Automatic yarn falling robot based on multi-joint mechanical arm for chemical fiber industry

Abstract

The utility model discloses an automatic doffing robot based on multi-joint mechanical arms for chemical fiber industry, which comprises a rack, a top transverse moving mechanism is arranged at the upper end of the rack, a first multi-joint mechanical arm is arranged on the top transverse moving mechanism, a bottom transverse moving mechanism is arranged at the lower end of the rack, and a second multi-joint mechanical arm is arranged on the bottom transverse moving mechanism. A third multi-joint mechanical arm and a fourth mechanical arm are arranged on the bottom transverse moving mechanism; the first multi-joint mechanical arm is provided with a plurality of joint arms and can rotate up and down in multiple sections, the third multi-joint mechanical arm can rotate in the horizontal direction and swing in the vertical direction, the first multi-joint mechanical arm can attract and guide filaments, and the fourth mechanical arm can open and close a filament spindle axial chuck. And the third multi-joint mechanical arm can be used for removing the silk spindle, replacing the paper tube and pulling the silk spindle shaft bracket. The four manipulators are adopted to replace manual operation, automatic doffing is carried out on the filament winding machine, labor intensity is reduced, and labor production efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of automatic silk falling robot based on multi-joint mechanical arm for long filament winding machine in chemical fiber industry, in particular to a kind of automatic silk falling robot based on multi-joint mechanical arm for chemical fiber industry. BACKGROUND

[0002] At present, in the production process of viscose filament in chemical fiber industry, the long filament winding machine spool is taken out and installed empty paper tube (commonly known as: silk falling), all using manual operation mode;Generally, about 140 more spools per long filament production machine, every four winding machines are a group;When the long filament winding machine spool is wound to a certain diameter;The operator first breaks the long filament, and sends the broken filament head to the suction device, to ensure that the long filament production does not stop;Next, the wound spool is taken off from the winding machine (silk falling), at the same time, an empty paper tube is replaced, and the paper tube is pressed onto the winding roller;Next, the long filament in the suction device is taken out by hand, and the long filament is pulled and wound onto the high-speed rotating paper tube through a complex path, thereby completing a silk falling process. Such silk falling process requires very skilled workers;Even if the operator is very skilled, the pulling silk failure phenomenon often occurs. The silk falling process is very tedious and requires professional training;At the same time, the operators engaged in silk falling work in the workshop account for a large part, which is laborious and time-consuming. SUMMARY

[0003] The technical problem to be solved by the utility model is to overcome the shortcomings of the prior art, and to provide an automatic silk falling robot based on multi-joint mechanical arm for chemical fiber industry.

[0004] The technical scheme of the utility model is:

[0005] An automatic silk falling robot based on multi-joint mechanical arm for chemical fiber industry, comprising a rack, a top transverse moving mechanism is arranged at the upper end of the rack, a first multi-joint mechanical arm is arranged on the top transverse moving mechanism, a bottom transverse moving mechanism is arranged at the lower end of the rack, a third multi-joint mechanical arm and a fourth mechanical arm are arranged on the bottom transverse moving mechanism;

[0006] The first multi-joint mechanical arm comprises at least two joint arms, adjacent joint arms are rotatably connected and driven to rotate by a joint drive reduction motor driving mechanism, the outer end of the outermost joint arm is provided with a first filament catcher, the first filament catcher can catch long filament and suck the long filament into a long filament temporary storage box;

[0007] The third multi-joint robotic arm includes a horizontally rotating turntable and at least two joint arms. The turntable is connected to the bottom lateral movement mechanism through a rotation mechanism and can rotate around a circumference through a rotation power mechanism. Adjacent joint arms are rotatably connected and rotated through a drive mechanism. The innermost joint arm is rotatably connected to the turntable and swings up and down through a swing power mechanism. The outermost joint arm has a chuck at its outer end through a connecting frame. The chuck can lift and lower the spindle support on the filament winding machine and can replace the spindle.

[0008] The fourth robotic arm includes a horizontally rotating disk and at least two articulated arms. The disk is rotatably connected to the bottom lateral movement mechanism via a rotation mechanism and can rotate around a circumference via a rotation power mechanism. Adjacent articulated arms are rotatably connected and rotated via a drive mechanism. The innermost articulated arm is rotatably connected to the disk and swings up and down via a swing power mechanism. The outermost articulated arm is provided with a spindle opening and closing chuck mechanism, which can open and close the spindle axial fixing chuck.

