Mandrel type manipulator capable of automatically sleeving machine head wire winding cylinder

Abstract

The utility model belongs to the technical field of glass fiber production equipment, and particularly relates to a mandrel type mechanical arm capable of automatically sleeving a machine head wire winding barrel. The automatic drum feeding device comprises an automatic drum feeding mechanism and a mandrel profiling conveying mechanism. The automatic cylinder feeding mechanism is used for automatically supplying cylinders to the mandrel profiling conveying mechanism; and the core shaft profiling conveying mechanism is used for automatically and synchronously completing the rounding and barrel feeding work of the wire winding barrel through the cooperation of the core shaft mechanism and the profiling conveying mechanism. The lifting material table is adopted for storing the folded wire winding barrel, and the rodless pressure maintaining air cylinder is adopted for achieving clip type feeding of the folded wire winding barrel; the mandrel mechanism and the profiling conveying mechanism are matched with each other to synchronously complete circle supporting, conveying and tube feeding work of the wire winding tube, and the technical effects of being rapid in tube feeding and high in efficiency are achieved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of glass fiber production equipment, and particularly relates to a core shaft type mechanical hand capable of automatically sleeving a machine head winding drum. BACKGROUND

[0002] Brief introduction of the production and manufacturing process of glass fibers: after the ore raw material formula is prepared, the ore raw material is melted into a glass liquid through a kiln, flows out through a porous platinum bushing, is coated with an infiltrant by a single filament oil applicator, and is drawn into superfine fibers by high-speed rotating various drawing equipment such as a drawing machine, and is divided into a directly twisted roving yarn ball and a raw silk cake yarn ball. The several drawing and winding modes all need to be wound into a yarn ball by a winding drum, such as a paper winding drum or a Teflon winding drum. At present, the drawing process has automatic head feeding, yarn ring cutting, intermediate connecting yarn cutting and yarn unloading mechanical hands, and the like, which replace manual work. However, after the yarn ball is taken off by the mechanical hand, the winding drum still needs to be sleeved on the machine head by manual work to enable the drawing and winding, which not only has low efficiency, but also has safety hazards caused by man-machine cooperation, and hinders the entire automatic production process.

[0003] Please refer to the Chinese patent: An automatic winding drum taking and sleeving mechanism for a glass fiber drawing machine

Application publication number: CN115783899 A / Application number: 202211622113.6

to adapt to the winding drum diameter

corresponding to the taking drum sleeve and pushing drum sleeve actions

winding drum supporting action

[0004] Therefore, the application provides a core shaft type mechanical hand capable of automatically sleeving a machine head winding drum to solve all or part of the technical problems described in the background.

[0005] The innovative idea of the application is: 1. The winding drum is folded into a sheet and is stored and fed step by step through a cylinder pressure maintaining technology; 2. A vacuum suction cup is used to form an upper and lower drum opening assembly to open the folded winding drum opening part; and 3. The partially opened winding drum is sleeved on a core shaft mechanism, the winding drum is driven to move forward on the core shaft mechanism through a profiled belt, and the drum supporting and drum feeding work of the winding drum are simultaneously completed.

[0006] The solution provided by the present application to solve the technical problems is:

[0007] A core shaft type mechanical hand capable of automatically sleeving a machine head wire winding drum, comprising an automatic feeding drum mechanism and a core shaft profiling conveying mechanism;

[0008] The automatic feeding drum mechanism is used to automatically supply a drum for the core shaft profiling conveying mechanism;

[0009] The core shaft profiling conveying mechanism comprises a core shaft mechanism and a profiling conveying mechanism;

[0010] The core shaft mechanism is used to form a core shaft for supporting a drum and a drum, and the profiling conveying mechanism is used to provide a driving force for supporting the drum and the drum;

[0011] The core shaft profiling conveying mechanism is used to automatically and synchronously complete the supporting and drumming of the wire winding drum through the cooperation of the core shaft mechanism and the profiling conveying mechanism.

[0012] Among them:

[0013] The automatic feeding drum mechanism comprises a lifting feeding group, a first-stage drum feeding mechanism, and a second-stage drum feeding mechanism; the lifting feeding group comprises a lifting driving part and a lifting feeding table; the first-stage drum feeding mechanism comprises a wire winding drum push-pull plate and a push-pull driving part; and the second-stage drum feeding mechanism comprises a drum feeding frame, a drum feeding driving part, an upper drum opening assembly, and a lower drum opening assembly.

[0014] The lifting feeding group is used to complete the pressure-keeping, lifting, and progressive feeding of the folded wire winding drum; the first-stage drum feeding mechanism is used to translate the folded wire winding drum from the lifting feeding group to the second-stage drum feeding mechanism; and the second-stage drum feeding mechanism is used to open the opening part of the folded wire winding drum and convey it to the core shaft profiling conveying mechanism.

[0015] Preferably, the lifting feeding group comprises a lifting driving part and a lifting feeding table; the lifting driving part is in transmission connection with the lifting feeding table. Further preferably, the lifting driving part is a rodless lifting cylinder; and the lifting feeding table is fixedly connected to a lifting sliding table of the rodless lifting cylinder. Further preferably, the lifting feeding group further comprises a pressure-keeping valve.

[0016] Preferably, the lifting feeding group further comprises a lifting guide column and a limiting part; the lifting guide column is used to guide the lifting movement of the lifting feeding table; and the limiting part is used to limit the movement range of the lifting feeding table.

[0017] The lifting feeding group is described as follows: a plurality of wire winding drums are folded into square sheets and stacked on the lifting feeding table; the rodless cylinder is used to complete the step-by-step pressure-keeping feeding of the folded wire winding drum; and the lifting driving part drives the lifting feeding table to deliver one folded wire winding drum upward every time the first-stage drum feeding mechanism translates one wire winding drum. Thus, the mechanical hand can carry multiple wire winding drums and perform automatic feeding, which is beneficial to avoiding the reciprocating movement of the mechanical hand between the drawing machine and the storage rack when taking the drum.

