Tray type yarn unloading manipulator with yarn roll connecting line cutting mechanism

Abstract

The utility model belongs to the technical field of glass fiber production, and particularly relates to a tray type yarn unloading manipulator with a yarn roll connecting line cutting mechanism. The tray type yarn unloading manipulator is characterized by comprising an XYZ three-axis moving mechanism, a tray type yarn tray, a yarn breaking mechanism, a grabbing mechanism and a weighing mechanism. The yarn unloading process comprises a yarn unloading step, a yarn grabbing step, a yarn breaking step, a yarn hanging step and a yarn releasing step. According to the tray type yarn unloading manipulator with the yarn roll connecting line cutting mechanism, yarn unloading operation of a plurality of yarn rolls on a machine head shaft of a wire drawing machine can be completed at a time through cooperation of the XYZ three-axis moving mechanism, the tray type yarn supporting disc, the yarn breaking mechanism, the grabbing mechanism and the weighing mechanism; and yarn breaking, weighing and yarn hanging operations of all the yarn balls can be automatically and sequentially completed, the production efficiency can be improved, the labor intensity can be reduced, and the safety condition of a workshop can be improved.

Description

Technical Field

[0001] The present application belongs to the technical field of glass fiber production, and specifically relates to a tray-type yarn unloading robot with a yarn ball connection and cutting mechanism. Background Art

[0002] In the process of glass fiber drawing, the high labor intensity and harsh environment of drawing work have caused a labor shortage. Although some large enterprises have used yarn unloading mechanisms to remove full-bore yarn balls from drawing machines and put them into the yarn cart to reduce some workload, the current use of yarn unloading mechanisms for the removal of direct yarn cylindrical yarn balls is still limited to a maximum of three yarn balls at a time. If there are more than three yarn balls, the drawing machine's barrel pushing mechanism needs to assist in taking them out in multiple times. During the yarn unloading process, the inner and outer layers of the connecting yarns between the yarn balls must also be manually cut and separated before the yarn unloading mechanism can remove the yarn balls and put them into the yarn cart. Such yarn unloading mechanisms are complex in structure and large in size due to the large size of the telescopic mechanism, the inlet and outlet ports are in the same direction, and the rotation space is also large. They are not suitable for the yarn unloading work of four-point drawing and five-point drawing, and there are also safety hazards in human-machine cooperation. In order to save energy, reduce emissions and improve efficiency, the wire drawing technology of the wire drawing machine with the large leak plate process has been developed, from four-point drawing, five-point drawing, to six-point drawing and even four-head four-point drawing and five-point drawing. However, the yarn unloading mechanism is directly affected by the factory space and cannot be extended, let alone rotating space, which creates a problem in the use of yarn unloading mechanism equipment. In order to solve the problems of improving production efficiency and automation level of existing factories and safety hazards, a yarn unloading mechanism that can turn the yarn ball corner or head in and tail out and automatically cut the inner and outer layers of the connecting yarn between the yarn balls has become a top priority. Utility Model Content

[0003] In view of this, the present application provides a tray-type yarn unloading robot with a yarn ball connection cutting mechanism to solve all or part of the technical problems described in the background technology part of the present application.

[0004] The tray-type yarn unloading manipulator with a yarn ball connection cutting mechanism provided in this application is:

[0005] A tray-type yarn unloading manipulator with a yarn ball connection and cutting mechanism, characterized in that it includes an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, a tray-type yarn supporting plate, a yarn cutting mechanism, and a grabbing mechanism;

[0006] The X-axis moving mechanism includes an X-axis moving frame and an X-axis driving mechanism;

[0007] The Y-axis moving mechanism includes a yarn supporting disc slide and a 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 a linear lifting motion along the Z-axis on the Z-axis lifting arm under the action of the Z-axis driving mechanism.

[0009] The tray-type yarn supporting disc 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 hanging arm and can make linear reciprocating motion along the Z-axis, and the Z-axis lifting hanging arm is arranged on the X-axis moving frame and can make linear reciprocating motion along the X-axis;

[0010] The yarn breaking mechanism includes a rack knife pad, a rack knife holder, a yarn breaking blade, a yarn breaking gear, and a yarn breaking actuator; the rack knife pad includes a knife pad rack part and a knife pad part; the rack knife holder includes a knife holder rack part and a knife holder part; the yarn breaking gear, the yarn breaking actuator, the knife pad rack part, and the knife holder rack part are all arranged on the Z-axis lifting platform, the yarn breaking actuator outputs power to the yarn breaking gear, the knife pad rack part and the knife holder rack part are respectively engaged with both sides of the yarn breaking gear, and the yarn breaking blade is arranged on the knife holder part of the rack knife holder; when the yarn breaking actuator is running, the knife pad part and the knife holder part can be closed to cut off the yarn between the yarn balls, and the knife pad part and the knife holder part can also be separated;

[0011] The grabbing mechanism includes a grabbing and lifting mechanism and a yarn ball grabbing mechanism; the grabbing and lifting mechanism is arranged on the Z-axis lifting platform, and the yarn ball grabbing mechanism is arranged on the grabbing and lifting mechanism; the yarn ball grabbing mechanism can grab or release the yarn ball on the tray-type yarn supporting disk, and can make reciprocating linear motion along the Z-axis in the action direction of the grabbing and lifting mechanism.

