CN110625624A - Wire end binding simulation robot and use method thereof - Google Patents
Wire end binding simulation robot and use method thereof Download PDFInfo
- Publication number
- CN110625624A CN110625624A CN201910851083.8A CN201910851083A CN110625624A CN 110625624 A CN110625624 A CN 110625624A CN 201910851083 A CN201910851083 A CN 201910851083A CN 110625624 A CN110625624 A CN 110625624A
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- thread
- column
- thread end
- fuse
- wire
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- 238000004088 simulation Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000005192 partition Methods 0.000 claims abstract description 67
- 238000004804 winding Methods 0.000 claims description 41
- 230000000670 limiting effect Effects 0.000 claims description 9
- 240000007643 Phytolacca americana Species 0.000 claims description 4
- 238000000926 separation method Methods 0.000 claims 3
- 239000002390 adhesive tape Substances 0.000 abstract description 7
- 239000002184 metal Substances 0.000 abstract description 4
- 239000000463 material Substances 0.000 abstract description 2
- 238000002844 melting Methods 0.000 abstract description 2
- 230000008018 melting Effects 0.000 abstract description 2
- 210000000078 claw Anatomy 0.000 description 21
- 230000007246 mechanism Effects 0.000 description 19
- 230000005540 biological transmission Effects 0.000 description 15
- 230000000903 blocking effect Effects 0.000 description 14
- 238000007599 discharging Methods 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000000758 substrate Substances 0.000 description 3
- 238000007667 floating Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000003756 stirring Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manufacture Of Motors, Generators (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a wire end binding simulation robot and a using method thereof, wherein the simulation robot comprises a wire end grabbing device, a moving device for driving the wire end grabbing device and a guiding fusing device, wherein the guiding fusing device comprises an upper isolating column, a lower isolating column and a fuse, wherein the upper isolating column and the lower isolating column have height difference; in the first state, the upper breaking column and the lower breaking column can be matched with at least one side plate thereof to limit the wire-shaped object to move outwards from the guiding fusing device; in the second state, notches which are in the same position and used for the linear objects to pass through are formed on the upper partition column and the lower partition column; the fuse fuses the wire between the upper and lower partition columns in the first state. The scheme can simulate manual binding operation of the thread end, so that the firmness of fixing the thread end can be ensured, adhesive tapes are not needed, and the cost is low; the cutting of silk thread is carried out in combination with the mode of hot melting, can effectually satisfy the cutting requirement of various materials such as metal, and cutting stability is good, and application scope is wide.
Description
Technical Field
The invention relates to the field of clamping jaws, in particular to a wire end tightening simulation robot and a using method thereof.
Background
For various silk and wire products, the silk and the wire are often required to be wound on the wire spool to form final products, the existing various winding machines can effectively wind the silk and the wire, before the wire is wound, the wire spool is often required to be manually placed on the winding machine or taken down from the winding machine, the mode of manually loading and unloading the wire spool needs to be configured for operation by a specially-assigned person, the labor cost of an enterprise is increased, the labor intensity is high, and the industrial development trend of the current automation and the intelligence is violated.
In order to realize automatic winding, the applicant applies a full-automatic winding production line of 201811552218.2 with the following application number and a processing method thereof, and the structure has the problems that:
after the winding is finished, when the thread end is cut off, the thread is cut off through a cutting device on the automatic feeding and discharging robot of the winding disc, but for metal wires, a conventional shearing knife is not easy to cut off quickly, the requirement on power of an air cylinder is high, the cutting stability is not high, and the application range is limited.
After cutting, the thread end on the wire spool is attached through the adhesive tape attaching device, but the risk that the thread end is loosened from the adhesive tape exists in the attachment of the adhesive tape attaching device, and the requirement on the fixing stability of the adhesive tape is high; meanwhile, the cost is increased by adopting the adhesive tape for attaching.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a wire end binding simulation robot and a using method thereof.
The purpose of the invention is realized by the following technical scheme:
the thread end binding simulation robot comprises
The thread end grabbing device is provided with a structure for poking and grabbing the thread-shaped object;
the moving device is connected with the thread head gripping device and drives the thread head gripping device to move;
the guide fusing device comprises an upper isolating column and a lower isolating column which have height difference and are horizontally arranged, and a fuse between the upper isolating column and the lower isolating column;
in the first state, the upper partition column and the lower partition column can be matched with at least one side plate thereof to limit the threadlike object to move outwards from the guide fusing device;
in a second state, notches which are in the same position and used for the linear objects to pass through are formed on the upper partition column and the lower partition column respectively;
the fuse fuses a wire located between the upper and lower partition columns in a first state.
