Multi-spinning-cake yarn unloading manipulator and yarn unloading system

Abstract

The utility model relates to a multi-spinning-cake yarn unloading manipulator and a yarn unloading system. The opposite sides of two rows of wire drawing machines are respectively provided with a group of yarn unloading manipulators; a passage is formed between the two groups of yarn unloading manipulators, more than two rotary trolleys are arranged at one end of the passage and are respectively positioned at a loading position and an unloading position, the rotary trolleys can rotate, and yarn trolleys are placed on the rotary trolleys; the two groups of yarn unloading manipulators are arranged in parallel, and each group of yarn unloading manipulators is used for collecting yarns of the wire drawing machine on the corresponding side and placing the yarns on the rotary trolley at the loading position; and after the rotary trolley at the loading position is filled with the yarns, the rotary trolley moves to the unloading position to unload the yarns, and meanwhile, the empty rotary trolley moves to the loading position from the unloading position. The two sets of yarn unloading manipulators correspond to the two rows of wire drawing machines correspondingly, yarn unloading operation can be conducted on the two sides at the same time, and the overall yarn unloading efficiency is improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of yarn making equipment, and particularly relates to a multi-silk cake yarn unloading mechanical hand and a yarn unloading system. BACKGROUND

[0002] The core problem of the yarn unloading mechanical hand is the yarn unloading rhythm. The silk cake of a wire drawing machine is drawn for six to ten minutes, and one yarn unloading mechanical hand needs to consider 6-10 wire drawing machines. Therefore, whether the yarn unloading efficiency and the scheduling rhythm of the yarn unloading mechanical hand are reasonable becomes the key to meeting the production rhythm requirement.

[0003] In the actual production environment, the old line kiln passage spacing is narrow, and the traditional process arrangement mode is difficult to meet the installation requirement of the yarn unloading mechanical hand. Therefore, a yarn unloading mechanical hand is needed to adapt to the narrow passage mechanical hand arrangement and meet the use requirement of the new kiln under the premise of ensuring the yarn unloading efficiency. CONTENT OF THE INVENTION

[0004] In view of the above analysis, the embodiments of the application aim to provide a multi-silk cake yarn unloading mechanical hand and a yarn unloading system to solve at least one of the above technical problems in the prior art.

[0005] The purpose of the application is achieved as follows:

[0006] On one hand, a multi-silk cake yarn unloading mechanical hand is provided, which comprises a track mechanism, a walking mechanism, a rotating mechanism, a lifting mechanism and a lifting mechanism. The track mechanism is connected to the workshop main frame, the walking mechanism is connected to the track mechanism, the walking mechanism can move on the track mechanism, the rotating mechanism is connected to the walking mechanism, the lifting mechanism is connected to the rotating mechanism, the lifting mechanism is connected to the lifting mechanism, the lifting mechanism is used to lift the rotating mechanism, and the rotating mechanism is used to drive the lifting mechanism to rotate.

[0007] Further, the walking mechanism comprises a walking frame, a linear guide rail one, a linear guide rail two, a sliding block, a walking motor, a transmission shaft, a walking roller, a limiting roller, a gear and a rotating shaft. Four groups of walking rollers are respectively installed at four corner ends of the walking frame, and the walking rollers can rotate along the rotating shaft. The walking roller is provided in the specification ZSU240786CN

[0008] On the track mechanism, four groups of limiting rollers are fixed on the walking frame and can roll along the inner wall of the track mechanism. The walking motor is fixed on the walking frame and is connected with the gears on both sides through the transmission shaft. The gears are meshed with the racks on the inner side of the track mechanism. The walking motor can drive the walking mechanism to move along the track mechanism. The inner side of the walking frame is provided with the linear guide rail one, the linear guide rail two and four groups of sliding blocks arranged in parallel, which are used to fix the rotating mechanism. The rack is arranged in parallel below the linear guide rail two.

[0009] Further, the track mechanism comprises a track one, a track two, a rack and a leg, the two parallel tracks one and two are fixed on the main frame of the workshop in a hanging manner through the legs, the inside of the track one is provided with the rack, and the moving position can be controlled through the walking motor on the walking mechanism.

[0010] Further, the rotating mechanism comprises a rotating frame, a driving motor, a driving gear, a rotating motor and a rotating bearing, the driving motor is fixed on the rotating frame, the driving gear is fixed on the shaft end of the driving motor, the rotating frame is fixed on the sliding block of the walking mechanism through bolts, the driving gear is engaged with the rack on the walking mechanism, the upper end of the rotating bearing is fixed on the rotating frame, the rotating motor is fixed on the fixed end of the rotating bearing, and when the rotating motor rotates, the rotating end of the rotating bearing can rotate.

[0011] Further, the lifting mechanism comprises a lifting frame, a lifting motor, a linear guide three and a linear guide four, the lifting frame is fixed on the rotating end of the rotating bearing, the linear guide three and the linear guide four are fixed on the two sides of the lifting frame respectively and are parallel to each other, two groups of sliding blocks are respectively arranged on each linear guide, the lifting motor is fixed on the lifting frame, the lifting mechanism is fixedly connected with the two groups of sliding blocks, the lifting motor is connected with the lifting mechanism through a chain transmission assembly, and the lifting motor can drive the lifting mechanism to ascend and descend along the linear guide three and the linear guide four.

