Novel automatic loading and unloading device for warping machine pan head
By designing an automatic loading and unloading device including PLC industrial control system, robotic clamps and warping machine components, the problem of manual operation of the warping machine head top and lowering machine is solved, and the automatic operation of the shifting machine head top and lowering machine is realized, efficiency is improved, and labor costs and hidden dangers of head cracking are reduced.
Patent Information
- Application Number
- CN202422284907.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-19
- Publication Date
- 2025-06-13
- Estimated Expiration
- 2034-09-19
AI Technical Summary
Due to the bracket structure of the existing warping machines, the plate head is manually operated, and the automated process cannot be realized. There are hidden dangers of inaccurate positioning, long adjustment of the machine head, and irregular manual operation, resulting in plate head cracking.
An automatic loading and unloading device including a PLC industrial control system, a robot clamp and a warp assembly is designed. The robot clamp is used to automatically pick up the disc head, the disc head positioning mechanism automatically finds key positioning, and the disc head lateral movement mechanism coordinates the operation of the disc head up and down machine.
It realizes automatic operation of the plate head on and off the machine, improves efficiency, saves labor costs, reduces the hidden danger of plate head cracking, reduces the risk of personal injury to the operator, and provides technical guarantees for the automated process of warping.
Smart Images
Figure CN222974580U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to an automatic loading and unloading device for beam heads of a novel warping machine.
Background Art
[0002] At present, whether it is a domestic or foreign warping machine, all links in the working process of warping machine production need to be manually intervened to be connected together, and the production process integration cannot be realized; for the upper and lower shafts of the warping beam head and the adjustment of the machine head for different width beam heads, manual operation is required, which leads to the following problems in the warping production process:
[0003] 1. Due to the structure of its own bracket, the current warping machine must be manually operated to realize the loading and unloading of the beam head, and the requirements of the automatic warping process cannot be met.
[0004] 2. There is a situation where the bracket positioning is inaccurate, and it is necessary to manually calibrate the position of the warping beam head.
[0005] 3. For different width beam heads, it is necessary to manually adjust the head support arm and even replace the head, and there is a situation where the head adjustment takes a lot of production time.
[0006] 4. If the manual operation is not standardized, there is a hidden danger of beam head cracking, which will cause serious personal injuries once it occurs.
[0007] 5. The interval time between manual loading and unloading is uncertain, and there is a phenomenon of wasting a lot of time when replacing the beam head.
Content of the Utility Model
[0008] The technical problem to be solved by the utility model is to provide an automatic loading and unloading device for beam heads of a novel warping machine, which realizes the automatic operation of the upper and lower shafts of the warping beam head and the adjustment of the machine head for different width beam heads. At the same time, the positioning is accurate, the efficiency of shaft loading and unloading is greatly improved, the labor cost is saved, and the labor intensity of workers is reduced.
[0009] The utility model is realized as follows:
[0010] An automatic loading and unloading device for beam heads of a novel warping machine, which includes a PLC industrial control system; the automatic loading and unloading device includes a manipulator fixture and a warping machine component, and the warping machine component is arranged at the front end of the manipulator fixture;
[0011] The manipulator fixture includes a robotic arm body, a tooling base, a limit seat and a positioning cylinder. The tooling base is fixed at the front end of the robotic arm body. The limit seat is arranged on the bottom plate of the tooling base. Chutes are respectively arranged on the outer sides of the limit seat. Two positioning cylinders are arranged at the bottom of the bottom plate. A positioning plate is arranged at the front end of each positioning cylinder, and the positioning plate is slidably penetrated in the chute;
[0012] The warping machine assembly includes: a beam positioning mechanism and a beam transverse movement mechanism; the beam positioning mechanism includes a driving chuck, the driving chuck is rotatably arranged and driven by a motor; a chuck key is arranged on the side of the driving chuck, and the chuck key is matched with the key groove at the end of the beam; the beam transverse movement mechanism includes a driven chuck, a first stroke cylinder, a second stroke cylinder and a release cylinder, and the driven chuck is arranged opposite to the driving chuck; the driven chuck is arranged on a moving arm, and the upper and lower ends of the moving arm are respectively connected to corresponding slide rails; the first stroke cylinder and the second stroke cylinder are connected to the moving arm, and drive the driven chuck to move towards the driving chuck side by pushing the moving arm; the release cylinder is arranged adjacent to the driving chuck;
[0013] The robotic arm body, the positioning cylinder, the motor, the first stroke cylinder, the second stroke cylinder and the release cylinder are all electrically connected to the PLC industrial control system.
[0014] Further, the robotic hand fixture further includes two propulsion cylinders, the two propulsion cylinders are arranged at both ends of the side wall of the tooling base, a holding part is arranged at the front end of the propulsion cylinder, and the propulsion cylinder is electrically connected to the PLC industrial control system.