Preferably, in the thread end tightening simulation robot, the thread end gripping device comprises a sleeve fixed on the circumferential surface of the bearing plate, a gripping rod with a front end protruding out of the sleeve is slidably arranged in the sleeve, a hook body is arranged at the front end of the gripping rod, and the rear end of the gripping rod is connected with a push-pull device for driving the gripping rod to slide in the sleeve in a reciprocating manner.
Preferably, in the thread end tightening simulation robot, a limit groove close to the front end of the sleeve is formed on the circumferential surface of the sleeve.
Preferably, in the thread end tightening simulation robot, a second magnet is provided near the hook body.
Preferably, in the simulation robot with the tied wire ends, the upper partition column comprises a first coaxial column body and a second coaxial column body, the first column body is fixed on the first side plate, the second column body is fixed on a telescopic shaft of an air cylinder, and the air cylinder is fixed on the second side plate.
Preferably, in the thread end tightening simulation robot, a limiting groove close to the free end of the second cylinder is formed on the circumferential surface of the second cylinder.
Preferably, in the thread end tightening simulation robot, a Y-shaped guider is further arranged between the upper partition column and the lower partition column, and a guide notch in the same extending direction as the Y-shaped guider is formed on a vertical rod of the Y-shaped guider.
Preferably, in the thread end tightening simulation robot, a pneumatic clamping jaw is further arranged between the upper partition column and the fuse, and can clamp a thread between the upper partition column and the fuse.
The use method of the wire end binding simulation robot comprises the following steps:
s10, the moving device drives the thread end grabbing device to poke the thread object between the thread supply device and the wire spool to the direction of the guiding fusing device, and the thread end grabbing device moves to the position above the upper blocking column in the second state and is deviated to one side of the pneumatic clamping jaw;
s20, switching the upper partition column and the lower partition column to a first state;
s30, the moving device drives the thread end grabbing device to stir the thread between the lower partition column and the wire spool for a circle along the winding direction of the thread and enables the thread end grabbing device to move to the thread between the fuse and the lower partition column;
s40, the grabbing rod of the thread end grabbing device contracts, and the hook body at the front end of the grabbing rod hooks the thread between the fuse and the lower partition column;
s50, the pneumatic clamping jaws are started to clamp the thread between the two clamping heads;
s60, the fuse is started to fuse the wire passing through the fuse block;
and S70, the moving device drives the thread end grabbing device to tighten the thread end grabbed by the thread end grabbing device.
Preferably, the use method of the thread end tightening simulation robot further comprises
S80, the moving device drives the thread end grabbing device to move to the position of the thread between the thread supply device and the upper partition column, and the grabbing rod contracts to clamp the thread;
s90, the pneumatic clamping jaw starts to loosen the clamped wire end;
and S100, driving the thread end grabbing device by the moving device to wind and fix the thread object grabbed by the thread end grabbing device on a wire winding disc on a winding machine.
The technical scheme of the invention has the advantages that:
the scheme has the advantages that the design is exquisite, the structure is simple, the binding operation of the thread end can be simulated manually by matching the thread end grabbing device with the guide fusing device, so that the firmness of fixing the thread end can be ensured, an adhesive tape is not needed, and the cost is low; meanwhile, the silk thread is cut off in a hot melting mode, so that the cutting requirements of various materials such as metal and the like can be effectively met, the cutting stability is good, and the application range is wide.
The limiting groove on the periphery of the sleeve can limit the linear object when the linear object is stirred, so that the stirring stability is ensured.
The hook body is provided with the magnet, so that metal wires and the like can be effectively adsorbed, and the hook body can stably hook and take the threadlike objects.
The Y-shaped guider can effectively ensure that when the threadlike object is stirred, the threadlike object can accurately pass through the gaps of the upper and lower isolating columns, so that the operation efficiency is improved.
The pneumatic clamping jaw can clamp the upper thread end part before fusing the thread-shaped object, so that the upper thread end is prevented from falling randomly, and the thread end is wound on a new wire spool through automatic equipment subsequently.
The baffle of the one end of the claw body centre gripping wire reel through a set of synchronous shrinkage and opening is cliied to the wire reel of this scheme, and the effectual clamping jaw that has avoidd the baffle at prior art centre gripping both ends leads to places the interference problem of mesa with the wire reel, adopts the connecting rod formula transmission structure simultaneously, adopts the two connecting rods to connect the claw body, and the effectual rigidity that increases the claw body has improved the bearing capacity, provides the assurance for transversely placing the wire reel.
