, and four-bar linkage. Existing problems: 1. The mechanism itself does not have the function of storing wire winding tubes. When loading the tubes onto the wire drawing machine, the whole machine needs to circulate back and forth between the wire winding tube storage rack and the wire drawing machine, affecting production efficiency; 2. The tube loading process includes the tube drawing process, the tube opening process, the tube sleeve process, the tube support process, and the tube pushing process; the processes are connected and cannot be partially executed at the same time, so the tube loading time is relatively long; 3. The tube support mechanism adopts a four-bar mechanism to realize the telescopic drive of the tube support petal, and the transmission chain is relatively long, which affects the telescopic efficiency of the tube support petal. Summary of the invention

[0004] In view of this, the present application provides a sheet-expanding and flipping robot capable of automatically assembling a wire winding drum on a machine head and a control method thereof, so as to solve all or part of the technical problems described in the background technology section of the present application.

[0005] The innovative concepts of the present application are: 1. Fold the wire winding drum into thin sheets for storage and feed the materials step by step through cylinder pressure maintaining technology; 2. Use vacuum suction cups to form upper and lower opening drum components to open the opening part of the folded wire winding drum; 3. Place the partially opened wire winding drum on the supporting drum expansion plate of the flipping and feeding mechanism, and use the expansion plate rotating mechanism to rotate and open the expansion plate to expand the wire winding drum into a circle; 4. Flip the flipping and feeding mechanism 180 degrees to align it with the wire drawing machine head, and then push the wire winding drum to the wire drawing machine head through the pushing drum mechanism.

[0006] The solutions provided by this application to solve its technical problems are: A sheet expansion and flipping manipulator capable of automatically assembling a machine head wire winding drum, comprising an automatic drum feeding mechanism and a flipping drum feeding mechanism; The automatic drum feeding mechanism is used for conveying the folded wire winding drum to the overturning drum feeding mechanism; the overturning drum feeding mechanism is used for expanding the folded wire winding drum from the automatic drum feeding mechanism into a circle and completing automatic drum loading.

[0007] Preferably, the automatic feeding drum mechanism includes a lifting and feeding group, a primary feeding drum mechanism, and a secondary feeding drum mechanism; the lifting and feeding group is used to complete the pressure-maintaining lifting and progressive feeding of the folded wire winding drum, the primary feeding drum mechanism is used to translate the folded wire winding drum from the lifting and feeding group to the secondary feeding drum mechanism, and the secondary feeding drum mechanism is used to open the opening part of the folded wire winding drum and convey it to the flipping feeding drum mechanism.

[0008] Preferably, the lifting and feeding group includes a lifting drive component and a lifting platform; the lifting drive component is transmission-connected to the lifting platform. Further preferably, the lifting drive component is a rodless lifting cylinder; the lifting platform is arranged on a lifting slide of the rodless lifting cylinder. Further preferably, the lifting and feeding group also includes a pressure-maintaining valve.

[0009] Preferably, the lifting and feeding group also includes a lifting guide column and a limiting component; the lifting guide column is used to guide the lifting movement of the lifting platform, and the limiting component is used to limit the movement range of the lifting platform.

[0010] Description of the lifting feeding group: Multiple wire winding drums are folded into square sheets and stacked on the lifting platform. The lifting feeding group uses a rodless cylinder to complete the step-by-step feeding of the folded wire winding drums. Every time the first-level feeding mechanism moves a wire winding drum horizontally, the lifting drive component drives the lifting platform to deliver a folded wire winding drum upward. In this way, the robot can carry multiple wire winding drums and perform automatic feeding, avoiding the reciprocating movement between the wire drawing machine and the storage rack when the robot takes the drum.

[0011] Preferably, the primary feeding drum mechanism comprises a wire winding drum push-pull plate and a push-pull driving component; the push-pull driving component is transmission-connected to the wire winding drum push-pull plate, and can translate the folded wire winding drum from the lifting feeding group to the secondary feeding drum mechanism. Further preferably, the wire winding drum push-pull plate comprises a horizontal portion and a vertical portion; the horizontal portion is used for transmission connection with the push-pull driving component, and the vertical portion is used for pushing or pulling the wire winding drum from the edge of the folded wire winding drum. Further preferably, the push-pull driving component is a push-pull cylinder; the piston rod of the push-pull cylinder is connected to the horizontal portion of the wire winding drum push-pull plate.

[0012] Preferably, the first-stage drum feeding mechanism also includes a push-pull plate guide rod; the push-pull plate guide rod is used to guide the push-pull action of the wire winding drum push-pull plate to increase stability.

[0013] Description of the first-level feeding drum mechanism: The wire winding drum push-pull plate can, under the action of the push-pull driving component, push and pull the folded wire winding drum from the upper material position of the lifting feeding group to the upper material position of the second-level feeding drum mechanism, that is, between the upper open drum assembly and the lower open drum assembly.

[0014] Preferably, the secondary barrel feeding mechanism comprises a barrel feeding frame, a barrel feeding driving component, an upper barrel opening assembly, and a lower barrel opening assembly; the upper barrel opening assembly and the lower barrel opening assembly are respectively arranged at the upper and lower parts of the barrel feeding frame and are opposite in orientation, and the barrel feeding driving component is connected to the barrel feeding frame in a transmission manner. Further preferably, the upper barrel opening assembly and the lower barrel opening assembly both comprise a barrel opening cylinder and a barrel opening suction cup; the barrel opening cylinder is connected to the barrel opening suction cup in a transmission manner. Further preferably, the barrel feeding driving component is a barrel feeding cylinder.

