An automatic clamping sleeve winding bobbin robot and a control method thereof

Abstract

This application relates to the field of glass fiber drawing technology, and mainly to an automated spool loading and unloading robot and its control method. The robot includes a body, a transfer mechanism, a lifting mechanism, a bottom fixed suction cup device, an upper moving suction cup device, a support and retraction mechanism, a multi-joint robotic arm, and a locking gate mechanism. The control method includes spool transfer steps, spool suction steps, spool rounding steps, and spool loading steps. This application can automatically complete the entire process of spool picking, pulling, supporting, and loading, and avoids the problem of subsequent spool support or unloading caused by spools tipping over or having incorrect posture in vertical spool stacks. Furthermore, it can achieve a one-to-many spool loading solution through AGV carts or lateral movement mechanisms.

Description

Technical Field

[0001] This application relates to the field of glass fiber drawing technology, and mainly to an automatic clamping and winding robot and its control method. Background Technology

[0002] There are two main types of equipment for glass fiber drawing: direct yarn drawing machines and yarn-on-coil drawing machines. Due to the harsh working conditions at the glass fiber drawing site, which are difficult for operators to endure, it is difficult to retain workers in the glass fiber drawing process, leading to a labor shortage. Although drawing machines are now equipped with automated yarn feeding, automatic yarn ejection without cutting, automatic yarn cutting of yarn bundles, and robotic arms for automatically removing full yarn bundles, glass fiber drawing still requires the use of a winding bobbin to wind the fiber into a yarn bundle. This step still requires manual operation to attach the bobbin to the machine head. Although some patent documents mention automated bobbin-attaching equipment, the working conditions and the special nature of the bobbin make it difficult to truly implement and promote, and it is still almost entirely done manually. The problems lie in the details of moving the bobbin from the inlet to the outlet, releasing and opening the bobbin, transporting, clamping, and replenishing the bobbin, and smoothly placing the bobbin into the machine head. To date, there is no machine that can completely replace or surpass manual winding of the spool, but users are eager for a breakthrough. Therefore, the development of equipment that automatically picks up, opens, supports, and winds the spool has become an urgent task in this field.

[0003] Related patents: Patent title: A flipping robotic arm capable of automatically mounting the yarn winding bobbin; Publication number: CN223422125U; Publication date: 20251010; The flipping and feeding mechanism in this patent corresponds to the expansion and contraction mechanism in this application.

[0004] Patent Title: An Automatic Sleeve Mechanism for a Glass Fiber Drawing Machine; Publication Number: CN221988425U; Publication Date: 20241112; This patent relates to an automatic sleeve mechanism using a vertical winding bobbin stack. Summary of the Invention

[0005] In view of this, this application provides an automatic clamping winding spool robot and its control method to solve all or part of the technical problems described in the background section of this application.

[0006] This application employs the following technical means to solve the technical problems described in the background section: 1. By using a lateral movement mechanism or AGV, the wire winding robot can move in front of multiple wire drawing machines, locate the target wire drawing machine, wind the wire, and retrieve a replenished wire winding cylinder from the wire winding cylinder storage station.

[0007] 2. Large-capacity unidirectional stacking storage machine body: The machine body is square and divided into four compartments. Each storage compartment is equipped with a device for unidirectional entry and storage of the winding bobbins. The winding bobbins are stacked from top to bottom until they reach the bottom. A horizontal movement mechanism at the bottom pushes them to an adjacent retrieval compartment with a certain amount of stock. The retrieval compartment is equipped with a lifting mechanism, and a locking gate mechanism is located at the top of the retrieval compartment. A certain amount of winding bobbins are installed between the locking gate mechanism and the bottom plate of the lifting mechanism. The opening slot is located next to the taking slot. The opening slot has a fixed suction cup device at the bottom and a movable upper suction cup device at the top. After the upper suction cup device moves above the taking slot, it presses down on the winding drum. The locking gate mechanism above the taking slot opens, and then the lifting mechanism pushes up to retract the upper suction cup device to one or more winding drum positions. The locking gate mechanism extends and inserts into the winding drum to control the winding drum (multiple winding drums above the locking gate mechanism do not affect the upper suction cup taking the drum). After the upper suction cup picks up the first winding drum, the upper suction cup rises and moves to the suction cup slot, then presses down to match the lower fixed suction cup. After the other side of the winding drum is picked up by the lower fixed suction cup, the upper suction cup rises and pulls the winding drum apart.

[0008] 3. The robotic arm is equipped with a lifting, rotating, and telescopic mechanism (which can be a multi-joint robotic arm or an automatic sleeve robot), located between the storage compartment and the retrieval compartment. The end of the arm is equipped with a support and retraction mechanism that can open, retract, and push out the winding spool. Under the action of the upper and lower suction cups, the winding spool is pulled apart, allowing the support and retraction mechanism to insert into the winding spool and open it into a circle. The support and retraction mechanism uses the multi-joint robotic arm to connect to the front end of the machine head that needs to be wound with the winding spool and pushes the winding spool onto the machine head through the push ring.

