A double-arm wire unwinding mechanism of a wire drawing machine and a control method thereof

Abstract

The application belongs to the technical field of glass fiber yarn production equipment, and particularly relates to a double-arm unwinding bobbin mechanism of a drawing machine and a control method thereof. The double-arm unwinding bobbin mechanism comprises a bobbin stack, a fixed unwinding arm, a transverse telescopic unwinding mechanism and a supporting and transferring mechanism. The control method comprises a bobbin feeding and separating step, a bobbin taking and unwinding step and a supporting and transferring step. The application can prevent the vertical bobbin stack from affecting the subsequent supporting or sleeving operation due to the overturning or incorrect posture of the bobbin. In addition, the application can realize a one-to-many bobbin loading scheme through an AGV trolley or a front walking mechanism.

Description

Technical Field

[0001] This application belongs to the technical field of fiberglass yarn production equipment, specifically relating to a double-arm unwinding bobbin mechanism for a drawing machine and its control method. Background Technology

[0002] A winding spool, also known as a yarn winding bobbin or yarn coil, is an auxiliary winding component fitted onto the head of a fiber drawing machine to carry fiberglass yarn and wind it into a yarn ball or yarn cake. Winding spools are widely used in fiberglass yarn drawing production due to their light weight, high adaptability, and lack of pollution. For prior art, please refer to previously published Chinese patents: Patent Title: An Automatic Sleeve Mechanism for a Glass Fiber Drawing Machine; Publication Number: CN221988425U; Publication Date: 20241112.

[0003] The automatic sleeve mechanism disclosed in this patent uses a sleeve-picking mechanism to pick up empty yarn bobbins from the storage box, then a sleeve-supporting mechanism moves towards the sleeve-picking mechanism, using a sleeve-supporting arc plate to open the empty yarn bobbins, and then the sleeve-supporting mechanism drives the empty yarn bobbins to the front of the machine head; finally, a sleeve-feeding mechanism picks up the empty yarn bobbins and places them on the head of the drawing machine. Problems include: 1. The yarn bobbins are stored vertically in the storage box. When the first yarn bobbin is picked up and removed, the remaining yarn bobbins may tip over or change position, causing them to not be picked up the next time, or even if they are picked up, their position may be incorrect, affecting subsequent sleeve-supporting or sleeve-feeding operations; 2. The sleeve-picking mechanism, sleeve-supporting mechanism, and sleeve-feeding mechanism are all located on the drawing machine, which can only sleeve yarn bobbins for this specific drawing machine and cannot adapt to one-to-many sleeve-feeding processes; furthermore, it increases the size of the drawing machine and the space requirements, which is inconsistent with the development trend of intensive production.

[0004] Related patent: Patent name: A flipping manipulator that can automatically load the yarn winding bobbin; Publication number: CN223422125U; Publication date: 20251010; The flipping and feeding mechanism in this patent corresponds to the cylindrical support manipulator in this application. Summary of the Invention

[0005] In view of this, this application provides a double-arm unwinding bobbin mechanism for a wire drawing machine and its control method to solve all or part of the technical problems described in the background section of this application.

[0006] The solution provided in this application to resolve its technical problem is as follows: A double-arm unwinding bobbin mechanism for a wire drawing machine includes: At least one spool stack for vertically storing spools; Fixed opening arms; arranged side by side on the side of the winding drum stack; The transverse telescopic opening mechanism can move to the front of the winding drum stack and take out the winding drum from the winding drum stack, and then move to the front of the fixed opening arm to open the winding drum in conjunction with the fixed opening arm; The rounding upper cylinder and transfer mechanism includes a transfer robotic arm and a rounding upper cylinder manipulator; the transfer robotic arm can insert the rounding upper cylinder manipulator into the winding cylinder opened by the fixed opening arm and the transverse telescopic opening mechanism, and can drive the rounded winding cylinder away from the fixed opening arm and the transverse telescopic opening mechanism; the rounding upper cylinder manipulator can round the winding cylinder and push the winding cylinder to the drawing machine head.

[0007] Preferably, the winding drum stack includes a left frame plate, a right frame plate, a rear frame plate, and a front door plate; the winding drum storage is defined between the left frame plate, the right frame plate, the rear frame plate, and the front door plate, and a winding drum door is provided on the front door plate.

[0008] Preferably, the winding spool stack also includes a spool feeding mechanism; the spool feeding mechanism includes a spool feeding motor, a spool feeding screw, a spool feeding nut seat, and a spool pushing arm; both the left and right frame plates are provided with spool feeding grooves, and the spool pushing arm extends into the winding spool magazine through the spool feeding grooves; the spool feeding motor can drive the spool pushing arm to move back and forth to push the spool or return it to its original position.