[0018] As preferred, the first feeding mechanism comprises a winding cylinder push-pull plate and a push-pull driving part; the push-pull driving part is drivingly connected to the winding cylinder push-pull plate and can translate the folded winding cylinder from the first feeding mechanism to the second feeding mechanism. Further preferably, the winding cylinder push-pull plate comprises a horizontal part and a vertical part; the horizontal part is used to connect the push-pull driving part and the vertical part is used to push or pull the winding cylinder from the edge of the folded winding cylinder. Further preferably, the push-pull driving part is a push-pull cylinder which is drivingly connected to the horizontal part.

[0019] As preferred, the first feeding mechanism further comprises a push-pull plate guide rod; the push-pull plate guide rod is used to guide the push-pull action of the winding cylinder push-pull plate to increase the stability of the movement.

[0020] The first feeding mechanism is described as follows: the winding cylinder push-pull plate can translate the folded winding cylinder from the feeding position of the first feeding mechanism to the feeding position of the second feeding mechanism, i.e. between the upper opening cylinder assembly and the lower opening cylinder assembly, under the action of the push-pull driving part.

[0021] As preferred, the second feeding mechanism comprises a feeding frame, a feeding driving part, an upper opening cylinder assembly and a lower opening cylinder assembly; the upper opening cylinder assembly and the lower opening cylinder assembly are respectively arranged at the upper part and the lower part of the feeding frame and are opposite to each other, and the feeding driving part is drivingly connected to the feeding frame. Further preferably, the upper opening cylinder assembly and the lower opening cylinder assembly each comprise an opening cylinder and an opening suction cup; the opening cylinder is drivingly connected to the opening suction cup. Further preferably, the feeding driving part is a feeding cylinder; the piston rod of the feeding cylinder is connected to the feeding frame.

[0022] As preferred, the second feeding mechanism further comprises a feeding frame guide rod; the feeding frame guide rod is used to guide the translational movement of the feeding frame to increase the stability.

[0023] The second feeding mechanism is described as follows: the upper and lower opening cylinder assemblies respectively suck the winding cylinder from the upper and lower surfaces of the folded winding cylinder, and then the opening cylinder drives the opening suction cup to open the opening part of the folded winding cylinder; then the feeding driving part drives the feeding frame to feed forward to place the winding cylinder on the mandrel profiling conveying mechanism.

[0024] Therefore, the automatic feeding mechanism can carry multiple folded winding cylinders through the lifting table and realize the step-by-step feeding of the winding cylinder through the cylinder pressure maintaining technology of the cylinder; can translate the top folded winding cylinder from the feeding position of the first feeding mechanism to the feeding position of the second feeding mechanism, i.e. between the upper and lower opening cylinder assemblies; and can open the opening part of the folded winding cylinder and feed it forward to the mandrel profiling conveying mechanism through the second feeding mechanism; and then the mandrel profiling conveying mechanism completes the conveying, supporting and feeding of the winding cylinder.

[0025] The mandrel profiling conveying mechanism comprises a mandrel mechanism and a profiling conveying mechanism; the profiling conveying mechanism is used to provide the driving force for the supporting, conveying and lifting of the bobbin, and the mandrel mechanism is used to form a mandrel passing through the middle of the bobbin to cooperate with the profiling conveying mechanism to complete the supporting, conveying and lifting of the bobbin.

[0026] As preferred, the profiling conveying mechanism comprises a driving soft shaft, a soft shaft motor, a plurality of profiling belts, a plurality of driving wheels and a plurality of driven wheels.

[0027] The profiling belts are arranged on the driving wheels and the driven wheels, the driving soft shaft is connected to the driving wheels, and the soft shaft motor is drivingly connected to the driving soft shaft.

[0028] When the soft shaft motor rotates, it can simultaneously drive a plurality of profiling belts through the soft shaft, and then the driving force for the supporting, conveying and lifting of the bobbin is generated through the interaction between the profiling belts and the bobbin. The bobbin is conveyed forward along the mandrel mechanism with a circular structure to synchronously complete the supporting and lifting actions.

[0029] The mandrel mechanism used in cooperation with the automatic bobbin feeding mechanism and the profiling conveying mechanism comprises a bullet-type mandrel mechanism, a magnetic suspension-type mandrel mechanism and a roller-type mandrel mechanism, etc. The following will be described respectively.

[0030] The magnetic suspension-type mandrel mechanism comprises a magnetic suspension outer cylinder, a magnetic suspension inner cylinder, an outer cylinder magnetic component and an inner cylinder magnetic component; the outer cylinder magnetic component is arranged on the magnetic suspension outer cylinder, the inner cylinder magnetic component is arranged on the magnetic suspension inner cylinder, the magnetic suspension inner cylinder can be suspended in the magnetic suspension outer cylinder under the interaction of the outer cylinder magnetic component and the inner cylinder magnetic component, and a bobbin passage is formed between the magnetic suspension outer cylinder and the magnetic suspension inner cylinder; the driving wheels and the driven wheels are arranged on the magnetic suspension outer cylinder, and one side of the profiling belts is located in the bobbin passage.

[0031] As preferred, the outer cylinder magnetic component and the inner cylinder magnetic component are respectively magnetic rings and / or magnetic blocks with the same polarity. In the variable embodiments, electromagnetic components can also be used to realize the magnetic suspension of the magnetic suspension inner cylinder.

[0032] The principle of the magnetic suspension-type mandrel mechanism is explained as follows: the secondary bobbin feeding mechanism of the automatic bobbin feeding mechanism opens the opening part of the folded bobbin and feeds the bobbin forward, and then the opening of the bobbin is sleeved on the inner cylinder of the magnetic suspension-type mandrel mechanism; then the profiling conveying mechanism is started, and the bobbin is continuously conveyed forward by the profiling belts until it is completely opened into a circular shape and finally conveyed to the head of the wire drawing machine.

[0033] As the preferred magnetic suspension type mandrel mechanism, the end of the magnetic suspension inner cylinder for sleeving the opening part of the winding cylinder is set as a flat cone or a cone; the secondary cylinder feeding mechanism opens the opening part of the folded winding cylinder to a state matching the flat cone or the cone through the up-and-down cylinder opening assembly; so as to facilitate the forward feeding and sleeving of the secondary cylinder feeding mechanism.

