CN105107871B - A kind of automatic change of lap axle robot - Google Patents
A kind of automatic change of lap axle robot Download PDFInfo
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- CN105107871B CN105107871B CN201510639592.6A CN201510639592A CN105107871B CN 105107871 B CN105107871 B CN 105107871B CN 201510639592 A CN201510639592 A CN 201510639592A CN 105107871 B CN105107871 B CN 105107871B
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- spool
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- change
- lap axle
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- 238000012546 transfer Methods 0.000 claims abstract description 13
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- 238000010008 shearing Methods 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 7
- 238000004804 winding Methods 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 5
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- 239000010959 steel Substances 0.000 claims description 5
- 238000009826 distribution Methods 0.000 claims description 3
- 238000007639 printing Methods 0.000 claims description 3
- 238000005491 wire drawing Methods 0.000 abstract description 18
- 230000032258 transport Effects 0.000 abstract description 11
- 238000004519 manufacturing process Methods 0.000 abstract description 10
- 238000009966 trimming Methods 0.000 abstract description 5
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C47/00—Winding-up, coiling or winding-off metal wire, metal band or other flexible metal material characterised by features relevant to metal processing only
- B21C47/24—Transferring coils to or from winding apparatus or to or from operative position therein; Preventing uncoiling during transfer
- B21C47/245—Devices for the replacement of full reels by empty reels or vice versa, without considerable loss of time
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of automatic change of lap axle robot, crawl is respectively completed by setting three manipulators, clamp and trimming action, complete the automatic replacing of spool, it is provided simultaneously with the function automatically around bottom line and automatic wire drawing machine, without manually operating, workload is reduced, and a robot can carry out change of lap axle operation to many wire drawing machinees, standby board can be put into during failure to use, and improve operating efficiency.It is used as navigator fix basis by using AGV technologies, while realizing being accurately positioned for mobile robot by the way of board mechanical assistance positioning is combined.Additionally, realizing that spool is conveyed by setting transfer roller, spool can be transported automatically between the spool transit zone in workshop, possess transportation function, can substitute other means of transports of workshop carries out spool turnover transport automatically, improves the production efficiency of factory.
Description
Technical field
The invention belongs to the wire drawing machine technical field of Steel Wire Products Industry, and in particular to a kind of automatic change of lap axle robot.
Background technology
Wire drawing machine is also designated as drawing machine, is that relatively broad plant equipment is used in commercial Application, is widely used in
In the industries such as machine-building, five metalworkings, petrochemical industry, plastics, bamboo and wood products, electric wire.
Metal drawing belongs to the metallic articles such as standard component production pre-processing system, in order to steel manufacturer
Production and transport to the metallic article manufacturing enterprises such as standard component wire rod or drawing process of the material by wire drawing machine of taking over the baton, make wire rod or
The diameter of bar, circularity, internal structure, surface smoothness and aligning degree all reach the metallic articles such as standard component and produce needs
Feedstock treating requirement.
The taking-up equipment of most wire drawing machinees is all fixed in the prior art, is worked by manually implementing change of lap axle.City
Also there is one kind on face from wheel admission machine is moved, he is one wire drawing machine of fixed correspondence, after spool is completely taken turns, realize moving wheel certainly
Work.From wheel admission machine is moved increased from wheel apparatus are moved on the basis of traditional admission machine, cost is of a relatively high, and automatic
The service efficiency for changing wheel apparatus is low.Especially that disk line is received completely needs 2 drums more than hour.This is also to move wheel certainly
Admission machine is one of the reason for factory application is few.Once admission machine breaks down, then maintenance down is needed, influence work is produced
Energy.
Therefore, in view of problem above, it is necessary to propose a kind of new automatic change of lap shaft device, realize automatic to wire drawing machine
Change of lap axle operation is carried out, without artificial operation, workload is reduced, and multiple wire drawing machinees can be operated, can during failure
Put into standby board to use, improve operating efficiency.
