Crawler-type yarn unloading manipulator capable of automatically cutting off yarn roll connecting line

Abstract

The utility model belongs to the technical field of glass fiber production, and particularly relates to a crawler-type yarn unloading manipulator capable of automatically cutting off yarn roll connecting lines. The crawler-type yarn unloading manipulator comprises an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism and a crawler-type yarn tray; the crawler-type yarn tray comprises a crawler bracket, a first crawler assembly, a second crawler assembly, a yarn breaking device and a weighing mechanism. According to the crawler-type yarn unloading manipulator capable of automatically cutting off the yarn roll connecting line, yarn taking operation and automation of a plurality of yarn rolls on a machine head of a wire drawing machine can be completed at a time, yarn breaking, weighing and yarn releasing operation of all the yarn rolls can be completed in sequence, the production efficiency can be improved, the labor intensity can be reduced, and the safety condition of a workshop can be improved. Meanwhile, the crawler-type yarn unloading manipulator has the technical characteristics of simple and compact structure, high action completion efficiency, high accuracy and the like, and is particularly suitable for yarn unloading work of a particularly compact furnace position.

Description

Technical Field

[0001] The present application belongs to the technical field of glass fiber production, and specifically relates to a crawler-type yarn unloading robot capable of automatically cutting off the connection line of a yarn ball. Background Art

[0002] In the glass fiber drawing production process, the high labor intensity and harsh environment of the drawing work have caused a labor shortage. Although some large enterprises have used yarn unloading robots to remove yarn balls from the drawing machine head one by one and put them on the yarn car to reduce some of the workload, the multi-slide telescopic mechanism is huge and complex, the rotation space is large, and the overall inverted mechanism is unstable and swaying. It is not suitable for the one-time unloading of all yarn balls in four-point drawing and five-point drawing, and it is impossible to cut and separate the inner and outer layers of the connecting yarn between the yarn balls. It must be cut and separated manually before it can be put on the yarn car. Such human-machine cooperation has safety hazards. In order to solve the problems of improving production efficiency and automation level of existing factories and safety hazards, automatic yarn cutting and unloading robots have become the focus of research and development. The existing production lines urgently need fully automatic CNC yarn unloading robots that can automatically cut the yarn ball connection. Utility Model Content

[0003] In view of this, the present application provides a crawler-type yarn unloading robot capable of automatically cutting off the connection line of the yarn ball, so as to solve all or part of the technical problems described in the background technology part of the present application.

[0004] The crawler-type yarn unloading robot that can automatically cut off the yarn ball connection provided by the present application to solve the technical problem is:

[0005] A crawler-type yarn unloading manipulator capable of automatically cutting off the connection line of a yarn ball, characterized by comprising an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, and a crawler-type yarn supporting disc;

[0006] The X-axis moving mechanism includes an X-axis moving frame and an X-axis line driving mechanism, and the X-axis moving frame can perform linear reciprocating motion along the X-axis under the action of the X-axis driving mechanism;

[0007] The Y-axis moving mechanism includes a yarn supporting disc slide and a Y-axis driving mechanism, and the yarn supporting disc slide can perform linear reciprocating motion along the Y-axis under the action of the Y-axis driving mechanism;

[0008] The Z-axis moving mechanism includes a Z-axis lifting arm, a Z-axis lifting platform and a Z-axis driving mechanism. The Z-axis lifting platform can perform linear reciprocating motion along the Z-axis on the Z-axis lifting arm under the action of the Z-axis driving mechanism.

[0009] The crawler-type yarn supporting disc comprises a crawler bracket, a first crawler assembly, a second crawler assembly, and a yarn breaking device;

[0010] The first crawler assembly includes a first crawler, a first crawler roller, and a first drive group;

[0011] The second crawler assembly includes a second crawler, a second crawler roller, and a second drive group;

[0012] The first crawler belt, the first crawler belt roller and the first driving group are arranged on the crawler belt bracket, and the first crawler belt can rotate under the action of the first crawler belt roller and the first driving group;

[0013] The second crawler track, the second crawler track roller, and the second drive group are arranged on the crawler track bracket, and the second crawler track can rotate under the action of the second crawler track roller and the second drive group;

[0014] The conveying directions of the first crawler belt and the second crawler belt are parallel to the Y-axis direction;

[0015] The yarn breaking device includes a yarn breaking knife roller, a yarn breaking blade, a knife roller driving assembly, a yarn breaking rubber roller, and a yarn breaking actuator;

[0016] The yarn-breaking blade is arranged on the yarn-breaking knife roller, and the yarn-breaking knife roller can rotate under the action of the knife roller driving assembly; the yarn-breaking rubber roller and the yarn-breaking actuator are arranged on the Z-axis lifting platform, and the yarn-breaking rubber roller can make a linear reciprocating motion along the Z-axis under the action of the yarn-breaking actuator;

[0017] The crawler bracket is arranged on the yarn supporting disc slide, the yarn supporting disc slide is arranged on the Z-axis lifting platform and can make linear reciprocating motion along the Y-axis, the Z-axis lifting platform is arranged on the Z-axis lifting arm and can make linear reciprocating motion along the Z-axis, and the Z-axis lifting arm is arranged on the X-axis moving frame and can make linear reciprocating motion along the X-axis.

