Mandrel type manipulator capable of automatically sleeving machine head wire winding cylinder and control method of mandrel type manipulator

Abstract

The invention belongs to the technical field of glass fiber production equipment, and particularly relates to a mandrel type mechanical arm capable of automatically sleeving a machine head wire winding barrel and a control method of the mandrel type mechanical arm. The mandrel type manipulator comprises an automatic cylinder feeding mechanism and a mandrel profiling conveying mechanism; the automatic cylinder feeding mechanism is used for automatically supplying cylinders to the mandrel profiling conveying mechanism; and the core shaft profiling conveying mechanism is used for automatically and synchronously completing the rounding and barrel feeding work of the wire winding barrel through the cooperation of the core shaft mechanism and the profiling conveying mechanism. The lifting material table is adopted for storing the folded wire winding barrel, and the rodless pressure maintaining air cylinder is adopted for achieving clip type feeding of the folded wire winding barrel; the mandrel mechanism and the profiling conveying mechanism are matched with each other to synchronously complete circle supporting, conveying and tube feeding work of the wire winding tube, and the technical effects of being rapid in tube feeding and high in efficiency are achieved.

Description

Technical Field

[0001] The present application belongs to the technical field of glass fiber production equipment, and specifically relates to a mandrel-type robot 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 on 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 executed at the same time, and 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 mandrel-type 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. Folding the wire winding drum into thin sheets for storage and loading the materials step by step through cylinder pressure-maintaining technology; 2. Using vacuum suction cups to form upper and lower opening drum components to open the opening part of the folded wire winding drum; 3. Putting the partially opened wire winding drum on the mandrel mechanism, driving the wire winding drum forward on the mandrel mechanism through a contoured belt to synchronously complete the work of supporting the wire winding drum and loading the drum.

[0006] The solutions provided by this application to solve its technical problems are: A mandrel-type manipulator capable of automatically setting a machine head winding tube, comprising an automatic tube feeding mechanism and a mandrel profiling conveying mechanism; The automatic barrel feeding mechanism is used to automatically feed barrels to the mandrel profiling conveying mechanism; The mandrel profiling conveying mechanism comprises a mandrel mechanism and a profiling conveying mechanism; The mandrel mechanism is used to form the mandrel of the upper cylinder and the supporting cylinder, and the contour conveying mechanism is used to provide the driving force for the supporting cylinder and the upper cylinder; The mandrel profiling conveying mechanism is used for automatically and synchronously completing the rounding and loading of the wire winding drum through the cooperation of the mandrel mechanism and the profiling conveying mechanism.

[0007] in: The automatic feeding drum mechanism includes a lifting feeding group, a primary drum feeding mechanism, and a secondary drum feeding mechanism; the lifting feeding group includes a lifting driving component and a lifting material platform; the primary drum feeding mechanism includes a wire winding drum push-pull plate and a push-pull driving component; the secondary drum feeding mechanism includes a drum feeding frame, a drum feeding driving component, an upper drum opening assembly, and a lower drum opening assembly.

[0008] The lifting and feeding group is used to complete the pressure-maintaining lifting and progressive feeding of the folded wire winding drum. The first-level feeding drum mechanism is used to translate the folded wire winding drum from the lifting and feeding group to the second-level feeding drum mechanism. The second-level feeding drum mechanism is used to open the opening part of the folded wire winding drum and transport it to the core shaft profiling conveying mechanism.

[0009] 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. More preferably, the lifting drive component is a rodless lifting cylinder; the lifting platform is fixedly connected to the lifting slide of the rodless lifting cylinder. More preferably, the lifting and feeding group also includes a pressure-maintaining valve.

[0010] 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.

[0011] 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 pressure-maintaining feeding of the folded wire winding drums; each 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, which is conducive to avoiding the reciprocating movement between the wire drawing machine and the storage rack when the robot takes the drum.

[0012] 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. More preferably, the wire winding drum push-pull plate comprises a horizontal portion and a vertical portion; the horizontal portion is used to connect the push-pull driving component, and the vertical portion is used to push or pull the wire winding drum from the edge of the folded wire winding drum. More preferably, the push-pull driving component is a push-pull cylinder, and the push-pull cylinder is transmission-connected to the horizontal portion.

[0013] 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 the smoothness of the movement.

[0014] 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.

[0015] 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 by transmission. 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 by transmission. Further preferably, the barrel feeding driving component is a barrel feeding cylinder; the piston rod of the barrel feeding cylinder is connected to the barrel feeding frame.

[0016] 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.

[0017] Description of the secondary winding drum mechanism: The upper and lower opening drum components suck the winding drum from the upper and lower sides of the folded winding drum respectively, and then the opening drum cylinder drives the opening drum suction cup to open the opening part of the folded winding drum; then the feeding drum driving component drives the feeding drum frame to feed forward and place the winding drum on the core shaft profiling conveying mechanism.

[0018] Thus, the automatic feeding drum mechanism can carry multiple folded wire winding drums through the lifting platform and realize the clip-type step-by-step loading of the wire winding drums through the cylinder pressure maintaining technology; it can also translate the top folded wire winding drum from the loading position of the lifting platform to the loading position of the secondary feeding drum mechanism, that is, between the upper and lower open drum components, through the primary feeding mechanism; and it can open the opening part of the folded wire winding drum through the secondary feeding mechanism and feed it forward to the core shaft profiling conveying mechanism; and then the core shaft profiling conveying mechanism completes the conveying, rounding and loading of the wire winding drum.