[0009] Preferably, the winding drum stack also includes a backing gate mechanism and a separation gate mechanism; the backing gate mechanism includes a left backing gate and a right backing gate; the separation gate mechanism includes a left separation gate and a right separation gate; the left backing gate and the left separation gate are located on both sides of the winding drum door, with the left backing gate located in front of the left separation gate; the right backing gate and the right separation gate are located on both sides of the winding drum door, with the right backing gate located in front of the right separation gate; each of the left backing gate, right backing gate, left separation gate, and right separation gate includes a gate plate, a gate plate cylinder, a first push-pull rod, a second push-pull rod, and a gate plate push-pull rod hinge seat. The left and right frame plates of the winding drum stack are equipped with front and rear clamping plate seams; the gate plates of the left mountain gate and the left separation gate are respectively located in the front and rear clamping plate seams of the left frame plate; the gate plates of the right mountain gate and the right separation gate are respectively located in the front and rear clamping plate seams of the right frame plate; one end of the second push-pull rod is hinged to the gate plate, and the other end is hinged to the first push-pull rod; one end of the first push-pull rod is hinged to the second push-pull rod, and the other end is driven to connect to the gate plate cylinder; the gate plate cylinders of the left mountain gate and the left separation gate are located on the left frame plate, and the gate plate cylinders of the right mountain gate and the right separation gate are located on the right frame plate.

[0010] Preferably, the fixed opening arm includes a fixed suction cup base, a fixed suction cup frame, and several fixed suction cups.

[0011] Preferably, the transverse telescopic opening mechanism includes a transverse device and a telescopic opening arm; the transverse device includes a transverse guide rail pair, a transverse seat, and a two-stage transverse drive mechanism; the transverse seat is set on the guide rail slider of the transverse guide rail pair, and the two-stage transverse drive mechanism can drive the transverse seat to slide left and right along the transverse guide rail of the transverse guide rail pair. The telescopic boom includes a primary front and rear suction cup base, a primary suction cup base drive component, a secondary front and rear suction cup base, a secondary suction cup base drive component, several movable suction cups, and a front and rear guide rail pair. The front and rear guide rail pair is mounted on a transverse base, and the primary front and rear suction cup base is mounted on the guide rail slider of the front and rear guide rail pair. The primary suction cup base drive component can drive the primary front and rear suction cup base to slide back and forth along the front and rear guide rails of the front and rear guide rail pair. The secondary suction cup base drive component is mounted on the primary front and rear suction cup base, and the movable suction cups are mounted on the secondary front and rear suction cup base. The secondary suction cup base drive component can drive the secondary front and rear suction cup base to extend and retract back and forth.

[0012] Preferably, the two-stage lateral movement drive mechanism includes a first-stage lateral movement drive cylinder, a relay component, a second-stage lateral movement drive cylinder, and a connecting component; the relay component is driven to the first-stage lateral movement drive cylinder, and the second-stage lateral movement drive cylinder is fixedly connected to the relay component; one side of the connecting component is fixedly connected to the lateral movement seat, and the other side of the connecting component is driven to the second-stage lateral movement drive cylinder.

[0013] Preferably, the transfer robotic arm includes a mounting base, a rotating base, a first rotating arm, a second rotating arm, a third rotating arm, a fourth rotating arm, and a rotary drive shaft; The cylindrical support robot includes a base plate, a telescopic support plate, several support plates, several telescopic connecting components, a telescopic guide plate, a telescopic drive plate, a pusher ring, and a pusher cylinder. The base plate is provided with receiving grooves and drive rod holes. The telescopic support plate is provided with several radial telescopic positions, and the inner sidewall of the radial telescopic positions is provided with radial locking edges. The telescopic connecting components include a connecting plate and a locking head. The locking head is provided with locking mating edges and a drive rod. The telescopic guide plate is provided with several telescopic limiting grooves. The telescopic drive plate is provided with several drive spiral grooves. The base plate is connected to the fourth rotating arm, and the rotary drive shaft is connected to the telescopic drive plate; the rotation of the telescopic drive plate can drive the support plate to extend and retract radially; the push cylinder can drive the push ring to perform telescopic movement.

[0014] Preferably, the double-arm opening and winding bobbin mechanism of the wire drawing machine also includes a machine frame; a stacking space is provided inside the machine frame, and the winding bobbin stack is set in the stacking space; the fixed opening arm is set in the middle part of the machine frame; the transverse telescopic opening mechanism is set in front of the winding bobbin stack and the fixed opening arm; the rounding upper bobbin and transfer mechanism is set on the machine frame, and the rounding upper bobbin robot is located above the fixed opening arm and the transverse telescopic opening mechanism.

[0015] Preferably, the double-arm winding bobbin mechanism of the wire drawing machine also includes an AGV trolley or a machine-front traveling mechanism. The machine tool frame is mounted on the AGV trolley or the machine-front traveling mechanism; the AGV trolley or the machine-front traveling mechanism carries the double-arm winding bobbin mechanism to travel in front of the wire drawing machine queue, realizing a one-to-many bobbin loading scheme.