[0018] Furthermore, the yarn-breaking actuator is an air cylinder or an oil cylinder, and may also be any component, assembly or mechanism in the prior art that can drive the yarn-breaking rubber roller to perform reciprocating motion, such as a motor lead screw slide module and the like.

[0019] Furthermore, the first drive group and the second drive group are both drive motors, the power output shaft of the drive motor is transmitted to the rotating shaft of the roller, and the steering direction, speed and conveying direction of the roller are controlled by controlling the drive motor.

[0020] Furthermore, the knife roller drive assembly includes a rack, a gear, and a knife roller drive cylinder; the rack is connected to the piston rod of the knife roller drive cylinder, and the gear is fixed to the knife roller shaft of the yarn-breaking knife roller; the rack and the gear are meshed with each other, and the gear can rotate under the action of the rack and the knife roller drive cylinder to drive the yarn-breaking knife roller to rotate. Preferably, the knife roller drive cylinder is an air cylinder or an oil cylinder.

[0021] Furthermore, the crawler-type yarn support plate also includes a weighing mechanism, which includes a weighing cylinder, a weighing scale, and a weighing plate; the weighing scale is arranged on the piston rod of the weighing cylinder, and the weighing plate is arranged on the weighing scale, and the weighing scale and the weighing plate can make linear reciprocating motion along the Z axis under the action of the weighing cylinder. When the weighing scale and the weighing plate lift up the yarn ball under the action of the weighing cylinder, weighing and counting begin; after weighing is completed, the weighing cylinder drives the weighing scale and the weighing plate to descend and reset.

[0022] Furthermore, the X-axis driving mechanism can be various driving mechanisms in the prior art, such as a driving mechanism composed of a driving motor, a gear, a rack, or a driving mechanism composed of a driving motor, a synchronous wheel, and a synchronous belt. A driving mechanism similar to a crane can also be used to drive the X-axis moving frame to move in the X-axis direction. In an application environment where the moving range is not large, a motor screw slide module can also be used as the X-axis driving mechanism. Several general driving structures, connections and functions are not described in detail.

[0023] Furthermore, the Z-axis drive mechanism can be a drive mechanism composed of a drive motor, a gear, a rack, or a drive motor, a synchronous wheel, and a synchronous belt, or a motor screw slide module. Several common drive structures, connections, and functions are not described in detail.

[0024] Furthermore, the Y-axis driving mechanism can be a driving mechanism composed of a driving motor, a gear, a rack, or a driving motor, a synchronous wheel, and a synchronous belt, and a motor screw slide module can also be used. Further preferably, the yarn support disk slide includes a primary slide, a secondary slide, a primary slide driving mechanism, and a secondary slide driving mechanism. The primary slide is arranged on the Z-axis lifting platform and can perform linear reciprocating motion along the Y-axis on the Z-axis lifting platform. The secondary slide is arranged on the primary slide and can perform linear reciprocating motion on the primary slide along the Y-axis. Several common driving structures, connections, and functions are not described in detail.

[0025] Further preferably, the primary slide and the secondary slide can also be driven by a linkage mechanism consisting of a motor screw slide module and a gear rack, or by a linkage mechanism consisting of a motor screw slide module and a sprocket chain.

[0026] When a linkage mechanism consisting of a motor screw slide module and a sprocket chain is used for driving, the linkage mechanism includes a motor screw slide module, a first sprocket, a second sprocket, and a transmission chain. The motor screw slide module is arranged on the Z-axis lifting platform, and the primary slide is connected to the screw slide of the screw slide module; the first sprocket and the second sprocket are arranged at both ends of the primary slide respectively, and the transmission chain is arranged on the first sprocket and the second sprocket and extends along the Y-axis direction; one side of the transmission chain is connected to the Z-axis lifting platform, and the other side of the transmission chain is connected to the secondary slide. When the primary slide slides left and right on the Z-axis lifting platform, the secondary slide can be driven to slide left and right in the same direction through the first sprocket, the second sprocket, and the transmission chain, thereby realizing the linkage between the primary slide and the secondary slide.

[0027] Furthermore, a telescopic stable rubber disc is also provided on the Z-axis lifting arm. The telescopic stable rubber disc is used to support the ground to increase stability when the crawler-type yarn unloading robot moves to the target wire drawing machine head or the target yarn car yarn ball hook. It includes a rubber disc and a rubber disc driving mechanism. The rubber disc driving mechanism can be a component, assembly or device such as an air cylinder, an oil cylinder, a lead screw slide module, etc. that can drive the rubber disc to perform linear reciprocating motion. Taking the oil cylinder as an example, by fixing the oil cylinder on the Z-axis lifting arm and fixing the rubber disc to the oil cylinder piston rod, the linear reciprocating motion of the rubber disc can be realized. In some variant embodiments, the rubber disc can also be a suction cup of various specifications and materials.

[0028] Furthermore, the crawler bracket includes a first crawler bracket and a second crawler bracket; the first crawler bracket and the second crawler bracket are both arranged on the yarn supporting disc slide; the first crawler assembly is arranged on the first crawler bracket, and the second crawler assembly is arranged on the second crawler bracket.