[0019] The core shaft profiling conveying mechanism includes a core shaft mechanism and a profiling conveying mechanism; the profiling conveying mechanism is used to provide driving force for the winding drum to support the roundness, convey and put on the drum, and the core shaft mechanism is used to form a core shaft passing through the middle of the winding drum to cooperate with the profiling conveying mechanism to complete the rounding, conveying and putting on the drum.

[0020] Preferably, the contour conveying mechanism includes a driving flexible shaft, a flexible shaft motor, a plurality of contour belts, a plurality of driving wheels, and a plurality of driven wheels; The contoured belt is arranged on the driving wheel and the driven wheel, the driving flexible shaft is connected to the driving wheel, and the flexible shaft motor is connected to the driving flexible shaft through transmission.

[0021] When the flexible shaft motor rotates, it can simultaneously drive multiple contour belts through the flexible shaft link, and then generate the driving force for the winding drum to support the round, convey and load the winding drum through the interaction between the contour belt and the winding drum. The winding drum is driven by the contour belt and conveyed forward along the core shaft mechanism with a circular structure to synchronously complete the rounding and loading actions.

[0022] The mandrel mechanism used in conjunction with the aforementioned automatic feeding mechanism and the contour conveying mechanism includes a bullet-type mandrel mechanism, a magnetic suspension mandrel mechanism, a roller mandrel mechanism, etc. They are described below respectively.

[0023] The magnetic suspension core shaft mechanism comprises a magnetic suspension outer cylinder, a magnetic suspension inner cylinder, an outer cylinder magnetic component and an inner cylinder magnetic component; the outer cylinder magnetic component is arranged on the magnetic suspension outer cylinder, the inner cylinder magnetic component is arranged on the magnetic suspension inner cylinder, the magnetic suspension inner cylinder can be suspended in the magnetic suspension outer cylinder under the mutual action of the outer cylinder magnetic component and the inner cylinder magnetic component and form a wire winding cylinder channel between the magnetic suspension outer cylinder and the magnetic suspension inner cylinder; the driving wheel and the driven wheel are arranged on the magnetic suspension outer cylinder, and one side of the contoured belt is located in the wire winding cylinder channel.

[0024] As a preferred embodiment of the magnetic suspension core shaft mechanism, the outer cylinder magnetic component and the inner cylinder magnetic component are magnetic rings and / or magnetic blocks with the same polarity. In a variant implementation, an electromagnetic component can also be used to achieve magnetic suspension of the magnetic suspension inner cylinder.

[0025] The principle of the magnetic suspension mandrel mechanism is as follows: the secondary feeding mechanism of the automatic feeding mechanism opens the opening of the folded wire winding drum and feeds the drum forward, and places the opened opening of the wire winding drum on the inner drum of the magnetic suspension mandrel mechanism; then the contour conveying mechanism is started, and the wire winding drum is continuously conveyed forward by the contour belt until it is completely opened into a circle and finally conveyed to the head of the wire drawing machine.

[0026] As a preferred embodiment of the magnetic levitation core shaft mechanism, one end of the magnetic levitation inner cylinder used to sleeve the opening of the wire winding cylinder is set to a flat cone or a cone; the secondary cylinder feeding mechanism opens the opening of the folded wire winding cylinder to a state that matches the flat cone or the cone through the upper and lower cylinder opening components; so as to facilitate the secondary cylinder feeding mechanism to feed the cylinder and the sleeve forward.

[0027] As a preferred embodiment of the magnetic suspension core shaft mechanism, a permanent magnet is provided on one end of the magnetic suspension inner cylinder for docking with the head of the wire drawing machine to facilitate the coaxial docking of the core shaft mechanism and the head of the wire drawing machine when the cylinder is installed.

[0028] The roller spindle mechanism comprises a roller outer cylinder, a roller inner cylinder and a plurality of linear roller groups; the driving wheel and the driven wheel are arranged on the roller outer cylinder, and one side of the profiling belt extends out of the inner wall of the roller outer cylinder; the linear roller group is arranged on the roller inner cylinder and the edge of the roller extends out of the outer surface of the roller inner cylinder; the profiling belt and the linear roller group are oriented oppositely and extend in the same direction; the roller inner cylinder is arranged in the roller outer cylinder and is supported by the profiling belt.

[0029] As a preferred embodiment of the roller type spindle mechanism, the linear roller group includes a plurality of linear rollers, and the plurality of linear rollers are arranged in a straight line.

[0030] The principle of the roller mandrel mechanism is as follows: the secondary feeding mechanism of the automatic feeding mechanism opens the opening of the folded wire winding drum and feeds the drum forward, and places the opened opening of the wire winding drum on the inner drum of the roller mandrel mechanism; then the contour conveying mechanism is started, and the wire winding drum is continuously conveyed forward by the contour belt until it is completely opened into a circle and finally conveyed to the head of the wire drawing machine.

[0031] As a preferred embodiment of the roller-type mandrel mechanism, one end of the roller-type inner cylinder used for sleeve-mounting the opening of the wire winding cylinder is set to a flat cone or a cone; the secondary cylinder feeding mechanism opens the opening of the folded wire winding cylinder to a state that matches the flat cone or the cone through the upper and lower cylinder opening components; so as to facilitate the secondary cylinder feeding mechanism to feed the cylinder and the sleeve forward.