[0015] Preferably, the secondary tube feeding mechanism further comprises a tube feeding frame guide rod; the tube feeding frame guide rod is used for guiding the translational movement of the tube feeding frame to increase stability.

[0016] Description of the secondary feeding mechanism: the upper and lower opening tube components suck the wire winding tube from the upper and lower sides of the folded wire winding tube respectively, and then the tube opening cylinder drives the tube opening suction cup to open the opening part of the folded wire winding tube; then the feeding tube driving component drives the feeding tube frame to feed forward and place the wire winding tube on the expansion plate of the flip feeding tube mechanism.

[0017] Since the secondary drum feeding mechanism needs to feed the material forward to sleeve the drum into the sleeve part of the flip drum feeding mechanism after opening the opening part of the folded drum, the degree to which the opening part of the folded drum is opened by the upper and lower drum opening assemblies depends on the shape and structure of the sleeve part of the flip drum feeding mechanism; in the embodiment of the variation of the present application, the sleeve part of the flip drum feeding mechanism can be a flat cone, an elliptical trumpet structure or a cone; correspondingly, the upper and lower drum opening assemblies open the folded drum into a corresponding structure that matches the shape and size of the sleeve part.

[0018] Preferably, the overturning and feeding tube mechanism comprises a supporting seat, an overturning mechanism, and a sheet-increasing and rotating mechanism. The sheet-increasing and rotating mechanism is used for supporting the tube by the sleeve, and the overturning mechanism is used for driving the sheet-increasing and rotating mechanism to overturn by 180 degrees.

[0019] Preferably, the flip mechanism includes a flip frame and a flip driving component; the flip frame is hinged on the support seat, and the flip driving component is connected to the flip frame by transmission. Further preferably, the flip driving component is a flip motor or a power cylinder. Further preferably, the flip motor is connected to the flip frame by transmission belt.

[0020] Preferably, the sheet expansion rotating mechanism includes a rotating disk, a rotating driving component, a guide disk, and a plurality of sheet expansion cylinders; the rotating driving component is disposed on the flip frame and is rotatably connected to the rotating disk, the sheet expansion cylinder is movably disposed on the rotating disk, and the guide disk is disposed on the flip frame; the rotating driving component can drive the sheet expansion cylinder to rotate and open or rotate and contract through the cooperation of the rotating disk and the guide disk. Further preferably, the rotating driving component is a rotating cylinder; the rotating disk is fixedly connected to the rotating piston rod of the rotating cylinder.

[0021] Description of the flipping and feeding mechanism: Several support and expansion plates can be synchronously rotated and opened or synchronously rotated and contracted under the action of the rotating driving component. The support and expansion plates can expand the folded wire winding cylinder into a circle during the rotation and opening process; the flipping mechanism can flip the support and expansion plates with the wire winding cylinder 180 degrees so that the orientation of the wire winding cylinder is outward and then push the wire winding cylinder to the head of the wire drawing machine.

[0022] Preferably, at least two involute grooves are provided on the guide disk, and at least two involute grooves are distributed symmetrically around the center; at least two telescopic grooves are provided on the rotating disk, and at least two telescopic grooves are distributed symmetrically around the center; an expanding sheet body and a driving head are provided on the support tube expanding sheet; the support tube expanding sheet is movably arranged in the telescopic groove, and the driving head is simultaneously assembled in the involute groove and the telescopic groove.

[0023] Preferably, a limiting edge is further provided on the rotating disk, and a limiting matching edge is provided at a corresponding position of the support tube expansion piece; the support tube expansion piece is movably arranged in the telescopic groove and is limited by the rotating disk through the cooperation of the limiting edge and the limiting matching edge.

[0024] Preferably, the sheet expansion and rotation mechanism also includes a fixed frame and a synchronization disk; a rotation groove is provided on the fixed frame; at least two drive grooves are provided on the synchronization disk, and the at least two drive grooves are centrally symmetrically distributed; the guide disk, the synchronization disk, and the rotating disk are sequentially arranged in the rotation groove; the synchronization disk is located between the guide disk and the rotating disk; the drive head is simultaneously assembled in the involute groove, the telescopic groove, and the drive groove.

[0025] The principle of the expansion and contraction of the support tube: the rotating drive component can drive the rotating disk to rotate. When the rotating disk rotates, the support tube can be driven to move along the involute groove on the guide disk through the interaction between the expansion slot and the expansion tube. The expansion tube moves radially in the expansion slot on the rotating disk while moving in the involute groove. Therefore, the expansion tube can be opened or contracted by rotating the driving component in the forward and reverse directions.

[0026] Preferably, the sheet expansion rotating mechanism further comprises a drive head bearing, which is arranged on the drive head for cooperating with the involute groove to increase the smoothness of movement between the drive head and the involute groove.

[0027] Preferably, the flipping and feeding tube mechanism further comprises a support seat moving mechanism; the support seat moving mechanism is used to drive the support seat to perform linear reciprocating motion.

[0028] Further preferably, the support seat moving mechanism comprises a support seat guide rail and a support seat driving mechanism. The support seat driving mechanism can drive the support seat to perform reciprocating linear motion along the support seat guide rail.