[0029] The yarn unloading process of the aforementioned various crawler-type yarn unloading manipulators capable of automatically cutting off the yarn ball connection is as follows:

[0030] A yarn unloading process of a crawler-type yarn unloading robot capable of automatically cutting off the yarn ball connection line, characterized in that it comprises the following steps:

[0031] Step 01: The yarn ball supporting step, the yarn supporting disc slide drives the crawler-type yarn supporting disc to move along the positive direction of the Y axis to enter under the head of the wire drawing machine to be unloaded, and the Z axis lifts up the lifting platform to lift the first crawler, the second crawler and the yarn ball;

[0032] Step 02: The yarn-retracting disc step, the yarn-supporting disc slide drives the crawler-type yarn-supporting disc to move along the negative direction of the Y axis, and the yarn-breaking knife roller and the yarn-breaking rubber roller are roughly aligned in the Z axis;

[0033] Step 03: Yarn breaking step, the first drive group drives the first crawler to rotate, and the yarn ball carried on the first crawler avoids the downward pressure path of the yarn breaking rubber roller under the action of the first crawler; the yarn breaking rubber roller is pressed down by the yarn breaking actuator to press the yarn ball connection line to the yarn breaking knife roller; the yarn breaking knife roller rotates under the action of the knife roller driving assembly, and the yarn breaking blade completes the yarn breaking. After the yarn is broken, the yarn breaking rubber roller rises and resets;

[0034] Step 04: Yarn hanging step: the crawler-type yarn support plate hangs the yarn after the yarn breaking step onto the yarn hook of the yarn car under the coordination of the X-axis moving mechanism, the Y-axis moving mechanism, and the Z-axis moving mechanism;

[0035] Step 05: yarn ball transporting step, the second crawler moves along the negative direction of the Y-axis to transport the yarn ball carried on the second crawler and adjacent to the first crawler to the first crawler;

[0036] Step06: Repeat Step03 to Step05 to complete the operations on all the yarn balls on the crawler-type yarn support disc in sequence.

[0037] Furthermore, there is a weighing step between the yarn breaking step and the yarn ball hanging step: the weighing meter and the weighing plate hold up the yarn ball after the yarn is broken under the action of the weighing cylinder for weighing.

[0038] Beneficial technical effects:

[0039] The crawler-type yarn unloading manipulator and yarn unloading process disclosed in the present application, which can automatically cut off the yarn ball connection line, can complete the yarn taking operation of multiple yarn balls on the drawing machine head at one time and automatically complete the yarn cutting, weighing and yarn placing operations of all yarn balls in sequence through the cooperation of the XYZ three-axis moving mechanism, the first and second crawler assemblies, the yarn breaking device and the weighing mechanism, which is conducive to improving production efficiency, reducing labor intensity and improving workshop safety. At the same time, the crawler-type yarn unloading manipulator also has technical characteristics such as simple and compact structure, high efficiency and accuracy of action completion, and is particularly suitable for unloading yarn in particularly compact furnaces.

[0040] The technical solution and technical effects of the present application are described in detail below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 : Front view of crawler-type yarn unloading robot;

[0042] Figure 2 : Side view of crawler-type yarn unloading robot;

[0043] Figure 3 : Top view of crawler-type yarn unloading robot;

[0044] Figure 4: Schematic diagram of yarn breakage during yarn release of the first yarn ball;

[0045] Figure 5 : Schematic diagram of yarn breakage during yarn release of the second yarn ball;

[0046] Figure 6 : Front view of the first track assembly;

[0047] Figure 7 : Side view of the first track assembly;

[0048] Figure 8 : Front view of the second track assembly;

[0049] Fig. 9 : Side view of the second track assembly;

[0050] Fig.10 : Front view of the slide linkage mechanism;

[0051] Fig.11 : Top view of the slide linkage mechanism.

[0052] Icon Description:

[0053] 10-X axial moving mechanism, 110-X axial moving frame;

[0054] 20-Y axial movement mechanism;

[0055] 210-yarn support plate slide, 220-first sprocket, 230-second sprocket, 240-transmission chain;

[0056] 2110-first slide, 2120-second slide;

[0057] 30-Z axial moving mechanism, 310-Z axial lifting arm, 320-Z axial lifting platform, 330-telescopic stable rubber disc;

[0058] 40- crawler type yarn support plate;

[0059] 410- crawler bracket, 4110- first crawler bracket, 4120- second crawler bracket;

[0060] 420-first crawler assembly, 4210-first crawler, 4220-first crawler roller, 4230-first drive group;

[0061] 430-second crawler assembly, 4310-second crawler, 4320-second crawler roller, 4330-second drive group;

[0062] 440- Yarn breaking device,

[0063] 4410-yarn breaking knife roller, 4420-yarn breaking blade, 4430-knife roller driving assembly, 4440-yarn breaking rubber roller, 4450-yarn breaking actuator;

[0064] 4431- rack, 4432- gear, 4433- knife roller drive cylinder;

