Automatic beam transfer robot

Abstract

The utility model discloses a weaving shaft transfer automatic up and down shaft robot, it includes main body frame, both sides fixed mounting of main body frame have side frame, the front end of side frame projects main body frame, the front end of main body frame and be located between two side frame are provided with weaving shaft, the front end of main body frame is provided with two material supporting mechanism of symmetry, two material supporting mechanism are between two side frame, two material supporting mechanism correspond with the side disc of weaving shaft both ends respectively, the side of material supporting mechanism away from the center of main body frame is provided with positioning mechanism, when using the device, all actions of material supporting mechanism, positioning mechanism all develop around weaving shaft side disc, and the material supporting groove of material supporting mechanism only is combined with the side disc of weaving shaft both ends and supports, and the warp yarn and the shaft head not contacting the surface of the cylinder body in the material supporting process, guarantee product quality stability, can also protect the precision of shaft head simultaneously, avoid scratch, deformation problem.

Description

Technical Field

[0001] This utility model relates to the field of warp beam transfer technology, and in particular to an automatic loading and unloading robot for warp beam transfer. Background Technology

[0002] In the weaving process of the textile industry, the warp beam is the warp yarn package at the rear of the loom in textile machinery. As the final product of the sizing process, it is directly used in the weaving process.

[0003] Warp beam transfer is a high-frequency, high-precision auxiliary operation centered around the warp beam in the entire textile production process. As the core link connecting the spinning process and the weaving process, it needs to complete the position transfer, temporary storage and process connection of the warp beam in three major scenarios: the warp beam storage area, the warp yarn processing workshop and the loom work station. Specifically, it includes transferring the full warp beam after warp yarn processing from the storage area to the loom and completing the warp beam loading, and unloading the empty or residual warp beam after weaving from the loom and transferring it back to the warp yarn processing workshop or temporary storage area to prepare for the next round of warp yarn winding.

[0004] In existing methods of transporting warp beams, the warp yarns on the beam head or surface are supported and dragged. Directly lifting the warp yarns on the beam surface causes the clamps to come into direct contact and rub against the warp yarns, which can easily scratch, contaminate, or snag the warp yarns, resulting in a decrease in product quality or even scrapping. The beam head is a precision part that directly mates with the loom bearings. Using external clamps to directly grip the beam head can easily cause scratches, bumps, or deformation on its surface. Utility Model Content

[0005] Therefore, it is necessary to address the aforementioned technical issues. Directly lifting the warp yarns on the surface of the warp beam would cause the clamps to come into direct contact and rub against the warp yarns, which could easily scratch, contaminate, or snag the warp yarns, resulting in a decline in product quality or even scrapping. Furthermore, the warp beam head is a precision part that directly mates with the loom bearings. Directly gripping the beam head with external clamps could easily cause scratches, bumps, or deformation on its surface.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: An automatic loading and unloading robot for warp beam transfer includes a main frame with side frames fixedly installed on both sides of the main frame. The front ends of the side frames protrude from the main frame. A warp beam is disposed at the front end of the main frame and between the two side frames. Two material support mechanisms are symmetrically arranged at the front end of the main frame, with the two material support mechanisms positioned between the two side frames. The two material support mechanisms correspond to the side plates at both ends of the warp beam. A positioning mechanism is disposed on the side of each material support mechanism away from the center of the main frame, and the positioning mechanism corresponds to the end face of the side plate of the warp beam.

[0007] In a preferred embodiment of the automatic lobe transfer robot provided by this utility model, rollers are installed at both the front and rear ends of the bottom of the side frame.

[0008] As a preferred embodiment of the automatic loading and unloading robot for warp beam transfer provided by this utility model, two through slots are symmetrically opened on the front surface of the main frame. The two through slots correspond to two material support mechanisms respectively. The material support mechanism includes a material support frame. The rear surface of the material support frame is vertically slidably installed in the through slot. The surface of the material support frame is provided with a material support groove.

[0009] As a preferred embodiment of the automatic lobe transfer robot provided by this utility model, a crossbar is movably arranged inside the main frame, and protruding strips are provided on both sides inside the main frame. Grooves are provided on both sides of the crossbar to cooperate with the protruding strips. The rear ends of the two material support frames are fixedly connected to the crossbar. A cylinder is provided on the top of the main frame, and the output end of the cylinder is fixedly connected to the crossbar.