[0012] Preferably, the grabbing and lifting mechanism includes a grabbing and lifting frame and a side lifting driver; the yarn grabbing mechanism includes a first side rack telescopic frame, a first side yarn clamping claw, a second side rack telescopic frame, a second side yarn clamping claw, a yarn grabbing gear, and a yarn grabbing actuator;

[0013] The first side rack telescopic frame comprises a first side telescopic frame rack portion and a first side telescopic frame clamping portion, and the first side yarn ball clamping claw is arranged on the first side telescopic frame clamping portion;

[0014] The second side rack telescopic frame comprises a second side telescopic frame rack portion and a second side telescopic frame clamping portion, and the second side yarn ball clamping claw is arranged on the second side telescopic frame clamping portion;

[0015] The yarn grabbing gear, the yarn grabbing actuator, the first side telescopic rack rack and the second side telescopic rack rack are all arranged on the grabbing lifting frame, and the first side telescopic rack rack and the second side telescopic rack rack are respectively engaged with the two sides of the yarn grabbing gear. When the yarn grabbing actuator is in operation, it can drive the first side yarn group clamp and the second side yarn group clamp to move closer to or farther from each other.

[0016] Preferably, the yarn grabbing actuator is a telescopic cylinder, a rotary cylinder or a driving motor.

[0017] When the yarn grabbing actuator is a linear telescopic cylinder or oil cylinder, one of the first side telescopic frame rack part and the second side telescopic frame rack part is connected to the piston rod of the cylinder or the oil cylinder; when the piston rod of the cylinder or the oil cylinder extends or retracts into the cylinder body of the cylinder or the oil cylinder, the telescopic frame rack part (the first side telescopic frame rack part or the second side telescopic frame rack part) that is not connected to the piston rod can be driven by the yarn grabbing gear to make linear motion at the same time, so that the first side yarn ball clamping jaw and the second side yarn ball clamping jaw move away from or close to each other.

[0018] When the yarn grabbing actuator is a rotary cylinder, a rotary oil cylinder or a driving motor, the power of the rotary cylinder, the rotary oil cylinder or the driving motor is output to the yarn grabbing gear. When the rotary cylinder, the rotary oil cylinder or the driving motor is running, the rack portion of the first side telescopic frame and the rack portion of the second side telescopic frame are driven to move simultaneously through the yarn grabbing gear, so that the yarn ball clamping jaws on the first side and the yarn ball clamping jaws on the second side can move away from or approach each other.

[0019] Preferably, the grabbing lifting frame includes a vertical frame, a horizontal beam, and a grabbing mechanism frame; the vertical frame extends along the Z axis, the horizontal beam extends along the Y axis, and the grabbing mechanism frame extends along the X axis. The vertical frame, the horizontal beam, and the grabbing mechanism frame form a three-dimensional spatial bracket. The yarn grabbing gear, the yarn grabbing actuator, the first side telescopic frame rack portion, and the second side telescopic frame rack portion are all arranged on the grabbing mechanism frame.

[0020] Preferably, the side lifting drive is a linear telescopic cylinder, a linear telescopic oil cylinder or a motor screw slide module.

[0021] Preferably, the tray-type yarn supporting tray comprises a yarn supporting tray body and a yarn supporting tray bracket.

[0022] Preferably, the yarn support disc body comprises a yarn hanging area and a transfer area. Further preferably, a yarn breaking position is arranged between the yarn hanging area and the transfer area.

[0023] Preferably, the yarn breaking mechanism further comprises a knife pad, and the knife pad is arranged on the knife pad portion of the rack knife pad.

[0024] Preferably, the yarn break actuator is a rotary cylinder, a rotary oil cylinder or a drive motor.

[0025] Preferably, a telescopic stabilizing rubber disc is also provided on the Z-axis lifting arm.

[0026] Preferably, the tray-type yarn unloading manipulator with the yarn ball connection cutting mechanism also includes a weighing mechanism; the weighing mechanism includes a weighing lifting component, a weighing meter, and a weighing plate; the weighing meter is arranged on the weighing lifting component, and the weighing plate is arranged on the weighing meter, and the weighing meter and the weighing plate can perform lifting and lowering motion along the Z axis under the action of the weighing lifting component. Further preferably, the weighing lifting part is a pneumatic cylinder or an oil cylinder.

[0027] Preferably, the yarn supporting disc slide comprises a primary slide and a secondary slide; the primary slide is arranged on the Z-axis lifting platform, and the secondary slide is arranged on the primary slide.