[0029] The support seat driving mechanism can be a common power group component such as a motor screw slide module, an oil cylinder or a pneumatic cylinder, and the support seat can establish a sliding connection with the support seat guide rail through a guide rail pair. The support seat moving mechanism belongs to the existing technology and will not be described here.

[0030] Preferably, the overturning and feeding cylinder mechanism also includes a cylinder pushing mechanism; the cylinder pushing mechanism includes a cylinder pushing cylinder and a cylinder pushing member; the cylinder pushing cylinder is arranged on the rotating disk and is transmission-connected to the cylinder pushing member.

[0031] The cylinder pusher can drive the cylinder pusher to extend and retract along the length of the cylinder support plate to complete the cylinder push and return action; the cylinder pusher is preferably in an arc shape to match the edge of the winding cylinder. The cylinder pusher mechanism belongs to the prior art and will not be described in detail here.

[0032] Preferably, the sheet-expanding and flipping robot capable of automatically assembling the wire winding drum on the machine head also includes a walking mechanism and a robot chassis; the automatic drum feeding mechanism and the flipping and feeding mechanism are arranged on the robot chassis, and the walking mechanism is used to drive the robot chassis to move.

[0033] In order to complete the automatic barrel loading work of the wire drawing machine head, the sheet-expanding flipping manipulator needs to be able to complete the reciprocating motion in the three axes of XYZ. The AGV platform or XYZ three-axis drive system in the prior art can be used as the walking mechanism of this application. The walking drive of the whole machine can be realized by setting the manipulator chassis on the AGV platform or the XYZ three-axis drive system. The walking mechanism belongs to the prior art and will not be described here.

[0034] The control methods of the aforementioned various sheet-increasing and flipping manipulators capable of automatically setting the head winding drum include: STEPO1, automatic feeding and opening of the winding barrel sleeve step, the lifting drive component of the lifting feeding group automatically feeds the barrel; the push-pull drive component of the primary barrel feeding mechanism drives the wire winding barrel push-pull plate to translate the folded wire winding barrel between the upper opening barrel component and the lower opening barrel component; the upper opening barrel component and the lower opening barrel component of the secondary barrel feeding mechanism respectively suck the wire winding barrel from the upper and lower sides of the folded wire winding barrel and open the opening part of the wire winding barrel; the barrel feeding drive component of the secondary barrel feeding mechanism drives the barrel feeding frame to feed forward so that the wire winding barrel is sleeved on the support barrel expansion plate of the flip barrel feeding mechanism; STEP02, automatic tube support and tube turning step, the rotating drive component of the sheet expansion rotating mechanism works, the tube support and tube expansion rotates and opens to expand the wire winding tube into a circle; the turning drive component of the turning mechanism starts, and the tube support and tube expansion with the wire winding tube is turned 180 degrees to prepare for tube pushing; STEP03, automatic barrel pushing step, the robot moves the whole machine to make the wire winding barrel and the head of the wire drawing machine in a coaxial state; the barrel pushing cylinder of the barrel pushing mechanism is actuated, and the barrel pushing member pushes the wire winding barrel onto the head of the wire drawing machine.

[0035] Beneficial technical effects: 1. The present application realizes the rotational expansion or rotational contraction of the support tube expansion sheet through the expansion sheet rotating mechanism. The support tube expansion sheet can complete the state conversion when the rotating drive component moves slightly, with high execution efficiency and low energy consumption. At the same time, since the support tube expansion sheet is rotationally opened, the support tube action is also rotationally opened. The support tube force is basically applied to the wire winding tube from the inside along the internal tangent direction of the wire winding tube. Compared with the support tube process of straight line expansion to the left and right or straight line expansion to the top and bottom, it has the technical effect of smooth support tube action and not easy to damage the wire winding tube.

[0036] 2. The present application adopts a lifting platform to store the folded wire winding drums, and adopts a rodless pressure-maintaining cylinder to realize the clip-type step-by-step loading of the folded wire winding drums; the manipulator can carry multiple wire winding drums and perform automatic loading, which can avoid the reciprocating motion between the wire drawing machine and the storage rack when the manipulator takes the drum, which is beneficial to improving the efficiency of the equipment.

[0037] 3. In the winding process disclosed in the present application, multiple processes can be carried out simultaneously. For example, the lifting platform can immediately deliver the next winding drum upward after the first-level feeding mechanism completes the push-pull translation of one winding drum; the first-level feeding mechanism can immediately push and pull the next winding drum after delivering a winding drum to the upper and lower opening drum components of the second-level feeding mechanism; the second-level feeding mechanism can immediately absorb and open the next winding drum after putting a winding drum on the supporting drum expansion plate; the rounding process of the winding drum can be synchronized with the turning process of the winding drum. The process proceeds step by step; thus, when the sheet-increasing rotating mechanism is putting the barrel on the machine head, the materials on the loading positions of the lifting table, the first-level barrel feeding mechanism and the second-level barrel feeding mechanism are all ready; after the sheet-increasing rotating mechanism has wound the wire barrel on the machine head, the flipping mechanism flips 180 degrees to allow the sheet-increasing rotating mechanism to continue to sleeve the barrel, and the whole machine moves to the next wire drawing machine that needs to load the barrel; the actual working performance is: the whole robot moves continuously in front of the wire drawing machine, and the flipping barrel feeding mechanism continuously flips the sleeve, supports the circle, and loads the barrel until all the loading work is completed.