[0065] 450- weighing mechanism, 4510- weighing cylinder, 4520- weighing meter, 4530- weighing pan. DETAILED DESCRIPTION

[0066] Application environment description: The crawler-type yarn unloading robot and yarn unloading process disclosed in this application that can automatically cut off the yarn ball connection are applied to the drawing production of glass fiber. When the glass fiber is drawn into a wire and wound into a yarn ball by a drawing machine, one or more yarn balls will be formed on the head of the drawing machine. Among them, the four-point drawing will form four yarn balls on the head shaft side by side on one head (such as Figure 1 As shown in the figure, the five-point drawing line will form five yarn balls on one machine head side by side on the machine head shaft, etc. After the yarn balls are wound and formed, they need to be removed from the drawing machine head shaft and placed on the hook of the yarn car (as shown in the figure). Figure 3 As shown), the yarn cart then transports the yarn ball to the next process. Among them: multiple wire drawing machines are arranged along a straight line, multiple yarn carts are arranged along another parallel line, and a lane for robots to pick up and put yarn and walk is formed between the wire drawing machine arrangement line and the yarn cart arrangement line. The crawler-type yarn unloading robot disclosed in this application is a special equipment arranged between the wire drawing machine line and the yarn cart line to complete the above-mentioned production tasks.

[0067] Direction convention: Please refer to Figure 1 In this application, the vertical movement direction of the yarn support disc slide 210 is the Z-axis direction, the movement direction of the crawler-type yarn support disc 40 entering and exiting the head of the wire drawing machine to be unloaded is the Y-axis direction, and the movement direction perpendicular to the paper surface (that is, the direction of walking in the lane between the wire drawing machine line and the brake line) is the movement direction of the X-axis movable frame, that is, the X-axis direction. The positive direction of the Y-axis refers to the movement direction of the crawler-type yarn support disc 40 entering the head of the wire drawing machine to be unloaded, and the negative direction of the Y-axis refers to the direction in which the crawler-type yarn support disc 40 carries the yarn ball and moves toward the yarn car (also the movement direction of the crawler-type yarn support disc 40 when hanging the yarn). Since the crawler-type yarn support disc 40 is arranged on the yarn support disc slide 210, the yarn support disc slide 210 can slide to both sides on the Z-axis lifting platform, so that the movement direction of the crawler-type yarn support disc 40 toward the head of the wire drawing machine (the positive direction of the Y-axis) and the movement direction toward the hook of the yarn ball on the yarn car (the negative direction of the Y-axis) are opposite to each other.

[0068] See also Figure 1-Figure 9The crawler-type yarn unloading robot disclosed in the present application, which can automatically cut off the connection line of the yarn ball, includes an X-axis moving mechanism 10, a Y-axis moving mechanism 20, a Z-axis moving mechanism 30, and a crawler-type yarn supporting disc 40.

[0069] The X-axis moving mechanism 10 includes an X-axis moving frame 110 and an X-axis driving mechanism. The X-axis moving frame 110 can perform linear reciprocating motion in the lane along the X-axis direction under the action of the X-axis driving mechanism.

[0070] The X-axis driving mechanism can be various linear driving mechanisms in the prior art, such as a driving mechanism composed of a driving motor, a synchronous wheel, and a synchronous belt, or a driving mechanism composed of a driving motor, a gear, and a rack. A driving mechanism similar to a crane can also be used to drive the X-axis moving frame to move in the X-axis direction. In an application environment where the moving range is not large, a lead screw slide module can also be used as the X-axis driving mechanism. Several common driving structures, connections, and functions are not described in detail.

[0071] The Y-axis moving mechanism 20 includes a yarn supporting disc slide 210 and a Y-axis driving mechanism. The yarn supporting disc slide 210 can make linear reciprocating motion along the Y-axis under the action of the Y-axis driving mechanism. The yarn supporting disc slide 210 includes a primary slide 2110 and a secondary slide 2120; the primary slide 2110 is arranged on the Z-axis lifting platform 320, the secondary slide 2120 is arranged on the primary slide 2110, and the crawler-type yarn supporting disc 40 is arranged on the secondary slide 2120. The primary slide can make linear reciprocating motion along the Y-axis under the action of the primary slide driving mechanism, and the secondary slide can make linear reciprocating motion along the Y direction under the action of the secondary slide driving mechanism. Both the primary slide driving mechanism and the secondary slide mechanism are screw slide modules.

[0072] The motor screw slide module generally includes a transmission screw, a screw motor and a screw slide; the screw slide is sleeved on the transmission screw through a threaded fit, and the screw motor is used to drive the transmission screw to rotate; when the transmission screw rotates, the screw slide performs linear reciprocating motion on the transmission screw. The transmission screw and the screw motor are arranged on the Z-axis lifting platform 320, and the yarn support disk slide 210 is arranged on the screw slide. By controlling the screw motor, the linear reciprocating motion of the yarn support disk slide 210 on the Z-axis lifting platform 320 can be achieved.

[0073] In some modified embodiments of the present application, the Y-axis driving mechanism can also be a driving mechanism composed of a driving motor, a gear, a rack or a driving motor, a synchronous wheel, and a synchronous belt. As long as the yarn support tray slide 210 can be driven on the Z-axis lifting platform, the technical solution of the present application can be realized. Several general driving structures, connections and functions are not described in detail.