[0009] The solution provided in this application to resolve its technical problem is as follows: An automated clamping and winding spool robot, characterized in that it comprises: The machine body is equipped with a cylinder picking compartment, a cylinder opening compartment, and a robotic arm compartment inside and / or on the machine body. The lifting mechanism is used to lift the coil stored in the coil take-up compartment; Bottom-fixed suction cup device, set inside and / or on the opening slot, is used to pull open the winding spool; The upper movable suction cup device is used to pick up the winding cylinder from the cylinder picking compartment and transfer the picked-up winding cylinder to the top of the bottom fixed suction cup device, and work with the bottom fixed suction cup device to pull the winding cylinder apart; The expansion mechanism is used to expand the winding bobbin, which is pulled apart by the upper moving suction cup device and the bottom fixed suction cup device, into a round shape and push the expanded winding bobbin to the head of the drawing machine. Lifting, rotating, and telescopic mechanisms are used for load-bearing and extending mechanisms.

[0010] Preferably, the device also includes a storage compartment and a transverse mechanism; the bottoms of the storage compartment and the take-up compartment are interconnected; the transverse mechanism is used to push the winding spool from the storage compartment to the take-up compartment.

[0011] Preferably, the transverse movement mechanism includes a transverse movement plate and a transverse movement plate driving component; the transverse movement plate is disposed in the storage compartment, and the transverse movement plate driving component is disposed on the machine body and drivenly connected to the transverse movement plate; the transverse movement plate driving component can push the winding bobbin stored in the storage compartment to the bobbin taking compartment.

[0012] Preferably, the traverse mechanism further includes a pallet and a pallet drive component; the pallet includes a left support arm and a right support arm; the traverse plate is located between the left support arm and the right support arm; the pallet drive component can drive the pallet to move up and down.

[0013] Preferably, the automatic clamping and winding bobbin robot also includes a storage bin, a pressing mechanism, and a separating gate mechanism; the storage bin is used to store the winding bobbin, the pressing mechanism is used to press the winding bobbin from the top, and the separating gate mechanism is used to separate the winding bobbin; the pressing mechanism includes a one-way pressing plate, a one-way pressing plate drive component, and a one-way locking plate; the separating gate mechanism includes a separating gate plate and a separating gate drive component; the storage bin is located on the upper part of the storage compartment, the one-way pressing plate drive component is located on the side of the storage bin, and the separating gate drive component is located on the side of the storage compartment.

[0014] Preferably, the lifting mechanism includes a lifting plate and a lifting drive component; the lifting plate is disposed inside the cylinder compartment, and the lifting drive component can drive the lifting plate to move up and down.

[0015] Preferably, the automatic clamping and winding bobbin robot also includes a positioning gate mechanism; the positioning gate mechanism includes a positioning gate plate and a positioning gate drive component; the positioning gate drive component can drive the positioning gate plate to extend into the bobbin retrieval compartment, and can also drive the positioning gate plate to retract from the bobbin retrieval compartment.

[0016] Preferably, the separating gate and the locking gate have similar structures and connections; both include a gate opening and several guide claws; several guide slots are provided on both sides of the upper part of the retrieval compartment and the storage compartment; the guide claws are located in the guide slots, and the gate opening is located in the retrieval compartment or the storage compartment; the locking gate drive component and the separating gate drive component are respectively located on the side of the retrieval compartment and the storage compartment and are driven to any one of the guide claws of the corresponding gate.

[0017] Preferably, the bottom-fixed suction cup device includes a bottom mounting plate, a bottom support column, a bottom suction cup base plate, several fixed suction cups, and corresponding fixed suction cup connecting components; the bottom support column is set on the bottom mounting plate, the bottom suction cup base plate is set on the bottom support column, the fixed suction cups are set on the corresponding fixed suction cup connecting components, and the fixed suction cup connecting components are hinged to the bottom suction cup base plate.

[0018] Preferably, the upper movable suction cup device includes a column, a crossbeam, an upper suction cup base plate, an upper suction cup lateral movement drive component, a lifting drive component, several movable suction cups, and corresponding movable suction cup connecting components; the upper suction cup lateral movement drive component can drive the column, crossbeam, upper suction cup base plate, lifting drive component, movable suction cups, and suction cup connecting components to move horizontally left and right; the lifting drive component can drive the upper suction cup base plate, several movable suction cups, and corresponding movable suction cup connecting components to move up and down.

[0019] Preferably, the telescopic mechanism includes a base plate, a telescopic support plate, several support cylinder plates, several telescopic connecting components, a telescopic guide plate, a telescopic drive plate, a push cylinder ring, and a push cylinder cylinder. The base plate is provided with a receiving groove and a drive rod hole. The telescopic support plate is provided with several radial telescopic positions, and the inner sidewall of the radial telescopic positions is provided with a radial locking edge. The telescopic connecting components include a connecting plate and a locking head. The locking head is provided with a locking mating edge 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 rotation of the telescopic drive plate can drive the support cylinder plates to telescopically extend and retract. The push cylinder cylinder can drive the push cylinder ring to perform telescopic movement. The lifting and rotating telescopic mechanism includes a telescopic plate drive shaft. The telescopic plate drive shaft is connected to the telescopic drive plate.

[0020] As a preferred option, the automatic clamping and winding bobbin robot is also equipped with an AGV trolley or a lateral movement mechanism; the robot body is set on the AGV trolley or the lateral movement mechanism, and can move in front of multiple wire drawing machines to find the target winding bobbin and retrieve a supplementary winding bobbin from the winding bobbin storage station.