[0010] In a preferred embodiment of the automatic loading and unloading robot for warp beam transfer provided by this utility model, the material support frame is provided with a guide rod on the surface of the through groove, and the surface of the guide rod is movably inserted into the cylindrical groove at the top of the through groove.

[0011] As a preferred embodiment of the automatic lobe-mounting robot for warp beam transfer provided by this utility model, the positioning mechanism includes two stabilizing discs, which are symmetrically installed on the inner wall of the main frame. The stabilizing discs and the through groove are on the same straight line. A swing arm is rotatably mounted on the surface of the stabilizing disc, and a guide rod is fixedly mounted at the end of the swing arm. The surface of the guide rod moves through the through groove. Two clamping posts are provided on the surface of the guide rod located on the outer side of the main frame. A stepper motor is provided at the rear of the main frame, and the output end of the stepper motor is fixedly connected to the swing arm.

[0012] In a preferred embodiment of the automatic upper and lower shaft robot for warp beam transfer provided by this utility model, the surface of the stabilizing disk is provided with an arc-shaped groove, and the rear end of the optical rod is slidably installed in the arc-shaped groove.

[0013] In a preferred embodiment of the automatic lobe transfer robot provided by this utility model, the surface of the clamping column is provided with a touch sensing element.

[0014] Compared with the prior art, the present invention has the following beneficial effects: All movements of the material feeding mechanism and positioning mechanism revolve around the side plates of the warp beam. The material feeding groove of the material feeding mechanism only fits against the side plates at both ends of the warp beam to support the material, and does not contact the warp yarns on the surface of the bobbin during the material feeding process. The clamping column of the positioning mechanism only engages with the end of the side plate, and the clamping action does not come into contact with the warp yarns. This ensures zero friction and zero snagging of sensitive yarns such as silk and high-count cotton during the transfer process, completely avoiding warp yarn damage, ensuring stable product quality, reducing production cost losses caused by warp yarn scrap, and also protecting the precision of the warp beam head, avoiding scratches and deformation problems, ensuring long-term precise matching between the warp beam head and the loom bearings, extending the service life of the warp beam and the loom bearings, and reducing equipment maintenance costs. After the clamping post is attached to the end of the edge plate, a rigid limit is formed from the lateral edge plate, so that the warp beam will not shake or slip during transportation, solving the slippage problem of bobbin lifting, ensuring the warp beam is stable in position throughout the transportation process, and avoiding safety accidents caused by slippage. Attached Figure Description

[0015] To more clearly illustrate the solutions in this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 A schematic diagram of the overall structure of an automatic loading and unloading robot for warp beam transfer; Figure 2 Another perspective view of the overall structure of the automated loading and unloading robot for warp beam transfer; Figure 3 This is a schematic diagram of the material support mechanism. Figure 4 for Figure 3 Enlarged view of point A in the middle.

[0017] The markings in the diagram are explained as follows: 1. Main frame; 2. Side frame; 3. Material support mechanism; 4. Weaving beam; 5. Cylinder; 6. Stepper motor; 7. Through groove; 8. Crossbar; 9. Material support frame; 10. Material support groove; 11. Positioning mechanism; 12. Stabilizing plate; 13. Arc groove; 14. Swing arm; 15. Smooth rod; 16. Clamping column. Detailed Implementation

[0018] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0019] As described in the background art, when the warp yarns are directly lifted from the surface of the warp beam, the clamps will directly contact and rub against the surface of the warp yarns, which can easily scratch, contaminate, or snag the warp yarns, resulting in a reduction in product quality or even scrapping. The shaft head of the warp beam is a precision part that directly cooperates with the bearings of the loom. Using external clamps to directly grip the shaft head can easily cause scratches, bumps, or deformation on its surface.

[0020] To solve this technical problem, this utility model provides an automatic loading and unloading robot for warp beam transfer, which includes a main frame 1, side frames 2 fixedly installed on both sides of the main frame 1, the front end of the side frames 2 protruding from the main frame 1, a warp beam 4 disposed at the front end of the main frame 1 and between the two side frames 2, two material support mechanisms 3 symmetrically disposed at the front end of the main frame 1, the two material support mechanisms 3 being located between the two side frames 2, the two material support mechanisms 3 respectively corresponding to the side plates at both ends of the warp beam 4, a positioning mechanism 11 disposed on the side of the material support mechanism 3 away from the center of the main frame 1, the positioning mechanism 11 corresponding to the end face of the side plate of the warp beam 4.

