A robot loading mechanism for a sectional warping machine

Abstract

The application discloses a robot feeding mechanism of a sectional warping machine, which comprises a self-locking portable feeding mechanism, the bottom of the self-locking portable feeding mechanism is provided with an AGV robot, and the bottom of the self-locking portable feeding mechanism is provided with a base, the base is fixed on the AGV robot, a driving device is fixed on the base, the output end of the driving device is connected with a main shaft, a fulcrum seat is arranged on the base, a core shaft is arranged on the fulcrum seat, and a stand is rotatably connected to the core shaft. The robot feeding mechanism of the sectional warping machine realizes the automatic movement and lifting feeding of heavy rollers by driving the self-locking portable feeding mechanism by the AGV robot, and the driving device, the main shaft, multiple groups of linkage arms and the stand drive the rollers to complete the rotation feeding of 0°-90°, thereby completely replacing manual lifting of the cloth rollers with a weight of 80kg-250kg and a diameter of 400-800mm, and reducing the labor intensity of the operators from the root, and avoiding the problems of physical overdraw and operation fatigue caused by manual lifting of the heavy rollers.

Description

Technical Field

[0001] This invention relates to the field of warping machines, specifically to a robotic feeding mechanism for a slitting warping machine. Background Technology

[0002] The function of a warping machine is to wind warp yarns wound on bobbins parallel to a warp beam or weaving beam according to the number of yarns, length, and width required by the process design, for use in sizing or threading processes. A warping machine has multiple bobbins mounted on a yarn frame. Existing slitting warping machines cannot adjust the distance between the yarn on the warp beam and the conveyor rollers according to the yarn diameter, requiring the replacement of conveyor rollers of different sizes. Furthermore, when placing yarn rolls onto the warp beams, insecure fixing can occur, leading to misalignment or deviation of the yarn during initial processing, directly affecting subsequent warp yarn processing.

[0003] To solve the above problems, after searching, Chinese Patent No. CN206467391U was found, which discloses a feeding device for a slitting warping machine. The device includes a work frame, on which a feeding mechanism and a guiding mechanism are arranged in sequence along the yarn conveying direction. The work frame includes a left work plate and a right work plate. The feeding mechanism includes a motor, a reversing turntable and a reversing shaft. A left reversing turntable and a right reversing turntable are symmetrically arranged at both ends of the reversing shaft. A first limiting rod and a second limiting rod are symmetrically arranged on both sides between the left reversing turntable and the right reversing turntable.

[0004] While the aforementioned devices can remove dust from the yarn surface and reduce the possibility of fuzz formation, in actual use, the slitting and warping machine requires manual lifting of the rollers wrapped with fabric during the feeding process. The fabric rollers are then raised to the feeding station of the slitting and warping machine for slitting and rewinding. The diameter of conventional textile fabric rollers is between 400 and 800 mm, and the weight of the entire roller is generally between 80 kg and 250 kg. Manually lifting heavy rollers is very strenuous and can easily lead to safety accidents such as crushing, twisting, and back injuries. Summary of the Invention

[0005] The purpose of this invention is to provide a robotic feeding mechanism for a slitting and warping machine to solve the defects mentioned in the background art.

[0006] To achieve the above objectives, a robotic feeding mechanism for a slitting and warping machine is provided, including a self-locking portable feeding mechanism. The self-locking portable feeding mechanism has an AGV robot at its bottom and a base at its bottom, which is fixed to the AGV robot. A drive device is fixed on the base, and the output end of the drive device is connected to a main shaft. A fulcrum seat is also provided on the base, and a core shaft is provided on the fulcrum seat. A column is rotatably connected to the core shaft, and a fixed platform is provided on the column. A roller is provided on the fixed platform, and an air expansion shaft is inserted inside the roller.

[0007] As an improvement to the above solution, the main shaft is provided with multiple sets of linkage arms, and the ends of the linkage arms are connected to transmission plates. Both sides of the transmission plates are connected to the column. The driving device drives the column, the fixed platform and the roller to rotate through the multiple sets of linkage arms, and the rotation angle of the roller is 0° to 90°.

[0008] As an improvement to the above solution, the linkage arm includes an inner rocker arm connected to the main shaft, and the end of the inner rocker arm is connected to a receiving rocker arm via a pin. At the same time, the end of the receiving rocker arm is connected to a linkage seat via a pin. The linkage seat is fixed on the transmission plate. The dimensions of the inner rocker arm and the receiving rocker arm are matched, and the receiving rocker arm has a "U" shaped structure. The inner rocker arm is folded and placed inside the receiving rocker arm.