[0021] The aforementioned control method for the automated clamping and winding spool robot includes: In the process of picking up and pulling apart the winding bobbin, the upper suction cup lateral movement drive component positions the upper suction cup seat plate and the movable suction cup above the bobbin picking grid; the lifting drive component drives the upper suction cup seat plate and the movable suction cup to descend and press down on the winding bobbin; the lifting mechanism drives the winding bobbin to rise and causes the movable suction cup to retract upward; the movable suction cup picks up the uppermost winding bobbin and moves the winding bobbin to above the bottom fixed suction cup device; the movable suction cup presses down, and the fixed suction cup picks up the winding bobbin; the movable suction cup rises, and the winding bobbin is pulled apart. The step of expanding the winding cylinder into a circle involves the lifting, rotating, and telescopic mechanism inserting the support plate into the winding cylinder and expanding it into a circle. In the step of transferring the winding bobbin to the upper bobbin, the lifting, rotating and telescopic mechanism transfers the winding bobbin to the head of the drawing machine; the pusher ring pushes the winding bobbin onto the machine head.

[0022] Beneficial technical effects: 1. The automatic clamping and winding spool robot and its control method provided in this application, through the cooperation of a lifting mechanism, a bottom fixed suction cup device, an upper moving suction cup device, a support and retraction mechanism, and a lifting, rotating, and telescopic mechanism, can automatically complete the entire process of spool picking, spool pulling, spool support, and transferring to the upper spool. Furthermore, due to the use of a horizontal spool stacking method, it avoids the problems of subsequent spool picking, pulling, supporting, or spool fitting operations caused by spools tipping over or being misaligned, as seen in vertical spool stacks.

[0023] 2. In embodiments with AGV trolleys or lateral movement mechanisms, the automatically clamping winding bobbin robot can also walk in front of the wire drawing machine queue to achieve a one-to-many bobbin loading solution.

[0024] 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

[0025] Figure 1 : Three-dimensional structural diagram of the first preferred embodiment; Figure 2 : Internal connection diagram of the first preferred embodiment; Figure 3 : Schematic diagram of the bottom-fixed suction cup device; Figure 4 Schematic diagram of a multi-joint robotic arm; Figure 5 : Three-dimensional structural diagram of the expansion and contraction mechanism; Figure 6 : Exploded view of the expansion and contraction mechanism components; Figure 7 : Three-dimensional structural diagram of the second preferred embodiment; Figure 8 The upper moving suction cup device is in the state of pressing down to pick up the winding drum; Figure 9 : The first-person perspective of the state where the support plate rises to support the winding drum when the winding drum has moved two-thirds of the way laterally; Figure 10 : When the winding drum has moved two-thirds of the way, the support plate rises to support the winding drum from the second perspective. Figure 11 First-person perspective of the winding drum being moved into position and removed from the winding drum; Figure 12 Second-person perspective of the winding spool being moved into position and removed from the winding spool; Figure 13 After removing the tube, move it horizontally to the tube opening position with the upper and lower suction cups in the tube opening state; Figure 14 After the opening of the spool, the robotic arm extends into the winding spool; Figure 15 The robotic arm aligns with the machine head and pushes the required winding bobbins into the machine head one by one; Figure 16 Schematic diagram of the lifting, rotating, and telescopic mechanism; Icon description: 1-The body; 11-Storage compartment, 12-Retrieval compartment, 13-Opening compartment, 14-Robotic arm compartment, 15-Storage bin, 16-Pressure cylinder mechanism; 17-Separation gate mechanism, 18-Base plate; 121 - Guide joint; 161-One-way pressure plate, 162-One-way pressure plate drive component, 163-One-way locking plate; 171 - Separation gate, 172 - Separation gate drive component; 2-Transverse movement mechanism; 21-Transverse movement plate; 22-Transverse movement plate drive component; 23-Plate; 24-Plate drive component; 231-Left support arm; 232-Right support arm; 3-Lifting mechanism; 31-Lifting plate; 32-Lifting drive component; 4- Bottom fixed suction cup device; 41- Mounting plate; 42- Bottom support column; 43- Bottom suction cup base plate; 44- Fixed suction cup; 45- Fixed suction cup connecting component; 5-Upper movable suction cup device; 51-Column, 52-Crossbeam, 53-Upper suction cup base plate, 54-Upper suction cup horizontal movement drive component, 55-Lifting drive component, 56-Moving suction cup, 57-Moving suction cup connecting component; 6-Supporting and contracting mechanism; 61-Base plate, 62-Telescopic support plate, 63-Supporting cylinder plate, 64-Telescopic connecting component, 65-Telescopic guide plate, 66-Telescopic drive plate, 67-Push cylinder ring, 68-Push cylinder cylinder; 611-Receiving groove, 612-Drive rod hole; 621 - Radial telescopic position, 622 - Radial locking edge; 641-Connecting plate part, 642-Clip head, 643-Clip mating edge, 644-Drive rod; 651-Telescopic limiting groove; 661 - Drive spiral groove; 7- Lifting, rotating, and telescopic mechanism; 71-Mounting base, 72-Rotating base, 73-First rotating arm, 74-Second rotating arm, 75-Third rotating arm, 76-Fourth rotating arm, 77-Telescopic drive shaft; 78-Turntable, 79-Rotating frame, 710-Lifting body, 711-Telescopic body; 8-Clamping gate mechanism; 81-Clamping gate plate; 82-Clamping gate drive component; 811-Gate opening; 812-Guide claw; 100 - Wire winding drum removal state; 200 - Wire drawing machine; 300 - Machine head. Detailed Implementation

[0026] Please see Figures 1 to 6 The first preferred embodiment of this application discloses an automatic clamping and winding bobbin robot, which includes a body 1, a transverse movement mechanism 2, a lifting mechanism 3, a bottom fixed suction cup device 4, an upper moving suction cup device 5, a stretching and contracting mechanism 6, a multi-joint robotic arm 7, and a locking gate mechanism 8.

