Automatic doffing equipment of filament winding machine for chemical fiber industry

Abstract

The utility model discloses an automatic doffing device of a filament winder for chemical fiber industry, which comprises a frame, the frame is composed of a top frame, a bottom frame and two vertical frames, an upper moving seat is arranged on the top frame, the upper moving seat can move left and right along the top frame through a guide rail pair and an upper driving mechanism, and the two vertical frames are arranged on the bottom frame. A lower moving seat is arranged on the bottom frame and can move left and right along the bottom frame through a guide rail pair and a lower driving mechanism; the first mechanical arm and the fourth mechanical arm can move in the X-axis direction, the Y-axis direction and the Z-axis direction, the third mechanical arm can rotate in the horizontal direction and swing up and down, the first mechanical arm can attract and guide filaments, and the fourth mechanical arm can open and close a filament spindle axial chuck. And the third manipulator can remove the silk spindle, replace the paper tube and pull the silk spindle shaft bracket. The automatic doffing device can replace manual operation, automatic doffing is carried out on the filament winding machine, manual operation is replaced, labor intensity is reduced, and labor production efficiency is improved.

Description

Technical Field

[0001] This utility model relates to a filament doffing technology for a filament winding machine used in the chemical fiber industry, and particularly to an automatic filament doffing device for a filament winding machine used in the chemical fiber industry. Background Technology

[0002] Currently, in the production process of viscose filament in the chemical fiber industry, the removal of filament spindles and the installation of empty paper tubes (commonly known as "filament doffing") from filament winding machines are all done manually. Each filament production machine typically has about 140 filament spindles, with four winding machines forming a group. Once the filament spindles on the winding machine have wound filaments to a certain diameter, the operator first breaks the filament and sends the broken ends to a suction device to ensure uninterrupted filament production. Next, the wound filament spindle is removed from the winding machine (filament doffing), and an empty paper tube is installed and pressed onto the winding roller. Then, the filament is manually removed from the suction device and guided through a complex path to be wound onto the high-speed rotating paper tube, thus completing one filament doffing process. This filament doffing process requires highly skilled operators; even highly skilled operators frequently experience failures in guiding the filament. The filament doffing process is very tedious and requires professional training; moreover, operators performing filament doffing work constitute a large portion of the workforce in the workshop, making it labor-intensive and time-consuming. Utility Model Content

[0003] The technical problem to be solved by this utility model is to overcome the shortcomings of the prior art and provide an automatic filament doffing device for a filament winding machine in the chemical fiber industry that is reasonably designed and can automatically achieve filament doffing.

[0004] The technical solution of this utility model is:

[0005] An automatic filament doffing device for a filament winding machine used in the chemical fiber industry includes a frame, which is composed of a top frame, a bottom frame and two vertical frames. An upper movable seat is provided on the top frame, which can move left and right along the top frame through a guide rail pair and an upper drive mechanism. A lower movable seat is provided on the bottom frame, which can move left and right along the bottom frame through a guide rail pair and a lower drive mechanism.

[0006] The first robotic arm includes a first fixed arm and a first telescopic arm. The first fixed arm is connected to the upper movable seat through a first lifting mechanism. The first telescopic arm can extend and retract along the first fixed arm through a guide rail pair and a first telescopic power mechanism. The front end of the first telescopic arm is provided with a first filament catcher, which can catch long filaments and draw the long filaments into the filament storage box through vacuum.

[0007] The fourth robotic arm includes a fourth fixed arm and a fourth telescopic arm. The fourth fixed arm is connected to the upper movable seat through a fourth lifting mechanism. The fourth telescopic arm can extend and retract along the fourth fixed arm through a guide rail pair and a fourth telescopic power mechanism. The front end of the fourth telescopic arm is provided with a spindle opening and closing chuck mechanism, which can open and close the spindle axial fixing chuck.

[0008] The third robotic arm includes a rotating disk, a first rotating arm, a second rotating arm, and a gripper. The rotating disk is rotatably connected to the lower moving seat via a rotating guide pair and can rotate circumferentially via a rotating power mechanism. The lower end of the first rotating arm is rotatably connected to the rotating disk and swings up and down via a first swing power mechanism. The upper end of the first rotating arm is rotatably connected to the lower end of the second rotating arm and swings up and down via a second swing power mechanism. The upper end of the second rotating arm is rotatably connected to the rear end of the gripper and swings up and down via a third swing power mechanism. The gripper can lift and lower the spindle support on the filament winding machine and can replace the spindle.

[0009] Furthermore: The second robotic arm includes a second fixed arm and a second telescopic arm. The second fixed arm is connected to the upper movable seat through a second lifting mechanism. The second telescopic arm can extend and retract along the second fixed arm through a guide rail pair and a second telescopic power mechanism. A second filament catcher is provided at the front end of the second telescopic arm, which can assist in catching long filaments and suck the long filaments into the filament storage box through vacuum.

[0010] Furthermore, the spindle opening and closing 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.

[0011] Furthermore, the claws are in two sets, respectively disposed on both sides of the upper end of the second rotating arm, and each set of claws includes two arc-shaped halves, which can open and close under the action of power.