The content of the invention
In view of this, the invention provides a kind of automatic change of lap axle robot, it is respectively completed by setting three manipulators
Crawl, clamping and trimming action, complete the automatic replacing of spool, and without artificial operation, reduction workload, and a robot can
Change of lap axle operation is carried out to many wire drawing machinees, standby board can be put into during failure and is used, improve operating efficiency.
A kind of automatic change of lap axle robot that purpose of the invention is proposed, to the automatic spool changed on board,
The automatic change of lap axle robot includes：The catching robot for capturing spool in a frame is respectively arranged at, is used to press from both sides
Stringing material is in case the clamping mechanical hand of shearing, and the shearing machine hand of shear treatment is carried out to wire rod, is additionally provided with frame
It is used to place the carrying platform of spool；
Catching robot removes the spool of full line on board Wire winding shaft, and clamping mechanical hand action clamps wire rod, cutter
Then wire rod is cut in action to tool hand, and be placed into full coil of wire axle on carrying platform and complete to unload wheel by rear catching robot；Gripper
Tool hand takes out an empty reel spool on carrying platform, and now clamping mechanical hand still clamps wire rod one end, and catching robot is with clamping machine
Circle is drawn centered on tool hand, wire rod is around in empty reel spool, complete automatic around bottom line, after the spool is loaded and completed on Wire winding shaft
Wheel, rear each manipulator resets.
Preferably：The catching robot includes linking arm and swingable mechanical arm, and described linking arm one end rotates and connects
It is connected in frame, the other end is hinged with mechanical arm, and the place of being hinged is provided with the motor for driving mechanical arm swing.
Preferably：The carrying platform is the multiple be arrangeding in parallel, is used to place and convey spool respectively.
Preferably：Each carrying platform is set by the transfer roller that multiple be arranged in parallel and is formed, and transfer roller is rotated and is arranged at machine
On frame.
Preferably：Automatic change of lap axle robot also includes the moving cart based on AGV technologies, and frame is fixedly installed on movement
On dolly.
Preferably：One section of mechanical tracks is installed in board side, after the automatic change of lap axle robot reaches correspondence board, moves
The roller of dynamic dolly snaps in fixed in mechanical tracks.
Preferably：Navigation positioning system is provided with the automatic change of lap axle robot, wireless receiving and dispatching is provided with board
Device, the navigation positioning system realizes radio communication with the wireless transceiver.
Preferably：Communication pattern is the Wireless Network based on modbus agreements, and it is wireless to be correspondingly arranged one on each board
Used as RTU terminals, automatic change of lap axle robot is used as main website, and each RTU terminal distribution one is uniquely recognizable for transceiver module
Station number, each RTU terminal uses different transmission frequencies.
Preferably：The automatic change of lap axle robot also includes being used to pasting the end of a thread after shearing and fixed pastes dress
Put, the end of the sticking device is tangent with spool side wall around full wire rod.
Preferably：The automatic change of lap axle robot also includes radio-frequency card reader and is electrically connected with radio-frequency card reader
Label machine, is provided with radio-frequency card on board, label machine printing label is simultaneously pasted on spool.
Compared with prior art, the advantage of automatic change of lap axle robot disclosed by the invention is：
Crawl is respectively completed by setting three manipulators, clamped and trimming action, complete the automatic replacing of spool, while
Moved in a circle with the drive spool that is rotatably assorted of mechanical arm by linking arm, realized automatically around bottom line, possess automatic around bottom line
And the function of automatic wire drawing machine, without artificial operation, workload is reduced, and a robot can be carried out to many wire drawing machinees
Change of lap axle operation, can put into standby board and use during failure, improve operating efficiency.
It is used as navigator fix basis by using AGV technologies, while by the way of board mechanical assistance positioning is combined
To realize being accurately positioned for mobile robot.