[0034] As the preferred magnetic suspension type mandrel mechanism, the end of the magnetic suspension inner cylinder for interfacing with the head of the wire drawing machine is provided with a permanent magnet, so as to facilitate the coaxial interfacing of the mandrel mechanism and the head of the wire drawing machine during the feeding of the cylinder.

[0035] The roller type mandrel mechanism comprises a roller type outer cylinder, a roller type inner cylinder and a plurality of straight line roller groups; a driving wheel and a driven wheel are arranged on the roller type outer cylinder, and one side of a profiled belt extends out of the inner wall of the roller type outer cylinder; the straight line roller groups are arranged on the roller type inner cylinder and the edges of the rollers extend out of the outer surface of the roller type inner cylinder; the profiled belt and the straight line roller groups are opposite in direction and the same in extension direction; the roller type inner cylinder is arranged in the roller type outer cylinder and is supported by the profiled belt.

[0036] As the preferred roller type mandrel mechanism, the straight line roller group comprises a plurality of straight line rollers, and the straight line rollers are arranged in a straight line.

[0037] The principle of the roller type mandrel mechanism is explained as follows: after the secondary cylinder feeding mechanism of the automatic cylinder feeding mechanism opens the opening part of the folded winding cylinder, the winding cylinder is fed forward, and the opened winding cylinder is sleeved on the inner cylinder of the roller type mandrel mechanism; then the profiled conveying mechanism is started, and the winding cylinder is continuously conveyed forward by the profiled belt until the winding cylinder is fully opened into a circle and is finally conveyed to the head of the wire drawing machine.

[0038] As the preferred roller type mandrel mechanism, the end of the roller type inner cylinder for sleeving the opening part of the winding cylinder is set as a flat cone or a cone; the secondary cylinder feeding mechanism opens the opening part of the folded winding cylinder to a state matching the flat cone or the cone through the up-and-down cylinder opening assembly; so as to facilitate the forward feeding and sleeving of the secondary cylinder feeding mechanism.

[0039] The bullet type mandrel mechanism comprises a profiled mechanism support frame, a bullet type inner cylinder and a plurality of spiral roller groups; a driving wheel and a driven wheel are arranged on the profiled mechanism support frame; the spiral roller groups are arranged on the bullet type inner cylinder; and the bullet type inner cylinder is supported by a profiled belt.

[0040] As the preferred bullet type mandrel mechanism, the spiral roller group comprises a plurality of spiral rollers, and the spiral rollers are arranged in a spiral line.

[0041] The principle of the bullet-shaped mandrel mechanism is described as follows: the secondary feeding mechanism of the automatic feeding mechanism opens the opening part of the folded wire winding drum and feeds the drum forward, and the opened opening part of the wire winding drum is placed on the inner drum of the bullet-shaped mandrel mechanism; then the profiling conveying mechanism is started, and the wire winding drum is continuously conveyed forward by the profiling belt until it is fully opened into a circular shape and finally conveyed to the head of the wire drawing machine.

[0042] As a preferred bullet-shaped mandrel mechanism, one end of the bullet-shaped inner drum used to place the opening part of the wire winding drum is provided in a flat conical or conical shape; the secondary feeding mechanism opens the opening part of the folded wire winding drum to a state matching the flat conical or conical shape by the upper and lower drum opening assemblies; so as to facilitate the forward feeding and sleeving of the secondary feeding mechanism.

[0043] The control method of the various mandrel type mechanical hands capable of automatically sleeving the wire winding drum of the head includes the following steps:

[0044] STEP01, automatic feeding and drum opening and sleeving step: the lifting drive part of the lifting feeding group automatically feeds the drum; the push-pull drive part of the primary feeding mechanism translates the folded wire winding drum between the upper and lower drum opening assemblies; the upper and lower drum opening assemblies of the secondary feeding mechanism tightly hold the wire winding drum from the upper and lower surfaces of the wire winding drum and open the opening part of the wire winding drum; the feeding drive part of the secondary feeding mechanism drives the feeding frame to feed forward so that the wire winding drum is sleeved on the mandrel mechanism;

[0045] STEP02, automatic drum supporting and drum feeding step: the profiling belt of the profiling conveying mechanism drives the wire winding drum to be conveyed forward between the inner drum of the mandrel mechanism and the profiling belt, and simultaneously completes the supporting and feeding of the wire winding drum.

[0046] Beneficial technical effects:

[0047] 1. The application adopts a lifting material table to store the folded wire winding drum, and a rodless pressure maintaining cylinder to realize the step-by-step feeding of the folded wire winding drum; the mechanical hand can carry multiple wire winding drums and perform automatic feeding, which helps to avoid the reciprocating motion of the mechanical hand between the wire drawing machine and the storage rack when taking the drum, and ensures the efficiency of drum feeding.

[0048] 2、The upper tube process disclosed in the application can be synchronized between multiple processes, such as the lifting material table can immediately deliver the next winding tube upward after the one-level tube feeding mechanism completes the push-pull translation of one winding tube; the one-level tube feeding mechanism can immediately push-pull the next winding tube after delivering one winding tube to the up-down tube opening assembly of the two-level tube feeding mechanism; the two-level tube feeding mechanism can immediately suck and open the next winding tube after sleeving one winding tube onto the mandrel mechanism; the winding tube supporting process can be synchronized with the winding tube conveying and upper tube process; when the mandrel profiling conveying mechanism is feeding winding tube to the head, the material on the feeding position of the lifting material table, the one-level tube feeding mechanism and the two-level tube feeding mechanism is already ready; during the process of the mandrel profiling conveying mechanism feeding winding tube to the head, the two-level tube feeding mechanism can continue to feed winding tube to the mandrel profiling conveying mechanism, and can immediately feed winding tube to the head when the whole machine moves to the next drawing machine that needs to feed winding tube; in actual work, the robot whole machine moves continuously in front of the drawing machine wire, the mandrel mechanism and the head are coaxially connected, and the mandrel profiling conveying mechanism immediately feeds winding tube to the head, without any delay in between, until all the winding tube feeding work is completed.

