Automatic yarn grabbing mechanism of yarn unloading manipulator

Abstract

The utility model belongs to the technical field of glass fiber production, and particularly relates to an automatic yarn grabbing mechanism of a yarn unloading manipulator. The yarn roll grabbing device comprises a grabbing lifting mechanism and a yarn roll grabbing mechanism. The grabbing lifting mechanism comprises a grabbing lifting frame and a side face lifting driver. The yarn ball grabbing mechanism comprises a first side rack telescopic frame, a first side yarn ball clamping jaw, a second side rack telescopic frame, a second side yarn ball clamping jaw, a yarn grabbing gear and a yarn grabbing actuator. According to the automatic yarn grabbing mechanism of the yarn unloading manipulator, through control over the yarn grabbing actuator and the side face lifting driver, a yarn roll can be automatically grabbed or loosened, and the automatic yarn grabbing mechanism can ascend or descend after the yarn roll is grabbed; therefore, the yarn unloading manipulator can cooperate with the yarn unloading manipulator to automatically complete the actions of grabbing and putting down the yarn roll required in production, thereby being beneficial to improving the automation degree of a production line, reducing the labor intensity of workers, and improving the production efficiency and the safety condition of a workshop.

Description

Technical Field

[0001] The present application belongs to the technical field of glass fiber production, and specifically relates to an automatic yarn grabbing mechanism of a yarn unloading robot. 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 rotated. This has caused 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 automatically grab and put down yarn balls has become a top priority. Utility Model Content

[0003] In view of this, the present application provides an automatic yarn grabbing mechanism of a yarn unloading robot to solve all or part of the technical problems described in the background technology part of the present application.

[0004] The solution adopted by this application to solve its technical problems is:

[0005] An automatic yarn grabbing mechanism for a yarn unloading robot, characterized in that it comprises a grabbing lifting mechanism and a yarn ball grabbing mechanism;

[0006] The yarn ball grabbing mechanism is arranged on the grabbing lifting mechanism; the yarn ball grabbing mechanism can grab or release the yarn ball, and can perform a linear lifting motion under the action of the grabbing lifting mechanism.

[0007] Preferably, the grabbing and lifting mechanism comprises a grabbing and lifting frame and a side lifting drive;

[0008] The yarn ball grabbing mechanism comprises a first side rack telescopic frame, a first side yarn ball clamping claw, a second side rack telescopic frame, a second side yarn ball clamping claw, a yarn grabbing gear, and a yarn grabbing actuator;

[0009] 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;

[0010] 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;

[0011] 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 lifting frame, and the first side telescopic frame rack portion and the second side telescopic frame rack portion are respectively engaged with the two sides of the yarn grabbing gear; when the yarn grabbing actuator is running, it can drive the first side yarn ball clamping jaw and the second side yarn ball clamping jaw to move closer to or away from each other.

[0012] Preferably, the grabbing lifting frame includes a vertical frame, a horizontal beam, and a grabbing mechanism frame; the vertical frame, the horizontal beam, and the grabbing mechanism frame extend along the three axes of XYZ to form a three-dimensional spatial bracket. The yarn grabbing gear, the yarn grabbing actuator, the first side telescopic frame rack, and the second side telescopic frame rack are all arranged on the grabbing mechanism frame. Further preferably, the yarn ball grabbing mechanism is arranged on the grabbing mechanism frame.

[0013] The yarn ball grabbing mechanism and the side lifting drive are air cylinder, oil cylinder or motor screw slide module.

[0014] Preferably, the yarn grabbing actuator is a linear telescopic cylinder or a linear telescopic oil cylinder; one of the first side or second side telescopic frame rack parts is connected to the piston rod of the linear telescopic cylinder or the linear telescopic 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 to move linearly through the yarn grabbing gear, so that the first side yarn ball clamp and the second side yarn ball clamp can move away from or approach each other.

[0015] Preferably, the yarn grabbing actuator is a rotary cylinder or a rotary oil cylinder or a driving motor; the power of the rotary cylinder or the rotary oil cylinder or the driving motor is output to the yarn grabbing gear. When the rotary cylinder or the rotary oil cylinder or the driving motor is running, the rack part of the first side telescopic frame and the rack part 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.