[0028] The yarn unloading process of the tray-type yarn unloading manipulator with a yarn ball connection cutting mechanism provided in the present application is as follows:

[0029] A yarn unloading process of a tray-type yarn unloading robot with a yarn ball connection cutting mechanism, characterized in that:

[0030] Step 01: Yarn unloading step, the yarn support plate slide drives the tray-type yarn support plate 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 lift table rises, driving the tray-type yarn support plate and the yarn ball to rise synchronously, and then the tray-type yarn support plate and the yarn ball move along the negative direction of the Y axis to unload the yarn;

[0031] Step 02: yarn grabbing step, the grabbing mechanism grabs all the yarn balls on the tray-type yarn support disk except for one yarn ball in the yarn hanging area and moves them up along the Z axis;

[0032] Step 03: The yarn withdrawal step, the tray-type yarn support disk moves along the negative direction of the Y axis to leave a yarn break position;

[0033] Step 04, yarn breaking step, the rack knife pad and rack knife holder of the yarn breaking mechanism close together to cut off the yarn ball connection;

[0034] Step 05, the yarn hanging step, the tray-type yarn holding plate hangs the yarn ball after the yarn breaking step on the yarn ball 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 06, yarn placing step, the tray-type yarn supporting disk moves along the positive direction of the Y axis, and the grabbing mechanism places the yarn ball on the tray-type yarn supporting disk;

[0036] Step07, repeat Step03-Step06 until the operation of all yarn balls is completed.

[0037] Preferably, there is a weighing step between the yarn breaking step and the yarn hanging step: the weighing meter and the weighing plate lift the yarn ball after the yarn breaking for weighing under the action of the weighing lifting component.

[0038] Beneficial technical effects:

[0039] The tray-type yarn unloading robot with a yarn ball connecting and cutting mechanism provided in the present application can complete the yarn unloading operation of multiple yarn balls on the head shaft of the wire drawing machine at one time through the cooperation between the XYZ three-axis moving mechanism, the tray-type yarn supporting plate, the yarn cutting mechanism, the grabbing mechanism, and the weighing mechanism, and can automatically and sequentially complete the yarn cutting, weighing and yarn hanging operations of all yarn balls, which is beneficial to improving the production efficiency of the production line, reducing labor intensity, and improving the safety conditions in the workshop.

[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 : Side view of the tray-type yarn unloading robot with yarn ball connection cutting mechanism;

[0042] Figure 2 : Schematic diagram of the yarn taking state of the tray-type yarn unloading robot with yarn ball connection cutting mechanism;

[0043] Figure 3 : Schematic diagram of the first yarn hanging state of the tray-type yarn unloading manipulator with yarn ball connection cutting mechanism;

[0044] Figure 4 : Schematic diagram of the middle yarn hanging state of the tray-type yarn unloading manipulator with yarn ball connection cutting mechanism;

[0045] Figure 5 : Side view of the grabbing mechanism;

[0046] Figure 6 : Schematic diagram of yarn breaking state of yarn breaking mechanism;

[0047] Figure 7 : Schematic diagram of the yarn breaking mechanism in the separated state;

[0048] Figure 8 : Schematic diagram of the linkage mechanism of the yarn support disc and slide;

[0049] Fig. 9 : Figure 7 A magnified view of the structure of part A in the middle.

[0050] Icon Description:

[0051] 10-X axial moving mechanism; 110-X axial moving frame;

[0052] 20-Y-axis moving mechanism; 210-yarn supporting disc slide, 220-first sprocket, 230-second sprocket, 240-transmission chain;

[0053] 2110-first slide, 2120-second slide;

[0054] 30-Z axial moving mechanism; 310-Z axial lifting arm, 320-Z axial lifting platform, 330-telescopic stable rubber disc;

[0055] 40-tray type yarn support plate, 410-yarn support plate body, 420-yarn support plate bracket; 4110-yarn hanging area, 4120-transfer area, 4130-yarn breaking position;

[0056] 50-yarn breaking mechanism;

[0057] 510- rack knife pad, 520- rack knife holder, 530- yarn breaking blade, 540- yarn breaking gear, 550- yarn breaking actuator, 560- knife pad;

[0058] 5110- knife pad rack part, 5120- knife pad part;

[0059] 5210-tool rack part, 5220-tool holder part;

[0060] 60-grabbing mechanism; 610-grabbing lifting mechanism, 620-yarn ball grabbing mechanism;

[0061] 6110-grab lifting frame, 6120-vertical frame, 6130-crossbeam, 6140-grab mechanism frame;

[0062] 6210-first side rack telescopic frame, 6220-first side yarn ball clamping claw;

[0063] 6230-second side rack telescopic frame, 6240-second side yarn ball clamping claw;

[0064] 6250-yarn grabbing gear, 6260-yarn grabbing actuator;

[0065] 6211- rack portion of the first side telescopic frame, 6212- clamping portion of the first side telescopic frame;

[0066] 6231- rack portion of the second side telescopic frame, 6232- clamping portion of the second side telescopic frame;

[0067] 70-weighing mechanism; 710-weighing lifting component, 720-weighing meter, 730-weighing pan. DETAILED DESCRIPTION

[0068] Application environment description: The tray-type yarn unloading robot with yarn ball connection and cutting mechanism disclosed in this application is 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. The four-part drawing will form four yarn balls on the head shaft side by side on one head (such as Figure 2 As shown in the figure, the yarn ball is close to a cylindrical structure with an axial hole in the middle. 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 3As 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 driving lane or lane is formed between the wire drawing machine arrangement line and the yarn cart arrangement line for the robot to pick up and put yarn and walk. The tray-type yarn unloading robot disclosed in the present application is a special equipment arranged in the driving lane between the wire drawing machine line and the yarn cart line to complete the above-mentioned production tasks.