[0016] The control method for the aforementioned double-arm unwinding bobbin mechanism of the wire drawing machine includes: In the tube feeding and separation step, the gates of the left and right mountain gates extend, and the gates of the left and right separation gates retract; the pusher arm pushes the coiling tube stack forward to feed the tube until the first coiling tube contacts the gates of the left and right mountain gates; the gates of the left and right separation gates extend to separate the first coiling tube from the coiling tube stack; The steps for taking and opening the winding cylinder are as follows: The horizontal moving seat moves horizontally to the front of the winding cylinder stack; the first-stage front and rear suction cup seats move towards the winding cylinder stack, the second-stage front and rear suction cup seats extend forward, and the movable suction cups pick up the winding cylinders; the gates of the left and right mountain gates retract; the first-stage and second-stage front and rear suction cup seats and the second-stage front and rear suction cup seats move the picked-up winding cylinders backward; the horizontal moving seat moves horizontally to the front of the fixed opening arm; the first-stage and second-stage front and rear suction cup seats and the second-stage front and rear suction cup seats move the winding cylinders forward, and the fixed suction cups pick up the winding cylinders; the first-stage and second-stage front and rear suction cup seats and the second-stage front and rear suction cup seats move the winding cylinders backward, and the winding cylinders are pulled open; The process involves rounding and transferring the winding bobbin. The transfer robotic arm drives the rounding upper cylinder robotic arm to insert the support plate into the winding bobbin, which has been pulled apart but is not yet round. The rotating drive shaft drives the support plate to unfold and round the winding bobbin. The transfer robotic arm then transfers the rounded winding bobbin to the front of the target wire drawing machine and makes the axis of the winding bobbin coincide with the axis of the machine head. The pusher ring pushes forward to place the winding bobbin on the machine head.

[0017] Beneficial technical effects: 1. The double-arm opening and winding drum mechanism and its control method for a wire drawing machine disclosed in this application can automatically complete the entire process of drum picking, opening the drum to near-circular shape, expanding it to a standard circle, and transferring it to the upper drum through the coordinated operation of the winding drum stack, fixed opening arm, horizontal telescopic opening mechanism, drum supporting mechanism, and transfer mechanism. Furthermore, since the winding drum stack is equipped with left and right support gates and left and right separation gates on both sides, it can also prevent the vertical winding drum stack from being affected by the winding drum tipping over or being misaligned, thus preventing subsequent drum supporting or sleeve operations from being affected.

[0018] 2. In embodiments with AGV trolleys or machine-front walking mechanisms, the double-arm winding bobbin mechanism of the wire drawing machine can also be made to walk in front of the wire drawing machine queue, realizing a one-to-many bobbin loading solution.

[0019] The technical solution and technical effects of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0020] Figure 1 : 3D structural diagram of the double-arm winding drum mechanism of a wire drawing machine; Figure 2 First-view structural diagram of the double-arm winding drum mechanism of a wire drawing machine after removing the outer casing; Figure 3 : Second-view structural diagram of the double-arm winding drum mechanism of a wire drawing machine after removing the outer casing; Figure 4 : First-person view structural diagram of the transverse telescopic opening mechanism; Figure 5 : Second-view structural schematic diagram of the transverse telescopic opening mechanism; Figure 6 : Schematic diagram of fixed opening arm structure; Figure 7 : Schematic diagram of the telescopic boom structure; Figure 8 Schematic diagram of the transfer robotic arm structure; Figure 9 Schematic diagram of the manipulator structure supporting the upper cylinder; Figure 10 : Exploded view of the components of the robotic arm supporting the upper cylinder; Figure 11 : Simplified top view of a stack of wire-wound cylinders; Figure 12 Schematic diagram of the wire-winding drum stack structure; Figure 13 : Exploded view of the wire winding drum stack component; Figure 14 Schematic diagram of the left and right frame structure; Figure 15 : Schematic diagram of the opening and closing state of the wire winding drum stack gate; Icon description: 1-Wound drum stack; 11-Left frame plate, 12-Right frame plate, 13-Rear frame plate, 14-Front door plate, 15-Wound drum storage, 16-Wound drum door, 17-Drum feeding mechanism, 18-Mountain gate mechanism, 19-Separation gate mechanism; 111-Feeding cylinder chute, 112-Front clamping plate seam, 113-Rear clamping plate seam; 171-Shoulder feed motor, 172-Shoulder feed screw, 173-Shoulder feed nut seat, 174-Shoulder pusher arm; 181 - Left side of the mountain gate; 182 - Right side of the mountain gate. 191 - Left separation gate, 192 - Right separation gate; 184-Gate, 185-Gate cylinder, 186-First push-pull rod, 187-Second push-pull rod, 188-Gate push-pull rod hinge seat; 2-Fixed opening arm; 21-Fixed suction cup base; 22-Fixed suction cup bracket; 23-Fixed suction cup; 3- Lateral telescopic opening mechanism; 31- Lateral movement device; 32- Telescopic opening arm; 311-Transverse guide rail pair, 312-Transverse base, 313-Two-stage transverse drive mechanism; 314-First-stage transverse drive cylinder, 315-Relay component, 316-Second-stage transverse drive cylinder, 317-Connecting component; 321-First-stage front and rear suction cup mounts; 322-First-stage suction cup mount drive unit; 323-Second-stage front and rear suction cup mounts; 324-Second-stage suction cup mount drive unit; 325-Modible suction cup; 326-Front and rear guide rail pair. 4- Supporting upper cylinder and transfer mechanism; 41- Transfer robotic arm; 42- Supporting upper cylinder robotic hand; 411-Mounting base, 412-Rotating base, 413-First rotating arm, 414-Second rotating arm, 415-Third rotating arm, 416-Fourth rotating arm, 417-Rotation drive shaft; 421-Base plate, 422-Telescopic support plate, 423-Supporting cylinder plate, 424-Telescopic connecting component, 425-Telescopic guide plate, 426-Telescopic drive plate, 429-Push cylinder ring, 430-Push cylinder cylinder; 401-Accommodation groove, 402-Drive rod hole, 403-Radial telescopic position, 404-Radial locking edge, 405-Connecting part, 406-Locking head, 407-Locking mating edge, 408-Drive rod, 409-Telescopic limiting groove, 410-Drive spiral groove; 5-Machine tool frame; 51-Stack space. Detailed Implementation

[0021] Direction Explanation: The direction forward is defined as the area in front of the wire drawing machine's double-arm winding bobbin mechanism in its normal position; the opposite direction is backward. The left side of the paper is defined as the direction left; the opposite direction is right.