[0032] The bullet-type spindle mechanism comprises a profiling mechanism support frame, a bullet-type inner cylinder, and a plurality of spiral roller groups; the driving wheel and the driven wheel are arranged on the profiling mechanism support frame; the spiral roller group is arranged on the bullet-type inner cylinder; and the bullet-type inner cylinder is supported by a profiling belt.

[0033] As a preferred embodiment of the bullet-type spindle mechanism, the spiral roller assembly includes a plurality of spiral rollers, and the plurality of spiral rollers are arranged in a spiral line.

[0034] The principle of the bullet-type mandrel mechanism is described as follows: the secondary feeding mechanism of the automatic feeding mechanism opens the opening of the folded wire winding drum and feeds the drum forward, and places the opened opening of the wire winding drum on the inner drum of the bullet-type mandrel mechanism; then the contour conveying mechanism is started, and the wire winding drum is continuously conveyed forward by the contour belt until it is completely opened into a circle and finally conveyed to the head of the wire drawing machine.

[0035] As a preferred embodiment of the bullet-type core shaft mechanism, one end of the bullet-type inner cylinder used for sleeve-mounting the opening of the wire winding cylinder is set to a flat cone or a cone; the secondary cylinder feeding mechanism opens the opening of the folded wire winding cylinder to a state that matches the flat cone or the cone through the upper and lower cylinder opening components; so as to facilitate the secondary cylinder feeding mechanism to feed the cylinder and the sleeve forward.

[0036] The control method of the aforementioned mandrel-type manipulator capable of automatically setting the head winding tube comprises the following steps: STEPO1, automatic feeding, 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 core shaft mechanism; STEP02, automatic bobbin support and bobbin loading step, the contoured belt of the contoured conveying mechanism drives the wire winding bobbin to be transported forward between the inner cylinder of the mandrel mechanism and the contoured belt, and the work of supporting the wire winding bobbin and loading the bobbin is completed synchronously.

[0037] Beneficial technical effects: 1. This application adopts a lifting platform to store the folded wire winding drums, and adopts a rodless pressure-maintaining cylinder to realize the step-by-step loading of the folded wire winding drums; the manipulator can carry multiple wire winding drums and perform automatic loading, which helps to avoid the reciprocating motion between the wire drawing machine and the storage rack when the manipulator takes the drum, thereby ensuring the loading efficiency.

[0038] 2. In the winding process disclosed in the present application, multiple working steps can be carried out simultaneously. For example, the lifting platform can immediately deliver the next winding drum upwards after the first-level feeding mechanism completes the push-pull translation of one winding drum; the first-level feeding mechanism can immediately push, pull and translate the next winding drum after delivering the first 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 the first winding drum onto the core shaft mechanism; the rounding process of the winding drum can be carried out synchronously with the conveying and winding process of the winding drum; thus, when the core shaft profiling conveying mechanism When the wire is being wound around the machine head, materials are ready on the loading positions of the lifting table, the primary feeding mechanism and the secondary feeding mechanism; when the mandrel profiling conveying mechanism is winding the wire around the machine head, the secondary feeding mechanism can continue to feed the wire to the mandrel profiling conveying mechanism, and when the whole machine moves to the next wire drawing machine that needs to be wound around the wire, the wire can be wound around the machine head immediately; in actual working conditions, the whole robot moves continuously in front of the wire drawing machine, and after the mandrel mechanism and the machine head are coaxially docked, the mandrel profiling conveying mechanism immediately feeds the wire to the machine head without any delay until all the winding work is completed.

[0039] 3. The present application completes the work of supporting the wire winding tube, conveying and loading the tube through the cooperation of the core shaft mechanism and the contoured conveying mechanism. The supporting, conveying and loading tube actions are carried out synchronously. Compared with the equipment and process that requires supporting the tube first before loading the tube, it has the technical effect of short loading time and high efficiency.

[0040] 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

[0041] Figure 1 : Schematic diagram of the automatic feeding barrel mechanism structure; Figure 2 : Front view of automatic feeding mechanism; Figure 3 : Side view of automatic feeding mechanism; Figure 4 : Top view of automatic feeding mechanism; Figure 5 : Schematic diagram of the structure of the profile conveying mechanism; Figure 6 : Exploded view of the magnetic suspension spindle mechanism structure; Figure 7 : Assembly drawing of the magnetic suspension spindle mechanism; Figure 8 : Schematic diagram of the bullet-type spindle mechanism structure; Fig. 9 : Exploded view of the roller spindle mechanism structure; ⑴Icon description of magnetic suspension spindle mechanism: 1- spindle mechanism; 11-magnetic suspension outer cylinder, 12-magnetic suspension inner cylinder, 13-magnetic component of outer cylinder, 14-magnetic component of inner cylinder; ⑵Roller type spindle mechanism icon description: 10- spindle mechanism; 110-roller outer cylinder, 120-roller inner cylinder, 130-linear roller set; ⑶Icon description of bullet-type spindle mechanism: 100- spindle mechanism; 1010-Profiling mechanism support frame, 1020-Bullet-type inner cylinder, 1030-Spiral roller assembly.