Additionally, realizing that spool is conveyed by setting transfer roller, volume can be automatically transported between the spool transit zone in workshop
Axle, possesses transportation function, and can substitute other means of transports of workshop carries out spool turnover transport automatically, improves factory
Production efficiency.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the front view of automatic change of lap axle robot disclosed by the invention.
Fig. 2 is the stereogram 1 of automatic change of lap axle robot disclosed by the invention.
Fig. 3 is the stereogram 2 of automatic change of lap axle robot disclosed by the invention.
Fig. 4 is working condition Fig. 1.
Fig. 5 is working condition Fig. 2.
Fig. 6 is around bottom line schematic diagram.
The title of the digital or alphabetical representative corresponding component in figure：
1st, frame 2, moving cart 3, wire drawing machine 4, spool 5, wire rod 31, Wire winding shaft
11st, catching robot 12, clamping mechanical hand 13, shearing machine hand 14, carrying platform 15, sticking device 16,
Label machine 141, empty reel spool 142, full coil of wire axle 111, mechanical arm 112, scroll chuck 113, linking arm
Specific embodiment
The taking-up equipment of most wire drawing machinees is all fixed in the prior art, is worked by manually implementing change of lap axle.City
Also there is one kind on face from wheel admission machine is moved, he is one wire drawing machine of fixed correspondence, after spool is completely taken turns, realize moving wheel certainly
Work.From wheel admission machine is moved increased from wheel apparatus are moved on the basis of traditional admission machine, cost is of a relatively high, and automatic
The service efficiency for changing wheel apparatus is low.Especially that disk line is received completely needs 2 drums more than hour.This is also to move wheel certainly
Admission machine is one of the reason for factory application is few.Once admission machine breaks down, then maintenance down is needed, influence work is produced
Energy.
The present invention is directed to deficiency of the prior art, there is provided a kind of automatic change of lap axle robot, by setting three machines
Tool hand is respectively completed crawl, clamps and trimming action, completes the automatic replacing of spool, without artificial operation, reduces workload, and
One robot can carry out change of lap axle operation to many wire drawing machinees, standby board can be put into during failure and is used, and improve work
Efficiency.
Technical scheme will be clearly and completely described by specific embodiment below.Obviously, retouched
The embodiment stated is only a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, this
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to the present invention
The scope of protection.
Please also refer to Fig. 1 to Fig. 3, as illustrated, a kind of automatic change of lap axle robot, changes on board to automatic
Spool, automatic change of lap axle robot includes：The catching robot 11 for capturing spool in a frame 1 is respectively arranged at, is used
To clamp wire rod in case the clamping mechanical hand 12 of shearing, and the shearing machine hand 13 of shear treatment is carried out to wire rod, in frame 1
It is additionally provided with to place the carrying platform 14 of spool.Catching robot 11 includes linking arm 113 and swingable mechanical arm
111, linking arm one end is rotationally connected with frame, and the other end is hinged with mechanical arm, and the place of being hinged is provided with driving machinery
The motor (not shown) of arm swing.Catching robot can be realized in space it is mobile, while can drive spool thereon with
Circle is drawn centered on clamping mechanical hand, the installation of spool is completed and is removed.
Catching robot 11 is rocked at board removes the spool of full line on board Wire winding shaft, and clamping mechanical hand 12 is acted
Wire rod is clamped, then wire rod is cut in action to shearing machine hand 13, and full coil of wire axle is placed into carrying platform by rear catching robot
On 14, wheel is unloaded in completion；Catching robot 11 takes out an empty reel spool on carrying platform 14 afterwards, and now clamping mechanical hand 12 is still clamped
Wire rod one end, the mechanical arm 111 of catching robot 11 draws circle centered on clamping mechanical hand, and wire rod is around in empty reel spool, complete
Into automatically around bottom line, after the spool is loaded on Wire winding shaft, taken turns in completion, rear each manipulator resets.
Wherein the crawl section of catching robot can be scroll chuck, realize the crawl to spool, can also be sucker etc., specifically
It is not limited.