[0022] Please see Figures 1 to 15 The double-arm unwinding bobbin mechanism of the wire drawing machine disclosed in this application includes: At least one spool stack 1 for vertically storing spools; Fixed opening arm 2; arranged side by side on the side of winding drum stack 1; The transverse telescopic opening mechanism 3 can move to the front of the winding drum stack 1 and take out the winding drum from the winding drum stack 1, and then move to the front of the fixed opening arm 2 to open the winding drum in cooperation with the fixed opening arm 2. The rounding upper cylinder and transfer mechanism 4 includes a transfer robotic arm 41 and a rounding upper cylinder manipulator 42; the transfer robotic arm 41 can insert the rounding upper cylinder manipulator 42 into the winding cylinder opened by the fixed opening arm 2 and the transverse telescopic opening mechanism 3, and can drive the rounded winding cylinder away from the fixed opening arm 2 and the transverse telescopic opening mechanism 3; the rounding upper cylinder manipulator 42 can round the winding cylinder and push the winding cylinder to the drawing machine head; Machine tool frame 5 is used to support or accommodate other parts, components, mechanisms or devices.

[0023] in: The number of wire winding spool stacks 1 can be one or more, and in this embodiment there are two; the machine tool frame 5 is provided with two stack spaces 51; each stack space 51 is provided with one wire winding spool magazine 15. Please refer to Figure 2 and Figure 3 The winding spool stack 1 includes a left shelf 11, a right shelf 12, a rear shelf 13, and a front door panel 14; a winding spool storage 15 is defined between the left shelf 11, right shelf 12, rear shelf 13, and front door panel 14, and a winding spool door 16 is provided on the front door panel 14. The winding spool storage 15 is used for vertical storage of folded winding spools; the winding spool door 16 is used for retrieving and exiting the spools.

[0024] Please see Figure 2 , 3 12, 13, The winding spool stack 1 also includes a spool feeding mechanism 17; the spool feeding mechanism 17 includes a spool feeding motor 171, a spool feeding screw 172, a spool feeding nut seat 173, and a spool pushing arm 174; both the left frame plate 11 and the right frame plate 12 are provided with spool feeding grooves 111, and the spool pushing arm 174 extends into the winding spool magazine 15 through the spool feeding grooves 111; the spool feeding motor 171 is mounted on the left and right frame plates and can drive the spool pushing arm 174 to move back and forth through threaded transmission to push the spool or return it to its original position. The spool feeding mechanism 17 is used to press and push the winding spool from the rear of the folded winding spool vertical stack.

[0025] Please see Figure 3 , 11 Up to 15, the winding drum stack 1 also includes a backing gate mechanism 18 and a separation gate mechanism 19; the backing gate mechanism 18 includes a left backing gate 181 and a right backing gate 182; the separation gate mechanism 19 includes a left separation gate 191 and a right separation gate 192; the left backing gate 181 and the left separation gate 191 are located on both sides of the winding drum door 16 and the left backing gate 181 is located in front of the left separation gate 191; the right backing gate 182 and the right separation gate 192 are located on both sides of the winding drum door 16 and the right backing gate 182 is located in front of the right separation gate 192.

[0026] The left mountain gate 181, right mountain gate 182, left separation gate 191, and right separation gate 192 all include a gate plate 184, a gate plate cylinder 185, a first push-pull rod 186, and a second push-pull rod 187; the left frame plate 11 and right frame plate 12 of the winding drum stack 1 are both provided with a front clamping plate seam 112 and a rear clamping plate seam 113; the gate plate 184 of the left mountain gate 181 and left separation gate 191 is respectively located in the front clamping plate seam 112 and the rear clamping plate seam 113 of the left frame plate 11; the gate plate 184 of the right mountain gate 182 and right separation gate 192 is respectively located in the front clamping plate seam 112 and the rear clamping plate seam 113 of the right frame plate 12.

[0027] The driving connection of the gate 184 is as follows: one end of the second push-pull rod 187 is hinged to the gate 185, and the other end is hinged to the first push-pull rod 186; one end of the first push-pull rod 186 is hinged to the second push-pull rod 187, and the other end is driven to the gate cylinder 185; the gate cylinders 185 of the left mountain gate 181 and the left separation gate 191 are set on the left frame plate 11, and the gate cylinders 185 of the right mountain gate 182 and the right separation gate 192 are set on the right frame plate 12; wherein the second push-pull rod 187 can be hinged to the gate 185 through the gate push-pull rod hinge seat 188. When the piston rod of the gate cylinder 185 extends or retracts, it can pull out or push the gate 184 into the winding drum magazine 15. Figure 15 As shown, the left gate 184 is in the extended state, and the right gate 184 is in the retracted state.