[0049] 3、The application completes the winding tube supporting, conveying and upper tube work through the cooperation of the mandrel mechanism and the profiling conveying mechanism, and the supporting, conveying and upper tube actions are synchronized, compared with the device and process that the winding tube can be fed only after being supported, the application has the technical effects of short upper tube time and high efficiency.

[0050] The technical solutions and technical effects of the application are described in detail in combination with the drawings and specific embodiments of the application. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1 : Structure diagram of automatic tube feeding mechanism;

[0052] Figure 2 : Front view of automatic tube feeding mechanism;

[0053] Figure 3 : Side view of automatic tube feeding mechanism;

[0054] Figure 4 : Top view of automatic tube feeding mechanism;

[0055] Figure 5 : Structure diagram of profiling conveying mechanism;

[0056] Figure 6 : Structure exploded view of magnetic suspension type mandrel mechanism;

[0057] Figure 7 : Whole machine assembly drawing of magnetic suspension type mandrel mechanism;

[0058] Figure 8 : Structure diagram of bullet type mandrel mechanism;

[0059] Figure 9 :Roller type mandrel mechanism structure exploded view;

[0060] (1) Magnetic suspension type mandrel mechanism icon description:

[0061] 1 - Mandrel mechanism;

[0062] 11 - Magnetic suspension outer cylinder, 12 - Magnetic suspension inner cylinder, 13 - Outer cylinder magnetic component, 14 - Inner cylinder magnetic component;

[0063] (2) Roller type mandrel mechanism icon description:

[0064] 10 - Mandrel mechanism;

[0065] 110 - Roller type outer cylinder, 120 - Roller type inner cylinder, 130 - Linear roller group;

[0066] (3) Bullet type mandrel mechanism icon description:

[0067] 100 - Mandrel mechanism;

[0068] 1010 - Profiling mechanism support frame, 1020 - Bullet type inner cylinder, 1030 - Spiral roller group.

[0069] (4) Profiling conveying mechanism icon description:

[0070] 20 - Profiling conveying mechanism, 210 - Drive soft shaft, 220 - Soft shaft motor, 230 - Profiling belt, 240 - Driving wheel, 260 - Driven wheel;

[0071] (5) Automatic feeding mechanism icon description:

[0072] 30 - Automatic feeding mechanism, 40 - Manipulator chassis;

[0073] 310 - Lifting feeding group, 320 - First level feeding mechanism, 330 - Second level feeding mechanism;

[0074] 3110 - Lifting drive component, 3120 - Lifting workbench, 3130 - Lifting guide column, 3140 - Limiting component;

[0075] 3210 - Wire winding cylinder push-pull plate, 3220 - Push-pull drive component, 3230 - Push-pull plate guide rod;

[0076] 3211 - Horizontal part, 3212 - Vertical part;

[0077] 3310 - Feeding cylinder frame, 3320 - Feeding cylinder drive component, 3330 - Upper cylinder opening assembly, 3340 - Lower cylinder opening assembly, 3350 - Feeding cylinder frame guide rod;

[0078] 3331 - Cylinder opening air cylinder, 3332 - Cylinder opening suction cup. Detailed Implementation

[0079] Component naming rules: In this application, the use of ordinal numbers such as first-level and second-level numbers and the marking method of function + name, such as push-pull cylinder, delivery cylinder, etc., to name related components or assemblies is only to distinguish similar components or assemblies with the same structure or function, and does not imply that related components or assemblies have a priority or importance in terms of function or structure, and should not be construed as a limitation of this application.

[0080] Directional instructions: Please refer to Figure 7 In this application, the end where the automatic feeding mechanism 30 is located is considered the rear, and the end where the contour conveying mechanism 20 is located is considered the front.

[0081] This application discloses a mandrel-type robotic arm capable of automatically mounting the winding bobbin at the machine head, comprising an automatic bobbin feeding mechanism and a mandrel contouring conveying mechanism; the mandrel contouring conveying mechanism comprises a mandrel mechanism and a contouring conveying mechanism. The mandrel mechanism mainly has three implementation schemes: a bullet-type mandrel mechanism, a magnetically levitated mandrel mechanism, and a roller-type mandrel mechanism; the automatic bobbin feeding mechanism and the contouring conveying mechanism used in conjunction with these three mandrel mechanisms have the same structure and function. The automatic bobbin feeding mechanism and the contouring conveying mechanism will be described first, followed by descriptions of the three mandrel mechanisms respectively.

[0082] Please see Figures 1 to 4 The mandrel-type robotic arm disclosed in this application, capable of automatically mounting the winding bobbin, includes an automatic bobbin feeding mechanism 30, a mandrel contouring conveying mechanism, a robotic arm chassis 40, and a traveling mechanism. The automatic bobbin feeding mechanism 30 and the mandrel contouring conveying mechanism are both mounted on the robotic arm chassis 40, and the traveling mechanism is used to drive the robotic arm chassis 40 to move.

[0083] To automate the loading of the wire drawing machine head onto the bobbin, the mandrel-type robotic arm needs to be capable of reciprocating motion along the XYZ axes. An existing AGV platform or an XYZ three-axis drive system can be used as the walking mechanism in this application. The robotic arm chassis 40 is mounted on the AGV platform or XYZ three-axis drive system to achieve the overall machine's walking drive. The walking mechanism is existing technology and will not be described in detail here.

[0084] The automatic feeding mechanism 30 includes a lifting and feeding group 310, a primary feeding mechanism 320, and a secondary feeding mechanism 330.

[0085] The lifting and feeding group 310 is used to complete the pressure-holding lifting and progressive feeding of the folded wire winding cylinder. The first-stage feeding mechanism 320 is used to transfer the folded wire winding cylinder from the lifting and feeding group 310 to the second-stage feeding mechanism 330. The second-stage feeding mechanism 330 is used to open the opening of the folded wire winding cylinder and convey it to the mandrel contouring conveying mechanism.