[0009] Alternatively, the fourth robotic arm includes a connecting plate, one end of which is connected to the connecting frame on the third multi-joint robotic arm, and the other end of which is provided with a spindle opening and closing chuck mechanism, which can open and close the release handle of the spindle axial fixing chuck.

[0010] Further: The top lateral moving mechanism includes a top guide rail pair and an upper moving seat. The top guide rail pair is disposed at the upper end of the frame and is slidably connected to the upper moving seat. The upper moving seat can move left and right along the top guide rail pair via an upper driving mechanism. The bottom lateral moving mechanism includes a bottom guide rail pair and a lower moving seat. The bottom guide rail pair is disposed at the bottom of the frame and is slidably connected to the lower moving seat. The lower moving seat can move left and right along the bottom guide rail pair via a lower driving mechanism.

[0011] Furthermore: A second multi-joint robotic arm is provided on the top lateral moving mechanism. The second multi-joint robotic arm includes at least two joint arms. Adjacent joint arms are rotatably connected and rotated by a drive mechanism. A second filament catcher is provided at the outer end of the outermost joint arm. The second filament catcher can catch long filaments and draw them into a filament storage box.

[0012] Furthermore, the spindle opening and closing release chuck mechanism includes an opening and closing motor and a chuck plate. The opening and closing motor can drive the chuck plate to rotate, thereby opening and closing the spindle chuck.

[0013] Furthermore, the pawls are in two sets, respectively located on both sides of the outermost joint arm. Each set of pawls includes two arc-shaped halves, which can open and close under power.

[0014] Furthermore: the first filament catcher is connected to the filament storage box through a filament guide tube, and a vacuum generator is installed on the filament guide tube, which is connected to a compressed air inlet.

[0015] Furthermore, the frame is equipped with a wire spindle storage rack and a paper tube storage rack, and all power mechanisms are connected to the controller.

[0016] Furthermore: the innermost joint arm of the first multi-joint robotic arm is rotatably connected to the top lateral movement mechanism and rotates through a drive mechanism; or, the innermost joint arm of the first multi-joint robotic arm is fixedly connected to the top lateral movement mechanism and does not swing up and down.

[0017] The beneficial effects of this utility model are:

[0018] 1. This utility model uses four multi-joint robotic arms to replace manual operation, automatically dropping the filament from the filament winding machine, reducing labor intensity and improving labor productivity.

[0019] 2. This utility model uses two wire catchers that can complement each other, ensuring that the filaments can be drawn into the wire catchers, thus laying the foundation for the next step of winding the filaments.

[0020] 3. This utility model adopts a third multi-joint robotic arm, which can lift and lower the spindle support, and at the same time remove the wound spindle and put it into the paper tube, which is convenient and quick.

[0021] 4. This utility model uses a fourth robotic arm, which can open and close the chuck of the spindle axial release handle on the spindle shaft support, thereby enabling the picking and placing of spindles.

[0022] 5. This utility model has a reasonable design and can automatically achieve yarn doffing, which is of great significance to the breakthrough and improvement of new quality productivity in my country's chemical fiber industry, as well as the advancement of industry automation technology and high-tech innovation direction and process technology. Attached Figure Description

[0023] Figure 1 This is a structural view of an automated yarn-feeding robot based on a multi-joint robotic arm used in the chemical fiber industry.

[0024] Figure 2 Another structural view of an automated yarn-feeding robot based on a multi-joint robotic arm for the chemical fiber industry;

[0025] Figure 3This is a side view of an automated doffing robot based on a multi-joint robotic arm for use in the chemical fiber industry.

[0026] Figure 4 This is a structural diagram of the extended robotic arm of an automated doffing robot based on a multi-joint robotic arm used in the chemical fiber industry.

[0027] Figure 5 This is a structural rendering of an automated yarn-feeding robot based on a multi-joint robotic arm for use in the chemical fiber industry. Detailed Implementation

[0028] Example 1: See Figures 1-5 In the figure: 1-First multi-joint robotic arm; 11-First filament catcher; 2-Second multi-joint robotic arm; 21-Second filament catcher; 3-Third multi-joint robotic arm; 4-Fourth robotic arm; 5-Frame; 51-Top lateral movement mechanism; 52-Bottom lateral movement mechanism; 6-Filament winding machine; 61-Spindle; 62-Winding roller; 63-Spindle axial chuck; 64-Spindle shaft support; 7-Filament temporary storage box; 8-Spindle temporary storage rack; 9-Paper tube temporary storage rack.