[0069] Direction convention: Please refer to Figure 2 In this application, the vertical movement direction of the yarn support tray slide 210 is the Z-axis direction, the movement direction of the tray-type yarn support tray 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 driving lane between the wire drawing machine line and the yarn car line, is the movement direction of the movable frame in the X-axis direction, that is, the X-axis direction. The positive direction of the Y-axis refers to the movement direction of the tray-type yarn support tray 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 tray-type yarn support tray 40 carries the yarn ball and moves toward the yarn car, which is also the movement direction of the tray-type yarn support tray 40 when hanging the yarn. Since the tray-type yarn support tray 40 is arranged on the yarn support tray slide 210, the yarn support tray slide 210 can slide to both sides on the Z-axis lifting platform, so that the movement direction of the tray-type yarn support tray 40 toward the head of the wire drawing machine (positive direction of the Y-axis) and the movement direction toward the yarn ball hook on the yarn car (negative direction of the Y-axis) are opposite to each other.

[0070] See also Figure 1-Figure 9 The present application provides a tray-type yarn unloading robot with a yarn ball connection cutting mechanism, which includes an X-axis moving mechanism 10, a Y-axis moving mechanism 20, a Z-axis moving mechanism 30, a tray-type yarn supporting plate 40, a yarn cutting mechanism 50, a grabbing mechanism 60 and a weighing mechanism 70.

[0071] 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 along the X-axis under the action of the X-axis driving mechanism, that is, it can perform linear reciprocating motion in the driving lane between the drawing line and the yarn wheel line.

[0072] 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 110 to move in the X-axis direction. In an application environment where the range of movement is not large, a motor screw slide module can also be used as the X-axis driving mechanism. The structure, connection, and function of several general drives are not described in detail.

[0073] 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 perform linear reciprocating motion along the Y-axis under the action of the Y-axis driving mechanism.

[0074] The yarn support 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 tray-type yarn support disc 40 is arranged on the secondary slide 2120. The primary slide 2110 can make a linear reciprocating motion along the Y-axis under the action of the primary slide drive mechanism, and the secondary slide 2120 can make a linear reciprocating motion along the Y-axis under the action of the secondary slide drive mechanism. The primary slide drive mechanism and the secondary slide mechanism can be a wire motor lever slide module.

[0075] 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.

[0076] 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 320, the technical solution of the present application can be realized. Several general driving structures, connections and functions are not described in detail.

[0077] 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. Figure 8When 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 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. 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.

[0078] 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.

[0079] The connection and function of the linkage mechanism consisting of a motor screw slide module plus a gear rack and the linkage mechanism consisting of a motor screw slide module plus a sprocket chain are similar, so they are not described here.

[0080] 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.

[0081] 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.

[0082] The tray-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 tray-type yarn support disc 40 can make linear reciprocating motion in the three axes of XYZ, and the tray-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.

[0083] See also Figure 1and Figure 2 The tray-type yarn supporting disc 40 includes a yarn supporting disc body 410 and a yarn supporting disc bracket 420. The yarn supporting disc body 410 includes a yarn hanging area 4110 and a transfer area 4120. A yarn breaking position 4130 is provided between the yarn hanging area 4110 and the transfer area 4120.

[0084] In some variations of the present application, an integrated tray-type yarn support disc may also be used, as long as the yarn support disc body 410 is long enough to accommodate multiple yarn balls placed side by side and can hold the yarn balls firmly (using a method similar to Figure 1 The technical solution of the present application can be realized by using a stable structure with two side edges surrounding the middle as shown in FIG.

[0085] When a wire drawing machine needs to unload yarn, the tray-type yarn supporting plate 40 is first driven to the bottom of the target head shaft of the wire drawing machine (the yarn ball is hung on the head shaft) through the XYZ three-axis moving mechanism, and then the tray-type yarn supporting plate 40 is driven to carry the yarn ball upward through the Z-axis moving mechanism 30, and then the tray-type yarn supporting plate 40 and the yarn ball are driven to move along the negative direction of the Y-axis through the Y-axis moving mechanism 20, so that the automatic unloading operation of multiple yarn balls can be completed at one time.

[0086] See also Figure 6 and Figure 7 The yarn breaking mechanism 50 includes a rack knife pad 510, a rack knife holder 520, a yarn breaking blade 530, a yarn breaking gear 540, a yarn breaking actuator 550, and a knife pad 560. The rack knife pad 510 includes a knife pad rack portion 5110 and a knife pad portion 5120; the rack knife holder 520 includes a knife holder rack portion 5210 and a knife holder portion 5220.

[0087] The yarn breaking gear 540, the yarn breaking actuator 550, the knife pad rack portion 5110, and the knife holder rack portion 5210 are all arranged on the Z-axis lifting platform 320. The yarn breaking actuator 550 outputs power to the yarn breaking gear 540. The knife pad rack portion 5110 and the knife holder rack portion 5210 are respectively engaged on both sides of the yarn breaking gear 540. The yarn breaking blade 530 is arranged on the knife holder portion 5220 of the rack knife holder 520, and the knife pad 560 is arranged on the knife pad portion 5120 of the rack knife pad 510.