[0012] Further, the lifting mechanism further comprises a brake and a buffer, the brake is connected with the lifting motor and is used for controlling the stop and retention of the lifting motor, and the buffer is installed at the bottom of the lifting frame and is used for reducing the impact force when the lifting mechanism descends to the lowest position.

[0013] Further, the safety protection device is further arranged around the lifting mechanism.

[0014] Further, the safety protection device comprises at least one of a bumping touch edge, a laser sensor, a laser radar and a warning light.

[0015] Further, the lifting mechanism comprises a mounting plate, a linear guide five, a bottom plate, a linear guide six,

[0016] Description ZSU240786CN

[0017] The telescopic motor one, the telescopic motor two, the yarn unloading base, the electric push rod one, the electric push rod two, the supporting tray one, the supporting tray two and the fixed seat; two groups of linear guide rails five are arranged in parallel on the same surface of the mounting plate, two groups of sliding blocks one are arranged on each group of linear guide rails five, the output shaft of the telescopic motor one is connected with the gear one through the mounting plate, the bottom plate is provided with a rack one, and the rack one is engaged with the gear one; two groups of linear guide rails six and a rack two are arranged on the other surface of the bottom plate, and the linear guide rails six and the rack two are arranged in parallel, two groups of sliding blocks two are arranged on each group of linear guide rails six, the output shaft of the telescopic motor two is connected with the gear two through the yarn unloading base, the yarn unloading base is fixed with the sliding blocks two, and the rack two is engaged with the gear two; the supporting tray one and the supporting tray two are fixed on the supporting tray bottom plate one and the supporting tray bottom plate two respectively, the yarn unloading base is provided with four linear bearings, two guide shafts are connected below the supporting tray bottom plate one and the supporting tray bottom plate two, the guide shafts are inserted into the linear bearings, the electric push rod one and the electric push rod two are fixed on the yarn unloading base and connected with the supporting tray bottom plate one and the supporting tray bottom plate two respectively, the lifting mechanism is fixed on the four groups of sliding blocks of the lifting mechanism, and the fixed seat is fixedly connected with the two ends of the chain of the chain transmission assembly.

[0018] Further, the lifting mechanism further includes a temporary storage bracket, a temporary storage supporting tray one, a temporary storage supporting tray two, a weighing sensor, a visual detector and a laser sensor; the temporary storage bracket is fixed on the mounting plate, the temporary storage supporting tray two is fixed on the cantilever of the temporary storage bracket, one end of the weighing sensor is fixed on the front end of the cantilever of the temporary storage bracket, the temporary storage supporting tray one is fixed on the other end of the weighing sensor, the temporary storage supporting tray one is flush with the temporary storage supporting tray two in height, and the visual detector is installed on the front end of the cantilever of the temporary storage bracket and below the temporary storage supporting tray one.

[0019] Further, the power control unit is used for controlling the operation of the motors in the walking mechanism, the rotating mechanism, the lifting mechanism and the lifting mechanism, so as to realize various actions of the yarn unloading manipulator.

[0020] On the other hand, a multi-filament cake yarn unloading system is provided, which includes a rotating trolley and the multi-filament cake yarn unloading manipulator; the multi-filament cake yarn unloading manipulator includes two groups, one group of multi-filament cake yarn unloading manipulators is arranged on the opposite side of each row of wire drawing machines; a passage is formed between the two groups of multi-filament cake yarn unloading manipulators, and two or more rotating trolleys are arranged at one end of the passage and located at a loading position and an unloading position respectively, the rotating trolleys are rotatable, and the rotating trolleys are provided with yarn carts; the two groups of multi-filament cake yarn unloading manipulators are arranged in parallel, each group of multi-filament cake yarn unloading manipulators is used for collecting yarns of the wire drawing machines on the corresponding side and placing the yarns on the rotating trolleys at the loading position.

[0021] When the rotating trolley at the loading position is full of yarns, the rotating trolley is moved to the unloading position to unload the yarns, and at the same time, the empty rotating trolley is moved from the unloading position to the loading position.

[0022] Compared with the prior art, the multi-filament cake yarn unloading mechanical hand and the yarn unloading system provided by the application can at least realize one of the following beneficial effects:

[0023] 1. By arranging two groups of yarn unloading mechanical hands corresponding to two rows of wire drawing machines respectively, simultaneous yarn unloading operation on both sides is realized, and the overall yarn unloading efficiency is improved. The two groups of mechanical hands can work in parallel, thereby reducing the waiting time of the wire drawing machines for yarn unloading, and improving the overall production rhythm of the production line.

[0024] 2. The flexible switching of the rotating trolley between the loading position and the unloading position ensures the seamless connection of the yarn unloading and loading processes. When the rotating trolley at the loading position is full of yarn, it can quickly move to the unloading position for yarn unloading, while the empty rotating trolley timely supplements to the loading position, so that the entire yarn unloading process forms an efficient cycle, further improving the work efficiency.

[0025] 3. The parallel arrangement of the two groups of yarn unloading mechanical hands reasonably utilizes the space of the workshop, effectively covers the wire drawing machines in the limited space, and avoids the space conflict between the mechanical hands and other equipment. This layout makes the space layout of the workshop more compact and reasonable, which is conducive to the maintenance of the equipment and the operation of the personnel.

[0026] 4. The arrangement of the rotating trolley reduces the occupation of the ground space of the workshop. The yarn car is placed on the rotating trolley, and the loading and unloading are realized through the rotation and movement of the trolley. Compared with the traditional fixed yarn car position or complex handling method, a large amount of space is saved, the passageway of the workshop is more smooth, and the personnel walking and the passage of other equipment are facilitated. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present specification or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments described in the present specification, and other drawings can also be obtained by those skilled in the art based on these drawings.