[0042] ⑷ Icon description of the contour conveying mechanism: 20-profiling conveying mechanism, 210-driving flexible shaft, 220-flexible shaft motor, 230-profiling belt, 240-driving wheel, 260-driven wheel; ⑸ Automatic feeding barrel mechanism icon description: 30-automatic feeding mechanism, 40-manipulator chassis; 310-lifting feeding group, 320-first-stage barrel feeding mechanism, 330-second-stage barrel feeding mechanism; 3110-lifting drive component, 3120-lifting material table, 3130-lifting guide column, 3140-limiting component; 3210-wire winding drum push-pull plate, 3220-push-pull driving component, 3230-push-pull plate guide rod; 3211- horizontal part, 3212- vertical part; 3310-bottle delivery rack, 3320-bottle delivery driving component, 3330-upper barrel opening assembly, 3340-lower barrel opening assembly, 3350-bottle delivery rack guide rod; 3331-open cylinder, 3332-open suction cup. DETAILED DESCRIPTION

[0043] Component naming rules: This application uses first-level, second-level ordinal numbers and function + name marking methods 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.

[0044] Directions: Please refer to Figure 7 In this application, the end where the automatic feeding drum mechanism 30 is located is regarded as the rear, and the end where the contour conveying mechanism 20 is located is regarded as the front.

[0045] The mandrel-type manipulator capable of automatically assembling the machine head winding drum disclosed in the present application comprises an automatic feeding drum mechanism and a mandrel profiling conveying mechanism; the mandrel profiling conveying mechanism comprises a mandrel mechanism and a profiling conveying mechanism. The mandrel mechanism mainly includes three implementation schemes, namely, a bullet-type mandrel mechanism, a magnetic suspension mandrel mechanism and a roller mandrel mechanism; the automatic feeding drum mechanism and the profiling conveying mechanism used in conjunction with the three mandrel mechanisms have the same structure and function. The following first describes the automatic feeding drum mechanism and the profiling conveying mechanism, and then describes the three mandrel mechanisms respectively.

[0046] See also Figures 1 to 4 The mandrel type manipulator capable of automatically setting the head winding tube disclosed in the present application comprises an automatic feeding tube mechanism 30, a mandrel profiling conveying mechanism, a manipulator chassis 40, and a walking mechanism. The automatic feeding tube mechanism 30 and the mandrel profiling conveying mechanism are both arranged on the manipulator chassis 40, and the walking mechanism is used to drive the manipulator chassis 40 to move.

[0047] In order to complete the automatic barrel loading work of the wire drawing machine head, the mandrel type 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 40 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.

[0048] The automatic barrel feeding mechanism 30 includes a lifting feeding group 310 , a primary barrel feeding mechanism 320 , and a secondary barrel feeding mechanism 330 .

[0049] The lifting and feeding group 310 is used to complete the pressure-maintaining lifting and progressive feeding of the folded wire winding drum. The first-level feeding drum mechanism 320 is used to translate the folded wire winding drum from the lifting and feeding group 310 to the second-level feeding drum mechanism 330. The second-level feeding drum mechanism 330 is used to open the opening part of the folded wire winding drum and convey it to the core shaft profiling conveying mechanism.

[0050] Among them: the lifting and feeding group 310 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 320 moves a folded wire winding tube horizontally, the lifting and feeding group 310 delivers the next folded wire winding tube upwards.

[0051] The lifting and feeding group 310 includes a lifting drive component 3110, a lifting platform 3120, a lifting guide column 3130, and a limiting component 3140. The lifting drive component 3110 is transmission-connected to the lifting platform 3120. The lifting drive component 3110 and the lifting guide column 3130 are arranged on the manipulator chassis 40 and extend in the vertical direction; the limiting component 3140 is arranged on the top of the lifting guide column 3130. The lifting drive component 3110 is a rodless lifting cylinder, and the lifting platform 3120 is arranged on the lifting slide of the rodless lifting cylinder. The lifting platform 3120 is provided with a corresponding structure such as a guide sleeve for cooperating with the lifting guide column 3130.

[0052] The folded wire winding drums are stacked in the shape of square sheets on the lifting platform 3120. 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 3130 is used to provide motion guidance for the lifting platform 3120 to improve the stability of feeding, and the limit component 3140 is used to limit the motion range of the lifting platform 3120. 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.

[0053] The primary feeding drum mechanism 320 includes a wire winding drum push-pull plate 3210, a push-pull driving component 3220, and a push-pull plate guide rod 3230; the wire winding drum push-pull plate 3210 includes a horizontal portion 3211 and a vertical portion 3212; the horizontal portion 3211 is used to receive the driving force from the push-pull driving component 3220, and the vertical portion 3212 is used to push or pull the wire winding drum from the edge of the folded wire winding drum. The push-pull driving component 3220 is a push-pull cylinder, which is transmission-connected to the horizontal portion 3211. The push-pull plate guide rod 3230 is horizontally arranged to provide motion guidance for the wire winding drum push-pull plate 3210 to increase the stability of the push-pull action.

[0054] When the piston rod of the push-pull cylinder extends, it pushes the wire winding drum push-pull plate 3210 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 3210 and the wire winding drum to the front end of the lifting material position, that is, between the upper open drum assembly 3330 and the lower open drum assembly 3340 of the secondary drum feeding mechanism 330.

[0055] 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 3330 and the lower open tube assembly 3340; when the piston rod of the push-pull cylinder is retracted, the wire winding tube push-pull plate 3210 is pulled to the rear end of the lifting material position.