[0015] Further, the chuck key includes a 3 o'clock direction chuck key and a 9 o'clock direction chuck key;
[0016] The beam positioning mechanism further includes a 3 o'clock direction sensor, a 9 o'clock direction sensor, a 12 o'clock direction sensor and a 12 o'clock direction sensing piece; the 12 o'clock direction sensing piece is arranged at the rear side of the driving chuck, and the 3 o'clock direction sensor, the 9 o'clock direction sensor and the 12 o'clock direction sensor are respectively arranged corresponding to the 3 o'clock direction chuck key, the 9 o'clock direction chuck key and the 12 o'clock direction sensing piece; the 3 o'clock direction sensor, the 9 o'clock direction sensor and the 12 o'clock direction sensor are all electrically connected to the PLC industrial control system.
[0017] The advantages of the present utility model are as follows:
[0018] The present utility model uses a robotic hand fixture to automatically pick up the warping beam, uses a beam positioning mechanism to automatically search for the key to position the beam, and uses a beam transverse movement mechanism to cooperate to complete the function of moving the warping beam to a preset upper machine or lower machine position, improving the efficiency of shaft loading and shaft unloading, saving labor costs, and also laying a technical foundation for subsequent automated continuous production of warping.
[0019] In short, the present utility model has the advantages of accurate positioning of the beam lifting position, improving the connection efficiency of beam replacement in the upper and lower machine links, reducing the hidden danger of beam cracking, reducing the risk of personal injury to the operator, and providing technical guarantee for the automated warping process.
BRIEF DESCRIPTION OF THE DRAWINGS
[0020] The present utility model will be further described below with reference to the accompanying drawings in conjunction with embodiments.
[0021] Figure 1 It is a schematic diagram of an automatic loading and unloading device for the beam of a new warping machine of the present utility model.
[0022] Figure 2 It is a schematic diagram of the mechanical hand fixture structure of an automatic loading and unloading device for the beam of a new warping machine of the present utility model.
[0023] Figure 3 It is a schematic diagram of the mechanical hand fixture of an automatic loading and unloading device for the beam of a new warping machine of the present utility model from another perspective.
[0024] Figure 4 It is a perspective view of the warping machine assembly of an automatic loading and unloading device for the beam of a new warping machine of the present utility model.
[0025] Figure 5 It is a front view schematic diagram of the warping machine assembly of an automatic loading and unloading device for the beam of a new warping machine of the present utility model.
[0026] Figure 6 is Figure 4 A partial enlarged schematic diagram of A in
[0027] The reference numerals of the drawings are as follows:
[0028] 1 - Mechanical hand fixture; 11 - Mechanical arm body; 12 - Tooling base; 121 - Bottom plate; 122 - Side wall; 13 - Limit seat; 131 - Slide groove; 14 - Positioning cylinder; 141 - Positioning plate; 15 - Pushing cylinder; 151 - Abutting portion;
[0029] 2 - Warping machine assembly; 21 - Beam positioning mechanism; 211 - Active chuck; 212 - Motor; 213 - Chuck key; 214 - 3 o'clock direction sensor, 215 - 9 o'clock direction sensor, 216 - 12 o'clock direction sensor; 217 - 12 o'clock direction induction piece; 22 - Beam transverse movement mechanism; 221 - Driven chuck; 222 - First stroke cylinder; 223 - Second stroke cylinder; 224 - Loosening cylinder; 23 - Moving arm; 24 - Slide rail;
[0030] 100 - Beam; 101 - Keyway.
DETAILED DESCRIPTION OF THE EMBODIMENTS
[0031] The following will be combined with the attached Figures 1-6The technical solutions of the present utility model will be clearly and completely described in conjunction with the specific embodiments. In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present utility model. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.
[0032] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.