[0027] The machine body 1 is provided with a storage compartment 11, a cylinder retrieval compartment 12, a cylinder opening compartment 13, a robotic arm compartment 14, a storage bin 15, a cylinder pressing mechanism 16, and a separation gate mechanism 17.

[0028] The bottoms of storage cell 11 and take-up cell 12 are interconnected, forming a pushing and transferring channel for the winding cylinder from storage cell 11 to take-up cell 12.

[0029] The pressure cylinder mechanism 16 includes a one-way pressure plate 161, a one-way pressure plate drive component 162, and a one-way locking plate 163. A storage compartment 15 is located above the storage compartment 11, and the one-way pressure plate drive component 162 is located on the side of the storage compartment 15. The one-way pressure plate drive component 162 can be a rodless cylinder, and the one-way pressure plate 161 is mounted on the slider of the one-way pressure plate drive component 162. The one-way pressure plate drive component 162 can drive the one-way pressure plate 161 to move up and down, pressing down or releasing the winding cylinder.

[0030] The release mechanism 17 includes a release gate 171 and a release gate drive component 172. The release gate drive component 172 is located on the side of the storage compartment 11 and can drive the release gate 171 to extend into the storage compartment 11 and also drive the release gate 171 to retract from the storage compartment 11. The release gate drive component 172 can be a standard piston rod telescopic cylinder.

[0031] The transverse movement mechanism 2 includes a transverse movement plate 21, a transverse movement plate drive component 22, a pallet 23, and a pallet drive component 24. The pallet 23 includes a left support arm 231 and a right support arm 232. The transverse movement plate 21 is disposed in the storage compartment 11, and the transverse movement plate drive component 22 is disposed on the machine body 1 and is connected to the transverse movement plate 21. The transverse movement plate 21 is located between the left support arm 231 and the right support arm 232. The transverse movement plate drive component 22 and the pallet drive component 24 can be rodless cylinders. The pallet drive component 24 can drive the pallet 23 to move up and down. The transverse movement plate drive component 22 can push the winding bobbin stored on the pallet 23 into the bobbin taking compartment 12.

[0032] Explanation of the wire-winding transfer process: The separating gate 171 extends and inserts into the space between the winding drum layers; The transverse plate drive component 22 drives the transverse plate 21 to move toward the cylinder taking grid 12, pushing the wire winding cylinder located below the separation gate 171 on the support plate 23 toward the cylinder taking grid 12; after the wire winding cylinder enters the cylinder taking grid 12, the transverse plate 21 stops at the side of the cylinder taking grid 12. After the pushed wire-winding cylinder leaves the support plate 23 (in this embodiment, the transverse plate 21 has completed 2 / 3 of its push), the support plate 23 moves upward to avoid the return path of the transverse plate 21 until it lifts the wire-winding cylinder above the separation gate 171. After the winding drum in the drum compartment 12 is used up, the transverse plate 21 returns to its initial position, the separation gate 171 retracts, and the support plate 23 descends to its initial position. The above winding drum transfer steps are repeated to start the next winding drum push.

[0033] In a modified embodiment, the body 1 further includes a base plate 18; the base plate 18 is disposed on the base plate of the body 1 and is used to support or accommodate other components to increase operational stability.

[0034] The lifting mechanism 3 includes a lifting plate 31 and a lifting drive component 32. The lifting plate 31 is disposed within the cylinder retrieval compartment 12, and the lifting drive component 32 can drive the lifting plate 31 to move up and down. The lifting drive component 32 can be a rodless cylinder. Preferably, the lifting drive components 32 are symmetrically disposed on both sides of the cylinder retrieval compartment 12 to apply a symmetrical and stable lifting driving force to the lifting plate 31.

[0035] The locking gate mechanism 8 includes a locking gate plate 81 and a locking gate drive component 82. The locking gate drive component 82 can drive the locking gate plate 81 to extend into the retrieval compartment 12, and can also drive the locking gate plate 81 to retract from the retrieval compartment 12. The locking gate drive component 82 can be a standard piston rod telescopic cylinder. When the cylinder piston rod extends or retracts, it drives the locking gate plate 81 to extend or retract synchronously, so as to extend into or withdraw from the winding cylinder layers.

[0036] The separating gate 171 and the locking gate 81 have similar structures and connections; both include a gate opening 811 and several guide claws 812; several guide slots 121 are provided on both sides of the top of the retrieval compartment 12 and the storage compartment 11; the guide claws 812 are located in the guide slots 121, and the gate opening 811 is located in the retrieval compartment 12 or the storage compartment 11; the locking gate drive component 82 and the separating gate drive component 172 are respectively provided on the side of the retrieval compartment 12 and the storage compartment 11 and are driven to any one or more guide claws 812 of the corresponding gate.