[0012] 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.

[0013] 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.

[0014] The beneficial effects of this utility model are:

[0015] 1. This utility model can replace manual operation by automatically dropping the filament from the filament winding machine, thereby reducing labor intensity and improving labor productivity.

[0016] 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.

[0017] 3. This utility model adopts a third 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 fast.

[0018] 4. This utility model uses a fourth robotic arm, which can open and close the axial chuck on the spindle shaft support, thereby enabling the picking and placing of spindles.

[0019] 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

[0020] Figure 1 A structural view of an automatic doffing device for a filament winding machine used in the chemical fiber industry;

[0021] Figure 2 Another structural view of an automatic doffing device for a filament winding machine used in the chemical fiber industry;

[0022] Figure 3 A side view of an automatic doffing device for a filament winding machine used in the chemical fiber industry;

[0023] Figure 4 for Figure 1 A schematic diagram of the structure of the first wire catcher. Detailed Implementation

[0024] Example 1: See Figures 1-4 In the diagram: 1-First robotic arm; 11-First filament catcher; 12-Compressed air inlet; 13-Filament guide tube; 14-Vacuum generator; 2-Second robotic arm; 21-Second filament catcher; 3-Third robotic arm; 4-Fourth robotic arm; 5-Frame; 51-Top frame; 52-Bottom frame; 6-Filament winding machine; 61-Spindle; 62-Winding roller; 63-Spindle shaft support; 64-Spindle axial chuck; 7-Filament temporary storage box; 8-Spindle temporary storage rack; 9-Paper tube temporary storage rack.

[0025] An automatic filament doffing device for a filament winding machine used in the chemical fiber industry includes a frame 5, which consists of a top frame, a bottom frame, and two vertical frames. The top frame 5 is equipped with an upper movable seat, which can move left and right along the top frame via a guide rail pair and an upper drive mechanism. The bottom frame is equipped with a lower movable seat, which can move left and right along the bottom frame via a guide rail pair and a lower drive mechanism. The guide rail pair includes a guide rail and a sliding block, which are slidably engaged. The upper and lower drive mechanisms can be pressure cylinders, a combination of a drive motor, a drive wheel, and a toothed belt, or a combination of a drive motor, gears, and racks; various forms are not listed here.

[0026] The first robotic arm 1 includes a first fixed arm and a first telescopic arm. The first fixed arm is connected to the upper movable seat through a first lifting mechanism. The first telescopic arm can extend and retract along the first fixed arm through a guide rail pair and a first telescopic power mechanism. A first filament catcher 11 is provided at the front end of the first telescopic arm, which can catch long filaments. The first lifting mechanism can also adopt various modes, such as pressure cylinder, drive motor and rack, etc., which will not be listed one by one.

[0027] The fourth robotic arm 4 includes a fourth fixed arm and a fourth telescopic arm. The fourth fixed arm is connected to the upper moving seat through a fourth lifting mechanism. The fourth telescopic arm can extend and retract along the fourth fixed arm through a guide rail pair and a fourth telescopic power mechanism. The front end of the fourth telescopic arm is provided with a spindle opening and closing locking mechanism, which can open and close the spindle axial chuck.

[0028] The third robotic arm 3 includes a rotating disk, a first rotating arm, a second rotating arm, and a gripper. The rotating disk is rotatably connected to the lower moving seat via a rotating guide pair and can rotate circumferentially via a rotating power mechanism. The lower end of the first rotating arm is rotatably connected to the rotating disk and swings up and down via a first swing power mechanism. The upper end of the first rotating arm is rotatably connected to the lower end of the second rotating arm and swings up and down via a second swing power mechanism. The upper end of the second rotating arm is rotatably connected to the rear end of the gripper and swings up and down via a third swing power mechanism. The gripper can lift and lower the spindle support 63 on the filament winding machine 6 and can replace the spindle 61.

[0029] Preferred solution: The second robotic arm 2 includes a second fixed arm and a second telescopic arm. The second fixed arm is connected to the upper moving seat through a second lifting mechanism. The second telescopic arm can extend and retract along the second fixed arm through a guide rail pair and a second telescopic power mechanism. A second filament catcher 21 is provided at the front end of the second telescopic arm to assist in catching long filaments.

[0030] 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 64. The spindle axial chuck 64 is connected to the spindle shaft support 63 via a spiral wire. When the spindle axial chuck 64 rotates clockwise, it moves inward to lock the spindle 61. Conversely, when the spindle axial chuck 64 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 64, allowing it to rotate.

[0031] Preferred solution: There are two sets of claws, which are respectively set on both sides of the upper end of the second rotating 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.

[0032] Preferred embodiment: The first filament catcher 11 is connected to the filament storage box 7 via a guide tube 13. A vacuum generator 14 is installed on the guide tube 13, and the vacuum generator 14 is connected to the compressed air inlet 12. 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 13.

[0033] Furthermore: The frame 5 is equipped with a wire spindle storage rack 8 and a paper tube storage rack 9, and all power mechanisms are connected to the controller (not shown in the figure).