The clamping jaw is provided with the floating first magnet, the first magnet ensures that the relative position between the wire spool and the clamping jaw is fixed before the clamping jaw is clamped, so that stable clamping is ensured, meanwhile, the floating structure can effectively adapt to the clamping action of the clamping jaw, the clamping reliability is favorably improved, in addition, the hard contact between the blocking disc and the jaw body as well as between the blocking disc and the magnet can be effectively avoided, and the safety of the structure is ensured.
The clamping jaw is integrated with an inflation and deflation connector, so that inflation can be effectively realized by matching with the inflatable shaft, the problem that an inflation structure is configured for each inflatable shaft in the prior art can be avoided, the equipment cost is reduced, the flexibility of inflation and deflation is improved, and the performance of the clamping jaw is enriched.
The design of the claw body clamping groove can effectively meet the grabbing requirements of the wire reels with baffles of different thicknesses, the available range is wide, and the application flexibility is high.
Drawings
FIG. 1 is a perspective view of a thread end binding emulation robot of the present invention;
fig. 2 is a perspective view of the thread end catching device of the present invention;
fig. 3 is a partially enlarged view of a catching bar of the thread end catching apparatus of the present invention;
FIG. 4 is a perspective view of a lead fuse apparatus of the present invention;
FIG. 5 is a front view of the lead fuse apparatus of the present invention;
FIG. 6 is an enlarged view of area B of FIG. 4;
FIG. 7 is a front view of a second embodiment of the lead fuse apparatus of the present invention;
fig. 8 is a perspective view of the thread end fixing device of the present invention;
FIG. 9 is a schematic view of the position of the thread end grasping mechanism for pulling the thread after the winding of the spool is completed;
FIG. 10 is a schematic view of the thread end grasping mechanism pulling the thread over the upper limit post;
FIG. 11 is a schematic view of the upper and lower restraining posts blocking the thread and the position between the thread end catching mechanism and the thread;
FIG. 12 is a schematic view of the thread end catching mechanism after it has been pulled through the loop;
FIG. 13 is a schematic view of the thread end catching mechanism catching a blown thread end;
fig. 14 is a schematic view showing a state in which the thread-end grasping mechanism grasps the thread-like body between the winding machine and the upper restricting post.
Figure 15 is a perspective view of the spool jaw of the present invention;
figure 16 is a cross-sectional view of the spool jaw of the present invention;
FIG. 17 is a cross-sectional view of the inflation and deflation joint of the present invention;
figure 18 is a partial front elevational view of the spool jaw of the present invention;
fig. 19 is a perspective view of the winding machine and the wire feeder of the present invention.
Detailed Description
Objects, advantages and features of the present invention will be illustrated and explained by the following non-limiting description of preferred embodiments. The embodiments are merely exemplary for applying the technical solutions of the present invention, and any technical solution formed by replacing or converting the equivalent thereof falls within the scope of the present invention claimed.
In the description of the schemes, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the embodiment, the operator is used as a reference, and the direction close to the operator is a proximal end, and the direction away from the operator is a distal end.
The end binding simulation robot disclosed by the invention is explained in the following with reference to the attached drawings, and is at least used for binding the end of a thread after winding a filiform object, a thread object and the like and winding the end of a thread supply device on a wire spool, as shown in the attached drawing 1, and comprises
A thread end gripping device 10 having a structure for pulling and gripping a thread;
a moving device 20 connected with the thread end gripping device 10 and driving the thread end gripping device to move;
the guiding fusing device 30, as shown in fig. 4, includes an upper partition column 301, a lower partition column 302 and a fuse 303 between the upper partition column and the lower partition column, which have a height difference and are horizontally arranged;
in the first state, the upper partition column 301 and the lower partition column 302 can cooperate with at least one side plate thereof to limit the outward movement of the wire-shaped object from the guiding fusing device;
in the second state, notches which are in the same position and are used for the linear objects to pass through are respectively formed on the upper partition column 301 and the lower partition column 302;
the fuse 303 fuses a wire located between the upper and lower partition columns 301 and 302 in the first state of the upper and lower partition columns 301 and 302.
Specifically, as shown in fig. 2, the thread end gripping device 10 includes a sleeve 101 disposed on the moving device 20, the sleeve 101, a gripping rod 102 whose front end protrudes out of the sleeve 101, is slidably disposed in the sleeve 101, and a limiting groove 1011 is formed on a circumferential surface of the sleeve 101 near the front end thereof, so that the thread can be limited by the limiting groove 1011, and the thread is prevented from sliding on the sleeve 101.