[0088] When the yarn breaking actuator 550 is running, it can drive the yarn breaking gear 540 to rotate clockwise or counterclockwise; when the yarn breaking gear 540 rotates, it can make the knife pad part 5120 and the knife holder part 5220 close together to cut off the yarn between the yarn balls through the transmission between the gear racks, and it can also make the knife pad part 5120 and the knife holder part 5220 separate to continue to put in the yarn ball connection that needs to be cut.

[0089] The yarn-breaking actuator 550 may be an oil cylinder, an air cylinder or a motor. The oil cylinder may be a rotary air cylinder or a rotary oil cylinder. As long as the yarn-breaking gear 540 can be driven to rotate clockwise and counterclockwise, the technical solution of the present application can be realized.

[0090] In some modified embodiments of the present application, in order to enhance the stability of the rack knife pad 510 and the rack tool holder 520 when closing or separating, a guide rail or guide groove for the knife pad rack part 5110 and the tool holder rack part 5210 to make straight reciprocating motion can also be provided on the Z-axis lifting platform 320, and the knife pad rack part 5110 and the tool holder rack part 5210 are respectively snapped or nested in the guide rail or guide groove, which can increase stability on the one hand and reduce friction power consumption on the other hand. The structure, function and connection method of the guide rail and the guide groove are common technical knowledge in the field and will not be described in detail here.

[0091] The grabbing mechanism 60 includes a grabbing lifting mechanism 610 and a yarn ball grabbing mechanism 620. The yarn ball grabbing mechanism 620 can grab or release the yarn ball on the tray-type yarn supporting plate 40, and can make a reciprocating linear motion along the Z axis under the action of the grabbing lifting mechanism 610.

[0092] The grabbing and lifting mechanism 610 includes a grabbing and lifting frame 6110 and a side lifting drive.

[0093] The yarn ball grabbing mechanism 620 includes a first side rack telescopic frame 6210 , a first side yarn ball clamping claw 6220 , a second side rack telescopic frame 6230 , a second side yarn ball clamping claw 6240 , a yarn grabbing gear 6250 , and a yarn grabbing actuator 6260 .

[0094] The first side rack telescopic frame 6210 includes a first side telescopic frame rack portion 6211 and a first side telescopic frame clamping portion 6212, and the first side yarn ball clamping claw 6220 is arranged on the first side telescopic frame clamping portion 6212; the second side rack telescopic frame 6230 includes a second side telescopic frame rack portion 6231 and a second side telescopic frame clamping portion 6232, and the second side yarn ball clamping claw 6240 is arranged on the second side telescopic frame clamping portion 6232; the yarn grabbing gear 6250, the yarn grabbing actuator 6260, the first side telescopic frame rack portion 6211, and the second side telescopic frame rack portion 6231 are all arranged on the grabbing lifting frame 6110, and the first side telescopic frame rack portion 6211 and the second side telescopic frame rack portion 6231 are respectively meshed on both sides of the yarn grabbing gear 6250.

[0095] When the yarn grabbing actuator 6260 is running, it can drive the first side yarn group clamping jaw 6220 and the second side yarn group clamping jaw 6240 to move closer to or away from each other.

[0096] Different driving components and corresponding connection methods can be used to achieve the first side yarn group clamping jaw 6220 and the second side yarn group clamping jaw 6240 to move closer to or farther away from each other:

[0097] When the yarn grabbing actuator 6260 is a linear telescopic cylinder or a linear telescopic oil cylinder, the second side telescopic rack rack portion 6231 is connected to the piston rod of the cylinder or oil cylinder. When the piston rod of the cylinder or oil cylinder extends or retracts into the cylinder body of the cylinder or oil cylinder, the first side telescopic rack rack portion 6211 can be driven to perform linear motion at the same time through the yarn grabbing gear 6250, so that the first side yarn group clamping jaw 6220 and the second side yarn group clamping jaw 6240 move away from or close to each other. When the first side yarn group clamping jaw 6220 and the second side yarn group clamping jaw 6240 approach each other, the yarn group is grasped, otherwise the yarn group is released.

[0098] When the yarn grabbing actuator 6260 is a rotating cylinder or a rotating oil cylinder or a driving motor; the power of the rotating cylinder or the rotating oil cylinder or the driving motor is output to the yarn grabbing gear 6250. When the rotating cylinder or the rotating oil cylinder or the driving motor is running, the first side telescopic frame rack part 6211 and the second side telescopic frame rack part 6231 are driven by the yarn grabbing gear 6250 to move at the same time, so that the first side yarn ball clamp 6220 and the second side yarn ball clamp 6240 move away from or close to each other. When the yarn grabbing actuator 6260 is running, it can drive the yarn grabbing gear 6250 to rotate clockwise or counterclockwise; when the yarn grabbing gear 6250 rotates, it can make the first side rack telescopic frame 6210 and the second side rack telescopic frame 6230 gather towards the middle through the transmission between the gear rack, so that the first side yarn ball clamp 6220 and the second side yarn ball clamp 6240 can grasp the yarn ball located between the two; it can also make the first side rack telescopic frame 6210 and the second side rack telescopic frame 6230 separate to both sides, so that the first side yarn ball clamp 6220 and the second side yarn ball clamp 6240 can place the yarn ball on the tray-type yarn supporting plate 40.