[0028] Please see Figure 2 and Figure 6 The fixed suction cup arm 2 includes a fixed suction cup base 21, a fixed suction cup frame 22, and several fixed suction cups 23. The fixed suction cup base 21 is mounted on the machine tool frame 5, the fixed suction cup frame 22 is mounted on the fixed suction cup base 21, and the fixed suction cups 23 are mounted on the fixed suction cup frame 22. Installation position: The fixed suction cup base 21 is located between the right frame plate of the left winding bobbin magazine 15 and the left frame plate of the right winding bobbin magazine 15; this facilitates the horizontal telescopic opening mechanism 3 to move over and cooperate with the opening mechanism after taking out the winding bobbin from the left or right winding bobbin magazine 15.

[0029] Please see Figure 2 , 4 5. The transverse telescopic opening mechanism 3 includes a transverse device 31 and a telescopic opening arm 32; the transverse device 31 includes a transverse guide rail pair 311, a transverse seat 312, and a two-stage transverse drive mechanism 313; the transverse seat 312 is set on the guide rail slider of the transverse guide rail pair 311, and the two-stage transverse drive mechanism 313 can drive the transverse seat 312 to slide left and right along the transverse guide rail of the transverse guide rail pair 311.

[0030] The two-stage lateral movement drive mechanism 313 includes a first-stage lateral movement drive cylinder 314, a relay component 315, a second-stage lateral movement drive cylinder 316, and a connecting component 317. The relay component 315 is driven by the first-stage lateral movement drive cylinder 314, and the second-stage lateral movement drive cylinder 316 is fixedly connected to the relay component 315. One side of the connecting component 317 is fixedly connected to the lateral movement seat 312, and the other side of the connecting component 315 is driven by the second-stage lateral movement drive cylinder 316.

[0031] After the first-stage transverse drive cylinder 314 is activated, it can drive the transverse seat 312 to move back and forth between the fixed opening arm 2 and one of the winding bobbin magazines 15. After the second-stage transverse drive cylinder 316 is activated, it can drive the transverse seat 312 to move back and forth between the fixed opening arm 2 and the other winding bobbin magazine 15. The simultaneous operation of the first-stage transverse drive cylinder 314 and the second-stage transverse drive cylinder 316 can significantly increase the moving speed of the transverse seat 312. Therefore, the use of a two-stage transverse drive mechanism 313 helps to reduce the power and speed requirements of the drive components and has higher drive efficiency.

[0032] Please see Figure 4 , 7 The telescopic opening arm 32 includes a primary front and rear suction cup seat 321, a primary suction cup seat drive component 322, a secondary front and rear suction cup seat 323, a secondary suction cup seat drive component 324, several movable suction cups 325, and a front and rear guide rail pair 326; wherein the primary suction cup seat drive component 322 can be a rodless cylinder or an electric cylinder, and the secondary front and rear suction cup seat 323 can be a rod-type cylinder or an electric cylinder.

[0033] The front and rear guide rail pairs 326 are mounted on the transverse sliding seat 312. The first-stage front and rear suction cup seats 321 are mounted on the guide rail sliders of the front and rear guide rail pairs 326. The first-stage suction cup seat drive component 322 can drive the first-stage front and rear suction cup seats 321 to slide back and forth along the front and rear guide rails of the front and rear guide rail pairs 326. The second-stage suction cup seat drive component 324 is mounted on the first-stage front and rear suction cup seats 321. The movable suction cup 325 is mounted on the second-stage front and rear suction cup seats 323. The second-stage suction cup seat drive component 324 can drive the second-stage front and rear suction cup seats 323 to extend and retract back and forth. The two-stage extension and retraction of the movable suction cup 325 is used to complete the suction and pulling action.

[0034] Please see Figures 1 to 3 , Figures 8 to 10 The supporting cylinder and transfer mechanism 4 includes a transfer robotic arm 41 and a supporting cylinder robotic hand 42.

[0035] The transfer robotic arm 41 includes a mounting base 411, a rotating base 412, a first rotating arm 413, a second rotating arm 414, a third rotating arm 415, a fourth rotating arm 416, and a rotary drive shaft 417. The mounting base 411, rotating base 412, first rotating arm 413, second rotating arm 414, third rotating arm 415, and fourth rotating arm 416 form a five-axis robotic arm or robot. The rotary drive shaft 417 is mounted on the fourth rotating arm 416. The composition, connection, and drive of multi-axis robotic arms or robots are existing technologies in the field and will not be described in detail here.

[0036] The cylindrical support robot 42 includes a base plate 421, a telescopic support plate 422, several support plates 423, several telescopic connecting parts 424, a telescopic guide plate 425, a telescopic drive plate 426, a pusher ring 429, and a pusher cylinder 430.

[0037] The base plate 421 is provided with a receiving groove 401 and a drive rod hole 402; the telescopic support plate 422 is provided with a plurality of radial telescopic positions 403, and the inner sidewall of the radial telescopic positions 403 is provided with a radial locking edge 404; the telescopic connecting component 424 includes a connecting plate portion 405 and a locking head 406; the locking head 406 is provided with a locking mating edge 407 and a drive rod 408; the telescopic guide plate 425 is provided with a plurality of telescopic limiting grooves 409; the telescopic drive plate 426 is provided with a plurality of drive spiral grooves 410.