[0009] As an improvement to the above solution, the fixing platform includes a U-shaped seat fixed to the top of the column, and the top of the fixing platform is provided with a locking groove. The locking groove is also U-shaped, with a limiting arc surface at one end and a limiting stop at the other end.

[0010] As an improvement to the above solution, the limiting stop has an "L" shaped structure, the locking groove is adapted to the size of the air expansion shaft, and the air expansion shaft is installed in the locking groove. The height of the limiting stop is greater than the height of the limiting arc surface.

[0011] As an improvement to the above solution, the self-locking portable feeding mechanism also includes two sets of self-locking guide rails fixed on the base, and each end of the self-locking guide rail is provided with a fixing seat. The fixing seat is installed on the base and has an "L" shaped structure. A guide column is inserted inside the self-locking guide rail and the guide column is fixed to the outside of the column. The self-locking guide rail has an arc-shaped structure and the center of the self-locking guide rail coincides with the center of the core shaft.

[0012] As an improvement to the above solution, the self-locking guide rail also includes a cover plate covering its end, and a one-way self-locking mechanism is provided on one side of the cover plate. The one-way self-locking mechanism includes a lock seat fixed to the top of the self-locking guide rail, and a lever plate is rotatably connected inside the lock seat. A spring is provided on one side of the lever plate, and the end of the spring away from the lever plate is connected to the inner wall of the lock seat.

[0013] As an improvement to the above solution, the lever plate includes a force-bearing plate disposed on the upper side of the lock seat, and a support shaft is inserted through the middle of the lever plate. The support shaft is disposed inside the lock seat. A one-way seat is fixed at the bottom of the lever plate, and the one-way seat has an inclined structure. A release space is also provided on the inner wall of the lock seat. When the force-bearing plate is pressed, the one-way seat moves into the release space.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] 1. This solution uses an AGV robot to drive a self-locking portable feeding mechanism to automate the movement and lifting of heavy-duty rollers. In conjunction with the drive unit, main shaft, multiple sets of linkage arms and columns, the rollers are driven to complete the rotational feeding from 0° to 90°. This completely replaces the manual lifting and transporting of cloth rollers weighing 80kg to 250kg and with a diameter of 400 to 800mm, thereby reducing the labor intensity of operators from the source and avoiding problems such as physical exhaustion and operator fatigue caused by manually handling heavy-duty rollers. At the same time, it improves the automation level and operating efficiency of the slitting and warping machine.

[0016] 2. This solution uses the limiting arc surface and L-shaped limiting stop on the fixed platform to limit and prevent the roller and air shaft from falling off. Combined with the arc-shaped self-locking guide rail, guide column and one-way self-locking mechanism, it realizes one-way self-locking and anti-falling of the column and roller. It can not only prevent the column and roller from falling back under the load, but also quickly release the self-locking by pressing the force plate. The structure is simple and compact, the operation is reliable and stable, and it has both self-locking safety and unlocking convenience. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0018] Figure 2 This is a schematic diagram of the linkage arm and its connection structure of the present invention;

[0019] Figure 3 This is a rear view of the robot loading mechanism of the present invention;

[0020] Figure 4 This is a schematic diagram of the fixing platform and its connection structure of the present invention;

[0021] Figure 5 This is a schematic diagram of the roller folding process for loading and unloading in this invention;

[0022] Figure 6 This is a schematic diagram of the roller and air shaft of the present invention;

[0023] Figure 7 This is a schematic diagram of the self-locking guide rail and its connection structure of the present invention;

[0024] Figure 8 This is a schematic diagram showing the installation position of the one-way self-locking mechanism of the present invention;

[0025] Figure 9 This is a schematic diagram of the unidirectional self-locking mechanism of the present invention.

[0026] The diagram labels are as follows: 100, AGV robot; 200, self-locking portable loading mechanism; 20, base; 21, drive unit; 211, main shaft; 22, linkage arm; 221, linkage seat; 222, accommodating rocker arm; 223, internal rocker arm; 23, transmission plate; 24, column; 25, fixed platform; 251, U-shaped seat; 252, locking groove; 253, limiting arc surface; 254, limiting stop. 26. Pivot seat; 261. Core shaft; 27. Self-locking guide rail; 271. Fixed seat; 272. Guide column; 273. One-way self-locking mechanism; 2731. Lock seat; 2732. Spring; 2733. Lever plate; 27331. Force-bearing plate; 27332. Support shaft; 27333. One-way seat; 2734. Release space; 274. Cover plate; 300. Roller; 301. Air shaft. Detailed Implementation

[0027] The embodiments of the present invention will be described below with reference to the accompanying drawings.