[0086] Wherein: the lifting feeding group 310 is in a way of air cylinder pressure holding to pop clamp type pressure holding progressive feeding of the bobbin; the first level bobbin feeding mechanism 320 feeds one folded bobbin per translation, and the lifting feeding group 310 feeds the next folded bobbin upward.

[0087] The lifting feeding group 310 includes a lifting driving part 3110, a lifting table 3120, a lifting guide column 3130, and a limiting part 3140. The lifting driving part 3110 is drivingly connected to the lifting table 3120. The lifting driving part 3110 and the lifting guide column 3130 are arranged on the mechanical hand chassis 40 and extend in the vertical direction; the limiting part 3140 is arranged at the top of the lifting guide column 3130. The lifting driving part 3110 is a rodless lifting cylinder, and the lifting table 3120 is arranged on the lifting slide of the rodless lifting cylinder. The lifting table 3120 is provided with a corresponding structure such as a guide sleeve for matching the lifting guide column 3130.

[0088] The folded bobbin is in the shape of a square sheet and is stacked on the lifting table 3120. The rodless lifting cylinder realizes step-by-step pressure holding feeding of the folded bobbin through a throttle valve or a pressure holding valve. The lifting guide column 3130 is used to provide motion guidance for the lifting table 3120 to improve the stability of feeding, and the limiting part 3140 is used to limit the movement range of the lifting table 3120. Thus, the mechanical hand can carry multiple bobbins and perform automatic feeding, avoiding the reciprocating motion of the mechanical hand between the drawing machine and the bobbin storage rack when taking the bobbin.

[0089] The first level bobbin feeding mechanism 320 includes a bobbin push-pull plate 3210, a push-pull driving part 3220, and a push-pull plate guide rod 3230. The bobbin push-pull plate 3210 includes a horizontal part 3211 and a vertical part 3212. The horizontal part 3211 is used to accept driving force from the push-pull driving part 3220, and the vertical part 3212 is used to push or pull the bobbin from the edge of the folded bobbin. The push-pull driving part 3220 is a push-pull cylinder, which is drivingly connected to the horizontal part 3211. The push-pull plate guide rod 3230 is horizontally arranged to provide motion guidance for the bobbin push-pull plate 3210 to increase the stability of the push-pull action.

[0090] When the piston rod of the push-pull cylinder extends, it pushes the bobbin push-pull plate 3210 to the rear end of the lifting feeding position, and when the piston rod of the push-pull cylinder retracts, it pulls the bobbin push-pull plate 3210 and the bobbin to the front end of the lifting feeding position, i.e. between the upper bobbin opening assembly 3330 and the lower bobbin opening assembly 3340 of the second level bobbin feeding mechanism 330.

[0091] In the variable embodiments, the push-pull cylinder can also be arranged at the rear side of the lifting loading position; when the piston rod of the push-pull cylinder extends, the folded bobbin is pushed between the upper bobbin opening assembly 3330 and the lower bobbin opening assembly 3340; when the piston rod of the push-pull cylinder retracts, the bobbin push-pull plate 3210 is pulled to the rear end of the lifting loading position.

[0092] The secondary bobbin feeding mechanism 330 comprises a bobbin feeding frame 3310, a bobbin feeding driving component 3320, an upper bobbin opening assembly 3330, a lower bobbin opening assembly 3340, and a bobbin feeding frame guide rod 3350.

[0093] The bobbin feeding frame guide rod 3350 is horizontally arranged on the mechanical hand chassis 40 through a vertical column, and the bobbin feeding frame 3310 is slidingly connected to the bobbin feeding frame guide rod 3350 through a guide sleeve. The bobbin feeding driving component 3320 is a bobbin feeding cylinder arranged on the mechanical hand chassis 40 and drivingly connected to the bobbin feeding frame 3310. The upper bobbin opening assembly 3330 and the lower bobbin opening assembly 3340 are respectively arranged at the upper and lower parts of the bobbin feeding frame 3310 and are opposite to each other.

[0094] The upper bobbin opening assembly 3330 and the lower bobbin opening assembly 3340 each comprise a bobbin opening cylinder 3331 and a bobbin opening suction disc 3332, and the bobbin opening cylinder 3331 is drivingly connected to the bobbin opening suction disc 3332. The upper and lower bobbin opening suction discs 3332 face each other to simultaneously suck the bobbin from the upper and lower sides of the folded bobbin, and the extension and retraction directions of the upper and lower bobbin opening cylinders 3331 are opposite to each other to simultaneously retract the two piston rods to open the opening part of the folded bobbin.

[0095] Since the secondary bobbin feeding mechanism 330 needs to feed the bobbin to the sleeve part of the mandrel profiling conveying mechanism after opening the opening part of the folded bobbin, the opening degree of the opening part of the folded bobbin by the upper bobbin opening assembly 3330 and the lower bobbin opening assembly 3340 depends on the shape and structure of the sleeve part of the mandrel profiling conveying mechanism; in the variable embodiments of the present application, the sleeve part of the mandrel profiling conveying mechanism can be a flat cone, an elliptical horn structure or a circular cone, etc.; correspondingly, the upper and lower bobbin opening assemblies open the folded bobbin into a corresponding structure that matches the shape, position and size of the sleeve part.

[0096] The secondary bobbin feeding mechanism is described as follows: the upper and lower bobbin opening assemblies simultaneously suck the bobbin from the upper and lower sides of the folded bobbin, and then the bobbin opening cylinder drives the bobbin opening suction disc to open the opening part of the folded bobbin; then the bobbin feeding driving component 3320 drives the bobbin feeding frame 3310 to feed the opened bobbin to the sleeve part of the mandrel profiling conveying mechanism.

[0097] Thus, the automatic feeding mechanism 30 can carry multiple folding wire winding tubes and realize the automatic feeding of the wire winding tube through the cylinder pressure-keeping technology. The first-stage feeding mechanism 320 can translate the top folding wire winding tube from the feeding position of the lifting material table 3120 to the feeding position of the second-stage wire feeding mechanism 330, i.e., between the upper and lower tube opening assemblies. The second-stage wire feeding mechanism 330 can open the opening part of the folding wire winding tube and feed it forward to the mandrel profiling conveying mechanism. Then, the mandrel profiling conveying mechanism completes the conveying, supporting and feeding of the wire winding tube.