[0037] Please see Figure 3The bottom fixed suction cup device 4 includes a bottom mounting plate 41, a bottom support column 42, a bottom suction cup seat plate 43, a plurality of fixed suction cups 44, and corresponding fixed suction cup connecting parts 45; the bottom mounting plate 41 is set inside or on the opening cylinder 13; the bottom support column 42 is set on the bottom mounting plate 41, the bottom suction cup seat plate 43 is set on the bottom support column 42, the fixed suction cups 44 are set on the corresponding fixed suction cup connecting parts 45, and the fixed suction cup connecting parts 45 are hinged to the bottom suction cup seat plate 43.

[0038] The upper movable suction cup device 5 includes a column 51, a crossbeam 52, an upper suction cup base plate 53, an upper suction cup lateral movement drive component 54, a lifting drive component 55, several movable suction cups 56, and corresponding movable suction cup connecting components 57; the upper suction cup lateral movement drive component 54 can drive the column 51, crossbeam 52, upper suction cup base plate 53, lifting drive component 55, movable suction cups 56, and suction cup connecting components 57 to move horizontally left and right; the lifting drive component 55 can drive the upper suction cup base plate 53, several movable suction cups 56, and corresponding movable suction cup connecting components 57 to move up and down.

[0039] The upper suction cup lateral movement drive component 54 can be a rodless cylinder, and the lifting drive component 55 can be a standard piston rod telescopic cylinder. The upper suction cup lateral movement drive component 54 is mounted on the body 1, and the column 1 is connected to the slider of the rodless cylinder; the lifting drive component 55 is mounted on the crossbeam 52; the upper suction cup seat plate 53 is connected to the piston rod of the lifting drive component 55. The connection relationship between the movable suction cup 56, the movable suction cup connecting component 57 and the upper suction cup seat plate 53 is the same as that of the bottom fixed suction cup device 4, and will not be described in detail here.

[0040] Please see Figure 4 , Figure 5 , Figure 6 The expansion and contraction mechanism 6 includes a base plate 61, a telescopic support plate 62, several support cylinder plates 63, several telescopic connecting parts 64, a telescopic guide plate 65, a telescopic drive plate 66, a push cylinder ring 67, and a push cylinder cylinder 68.

[0041] The base plate 61 is provided with a receiving groove 611 and a drive rod hole 612; the telescopic support plate 62 is provided with a plurality of radial telescopic positions 621, and the inner sidewall of the radial telescopic positions 621 is provided with a radial locking edge 622; the telescopic connecting component 64 includes a connecting plate part 641 and a locking head 642; the locking head 642 is provided with a locking mating edge 643 and a drive rod 644; the telescopic guide plate 65 is provided with a plurality of telescopic limiting grooves 651; the telescopic drive plate 66 is provided with a plurality of drive spiral grooves 661; the rotation of the telescopic drive plate 66 can drive the support cylinder plate 63 to extend and retract radially; the push cylinder cylinder 68 can drive the push cylinder ring 67 to perform telescopic movement. Please refer to the prior patent: A flip-type manipulator that can automatically set the winding bobbin of the machine head; Publication No.: CN223422125U.

[0042] The lifting, rotating, and telescopic mechanism 7 can be a multi-joint robotic arm or an automatic sleeve robot. The multi-joint robotic arm will be described first below.

[0043] The multi-joint robotic arm includes a mounting base 71, a rotating base 72, a first rotating arm 73, a second rotating arm 74, a third rotating arm 75, a fourth rotating arm 76, and a telescopic disc drive shaft 77. The mounting base 71, rotating base 72, first rotating arm 73, second rotating arm 74, third rotating arm 75, and fourth rotating arm 76 are combined to form a five-joint robotic arm. The telescopic disc drive shaft 77 can be a motor shaft or a rotary cylinder shaft. The base plate 61 is connected to the fourth rotating arm 76, and the telescopic disc drive shaft 77 is connected to the telescopic drive disc 66. When the telescopic disc drive shaft 77 rotates, it can drive the telescopic drive disc 66 to rotate synchronously, thereby causing several support plates 63 to open or retract.

[0044] The control method for the above-mentioned automatic clamping and winding spool robot is as follows: For the wire spool transfer steps, please refer to [link / reference]. Figure 9 and Figure 10 The separating gate 171 extends and inserts into the winding bobbin layer in the storage compartment 11; the transverse plate driving component 22 drives the transverse plate 21 to move towards the retrieval compartment 12, pushing the winding bobbin located below the separating gate 171 on the support plate 23 towards the retrieval compartment 12; after the winding bobbin enters the retrieval compartment 12, the transverse plate 21 stops at the side of the retrieval compartment 12; after the pushed winding bobbin leaves the support plate 23 (in this embodiment, the transverse plate 21 has completed 2 / 3 of its pushing stroke), the support plate 23 moves upward to avoid the return path of the transverse plate 21 until it lifts out the winding bobbin above the separating gate 171; after the winding bobbin in the retrieval compartment 12 is used up, the transverse plate 21 returns to the initial position, the separating gate 171 retracts, the support plate 23 descends to the initial position, and the above winding bobbin transfer steps are repeated to start the next pushing of the winding bobbin.