[0016] Preferably, the grab lifting frame is also provided with a guide rail and / or a guide groove for increasing the movement stability of the first side rack telescopic frame and the second side rack telescopic frame. The rack portion of the first side telescopic frame and the rack portion of the second side telescopic frame are respectively snapped or nested in the guide rail or the guide groove, which can increase the movement stability on the one hand, and reduce the movement resistance and system power consumption on the other hand.

[0017] Preferably, the rack parts of the first and second side telescopic frames are provided with guide grooves, the grab lifting frame is provided with guide rods, and the ends of the guide rods are arranged in the guide grooves. The cooperation between the guide rods and the guide grooves can improve the stability of the movement of the rack parts of the first and second side telescopic frames.

[0018] The yarn grabbing action and yarn releasing action of the automatic yarn grabbing mechanism of the yarn manipulator of the present application are described below by taking the use of a linear telescopic cylinder or a linear telescopic oil cylinder as a yarn breaking actuator and the second side telescopic rack rack portion being connected to the piston rod as an example:

[0019] During the yarn grabbing action, when the piston rod of the linear telescopic cylinder or oil cylinder retracts into the cylinder body of the cylinder or oil cylinder, the rack portion of the second side telescopic frame is driven to make a linear motion toward the middle, thereby pushing the yarn grabbing gear to rotate counterclockwise, and then driving the rack portion of the first side telescopic frame to make a linear motion in the opposite direction to the rack portion of the second side telescopic frame, and the first side yarn ball clamp and the second side yarn ball clamp approach each other to grab the yarn ball; the grabbing lifting frame rises, driving the yarn ball grabbing mechanism and the yarn ball to make an upward motion.

[0020] During the yarn releasing action, the grabbing lifting frame descends, driving the yarn ball grabbing mechanism and the yarn ball to move downward; when the piston rod of the linear telescopic cylinder or oil cylinder extends out of the cylinder body of the cylinder or oil cylinder, it drives the rack part of the second side telescopic frame to move linearly to one side, pushing the yarn grabbing gear to rotate clockwise, and then drives the rack part of the first side telescopic frame to move linearly in the opposite direction to the rack part of the second side telescopic frame, and the first side yarn ball clamping jaw and the second side yarn ball clamping jaw move away from each other to release the yarn ball.

[0021] Beneficial technical effects:

[0022] The automatic yarn grabbing mechanism of the yarn unloading robot disclosed in the present application can not only automatically grab or release the yarn ball, but also make an ascending or descending movement after grabbing the yarn ball, by controlling the yarn grabbing actuator and the side lifting drive, so as to cooperate with the yarn unloading robot to complete the actions of grabbing and putting down the yarn ball required in production, which is beneficial to improve the degree of automation of the production line, reduce the labor intensity of workers, and improve the production efficiency and safety conditions of the workshop.

[0023] 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

[0024] Figure 1 : Front structural diagram of the automatic yarn grabbing mechanism of the yarn unloading robot;

[0025] Figure 2 : Schematic diagram of yarn grabbing state of automatic yarn grabbing mechanism of yarn unloading robot;

[0026] Figure 3 : Side structural perspective view of the automatic yarn grabbing mechanism of the yarn unloading robot.

[0027] Icon Description:

[0028] 10-Grab and lift mechanism;

[0029] 110-grab lifting frame, 120-vertical frame, 130-crossbeam, 140-grab mechanism frame, 150-guide rod;

[0030] 20- Yarn ball grabbing mechanism;

[0031] 210-first side rack telescopic frame, 211-first side telescopic frame rack portion, 212-first side telescopic frame clamping portion;

[0032] 220-first side yarn ball clamping claw;

[0033] 230 - second side rack telescopic frame, 231 - second side telescopic frame rack portion, 232 - second side telescopic frame clamping portion;

[0034] 240- second side yarn ball clamping claw;

[0035] 250-yarn grabbing gear;

[0036] 260- Yarn grabbing actuator. DETAILED DESCRIPTION

[0037] Application environment description: The automatic yarn grabbing mechanism of the yarn unloading manipulator disclosed in this application is applied to the drawing production of glass fiber. After the glass fiber is drawn into a wire and wound into a yarn ball by a wire drawing machine, it is necessary to remove the yarn ball from the head shaft of the wire drawing machine and place it on the hook of the yarn car (hereinafter referred to as unloading and hanging yarn), and then the yarn car will transport the yarn ball to the next process. The automatic yarn grabbing mechanism of the yarn unloading manipulator disclosed in this application is a special equipment used to automatically complete the action of picking up and putting down the yarn ball in the process of unloading and hanging yarn.