[0028] Figure 1 Process position arrangement schematic of the yarn unloading system provided by the application Figure One ;

[0029] Description ZSU240786CN

[0030] Figure 2 Process position arrangement schematic of the yarn unloading system provided by the application Figure Two ;

[0031] Figure 3 Structural schematic of the multi-filament cake yarn unloading mechanical hand provided by the application

[0032] Figure 4 Structure diagram of the walking mechanism of the multi-filament cake yarn unloading manipulator provided in the present application Figure One ;

[0033] Figure 5 Structure diagram of the walking mechanism of the multi-filament cake yarn unloading manipulator provided in the present application Figure Two ;

[0034] Figure 6 Structure diagram of the rotation mechanism of the multi-filament cake yarn unloading manipulator provided in the present application Figure One ;

[0035] Figure 7 Structure diagram of the rotation mechanism of the multi-filament cake yarn unloading manipulator provided in the present application Figure Two ;

[0036] Figure 8 Structure diagram of the lifting mechanism of the multi-filament cake yarn unloading manipulator provided in the present application Figure One ;

[0037] Figure 9 Structure diagram of the lifting mechanism of the multi-filament cake yarn unloading manipulator provided in the present application Figure Two ;

[0038] Figure 10 Structure diagram of the lifting mechanism of the multi-filament cake yarn unloading manipulator provided in the present application Figure One ;

[0039] Figure 11 Structure diagram of the lifting mechanism of the multi-filament cake yarn unloading manipulator provided in the present application Figure Two .

[0040] Reference signs:

[0041] 10, yarn unloading manipulator; 11, rotation trolley; 12, wire drawing machine;

[0042] 20, rotation mechanism; 201, rotation frame; 202, driving motor; 203, rotation motor; 204, rotation bearing;

[0043] 30, walking mechanism; 301, walking frame; 302, walking roller; 303, limiting roller; 304, transmission shaft; 305, linear guide rail I; 306, linear guide rail II; 307, walking motor;

[0044] 40, lifting mechanism; 401, lifting motor; 402, lifting frame; 403, upper sprocket; 404, lower sprocket; 405, linear guide rail III; 406, linear guide rail IV;

[0045] 50, lifting mechanism; 501, mounting plate; 502, linear guide rail five; 503, linear guide rail six; 504, telescopic motor one; 505, electric push rod one; 506, electric push rod two; 507, linear bearing; 508, guide shaft; 509, temporary storage tray one; 510, temporary storage tray two; 511, temporary storage bracket; 512, weighing sensor; 513, laser sensor; 514, visual detector; 515, tray bottom plate one; 516, tray bottom plate two; 518, tray one; 519, tray two; 520, yarn unloading base; 521, telescopic motor two; 522, fixed seat;

[0046] 60, safety protection device; 61, power control unit; 62, track one; 63, track two.

[0047] Description ZSU240786CN DETAILED DESCRIPTION

[0048] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. It should be explained that the embodiments in the present disclosure and the features in the embodiments can be combined, separated, interchanged, and / or rearranged without conflict, if possible. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present application.

[0049] In the drawings, the size and relative size of components can be exaggerated for clarity and / or descriptive purposes. When the exemplary embodiments can be implemented differently, a specific process sequence can be performed in an order different from that described. For example, two consecutively described processes can be performed substantially simultaneously or in an order opposite to that described. In addition, the same reference numerals represent the same components.

[0050] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, to the extent that the terms "including," "includes," "having," "has," "with," or variants thereof are used in either the detailed description and / or the claims, such terms are intended to be inclusive in a manner similar to the term "comprising." It is also noted that, as used herein, the terms "substantially," "approximately," and other similar terms are used as terms of approximation and not as terms of degree, such that they are utilized to account for inherent deviations in measurements, calculations, and / or the like that would be recognized by those of ordinary skill in the art.

[0051] One embodiment of the present application, as shown in Figures 1-2 illustrates an unwinding system, which includes a rotating trolley and a multi-filament cake unwinding manipulator (which can be referred to as an unwinding manipulator 10), the unwinding manipulator 10 includes two groups, one group of unwinding manipulators 10 is arranged on the opposite side of each row of drawing machines 12; a passageway is formed between the two groups of unwinding manipulators 10, and two or more rotating trolleys are arranged at one end of the passageway.

[0052] 11, respectively, at the loading position and the unloading position, the rotating trolley 11 is rotatable, and a yarn trolley is placed on the rotating trolley 11. The two groups of unwinding manipulators 10 are arranged in parallel, each group of unwinding manipulators 10 is used to collect the yarn of the corresponding side of the drawing machine 12, and place the yarn on the rotating trolley 11 at the loading position; when the rotating trolley 11 at the loading position is full of yarn, it moves to the unloading position to unload the yarn, at the same time, the empty rotating trolley 11 moves from the unloading position to the loading position.

[0053] The two groups of unwinding manipulators 10 are respectively located on the opposite sides of the two rows of drawing machines 12, and the rotating trolley 11 at one end of the passageway receives the yarn collected by one group of unwinding manipulators 10 from the drawing machine 12 at the loading position, and moves to the unloading position to unload the yarn after being full, while the empty rotating trolley 11 moves to the loading position. The simultaneous unwinding of the double-sided drawing machine 12 is realized, and the overall efficiency is improved; the rotating trolley 11 ensures seamless connection between unwinding and loading; the space utilization is optimized, which is convenient for equipment maintenance and personnel operation; the equipment load is balanced, which prolongs the service life; and it is suitable for different production rhythms of the drawing machine 12.