[0045] For the wire winding spool suction procedure, please refer to [link / reference]. Figure 8 , Figures 11 to 13 The upper suction cup lateral movement drive component 54 positions the upper suction cup seat plate 53 and the movable suction cup 56 above the take-up cylinder grid 12; the lifting drive component 55 drives the upper suction cup seat plate 53 and the movable suction cup 56 to descend and press down on the winding cylinder; the locking gate plate 81 above the take-up cylinder grid 12 opens; the lifting mechanism 3 drives the winding cylinder to rise and causes the movable suction cup 56 to retract upward; the locking gate plate 81 extends and inserts between the winding cylinder layers; the movable suction cup 56 sucks up the uppermost winding cylinder and drives the winding cylinder to the top of the bottom fixed suction cup device 4; the movable suction cup 56 presses down, and the fixed suction cup 44 sucks up the winding cylinder; the movable suction cup 56 rises, and the winding cylinder is pulled away. Figure 10 The number 100 indicates that the winding spool has been removed.

[0046] For the steps of forming a circular shape on the wire winding spool, please refer to [link / reference]. Figure 14The multi-joint robotic arm moves to insert the support plate 63 into the winding cylinder and expand it into a circle.

[0047] For instructions on transferring the upper bobbin from the winding bobbin, please refer to [link / reference]. Figure 15 The multi-joint robotic arm transfers the winding bobbin to the head 300 facing the drawing machine 200; the pusher ring 67 pushes the winding bobbin onto the head 300.

[0048] Please see Figure 7 In the second preferred embodiment, the automatic clamping and winding bobbin robot excludes the storage bin 15, the bobbin pressing mechanism 16, the separating gate mechanism 17, and the positioning gate mechanism 8; the transverse movement mechanism 2 also excludes the pallet 23 and the pallet driving component 24; all other components, parts, devices, or mechanisms and their connection methods are the same as in the first preferred embodiment. During operation, the winding bobbin is directly placed into the storage compartment 11, and the transverse movement plate driving component 22 drives the transverse movement plate 21 to transfer the winding bobbin from the storage compartment 11 to the bobbin retrieval compartment 12. The control method at this time is: In the winding spool transfer step, the transverse plate drive component 22 drives the transverse plate 21 to move towards the spool taking grid 12, pushing the winding spool in the storage grid 11 into the spool taking grid 12 and stopping it on the side of the spool taking grid 12; after the winding spool in the spool taking grid 12 is used up, the transverse plate 21 returns to the initial state to replenish the winding spool and push it again. In the process of picking up and pulling apart the winding cylinder, the upper suction cup lateral movement drive component 54 positions the upper suction cup seat plate 53 and the movable suction cup 56 above the cylinder picking grid 12; the lifting drive component 55 drives the upper suction cup seat plate 53 and the movable suction cup 56 to descend and press down on the winding cylinder; the lifting mechanism 3 drives the winding cylinder to rise and causes the movable suction cup 56 to retract upward; the movable suction cup 56 picks up the uppermost winding cylinder and moves the winding cylinder to above the bottom fixed suction cup device 4; the movable suction cup 56 presses down and the fixed suction cup 44 picks up the winding cylinder; the movable suction cup 56 rises and the winding cylinder is pulled apart. The steps of shaping the wire winding spool and transferring the wire winding spool to the upper spool are the same as in the previous embodiments, and will not be repeated here.

[0049] In a modified embodiment of this application, the automatic clamping and winding bobbin robot, except for omitting the storage bin 15, the bobbin pressing mechanism 16, the separating gate mechanism 17, and the positioning gate mechanism 8, has all other components, parts, devices, or mechanisms and their connection methods the same as in the first preferred embodiment. During operation, the winding bobbin is directly placed onto the tray 23 in the storage compartment 11, and the transverse plate drive component 22 drives the transverse plate 21 to transfer the winding bobbin from the storage compartment 11 to the bobbin retrieval compartment 12. The control method at this time is: The transverse plate drive component 22 drives the transverse plate 21 to move toward the take-up cylinder 12, pushing the winding cylinder on the support plate 23 into the take-up cylinder 12 and stopping it on the side of the take-up cylinder 12; after the winding cylinder leaves the support plate 23, the support plate 23 moves upward to avoid the return path of the transverse plate 21; after the winding cylinder in the take-up cylinder 12 is used up, the transverse plate 21 returns to the initial state, the support plate 23 descends to the initial position, and the transverse plate 21 performs the next push.

[0050] The steps of drawing and pulling apart the wire winding spool, expanding the wire winding spool, and transferring the wire winding spool to the upper cylinder are the same as in the second preferred embodiment, and will not be described in detail here.