[0038] The technical solution and technical effects of the present application are described in detail below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 : Schematic diagram of the whole machine of the sheet-expanding and flipping manipulator that can automatically assemble the wire winding tube of the machine head; Figure 2 : Schematic diagram of the three-dimensional structure of the automatic feeding barrel mechanism; Figure 3 : Front view of automatic barrel feeding mechanism; Figure 4 : Side view of automatic barrel feeding mechanism; Figure 5 : Top view of automatic feeding mechanism; Figure 6 : Schematic diagram of the three-dimensional structure of the flip tube feeding mechanism; Figure 7 : Front view of the flip tube feeding mechanism; Figure 8 : Side view of the flip tube feeding mechanism; Fig. 9 : Top view of the flip tube feeding mechanism; Fig.10 : Exploded view of the structure of the flipping tube feeding mechanism; Fig.11 : Principle diagram of the rotating and retracting of the sheet in the flipping tube feeding mechanism; Icon Description: 10-automatic tube feeding mechanism, 20-turning tube feeding mechanism, 30-manipulator chassis; 110-lifting feeding group, 120-first-stage barrel feeding mechanism, 130-second-stage barrel feeding mechanism; 1110-lifting drive component, 1120-lifting material platform, 1130-lifting guide column, 1140-limiting component; 1210-wire winding drum push-pull plate, 1220-push-pull driving component, 1230-push-pull plate guide rod; 1211- horizontal part, 1212- vertical part; 1310-bottle delivery rack, 1320-bottle delivery driving component, 1330-upper barrel opening assembly, 1340-lower barrel opening assembly, 1350-bottle delivery rack guide rod; 1331-open cylinder, 1332-open suction cup; 210-support seat, 220-turning mechanism, 230-sheet expansion and rotation mechanism; 2210-turning frame, 2220-turning driving component; 2310-rotating disk, 2320-rotating driving component, 2330-guide disk, 2340-supporting cylinder expansion plate, 2350-fixed frame, 2360-synchronizing disk; 2311- telescopic slot, 2312- limiting edge; 2331-gradient groove; 2341- expansion body, 2342- driving head, 2343- limiting matching edge, 2344- expansion seat; 2351-rotating tank; 2361-Drive slot. DETAILED DESCRIPTION

[0040] Component naming conventions: This application uses first-level, second-level ordinal numbers and function + name markings (such as push-pull cylinder, barrel feeding cylinder, etc.) to name related components or assemblies. This is only to distinguish similar components or assemblies with the same structure or function. It does not imply that the related components or assemblies have functional or structural priorities or differences in importance, and should not be understood as a limitation on this application.

[0041] Direction description: In this application, the end where the automatic tube feeding mechanism 10 is located is regarded as the rear, and the end where the flip tube feeding mechanism 20 is located is regarded as the front.

[0042] See also Figure 1 The sheet-increasing flip-type manipulator capable of automatically assembling a machine head winding tube disclosed in the present application comprises an automatic feeding tube mechanism 10, a flip feeding tube mechanism 20, a manipulator chassis 30, and a walking mechanism. The automatic feeding tube mechanism 10 and the flip feeding tube mechanism 20 are both arranged on the manipulator chassis 30, and the walking mechanism is used to drive the manipulator chassis 30 to move.

[0043] In order to complete the automatic barrel loading work of the wire drawing machine head, the sheet-increasing flipping manipulator needs to be able to complete the reciprocating motion in the three axes of XYZ. The AGV platform or XYZ three-axis drive system in the prior art can be used as the walking mechanism of this application. The walking drive of the whole machine can be realized by setting the manipulator chassis 30 on the AGV platform or the XYZ three-axis drive system. The walking mechanism belongs to the prior art and will not be described in detail here.

[0044] See also Figures 2 to 5 The automatic barrel feeding mechanism 10 includes a lifting feeding group 110, a primary barrel feeding mechanism 120, and a secondary barrel feeding mechanism 130.

[0045] The lifting and feeding group 110 is used to complete the pressure-maintaining lifting and progressive feeding of the folded wire winding drum. The primary feeding drum mechanism 120 is used to translate the folded wire winding drum from the lifting and feeding group 110 to the secondary feeding drum mechanism 130. The secondary feeding drum mechanism 130 is used to open the opening part of the folded wire winding drum and convey it to the flipping feeding drum mechanism 20.

[0046] Among them: the lifting and feeding group 110 uses the cylinder pressure-maintaining method to feed the wire winding tube in a clip-type pressure-maintaining and progressive manner; every time the first-level feeding tube mechanism 120 moves a folded wire winding tube horizontally, the lifting and feeding group 110 delivers the next folded wire winding tube upwards.

[0047] The lifting and feeding group 110 includes a lifting drive component 1110, a lifting platform 1120, a lifting guide column 1130, and a limiting component 1140. The lifting drive component 1110 is transmission-connected to the lifting platform 1120. The lifting drive component 1110 and the lifting guide column 1130 are arranged on the manipulator chassis 30 and extend in the vertical direction; the limiting component 1140 is arranged on the top of the lifting guide column 1130. The lifting drive component 1110 is a rodless lifting cylinder, and the lifting platform 1120 is arranged on the lifting slide of the rodless lifting cylinder. The lifting platform 1120 is provided with a corresponding structure such as a guide sleeve for cooperating with the lifting guide column 1130.