[0098] Therefore, since the automatic feeding mechanism 30 can carry multiple wire winding tubes and realize the automatic feeding, the mandrel type mechanical hand disclosed in the application can avoid the reciprocating motion between the wire drawing machine and the storage rack when the mechanical hand takes the wire winding tube, which helps to ensure the efficiency of the feeding.

[0099] The mandrel profiling conveying mechanism includes a mandrel mechanism and a profiling conveying mechanism 20. The profiling conveying mechanism 20 is used to provide the driving force for supporting, conveying and feeding the wire winding tube, and the mandrel mechanism is used to form a mandrel passing through the middle of the wire winding tube to cooperate with the profiling conveying mechanism 20 to complete the automatic synchronous supporting, conveying and feeding of the wire winding tube.

[0100] Please refer to Figure 5 The profiling conveying mechanism 20 includes a driving flexible shaft 210, a flexible shaft motor 220, a plurality of profiling belts 230, a plurality of driving wheels 240 and a plurality of driven wheels 260. The profiling belts 230 are arranged on the driving wheels 240 and the driven wheels 260. The driving flexible shaft 210 is connected to the driving wheels 240. The flexible shaft motor 220 is drivingly connected to the driving flexible shaft 210.

[0101] When the flexible shaft motor 220 rotates, it can simultaneously drive multiple profiling belts 230 through the flexible shaft linkage, and then generate the driving force for supporting, conveying and feeding the wire winding tube through the interaction between the profiling belts 230 and the wire winding tube. When the wire winding tube is driven by the profiling belts 230, it is conveyed forward along the mandrel mechanism with a circular structure to finally complete the supporting and feeding actions synchronously.

[0102] The profiling belt is used in a mechanical transmission system to transmit according to a specific profile or shape. The design of such a belt allows it to adapt to different mechanical structures and motion trajectories, thereby improving the efficiency and accuracy of transmission. The cross section of the belt can be designed in a specific shape such as a circle, a trapezoid or a special profile to adapt to different transmission applications. The profiling belt 230 in the application has a cross-sectional structure that matches the arc of the wire winding tube to ensure the efficiency of the transmission, supporting and feeding of the wire winding tube.

[0103] First preferred embodiment: mandrel type mechanical hand composed of magnetic levitation mandrel mechanism

[0104] Please refer toFigure 6 and Figure 7 The mandrel mechanism 1 comprises a magnetic suspension outer cylinder 11, a magnetic suspension inner cylinder 12, an outer cylinder magnetic component 13, and an inner cylinder magnetic component 14. The outer cylinder magnetic component 13 is arranged on the magnetic suspension outer cylinder 11, the inner cylinder magnetic component 14 is arranged on the magnetic suspension inner cylinder 12, and the magnetic suspension inner cylinder 12 can be suspended in the magnetic suspension outer cylinder 11 under the interaction of the outer cylinder magnetic component 13 and the inner cylinder magnetic component 14, and a winding cylinder passage is formed between the magnetic suspension outer cylinder 11 and the magnetic suspension inner cylinder 12.

[0105] The magnetic suspension outer cylinder 11 is arranged on the mechanical hand chassis 40 through a support structure, and a plurality of belt grooves for assembling the profiling conveying mechanism 20 are arranged on the magnetic suspension outer cylinder 11. The driving wheel 240 and the driven wheel 260 are arranged on the magnetic suspension outer cylinder 11, the profiling belt 230 is located in the belt groove, and one side of the profiling belt 230 is located in the winding cylinder passage. The outer cylinder magnetic component 13 and the inner cylinder magnetic component 14 are both magnetic rings with the same polarity. In a variable embodiment, the magnetic suspension of the inner cylinder can also be realized by using electromagnetic components.

[0106] Principle of the magnetic suspension mandrel mechanism: After the opening part of the folded winding cylinder is opened by the secondary cylinder feeding mechanism 330 of the automatic cylinder feeding mechanism 30, the winding cylinder is fed forward, the opened opening of the winding cylinder is sleeved on the inner cylinder of the magnetic suspension mandrel mechanism, and then the profiling conveying mechanism 20 is started, and the winding cylinder is continuously conveyed forward by the profiling belt 230 until the winding cylinder is fully opened into a circular shape and finally conveyed to the head of the wire drawing machine.

[0107] In a variable embodiment, one end of the magnetic suspension inner cylinder 12 for sleeving the opening part of the winding cylinder is arranged in a flat conical or conical shape; the secondary cylinder feeding mechanism 330 opens the opening part of the folded winding cylinder into a state matching the flat conical or conical shape through the up-down cylinder opening assembly; so as to facilitate the forward feeding and sleeving of the secondary cylinder feeding mechanism 330.

[0108] In a variable embodiment, one end of the magnetic suspension inner cylinder 12 for butt joint with the head of the wire drawing machine is provided with a permanent magnet, so as to facilitate the coaxial butt joint of the mandrel mechanism and the head of the wire drawing machine during cylinder loading.

[0109] Second preferred embodiment: mandrel type mechanical hand composed of bullet type mandrel mechanism

[0110] Please refer to Figure 8 The mandrel mechanism 100 comprises a profiling mechanism support frame 1010, a bullet type inner cylinder 1020, and a plurality of spiral roller groups 1030. The driving wheel 240 and the driven wheel 260 are arranged on the profiling mechanism support frame 1010, and the spiral roller groups 1030 are arranged on the bullet type inner cylinder 1020. The bullet type inner cylinder 1020 is supported by the profiling belt 230. The spiral roller groups 1030 comprise a plurality of spiral rollers arranged in spiral lines.

[0111] Bullet type mandrel mechanism principle: the second level of the automatic feeding mechanism 30 of the tube mechanism 330 will open the opening part of the folding wire tube and then forward the tube, the opening of the wire tube is placed on the inner tube of the bullet type mandrel mechanism; Further, the profiled conveying mechanism 20 is started, and the wire tube is continuously conveyed forward by the profiled belt 230 until it is fully opened into a circular shape and finally conveyed to the head of the wire drawing machine.