[0074] In some variations of the present application, a linkage mechanism consisting of a motor screw slide module and a gear rack or a linkage mechanism consisting of a motor screw slide module and a sprocket chain can also be used to drive the yarn support disk slide. Fig.10 and Fig.11 When the linkage mechanism consisting of a motor screw slide module and a sprocket chain is used for driving, the linkage mechanism includes a motor screw slide module, a first sprocket 220, a second sprocket 230, and a transmission chain 240. The screw slide module is arranged on the Z-axis lifting platform 320, and the primary slide 2110 is connected to the screw slide of the screw slide module; the first sprocket 220 and the second sprocket 230 are respectively arranged at both ends of the primary slide 2110, and the transmission chain 240 is arranged on the first sprocket 220 and the second sprocket 230 and the extension direction is along the Y-axis; one side of the transmission chain 240 is connected to the Z-axis lifting platform 320, and the other side of the transmission chain 240 is connected to the secondary slide 2120. When the primary slide 2110 slides left and right on the Z-axis lifting platform 320, the secondary slide 2120 can be driven to slide left and right in the same direction through the first sprocket 220, the second sprocket 230, and the transmission chain 240, thereby realizing the linkage between the primary slide 2110 and the secondary slide 2120.

[0075] The use of a linkage mechanism to drive the yarn support disk slide 210 can simplify the system composition, reduce system failure points and the complexity of the software control system, help optimize system costs, and improve the precision of system control and the efficiency of action completion.

[0076] The Z-axis moving mechanism 30 includes a Z-axis lifting arm 310 , a Z-axis lifting platform 320 and a Z-axis driving mechanism. The Z-axis lifting platform 320 can perform linear reciprocating motion along the Z-axis on the Z-axis lifting arm 310 under the action of the Z-axis driving mechanism.

[0077] The Z-axis drive mechanism can be a drive mechanism composed of a drive motor, a gear, a rack, or a drive motor, a synchronous wheel, and a synchronous belt, or a lead screw slide module can be used as a drive mechanism. The structure, connection, and function of several common drive mechanisms are not described in detail.

[0078] The crawler-type yarn support disc 40 is arranged on the yarn support disc slide 210, the yarn support disc slide 210 is arranged on the Z-axis lifting platform 320, the Z-axis lifting platform 320 is arranged on the Z-axis lifting hanging arm 310, and the Z-axis lifting hanging arm 310 is arranged on the X-axis moving frame 110. Therefore, the crawler-type yarn support disc 40 can make linear reciprocating motion in the three axes of XYZ, and the crawler-type yarn support disc 40 can be driven to any drawing machine head shaft or yarn car hook in the production space through the coordination and control of the X-axis driving mechanism, the Z-axis driving mechanism, and the Y-axis driving mechanism.

[0079] The crawler-type yarn supporting disc 40 comprises a crawler bracket 410 , a first crawler assembly 420 , a second crawler assembly 430 , and a yarn breaking device 440 .

[0080] The crawler bracket 410 includes a first crawler bracket 4110 and a second crawler bracket 4120. The crawler bracket 410 is arranged on the yarn supporting disc slide 210, that is, the first crawler bracket 4110 and the second crawler bracket 4120 are both arranged on the secondary slide 2120 of the yarn supporting disc slide 210, and the first crawler bracket 4110 and the second crawler bracket 4120 are arranged in a direction parallel to the Y-axis direction.

[0081] The first track assembly 420 includes a first track 4210, a first track roller 4220, and a first drive group 4230. The first track 4210, the first track roller 4220, and the first drive group 4230 are arranged on the first track bracket 4110, and the first track 4210 can rotate under the action of the first track roller 4220 and the first drive group 4230; the first drive group 4230 can be a drive motor. The power output shaft of the drive motor is transmitted to the rotating shaft of the first track roller 4220, and the conveying direction of the first track 4210, the steering direction and the rotation speed of the first track roller 4220 are controlled by controlling the drive motor.

[0082] The second track assembly 430 includes a second track 4310, a second track roller 4320, and a second drive group 4330. The second track 4310, the second track roller 4320, and the second drive group 4330 are arranged on the second track bracket 4120, and the second track 4310 can rotate under the action of the second track roller 4320 and the second drive group 4330; the second drive group 4330 is a drive motor, and the connection and function of the drive motor are not described in detail.

[0083] The yarn cutting device 440 is disposed between the first crawler assembly 420 and the second crawler assembly 430, and is used to cut the glass fiber connection between the yarn group on the first crawler 4210 and the yarn group on the adjacent second crawler 4310. The conveying direction or stretching direction of the first crawler 4210 and the second crawler 4310 is parallel to the Y-axis direction.