[0048] The folded wire winding drums are stacked in the shape of square sheets on the lifting platform 1120. The rodless lifting cylinder realizes the step-by-step pressure-maintaining feeding of the folded wire winding drums through the throttle valve or the pressure-maintaining valve; the lifting guide column 1130 is used to provide motion guidance for the lifting platform 1120 to improve the stability of feeding, and the limit component 1140 is used to limit the motion range of the lifting platform 1120. In this way, the manipulator can carry multiple wire winding drums and perform automatic feeding, avoiding the reciprocating motion between the wire drawing machine and the wire winding drum storage rack when the manipulator takes the drum.

[0049] The primary feeding drum mechanism 120 includes a wire winding drum push-pull plate 1210, a push-pull driving component 1220, and a push-pull plate guide rod 1230; the wire winding drum push-pull plate 1210 includes a horizontal portion 1211 and a vertical portion 1212; the horizontal portion 1211 is used to receive the driving force from the push-pull driving component 1220, and the vertical portion 1212 is used to push or pull the wire winding drum from the edge of the folded wire winding drum. The push-pull driving component 1220 is a push-pull cylinder, which is transmission-connected to the horizontal portion 1211. The push-pull plate guide rod 1230 is horizontally arranged to provide motion guidance for the wire winding drum push-pull plate 1210 to increase the stability of the push-pull action.

[0050] When the piston rod of the push-pull cylinder extends, it pushes the wire winding drum push-pull plate 1210 to the rear end of the lifting material position. When the piston rod of the push-pull cylinder retracts, it pulls the wire winding drum push-pull plate 1210 and the wire winding drum to the front end of the lifting material position, that is, between the upper open drum assembly 1330 and the lower open drum assembly 1340 of the secondary drum feeding mechanism 130.

[0051] In a variation of the embodiment, the push-pull cylinder can also be arranged on the rear side of the lifting material position; when the piston rod of the push-pull cylinder is extended, the folded wire winding tube is pushed between the upper open tube assembly 1330 and the lower open tube assembly 1340; when the piston rod of the push-pull cylinder is retracted, the wire winding tube push-pull plate 1210 is pulled to the rear end of the lifting material position.

[0052] The secondary barrel feeding mechanism 130 includes a barrel feeding frame 1310 , a barrel feeding driving component 1320 , an upper barrel opening assembly 1330 , a lower barrel opening assembly 1340 , and a barrel feeding frame guide rod 1350 .

[0053] The barrel feeding frame guide rod 1350 is horizontally arranged on the manipulator chassis 30 through a vertical column, and the barrel feeding frame 1310 is slidably connected to the barrel feeding frame guide rod 1350 through a guide sleeve. The barrel feeding driving component 1320 is a barrel feeding cylinder, which is arranged on the manipulator chassis 30 and is transmission-connected to the barrel feeding frame 1310. The upper barrel opening assembly 1330 and the lower barrel opening assembly 1340 are respectively arranged at the upper part and the lower part of the barrel feeding frame 1310 and are opposite in orientation.

[0054] The upper opening cylinder assembly 1330 and the lower opening cylinder assembly 1340 both include an opening cylinder 1331 and an opening suction cup 1332; the opening cylinder 1331 is transmission-connected to the opening suction cup 1332. The upper and lower opening suction cups 1332 face each other so as to simultaneously suck the folding wire winding cylinder from both upper and lower sides; the upper and lower opening cylinders 1331 extend and retract in opposite directions so as to open the opening of the folding wire winding cylinder by simultaneously contracting the two piston rods.

[0055] Since the secondary barrel feeding mechanism 130 needs to feed the wire winding barrel forward to sleeve the wire winding barrel into the sleeve part of the flip barrel feeding mechanism 20 after opening the opening part of the folded wire winding barrel, the degree to which the upper barrel opening assembly 1330 and the lower barrel opening assembly 1340 open the opening part of the folded wire winding barrel depends on the shape and structure of the sleeve part of the flip barrel feeding mechanism 20; in the embodiment of the variation of the present application, the sleeve part of the flip barrel feeding mechanism 20 can be a flat cone, an elliptical trumpet structure or a cone; correspondingly, the upper and lower barrel opening assemblies open the folded wire winding barrel into a corresponding structure that matches the shape and size of the sleeve part.

[0056] In this embodiment, the cross-sectional shape of the support and expansion piece 2340 of the roll-over feeding mechanism 20 in the contracted state presents an elliptical bell-mouth structure. Thus, the upper and lower barrel opening components in this embodiment open the folded winding barrel into an elliptical bell-mouth structure that matches the shape and position of the support and expansion piece 2340.

[0057] Description of the secondary barrel feeding mechanism: the upper and lower barrel opening components suck the wire winding barrel from the upper and lower sides of the folded wire winding barrel respectively, and then the barrel opening cylinder drives the barrel opening suction cup to open the folded wire winding barrel into an elliptical trumpet-shaped trumpet; then the barrel feeding drive component 1320 drives the barrel feeding frame 1310 to feed forward and place the partially opened wire winding barrel on the barrel supporting plate 2340 of the flipping barrel feeding mechanism 20.

[0058] See also Figures 6 to 10 The turning and feeding tube mechanism 20 includes a support seat 210, a turning mechanism 220, and a film-increasing rotating mechanism 230. The film-increasing rotating mechanism 230 is used for supporting the tube, and the turning mechanism 220 is used for driving the film-increasing rotating mechanism 230 to turn 180 degrees.