[0054] Another embodiment of the present application is also disclosed, which specifically discloses a multi-filament cake unwinding manipulator, as shown in Figures 3-11As shown, the yarn unloading robot 10 includes a track mechanism, a walking mechanism 30, a rotating mechanism 20, a lifting mechanism 40, and a lifting mechanism 50. The track mechanism is connected to the main frame of the workshop. The walking mechanism 30 is connected to the track mechanism and can move on the track mechanism. The rotating mechanism 20 is connected to the walking mechanism 30. The lifting mechanism 40 is connected to the rotating mechanism 20. The lifting mechanism 50 is connected to the lifting mechanism 40. The lifting mechanism 40 is used to lift the rotating mechanism 20. The rotating mechanism 20 is used to rotate the lifting mechanism 40.

[0055] In this embodiment, the track mechanism provides support and movement track for other mechanisms. The walking mechanism 30 moves on the track mechanism to achieve position adjustment. The rotating mechanism 20 drives the lifting mechanism 40 to rotate to change the direction of the lifting mechanism 50. The lifting mechanism 40 controls the height of the lifting mechanism 50. The lifting mechanism 50 grabs and places the yarn cake. The mechanisms work together to enable the yarn unloading robot 10 to accurately reach different positions and complete the yarn unloading action, improving the flexibility and accuracy of yarn unloading, and adapting to different layouts and work requirements of the wire drawing machine 12 production line.

[0056] In some embodiments, the walking mechanism 30 includes a walking frame 301, a linear guide rail one 305, a linear guide rail two 306, a sliding block, a walking motor 307, a transmission shaft 304, a walking roller 302, a limiting roller 303, a gear, and a rotating shaft. Four sets of walking rollers 302 are respectively installed at the four corner ends of the walking frame 301 and can rotate along the rotating shaft. The walking roller 302 is arranged on the track mechanism. Four sets of limiting rollers 303 are fixed on the walking frame 301 and can roll along the inner wall of the track mechanism. The walking motor 307 is fixed on the walking frame 301 and is connected to the gears on both sides through the transmission shaft 304. The gears are engaged with the racks on the inner side of the track mechanism. The walking motor 307 can drive the walking mechanism 30 to move along the track mechanism by rotating. The inner side of the walking frame 301 is provided with the linear guide rail one 305, the linear guide rail two 306, and four sets of sliding blocks arranged in parallel, which are used to fix the rotating mechanism 20. A rack is arranged in parallel below the linear guide rail two 306.

[0057] The walking motor 307 drives the gears to rotate through the transmission shaft 304. The gears are engaged with the racks on the inner side of the track mechanism to drive the walking rollers 302 to move on the track. The walking rollers 302 can rotate and the limiting rollers 303 together ensure stable walking. The linear guide rails and the sliding blocks are used to fix the rotating mechanism 20 and enable it to move with the walking mechanism 30. This realizes smooth and accurate movement of the yarn unloading robot 10 on the track, enables quick positioning to the corresponding positions of the wire drawing machine 12 and the yarn car, improves the yarn unloading efficiency, and provides stable support and movement basis for the rotating mechanism 20 and the like.

[0058] The walking motor 307 drives the gears to rotate through the transmission shaft 304. The gears are engaged with the racks on the inner side of the track mechanism to drive the walking rollers 302 to move on the track. The walking rollers 302 can rotate and the limiting rollers 303 together ensure stable walking. The linear guide rails and the sliding blocks are used to fix the rotating mechanism 20 and enable it to move with the walking mechanism 30. This realizes smooth and accurate movement of the yarn unloading robot 10 on the track, enables quick positioning to the corresponding positions of the wire drawing machine 12 and the yarn car, improves the yarn unloading efficiency, and provides stable support and movement basis for the rotating mechanism 20 and the like.

[0059] The track mechanism comprises a track one 62, a track two 63, a rack and a leg. The two parallel tracks one 62 and track two 63 are fixed on the workshop main frame in a hanging manner through a plurality of legs. The track one 62 is internally provided with a rack, and the moving position can be controlled through the walking motor 307 on the walking mechanism 30. The track one 62 and the track two 63 are hung on the workshop main frame through the legs to form a stable structure. The internal rack of the track one 62 cooperates with the walking mechanism 30 to control the moving position. A reliable installation foundation and moving guide are provided to ensure the stability of the overall structure of the yarn unloading manipulator 10, so that each mechanism can normally operate, and the installation height and other parameters can be easily adjusted according to the actual situation of the workshop.