[0021] All the movements of the material support mechanism 3 and the positioning mechanism 11 revolve around the side plate of the warp beam 4. The material support groove 10 of the material support mechanism 3 only fits and supports the side plate at both ends of the warp beam 4. During the material support process, it does not contact the warp yarn and the beam head on the surface of the bobbin, ensuring stable product quality, reducing production cost losses caused by warp yarn scrap, and also protecting the precision of the beam head to avoid scratches and deformation problems.

[0022] Example 1 Please refer to Figure 1-4 : Two through slots 7 are symmetrically opened on the front surface of the main frame 1. The two through slots 7 correspond to two material support mechanisms 3 respectively. The material support mechanism 3 includes a material support frame 9. The rear surface of the material support frame 9 is vertically slidably installed in the through slot 7. The surface of the material support frame 9 is provided with a material support groove 10. A guide rod is provided on the surface of the material support frame 9 in the through slot 7. The surface of the guide rod is movably inserted into the cylindrical groove at the top of the through slot 7.

[0023] The main frame 1 has a crossbar 8 that is movable inside. The main frame 1 has protruding strips on both sides inside. The crossbar 8 has grooves on both sides that cooperate with the protruding strips. The rear ends of the two material support frames 9 are fixedly connected to the crossbar 8. The main frame 1 has a cylinder 5 on top. The output end of the cylinder 5 is fixedly connected to the crossbar 8.

[0024] The groove wall of the through groove 7 forms a rigid constraint on the left and right sides of the material support frame 9, preventing the material support frame 9 from deviating in the horizontal direction during lifting and lowering, and ensuring that it only moves along the vertical trajectory of the through groove 7. The guide rod on the surface of the material support frame 9 has one end fixed to the material support frame 9 and the other end movably inserted into the cylindrical groove at the top of the through groove 7, further limiting the degree of freedom of movement of the material support frame 9. The rear ends of the two material support frames 9 are fixedly connected to the crossbar 8 to form an integrated structure. When the crossbar 8 is vertically lifted and lowered under the drive of the cylinder 5 and the guidance of the protruding strip, it will synchronously drive the two material support frames 9 to move in the same direction and at the same speed, ensuring that the two material support frames 9 always maintain the same height and avoiding the tilting of the warp beam 4 due to the difference in lifting speed on one side.

[0025] Example 2 Further optimizations to Example 1, specifically, such as... Figure 1-4 As shown: The positioning mechanism 11 includes two stabilizing disks 12, which are symmetrically installed on the inner wall of the main frame 1. The stabilizing disks 12 and the through groove 7 are in the same straight line. A swing arm 14 is rotatably mounted on the surface of the stabilizing disk 12. A light rod 15 is fixedly mounted at the end of the swing arm 14. The surface of the light rod 15 moves through the through groove 7. Two clamping posts 16 are provided on the surface of the light rod 15 located on the outer side of the main frame 1. A stepper motor 6 is provided at the rear of the main frame 1. The output end of the stepper motor 6 is fixedly connected to the swing arm 14.

[0026] The stepper motor 6 at the rear of the main frame 1 serves as the power source, and its output end is directly fixed to the swing arm 14. When the stepper motor 6 starts, it drives the swing arm 14 to generate rotational power. The swing arm 14 will swing in a circle around the stabilizing plate 12. At the same time, the smooth rod 15 fixed at the end of the swing arm 14 will move synchronously with the swing trajectory. When the stepper motor 6 drives the swing arm 14 to rotate towards the warp beam 4, the smooth rod 15 moves towards the warp beam 4 with the swing trajectory. The two clamping posts 16 on the outer surface of the smooth rod 15 will synchronously approach the side plate of the warp beam 4 and finally clamp onto the end of the side plate of the warp beam 4, realizing the mechanical fixation of the side plate of the warp beam 4. When it is necessary to release the warp beam 4, the stepper motor 6 drives the swing arm 14 to rotate away from the warp beam 4 in the opposite direction. The smooth rod 15 and the clamping posts 16 move away from the side plate of the warp beam 4 with the swing trajectory. The clamping posts 16 disengage from the side plate clamping position, completing the release operation.