[0059] The flipping mechanism 220 includes a flipping frame 2210 and a flipping driving component 2220; the flipping frame 2210 is hinged on the support base 210 through the cooperation of bearings and rotating shafts, and the flipping driving component 2220 is connected to the flipping frame 2210 through transmission; the flipping driving component 2220 can be a flipping motor or a power cylinder, and the flipping motor can be connected to the flipping frame 2210 through the cooperation of a transmission belt and a driving wheel and a driven wheel.

[0060] When the flip driving component 2220 rotates forward or reversely, it can drive the flip frame 2210 to flip 180 degrees clockwise or counterclockwise to adjust the direction or position of the support tube expansion piece 2340.

[0061] In a variation of the present application, the flipping and feeding mechanism 20 also includes a support seat moving mechanism, which is used to drive the support seat 210 to perform linear reciprocating motion on the manipulator chassis 30. The support seat moving mechanism includes a support seat guide rail and a support seat driving mechanism. The support seat guide rail is horizontally arranged and extends forward and backward, and the support seat driving mechanism can drive the support seat 210 to perform linear reciprocating motion forward and backward on the manipulator chassis 30 along the support seat guide rail. The support seat driving mechanism can be a commonly used power component part such as a motor screw slide module, an oil cylinder or a pneumatic cylinder, and the support seat 210 can establish a slidable connection with the support seat guide rail through a guide rail pair. The structure and connection of the support seat moving mechanism belong to the prior art and will not be elaborated here.

[0062] The sheet expansion rotating mechanism 230 includes a rotating disk 2310, a rotating driving component 2320, a guide disk 2330, and a plurality of cylinder expansion sheets 2340. The rotating driving component 2320 is disposed on the flip frame 2210 and is rotatably connected to the rotating disk 2310, the cylinder expansion sheets 2340 are movably disposed on the rotating disk 2310, and the guide disk 2330 is disposed on the flip frame 2210. The rotating driving component 2320 can drive the cylinder expansion sheets 2340 to rotate and open or rotate and contract through the cooperation between the rotating disk 2310 and the guide disk 2330.

[0063] The driving cooperation relationship between the rotating disk 2310 and the guide disk 2330 is: The guide plate 2330 is provided with at least two, or four, gradually opening grooves 2331 in this embodiment. The four gradually opening grooves 2331 are distributed symmetrically to the center; and the four gradually opening grooves 2331 extend in an arc shape from a portion close to the axis of the guide plate 2330 to an edge portion.

[0064] The rotating disk 2310 is provided with at least two, or four in this embodiment, telescopic slots 2311, which are centrally symmetrically distributed and extend radially along the rotating disk 2310. A limited edge 2312 is provided at the edge of the telescopic slot 2311.

[0065] The number of the support tube expansion pieces 2340 is four, which is consistent with the number of the involute slots 2331 and the telescopic slots 2311. Each support tube expansion piece 2340 is provided with an expansion piece body 2341, a driving head 2342, and a limiting matching edge 2343.

[0066] The support tube expansion piece 2340 is movably arranged in the telescopic slot 2311 and is limited by the rotating disk 2310 through the mutual cooperation between the limiting matching edge 2343 and the limiting edge 2312, so that the support tube expansion piece 2340 can slide back and forth in the telescopic slot 2311 along the radial direction but will not fall off the rotating disk 2310. The driving head 2342 is assembled in the involute slot 2331 and the telescopic slot 2311 at the same time.

[0067] The guide plate 2330 is directly or indirectly fixed on the turning frame 2210, and the rotating plate 2310 is connected to the rotating shaft of the rotating driving component 2320 through the shaft hole on the guide plate 2330. The rotating driving component 2320 can be a rotating cylinder, a rotating oil cylinder or a driving motor.

[0068] When the rotating driving component 2320 rotates, it can drive the rotating disk 2310 to rotate together, and then drive the supporting tube expanding sheet 2340 to move through the interaction between the rotating disk 2310 and the supporting tube expanding sheet 2340: the supporting tube expanding sheet 2340 rotates and slides along the gradually opening groove 2331 while radially expanding and contracting along the telescopic groove 2311. Therefore, through the driving cooperation between the rotating driving component 2320, the rotating disk 2310, and the guide disk 2330, the supporting tube expanding sheet 2340 can complete the state conversion when the rotating driving component 2320 moves slightly; at the same time, because the supporting tube expanding sheet 2340 is rotated and opened, the supporting tube action is also rotated and opened, and the supporting tube force is basically applied to the winding tube from the inside of the winding tube along the internal tangent direction of the winding tube. Compared with the supporting tube process of straight opening left and right or straight opening up and down, it has the technical effects of smooth supporting tube action and not easy to damage the winding tube.

[0069] See also Fig.11 , Fig.11 The following diagrams respectively show the situations in which the support tube expansion piece 2340 is in the contracted state and the opened state. When in the contracted state, the driving head 2342 of each support tube expansion piece 2340 is located at the position on the involute groove 2331 closest to the axis of the guide disk 2330 (and at the position on the rotating disk 2310 where the telescopic groove 2311 is closest to the axis of the rotating disk 2310); when in the opened state, the driving head 2342 of each support tube expansion piece 2340 is located at the position on the involute groove 2331 closest to the edge of the guide disk 2330 (and at the position on the rotating disk 2310 where the telescopic groove 2311 is closest to the edge of the rotating disk 2310). Thus, the rotating disk 2310 rotates 90 degrees during the process of the support tube expansion piece 2340 changing from the contracted state to the opened state; conversely, it rotates 90 degrees in the opposite direction. That is, the support tube expansion piece 2340 can complete the conversion of the telescopic state when the rotating cylinder is slightly moved.