[0029] An automated fiber doffing robot based on a multi-joint robotic arm for the chemical fiber industry includes a frame 5, wherein: a top lateral movement mechanism 51 is provided at the upper end of the frame 5, a first multi-joint robotic arm 1 is provided on the top lateral movement mechanism 51, a bottom lateral movement mechanism 52 is provided at the lower end of the frame 5, and a third multi-joint robotic arm 3 and a fourth robotic arm 4 are provided on the bottom lateral movement mechanism 52.

[0030] The top lateral moving mechanism 51 includes a top guide rail pair and an upper moving seat. The top guide rail pair is located at the upper end of the frame 5 and is slidably connected to the upper moving seat. The upper moving seat can move left and right along the top guide rail pair through an upper driving mechanism. The bottom lateral moving mechanism 52 includes a bottom guide rail pair and a lower moving seat. The bottom guide rail pair is located at the bottom of the frame 5 and is slidably connected to the lower moving seat. The lower moving seat can move left and right along the bottom guide rail pair through a lower driving mechanism.

[0031] The guide rail pair includes a guide rail and a sliding block, which are in sliding contact. The upper and lower drive mechanisms can be pressure cylinders, or a combination of drive motor, drive wheel and toothed belt, or a combination of drive motor, gear and rack. There are many forms, which will not be listed one by one.

[0032] The first multi-joint robotic arm 1 includes at least two joint arms, which are rotatably connected to each other and rotated by a drive mechanism. The outermost joint arm is provided with a first filament catcher 11, which can catch long filaments and draw them into the filament storage box 7.

[0033] The third multi-joint robotic arm 3 includes a horizontally rotating turntable and at least two joint arms. The turntable is rotatably connected to the bottom lateral movement mechanism through a rotation mechanism and can rotate around the circumference through a rotation power mechanism. Adjacent joint arms are rotatably connected and rotated through a drive mechanism. The innermost joint arm is rotatably connected to the turntable and swings up and down through a swing power mechanism. The outermost joint arm has a chuck at its outer end through a connecting frame. The chuck can lift and lower the spindle support 64 on the filament winding machine 6 and can replace the spindle.

[0034] The fourth robotic arm 4 includes a connecting plate, one end of which is connected to the connecting frame on the third multi-joint robotic arm 3, and the other end of which is provided with a spindle opening and closing chuck mechanism, which can open and close the spindle axial fixing chuck 63.

[0035] At this point, the fourth robotic arm 4 and the third multi-joint robotic arm 3 are connected together, enabling them to rotate and move laterally left and right together.

[0036] Preferred solution: A second multi-joint robotic arm 2 is provided on the top horizontal moving mechanism 51. The second multi-joint robotic arm 2 includes at least two joint arms. Adjacent joint arms are rotatably connected and rotated by a drive mechanism. A second filament catcher 21 is provided at the outer end of the outermost joint arm. The second filament catcher 21 can assist in catching long filaments and sucking the long filaments into the long filament storage box 7.

[0037] Preferred Solution: The spindle opening and closing locking mechanism includes an opening and closing motor and a clamping plate. The opening and closing motor drives the clamping plate to rotate, thereby opening and closing the spindle axial chuck 63. The spindle axial chuck 63 is connected to the spindle shaft support 64 via a spiral wire. When the spindle axial chuck 63 rotates clockwise, it moves inward to lock the spindle 61. Conversely, when the spindle axial chuck 63 rotates counterclockwise, it moves outward to disengage from the spindle 61, facilitating the removal of the spindle 61. The clamping plate secures the spindle axial chuck 63, allowing it to rotate.

[0038] Preferred solution: There are two sets of claws, which are respectively set on both sides of the upper end of the second joint arm. This can secure both sides of the spindle 61. Furthermore, each set of claws includes two arc-shaped halves, which can open and close under the action of power. The power can also be a pressure cylinder or a drive motor, which will not be described in detail.

[0039] Preferred embodiment: The first filament catcher 11 is connected to the filament storage box 7 via a guide tube. A vacuum generator is installed on the guide tube, and the vacuum generator is connected to a compressed air inlet. The first filament catcher 11 can contact the filament, and using the negative pressure, the filament is drawn into the first filament catcher 11 and enters the filament storage box 7 through the guide tube.