As shown in fig. 3, the front end of the grabbing bar 102 has a hook 1021, and the back end of the grabbing bar is connected to the push-pull device 103 driving the grabbing bar to slide back and forth in the casing 101, the hook 1021 is formed by forming a gap 1022 at the front end of the grabbing bar 102, the bottom of the gap 1022 is formed with a mounting groove 1023, and a second magnet is disposed in the mounting groove 1023.
The push-pull device 103 may be an air cylinder or other devices or mechanisms capable of driving the grabbing rod 102 to reciprocate along a linear direction, such as an electric cylinder, an oil cylinder, and the like, which are not described herein again.
As shown in fig. 1, the moving device 20 is any conventional mechanism capable of performing XYZ axes movement and rotation, and preferably, the moving device 20 may be a 6-axis robot, which is a known technology and will not be described herein.
As shown in fig. 4, the guiding fuse device 30 includes a mounting seat, which includes a first side plate 304 and a second side plate 305 disposed in parallel, and the first side plate 304 and the second side plate 305 are fixed together by a third side plate 308 perpendicular to the first side plate and the second side plate; the second side plate 305 is fixed to a bracket 309; a first column 3011 of the upper partition column 301 is vertically arranged at an end face, facing the second side plate 305, of the first side plate 304, a second column 3012 of the upper partition column 301 is coaxial with the first column 3011 and is arranged on a telescopic shaft of an air cylinder 3013, the air cylinder 3013 is fixed on the second side plate 305, and when the air cylinder shaft of the air cylinder 3013 retracts, the first column 3011 and the second column 3012 keep a gap, namely, the gap for a thread to pass through is formed; when the cylinder shaft of the cylinder 3013 extends, the opposite ends of the second post 3012 and the first post 3011 abut against each other so that the thread between the third side plate 308 and the upper partition column 301 cannot move to the other side of the upper partition column 301; and, a stopper groove 3014 is formed on the circumferential surface of the second post 3012 near the free end thereof.
The lower partition column 302 is located right below the upper partition column 301, and has the same structure as the upper partition column 301, and is also disposed between the first side plate 304 and the second side plate 305, which is not described herein again.
As shown in fig. 5, the fuse 303 includes a first fuse block 3031 and a second fuse block 3032, which are slidably connected together, the first fuse block 3031 is connected with a cylinder 3033 driving the first fuse block 3031 to reciprocate relative to the second fuse block 3032, the second fuse block 3032 is fixed at the first side plate 304, when the cylinder shaft of the cylinder 3033 extends, a notch 3034 corresponding to the gap position between the first post 3011 and the second post 3012 is formed between the first fuse block 3031 and the second fuse block 3032, and when the cylinder shaft of the cylinder 3033 retracts, the opposite end faces of the first fuse block 3031 and the second fuse block 3032 are abutted. The fuse 303 further includes a structure for heating the first fuse block 3031 and the second fuse block 3032, which is known in the art and will not be described in detail herein.
As shown in fig. 4, a shielding plate 3030 is disposed in front of the fuse 303, the shielding plate 3030 is disposed in a shielding cylinder 3040 driving the shielding plate to reciprocate in a direction parallel to the extending direction of the upper partition column, and the shielding cylinder 3040 can drive the shielding plate 3030 to move to shield the gap between the two fuse blocks of the fuse 303.
Further, in order to effectively enable the thread to smoothly pass through the gaps of the upper partition column 301 and the lower partition column 302, as shown in fig. 4, a Y-shaped guide 306 located between the upper partition column and the lower partition column is further arranged on the third side plate, a guide gap 3061 which is the same as the extending direction of the Y-shaped guide 306 is formed on a vertical rod of the Y-shaped guide 306, and the guide gap 3061 corresponds to the position of the gap between the first column 3011 and the second column 3012, so that the thread can enter the position of the guide gap 3061 through a horn-shaped guide opening of the Y-shaped guide 306 during subsequent operation, and the thread can smoothly pass through the gaps of the upper partition column 301 and the lower partition column 302.
Meanwhile, in order to facilitate the subsequent wire rewinding operation, as shown in fig. 4, at least a first side plate 304 between the Y-shaped guide 306 and the fuse 303 is formed with an escape notch for the wire head gripping device 10 to pass through when gripping the wire.