[0051] In a simplified embodiment of this application, the machine body 1 is only provided with a cylinder loading compartment 12, a cylinder opening compartment 13, and a robotic arm compartment 14; it does not include a storage compartment 11, a storage bin 15, a cylinder pressing mechanism 16, or a separation gate mechanism 17; nor does it include a lateral movement mechanism 2 or a locking gate mechanism 8; the winding cylinder is directly placed in the cylinder loading compartment 12; the control method at this time includes: In the process of picking up and pulling apart the winding cylinder, the upper suction cup lateral movement drive component 54 positions the upper suction cup seat plate 53 and the movable suction cup 56 above the cylinder picking grid 12; the lifting drive component 55 drives the upper suction cup seat plate 53 and the movable suction cup 56 to descend and press down on the winding cylinder; the lifting mechanism 3 drives the winding cylinder to rise and causes the movable suction cup 56 to retract upward; the movable suction cup 56 picks up the uppermost winding cylinder and moves the winding cylinder to above the bottom fixed suction cup device 4; the movable suction cup 56 presses down and the fixed suction cup 44 picks up the winding cylinder; the movable suction cup 56 rises and the winding cylinder is pulled apart. The steps of shaping the wire winding spool and transferring the wire winding spool to the upper spool are the same as in the previous embodiments, and will not be repeated here.

[0052] The simplified embodiment described above can also include a separating gate mechanism 17, in which case the winding drum's suction and pull-out step is as follows: In the winding drum suction and pull-out step, the upper suction cup lateral movement drive component 54 positions the upper suction cup seat plate 53 and the movable suction cup 56 above the drum take-out grid 12; the lifting drive component 55 moves the upper suction cup seat plate 53 and the movable suction cup 56 down to press down on the winding drum; the locking gate plate 81 above the drum take-out grid 12 opens; the lifting mechanism 3 drives the winding drum to rise and causes the movable suction cup 56 to retract upward; the locking gate plate 81 extends and inserts between the winding drum layers; the movable suction cup 56 sucks up the uppermost winding drum and moves the winding drum to above the bottom fixed suction cup device 4; the movable suction cup 56 presses down, and the fixed suction cup 44 sucks up the winding drum; the movable suction cup 56 rises, and the winding drum is pulled out.

[0053] The preceding text described an embodiment using a multi-joint robotic arm as the lifting, rotating, and telescopic mechanism 7. In a variation, an automatic sleeve robot can also be used as the lifting, rotating, and telescopic mechanism 7. Please refer to [link to previous text]. Figure 16The automatic sleeve robot includes a turntable 78, a rotating frame 79, a lifting body 710, and a telescopic body 711; the telescopic disc drive shaft 77 is mounted on the telescopic body 711. A turntable 78 is mounted on the machine body 1, and a rotating frame 79 is mounted on the turntable 78 and can rotate under the action of the turntable 78; a lifting body 710 is mounted on the rotating frame 79, a telescopic body 711 is mounted on the lifting body 710, and a base plate 61 of the expansion and contraction mechanism 6 is mounted on the telescopic body 711; the lifting body 710 can drive the telescopic body 711 to move up and down, and the telescopic body 711 can drive the expansion and contraction mechanism 6 to extend and retract forward and backward; the telescopic plate drive shaft 77 is connected to the telescopic drive plate 66.

[0054] The rotary table 78 can be an electric or pneumatic indexing plate, the lifting body 710 can be a rodless cylinder, an electric cylinder, or a lead screw slide module, and the telescopic body 711 can be a piston rod telescopic cylinder or an electric telescopic rod. A motor or a swing cylinder is installed on the telescopic component of the telescopic body 711, and the power shaft of the motor or swing cylinder constitutes the telescopic disc drive shaft 77.

[0055] In another embodiment of this application, the automatic clamping and winding bobbin robot further includes an AGV trolley or a lateral movement mechanism. The robot body 1 is mounted on the AGV trolley or the lateral movement mechanism and can move to the front end of multiple wire drawing machines to locate the target winding bobbin and automatically retrieve and replenish the winding bobbin at the winding bobbin storage station.

[0056] 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. An automatic clamping and winding spool robot, characterized in that: include: The machine body (1) is provided with a cylinder picking grid (12), a cylinder opening grid (13), and a robotic arm grid (14) inside and / or on the machine body (1). Lifting mechanism (3) is used to lift the wire spool stored in the spool compartment (12); Bottom fixing suction cup device (4) is set inside and / or on the opening cylinder (13) for pulling open the winding cylinder; The upper movable suction cup device (5) is used to pick up the winding cylinder from the cylinder picking grid (12) and transfer the picked-up winding cylinder to the top of the bottom fixed suction cup device (4), and cooperate with the bottom fixed suction cup device (4) to pull the winding cylinder apart. The expansion mechanism (6) is used to expand the winding cylinder that has been pulled apart by the upper moving suction cup device (5) and the bottom fixed suction cup device (4) into a round shape and push the expanded winding cylinder to the head of the drawing machine. The lifting, rotating, and telescopic mechanism (7) is used to drive the expansion and contraction mechanism (6).

2. The automatic clamping and winding spool robot according to claim 1, characterized in that: include: It also includes a storage cell (11) and a transverse movement mechanism (2); The bottoms of the storage cell (11) and the retrieval cell (12) are interconnected; The traverse mechanism (2) is used to push the winding spool from the storage cell (11) to the spool taking cell (12).

3. The automatic clamping and winding spool robot according to claim 2, characterized in that: The transverse mechanism (2) includes a transverse plate (21) and a transverse plate driving component (22); The transverse plate (21) is disposed in the storage compartment (11), and the transverse plate driving component (22) is disposed on the body (1) and is connected to the transverse plate (21). The transverse plate drive component (22) can push the winding bobbin stored in the storage cell (11) into the bobbin take-up cell (12).