[0040] Preferred solution: The innermost joint arm of the first multi-joint robotic arm 1 and the second multi-joint robotic arm 2 is rotatably connected to the top lateral movement mechanism 51 and rotates up and down through a drive mechanism; or, the innermost joint arm of the first multi-joint robotic arm 1 and the second multi-joint robotic arm 2 is fixedly connected to the top lateral movement mechanism 51 and does not swing up and down.

[0041] Preferred solution: The frame 5 is equipped with a spindle storage rack 8 and a paper tube storage rack 9 respectively, and all power mechanisms are connected to the controller (not shown in the figure).

[0042] The working process of an automated yarn-feeding robot based on a multi-joint robotic arm for the chemical fiber industry includes the following steps:

[0043] (1). Wire breaking and wire suction: The first multi-joint robotic arm 1 moves in the left and right, up and down and forward and backward directions, so that the first wire catcher 11 approaches and catches the filament. At this time, the filament is still in the winding state of the winding head; at the same time, the filament cutter automatically cuts the filament that is being wound; then, the cut filament is automatically sucked by the first wire catcher 11 and enters the filament temporary storage box 7 through the wire guide tube to ensure that the wire roller does not stop.

[0044] (2). Removing the spindle and replacing the paper tube: The third multi-joint robotic arm 3 moves left and right in a straight line and swings up and down. The chuck pulls up the spindle shaft support 64 on the filament winding machine 6. After being pulled into place, the spindle shaft support 64 remains stationary. The fourth robotic arm 4 opens the spindle axial chuck 63 on the spindle shaft fixing bracket 64 that fixes the paper tube. Then, the chuck of the third multi-joint robotic arm 3 holds both ends of the spindle 61 and removes the spindle 61, placing it on the spindle temporary storage rack 8. Then, the third multi-joint robotic arm 3 uses the chuck to grab the empty paper tube from the paper tube temporary storage rack 9 and automatically installs it on the spindle shaft support 64. The fourth robotic arm 4 closes the spindle axial chuck 63. Finally, the third multi-joint robotic arm 3 pushes the spindle shaft support 64 into place, so that the paper tube contacts and presses against the winding roller 62. At this time, the empty paper tube begins to rotate at high speed with the winding roller 62.

[0045] (3). Wire connection: The first wire catcher 11 automatically pulls the end of the long wire to the wire catcher on the right side of the empty paper tube and winds the long wire to one end of the paper tube; after a certain time, the first wire catcher resets, thus completing a wire dropping process.

[0046] Preferred solution: In steps (2) and (3), the second filament catcher 21 moves together with the first filament catcher 11. The second filament catcher 21 serves as a backup filament catcher, ensuring that the second filament catcher 21 continues to absorb filaments after the first filament catcher 11 fails to catch filaments.

[0047] Preferred solution: In steps (2) and (3), the spindle storage rack 8 and the paper tube storage rack 9 are located on the rear side of the machine frame 5. The third multi-joint robotic arm 3 needs to rotate in order to put down the spindle 61 and take away the paper tube.

[0048] This invention employs multiple multi-axis robotic arms to replace manual operation, automatically dropping filaments from the filament winding machine, reducing labor intensity and improving labor productivity.

[0049] Example 2: This example is basically the same as Example 1, and the similarities will not be repeated. The difference is that a second multi-joint robotic arm is not set up, which simplifies the structure.

[0050] Example 3: This example is basically the same as Example 1, and the similarities will not be repeated. The difference is that the fourth robotic arm and the third multi-joint robotic arm are set separately and are not connected to each other. The fourth robotic arm includes a horizontally rotatable rotating disk and at least two joint arms. The rotating disk is rotatably connected to the bottom lateral moving mechanism through a rotating mechanism, and can rotate around the circumference through a rotating power mechanism. Adjacent joint arms are rotatably connected to each other and rotated through a drive mechanism. The innermost joint arm is rotatably connected to the rotating disk and swings up and down through a swinging power mechanism. The outermost joint arm is provided with a spindle opening and closing chuck mechanism, which can open and close the spindle axial fixing chuck.

[0051] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Any simple modifications made based on the technical essence of the present utility model shall still fall within the scope of the technical solution of the present utility model.