[0038] Telescopic drive disk 426 and telescopic guide disk 425 are sequentially arranged in the receiving groove 401 of the base disk 421, and telescopic support disk 422 is arranged in the opening of the receiving groove 401; telescopic guide disk 425 and telescopic support disk 422 are fixedly connected to the base disk 421, and telescopic drive disk 426 can rotate in the receiving groove 401.

[0039] The connecting part 405 of the telescopic connecting component 424 is fixedly connected to the bottom of the support cylinder plate 423. The locking head 405 of the telescopic connecting component 424 is set in the radial telescopic position 403 on the telescopic support plate 422. The locking head 406 and the radial telescopic position 403 are connected by the cooperation of the radial locking edge 404 and the locking mating edge 407 to establish an anti-dislodge locking connection. The driving rod 408 of the telescopic connecting component 424 is simultaneously set in the telescopic limiting groove 409 on the telescopic guide plate 425 and the driving spiral groove 410 on the telescopic driving plate 426.

[0040] The base plate 421 is fixedly connected to the fourth rotating arm 416; the rotary drive shaft 417 is located inside the chassis connecting seat 428 and passes through the drive rod hole 402 on the base plate 421, and is fixedly connected to the telescopic drive plate 426; the rotary drive shaft 427 can be the power shaft of a swing cylinder or an electric cylinder (the swing cylinder or electric cylinder is located inside the fourth rotating arm 416); when the rotary drive shaft 417 rotates, it can drive the telescopic drive plate 426 to rotate, thereby driving the support cylinder plate 423 to extend and retract radially. When extended, multiple support cylinder plates 423 combine to form a large-diameter cylinder to support the cylinder; when retracted, multiple support cylinder plates 423 combine to form a small-diameter cylinder to return to their original position.

[0041] The push cylinder 430 is mounted on the base plate 421, and the piston rod of the push cylinder 430 is fixedly connected to the push cylinder ring 429. The support plate 423 is located inside the ring of the push cylinder ring 429. The push cylinder 430 can drive the push cylinder ring 429 to perform telescopic movements, thereby pushing the rounded winding bobbin down the support plate 423 and placing it on the head of the wire drawing machine.

[0042] Please see Figure 1 , 2 3. The machine frame 5 consists of a base plate, a top plate, and several side plates. Two stacking spaces 51 are symmetrically arranged within the machine frame 5, each containing a coiling spool stack 1. A fixed opening arm 2 is positioned in the middle of the machine frame 5, between the two coiling spool stacks 1. A transverse telescopic opening mechanism 3 is positioned in front of the coiling spool stacks 1 and the fixed opening arm 2. A coil-supporting and transfer mechanism 4 is mounted on the machine frame 5, with the coil-supporting robot arm 42 positioned above the fixed opening arm 2 and the transverse telescopic opening mechanism 3. The transfer robot arm 41 transfers the coiling spool through five-axis motion.

[0043] The control method for the double-arm unwinding bobbin mechanism of the wire drawing machine in this application includes the following steps: In the tube separation step, the gate plates 185 of the left mountain gate 181 and the right mountain gate 182 extend, and the gate plates 185 of the left separation gate 191 and the right separation gate 192 retract; the pusher arm 174 pushes the winding tube stack forward to deliver the tube until the first winding tube contacts the gate plates 185 of the left mountain gate 181 and the right mountain gate 182; the gate plates 185 of the left separation gate 191 and the right separation gate 192 extend, separating the first winding tube from the winding tube stack; In the steps of taking and opening the winding cylinder, the horizontal moving seat 312 moves horizontally to the front of the winding cylinder stack 1; the first-stage front and rear suction cup seat 321 moves towards the winding cylinder stack 1, the second-stage front and rear suction cup seat 323 extends forward, and the movable suction cup 325 picks up the winding cylinder; the gate plates 185 of the left mountain gate 181 and the right mountain gate 182 retract; the first-stage front and rear suction cup seat 321 and the second-stage front and rear suction cup seat 323 drive the picked-up winding cylinder to move backward; the horizontal moving seat 312 moves horizontally to the front of the fixed opening arm 2, the first-stage front and rear suction cup seat 321 and the second-stage front and rear suction cup seat 323 drive the winding cylinder to move forward, and the fixed suction cup 23 picks up the winding cylinder; the first-stage front and rear suction cup seat 321 and the second-stage front and rear suction cup seat 323 drive the winding cylinder to move backward, and the winding cylinder is pulled open; In the rounding and transfer steps, the transfer robotic arm 41 drives the rounding upper cylinder robotic arm 42 to insert the support plate 423 into the winding cylinder that has been pulled open but is not yet round; the rotation drive shaft 427 drives the support plate 423 to perform an unfolding motion to round the winding cylinder; the transfer robotic arm 41 transfers the rounded winding cylinder to the front of the target wire drawing machine and makes the axis of the winding cylinder coincide with the axis of the machine head; the push cylinder ring 429 pushes forward to place the winding cylinder on the machine head.

[0044] Because the winding drum stack 1 is equipped with left and right support gates and left and right separation gates on both sides, it can prevent the vertical winding drum stack from being affected by the winding drum tipping over or being in an incorrect posture, thus preventing subsequent drum support or sleeve operation. Furthermore, the double-arm winding drum opening mechanism of the wire drawing machine disclosed in this application can also realize a one-to-many sleeve working mode through an AGV trolley or a machine front traveling mechanism.