[0038] See also Figure 1-Figure 3 The automatic yarn grabbing mechanism of the yarn unloading robot provided in the present application includes a grabbing and lifting mechanism 10 and a yarn ball grabbing mechanism 20. The yarn ball grabbing mechanism 20 can grab or release the yarn ball, and can do lifting and lowering motion under the action of the grabbing and lifting mechanism 10.

[0039] The grabbing and lifting mechanism 10 comprises a grabbing and lifting frame 110 and a side lifting drive.

[0040] The yarn ball grabbing mechanism 20 includes a first side rack telescopic frame 210 , a first side yarn ball clamping claw 220 , a second side rack telescopic frame 230 , a second side yarn ball clamping claw 240 , a yarn grabbing gear 250 , and a yarn grabbing actuator 260 .

[0041] The first side rack telescopic frame 210 comprises a first side telescopic frame rack portion 211 and a first side telescopic frame clamping portion 212 , and the first side yarn ball clamping claw 220 is disposed on the first side telescopic frame clamping portion 212 .

[0042] The second side rack telescopic frame 230 includes a second side telescopic frame rack portion 231 and a second side telescopic frame clamping portion 232 . The second side yarn ball clamping claw 240 is disposed on the second side telescopic frame clamping portion 232 .

[0043] The yarn catching gear 250, the yarn catching actuator 260, the first side telescopic rack rack portion 211, and the second side telescopic rack rack portion 231 are all arranged on the grabbing lifting frame 110, and the first side telescopic rack rack portion 211 and the second side telescopic rack rack portion 231 are respectively engaged with the two sides of the yarn catching gear 250. When the yarn catching actuator 260 is in operation, it can drive the first side yarn group clamping jaw 220 and the second side yarn group clamping jaw 240 to move closer to or away from each other.

[0044] Different driving components and corresponding connection methods can be used to achieve the first side yarn group clamping jaw 220 and the second side yarn group clamping jaw 240 to move closer to or farther away from each other:

[0045] When the yarn grabbing actuator 260 is a linear telescopic cylinder or a linear telescopic oil cylinder, the second side telescopic rack rack portion 231 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 211 can be driven to perform linear motion at the same time through the yarn grabbing gear 250, so that the first side yarn group clamping jaw 220 and the second side yarn group clamping jaw 240 move away from or close to each other. When the first side yarn group clamping jaw 220 and the second side yarn group clamping jaw 240 approach each other, the yarn group is grasped, otherwise the yarn group is released.

[0046] When the yarn grabbing actuator 260 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 250, when the rotating cylinder or the rotating oil cylinder or the driving motor is running, the first side telescopic frame rack part 211 and the second side telescopic frame rack part 231 are driven by the yarn grabbing gear 250 to move simultaneously, so that the first side yarn ball clamp 220 and the second side yarn ball clamp 240 move away from or close to each other.

[0047] When the yarn grabbing actuator 260 is running, it can drive the yarn grabbing gear 250 to rotate clockwise or counterclockwise; when the yarn grabbing gear 250 rotates, it can make the first side rack telescopic frame 210 and the second side rack telescopic frame 230 gather towards the middle through the transmission between the gear rack, so that the first side yarn ball clamp 220 and the second side yarn ball clamp 240 can grasp the yarn ball located therebetween; it can also make the first side rack telescopic frame 210 and the second side rack telescopic frame 230 separate to both sides, so that the first side yarn ball clamp 220 and the second side yarn ball clamp 240 can release the yarn ball.

[0048] In order to enhance the stability of the first side rack telescopic frame 210 and the second side rack telescopic frame 230 during operation, a guide rail or guide groove for the first side telescopic frame rack part 211 and the second side telescopic frame rack part 231 to perform straight reciprocating motion can also be provided on the grab lifting frame 110, and the first side telescopic frame rack part 211 and the second side telescopic frame rack part 231 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.