[0112] In a variable embodiment, the end of the bullet type inner tube 1020 used to place the opening part of the wire tube is set as a flat cone or a cone; the second level of the tube mechanism 330 opens the opening part of the folded wire tube to match the flat cone or cone state through the up and down tube opening assembly; to facilitate the forward tube and sleeve of the second level of the tube mechanism 330.

[0113] In a variable embodiment, the end of the bullet type inner tube 1020 used to interface with the head of the wire drawing machine is provided with a permanent magnet to facilitate the coaxial interface of the mandrel mechanism and the head of the wire drawing machine when the tube is up.

[0114] This embodiment not only can automatically complete the wire tube opening and tube up operation, but also the spiral roller group 1030 is arranged along the spiral on the bullet type inner tube 1020, and the wire tube rotates according to the spiral direction when it is conveyed forward around the mandrel under the drive of the profiled belt 230, so that it rotates around the bullet type inner tube 1020 while conveying forward along the axis direction of the bullet type inner tube 1020; which is conducive to improving the wire tube opening quality and ensuring the tube up efficiency. At the same time, it can also change the stress part of the wire tube continuously, avoiding the long-term stress of the local wire tube.

[0115] Third preferred embodiment: mandrel type mechanical hand composed of roller type mandrel mechanism

[0116] Please refer to Figure 9 , the mandrel mechanism 10 includes a roller type outer tube 110, a roller type inner tube 120, a plurality of straight line roller groups 130; the driving wheel 240 and the driven wheel 260 are arranged on the roller type outer tube 110, one side of the profiled belt 230 extends out of the inner wall of the roller type outer tube 110; the straight line roller group 130 is arranged on the roller type inner tube 120 and the edge of the roller extends out of the outer surface of the roller type inner tube 120; the profiled belt 230 and the straight line roller group 130 are opposite and have the same extension direction; the roller type inner tube 120 is arranged in the roller type outer tube 110 and is supported by the profiled belt 230. The straight line roller group 130 includes a plurality of straight line rollers, and the plurality of straight line rollers are arranged in a straight line.

[0117] Roller core mechanism principle description: the second level of the automatic feeding mechanism 30 tube mechanism 330 will open the folding wire tube opening site and then forward tube, the wire tube opening set in the inner tube of the roller core mechanism; Further profiling delivery mechanism 20 start, through the profiling belt 230 will continue to forward wire tube delivery until all open into a circular and ultimately delivered to the head of the drawing machine.

[0118] In the changing embodiment, the end of the roller inner tube 120 used to set the opening part of the wire tube is set as a flat cone or a cone; The second level of the tube mechanism 330 opens the opening part of the folded wire tube to match the flat cone or the cone state through the upper and lower tube opening assembly; To facilitate the forward tube and sleeve of the second level of the tube mechanism 330.

[0119] In the changing embodiment, the end of the roller inner tube 120 used to and the head of the drawing machine is provided with a permanent magnet to facilitate the coaxial docking of the core mechanism and the head of the drawing machine when the tube is put on.

[0120] The control method of the core type mechanical hand capable of automatically sleeving the head wire tube is described below. For simplicity of description, the lifting drive part 3110 of the lifting feeding group 310 is a rodless lifting cylinder, the push-pull drive part 3220 of the first level of the tube mechanism 320 is a push-pull cylinder, the tube drive part of the second level of the tube mechanism 330 is a tube cylinder, and the drive part of the upper and lower tube opening assembly is a tube opening cylinder.

[0121] The control method of the core type mechanical hand capable of automatically sleeving the head wire tube includes the following process steps:

[0122] S01, under the pressure maintaining state of the rodless lifting cylinder, the lifting feeding group 310 starts to work;

[0123] S02, the push-pull cylinder of the first level of the tube mechanism 320 starts to work, and the folded wire tube is moved forward to the specified position, i.e. the position between the upper and lower tube opening assemblies;

[0124] S03, the upper and lower tube opening assemblies 3330 and 3340 of the second level of the tube mechanism 330 work, and the vacuum generator starts to work;

[0125] S04, the upper and lower tube opening cylinders act simultaneously to open the opening part of the wire tube;

[0126] S05, the tube cylinder of the second level of the tube mechanism 330 feeds forward to set the opening part of the wire tube on the core mechanism;

[0127] S06, the upper and lower tube opening cylinders are reversed to blow away, so that the upper and lower tube opening suction cups are separated from the wire tube;

[0128] S07, the whole machine moves, the mandrel mechanism and the head of the wire drawing machine to be put on the cylinder are coaxial;

[0129] S08, the profiling conveying mechanism is started, the profiling belt drives the wire winding cylinder to be conveyed forward between the inner cylinder of the mandrel mechanism and the profiling belt, and the supporting and putting on of the wire winding cylinder are completed synchronously.

[0130] The automatic putting-on cylinder process of the mandrel type mechanical hand can be summarized as:

[0131] STEP01, the automatic feeding and opening sleeve step, the lifting driving part of the lifting feeding group automatically feeds the sleeve; the push-pull driving part of the first level feeding mechanism moves the folded wire winding cylinder between the upper opening assembly and the lower opening assembly; the upper opening assembly and the lower opening assembly of the second level feeding mechanism respectively suck the wire winding cylinder from the upper and lower surfaces of the wire winding cylinder and open the opening part of the wire winding cylinder; the feeding driving part of the second level feeding mechanism drives the feeding frame to feed forward so that the wire winding cylinder is sleeved on the mandrel mechanism;

[0132] STEP02, the automatic supporting and putting-on cylinder step, the profiling belt of the profiling conveying mechanism drives the wire winding cylinder to be conveyed forward between the inner cylinder of the mandrel mechanism and the profiling belt, and the supporting and putting-on of the wire winding cylinder are completed synchronously.