[0045] The preferred embodiments of this application have been described in detail above. Those skilled in the art can also develop other embodiments based on this. Any simple modifications and equivalent substitutions that do not depart from the innovative concept of this application are within the scope of disclosure and protection of this application.

Claims

1. A double-arm unwinding bobbin mechanism for a wire drawing machine, comprising: At least one coil stack (1) for vertically storing coils; Fixed opening arms (2) are arranged side by side on the side of the winding drum stack (1); The transverse telescopic opening mechanism (3) can move to the front of the winding drum stack (1) and take out the winding drum from the winding drum stack (1), and then move to the front of the fixed opening arm (2) to pull the winding drum open in coordination with the fixed opening arm (2); The upper cylinder support and transfer mechanism (4) includes a transfer robotic arm (41) and an upper cylinder support manipulator (42); the transfer robotic arm (41) can insert the upper cylinder support manipulator (42) into the winding cylinder that is pulled apart by the fixed opening cylinder arm (2) and the transverse telescopic opening cylinder mechanism (3) and can drive the rounded winding cylinder away from the fixed opening cylinder arm (2) and the transverse telescopic opening cylinder mechanism (3); the upper cylinder support manipulator (42) can round the winding cylinder and push the winding cylinder to the drawing machine head.

2. The double-arm unwinding bobbin mechanism of the wire drawing machine according to claim 1, characterized in that: The winding drum stack (1) includes a left frame plate (11), a right frame plate (12), a rear frame plate (13), and a front door plate (14). The left frame plate (11), right frame plate (12), rear frame plate (13), and front door plate (14) define a winding drum storage (15), and the front door plate (14) is provided with a winding drum door (16).

3. The double-arm unwinding bobbin mechanism of the wire drawing machine according to claim 2, characterized in that: The winding drum stack (1) also includes a drum feeding mechanism (17); the drum feeding mechanism (17) includes a drum feeding motor (171), a drum feeding screw (172), a drum feeding nut seat (173), and a drum pusher arm (174). Both the left frame plate (11) and the right frame plate (12) are provided with a feeding groove (111). The pusher arm (174) passes through the feeding groove (111) and extends into the winding drum magazine (15). The feeding motor (171) can drive the pusher arm (174) to move back and forth to push the drum or return it to its original position.

4. The double-arm unwinding bobbin mechanism of the wire drawing machine according to claim 2, characterized in that: The winding drum stack (1) also includes a back gate mechanism (18) and a separation gate mechanism (19). The mountain gate mechanism (18) includes a left mountain gate (181) and a right mountain gate (182). The separation gate mechanism (19) includes a left separation gate (191) and a right separation gate (192); The left mountain gate (181) and the left separation gate (191) are located on both sides of the winding drum gate (16), and the left mountain gate (181) is located in front of the left separation gate (191); The right mountain gate (182) and the right separation gate (192) are located on both sides of the winding drum gate (16), and the right mountain gate (182) is located in front of the right separation gate (192); The left mountain gate (181), right mountain gate (182), left separation gate (191), and right separation gate (192) all include a gate plate (184), a gate plate cylinder (185), a first push-pull rod (186), and a second push-pull rod (187). The left frame plate (11) and right frame plate (12) of the winding cylinder stack (1) are provided with front clamping plate seam (112) and rear clamping plate seam (113). The gate plates (184) of the left mountain gate (181) and the left separation gate (191) are respectively installed in the front clamping plate seam (112) and the rear clamping plate seam (113) of the left frame plate (11); The gate plates (184) of the right mountain gate (182) and the right separation gate (192) are respectively installed in the front clamping plate seam (112) and the rear clamping plate seam (113) of the right frame plate (12); One end of the second push-pull rod (187) is hinged to the gate plate (185), and the other end is hinged to the first push-pull rod (186). One end of the first push-pull rod (186) is hinged to the second push-pull rod (187), and the other end is driven to the gate cylinder (185). The gate cylinders (185) of the left mountain gate (181) and the left separation gate (191) are installed on the left frame plate (11), and the gate cylinders (185) of the right mountain gate (182) and the right separation gate (192) are installed on the right frame plate (12).

5. The double-arm unwinding bobbin mechanism of the wire drawing machine according to claim 1, characterized in that: The fixed opening arm (2) includes a fixed suction cup seat (21), a fixed suction cup frame (22), and several fixed suction cups (23).

6. The double-arm unwinding bobbin mechanism of the wire drawing machine according to claim 1, characterized in that: The lateral telescopic opening mechanism (3) includes a lateral device (31) and a telescopic opening arm (32); The transverse movement device (31) includes a transverse movement guide pair (311), a transverse movement seat (312), and a two-stage transverse movement drive mechanism (313). The transverse sliding seat (312) is mounted on the guide rail slider of the transverse guide rail pair (311), and the two-stage transverse driving mechanism (313) can drive the transverse sliding seat (312) to slide left and right along the transverse guide rail of the transverse guide rail pair (311). The telescopic opening arm (32) includes a primary front and rear suction cup seat (321), a primary suction cup seat drive component (322), a secondary front and rear suction cup seat (323), a secondary suction cup seat drive component (324), several movable suction cups (325), and a front and rear guide rail pair (326). The front and rear guide rail pairs (326) are disposed on the transverse seat (312), and the first-stage front and rear suction cup seats (321) are disposed on the guide rail slider of the front and rear guide rail pairs (326). The first-stage suction cup seat driving component (322) can drive the first-stage front and rear suction cup seats (321) to slide back and forth along the front and rear guide rails of the front and rear guide rail pairs (326). The secondary suction cup seat driving component (324) is disposed on the primary front and rear suction cup seat (321), the movable suction cup (325) is disposed on the secondary front and rear suction cup seat (323), and the secondary suction cup seat driving component (324) can drive the secondary front and rear suction cup seat (323) to extend and retract.