[0070] See also Fig.10 In this embodiment, the expansion sheet body 2341 and the driving head 2342 of the support tube expansion sheet 2340 adopt a separate structure, each expansion sheet body 2341 includes a expansion sheet seat 2344, and the driving head 2342 and the limiting matching edge 2343 are both arranged on the expansion sheet seat 2344; the expansion sheet body 2341 and the driving head 2342 are fastened into one body through the expansion sheet seat 2344. In a modified embodiment, the expansion sheet body 2341, the driving head 2342, and the expansion sheet seat 2344 can also adopt an integrated structure.

[0071] In a modified embodiment of the present application, the sheet expansion and rotation mechanism 230 further includes a fixed frame 2350 and a synchronous disk 2360. The fixed frame 2350 is provided with a rotation slot 2351; the synchronous disk 2360 is provided with a driving slot 2361 having the same number as the involute slot 2331 and the telescopic slot 2311; the driving slots 2361 are centrally symmetrically distributed and extend along the radial direction of the synchronous disk 2360.

[0072] The guide plate 2330, the synchronous plate 2360, and the rotating plate 2310 are sequentially arranged in the rotating groove 2351; the driving head 2342 is simultaneously assembled in the involute groove 2331, the telescopic groove 2311, and the driving groove 2361. The fixed frame 2350 is arranged on the flip frame 2210, and the rotating driving component 2320 is connected to the rotating plate 2310 through the shaft hole on the fixed frame 2350.

[0073] The fixing frame 2350 can increase the stability of the operation of the sheet expansion rotating mechanism 230 , and the synchronization disk 2360 can increase the stability of the sheet expansion rotating telescopic driving force and the synchronization of the radial sliding between the support tube sheet expansion 2340 and the rotating disk 2310 .

[0074] In a variation of the present application, the sheet expansion rotation mechanism 230 further includes a drive head bearing; the drive head bearing is disposed on the drive head 2342 for cooperating with the involute groove 2331 to reduce friction and increase the smoothness of movement between the drive head 2342 and the involute groove 2331 .

[0075] Description of the flipping and feeding mechanism: The four support and expansion pieces 2340 can be synchronously rotated to open or synchronously rotated to retract under the action of the rotating driving component 2320. The support and expansion pieces 2340 can expand the folded wire winding tube into a circle during the rotation and opening process; the flipping mechanism 220 can flip the support and expansion pieces with the wire winding tube sleeved thereon 180 degrees so that the orientation of the wire winding tube is outward, thereby facilitating the pushing of the wire winding tube onto the head of the wire drawing machine; after the support and expansion pieces 2340 complete the automatic tube loading, they are flipped 180 degrees in the opposite direction and the support and expansion pieces 2340 rotate and retract to facilitate the next sleeve operation.

[0076] In a variation of the present application, the flipping and feeding mechanism 20 also includes a pushing mechanism, which is used to push the wire winding drum that is expanded into a circular shape onto the head of the wire drawing machine. The pushing mechanism includes a pushing cylinder and a pushing member; the pushing cylinder is disposed on the rotating disk 2310 and is transmission-connected to the pushing member. The pushing cylinder can drive the pushing member to extend and retract forward and backward along the length direction of the supporting tube expansion sheet to complete the pushing and resetting actions; the structure of the pushing member is preferably consistent with the end edge of the wire winding drum. The pushing mechanism belongs to the prior art and will not be described in detail here.

[0077] The control method of the aforementioned sheet expansion and flipping manipulator capable of automatically setting the machine head winding drum comprises the following process steps: To simplify the description, the lifting drive component 1110 of the lifting feeding group 110 is a rodless lifting cylinder, the push-pull drive component 1220 of the first-stage barrel feeding mechanism 120 is a push-pull cylinder, the barrel feeding drive component of the second-stage barrel feeding mechanism 130 is a barrel feeding cylinder, the drive component of the upper and lower barrel opening assemblies is an opening barrel cylinder, the flipping drive component 2220 is a flipping motor, and the rotating drive component 2320 is a rotating cylinder.

[0078] S01, under the pressure-maintaining state of the rodless lifting cylinder, the lifting and feeding group 110 starts to work; S02, the push-pull cylinder of the primary tube feeding mechanism 120 starts to work, and the folded wire winding tube is translated forward to the specified position (that is, between the upper and lower open tube components); S03, the upper opening barrel assembly 1330 and the lower opening barrel assembly 1340 of the secondary barrel feeding mechanism 130 work, and the vacuum generator starts; S04, the upper and lower cylinders for opening the wire winding tube are simultaneously actuated to open the opening of the wire winding tube (for example, to separate it into an elliptical bell mouth); S05, the barrel feeding cylinder of the secondary barrel feeding mechanism 130 feeds the material forward, and the wire winding barrel is sleeved on the barrel supporting and expanding plate 2340 of the turning barrel feeding mechanism 20; S06, flip the support base 210 of the feeding drum mechanism 20 and move it toward the wire winding drum, so that the support drum expansion piece 2340 is completely inserted into the wire winding drum; S07, the upper and lower opening cylinders are blown away in the opposite direction to separate the upper and lower opening suction cups from the wire winding drum; S08, the cylinder of the secondary cylinder feeding mechanism 130 drives the secondary cylinder feeding mechanism 130 to return to its original position; S09, the rotary cylinder of the sheet expansion rotating mechanism 230 works, and the tube expansion sheet 2340 rotates and opens to expand the wire winding tube into a round shape; S10, the support base of the flipping tube feeding mechanism 20 moves forward, and the flipping motor flips the tube support expansion plate 2340 with the wire winding tube 180°; S11, the robot moves the whole machine so that the wire-wound drum after rounding and the head of the wire drawing machine to be loaded with the drum are in a coaxial state; S12, the cylinder of the cylinder pushing mechanism is actuated to drive the cylinder pushing member to push the wire winding cylinder onto the head of the wire drawing machine; S13, the tube feeding mechanism 20 is turned 180 degrees, and at the same time, the tube supporting and expanding piece 2340 is rotated and contracted, and returns to the initial state, and the tube supporting and pushing mechanism 20 is again inserted into the tube supporting and pushing mechanism 2340; S14, loop the above steps to complete the automatic sleeve operation of all machine heads.