[0028] Example 1

[0029] A robotic feeding mechanism for a slitting and warping machine, such as Figure 1 As shown in Figure 6, the device includes a self-locking portable loading mechanism 200. An AGV robot 100 is mounted on the bottom of the self-locking portable loading mechanism 200, and a base 20 is mounted on the bottom of the self-locking portable loading mechanism 200. The base 20 is fixed to the AGV robot 100. A drive device 21 is fixed on the base 20, and the output end of the drive device 21 is connected to a main shaft 211. A fulcrum seat 26 is also mounted on the base 20, and a core shaft 261 is mounted on the fulcrum seat 26. A column 24 is rotatably connected to the core shaft 261. A fixed platform 25 is mounted on the column 24, and a roller 300 is mounted on the fixed platform 25. An air expansion shaft 301 is inserted inside the roller 300.

[0030] The main shaft 211 is equipped with multiple sets of linkage arms 22, and the ends of the linkage arms 22 are connected to transmission plates 23. Both sides of the transmission plates 23 are connected to the columns 24. The drive device 21 drives the columns 24, the fixed platform 25 and the roller 300 to rotate through the multiple sets of linkage arms 22, and the rotation angle of the roller 300 is 0° to 90°.

[0031] The linkage arm 22 includes an inner rocker arm 223 connected to the main shaft 211, and the end of the inner rocker arm 223 is connected to a receiving rocker arm 222 via a pin. At the same time, the end of the receiving rocker arm 222 is connected to a linkage seat 221 via a pin. The linkage seat 221 is fixed on the transmission plate 23. The dimensions of the inner rocker arm 223 and the receiving rocker arm 222 are matched, and the receiving rocker arm 222 has a "U" shaped structure. The inner rocker arm 223 is folded and placed inside the receiving rocker arm 222.

[0032] The fixed platform 25 includes a U-shaped seat 251 fixed to the top of the column 24, and the top of the fixed platform 25 is provided with a locking groove 252. The locking groove 252 is also in the form of a "U" shape. One end of the locking groove 252 is provided with a limiting arc surface 253, and the other end is provided with a limiting stop 254.

[0033] The limiting stop 254 has an "L" shaped structure. The locking groove 252 is matched with the size of the air shaft 301, and the air shaft 301 is installed in the locking groove 252. The height of the limiting stop 254 is greater than the height of the limiting arc surface 253.

[0034] The self-locking portable feeding mechanism 200 also includes two sets of self-locking guide rails 27 fixed on the base 20, and each end of the self-locking guide rail 27 is provided with a fixing seat 271. The fixing seat 271 is installed on the base 20 and has an "L" shaped structure. A guide post 272 is inserted inside the self-locking guide rail 27 and is fixed to the outside of the column 24. The self-locking guide rail 27 has an arc-shaped structure and the center of the self-locking guide rail 27 coincides with the center of the core shaft 261.

[0035] Working principle: The AGV robot 100 can move the base 20 and the self-locking portable loading mechanism 200 to the loading position, placing the roller 300 with the air expansion shaft 301 inserted on the U-shaped seat 251 of the fixed platform 25. The air expansion shaft 301 falls into the locking groove 252. The roller 300 is initially positioned and prevented from falling off by the cooperation of the limiting arc surface 253 and the higher L-shaped limiting stop 254. Then, the drive device 21 starts and drives the main shaft 211 to rotate. The main shaft 211 drives the movement of multiple sets of linkage arms 22, which are composed of the inner rocker arm 223, the rocker arm 222 and the linkage seat 221. The linkage arms 22 push the transmission plate 23 to move. The transmission plate 23 drives the column 24 to rotate around the core shaft 261 on the fulcrum seat 26 from 0° to 0°. With a 90° rotation, the guide post 272 on the outside of the column 24 slides synchronously along the arc-shaped self-locking guide rail 27 concentric with the core shaft 261. After the column 24 rotates into position, the one-way self-locking mechanism 273 on one side of the end cover plate 274 of the self-locking guide rail 27 takes effect. The spring 2732 in the lock seat 2731 pushes the lever piece 2733 to rotate around the support shaft 27332, causing the one-way seat 27333 of the inclined structure to extend and perform one-way limiting self-locking on the guide post 272, preventing the column 24 and the roller 300 from falling back. Pressing the force plate 27331 can move the one-way seat 27333 into the release space 2734 to release the self-locking, and finally transport the roller 300 to the loading station of the slitting and warping machine to complete the automated loading operation.