[0060] The rotating mechanism 20 comprises a rotating frame 201, a driving motor 202, a driving gear, a rotating motor 203 and a rotating bearing 204. The driving motor 202 is fixed on the rotating frame 201. The driving gear is fixed on the shaft end of the driving motor 202. The rotating frame 201 is fixed to the sliding block of the walking mechanism 30 through bolts. The driving gear is engaged with the rack on the walking mechanism 30. The upper end of the rotating bearing 204 is fixed to the rotating frame 201. The rotating motor 203 is fixed to the fixed end of the rotating bearing 204. When the rotating motor 203 rotates,

[0061] Description ZSU240786CN

[0062] The rotating end of the rotating bearing 204 is driven to rotate. The driving motor 202 drives the driving gear to rotate. The driving gear is engaged with the rack on the walking mechanism 30, so that the rotating frame 201 moves along the linear guide rail. The rotating motor 203 drives the rotating end of the rotating bearing 204 to rotate, so as to change the direction of the lifting mechanism 40 and the lifting mechanism 50. The precise motion control of the yarn unloading manipulator 10 in the horizontal and vertical directions is realized. The position and angle of the lifting mechanism 50 can be flexibly adjusted. The yarn cake can be accurately grabbed and placed. The drawing machine 12 and the yarn car in different positions and directions are adapted.

[0063] The lifting mechanism 40 comprises a lifting frame 402, a lifting motor 401, a linear guide rail three 405 and a linear guide rail four 406. The lifting frame 402 is fixed on the rotating end of the rotating bearing 204 through bolts. The linear guide rail three 405 and the linear guide rail four 406 are respectively fixed on the two sides of the lifting frame 402 and are parallel to each other. Two groups of sliding blocks are respectively arranged on each linear guide rail. The lifting motor 401 is fixed on the upper position of the lifting frame 402. The lifting mechanism 50 is fixedly connected with the two groups of sliding blocks of the lifting mechanism 40. The lifting motor 401 is connected with the lifting mechanism 50 through a chain transmission assembly, so as to drive the lifting mechanism 50 to ascend and descend along the linear guide rail three 405 and the linear guide rail four 406.

[0064] Specifically, the chain transmission assembly includes an upper chain wheel 403, a chain, and a lower chain wheel 404; the output end of the lifting motor 401 is connected with the upper chain wheel 403, the upper chain wheel 403 is arranged between the two legs of the lifting frame 402, and the lower chain wheel 404 is arranged at a lower position of the lifting frame 402; the upper chain wheel 403 and the lower chain wheel 404 are driven by the chain.

[0065] Further, the lifting mechanism 40 further includes a brake connected with the lifting motor 401 for controlling the stopping and holding of the lifting motor 401, and a buffer installed at the bottom of the lifting frame 402 for reducing the impact force when the lifting mechanism 50 is lowered to the lowest position.

[0066] The lifting motor 401 drives the upper chain wheel 403 to rotate, and the lower chain wheel 404 is synchronously rotated through the chain transmission, so as to realize the lifting of the lifting mechanism 50 along the two slide rails; the brake controls the stopping and holding of the lifting motor 401, and the buffer reduces the impact of the lowering of the lifting mechanism 50. The lifting height of the lifting mechanism 50 is accurately controlled, so as to ensure the smooth transfer of the cheese between the drawing machine 12 and the creel at different heights; the brake improves the safety and stability of the equipment operation, and the buffer protects the equipment from impact damage.

[0067] In some embodiments, the multi-filament cheese unloading manipulator further includes a safety protection device 60 arranged around the lifting mechanism 50.

[0068] The safety protection device 60 is distributed around the lifting mechanism 50 and monitors the surrounding environment to ensure the safety of personnel and equipment during the cheese unloading process, prevent accidents such as collisions, reduce the risk of equipment damage and personnel injury, and improve the safety of the production environment.

[0069] For example, the safety protection device 60 includes at least one of a collision prevention touch edge, a laser sensor device, a laser radar, and a warning light. The collision prevention touch edge triggers a signal when it contacts an object, the laser sensor device and the laser radar detect the distance and position of the surrounding objects by emitting and receiving signals, and the warning light issues an alarm in dangerous situations. Various safety protection means work together to improve the reliability and comprehensiveness of safety protection, timely remind the operator and control the equipment action, avoid safety accidents, and ensure the smooth progress of the production process.

[0070] In some embodiments, the lifting mechanism 50 comprises a mounting plate 501, linear guide rails five 502, sliders one, racks one, a bottom plate, linear guide rails six 503, sliders two, racks two, telescopic motor one 504, telescopic motor two 521, a yarn unloading base 520, electric push rods one 505, electric push rods two 506, guide shafts 508, carrier trays one 518, carrier trays two 519, a temporary storage bracket 511, temporary storage carrier trays one 509, temporary storage carrier trays two 510, a weighing sensor 512, a visual detector 514, a fixed seat 522, gears one, gears two, linear bearings 507, carrier tray bottom plates one 515, carrier tray bottom plates two 516, pin shafts, and a laser sensor 513. Two groups of linear guide rails five 502 are arranged in parallel on the same side of the mounting plate 501, each group of linear guide rails five 502 comprises two groups of sliders one, the telescopic motor one 504 is mounted on the other side of the mounting plate 501, the output shaft of the telescopic motor one 504 passes through the through hole on the mounting plate 501 and is connected with the gears one, the racks one are mounted on the bottom plate, two groups of linear guide rails six 503 and the racks two are mounted on the other side of the bottom plate, and the linear guide rails six 503 are arranged in parallel with the racks two, each group of linear guide rails six 503 comprises two groups of sliders two, the telescopic motor two 521 is mounted on the yarn unloading base 520, the output shaft of the telescopic motor two 521 passes through the through hole on the yarn unloading base 520 and is connected with the gears two, the side of the bottom plate on which the racks one are mounted is connected with the sliders one, so that the racks one are engaged with the gears one, the yarn unloading base 520 is fixed with the sliders two, so that the racks two are engaged with the gears two, the temporary storage bracket 511 is fixed on the mounting plate 501, the temporary storage carrier trays two 510 are fixed on the cantilever of the temporary storage bracket 511, one end of the weighing sensor 512 is fixed on the front end of the cantilever of the temporary storage bracket 511, the temporary storage carrier trays one 509 are fixed on the other end of the weighing sensor 512, the temporary storage carrier trays one 509 and the temporary storage carrier trays two 510