[0056] The secondary barrel feeding mechanism 330 includes a barrel feeding frame 3310 , a barrel feeding driving component 3320 , an upper barrel opening assembly 3330 , a lower barrel opening assembly 3340 , and a barrel feeding frame guide rod 3350 .

[0057] The barrel feeding frame guide rod 3350 is horizontally arranged on the manipulator chassis 40 through a vertical column, and the barrel feeding frame 3310 is slidably connected to the barrel feeding frame guide rod 3350 through a guide sleeve. The barrel feeding driving component 3320 is a barrel feeding cylinder, which is arranged on the manipulator chassis 40 and is transmission-connected to the barrel feeding frame 3310. The upper barrel opening assembly 3330 and the lower barrel opening assembly 3340 are respectively arranged at the upper part and the lower part of the barrel feeding frame 3310 and are opposite in orientation.

[0058] The upper opening cylinder assembly 3330 and the lower opening cylinder assembly 3340 both include an opening cylinder 3331 and an opening suction cup 3332; the opening cylinder 3331 is transmission-connected to the opening suction cup 3332. The upper and lower opening suction cups 3332 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 3331 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.

[0059] Since the secondary barrel feeding mechanism 330 needs to feed the wire barrel forward to sleeve the wire barrel into the sleeve part of the mandrel profiling conveying mechanism after opening the opening part of the folded wire barrel, the degree to which the upper barrel opening assembly 3330 and the lower barrel opening assembly 3340 open the opening part of the folded wire barrel depending on the shape and structure of the upper sleeve part of the mandrel profiling conveying mechanism; in the embodiment of the variation of the present application, the sleeve part of the mandrel profiling conveying mechanism can be a flat cone, an elliptical trumpet structure or a cone, etc.; correspondingly, the upper and lower barrel opening assemblies open the folded wire barrel into a corresponding structure that matches the shape and size of the sleeve part.

[0060] Description of the secondary winding drum mechanism: the upper and lower opening drum assemblies suck the winding drum from the upper and lower sides of the folded winding drum respectively, and then the opening drum cylinder drives the opening drum suction cup to open the opening part of the folded winding drum; then the feeding drum driving component 3320 drives the feeding drum frame 3310 to feed forward and place the winding drum with the opened opening part on the sleeve part of the core shaft profiling conveying mechanism.

[0061] Thus, the automatic feeding drum mechanism 30 can carry multiple folded wire winding drums through the lifting platform 3120 and realize the clip-type step-by-step loading of the wire winding drums through the cylinder pressure maintaining technology; it can also translate the top folded wire winding drum from the loading position of the lifting platform 3120 to the loading position of the secondary feeding drum mechanism 330, that is, between the upper and lower open drum components, through the primary feeding mechanism 320; and it can open the opening part of the folded wire winding drum through the secondary feeding drum mechanism 330 and feed it forward to the core shaft profiling conveying mechanism; and then the core shaft profiling conveying mechanism completes the conveying, rounding and loading of the wire winding drum.

[0062] Therefore, since the automatic feeding mechanism 30 can carry multiple wire winding tubes and perform automatic loading, the mandrel-type manipulator disclosed in the present application can avoid the reciprocating motion between the wire drawing machine and the storage rack when the manipulator takes the tube, which helps to ensure the efficiency of tube loading.

[0063] The core shaft profiling conveying mechanism includes a core shaft mechanism and a profiling conveying mechanism 20; the profiling conveying mechanism 20 is used to provide driving force for the winding drum to support, convey and load the winding drum, and the core shaft mechanism is used to form a core shaft passing through the middle of the winding drum to cooperate with the profiling conveying mechanism 20 to complete the automatic and synchronous supporting, conveying and loading of the winding drum.

[0064] See also Figure 5 The contour conveying mechanism 20 includes a driving flexible shaft 210, a flexible shaft motor 220, a plurality of contour belts 230, a plurality of driving wheels 240, and a plurality of driven wheels 260; the contour belts 230 are arranged on the driving wheel 240 and the driven wheel 260, the driving flexible shaft 210 is connected to the driving wheel 240, and the flexible shaft motor 220 is transmission-connected to the driving flexible shaft 210.

[0065] When the flexible shaft motor 220 rotates, it can simultaneously drive multiple contour belts 230 through the flexible shaft connection, and then generate driving force for the winding drum to round, transport and put on the winding drum through the interaction between the contour belt 230 and the winding drum. When the winding drum is driven by the contour belt 230, it is transported forward along the core shaft mechanism with a circular structure, and finally synchronously completes the rounding and putting on the winding drum.

[0066] The profiled belt is used in a mechanical transmission system to transmit according to a specific profile or shape. The design of this belt enables it to adapt to different mechanical structures and motion trajectories, thereby improving the efficiency and accuracy of the transmission. The cross section of the belt can be designed into a specific shape such as a circle, a trapezoid or a special profile to adapt to different transmission applications. The profiled belt 230 in the present application has a cross-sectional structure that matches the arc of the winding drum to ensure the transmission, rounding and winding efficiency of the winding drum.