[0049] When the first side yarn ball clamp 220 and the second side yarn ball clamp 240 grasp the yarn ball, the grabbing lifting frame 110 can drive the yarn ball grabbing mechanism 20 and the yarn ball to rise together under the action of the side lifting driver; when the yarn ball needs to be put down, the grabbing lifting frame 110 can drive the yarn ball grabbing mechanism 20 and the yarn ball to descend together under the action of the side lifting driver, and then the first side yarn ball clamp 220 and the second side yarn ball clamp 240 release the yarn ball through the yarn grabbing actuator 260.

[0050] The grabbing lifting frame 110 can be any structure in the prior art, as long as it can carry the yarn ball grabbing mechanism 20 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 3 As shown in the figure, for example, the grabbing lifting frame 110 may include a vertical frame 120, a horizontal beam 130, and a grabbing mechanism frame 140; the vertical frame, the horizontal beam, and the grabbing mechanism frame extend along the three axes of XYZ to form a three-dimensional spatial bracket. The grabbing mechanism frame 140 is used to install the yarn grabbing mechanism 20. That is, the yarn grabbing gear 250, the yarn grabbing actuator 260, the first side telescopic frame rack part 211, and the second side telescopic frame rack part 231 are all arranged on the grabbing mechanism frame 140.

[0051] 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 110 can be driven to perform lifting motion, the technical solution of the present application can be realized.

[0052] 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 clamping claw 220 and the second side yarn ball clamping claw 240 are both configured as a strip-shaped structure, and the cross-sectional shape has Figure 3 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.

[0053] In some modified 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 20 can also be used, for example, multiple yarn ball grabbing mechanisms 20 are arranged in the direction of yarn ball arrangement.

[0054] The yarn grabbing action and yarn releasing action of the automatic yarn grabbing mechanism of the yarn manipulator of the present application are described below by taking the use of a linear telescopic cylinder or a linear telescopic oil cylinder as the yarn breaking actuator and the second side telescopic rack rack portion 231 being connected to the piston rod as an example:

[0055] During the yarn grabbing operation, when the piston rod of the linear telescopic cylinder or oil cylinder is retracted into the cylinder body of the cylinder or oil cylinder, the rack portion 231 of the second side telescopic frame is driven to make a linear motion toward the middle, thereby pushing the yarn grabbing gear 250 to rotate counterclockwise, and then driving the rack portion 211 of the first side telescopic frame to make a linear motion in the opposite direction to the rack portion 231 of the second side telescopic frame, and the first side yarn ball clamping jaw 220 and the second side yarn ball clamping jaw 240 approach each other to grab the yarn ball; the grabbing lifting frame 110 rises, driving the yarn ball grabbing mechanism 20 and the yarn ball to do an upward motion.

[0056] During the yarn releasing action, the grabbing lifting frame 110 descends, driving the yarn ball grabbing mechanism 20 and the yarn ball to move downward; when the piston rod of the linear telescopic cylinder or oil cylinder extends out of the cylinder body of the cylinder or oil cylinder, it drives the rack portion 231 of the second side telescopic frame to move linearly to one side, thereby pushing the yarn grabbing gear 250 to rotate clockwise, and then drives the rack portion 211 of the first side telescopic frame to move linearly in the opposite direction to the rack portion 231 of the second side telescopic frame, and the first side yarn ball clamping jaw 220 and the second side yarn ball clamping jaw 240 move away from each other to release the yarn ball.

[0057] From the above description, it can be seen that the present application can not only automatically grasp or release the yarn ball through the control of the yarn grasping actuator 260 and the side lifting drive, but also can make an upward or downward movement after grasping the yarn ball, so that it can cooperate with the yarn unloading robot to automatically complete the actions of grasping and putting down the yarn ball required in production, which is beneficial to improve the degree of automation of the production line, reduce the labor intensity of workers, and improve the production efficiency and safety conditions of the workshop.