[0071] Description ZSU240786CN

[0072] The highly flush visual detector 514 is installed at the front end of the temporary storage bracket 511 cantilever and below the temporary storage tray 509, the tray 518 and the tray 519 are fixed on the tray bottom plate 515 and the tray bottom plate 516 respectively through the pin shaft, the four linear bearings 507 are fixed on the yarn unloading base 520, two guide shafts 508 are connected below the tray bottom plate 515, two guide shafts 508 are also connected below the tray bottom plate 516, the guide shaft 508 is inserted into the linear bearing 507, the electric push rod 505 and the electric push rod 506 are fixed on the yarn unloading base 520, the rod end penetrates through the through hole of the yarn unloading base 520 and is connected with the tray bottom plate 515 and the tray bottom plate 516 respectively, the fixed seat 522 is installed on the mounting plate 501 and is on the same side with the telescopic motor 504, the lifting mechanism 50 is fixed on the four groups of sliding blocks of the lifting mechanism 40 through bolts, the two ends of the chain of the lifting mechanism 40 are fixed on the fixed seat 522, the lifting motor 401 rotates to drive the chain to rotate, thereby driving the lifting mechanism 50 to lift.

[0073] The telescopic motor 504 rotates to drive the gear 1, the gear 1 is engaged with the rack 1 installed on the bottom plate, so that the bottom plate is extended or retracted along the direction of the linear guide rail 5 02. Similarly, the telescopic motor 2 521 rotates to drive the gear 2, which is engaged with the rack 2 to drive the yarn unloading base 520 to move along the direction of the linear guide rail 6 503, thereby realizing the extension or retraction operation. The electric push rod 505 and the electric push rod 506 are fixed on the yarn unloading base 520, and the rod end is connected with the tray bottom plate 515 and the tray bottom plate 516. The push rod is extended to push the tray bottom plate to rise, thereby driving the tray 518 and the tray 519 to rise; the push rod is retracted, the tray bottom plate is lowered, thereby realizing the lifting of the tray 518 and the tray 519, which is used for yarn cake grabbing and placing. The temporary storage bracket 511 is fixed on the mounting plate 501, the temporary storage tray 2 510 is on the cantilever, one end of the weighing sensor 512 is connected with the front end of the cantilever, the temporary storage tray 1 509 is on the other end of the sensor and flush with the temporary storage tray 2 510. When the yarn is unloaded, the yarn cake can be hung on the temporary storage tray 1 509, the weighing sensor 512 measures the weight and transmits the data. The visual detector 514 is below the front end of the cantilever of the temporary storage bracket 511, which is used to compare the position difference between the center of the yarn cart marker and the center of the yarn cake before placing the yarn cake, thereby assisting the mechanical hand to fine-tune the position. The tray 518 and the tray 519 are rotatable and fixed on the tray bottom plate through the pin shaft, the guide shaft 508 below the tray bottom plate is inserted into the linear bearing 507 of the yarn unloading base 520. In the face of different diameter yarn cakes, the tray can be rotated and adjusted under the action of the guide shaft 508 and the linear bearing 507, thereby adapting to the shape of the yarn cake and stably grabbing and placing.

[0074] In some embodiments, a power control unit 61 is further included, and the power control unit 61 is used to control the description ZSU240786CN

[0075] The operation of each motor in the traveling mechanism 30, the rotating mechanism 20, the lifting mechanism 40 and the lifting mechanism 50 is performed to realize various actions of the yarn unloading manipulator 10. The automation and intelligent control of the yarn unloading manipulator 10 can be realized, the mechanisms can work coordinately, the yarn unloading task can be accurately completed according to a predetermined process, the production efficiency is improved, the difficulty and labor intensity of manual operation are reduced, and flexible adjustment can be made according to actual production conditions.

[0076] In summary, the overall yarn unloading process of the present application is as follows:

[0077] When the drawing machine 12 is full, a full barrel signal is received, and the yarn unloading manipulator 10 is moved to the position corresponding to the drawing machine 12 through the coordinated action of the traveling mechanism 30, the rotating mechanism 20 and the lifting mechanism 40;

[0078] The telescopic motor one 504 and the telescopic motor two 521 act to drive the support tray to extend and move to the lower end of the full barrel cake of the drawing machine 12, then the electric push rod one 505 and the electric push rod two 506 extend to make the support tray rise to the specified position, then the telescopic motor one 504 and the telescopic motor two 521 act again to drive the support tray to drive the two barrel cakes to be collected to the specified position;

[0079] The electric push rod two 506 is retracted to make the support tray one 518 descend, at this time, the No. 2 barrel cake on the support tray one 518 is hung on the temporary storage support tray one 509, the weighing sensor 512 records the weight of the No. 2 barrel cake and transmits it to the system, then the electric push rod two 506 extends to lift the No. 2 barrel cake to the specified position, at this time, both electric push rods are in the extended state, and the yarn taking action is completed;