[0036] The AGV robot 100, in conjunction with the self-locking portable loading mechanism 200, enables automated transfer and lifting of the roller 300. This eliminates the need for manual lifting of heavy-duty cloth rollers with diameters of 400-800mm and weights of 80kg-250kg, significantly reducing the labor intensity of operators. At the same time, the limiting arc surface 253 and limiting stop 254 on the fixed platform 25, the self-locking guide rail 27, and the one-way self-locking mechanism 273 provide multiple positioning and anti-drop and anti-fall protection for the roller 300 during the conveying process. This effectively avoids situations such as roller 300 shaking or falling during manual loading, preventing accidents such as crushing, twisting, and back injuries, and improving the safety of the loading process. Through the coordinated operation of the drive device 21, multiple sets of linkage arms 22, column 24 and arc-shaped self-locking guide rail 27, the roller 300 can rotate smoothly from 90° to 3000° for feeding and unloading, ensuring the connection between the roller 300 and the feeding station of the slitting and warping machine, improving the feeding positioning accuracy and operating efficiency, adapting to the feeding needs of heavy cloth rollers of different specifications, and solving the problems of laborious manual feeding, inaccurate positioning and great safety hazards.

[0037] Example 2

[0038] Based on Example 1, such as Figure 1 , Figure 7 , Figure 8 and Figure 9As shown, the self-locking guide rail 27 also includes a cover plate 274 covering its end, and a one-way self-locking mechanism 273 is provided on one side of the cover plate 274. The one-way self-locking mechanism 273 includes a lock seat 2731 fixed to the top of the self-locking guide rail 27, and a lever plate 2733 is rotatably connected inside the lock seat 2731. A spring 2732 is provided on one side of the lever plate 2733, and the end of the spring 2732 away from the lever plate 2733 is connected to the inner wall of the lock seat 2731.

[0039] The lever 2733 includes a force-bearing piece 27331 disposed on the upper side of the lock seat 2731, and a support shaft 27332 is inserted through the middle of the lever 2733. The support shaft 27332 is disposed inside the lock seat 2731. A one-way seat 27333 is fixed at the bottom of the lever 2733, and the one-way seat 27333 has an inclined structure. A release space 2734 is also provided on the inner wall of the lock seat 2731. When the force-bearing piece 27331 is pressed, the one-way seat 27333 moves into the release space 2734.

[0040] When the column 24 rotates, it will drive the guide column 272 to slide along the arc-shaped self-locking guide track 27. When the guide column 272 moves to the end position of the self-locking guide track 27, the guide column 272 presses the one-way seat 27333 of the inclined structure in the one-way self-locking mechanism 273, causing the lever 2733 to rotate around the support shaft 27332 and compress the spring 2732. After the guide column 272 passes, the spring 2732 resets and pushes the lever 2733 to rotate. The one-way seat 27333 extends to form a one-way blocking limit on the guide column 272, realizing the self-locking and anti-falling after the column 24 rotates to the position. When it is necessary to release the self-locking mechanism, press the force plate 27331 on the upper side of the lock seat 2731 to make the lever plate 2733 rotate around the support shaft 27332. The one-way seat 27333 then moves into the release space 2734 on the inner wall of the lock seat 2731, which releases the limit on the guide post 272. The cover plate 274 at the end of the self-locking guide rail 27 can protect the one-way self-locking mechanism 273 and the guide post 272 to prevent foreign objects from entering and affecting the operation.

[0041] By setting a cover plate 274 and a one-way self-locking mechanism 273 at the end of the arc-shaped self-locking guide rail 27, and utilizing the cooperation of the lock seat 2731, spring 2732, lever piece 2733 with support shaft 27332, inclined one-way seat 27333 and release space 2734, automatic one-way self-locking is achieved after the guide column 272 and column 24 are rotated into place. No additional electrical control or manual locking operation is required. It can prevent the column 24 and roller 300 from falling back unexpectedly under load, and the self-locking can be quickly released by pressing the force piece 27331. The structure is simple and compact, the operation is reliable and stable, and it has both self-locking safety and unlocking convenience. At the same time, the cover plate 274 can effectively block dust and debris, ensuring the long-term stable operation of the one-way self-locking mechanism 273, and improving the operational stability and safety of the entire feeding mechanism.