[0058] 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. An automatic yarn grabbing mechanism for a yarn unloading robot, characterized in that: It comprises a grabbing and lifting mechanism (10) and a yarn ball grabbing mechanism (20); The yarn ball grabbing mechanism (20) is arranged on the grabbing lifting mechanism (10); The yarn ball grabbing mechanism (20) can grab or release the yarn ball, and can perform linear lifting motion under the action of the grabbing lifting mechanism (10).

2. The automatic yarn grabbing mechanism of the yarn unloading robot according to claim 1 is characterized in that: The grabbing and lifting mechanism (10) comprises a grabbing and lifting frame (110) and a side lifting driver; The yarn ball grabbing mechanism (20) comprises a first side rack telescopic frame (210), a first side yarn ball clamping claw (220), a second side rack telescopic frame (230), a second side yarn ball clamping claw (240), a yarn grabbing gear (250), and a yarn grabbing actuator (260); The first side rack telescopic frame (210) comprises a first side telescopic frame rack portion (211) and a first side telescopic frame clamping portion (212); the first side yarn ball clamping claw (220) is arranged on the first side telescopic frame clamping portion (212); The second side rack telescopic frame (230) comprises a second side telescopic frame rack portion (231) and a second side telescopic frame clamping portion (232); the second side yarn ball clamping claw (240) is arranged on the second side telescopic frame clamping portion (232); The yarn grabbing gear (250), the yarn grabbing actuator (260), the first side telescopic frame rack portion (211), and the second side telescopic frame rack portion (231) are all arranged on the grabbing lifting frame (110), and the first side telescopic frame rack portion (211) and the second side telescopic frame rack portion (231) are respectively meshed on both sides of the yarn grabbing gear (250); When the yarn grabbing actuator (260) is in operation, it can drive the first side yarn group clamping jaw (220) and the second side yarn group clamping jaw (240) to move closer to or farther away from each other.

3. The automatic yarn grabbing mechanism of the yarn unloading robot according to claim 2 is characterized in that: The grabbing and lifting frame (110) comprises a vertical frame (120), a crossbeam (130), and a grabbing mechanism frame (140); The yarn grabbing gear (250), the yarn grabbing actuator (260), the first side telescopic frame rack portion (211), and the second side telescopic frame rack portion (231) are all arranged on the grabbing mechanism frame (140).

4. The automatic yarn grabbing mechanism of the yarn unloading robot according to claim 2 is characterized in that: The side lifting driver is an air cylinder, an oil cylinder or a motor screw slide module.

5. The automatic yarn grabbing mechanism of the yarn unloading robot according to claim 2 is characterized in that: The yarn grabbing actuator (260) is a linear telescopic air cylinder or a linear telescopic oil cylinder; The rack portion (231) of the second side telescopic frame is connected to the piston rod of the linear telescopic cylinder or the linear telescopic oil cylinder. When the piston rod of the linear telescopic cylinder or the linear telescopic oil cylinder extends or retracts into the cylinder body of the linear telescopic cylinder or the linear telescopic oil cylinder, the rack portion (211) of the first side telescopic frame can be driven to perform linear motion via the yarn grabbing gear (250), so that the first side yarn ball clamping jaw (220) and the second side yarn ball clamping jaw (240) can move away from or closer to each other.

6. The automatic yarn grabbing mechanism of the yarn unloading robot according to claim 2 is characterized in that: A guide groove is provided on the rack portion (211) of the first side telescopic frame, a guide rod (150) is provided on the grabbing lifting frame (110), and an end portion of the guide rod (150) is arranged in the guide groove.

7. The automatic yarn grabbing mechanism of the yarn unloading robot according to claim 2 is characterized in that: The yarn grabbing actuator (260) is a rotary cylinder or a rotary 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 (250). When the rotating cylinder or the rotating oil cylinder or the driving motor is in operation, the first side telescopic frame rack portion (211) and the second side telescopic frame rack portion (231) are driven by the yarn grabbing gear (250) to move simultaneously, so that the first side yarn ball clamping jaw (220) and the second side yarn ball clamping jaw (240) can move away from or closer to each other.

8. The automatic yarn grabbing mechanism of the yarn unloading robot according to claim 2 is characterized in that: The grabbing lifting frame (110) is also provided with guide rails and / or guide grooves for increasing the movement stability of the first side rack telescopic frame (210) and the second side rack telescopic frame (230).

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