[0099] In order to enhance the stability of the first side rack telescopic frame 6210 and the second side rack telescopic frame 6230 during operation, a guide rail or guide groove for the first side telescopic frame rack part 6211 and the second side telescopic frame rack part 6231 to perform straight reciprocating motion can also be provided on the grabbing lifting frame 6110, and the first side telescopic frame rack part 6211 and the second side telescopic frame rack part 6231 are respectively snapped or nested in the guide rail or guide groove, which can increase the stability of the motion on the one hand, and reduce the motion resistance and system power consumption on the other hand. The structure, function and connection method of the guide rail and the guide groove are common technical knowledge in the field and will not be described in detail here.

[0100] When the first side yarn ball clamp 6220 and the second side yarn ball clamp 6240 grasp the yarn ball, the grabbing lifting frame 6110 can drive the yarn ball grabbing mechanism 620 and the yarn ball to rise together under the action of the side lifting drive; when the yarn ball needs to be put down, the grabbing lifting frame 6110 can drive the yarn ball grabbing mechanism 620 and the yarn ball to descend together under the action of the side lifting drive, and then the first side yarn ball clamp 6220 and the second side yarn ball clamp 6240 release the yarn ball through the yarn grabbing actuator 6260.

[0101] The grabbing lifting frame 6110 can be any structure in the prior art, as long as it can carry the yarn ball grabbing mechanism 620 and can complete the above-mentioned actions under the action of the side lifting drive, the technical solution of the present application can be realized. Figure 1-Figure 9 As shown in the figure, for example, the grabbing lifting frame 6110 may include a vertical frame 6120, a horizontal beam 6130, and a grabbing mechanism frame 6140 (the vertical frame, the horizontal beam, and the grabbing mechanism frame extend along the Z-axis, the Y-axis, and the X-axis, respectively, to form a three-dimensional bracket in space). The grabbing mechanism frame 6140 is used to install the yarn grabbing mechanism 620. That is, the yarn grabbing gear 6250, the yarn grabbing actuator 6260, the first side telescopic frame rack portion 6211, and the second side telescopic frame rack portion 6231 are all arranged on the grabbing mechanism frame 6140.

[0102] The side lifting driver can be a cylinder, an oil cylinder, a motor screw slide module, or other components or parts that can drive the lifting action in the prior art. As long as the grabbing lifting frame 6110 can be driven to lift in the Z-axis direction, the technical solution of the present application can be realized.

[0103] Taking the use of a cylinder as a side lifting drive as an example, the side lifting drive cylinder is set on the Z-axis lifting platform 320, and the grabbing lifting frame 6110 is fixed on the piston rod of the cylinder. By controlling the oil circuit state and hydraulic oil pressure of the cylinder, the movement state and movement speed of the grabbing lifting frame 6110 can be automatically controlled.

[0104] In some embodiments of the present application, in order to ensure the efficiency of picking up or putting down multiple yarn balls, the first side yarn ball clamp 6220 and the second side yarn ball clamp 6240 are both configured as long strip structures, and the cross-sectional shape has Figure 5 The length of the long clamping jaws shall be determined to meet the actual production requirements. For example, in five-point drawing, the length of the long clamping jaws should be sufficient to grasp four yarn balls, and in four-point drawing, the length of the long clamping jaws should be sufficient to grasp three yarn balls.

[0105] In some variant embodiments of the present application, in order to ensure the efficiency of picking up or putting down multiple yarn balls, multiple yarn ball grabbing mechanisms 620 can also be used. For example, multiple yarn ball grabbing mechanisms 620 are set in the direction of the yarn ball arrangement on the tray-type yarn supporting plate 40.

[0106] In some variations of the present application, in order to increase the stability of the robot during operation, a telescopic stabilizing rubber disc 330 is further provided on the Z-axis lifting arm 310 .

[0107] The telescopic stable rubber disc 330 is used to support the ground when the tray-type yarn unloading robot 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 component assembly or device such as an air cylinder, an oil cylinder, a motor screw slide module, etc. that can drive the rubber disc to perform linear reciprocating motion. 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. The linear reciprocating motion of the rubber disc is controlled by the oil cylinder. In other 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.

[0108] In another embodiment of the present application, the tray-type yarn unloading robot with the yarn ball connection cutting mechanism further includes a weighing mechanism 70. The weighing mechanism 70 includes a weighing lifting component 710, a weighing meter 720, and a weighing plate 730. The weighing meter 720 is arranged on the weighing lifting component 710, and the weighing plate 730 is arranged on the weighing meter 720. The weighing meter 720 and the weighing plate 730 can perform lifting motion along the Z axis under the action of the weighing lifting component 710. The weighing lifting part 710 can be a cylinder or an oil cylinder.

[0109] The weighing and lifting component 710 is located on the yarn supporting disk slide 210 or the yarn supporting disk bracket 420 corresponding to the yarn hanging area 4110 and is located below the surrounding structure on both sides of the yarn supporting disk body 410. The weighing meter 720 and the weighing disk 730 are located in the empty area in the middle of the yarn supporting disk body 410.

[0110] When the weighing scale 720 and the weighing plate 730 lift up the yarn ball under the action of the weighing lifting component 710, weighing and counting begin; after the weighing is completed, the weighing lifting component 710 drives the weighing scale 720 and the weighing plate 730 to descend and reset (place the yarn ball on the yarn hanging area 4110).