Carrying platform 14 is the multiple be arrangeding in parallel, is used to place and convey spool respectively.Include placing on carrying platform
The region of full coil of wire axle and the region for placing empty reel spool, with specific reference to needing to set.
Each carrying platform is set by the transfer roller (not shown) that multiple be arranged in parallel and is formed, and transfer roller is rotated and is arranged at machine
On frame 1.Automatic change of lap axle robot also includes the moving cart 2 based on AGV technologies, and frame is fixedly installed in moving cart.
By setting live-roller, spool can be transported automatically between the spool transit zone in workshop under the drive of moving cart, possessed
Transportation function, can substitute other means of transports of workshop carries out spool turnover transport automatically, improves the production effect of factory
Rate.And can realize automatically exporting the spool on carrying platform by setting live-roller, or by spool automatic transport to carry
On platform, without artificial operation, workload is reduced, there is provided operating efficiency.
One section of mechanical tracks is installed in board side, after automatic change of lap axle robot reaches correspondence board, the rolling of moving cart
Wheel snaps in fixed in mechanical tracks.Navigation positioning system (not shown) is provided with automatic change of lap axle robot, is set on board
There is wireless transceiver (not shown), navigation positioning system realizes radio communication with wireless transceiver.It is used as by using AGV technologies
Navigator fix basis, while realizing being accurately positioned for mobile robot by the way of board mechanical assistance positioning is combined.
Meanwhile, by way of being wirelessly transferred can also be transferred in plant server creation data by the present invention, be realized
Plant information.
Communication pattern is the Wireless Network based on modbus agreements, and a radio receiving transmitting module is correspondingly arranged on each board
As the station number that RTU terminals, automatic change of lap axle robot uniquely can recognize that as main website, each RTU terminal distribution one, each
RTU terminals use different transmission frequencies.Once RTU trigger signals, main website then recognizes its station number, AGV sending destination rows are given
Sail instruction.
Automatic change of lap axle robot also includes being used to for the end of a thread after shearing to paste fixed sticking device 15, sticking device
15 end is tangent with spool side wall around full wire rod.The buttock line of wire rod can be effectively sticked automatically by setting sticking device,
Prevent wire rod from coming off, improve the automaticity of equipment.Wherein sticking device can be adhesive tape.
Automatic change of lap axle robot also includes radio-frequency card reader (not shown) and the label electrically connected with radio-frequency card reader
Printer 16, is provided with radio-frequency card on board, label machine printing label is simultaneously pasted on spool.Moving cart to board with
Afterwards, it is automatic to read board radio-frequency card content, then by content transmission to label machine, after the taking-up of full wire I-shape reel wheel, beat
Marking label, and apply labels in I-beam wheel, it is easy to the tracing management of factory quality system.
After the present invention is implemented, the labour intensity (especially Steel Wire Products Industry) of workman can be greatly reduced, reduced
Factory's labor, reduces cost of human resources.
The material flows automation level of factory is improve simultaneously, improves logistics week transfer efficient.
The application need to only be improved on AGV dollies, high using reliability because improvement expenses is low.Can be quick in factory
Promote the use of, improve the intelligent level of factory.Compared with fixed wheel admission machine of moving certainly, once admission machine breaks down,
Then need maintenance down, influence factory production capacity.And the present invention is used, if broken down in use of the present invention, can put into immediately standby
With board, and factory need not shut down it is to be repaired.Due to needing charging reasons, it is necessary to according to 3 during the factory-configured present invention:1 ratio
Carry out standby board setting.
Further, since the communication technology for employing the technology of Internet of things of radio frequency identification and being wirelessly transferred so that plant produced
It is real to realize information-based and intellectuality.
Robot of the invention is by control system control operation, while coordinating sensor operation.
Portable automatic change of lap axle robot is a set of mainly for the water tank drawbench factory offer of Steel Wire Products Industry
Intelligent solution.Especially for change of lap axial period 60~180 minutes, spool of the spool weight containing line within 20Kg.