Claims

1. A robotic feeding mechanism for a slitting and warping machine, comprising a self-locking portable feeding mechanism (200), characterized in that: The bottom of the self-locking portable loading mechanism (200) is provided with an AGV robot (100), and the bottom of the self-locking portable loading mechanism (200) is provided with a base (20). At the same time, the base (20) is fixedly connected to the AGV robot (100). A driving device (21) is fixed on the base (20), and the output end of the driving device (21) is connected to a main shaft (211). A fulcrum seat (26) is also provided on the base (20), and a core shaft (261) is provided on the fulcrum seat (26). A column (24) is rotatably connected to the core shaft (261). At the same time, a fixed table (25) is provided on the column (24). A roller (300) is provided on the fixed table (25), and an air shaft (301) is inserted into the roller (300).

2. The robotic feeding mechanism for a slitting and warping machine according to claim 1, characterized in that: A plurality of linkage arms (22) are provided on the main shaft (211), and a transmission plate (23) is connected to the end of the linkage arm (22). Both sides of the transmission plate (23) are connected to the column (24). The driving device (21) drives the column (24), the fixed table (25) and the roller (300) to rotate through a plurality of linkage arms (22), and the rotation angle of the roller (300) is 0°-90°.

3. The robotic feeding mechanism for a slitting and warping machine according to claim 2, characterized in that: The linkage arm (22) includes an inner connecting rocker arm (223) connected to the main shaft (211). The end of the inner connecting rocker arm (223) is connected to a receiving rocker arm (222) through a pin shaft. At the same time, the end of the receiving rocker arm (222) is connected to a linkage seat (221) through a pin shaft. The linkage seat (221) is fixed on the transmission plate (23). The inner connecting rocker arm (223) and the receiving rocker arm (222) are of suitable sizes, and the receiving rocker arm (222) is in a "mouth" - shaped structure. At the same time, the inner connecting rocker arm (223) is folded and arranged inside the receiving rocker arm (222).

4. The robotic feeding mechanism for a slitting and warping machine according to claim 1, characterized in that: The fixed table (25) includes a U - shaped seat (251) fixed on the top of the column (24). A lock groove (252) is provided on the top of the fixed table (25). At the same time, the lock groove (252) is also in a "U" - shaped structure. One end of the lock groove (252) is provided with a limiting arc surface (253), and the other end is provided with a limiting retaining table (254).

5. The robotic feeding mechanism for a slitting and warping machine according to claim 4, characterized in that: The limiting retaining table (254) is in an "L" - shaped structure. The lock groove (252) is of a size suitable for the air shaft (301), and the air shaft (301) is installed in the lock groove (252). The height of the limiting retaining table (254) is greater than the height of the limiting arc surface (253).

6. The robotic feeding mechanism for a slitting and warping machine according to claim 1, characterized in that: The self-locking portable loading mechanism (200) further includes two self-locking guiding tracks (27) fixed on the base (20). Both ends of the self-locking guiding track (27) are provided with fixing seats (271). The fixing seats (271) are installed on the base (20), and the fixing seats (271) are in an "L" - shaped structure. A guiding column (272) is inserted into the self-locking guiding track (27), and the guiding column (272) is fixed on the outside of the column (24). The self-locking guiding track (27) is in an arc structure, and the center of the self-locking guiding track (27) coincides with the center of the core shaft (261).

7. The robotic feeding mechanism for a slitting and warping machine according to claim 6, characterized in that: The self-locking guide rail (27) also includes a cover plate (274) covering its end, and a one-way self-locking mechanism (273) is provided on one side of the cover plate (274). The one-way self-locking mechanism (273) includes a lock seat (2731) fixed to the top of the self-locking guide rail (27), and a lever plate (2733) is rotatably connected inside the lock seat (2731). A spring (2732) is provided on one side of the lever plate (2733), and the end of the spring (2732) away from the lever plate (2733) is connected to the inner wall of the lock seat (2731).

8. The robotic feeding mechanism for a slitting and warping machine according to claim 7, characterized in that: The lever plate (2733) includes a force-bearing plate (27331) disposed on the upper side of the lock seat (2731), and a support shaft (27332) is inserted through the middle of the lever plate (2733). The support shaft (27332) is disposed inside the lock seat (2731). A one-way seat (27333) is fixed at the bottom of the lever plate (2733), and the one-way seat (27333) has an inclined structure. A release space (2734) is also provided on the inner wall of the lock seat (2731). When the force-bearing plate (27331) is pressed, the one-way seat (27333) moves into the release space (2734).

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