[0034] An automatic doffing method for a filament winding machine used in the chemical fiber industry, utilizing an automatic doffing device, includes the following steps:

[0035] (1). Wire breakage and wire suction: The first robot 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 13 to ensure that the wire roller does not stop.

[0036] (2). Removing the spindle and replacing the paper tube: The third robot 3 moves left and right in a straight line and swings up and down. The chuck pulls up the spindle shaft support 63 on the filament winding machine 6. After it is pulled into place, the spindle shaft support 63 remains stationary. The fourth robot 4 moves left and right, up and down and forward and backward, so that the fourth robot 4 opens the spindle axial chuck 64 on the spindle shaft fixing bracket 63 that fixes the paper tube. Then, the chuck of the third robot 3 clamps the two ends of the spindle 61 and removes the spindle 61 and places it on the spindle temporary storage rack 8. Then, the third robot 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 63. The fourth robot 4 closes the spindle axial chuck 64. Finally, the third robot 3 pushes the spindle shaft support 63 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.

[0037] (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.

[0038] 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.

[0039] Preferred solution: In steps (2) and (3), the silk spindle temporary storage rack 8 and the paper tube temporary storage rack 9 are located on the rear side of the machine frame 5. The third robot arm 3 needs to rotate in order to put down the silk spindle 61 and take away the paper tube.

[0040] This invention can replace manual operation by automatically dropping filaments from the filament winding machine, thereby reducing labor intensity and improving labor productivity.

[0041] Example 2: This example is basically the same as Example 1, and the similarities will not be repeated. The difference is that a second robotic arm is not set up, which simplifies the structure.

[0042] 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 automatic yarn dropping device of a filament winding machine for the chemical fiber industry, comprising a frame composed of a top frame, a bottom frame and two vertical frames, characterized in that The upper moving seat is arranged on the top frame and can move left and right along the top frame through a guide rail pair and an upper driving mechanism, and the lower moving seat is arranged on the bottom frame and can move left and right along the bottom frame through a guide rail pair and a lower driving mechanism; The first mechanical hand comprises a first fixed arm and a first telescopic arm, the first fixed arm is connected with the upper moving seat through a first lifting mechanism, the first telescopic arm can telescopically extend and retract along the first fixed arm through a guide rail pair and a first telescopic power mechanism, and the front end of the first telescopic arm is provided with a first filament catcher capable of catching long filaments and sucking the long filaments into a long filament temporary storage box through vacuum. The fourth mechanical hand comprises a fourth fixed arm and a fourth telescopic arm, the fourth fixed arm is connected with the upper moving seat through a fourth lifting mechanism, the fourth telescopic arm can telescopically extend and retract along the fourth fixed arm through a guide rail pair and a fourth telescopic power mechanism, and the front end of the fourth telescopic arm is provided with a spool opening and closing chuck mechanism capable of opening and closing a spool shaft fixing chuck. The third mechanical hand comprises a rotating disc, a first rotating arm, a second rotating arm and a claw, the rotating disc is rotatably connected with the lower moving seat through a rotating guide rail pair and can rotate along a circumference through a rotating power mechanism, the lower end of the first rotating arm is rotatably connected with the rotating disc and can swing up and down through a first swinging power mechanism, the upper end of the first rotating arm is rotatably connected with the lower end of the second rotating arm and can swing up and down through a second swinging power mechanism, the upper end of the second rotating arm is rotatably connected with the rear end of the claw and can swing up and down through a third swinging power mechanism, and the claw can pull up and pull down a spool shaft support on a long filament winding machine and can replace a spool.

2. The automatic yarn dropping apparatus of the filament winding machine for the chemical fiber industry according to claim 1, wherein The second mechanical hand comprises a second fixed arm and a second telescopic arm, the second fixed arm is connected with the upper moving seat through a second lifting mechanism, the second telescopic arm can telescopically extend and retract along the second fixed arm through a guide rail pair and a second telescopic power mechanism, and the front end of the second telescopic arm is provided with a second filament catcher capable of assisting in catching long filaments and sucking the long filaments into a long filament temporary storage box through vacuum.

3. The automatic yarn dropping apparatus of the filament winding machine for the chemical fiber industry according to claim 1, wherein The spool opening and closing chuck mechanism comprises an opening and closing motor and a clamping plate, the opening and closing motor can drive the clamping plate to rotate, thereby opening and closing the spool chuck.

4. The automatic yarn dropping apparatus of the filament winding machine for the chemical fiber industry according to claim 1, wherein The claw is provided in two groups on both sides of the upper end of the second rotating arm, and each group of claws comprises two circular arc halves which can open and close under the action of power.

5. The automatic yarn dropping apparatus of the filament winding machine for the chemical fiber industry according to claim 1, wherein The first filament catcher is communicated with the long filament temporary storage box through a filament guide pipe, and a vacuum generator is arranged on the filament guide pipe and communicated with a compressed air inlet.

6. The automatic yarn dropping apparatus of the filament winding machine for the chemical fiber industry according to claim 1, wherein The frame is respectively provided with a spool temporary storage rack and a paper tube temporary storage rack, and all power mechanisms are respectively connected with a controller.

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