One robot can correspond to 20~60 automatic change of lap work of water tank drawbench.It is that conventional plant intelligentized updating is most economical
Mode.
System communication pattern：Wireless Network based on modbus agreements.Increase in every water tank unit for electromechanical cabinet in region
, used as RTU terminals, the present invention is used as main website for one radio receiving transmitting module.Each RTU distributes a unique recognizable station number, one
Denier RTU trigger signals, main frame then recognizes its station number, gives AGV sending destination driving instructions.Each region uses different transmitting pins
Rate.
System navigator fix mode：Board mechanical device assistant positioning system is added using AGV airmanships.That is AGV navigates
Technology is used for pattern of the present invention in whole workshop walking navigation positioning, and one section of mechanical rail of auxiliary positioning is installed on every machine
Road, the present invention is to board position, and the roller of moving cart is snapped among the track of board automatically.So as to realize robot and machine
It is relative between platform to be accurately positioned.All subsequent actions are had relied on the basis of accurate positioning.
Information interaction system：Typically in original management system of factory, each board can set a product information card.
In the present system, product information card replacement pastes words identification simultaneously into non-contact type radio-frequency identification card on card, united by workshop
One management makes.When changing product specification, card is changed.When the present invention drives to board position, unload after the completion of wheel, directly read
The information of radio-frequency identification card, and label is printed as, paste automatically on the finished product spool removed, while the information passes through wireless network
Network is transferred on production management server, realizes production information real-time Transmission.
Change wheel process：After a certain board sends changes wheel signal, the robot automatic running comes to a complete stop to the board position,
Catching robot is reached at the spool of board, is positioned by carrying sensor detecting, clamps spool, is taken out.It is transplanted on carrying flat
On platform, during transfer, spool face, so as to adhesive tape be pasted automatically, prevents buttock line at random by sticking device.Finished product
After spool transfer in place, two manipulators are also provided with robot, a clamping mechanical hand is first acted, wire rod clamped, separately
One wire cutting mechanical hand is then acted, and wire rod is cut, and finished product wheel is put into finished product carrying platform by catching robot.Then capture
Manipulator takes an empty reel spool from empty reel spool carrying platform, starts low rate start water tank drawbench.Because wire rod one end is pressed from both sides
Tight manipulator is fixed, and catching robot is clamped wire rod in reel strip and circle is drawn centered on clamping mechanical hand, then wire rod can by around
On spool, the first around work of spool bottom line is realized.Just after the completion of, spool is loaded catching robot the take-up of water tank drawbench
On axle, catching robot is unclamped, be moved back into ownship position.The present invention wirelessly sends enabled instruction, and main frame is opened.This
Invention is then cruised along fixed route, waits next wheel that changes to instruct.
Spool is transported and transport process：Factory floor sets a transfer region, is some conveyers, and full line is placed respectively
Spool and empty reel spool.The present invention is driven to after the region, and information is read by radio-frequency card, recognizes row conveyer storage
Whether product information, the product information transported with the machine is consistent, and then stops, and position is directed at by optoelectronic switch, and by the machine
Product is transported on the row conveyer.
Around bottom line principle：As shown in fig. 6, clamping mechanical hand clamping steel wire wire rod, now, wire rod is in clamping mechanical hand and drawing
A line is just pulled between silk machine host, when manipulator catches spool to put line ball material from the top down in diagram, and along arrow
When direction carries out circular motion centered on clamping mechanical hand, while I-beam wheel is moved also along its axial direction, then steel wire is just
Detour in I-beam wheel, complete automatic around bottom line.
The course of work in the present invention is controlled by electric-control system.
The invention discloses a kind of automatic change of lap axle robot, it is respectively completed crawl by setting three manipulators, clamps
And trimming action, the automatic replacing of spool is completed, the function automatically around bottom line and automatic wire drawing machine is provided simultaneously with, without people
Work is operated, and reduces workload, and a robot can carry out change of lap axle operation to many wire drawing machinees, can be put into during failure standby
Used with board, improve operating efficiency.