[0027] Example 3 Further optimizations to Example 2, specifically, such as... Figure 1-4 As shown, The surface of the stabilizing disk 12 is provided with an arc-shaped groove 13, and the rear end of the light rod 15 is slidably installed in the arc-shaped groove 13.

[0028] The arc groove 13 on the surface of the stabilizing plate 12 matches the circumferential trajectory of the swing arm 14 rotating around the stabilizing plate 12. When the stepper motor 6 drives the swing arm 14 to rotate, the light rod 15 at the end of the swing arm 14 will make a circular motion with the swing. The rear end of the light rod 15 is embedded in the arc groove 13 and can only slide along the groove of the arc groove 13. It cannot deviate from the preset arc trajectory, which can ensure that the clamping column 16 can accurately align with the snap-fit ​​position of the four side discs of the weaving beam every time, avoiding the problem of misalignment or failure to snap-fit.

[0029] The surface of the clamping column 16 is provided with a touch sensing element, which is electrically connected to the cylinder 5.

[0030] When the warp beam 4 is in a high position during operation, the output end of the cylinder 5 retracts, causing the linked crossbar 8 to rise synchronously. The crossbar 8 further pulls the two material support frames 9 to slide vertically upward along the through groove 7 at the front end of the main frame 1 until the material support groove 10 on the surface of the material support frame 9 precisely aligns with the side plates at both ends of the warp beam 4, completing the initial alignment of the material support mechanism 3 and the warp beam 4. After the material support frame 9 and the side plates of the warp beam 4 are engaged, the warp beam 4 is slightly raised with the material support mechanism 3. At this time, the height of the side plates of the warp beam 4 is higher than that of the positioning mechanism 11 (to avoid interference between the positioning mechanism 11 and the side plates). The positioning mechanism 11 is then activated, and the clamping column 16 is swung to below the side plates. The output end of the cylinder 5 extends, causing the linked crossbar 8 to rise synchronously. As the crossbar 8 descends synchronously, it further pulls the two material support frames 9 to slide vertically downward along the through groove 7. As the side plate of the warp beam 4 continues to descend, its bottom ends gradually approach the clamping columns 16 below, eventually contacting the two clamping columns 16. The clamping columns 16 provide physical support to form a longitudinal positioning of the side plate of the warp beam 4, restricting the warp beam 4 from shifting. When the bottom of the side plate of the warp beam 4 contacts both clamping columns 16, the touch sensing elements on the surface of the clamping columns 16 are triggered simultaneously, transmitting an electrical signal to the equipment control system. After receiving the synchronous signal from the two sensing elements, the control system immediately sends a stop command to the cylinder 5. The cylinder 5 stops its extension and retraction action, and the material support mechanism 3 and the warp beam 4 maintain their current positions.

[0031] Rollers are installed at both the front and rear ends of the bottom of the side frame 2.

[0032] The rollers allow the robot to move freely within the textile workshop without relying on fixed tracks or complex handling equipment.

[0033] The automatic loading and unloading robot for warp beam transfer provided by this utility model is used as follows: First, the loom working position of the warp beam 4 and the storage rack of the warp beam 4 are in a high position in the textile workshop. The rollers at the front and rear ends of the bottom of the side frame 2 roll, driving the main frame 1 and the overall structure to move freely in the workshop, aligning the working area at the front end of the main frame 1 (between the two side frames 2) with the warp beam 4. The equipment stops moving, completing the initial positioning. Next, the output end of the cylinder 5 retracts, and the cylinder 5 drives the crossbar 8 fixedly connected to it to rise synchronously. The crossbar 8 pulls the two material support frames 9 to slide vertically upward along the through groove 7 at the front end of the main frame 1 until the material support groove 10 on the surface of the material support frame 9 precisely aligns with the side plates at both ends of the warp beam 4. The material support groove 10 initially fits against the bottom of the side plates, completing the initial docking of the material support mechanism 3 and the warp beam 4. After the material support frame 9 and the side plates of the warp beam 4 are engaged, the warp beam 4 is slightly raised with the material support mechanism 3. At this time, the height of the side plates of the warp beam 4 is higher than the positioning mechanism 11. The step behind the main frame 1 When the motor 6 starts, its output end drives the swing arm 14 to swing in a circle around the stabilizing plate 12. The clamping column 16 is swung to the bottom of the side plate. The output end of the cylinder 5 extends, driving the crossbar 8 linked with it to descend synchronously. The crossbar 8 further pulls the two material support frames 9 to slide vertically downward along the through groove 7. As the side plate of the warp beam 4 continues to descend, its bottom ends gradually approach the clamping column 16 below, and finally contact the two clamping columns 16. The clamping columns 16 form a longitudinal positioning of the side plate of the warp beam 4 through physical support, restricting the warp beam 4 from shifting. When the bottom of the side plate of the warp beam 4 contacts both clamping columns 16, the touch sensing elements on the surface of the clamping columns 16 are triggered at the same time, transmitting an electrical signal to the equipment control system. After receiving the synchronous signal from the two sensing elements, the control system immediately sends a stop command to the cylinder 5. The cylinder 5 stops its extension and retraction action, and the material support mechanism 3 and the warp beam 4 maintain their current positions.