[0033] Please refer to Figures 1 to 6 As shown, a novel automatic loading and unloading device for a warping machine beam of the present utility model includes a PLC industrial control system; the automatic loading and unloading device includes a manipulator fixture 1 and a warping machine assembly 2, and the warping machine assembly 2 is arranged at the front end of the manipulator fixture 1;
[0034] The manipulator fixture 1 includes a robotic arm body 11, a tooling base 12, a limit seat 13 and a positioning cylinder 14. The tooling base 12 is fixed at the front end of the robotic arm body 11. The limit seat 13 is arranged on the bottom plate 121 of the tooling base 12. Slide grooves 131 are respectively arranged on the outer sides of the limit seat 13. Two positioning cylinders 14 are arranged at the bottom of the bottom plate 121. A positioning plate 141 is arranged at the front end of each positioning cylinder 14, and the positioning plate 141 slidably penetrates through the slide grooves 131;
[0035] The warping machine assembly 2 includes: a bobbin positioning mechanism 21 and a bobbin transverse movement mechanism 22; the bobbin positioning mechanism 21 includes a driving chuck 211 which is rotatably arranged and driven by a motor 212; a belt drive is provided between the electrode 212 and the driving chuck 211; a chuck key 213 is arranged on the side of the driving chuck 211, and the chuck key 213 is matched with a key groove 101 at the end of the bobbin 100; the bobbin transverse movement mechanism 22 includes a driven chuck 221, a first stroke cylinder 222, a second stroke cylinder 223 and a release cylinder 224, and the driven chuck 221 is arranged opposite to the driving chuck 211; the driven chuck 221 is arranged on a moving arm 23, and the upper and lower ends of the moving arm 23 are respectively connected to corresponding slide rails 24, and each of the slide rails 24 is horizontally arranged on the warping machine table; the rear ends of the first stroke cylinder 222 and the second stroke cylinder 223 are fixed on the warping machine table, and the front ends of the first stroke cylinder 222 and the second stroke cylinder 223 are connected to the moving arm 23, and drive the driven chuck 221 to move towards the driving chuck 211 side by pushing the moving arm 23; the release cylinder 224 is arranged adjacent to the driving chuck 211;
[0036] The robotic arm body 11, the positioning cylinder 14, the motor 212, the first stroke cylinder 222, the second stroke cylinder 223 and the release cylinder 224 are all electrically connected to the PLC industrial control system.
[0037] In a specific implementation, a preferred embodiment: the robotic arm fixture 1 further includes two propulsion cylinders 15, the two propulsion cylinders 15 are arranged at both ends of the side wall 122 of the tooling base 12, a holding portion 151 is arranged at the front end of the propulsion cylinder 15, and the propulsion cylinder 15 is electrically connected to the PLC industrial control system.
[0038] In a specific implementation, a preferred embodiment: the chuck key 213 includes a 3 o'clock direction chuck key and a 9 o'clock direction chuck key;
[0039] The bobbin positioning mechanism 21 further includes a 3 o'clock direction sensor 214, a 9 o'clock direction sensor 215, a 12 o'clock direction sensor 216 and a 12 o'clock direction sensing piece 217; the 12 o'clock direction sensing piece 217 is arranged at the rear side of the 12 o'clock direction of the driving chuck 211, and the 3 o'clock direction sensor 214, the 9 o'clock direction sensor 215 and the 12 o'clock direction sensor 216 are respectively arranged corresponding to the 3 o'clock direction chuck key, the 9 o'clock direction chuck key and the 12 o'clock direction sensing piece 217; the 3 o'clock direction sensor 214, the 9 o'clock direction sensor 215 and the 12 o'clock direction sensor 216 are all electrically connected to the PLC industrial control system.
[0040] In another embodiment of the present utility model, the working process is as follows:
[0041] 1. The manipulator fixture 1 for industrial loading and unloading is started, and the empty warping beam 100 on the disk head storage platform is picked up and accurately placed above the limit seat 13 in cooperation with the propulsion cylinder 15. The two positioning cylinders 14 drive the positioning plate 141 to contract and move to a preset position to clamp and position the empty warping beam 100. Then, the manipulator fixture 1 for industrial loading and unloading transports the empty warping beam 100 to the upper machine area (between the active chuck 211 and the driven chuck 221).
[0042] 2. At this time, the disk head transverse movement mechanism 22 starts to work: The first stroke cylinder 222 pushes the moving arm 23 to move, and the moving arm drives the driven chuck 221 to move and engage with one end of the empty warping beam 100, and continues to drive the empty warping beam 100 to move transversely to the active chuck 211 (at this time, the manipulator fixture 1 for industrial loading and unloading switches to the X-axis following mode).
[0043] 3. The disk head transverse movement mechanism 22 causes the empty warping beam 6 to contact the chuck keys 213 (the 3 o'clock direction chuck key and the 9 o'clock direction chuck key) in the disk head positioning mechanism 21 and gradually compress backward. When the above chuck keys are compressed in place, the sensors 214 in the 3 o'clock direction and 215 in the 9 o'clock direction detect signals and transmit the signals to the PLC industrial control system. The PLC industrial control system controls the first stroke cylinder 222 to stop pushing and starts the next step of disk head positioning.
[0044] 4. The disk head positioning mechanism 21 starts to work. Driven by the motor 212 and its transmission belt 1, the active chuck 211 starts to rotate until the chuck keys in the 3 o'clock direction and 9 o'clock direction enter the corresponding key slots 101 of the empty warping beam 100. At this time, the empty warping beam 100 continues to rotate with the active chuck 211. When it rotates to the point where the sensors 214 in the 3 o'clock direction and 215 in the 9 o'clock direction detect that the chuck keys are in the slots, and at the same time the sensor 216 in the 12 o'clock direction senses the induction piece 217 in the 12 o'clock direction, the three simultaneously feedback the signals to the PLC industrial control system, and the system stops the motor rotation to complete the disk head positioning.