It is used as navigator fix basis by using AGV technologies, while by the way of board mechanical assistance positioning is combined
To realize being accurately positioned for mobile robot.
Additionally, realizing that spool is conveyed by setting transfer roller, volume can be automatically transported between the spool transit zone in workshop
Axle, possesses transportation function, and can substitute other means of transports of workshop carries out spool turnover transport automatically, improves factory
Production efficiency.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or uses the present invention.
Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The scope most wide for causing.
Claims (10)
1. a kind of automatic change of lap axle robot, to the automatic spool changed on board, it is characterised in that：The automatic change of lap axle
Robot includes：The catching robot for capturing spool in a frame is respectively arranged at, is used to clamp wire rod in case shearing
Clamping mechanical hand, and the shearing machine hand of shear treatment is carried out to wire rod, be additionally provided with to place spool in frame
Carrying platform；
Catching robot removes the spool of full line on board Wire winding shaft, and clamping mechanical hand action clamps wire rod, shearing machine hand
Wire rod is cut in then action, and then be placed into full coil of wire axle on carrying platform and complete to unload wheel by catching robot；Crawl machinery
Hand takes out an empty reel spool on carrying platform, and now clamping mechanical hand still clamps wire rod one end, and catching robot is with clamping mechanical
Circle is drawn centered on hand, wire rod is around in empty reel spool, complete automatic around bottom line, then the spool loaded and completed on Wire winding shaft
Wheel, last each manipulator resets；
It is automatic as follows around bottom line principle：Clamping mechanical hand clamping steel wire wire rod, now, wire rod is between clamping mechanical hand and board
A line is just pulled into, when catching robot catches spool line ball material from the top down, and has been justified centered on clamping mechanical hand
During Zhou Yundong, while spool is moved also along its axial direction, then steel wire completes automatic around bottom line just in empty reel spool.
2. change of lap axle robot as claimed in claim 1 automatic, it is characterised in that：The catching robot include linking arm with
Swingable mechanical arm, described linking arm one end is rotationally connected with frame, and the other end is hinged with mechanical arm, and is hinged place
It is provided with the motor for driving mechanical arm swing.
3. change of lap axle robot as claimed in claim 1 automatic, it is characterised in that：The carrying platform is be arranged in parallel many
It is individual, it is used to place and convey spool respectively.
4. change of lap axle robot as claimed in claim 3 automatic, it is characterised in that：Each carrying platform is be arranged in parallel by multiple
Transfer roller set to be formed, transfer roller rotate be arranged in frame.
5. change of lap axle robot as claimed in claim 1 automatic, it is characterised in that：Automatic change of lap axle robot also includes being based on
The moving cart of AGV technologies, frame is fixedly installed in moving cart.
6. change of lap axle robot as claimed in claim 5 automatic, it is characterised in that：One section of mechanical tracks is installed in board side,
After the automatic change of lap axle robot reaches correspondence board, the roller of moving cart is snapped in mechanical tracks to be fixed.
7. change of lap axle robot as claimed in claim 1 automatic, it is characterised in that：Set in the automatic change of lap axle robot
There is navigation positioning system, wireless transceiver is provided with board, the navigation positioning system realizes nothing with the wireless transceiver
Line communicates.
8. change of lap axle robot as claimed in claim 7 automatic, it is characterised in that：Communication pattern is based on modbus agreements
Wireless Network, is correspondingly arranged a radio receiving transmitting module as RTU terminals on each board, automatic change of lap axle robot is used as master
Stand, the uniquely recognizable station number of each RTU terminal distribution one, each RTU terminal uses different transmission frequencies.
9. change of lap axle robot as claimed in claim 1 automatic, it is characterised in that：The automatic change of lap axle robot also includes
It is used to for the end of a thread after shearing to paste fixed sticking device, the end of the sticking device and the spool side wall phase around full wire rod
Cut.