[0080] The yarn unloading manipulator 10 moves to the position corresponding to the creel, first, the laser sensor 513 is used to judge whether there is a barrel cake in the corresponding yarn position, if there is a barrel cake, it is moved to the next yarn position, if there is no barrel cake in the current yarn position, the visual detector 514 works to compare the center position difference between the marker on the creel and the center position of the barrel cake on the manipulator, and the position of the manipulator is finely adjusted to make the two centers aligned;

[0081] The telescopic motor two 521 acts to drive the yarn unloading base 520 to drive the support tray one 518 and the support tray two 519 to extend, at the same time, the two barrel cakes follow the support tray to extend, after extending to the specified position, the electric push rod one 505 and the electric push rod two 506 are retracted, the No. 2 barrel cake falls on the yarn position of the creel, the No. 1 barrel cake moves to the outside and falls on the temporary storage support tray one 509, at this time, the weighing sensor 512 records the weight of the No. 1 barrel cake and transmits it to the system;

[0082] The telescopic motor two 521 acts to drive the yarn unloading base 520 to drive the support tray one 518 and the support tray two 519

[0083] Description ZSU240786CN

[0084] After the yarn is collected, the electric push rod one 505 and the electric push rod two 506 are extended to the designated position, the first yarn cake is lifted from the temporary storage tray one 509 by the first tray 518, and the yarn unloading manipulator 10 moves to the next yarn position to repeat the fourth step;

[0085] The telescopic motor two 521 is actuated to drive the yarn unloading base 520 to drive the first tray 518 and the second tray 519 to extend, and at the same time, the first yarn cake is extended with the first tray 518, and after being extended to the designated position, the electric push rod one 505 and the electric push rod two 506 are retracted, and then the telescopic motor two 521 is actuated to drive the yarn unloading base 520 to retract;

[0086] If there is a full can signal of other wire drawing machines 12, the yarn unloading manipulator 10 repeats the above-mentioned actions, and if there is no current yarn unloading task, the manipulator returns to the standby position to wait.

[0087] Compared with the prior art, the multi-yarn cake yarn unloading manipulator and the yarn unloading system provided by the embodiment can achieve the following beneficial effects:

[0088] 1. By arranging two groups of yarn unloading manipulators corresponding to two rows of wire drawing machines, simultaneous yarn unloading operation on both sides is realized, and the overall yarn unloading efficiency is improved. The two groups of manipulators can work in parallel, reducing the time for the wire drawing machines to wait for yarn unloading, thereby improving the overall production rhythm of the production line. For example, when a wire drawing machine on one side is full, the corresponding yarn unloading manipulator can timely perform yarn unloading operation, and the manipulator on the other side can also simultaneously perform work on the wire drawing machines in its responsible area, without interference, greatly improving the continuity of production.

[0089] 2. The flexible switching of the rotating trolley between the loading position and the unloading position ensures seamless connection between the yarn unloading and loading processes. When the rotating trolley at the loading position is full of yarn, it can quickly move to the unloading position for yarn unloading, and the empty rotating trolley timely supplements to the loading position, so that the entire yarn unloading process forms an efficient cycle, further improving the work efficiency.

[0090] 3. The parallel arrangement of the two groups of yarn unloading manipulators reasonably utilizes the space in the workshop. In a limited space, effective coverage of the wire drawing machines is achieved, and space conflicts between the manipulators and other equipment are avoided. This layout makes the space layout of the workshop more compact and reasonable, which is conducive to equipment maintenance and personnel operation.

[0091] 4. The rotating trolley reduces the occupation of the ground space in the workshop. The yarn car is placed on the rotating trolley, and loading and unloading are realized through rotation and movement of the trolley. Compared with the traditional fixed yarn car position or complex handling mode, a large amount of space is saved, making the workshop passage more unobstructed, facilitating personnel walking and passage of other equipment.

[0092] The above detailed description is merely descriptive of the application and specific embodiments thereof. It is not intended as a limitation on the scope of the application. Modifications of the application, as will be obvious to those skilled in the art, are intended to be within the scope of the application.

Claims

1. A multi-filament cake yarn unloading robot characterized by, The rail mechanism, the walking mechanism, the rotating mechanism, the lifting mechanism and the lifting mechanism are included. The rail mechanism is connected to the main frame of the workshop, the walking mechanism is connected to the rail mechanism, the walking mechanism can move on the rail mechanism, the rotating mechanism is connected to the walking mechanism, the lifting mechanism is connected to the rotating mechanism, and the lifting mechanism is used for lifting the rotating mechanism.

2. The multi-filament cake de-spooling mechanical hand of claim 1, wherein, The walking mechanism includes a walking frame, a linear guide rail one, a linear guide rail two, a sliding block, a walking motor, a transmission shaft, a walking roller, a limiting roller, a gear and a rotating shaft. Four groups of the walking rollers are respectively installed at four corner ends of the walking frame, and the walking rollers can rotate along the rotating shaft. The walking rollers are arranged on the rail mechanism. Four groups of the limiting rollers are fixed on the walking frame and can roll along the inner wall of the rail mechanism. The walking motor is fixed on the walking frame and connected with the gears on both sides through the transmission shaft. The gears are engaged with the racks on the inner side of the rail mechanism. The walking motor can drive the walking mechanism to move along the rail mechanism. The inner side of the walking frame is provided with the linear guide rail one, the linear guide rail two and four groups of the sliding blocks arranged in parallel, which are used for fixing the rotating mechanism. The racks are arranged in parallel below the linear guide rail two.