7. The double-arm unwinding bobbin mechanism of the wire drawing machine according to claim 6, characterized in that: The two-stage lateral drive mechanism (313) includes a first-stage lateral drive cylinder (314), a relay component (315), a second-stage lateral drive cylinder (316), and a connecting component (317). The relay component (315) is connected to the first-stage transverse drive cylinder (314) and the second-stage transverse drive cylinder (316) is fixedly connected to the relay component (315). The connecting component (317) is fixedly connected to the transverse seat (312) on one side, and the connecting component (317) is driven to the secondary transverse drive cylinder (316) on the other side.

8. The double-arm unwinding bobbin mechanism of the wire drawing machine according to claim 1, characterized in that: The transfer robotic arm (41) includes a mounting base (411), a rotating base (412), a first rotating arm (413), a second rotating arm (414), a third rotating arm (415), a fourth rotating arm (416), and a rotary drive shaft (417). The cylindrical support manipulator (42) includes a base plate (421), a telescopic support plate (422), several support plates (423), several telescopic connecting parts (424), a telescopic guide plate (425), a telescopic drive plate (426), a pusher ring (429), and a pusher cylinder (430). The base plate (421) is provided with a receiving groove (401) and a drive rod hole (402). The telescopic support plate (422) is provided with a plurality of radial telescopic positions (403), and the inner sidewall of the radial telescopic positions (403) is provided with a radial snap-fit ​​edge (404). The telescopic connecting component (424) includes a connecting plate (405) and a locking head (406); the locking head (406) is provided with a locking mating edge (407) and a drive rod (408); The telescopic guide plate (425) is provided with a number of telescopic limiting grooves (409). The telescopic drive disk (426) is provided with a plurality of drive spiral grooves (410). The base plate (421) is connected to the fourth rotating arm (416), and the rotary drive shaft (417) is connected to the telescopic drive plate (426). The rotation of the telescopic drive disc (426) can drive the support plate (423) to extend and retract radially; The push cylinder (430) can drive the push ring (429) to perform telescopic movement.

9. The double-arm unwinding bobbin mechanism of the wire drawing machine according to claim 1, characterized in that: The double-arm winding drum mechanism of the wire drawing machine also includes a machine tool frame (5). The machine tool frame (5) is provided with a stack space (51), and the wire winding drum stack (1) is provided in the stack space (51); The fixed opening arm (2) is located in the middle part of the machine tool frame (5); The transverse telescopic opening mechanism (3) is located in front of the winding drum stack (1) and the fixed opening arm (2); The upper cylinder support and transfer mechanism (4) is mounted on the machine tool frame (5), and the upper cylinder support robot (42) is located above the fixed cylinder opening arm (2) and the horizontal telescopic cylinder opening mechanism (3).

10. Control methods for the double-arm unwinding bobbin mechanism of a wire drawing machine, including: In the tube separation step, the gate plates (185) of the left mountain gate (181) and the right mountain gate (182) extend, and the gate plates (185) of the left separation gate (191) and the right separation gate (192) retract; the pusher arm (174) pushes the winding tube stack forward to deliver the tube until the first winding tube contacts the gate plates (185) of the left mountain gate (181) and the right mountain gate (182); the gate plates (185) of the left separation gate (191) and the right separation gate (192) extend to separate the first winding tube from the winding tube stack; In the steps of taking and opening the coil, the horizontal moving seat (312) moves horizontally to the front of the coil stack (1); the first-stage front and rear suction cup seat (321) moves towards the coil stack (1), the second-stage front and rear suction cup seat (323) extends forward, and the movable suction cup (325) sucks up the coil; the gate plates (185) of the left mountain gate (181) and the right mountain gate (182) retract; the first-stage front and rear suction cup seat (321) and the second-stage front and rear suction cup seat (323) drive the coil that has been sucked up to move backward; the horizontal moving seat (312) moves horizontally to the front of the fixed opening arm (2); the first-stage front and rear suction cup seat (321) and the second-stage front and rear suction cup seat (323) drive the coil to move forward, and the fixed suction cup (23) sucks up the coil; the first-stage front and rear suction cup seat (321) and the second-stage front and rear suction cup seat (323) drive the coil to move backward, and the coil is pulled open; In the rounding and transfer steps, the transfer robot arm (41) drives the rounding upper cylinder robot (42) to insert the cylinder support plate (423) into the winding cylinder that has been pulled open but is not yet round; the rotation drive shaft (427) drives the cylinder support plate (423) to perform an unfolding motion to round the winding cylinder; the transfer robot arm (41) transfers the rounded winding cylinder to the front of the target wire drawing machine and makes the axis of the winding cylinder coincide with the axis of the machine head; Push the pusher ring (429) forward to place the winding spool on the machine head.

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