[0045] 5. When the disk head positioning is successful, the second stroke cylinder 223 in the disk head transverse movement mechanism 22 is started, and the moving arm 23 is pushed transversely to move the driven chuck 221 to move toward the active chuck 211 side again to cooperate with the active chuck 211 to clamp the empty warping beam 100. At this time, the manipulator fixture 1 for industrial loading and unloading exits the disk head upper machine area; production starts.
[0046] 6. After production is completed, the manipulator fixture 1 for industrial loading and unloading moves to the area under the beam head and holds up the product beam head 100. At this time, the driven chuck 221 withdraws in place under the transverse movement of the first stroke cylinder 222 and the second stroke cylinder 223. Then, the release cylinder 224 ejects, pushing the product beam head 100 out of the active chuck 211. The product beam head 100 is then received by the tooling base 12 and then transported to the beam head buffer area by the manipulator fixture 1 for industrial loading and unloading, and this loading and unloading process ends.
[0047] In summary, the present utility model uses a manipulator fixture to automatically pick up the warping beam head, uses a beam head positioning mechanism to automatically search for keys and position the beam head, and uses a beam head transverse movement mechanism to cooperate to complete the function of moving the warping beam head to a preset upper machine or lower machine position, improving the efficiency of shaft loading and shaft unloading, saving labor costs, and also laying a technical foundation for subsequent automated continuous production of warping.
[0048] In short, the present utility model has the advantage of accurate positioning of the beam head lifting position, which improves the connection efficiency of beam head replacement in the upper and lower machine links, reduces the hidden danger of beam head cracking, reduces the risk of personal injury to operators, and provides technical guarantee for the automated warping process.
[0049] Although the specific embodiments of the present utility model have been described above, those skilled in the art of this technology should understand that the specific embodiments we described are illustrative rather than used to limit the scope of the present utility model. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present utility model should be covered by the scope protected by the claims of the present utility model.
Claims
1. A new type of automatic loading and unloading device for warping machine, which includes a PLC industrial control system; its characteristics are: The automatic loading and unloading device comprises a manipulator clamp and a warping machine assembly, wherein the warping machine assembly is arranged at the front end of the manipulator clamp; The manipulator clamp comprises a manipulator body, a tooling base, a limit seat and a positioning cylinder, wherein the tooling base is fixed to the front end of the manipulator body, the limit seat is arranged on the bottom plate of the tooling base, and the outer sides of the limit seat are respectively provided with slide grooves, and the positioning cylinders are arranged at the bottom of the bottom plate, and the front end of each positioning cylinder is provided with a positioning plate, and the positioning plate is slidably arranged in the slide groove; The warping machine assembly comprises: a warp head positioning mechanism and a warp head transverse movement mechanism; the warp head positioning mechanism comprises an active chuck, the active chuck is rotatably arranged and driven by a motor; a chuck key is arranged on the side of the active chuck, and the chuck key matches the keyway at the end of the warp head; the warp head transverse movement mechanism comprises a driven chuck, a first stroke cylinder, a second stroke cylinder and a release cylinder, the driven chuck is arranged opposite to the active chuck; the driven chuck is arranged on a moving arm, and the upper and lower ends of the moving arm are connected to corresponding slide rails respectively; the first stroke cylinder and the second stroke cylinder are connected to the moving arm, and drive the driven chuck to move toward the active chuck side by pushing the moving arm; the release cylinder is arranged adjacent to the active chuck; The mechanical arm body, the positioning cylinder, the motor, the first stroke cylinder, the second stroke cylinder and the release cylinder are all electrically connected to the PLC industrial control system.
2. A novel automatic loading and unloading device for warping machine head as claimed in claim 1, characterized in that: The manipulator clamp also includes two propulsion cylinders, which are arranged at both ends of the side walls of the tooling base. A supporting portion is arranged at the front end of the propulsion cylinder, and the propulsion cylinder is electrically connected to the PLC industrial control system.
3. A novel automatic loading and unloading device for warping machine head as claimed in claim 1, characterized in that: The chuck keys include a 3 o'clock chuck key and a 9 o'clock chuck key; The disk head positioning mechanism also includes a 3 o'clock direction sensor, a 9 o'clock direction sensor, a 12 o'clock direction sensor and a 12 o'clock direction sensing piece; the 12 o'clock direction sensing piece is arranged on the rear end side of the active chuck, and the 3 o'clock direction sensor, the 9 o'clock direction sensor and the 12 o'clock direction sensor are respectively arranged corresponding to the 3 o'clock direction chuck key, the 9 o'clock direction chuck key and the 12 o'clock direction sensing piece; the 3 o'clock direction sensor, the 9 o'clock direction sensor and the 12 o'clock direction sensor are all electrically connected to the PLC industrial control system.