[0084] The yarn breaking device 440 includes a yarn breaking knife roller 4410, a yarn breaking blade 4420, a knife roller driving assembly 4430, a yarn breaking rubber roller 4440, and a yarn breaking actuator 4450. The yarn breaking blade 4420 is arranged on the yarn breaking knife roller 4410, and the yarn breaking knife roller 4410 and the knife roller driving assembly 4430 are arranged on the track bracket 410 or the yarn supporting disk slide 210. The yarn breaking knife roller 4410 can rotate under the action of the knife roller driving assembly 4430; the yarn breaking rubber roller 4440 and the yarn breaking actuator 4450 are arranged on the Z-axis lifting platform 320, and the yarn breaking rubber roller 4440 can make a linear reciprocating motion along the Z-axis under the action of the yarn breaking actuator 4450.

[0085] After the yarn-breaking rubber roller 4440 and the yarn-breaking knife roller 4410 are aligned in the Z-axis direction, the yarn-breaking rubber roller 4440 moves downward under the action of the yarn-breaking actuator 4450, and the yarn ball connection line to be cut is pressed to the yarn-breaking knife roller 4410. The yarn-breaking knife roller 4410 can rotate under the action of the knife roller driving component 4430, and then the yarn ball connection line is cut by the yarn-breaking blade 4420. The yarn-breaking actuator 4450 is an air cylinder, an oil cylinder or other components or parts that can drive the yarn-breaking rubber roller 4440 to reciprocate, such as a motor lead screw slide module.

[0086] The knife roller drive assembly 4430 includes a rack 4431, a gear 4432, and a knife roller drive cylinder 4433. The rack 4431 and the knife roller drive cylinder 4433 are arranged on the track bracket 410 or the yarn support disk slide 210, and the rack 4431 is connected to the piston rod of the knife roller drive cylinder 4433, and the gear 4432 is fixed on the knife roller shaft of the broken yarn knife roller 4410, and the rack 4431 and the gear 4432 are meshed with each other. When the piston rod of the knife roller drive cylinder 4433 performs linear reciprocating motion, it pulls the rack 4431 to perform linear reciprocating motion, thereby driving the gear 4432 to rotate to drive the broken yarn knife roller 4410.

[0087] In order to increase the stability of the robot during operation, a telescopic stabilizing rubber disc 330 is also provided on the Z-axis lifting arm 310 .

[0088] The telescopic stable rubber disc 330 is used to support the crawler-type yarn unloading robot on the ground when it moves to the target wire drawing machine head or the target yarn car yarn ball hook to increase the stability of the robot operation. The telescopic stable rubber disc 330 includes a rubber disc and a rubber disc driving mechanism. The rubber disc driving mechanism can be a cylinder, an oil cylinder, a motor screw slide module, etc., which can drive the rubber disc to perform linear reciprocating motion. Components, assemblies or devices. Taking the oil cylinder as an example, the oil cylinder is fixed to the Z-axis lifting arm 310, and the rubber disc is fixed to the piston rod of the oil cylinder, so that the linear reciprocating motion of the rubber disc can be controlled by the oil cylinder. In some variant embodiments, the rubber disc can also be a suction cup in the prior art, and the specifications and models of the suction cup can be flexibly configured according to the application environment.

[0089] In a variation of the present application, the crawler-type yarn support disc 40 also includes a weighing mechanism 450, which includes a weighing cylinder 4510, a weighing scale 4520, and a weighing plate 4530; the weighing scale 4520 is arranged on the piston rod of the weighing cylinder 4510, and the weighing plate 4530 is arranged on the weighing scale 4520, and the weighing scale 4520 and the weighing plate 4530 can reciprocate along the Z-axis under the action of the weighing cylinder 4510; the weighing cylinder 4510 is arranged on the crawler bracket 410 or the yarn support disc slide 210 and is located at the lower part of the first crawler 4210, and the weighing scale 4520 and the weighing plate 4530 are arranged in the empty part (or weighing area) in the middle of the first crawler 4210.

[0090] The weighing scale 4520 and the weighing plate 4530 can reciprocate along the Z axis under the action of the weighing cylinder 4510. When the weighing scale 4520 and the weighing plate 4530 lift the yarn ball under the action of the weighing cylinder 4510, weighing and counting begin; after weighing is completed, the weighing cylinder 4510 drives the weighing scale 4520 and the weighing plate 4530 to descend and reset.

[0091] The above-mentioned empty space or weighing area can be formed by the following configuration: the two first crawlers 4210 are arranged in parallel on the first crawler bracket 4110 or the yarn support disk slide 210, a weighing area for installing the weighing mechanism 450 is formed in the middle of the two first crawlers 4210, and the weighing plate 4530 is arranged in the weighing area between the two first crawlers 4210, that is, in the empty space, and the upper surface of the weighing plate 4530 is lower than the lower edge of the first crawler 4210.