Claims

1. An automated doffing robot based on a multi-joint robotic arm for the chemical fiber industry, comprising a frame, characterized in that... The upper end of the frame is provided with a top lateral moving mechanism, on which a first multi-joint robotic arm is provided; the lower end of the frame is provided with a bottom lateral moving mechanism, on which a third multi-joint robotic arm and a fourth robotic arm are provided. The first multi-joint robotic arm includes at least two joint arms, which are rotatably connected to each other and rotated by a joint drive reduction motor drive mechanism. The outermost joint arm is provided with a first filament catcher, which can catch long filaments and draw them into a filament storage box. The third multi-joint robotic arm includes a horizontally rotating turntable and at least two joint arms. The turntable is connected to the bottom lateral movement mechanism through a rotation mechanism and can rotate around a circumference through a rotation power mechanism. Adjacent joint arms are rotatably connected and rotated through a drive mechanism. The innermost joint arm is rotatably connected to the turntable and swings up and down through a swing power mechanism. The outermost joint arm has a chuck at its outer end through a connecting frame. The chuck can lift and lower the spindle support on the filament winding machine and can replace the spindle. The fourth robotic arm includes a horizontally rotating disk and at least two articulated arms. The disk is rotatably connected to the bottom lateral movement mechanism via a rotation mechanism and can rotate around a circumference via a rotation power mechanism. Adjacent articulated arms are rotatably connected and rotated via a drive mechanism. The innermost articulated arm is rotatably connected to the disk and swings up and down via a swing power mechanism. The outermost articulated arm is provided with a spindle opening and closing chuck mechanism, which can open and close the spindle axial fixing chuck. Alternatively, the fourth robotic arm includes a connecting plate, one end of which is connected to the connecting frame on the third multi-joint robotic arm, and the other end of which is provided with a spindle opening and closing chuck mechanism, which can open and close the release handle of the spindle axial fixing chuck.

2. The automated yarn-feeding robot based on a multi-joint robotic arm for the chemical fiber industry according to claim 1, characterized in that: The top lateral moving mechanism includes a top guide rail pair and an upper moving seat. The top guide rail pair is disposed at the upper end of the frame and is slidably connected to the upper moving seat. The upper moving seat can move left and right along the top guide rail pair via an upper driving mechanism. The bottom lateral moving mechanism includes a bottom guide rail pair and a lower moving seat. The bottom guide rail pair is disposed at the bottom of the frame and is slidably connected to the lower moving seat. The lower moving seat can move left and right along the bottom guide rail pair via a lower driving mechanism.

3. The automated yarn-feeding robot based on a multi-joint robotic arm for the chemical fiber industry according to claim 1, characterized in that: The top lateral moving mechanism is equipped with a second multi-joint robotic arm, which includes at least two joint arms. Adjacent joint arms are rotatably connected and rotated by a drive mechanism. The outermost joint arm is equipped with a second filament catcher, which can catch long filaments and draw them into a filament storage box.

4. The automated yarn-feeding robot based on a multi-joint robotic arm for the chemical fiber industry according to claim 1, characterized in that: The spindle opening and closing release chuck mechanism includes an opening and closing motor and a chuck plate. The opening and closing motor can drive the chuck plate to rotate, thereby opening and closing the spindle chuck.

5. The automated yarn-feeding robot based on a multi-joint robotic arm for the chemical fiber industry according to claim 1, characterized in that: The pawls are in two sets, respectively located on both sides of the outermost joint arm. Each set of pawls includes two arc-shaped halves, which can open and close under power.

6. The automated yarn-feeding robot based on a multi-joint robotic arm for the chemical fiber industry according to claim 1, characterized in that: The first filament catcher is connected to the filament storage box via a filament guide tube. A vacuum generator is installed on the filament guide tube, and the vacuum generator is connected to a compressed air inlet.

7. The automated yarn-feeding robot based on a multi-joint robotic arm for the chemical fiber industry according to claim 1, characterized in that: The frame is equipped with a wire spindle storage rack and a paper tube storage rack, and all power mechanisms are connected to the controller.

8. The automated yarn-feeding robot based on a multi-joint robotic arm for the chemical fiber industry according to claim 1, characterized in that: The innermost joint of the first multi-joint robotic arm is rotatably connected to the top lateral movement mechanism and rotates through a drive mechanism; or, the innermost joint of the first multi-joint robotic arm is fixedly connected to the top lateral movement mechanism and does not swing up and down.

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