[0079] The automatic barrel loading process of the above-mentioned sheet-increasing flipping robot can be summarized as follows: STEPO1, automatic feeding and opening and sleeve steps, the lifting drive component of the lifting feeding group automatically feeds the wire; the push-pull drive component of the primary feeding mechanism translates the folded wire winding drum between the upper opening drum component and the lower opening drum component; the upper opening drum component and the lower opening drum component of the secondary feeding mechanism respectively suck the wire winding drum from the upper and lower sides of the wire winding drum and open the opening part of the wire winding drum; the feeding drive component of the secondary feeding mechanism drives the feeding frame to feed forward so that the wire winding drum is sleeved on the supporting drum expansion sheet of the flip feeding mechanism; STEP02, automatic tube support and tube turning step, the rotating drive component of the tube expansion rotating mechanism works, the tube support and tube expansion rotates and opens to expand the wire winding tube into a circle; the turning drive component of the turning mechanism starts, and the tube support and tube expansion sheet with the wire winding tube is turned 180 degrees to prepare for tube pushing; STEP03, automatic barrel pushing step, the robot moves the whole machine to make the wire winding barrel and the head of the wire drawing machine in a coaxial state; the barrel pushing cylinder of the barrel pushing mechanism is actuated, and the barrel pushing member pushes the wire winding barrel onto the head of the wire drawing machine.

[0080] The technical scheme and technical effects of the present application are described in detail above in combination with the drawings and specific embodiments of the specification. It should be noted that technicians in this field can also develop other embodiments on this basis; any simple deformation and equivalent substitution that does not deviate from the innovative concept of the present application are covered by the present application and belong to the scope of protection of this patent.

Claims

1. The sheet-expanding and flipping manipulator that can automatically set the machine head winding drum is characterized by: It comprises an automatic tube feeding mechanism (10) and a tube flipping feeding mechanism (20); The automatic tube feeding mechanism (10) is used to open the opening of the folded wire winding tube and feed it to the flip tube feeding mechanism (20); The overturning and feeding tube mechanism (20) is used to expand the folded wire winding tube from the automatic tube feeding mechanism (10) into a circular shape and complete automatic tube loading.

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

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

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

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

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

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

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

9. The sheet-expanding and flipping manipulator capable of automatically mounting the wire winding drum on the machine head according to claim 6 is characterized in that: The turning tube feeding mechanism (20) further comprises a support seat moving mechanism; The support seat moving mechanism is used to drive the support seat (210) to perform linear reciprocating motion; The overturning cylinder-feeding mechanism (20) further comprises a cylinder-pushing mechanism; The cylinder pushing mechanism comprises a cylinder pushing cylinder and a cylinder pushing member; The push cylinder is arranged on the rotating disk (2310) and is transmission-connected to the push cylinder member; The sheet-expanding and flipping manipulator capable of automatically mounting the machine head wire winding drum also includes a walking mechanism and a manipulator chassis (30); The automatic tube feeding mechanism (10) and the tube flipping and feeding mechanism (20) are arranged on the manipulator chassis (30), and the walking mechanism is used to drive the manipulator chassis (30) to move.

10. A control method for a sheet-increasing and flipping manipulator capable of automatically setting a machine head wire winding drum, characterized in that: The sheet-expanding and flipping manipulator capable of automatically assembling the wire winding drum of the machine head as described in claim 1; The process steps include: STEPO1, automatic feeding and opening sleeve step, the lifting drive component of the lifting feeding group automatically feeds the wire; the push-pull drive component of the primary feeding mechanism drives the wire winding push-pull plate to translate the folded wire winding to between the upper opening assembly and the lower opening assembly; The upper opening barrel assembly and the lower opening barrel assembly of the secondary barrel feeding mechanism respectively suck the winding barrel from the upper and lower sides of the folded winding barrel and open the opening part of the winding barrel; The barrel driving component of the secondary barrel feeding mechanism drives the barrel feeding frame to feed the material forward so that the wire winding barrel is sleeved on the barrel supporting and expanding plate of the overturning barrel feeding mechanism; STEP02, automatic tube support and tube turning step, the rotating drive component of the sheet expansion rotating mechanism works, the tube support and tube expansion rotates and opens to expand the wire winding tube into a circle; the turning drive component of the turning mechanism starts, and the tube support and tube expansion sheet with the wire winding tube is turned 180 degrees to prepare for tube pushing.

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