4. The automatic clamping and winding spool robot according to claim 3, characterized in that: The transverse mechanism (2) also includes a pallet (23) and a pallet drive component (24); The tray (23) includes a left support arm (231) and a right support arm (232). The transverse plate (21) is located between the left support arm (231) and the right support arm (232); The pallet drive component (24) can drive the pallet (23) to move up and down.

5. The automatic clamping and winding spool robot according to claim 2, characterized in that: The automatic clamping and winding bobbin robot also includes a storage bin (15), a cylinder pressing mechanism (16), and a separation gate mechanism (17). The storage bin (15) is used to store the winding bobbin, the pressing mechanism (16) is used to press the winding bobbin from the top, and the separating gate mechanism (17) is used to separate the winding bobbin; The cylinder pressing mechanism (16) includes a one-way pressing plate (161), a one-way pressing plate driving component (162), and a one-way locking plate (163). The separation gate mechanism (17) includes a separation gate plate (171) and a separation gate drive component (172). The storage bin (15) is located on the upper part of the storage cell (11), the one-way pressure plate drive component (162) is located on the side of the storage bin (15), and the release gate drive component (172) is located on the side of the storage cell (11).

6. The automatic clamping and winding spool robot according to claim 1, characterized in that: The lifting mechanism (3) includes a lifting plate (31) and a lifting drive component (32). The lifting plate (31) is disposed in the tube collection compartment (12), and the lifting drive component (32) can drive the lifting plate (31) to move up and down.

7. The automatic clamping and winding spool robot according to claim 1, characterized in that: The bottom fixed suction cup device (4) includes a bottom mounting plate (41), a bottom support column (42), a bottom suction cup base plate (43), a plurality of fixed suction cups (44) and corresponding fixed suction cup connecting parts (45). The bottom support column (42) is mounted on the bottom mounting plate (41), the bottom suction cup seat plate (43) is mounted on the bottom support column (42), the fixed suction cup (44) is mounted on the corresponding fixed suction cup connecting component (45), and the fixed suction cup connecting component (45) is hinged to the bottom suction cup seat plate (43).

8. The automatic clamping and winding spool robot according to claim 1, characterized in that: The upper movable suction cup device (5) includes a column (51), a crossbeam (52), an upper suction cup base plate (53), an upper suction cup horizontal movement drive component (54), a lifting drive component (55), several movable suction cups (56), and corresponding movable suction cup connecting components (57). The upper suction cup lateral movement drive component (54) can drive the column (51), crossbeam (52), upper suction cup seat plate (53), lifting drive component (55), moving suction cup (56), and suction cup connecting component (57) to move left and right laterally; The lifting drive component (55) can drive the upper suction cup base plate (53), several movable suction cups (56) and the corresponding movable suction cup connecting component (57) to move up and down.

9. The automatic clamping and winding spool robot according to claim 1, characterized in that: The expansion and contraction mechanism (6) includes a base plate (61), a telescopic support plate (62), several support cylinder plates (63), several telescopic connecting parts (64), a telescopic guide plate (65), a telescopic drive plate (66), a push cylinder ring (67), and a push cylinder cylinder (68). The base plate (61) is provided with a receiving groove (611) and a drive rod hole (612). The telescopic support plate (62) is provided with a plurality of radial telescopic positions (621), and a radial snap-fit ​​edge (622) is provided on the inner side wall of the radial telescopic position (621). The telescopic connecting component (64) includes a connecting plate (641) and a locking head (642); the locking head (642) is provided with a locking mating edge (643) and a drive rod (644). The telescopic guide plate (65) is provided with a plurality of telescopic limiting grooves (651). The telescopic drive disk (66) is provided with a plurality of drive spiral grooves (661). The rotation of the telescopic drive disc (66) can drive the support plate (63) to extend and retract radially; The push cylinder (68) can drive the push ring (67) to perform telescopic movement; The lifting, rotating and telescopic mechanism (7) includes a telescopic disc drive shaft (77). The telescopic disc drive shaft (77) is connected to the telescopic drive disc (66).

10. A control method for an automatic clamping and winding spool robot, comprising: In the winding cylinder suction and pull-out step, the upper suction cup lateral movement drive component (54) positions the upper suction cup seat plate (53) and the movable suction cup (56) above the cylinder picking grid (12); the lifting drive component (55) drives the upper suction cup seat plate (53) and the movable suction cup (56) to descend and press down on the winding cylinder; the lifting mechanism (3) drives the winding cylinder to rise and causes the movable suction cup (56) to retract upward; the movable suction cup (56) sucks up the uppermost winding cylinder and drives the winding cylinder to the top of the bottom fixed suction cup device (4); the movable suction cup (56) presses down and the fixed suction cup (44) sucks up the winding cylinder; the movable suction cup (56) rises and the winding cylinder is pulled out; In the process of expanding the winding cylinder into a circle, the lifting, rotating and telescopic mechanism (7) inserts the support plate (63) into the winding cylinder and expands it into a circle. In the step of transferring the winding bobbin to the upper bobbin, the lifting, rotating and telescopic mechanism (7) transfers the winding bobbin to the head of the drawing machine; the pusher ring (67) pushes the winding bobbin onto the head of the drawing machine.

Images