[0092] Corresponding to the aforementioned crawler-type yarn unloading manipulator capable of automatically cutting off the yarn ball connection line, the yarn unloading process of the crawler-type yarn unloading manipulator capable of automatically cutting off the yarn ball connection line is as follows:

[0093] Step 01: The yarn ball supporting step, the yarn supporting disc slide 210 drives the crawler-type yarn supporting disc 40 to move along the positive direction of the Y axis to enter under the head of the wire drawing machine to be unloaded, and the Z axis rises toward the lifting platform 320 to lift the first crawler 4210 and the second crawler 4310 as well as the yarn ball;

[0094] Step 02: yarn withdrawal step, the yarn support disk slide 210 drives the crawler-type yarn support disk 40 to move along the negative direction of the Y axis, and the yarn breaking knife roller 4410 and the yarn breaking rubber roller 4440 are basically aligned in the Z axis direction;

[0095] Step 03: Yarn breaking step, the first driving group 4230 drives the first crawler 4210 to rotate, and the yarn balls carried on the first crawler 4210 avoid the downward pressure path of the yarn breaking rubber roller 4440 under the action of the first crawler 4210; the yarn breaking rubber roller 4440 is pressed down under the action of the yarn breaking actuator 4450, and the connecting line between the yarn balls on the first crawler 4210 and the yarn balls on the adjacent second crawler 4310 is pressed to the yarn breaking knife roller 4410; the yarn breaking knife roller 4410 rotates under the action of the knife roller driving assembly 4430, and the yarn breaking blade 4420 completes the yarn breaking. After the yarn is broken, the yarn breaking rubber roller 4440 rises and resets under the action of the yarn breaking actuator 4450;

[0096] Step 04: Yarn hanging step, the crawler-type yarn supporting disc 40 hangs the yarn after the yarn breaking step onto the yarn hook of the yarn car under the coordination of the X-axis moving mechanism 10, the Y-axis moving mechanism 20, and the Z-axis moving mechanism 30;

[0097] Step 05: yarn ball transporting step, the second crawler 4310 moves along the negative direction of the Y axis, and transports the yarn ball carried on the second crawler 4310 and adjacent to the first crawler 4210 to the first crawler 4210;

[0098] Step 06: Repeat Step 03 to Step 05 to complete the operations on all the yarn balls on the crawler-type yarn supporting disc 40 in sequence.

[0099] In the embodiment of the present application including the weighing mechanism 450, there is a weighing step between the yarn breaking step and the yarn ball hanging step: the weighing scale 4520 and the weighing plate 4530 lift the yarn ball after the yarn is broken under the action of the weighing cylinder 4510 for weighing; after the weighing is completed, the weighing cylinder 4510 drives the weighing scale 4520 and the weighing plate 4530 to descend and reset.

[0100] From the above description, it can be seen that the crawler-type yarn unloading robot disclosed in the present application, which can automatically cut off the connection between yarn balls, can complete the yarn taking operation of multiple yarn balls on the wire drawing machine at one time, and can automatically complete the yarn breaking and yarn releasing operations of all yarn balls on the crawler-type yarn supporting disk in sequence. At the same time, it also has the characteristics of simple and compact structure, high action completion efficiency and completion accuracy, and is particularly suitable for yarn unloading work in particularly compact furnaces.

[0101] It should be noted that the track bracket 410 can adopt a split structure (including the first track bracket 4110 and the second track bracket 4120 as mentioned above), or an integrated structure, in which the first track assembly 420 and the second track assembly 430 are both arranged on the track bracket 410, and the yarn breaking device 440 is arranged between the first track 4210 and the second track 4310.

[0102] It should be noted that the yarn supporting disk slide 210 can adopt the aforementioned two-stage slide structure to provide more flexible Y-axis linear reciprocating motion, or it can adopt a one-stage slide structure or a two-stage or more slide structure according to actual conditions. As long as it can meet the on-site needs of taking and releasing yarn in the Y-axis direction, the technical solution of this application can be implemented.

[0103] The technical scheme and technical effects of the present application are described in detail above in combination with the drawings and specific embodiments of the specification. It should be noted that technicians in this field can also develop other embodiments on this basis; any simple deformation and equivalent substitution that does not deviate from the innovative concept of the present application are covered by the present application and belong to the scope of protection of this patent.

Claims

1. A crawler-type yarn unloading robot capable of automatically cutting off the yarn ball connection, characterized in that: It comprises an X-axis moving mechanism (10), a Y-axis moving mechanism (20), a Z-axis moving mechanism (30), and a crawler-type yarn supporting disc (40); The X-axis moving mechanism (10) comprises an X-axis moving frame (110) and an X-axis driving mechanism; The Y-axis moving mechanism (20) comprises a yarn supporting disc slide (210) and a Y-axis driving mechanism; The Z-axis moving mechanism (30) comprises a Z-axis lifting arm (310), a Z-axis lifting platform (320) and a Z-axis driving mechanism; The crawler-type yarn supporting disc (40) comprises a crawler bracket (410), a first crawler assembly (420), a second crawler assembly (430), and a yarn breaking device (440); The first crawler track assembly (420) comprises a first crawler track (4210), a first crawler track roller (4220), and a first drive group (4230); The second track assembly (430) comprises a second track (4310), a second track roller (4320), and a second drive group (4330); The first crawler track (4210), the first crawler track roller (4220), and the first drive group (4230) are arranged on the crawler track bracket (410), and the first crawler track (4210) can rotate under the action of the first crawler track roller (4220) and the first drive group (4230); The second crawler track (4310), the second crawler track roller (4320), and the second drive group (4330) are arranged on the crawler track bracket (410), and the second crawler track (4310) can rotate under the action of the second crawler track roller (4320) and the second drive group (4330); The conveying directions of the first crawler belt (4210) and the second crawler belt (4310) are parallel to the Y-axis direction; The yarn breaking device (440) comprises a yarn breaking knife roller (4410), a yarn breaking blade (4420), a knife roller driving assembly (4430), a yarn breaking rubber roller (4440), and a yarn breaking actuator (4450); The yarn breaking blade (4420) is arranged on the yarn breaking knife roller (4410), and the yarn breaking knife roller (4410) is capable of rotating under the action of the knife roller driving assembly (4430); The yarn-breaking rubber roller (4440) and the yarn-breaking actuator (4450) are arranged on the Z-axis lifting platform (320), and the yarn-breaking rubber roller (4440) can perform linear reciprocating motion along the Z-axis under the action of the yarn-breaking actuator (4450); The crawler bracket (410) is arranged on the yarn supporting disc slide (210), the yarn supporting disc slide (210) is arranged on the Z-axis lifting platform (320), the Z-axis lifting platform (320) is arranged on the Z-axis lifting hanging arm (310), and the Z-axis lifting hanging arm (310) is arranged on the X-axis moving frame (110).