[0111] The above-mentioned empty space or weighing area can be formed by the following configuration: the two yarn supporting disc bodies 410 are respectively arranged in parallel on the yarn supporting disc bracket 420 or the yarn supporting disc slide 210, and a weighing area for installing the weighing mechanism 70 is formed in the middle part of the two yarn supporting disc bodies 410; the weighing disc 730 is arranged in the weighing area between the two yarn supporting disc bodies 410, that is, in the empty space, and the upper surface of the weighing disc 730 is lower than the lower edge of the yarn supporting disc body 410.

[0112] Corresponding to the aforementioned tray-type yarn unloading manipulator with yarn ball connection cutting mechanism, the yarn unloading process of the tray-type yarn unloading manipulator with yarn ball connection cutting mechanism is as follows:

[0113] Step 01: yarn unloading step, the yarn support plate slide 210 drives the tray-type yarn support plate 40 to move along the positive direction of the Y axis to enter under the head of the wire drawing machine to be unloaded, the Z axis rises toward the lifting platform 320, the tray-type yarn support plate 40 and the yarn ball rise synchronously, and then the tray-type yarn support plate 40 and the yarn ball move along the negative direction of the Y axis to unload the yarn;

[0114] Step 02: yarn grabbing step, the grabbing mechanism 60 grabs all the yarn balls on the tray-type yarn supporting plate 40 except for one yarn ball in the yarn hanging area and then rises along the Z axis;

[0115] Step 03: Yarn breaking step, the tray-type yarn supporting plate 40 moves along the negative direction of the Y axis to leave a yarn breaking position; the rack knife pad 510 and the rack knife holder 520 of the yarn breaking mechanism 50 close together to cut off the yarn ball connection line;

[0116] Step 04, the yarn hanging step, the tray-type yarn supporting plate 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;

[0117] Step 05, yarn placing step, the tray-type yarn supporting plate 40 moves along the positive direction of the Y axis, and the grabbing mechanism 60 places the yarn ball grabbed in Step 02 onto the tray-type yarn supporting plate 40; then the tray-type yarn supporting plate 40 moves along the negative direction of the Y axis;

[0118] Step07, repeat Step02-Step05 until all yarn balls are processed.

[0119] In the embodiment of the present application including the weighing mechanism 70, there is also a weighing step between the yarn breaking step and the yarn hanging step: the weighing scale 720 and the weighing plate 730 lift the yarn ball after the yarn breaking under the action of the weighing lifting component 710 for weighing; after the weighing is completed, the weighing lifting component 710 drives the weighing scale 720 and the weighing plate 730 to descend and reset.

[0120] From the above description, it can be seen that the tray-type yarn unloading robot with a yarn ball connection cutting mechanism disclosed in the present application can complete the yarn taking operation of multiple yarn balls on the wire drawing machine at one time, and can automatically and sequentially complete the yarn cutting and yarn releasing operations of all yarn balls on the tray-type yarn supporting disk, which helps to improve the production efficiency of the production line, reduce labor intensity, and improve the safety conditions of the workshop.

[0121] 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.

[0122] 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 tray-type yarn unloading robot with a yarn ball connection and cutting mechanism, characterized in that: It comprises an X-axis moving mechanism (10), a Y-axis moving mechanism (20), a Z-axis moving mechanism (30), a tray-type yarn supporting disk (40), a yarn breaking mechanism (50), and a grabbing mechanism (60); 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 tray-type yarn supporting disk (40) is arranged on the yarn supporting disk slide (210), the yarn supporting disk 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); The tray-type yarn supporting disk (40) comprises a yarn supporting disk body (410) and a yarn supporting disk bracket (420); The yarn breaking mechanism (50) comprises a rack knife pad (510), a rack knife holder (520), a yarn breaking blade (530), a yarn breaking gear (540), and a yarn breaking actuator (550); The rack knife pad (510) comprises a knife pad rack portion (5110) and a knife pad portion (5120); The rack tool holder (520) comprises a tool holder rack portion (5210) and a tool holder portion (5220); The yarn-breaking gear (540), the yarn-breaking actuator (550), the knife pad rack portion (5110), and the knife holder rack portion (5210) are all arranged on the Z-axis lifting platform (320); the yarn-breaking actuator (550) outputs power to the yarn-breaking gear (540); the knife pad rack portion (5110) and the knife holder rack portion (5210) are respectively meshed on both sides of the yarn-breaking gear (540); and the yarn-breaking blade (530) is arranged on the knife holder portion (5220) of the rack knife holder (520); The yarn breaking mechanism (50) further comprises a knife pad (560), wherein the knife pad (560) is arranged on a knife pad portion (5120) of the rack knife pad (510); When the yarn-breaking actuator (550) is in operation, the knife pad portion (5120) and the knife holder portion (5220) can be brought together to cut off the yarn between the yarn balls, and the knife pad portion (5120) and the knife holder portion (5220) can also be separated; The grabbing mechanism (60) comprises a grabbing lifting mechanism (610) and a yarn ball grabbing mechanism (620); The grabbing and lifting mechanism (610) is arranged on the Z-axis lifting platform (320), and the yarn ball grabbing mechanism (620) is arranged on the grabbing and lifting mechanism (610); The yarn ball grabbing mechanism (620) can grab or release the yarn ball on the tray-type yarn supporting disk (40), and can perform reciprocating linear motion along the Z-axis direction under the action of the grabbing and lifting mechanism (610).