10. change of lap axle robot as claimed in claim 1 automatic, it is characterised in that：The automatic change of lap axle robot is also wrapped
Radio-frequency card reader and the label machine electrically connected with radio-frequency card reader are included, radio-frequency card, label machine are provided with board
Printing label is simultaneously pasted on spool.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510639592.6A CN105107871B (en) | 2015-09-30 | 2015-09-30 | A kind of automatic change of lap axle robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510639592.6A CN105107871B (en) | 2015-09-30 | 2015-09-30 | A kind of automatic change of lap axle robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105107871A CN105107871A (en) | 2015-12-02 |
| CN105107871B true CN105107871B (en) | 2017-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510639592.6A Active CN105107871B (en) | 2015-09-30 | 2015-09-30 | A kind of automatic change of lap axle robot |
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| CN105905652A (en) * | 2016-07-12 | 2016-08-31 | 吴江市华运纺织品有限公司 | Woven cloth winding and conveying mechanism |
| CN107322263B (en) * | 2017-08-21 | 2024-01-26 | 山东日发纺织机械有限公司 | Replacement system and transport vehicle thereof |
| CN107934683B (en) * | 2017-12-30 | 2023-10-03 | 无锡华工大光电智能科技有限公司 | I-shaped wheel residual waste silk remove device |
| CN109436951A (en) * | 2018-12-19 | 2019-03-08 | 无锡敏功科技有限公司 | Full-automatic coiling production line and its processing method |
| CN109592505A (en) * | 2018-12-19 | 2019-04-09 | 无锡敏功科技有限公司 | Winding roll automatic carrying machine working and winding roll automatic loading and unloading robot |
| CN110961862B (en) * | 2019-10-30 | 2020-12-18 | 西安远方航空技术发展有限公司 | Method for processing damping ring in air inlet measuring rake |
| CN113649777B (en) * | 2021-07-15 | 2023-08-15 | 江苏兴达智能制造有限公司 | 800 spool automatic replacement system |
| CN114226475B (en) * | 2021-11-15 | 2024-06-21 | 江苏赛福天集团股份有限公司 | Automatic shaft-changing mechanical arm |
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| JPS58163525A (en) * | 1982-03-23 | 1983-09-28 | Daifuku Co Ltd | Lug bending device of outside circumference winding sheet for cylindrical body |
| IT1195482B (en) * | 1983-11-18 | 1988-10-19 | Meccanica Di Precisione Spa | PROGRAMMABLE ROBOT ABLE TO MANAGE THE FEEDING AND UNLOADING OF EMPTY SPOOLS AND FULL SPOOLS INTO AND FROM MACHINES USED FOR WINDING METAL WIRES EOD OTHER MATERIAL AT TWENTY OPERATING CHARACTERISTICS U GUALES OR DIFFERENT THAN ONE LONG THE SAME ROBOT YOU ARE LOOKING AT |
| JPS62162033A (en) * | 1986-01-13 | 1987-07-17 | Teijin Ltd | Automatic traveling operation device |
| CN202346466U (en) * | 2011-11-30 | 2012-07-25 | 李金光 | Automatic cutting, roll-changing and coiling device |
| CN202429761U (en) * | 2012-01-06 | 2012-09-12 | 广东达诚机械有限公司 | Reel alternation mechanism |
| CN205085167U (en) * | 2015-09-30 | 2016-03-16 | 王波 | Automatic change of lap axle robot |
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Effective date of registration: 20200225 Address after: Yangshe shoal Lake Park in Suzhou Branch Chong Hua Chang Lu 215600 cities in Jiangsu city of Zhangjiagang Province Patentee after: Ruichang, Zhangjagang City intelligent machine System Co., Ltd Address before: 215600, room 71, 408 Chengbei Village, Zhangjiagang City, Jiangsu, Suzhou Patentee before: Wang Bo |
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