2. The crawler-type yarn unloading robot capable of automatically cutting off the yarn ball connection according to claim 1 is characterized in that: The yarn supporting disc slide (210) comprises a primary slide (2110) and a secondary slide (2120); The first-level slide (2110) is arranged on the Z-axis lifting platform (320) and can perform linear reciprocating motion along the Y-axis. The second-level slide (2120) is arranged on the first-level slide (2110) and can perform linear reciprocating motion along the Y-axis. The crawler-type yarn supporting disk (40) is arranged on the second-level slide (2120).

3. The crawler-type yarn unloading robot capable of automatically cutting off the yarn ball connection according to claim 2 is characterized in that: A linkage mechanism consisting of a motor screw slide module and a sprocket chain is used to drive the primary slide (2110) and the secondary slide (2120); The linkage mechanism comprises a lead screw slide module, a first sprocket (220), a second sprocket (230), and a transmission chain (240); The motor screw slide module is arranged on the Z-axis lifting platform (320), and the primary slide (2110) is connected to the screw slide of the motor screw slide module; the first sprocket (220) and the second sprocket (230) are respectively arranged at two ends of the primary slide (2110), and the transmission chain (240) is arranged on the first sprocket (220) and the second sprocket (230) and extends in the Y-axis direction; One side of the transmission chain (240) is connected to the Z-axis lifting platform (320), and the other side of the transmission chain (240) is connected to the secondary slide (2120).

4. The crawler-type yarn unloading robot capable of automatically cutting off the yarn ball connection according to claim 2 is characterized in that: The yarn supporting disc slide (210) further comprises a primary slide drive mechanism and a secondary slide drive mechanism.

5. The crawler-type yarn unloading robot capable of automatically cutting off the yarn ball connection according to claim 1 is characterized in that: The yarn breaking actuator (4450) is a pneumatic cylinder or an oil cylinder.

6. The crawler-type yarn unloading robot capable of automatically cutting off the yarn ball connection according to claim 1 is characterized in that: The knife roller driving assembly (4430) comprises a rack (4431), a gear (4432), and a knife roller driving cylinder (4433); The rack (4431) is connected to the piston rod of the knife roller driving cylinder (4433), and the gear (4432) is fixed on the knife roller shaft of the yarn breaking knife roller (4410); The rack (4431) and the gear (4432) are meshed with each other, and the gear (4432) can rotate under the action of the rack (4431) and the knife roller driving cylinder (4433) to drive the broken yarn knife roller (4410) to rotate.

7. The crawler-type yarn unloading robot capable of automatically cutting off the yarn ball connection according to claim 6 is characterized in that: The knife roller driving cylinder (4433) is an air cylinder or an oil cylinder.

8. The crawler-type yarn unloading robot capable of automatically cutting off the yarn ball connection according to claim 1 is characterized in that: The crawler-type yarn supporting disc (40) further comprises a weighing mechanism (450), wherein the weighing mechanism (450) comprises a weighing cylinder (4510), a weighing meter (4520), and a weighing disc (4530); The weighing scale (4520) is arranged on the piston rod of the weighing cylinder (4510), and the weighing plate (4530) is arranged on the weighing scale (4520). The weighing scale (4520) and the weighing plate (4530) can perform linear reciprocating motion along the Z-axis under the action of the weighing cylinder (4510).

9. The crawler-type yarn unloading robot capable of automatically cutting off the yarn ball connection according to claim 1 is characterized in that: The Z-axis lifting hanging arm (310) is also provided with a telescopic stabilizing rubber disc (330).

10. The crawler-type yarn unloading robot capable of automatically cutting off the yarn ball connection according to claim 1 is characterized in that: The crawler bracket (410) comprises a first crawler bracket (4110) and a second crawler bracket (4120); The first crawler bracket (4110) and the second crawler bracket (4120) are both arranged on the yarn supporting disc slide (210); The first crawler track assembly (420) is arranged on the first crawler track bracket (4110), and the second crawler track assembly (430) is arranged on the second crawler track bracket (4120).

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