2. The tray-type yarn unloading robot with yarn ball connection and cutting mechanism according to claim 1 is characterized in that: The grabbing and lifting mechanism (610) comprises a grabbing and lifting frame (6110) and a side lifting driver; The yarn ball grabbing mechanism (620) comprises a first side rack telescopic frame (6210), a first side yarn ball clamping claw (6220), a second side rack telescopic frame (6230), a second side yarn ball clamping claw (6240), a yarn grabbing gear (6250), and a yarn grabbing actuator (6260); The first side rack telescopic frame (6210) comprises a first side telescopic frame rack portion (6211) and a first side telescopic frame clamping portion (6212); the first side yarn ball clamping claw (6220) is arranged on the first side telescopic frame clamping portion (6212); The second side rack telescopic frame (6230) comprises a second side telescopic frame rack portion (6231) and a second side telescopic frame clamping portion (6232); the second side yarn ball clamping claw (6240) is arranged on the second side telescopic frame clamping portion (6232); The yarn grabbing gear (6250), the yarn grabbing actuator (6260), the first side telescopic frame rack portion (6211), and the second side telescopic frame rack portion (6231) are all arranged on the grabbing lifting frame (6110), and the first side telescopic frame rack portion (6211) and the second side telescopic frame rack portion (6231) are respectively meshed on both sides of the yarn grabbing gear (6250); When the yarn grabbing actuator (6260) is in operation, it can drive the first side yarn ball clamp (6220) and the second side yarn ball clamp (6240) to move closer to or farther away from each other.

3. The tray-type yarn unloading robot with yarn ball connection and cutting mechanism according to claim 2 is characterized in that: The grabbing lifting frame (6110) comprises a vertical frame (6120), a crossbeam (6130), and a grabbing mechanism frame (6140); The yarn grabbing gear (6250), the yarn grabbing actuator (6260), the first side telescopic frame rack portion (6211), and the second side telescopic frame rack portion (6231) are all arranged on the grabbing mechanism frame (6140).

4. The tray-type yarn unloading robot with yarn ball connection and cutting mechanism according to claim 2 is characterized in that: The yarn grabbing actuator (6260) is a linear telescopic air cylinder or a linear telescopic oil cylinder; The rack portion (6231) of the second side telescopic frame is connected to the piston rod of the air cylinder or the oil cylinder. When the piston rod of the air cylinder or the oil cylinder extends out of or retracts into the cylinder body of the air cylinder or the oil cylinder, the rack portion (6211) of the first side telescopic frame can be driven to perform linear motion via the yarn grabbing gear (6250), so that the first side yarn ball clamping jaw (6220) and the second side yarn ball clamping jaw (6240) move away from or closer to each other. Alternatively, the yarn grabbing actuator (6260) is a rotary cylinder or a rotary oil cylinder or a driving motor; The power of the rotating cylinder or rotating oil cylinder or driving motor is output to the yarn grabbing gear (6250). When the rotating cylinder or rotating oil cylinder or driving motor is in operation, the first side telescopic frame rack portion (6211) and the second side telescopic frame rack portion (6231) are driven to move simultaneously through the yarn grabbing gear (6250), so that the first side yarn ball clamping jaw (6220) and the second side yarn ball clamping jaw (6240) move away from or closer to each other.

5. The tray-type yarn unloading robot with yarn ball connection and cutting mechanism according to claim 2 is characterized in that: The side lifting driver is a linear telescopic cylinder, a linear telescopic oil cylinder or a motor lead screw slide module.

6. The tray-type yarn unloading robot with yarn ball connection and cutting mechanism according to claim 1 is characterized in that: The yarn supporting disc body (410) comprises a yarn hanging area (4110) and a transfer area (4120); A yarn breaking position (4130) is provided between the yarn hanging area (4110) and the transfer area (4120).

7. The tray-type yarn unloading robot with yarn ball connection and cutting mechanism 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).

8. The tray-type yarn unloading robot with yarn ball connection and cutting mechanism according to claim 1 is characterized in that: The tray-type yarn unloading robot with a yarn ball connection cutting mechanism also includes a weighing mechanism (70); The weighing mechanism (70) comprises a weighing lifting component (710), a weighing meter (720), and a weighing pan (730); The weighing scale (720) is arranged on the weighing lifting component (710), and the weighing plate (730) is arranged on the weighing scale (720). The weighing scale (720) and the weighing plate (730) are capable of performing linear reciprocating motion along the Z-axis direction under the action of the weighing lifting component (710).

9. The tray-type yarn unloading robot with yarn ball connection and cutting mechanism 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 primary slide (2110) is arranged on the Z-axis lifting platform (320), and the secondary slide (2120) is arranged on the primary slide (2110).

10. The tray-type yarn unloading robot with yarn ball connection and cutting mechanism according to claim 9 is characterized in that: A linkage mechanism is used to drive the primary slide (2110) and the secondary slide (2120), the linkage mechanism comprising a motor 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), the transmission chain (240) is arranged on the first sprocket (220) and the second sprocket (230) and extends along 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).

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