[0133] Therefore, the mandrel mechanism and the profiling conveying mechanism 20 can automatically and synchronously complete the supporting, conveying and putting-on of the wire winding cylinder. Since the supporting, conveying and putting-on actions are performed synchronously, compared with the equipment and process that the wire winding cylinder is supported first and then put on, the application has the technical effects of short putting-on time and high efficiency.

[0134] The technical solutions and technical effects of the application are described in detail above in combination with the drawings and specific embodiments of the specification. It should be noted that other embodiments can be developed by those skilled in the art on the basis of this application; any simple modification and equivalent replacement without departing from the innovative concept of the application are covered by the application and belong to the protection scope of the application.

Claims

1. A mandrel type mechanical hand capable of automatically sleeving a head winding drum, characterized in that: it comprises an automatic feeding mechanism (30) and a mandrel profiling conveying mechanism; the automatic feeding mechanism (30) is used to automatically feed the mandrel profiling conveying mechanism; the mandrel profiling conveying mechanism comprises a mandrel mechanism (1; 10; 100) and a profiling conveying mechanism (20); the mandrel mechanism (1; 10; 100) is used to form a mandrel for supporting and sleeving a drum, and the profiling conveying mechanism (20) is used to provide driving force for supporting and sleeving a drum; the mandrel profiling conveying mechanism can automatically and synchronously complete the work of supporting and sleeving a drum through the cooperation of the mandrel mechanism (1; 10; 100) and the profiling conveying mechanism (20).

2. The mandrel type mechanical hand capable of automatically sleeving a head winding drum according to claim 1, characterized in that: the profiling conveying mechanism (20) comprises a driving flexible shaft (210), a flexible shaft motor (220), a plurality of profiling belts (230), a plurality of driving wheels (240), and a plurality of driven wheels (260); the profiling belts (230) are arranged on the driving wheels (240) and the driven wheels (260), the driving flexible shaft (210) is connected to the driving wheels (240), and the flexible shaft motor (220) is drivingly connected to the driving flexible shaft (210).

3. The mandrel type mechanical hand capable of automatically sleeving a head winding drum according to claim 2, characterized in that: the mandrel mechanism (1) is a magnetic suspension type mandrel mechanism comprising a magnetic suspension outer drum (11), a magnetic suspension inner drum (12), an outer drum magnetic component (13), and an inner drum magnetic component (14); the outer drum magnetic component (13) is arranged on the magnetic suspension outer drum (11), the inner drum magnetic component (14) is arranged on the magnetic suspension inner drum (12), the magnetic suspension inner drum (12) can be suspended in the magnetic suspension outer drum (11) under the interaction of the outer drum magnetic component (13) and the inner drum magnetic component (14), and a winding drum passage is formed between the magnetic suspension outer drum (11) and the magnetic suspension inner drum (12); the driving wheels (240) and the driven wheels (260) are arranged on the magnetic suspension outer drum (11), and one side of the profiling belts (230) is located in the winding drum passage.

4. The mandrel type mechanical hand capable of automatically sleeving a head winding drum according to claim 3, characterized in that: the outer drum magnetic component (13) and the inner drum magnetic component (14) are respectively magnetic rings and / or magnetic blocks with the same polarity.

5. The mandrel type mechanical hand capable of automatically sleeving a head winding drum according to claim 2, characterized in that: the mandrel mechanism (10) is a roller type mandrel mechanism comprising a roller type outer drum (110), a roller type inner drum (120), and a plurality of straight line roller groups (130); the driving wheels (240) and the driven wheels (260) are arranged on the roller type outer drum (110), and one side of the profiling belts (230) extends out of the inner wall of the roller type outer drum (110). ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The straight line roller group (130) is arranged on the roller inner cylinder (120) and the edges of the rollers extend out of the outer surface of the inner cylinder (120); The orientation of the profiling belt (230) and the straight line roller group (130) is opposite and the extension direction is the same; The roller inner cylinder (120) is arranged in the roller outer cylinder (110) and is supported by the profiling belt (230).

6. The mandrel type mechanical hand capable of automatically sleeving a machine head winding cylinder according to claim 5, characterized in that: The straight line roller group (130) comprises a plurality of straight line rollers arranged in a straight line.

7. The mandrel type mechanical hand capable of automatically sleeving a machine head winding cylinder according to claim 2, characterized in that: The mandrel mechanism (100) is a bullet type mandrel mechanism comprising a profiling mechanism support frame (1010), a bullet type inner cylinder (1020), and a plurality of spiral roller groups (1030); The driving wheel (240) and the driven wheel (260) are arranged on the profiling mechanism support frame (1010); The spiral roller group (1030) is arranged on the bullet type inner cylinder (1020); The bullet type inner cylinder (1020) is supported by the profiling belt (230).

8. The mandrel type mechanical hand capable of automatically sleeving a machine head winding cylinder according to claim 7, characterized in that: The spiral roller group (1030) comprises a plurality of spiral rollers arranged in a spiral line.

9. The mandrel type mechanical hand capable of automatically sleeving a machine head winding cylinder according to claim 1, characterized in that: The automatic cylinder feeding mechanism (30) comprises a lifting feeding group (310), a primary cylinder feeding mechanism (320), and a secondary cylinder feeding mechanism (330); The lifting feeding group (310) comprises a lifting driving component (3110) and a lifting feeding table (3120); The primary cylinder feeding mechanism (320) comprises a winding cylinder push-pull plate (3210) and a push-pull driving component (3220); The secondary cylinder feeding mechanism (330) comprises a cylinder feeding frame (3310), a cylinder feeding driving component (3320), an upper cylinder opening assembly (3330), and a lower cylinder opening assembly (3340).

10. The mandrel type mechanical hand capable of automatically sleeving a machine head winding cylinder according to claim 9, characterized in that: The lifting feeding group (310) comprises a lifting driving component (3110) and a lifting feeding table (3120); The primary cylinder feeding mechanism (320) comprises a winding cylinder push-pull plate (3210) and a push-pull driving component (3220); The secondary cylinder feeding mechanism (330) comprises a cylinder feeding frame (3310), a cylinder feeding driving component (3320), an upper cylinder opening assembly (3330), and a lower cylinder opening assembly (3340).

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