[0034] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0035] Obviously, the embodiments described above are only some embodiments of this utility model, not all embodiments. The accompanying drawings show preferred embodiments of this utility model, but do not limit the patent scope of this utility model. This utility model can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this utility model. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this utility model specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the patent protection scope of this utility model.

Claims

1. An automatic loading and unloading robot for warp beam transfer, characterized in that, It includes a main frame (1), with side frames (2) fixedly installed on both sides of the main frame (1). The front end of the side frames (2) protrudes from the main frame (1). A weaving beam (4) is provided at the front end of the main frame (1) and between the two side frames (2). Two material support mechanisms (3) are symmetrically arranged at the front end of the main frame (1). The two material support mechanisms (3) are located between the two side frames (2). The two material support mechanisms (3) correspond to the side plates at both ends of the weaving beam (4). A positioning mechanism (11) is provided on the side of the material support mechanism (3) away from the center of the main frame (1). The positioning mechanism (11) corresponds to the end face of the side plate of the weaving beam (4).

2. The automatic loading and unloading robot for warp beam transfer according to claim 1, characterized in that, Rollers are installed at both the front and rear ends of the bottom of the side frame (2).

3. The automatic loading and unloading robot for warp beam transfer according to claim 1, characterized in that, The front surface of the main frame (1) has two through slots (7) symmetrically opened. The two through slots (7) correspond to the two material support mechanisms (3) respectively. The material support mechanism (3) includes a material support frame (9). The rear surface of the material support frame (9) is vertically slidably installed in the through slot (7). The surface of the material support frame (9) is provided with a material support groove (10).

4. The automatic loading and unloading robot for warp beam transfer according to claim 3, characterized in that, The main frame (1) is equipped with a crossbar (8) inside. The main frame (1) has protruding strips on both sides inside. The crossbar (8) has grooves on both sides that cooperate with the protruding strips. The rear ends of the two material support frames (9) are fixedly connected to the crossbar (8). A cylinder (5) is provided above the main frame (1). The output end of the cylinder (5) is fixedly connected to the crossbar (8).

5. The automatic loading and unloading robot for warp beam transfer according to claim 3, characterized in that, The material support frame (9) is provided with a guide rod on the surface of the through groove (7), and the surface of the guide rod is movably inserted into the cylindrical groove at the top of the through groove (7).

6. The automatic loading and unloading robot for warp beam transfer according to claim 3, characterized in that, The positioning mechanism (11) includes two stabilizing disks (12), which are symmetrically installed on the inner wall of the main frame (1). The stabilizing disks (12) and the through groove (7) are on the same straight line. A swing arm (14) is rotatably installed on the surface of the stabilizing disk (12). A light rod (15) is fixedly installed at the end of the swing arm (14). The surface of the light rod (15) moves through the through groove (7). Two clamping posts (16) are provided on the surface of the light rod (15) located on the outside of the main frame (1). A stepper motor (6) is provided at the rear of the main frame (1). The output end of the stepper motor (6) is fixedly connected to the swing arm (14).

7. The automatic loading and unloading robot for warp beam transfer according to claim 6, characterized in that, The surface of the stabilizer (12) is provided with an arc-shaped groove (13), and the rear end of the light rod (15) is slidably installed in the arc-shaped groove (13).

8. The automatic loading and unloading robot for warp beam transfer according to claim 6, characterized in that, The surface of the clamping post (16) is provided with a touch sensing element.

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