[0067] First preferred embodiment: a mandrel-type manipulator composed of a magnetically suspended mandrel mechanism See also Figure 6 and Figure 7 The core shaft mechanism 1 includes a magnetic suspension outer cylinder 11, a magnetic suspension inner cylinder 12, an outer cylinder magnetic component 13, and an inner cylinder magnetic component 14; the outer cylinder magnetic component 13 is arranged on the magnetic suspension outer cylinder 11, and the inner cylinder magnetic component 14 is arranged on the magnetic suspension inner cylinder 12. The magnetic suspension inner cylinder 12 can be suspended in the magnetic suspension outer cylinder 11 under the mutual action of the outer cylinder magnetic component 13 and the inner cylinder magnetic component 14, and a wire winding cylinder channel is formed between the magnetic suspension outer cylinder 11 and the magnetic suspension inner cylinder 12.

[0068] The magnetic suspension outer cylinder 11 is arranged on the manipulator chassis 40 through a support structure, and a plurality of belt grooves for assembling the profile conveying mechanism 20 are arranged on the magnetic suspension outer cylinder 11. The driving wheel 240 and the driven wheel 260 are arranged on the magnetic suspension outer cylinder 11, and the profile belt 230 is located in the belt groove, and one side of the profile belt 230 is located in the winding drum channel. The outer cylinder magnetic component 13 and the inner cylinder magnetic component 14 are respectively magnetic rings with the same polarity. In a modified embodiment, an electromagnetic component can also be used to realize the magnetic suspension of the inner cylinder.

[0069] The principle of the magnetic levitation mandrel mechanism is described as follows: the secondary feeding mechanism 330 of the automatic feeding mechanism 30 opens the opening part of the folded wire winding drum and feeds the drum forward, and places the opened opening of the wire winding drum on the inner drum of the magnetic levitation mandrel mechanism; then the contour conveying mechanism 20 is started, and the wire winding drum continues to be conveyed forward by the contour belt 230 until it is completely opened into a circle and finally conveyed to the head of the wire drawing machine.

[0070] In a variant embodiment, one end of the magnetic suspension inner cylinder 12 used to sleeve the opening of the wire winding cylinder is set to a flat cone or a cone; the secondary cylinder feeding mechanism 330 opens the opening of the folded wire winding cylinder to a state that matches the flat cone or the cone through the upper and lower cylinder opening components; so as to facilitate the secondary cylinder feeding mechanism 330 to feed the cylinder and the sleeve forward.

[0071] In a modified embodiment, a permanent magnet is provided at one end of the magnetic suspension inner cylinder 12 for docking with the head of the wire drawing machine, so as to facilitate the coaxial docking of the core shaft mechanism and the head of the wire drawing machine when the cylinder is put on.

[0072] Second preferred embodiment: Mandrel-type manipulator composed of a bullet-type mandrel mechanism See also Figure 8 The spindle mechanism 100 includes a profiling mechanism support frame 1010, a bullet-shaped inner cylinder 1020, and a plurality of spiral roller groups 1030; the driving wheel 240 and the driven wheel 260 are arranged on the profiling mechanism support frame 1010; the spiral roller group 1030 is arranged on the bullet-shaped inner cylinder 1020; the bullet-shaped inner cylinder 1020 is supported by the profiling belt 230. The spiral roller group 1030 includes a plurality of spiral rollers, and the plurality of spiral rollers are arranged in a spiral line.

[0073] The principle of the bullet-type mandrel mechanism is described as follows: the secondary barrel feeding mechanism 330 of the automatic barrel feeding mechanism 30 opens the opening of the folded wire winding barrel and then feeds the barrel forward, and places the opened opening of the wire winding barrel on the inner barrel of the bullet-type mandrel mechanism; then the contour conveying mechanism 20 is started, and the wire winding barrel continues to be conveyed forward by the contour belt 230 until it is completely opened into a circle and finally conveyed to the head of the wire drawing machine.

[0074] In a variant embodiment, one end of the bullet-shaped inner cylinder 1020 for sleeve-mounting the opening of the wire winding cylinder is set to a flat cone or a cone; the secondary cylinder feeding mechanism 330 opens the opening of the folded wire winding cylinder to a state that matches the flat cone or the cone through the upper and lower cylinder opening components; so as to facilitate the secondary cylinder feeding mechanism 330 to feed the cylinder and the sleeve forward.

[0075] In a variant embodiment, a permanent magnet is provided at one end of the bullet-shaped inner cylinder 1020 for docking with the head of the wire drawing machine, so as to facilitate the coaxial docking of the core shaft mechanism and the head of the wire drawing machine when the cylinder is loaded.

[0076] This embodiment can not only automatically and synchronously complete the operation of supporting and loading the wire winding drum, but also, because the spiral roller group 1030 is arranged on the bullet-shaped inner drum 1020 along the spiral shape, the wire winding drum will rotate according to the direction of the spiral shape when it is transported forward around the core shaft under the drive of the contour belt 230, so that it can be transported forward along the axis direction of the bullet-shaped inner drum 1020 while rotating around the bullet-shaped inner drum 1020; it is beneficial to improve the supporting quality of the wire winding drum and ensure the efficiency of loading. At the same time, it can continuously change the stress-bearing part of the wire winding drum to avoid the wire winding drum being locally stressed for a long time.