3. The multi-filament cake de-spooling mechanical hand of claim 1, wherein, The rail mechanism includes a rail one, a rail two, a rack and a supporting leg. Two parallel rails one and two are fixed on the main frame of the workshop by a plurality of supporting legs in a hanging manner. The inner side of the rail one is provided with a rack, and the moving position can be controlled by the walking motor on the walking mechanism.

4. The multi-filament cake de-spooling mechanical hand of claim 1, wherein, The rotating mechanism includes a rotating frame, a driving motor, a driving gear, a rotating motor and a rotating bearing. The driving motor is fixed on the rotating frame. The driving gear is fixed on the shaft end of the driving motor. The rotating frame is fixed on the sliding block of the walking mechanism by bolts. The driving gear is engaged with the rack on the walking mechanism. The upper end of the rotating bearing is fixed on the rotating frame. The rotating motor is fixed on the fixed end of the rotating bearing. When the rotating motor rotates, the rotating end of the rotating bearing can rotate.

5. The multi-filament cake de-spooling mechanical hand of claim 1, wherein, The lifting mechanism includes a lifting frame, a lifting motor, a linear guide rail three and a linear guide rail four. The lifting frame is fixed on the rotating end of the rotating bearing. The linear guide rail three and the linear guide rail four are respectively fixed on the two sides of the lifting frame and parallel to each other. Two groups of sliding blocks are respectively arranged on each linear guide rail. The lifting motor is fixed on the lifting frame. The lifting mechanism is fixedly connected with the two groups of sliding blocks. The lifting motor is connected with the lifting mechanism through a chain transmission assembly, which can drive the lifting mechanism to rise and fall along the linear guide rail three and the linear guide rail four.

6. The multi-filament cake de-spooling mechanical hand of claim 5, wherein, The lifting mechanism further comprises a brake connected with the lifting motor for controlling the stop and holding of the lifting motor, and a buffer installed at the bottom of the lifting frame for reducing the impact force when the lifting mechanism is lowered to the lowest position.

7. The multi-filament cake yarn unloading robot of claim 1 wherein, The lifting mechanism is further provided with a safety protection device.

8. The multi-filament cake de-spooling mechanical hand of claim 7, wherein, The safety protection device comprises at least one of a bumping touch edge, a laser sensor, a laser radar and a warning light.

9. The multi-filament cake yarn unloading robot of claim 1 wherein, The lifting mechanism comprises a mounting plate, five linear guides, a bottom plate, six linear guides, a rack two, a telescopic motor one, a telescopic motor two, a yarn unloading base, an electric push rod one, an electric push rod two, a support plate one, a support plate two and a fixing seat; two groups of the five linear guides are arranged in parallel on the same side of the mounting plate, each group of the five linear guides is provided with two groups of sliding blocks one, the output shaft of the telescopic motor one is connected with a gear one through the mounting plate, the bottom plate is provided with a rack one, and the rack one is engaged with the gear one; two groups of the six linear guides and the rack two are installed on the other side of the bottom plate, and the six linear guides and the rack two are arranged in parallel, each group of the six linear guides is provided with two groups of sliding blocks two, the output shaft of the telescopic motor two is connected with a gear two through the yarn unloading base, the yarn unloading base is fixed with the sliding blocks two, and the rack two is engaged with the gear two; the support plate one and the support plate two are fixed on support plate bottom one and support plate bottom two respectively, the yarn unloading base is provided with four linear bearings, the support plate bottom one and the support plate bottom two are both connected with two guide shafts below, the guide shafts are inserted into the linear bearings, the electric push rod one and the electric push rod two are fixed on the yarn unloading base and connected with the support plate bottom one and the support plate bottom two respectively, the lifting mechanism is fixed on four groups of sliding blocks of the lifting mechanism, and the fixing seat is fixedly connected with both ends of the chain of the chain transmission assembly.

10. The multi-filament cake de-spooling mechanical hand of claim 9, wherein, The lifting mechanism further comprises a temporary storage bracket, a temporary storage support plate one, a temporary storage support plate two, a weighing sensor, a visual detector and a laser sensor; the temporary storage bracket is fixed on the mounting plate, the temporary storage support plate two is fixed on the cantilever of the temporary storage bracket, one end of the weighing sensor is fixed on the front end of the cantilever of the temporary storage bracket, the temporary storage support plate one is fixed on the other end of the weighing sensor, the temporary storage support plate one is flush with the temporary storage support plate two in height, and the visual detector is installed on the front end of the cantilever of the temporary storage bracket and below the temporary storage support plate one.

11. The multi-filament cake yarn unloading robot of claim 1 wherein, A power control unit is further included, which is used for controlling the operation of each motor in the walking mechanism, the rotating mechanism, the lifting mechanism and the lifting mechanism, so as to realize the action of the yarn unloading manipulator.

12. An unwinding system characterized by, The multi-filament cake yarn unloading manipulator comprises two groups, and each group is arranged on the opposite side of one row of the wire drawing machine. Two groups of the multi-filament cake yarn unloading manipulator form a passage, and two or more rotating trolleys are arranged at one end of the passage and located at the loading position and the unloading position respectively, the rotating trolleys are rotatable, and the rotating trolleys are provided with yarn trolleys. ​ The multi-filament cake yarn unloading mechanical hands of the two groups are arranged in parallel, each group of the multi-filament cake yarn unloading mechanical hands is used for collecting yarns of the drawing frame on the corresponding side, and placing the yarns onto the rotary trolley on the loading position.

Images