[0077] Third preferred embodiment: spindle-type manipulator composed of a roller spindle mechanism See also Fig. 9 The spindle mechanism 10 includes a roller outer cylinder 110, a roller inner cylinder 120, and a plurality of linear roller groups 130; a driving wheel 240 and a driven wheel 260 are arranged on the roller outer cylinder 110, and one side of the profiling belt 230 extends out of the inner wall of the roller outer cylinder 110; the linear roller group 130 is arranged on the roller inner cylinder 120 and the edge of the roller extends out of the outer surface of the roller inner cylinder 120; the profiling belt 230 and the linear roller group 130 are opposite in orientation and extend in the same direction; the roller inner cylinder 120 is arranged in the roller outer cylinder 110 and supported by the profiling belt 230. The linear roller group 130 includes a plurality of linear rollers, and the plurality of linear rollers are arranged in a straight line.

[0078] The principle of the roller mandrel mechanism is described as follows: the secondary barrel feeding mechanism 330 of the automatic barrel feeding mechanism 30 opens the opening of the folded wire winding barrel and then feeds the barrel forward, and places the opened opening of the wire winding barrel on the inner barrel of the roller mandrel mechanism; then the contour conveying mechanism 20 is started, and the wire winding barrel continues to be conveyed forward by the contour belt 230 until it is completely opened into a circle and finally conveyed to the head of the wire drawing machine.

[0079] In a variant embodiment, one end of the roller-type inner cylinder 120 for sleeve-mounting the opening of the wire winding cylinder is set to a flat cone or a cone; the secondary cylinder feeding mechanism 330 opens the opening of the folded wire winding cylinder to a state that matches the flat cone or the cone through the upper and lower cylinder opening components; so as to facilitate the secondary cylinder feeding mechanism 330 to feed the cylinder and the sleeve forward.

[0080] In a modified embodiment, a permanent magnet is provided at one end of the roller-type inner cylinder 120 for docking with the head of the wire drawing machine, so as to facilitate the coaxial docking of the core shaft mechanism and the head of the wire drawing machine when the cylinder is put on.

[0081] The following is an explanation of the control method of the mandrel-type robot that can automatically assemble the wire winding tube on the machine head. To simplify the description, the lifting drive component 3110 of the lifting and feeding group 310 is a rodless lifting cylinder, the push-pull drive component 3220 of the first-level tube feeding mechanism 320 is a push-pull cylinder, the tube feeding drive component of the second-level tube feeding mechanism 330 is a tube feeding cylinder, and the drive components of the upper and lower tube opening assemblies are tube opening cylinders.

[0082] The control method of the mandrel type manipulator capable of automatically setting the head winding tube includes the following process steps: S01, under the pressure-maintaining state of the rodless lifting cylinder, the lifting and feeding group 310 starts to work; S02, the push-pull cylinder of the first-level tube feeding mechanism 320 starts to work, and the folded wire winding tube is translated forward to the specified position, that is, the position between the upper and lower open tube components; S03, the upper opening barrel assembly 3330 and the lower opening barrel assembly 3340 of the secondary barrel feeding mechanism 330 work, and the vacuum generator starts; S04, the upper and lower cylinders for opening the wire winding drum are simultaneously actuated to open the opening of the wire winding drum; S05, the barrel feeding cylinder of the secondary barrel feeding mechanism 330 feeds the material forward, and the opening of the wire winding barrel is placed on the core shaft mechanism; S06, 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; S07, the robot moves as a whole, and the mandrel mechanism and the head of the wire drawing machine to be loaded are in a coaxial state; S08, the profiling conveying mechanism is started, and the profiling belt drives the wire winding drum to be conveyed forward between the inner drum of the mandrel mechanism and the profiling belt, and the work of supporting and loading the wire winding drum is completed synchronously.

[0083] The automatic barrel loading process of the above mandrel type manipulator can be summarized as follows: STEPO1, automatic feeding, 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 core shaft mechanism; STEP02, automatic bobbin support and bobbin loading step, the contoured belt of the contoured conveying mechanism drives the wire winding bobbin to be transported forward between the inner cylinder of the mandrel mechanism and the contoured belt, and the work of supporting the wire winding bobbin and loading the bobbin is completed synchronously.

[0084] Thus, the present application can automatically and synchronously complete the work of supporting the wire winding tube, conveying and loading the wire winding tube through the cooperation between the core shaft mechanism and the contoured conveying mechanism 20; and because the supporting, conveying and loading the wire winding tube are carried out synchronously, compared with the equipment and process that needs to support the tube first before loading the wire winding tube, it has the technical effect of short loading time and high efficiency.

[0085] 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. A mandrel-type manipulator capable of automatically assembling the head winding tube, characterized in that: It includes an automatic barrel feeding mechanism (30) and a mandrel profiling conveying mechanism; The automatic barrel feeding mechanism (30) is used to automatically supply barrels to the mandrel profiling conveying mechanism; The mandrel profiling conveying mechanism comprises a mandrel mechanism (1; 10; 100) and a profiling conveying mechanism (20); The mandrel mechanism (1; 10; 100) is used to form the mandrel of the upper cylinder and the support cylinder, and the contour conveying mechanism (20) is used to provide driving force for the support cylinder and the upper cylinder; The core shaft profiling conveying mechanism can automatically and synchronously complete the work of supporting and loading the cylinder through the cooperation of the core shaft mechanism (1; 10; 100) and the profiling conveying mechanism (20).

2. The mandrel-type manipulator capable of automatically mounting a machine head wire winding drum according to claim 1 is characterized in that: The contour conveying mechanism (20) comprises a driving flexible shaft (210), a flexible shaft motor (220), a plurality of contour belts (230), a plurality of driving wheels (240), and a plurality of driven wheels (260); The contoured belt (230) is arranged on the driving wheel (240) and the driven wheel (260), the driving flexible shaft (210) is connected to the driving wheel (240), and the flexible shaft motor (220) is transmission-connected to the driving flexible shaft (210).

3. The mandrel-type manipulator capable of automatically mounting a machine head wire winding drum according to claim 2 is characterized in that: The core shaft mechanism (1) is a magnetic suspension core shaft mechanism, comprising a magnetic suspension outer cylinder (11), a magnetic suspension inner cylinder (12), an outer cylinder magnetic component (13), and an inner cylinder magnetic component (14); The outer cylinder magnetic component (13) is arranged on the magnetic suspension outer cylinder (11), and the inner cylinder magnetic component (14) is arranged on the magnetic suspension inner cylinder (12); the magnetic suspension inner cylinder (12) is capable of being suspended in the magnetic suspension outer cylinder (11) under the interaction of the outer cylinder magnetic component (13) and the inner cylinder magnetic component (14), and a wire winding cylinder channel is formed between the magnetic suspension outer cylinder (11) and the magnetic suspension inner cylinder (12); The driving wheel (240) and the driven wheel (260) are arranged on the magnetic suspension outer cylinder (11), and one side of the contoured belt (230) is located in the wire winding cylinder channel.

4. The mandrel-type manipulator capable of automatically mounting a machine head wire winding drum according to claim 3 is characterized in that: The outer cylinder magnetic component (13) and the inner cylinder magnetic component (14) are respectively magnetic rings and / or magnetic blocks with the same polarity.

5. The mandrel-type manipulator capable of automatically mounting a machine head wire winding drum according to claim 2 is characterized in that: The spindle mechanism (10) is a roller spindle mechanism, comprising a roller outer cylinder (110), a roller inner cylinder (120), and a plurality of linear roller groups (130); The driving wheel (240) and the driven wheel (260) are arranged on the roller-type outer cylinder (110), and one side of the contoured belt (230) extends out of the inner wall of the roller-type outer cylinder (110); The linear roller group (130) is arranged on the roller-type inner cylinder (120), and the edge of the roller extends out of the outer surface of the inner cylinder (120); The contoured belt (230) and the linear roller set (130) are oriented oppositely and extend in the same direction; The roller-type inner cylinder (120) is arranged inside the roller-type outer cylinder (110) and is supported by the contoured belt (230).

6. The mandrel-type manipulator capable of automatically mounting a machine head wire winding drum according to claim 5 is characterized in that: The linear roller group (130) comprises a plurality of linear rollers, and the plurality of linear rollers are arranged in a straight line.

7. The mandrel-type manipulator capable of automatically mounting a machine head wire winding drum according to claim 2 is characterized in that: The mandrel mechanism (100) is a bullet-type mandrel mechanism, comprising a contour mechanism support frame (1010), a bullet-type inner cylinder (1020), and a plurality of spiral roller assemblies (1030); The driving wheel (240) and the driven wheel (260) are arranged on the profiling mechanism support frame (1010); The spiral roller assembly (1030) is arranged on the bullet-shaped inner cylinder (1020); The roller-type inner cylinder (1020) is supported by the contoured belt (230).

8. The mandrel-type manipulator capable of automatically mounting a machine head wire winding drum according to claim 7 is characterized in that: The spiral roller assembly (1030) comprises a plurality of spiral rollers, and the plurality of spiral rollers are arranged in a spiral line.

9. The mandrel-type manipulator capable of automatically mounting a machine head wire winding drum according to claim 1 is characterized in that: The automatic barrel feeding mechanism (30) comprises a lifting feeding group (310), a primary barrel feeding mechanism (320), and a secondary barrel feeding mechanism (330); The lifting and feeding group (310) comprises a lifting driving component (3110) and a lifting material platform (3120); The primary bobbin feeding mechanism (320) comprises a wire winding bobbin push-pull plate (3210) and a push-pull driving component (3220); The secondary barrel feeding mechanism (330) comprises a barrel feeding frame (3310), a barrel feeding driving component (3320), an upper barrel opening assembly (3330), and a lower barrel opening assembly (3340).

10. A control method for a mandrel-type manipulator capable of automatically setting a machine head winding tube, characterized in that: The mandrel-type manipulator capable of automatically assembling the head winding drum as described in claim 1; The process steps include: STEPO1, automatic feeding and opening of the barrel sleeve step, the lifting drive component of the lifting feeding group automatically feeds the barrel; the push-pull drive component of the first-level barrel feeding mechanism translates the folded wire winding barrel between the upper barrel opening component and the lower barrel opening component; the upper barrel opening component and the lower barrel opening component of the second-level barrel feeding mechanism respectively suck the wire winding barrel from the upper and lower sides of the wire winding barrel and open the opening part of the wire winding barrel; The barrel feeding driving component of the secondary barrel feeding mechanism drives the barrel feeding frame to feed the material forward and sleeve the wire winding barrel on the core shaft mechanism; STEP02, automatic bobbin support and loading step, the profiling belt of the profiling conveying mechanism drives the wire winding bobbin to be transported forward between the inner cylinder of the mandrel mechanism and the profiling belt, and the work of supporting and loading the wire winding bobbin is completed synchronously.

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