Furthermore, since the wire needs to be melted by the fuse 303 during subsequent wire rewinding, at this time, one of the two wire ends of the melted wire may slip off from the upper partition column due to gravity, so that the wire end cannot be accurately grasped by the automatic device any more subsequently, as shown in fig. 5 and 6, a pneumatic clamping jaw 307 is further disposed between the upper partition column 301 and the fuse 303, and can clamp the wire between the upper partition column and the fuse, the pneumatic clamping jaw comprises a clamping jaw cylinder 3071 fixed on the third side plate 308, the clamping jaw cylinder 3071 drives the two clamping jaws 3072, 3073 to move towards and away from each other, and when the two clamping jaws 3072, 3073 are opened, the notch 3074 between the two clamping jaws corresponds to the notch on the upper partition column 301. And the two collets 3072, 3073 of the pneumatic jaw 307 extend directly below the upper partition post 3031.
In addition, in order to prevent the guide fusing device 30 from interfering with the operation of the winding machine during operation, as shown in fig. 7, the guide fusing device 30 may be moved, that is, the holder 309 may be disposed on a slider of the electric cylinder 3010 driving the holder to reciprocate in a linear direction, and the holder 309 may be slidably disposed on a guide rail 3020 parallel to the reciprocating sliding direction of the holder.
In addition, in order to ensure that the thread end is loosened during the winding process when the thread end is wound on the wire spool, as shown in fig. 7 and 8, the thread end fixing mechanism 40 further comprises a thread end fixing mechanism 40, the thread end fixing mechanism 40 comprises an installation plate 402 fixed on a movable block of an electric cylinder 401, an air cylinder 403 is arranged on the installation plate 402, the moving direction of the movable block of the electric cylinder 401 and the telescopic direction of an air cylinder shaft of the air cylinder 403 are consistent with the moving direction of the guide fusing device 30, a wheel frame 404 is fixed at the free end of the air cylinder shaft of the air cylinder 403, a roller 405 is rotatably arranged on the wheel frame 404, and the roller 405 is positioned right below the V-shaped groove of the Y-shaped guide when in the extending state.
Meanwhile, in order to enable the thread end tightening simulation robot to work in cooperation with a plurality of sets of winding machines, the thread end gripping device 10, the moving device 20, the guiding fusing device 30 and the thread end fixing mechanism 40 are arranged on the same moving line (not shown in the figure), the moving line can be a conveying line, an AGV trolley or a structure similar to a tramcar, and the structure is a known technology and is not described in detail herein.
When the thread end is used for fastening the simulation robot, the process comprises the following steps:
s00, moving the wire end fastening simulation robot to a winding machine where the wire winding is completed, at this time, the electric cylinder 3010 is started to make the guiding fusing device 30 extend forward to move to the upper right corner of the winding reel 100 where the wire winding is completed on the winding machine, and the Y-shaped guide 306 thereon extends into the right semicircular breadth of the winding reel 100.
S10, at this time, the upper breaking column 301, the lower breaking column 302 and the fuse 303 are all in a gapped state (second state), as shown in fig. 9, the moving device 20 drives the thread end grabbing device 10 to move to below the thread 60 between the thread supplying device 50 and the wire spool 100, and the limiting groove 1011 on the outer surface of the sleeve thereof is opposite to the thread 60 between the thread supplying device 50 and the wire spool 100, and then the thread end grabbing device 10 dials the thread 60 towards the fuse device 30, i.e. dials the thread in the upper right corner direction, as shown in fig. 10, when the thread end grabbing device 10 moves above the upper breaking column 301 and is slightly biased to the right side of the upper breaking column 301, the thread 60 dialed by the thread end grabbing device is located on the right side of the upper breaking column 301 and the lower breaking column 302.
S20, the upper and lower blocking posts 301 and 302 are switched to the first state, i.e., their cylinder 3013 drives the second post 3012 to move toward the first post 3011, thereby blocking the wire 60 on their right side, as shown in fig. 11, and the wire is located in the guide fusing device.
S30, the moving device 20 drives the thread end gripping device 10 to move to the right side of the thread 60 between the lower partition post 302 and the spool 100, and the position of the limiting groove 1011 on the outer surface of the sleeve of the thread end gripping device 10 is opposite to the thread 60. As shown in fig. 11, the moving device 20 drives the thread end grasping device 10 to poke the thread 60 along the winding direction a of the thread on the spool, i.e. the thread 60 is wound around the outer circumference of the spool 100 by one turn in the counterclockwise direction, at this time, as shown in fig. 12, the thread which is poked by the thread end grasping device 10 forms a loop 70, and finally the thread end grasping device 10 is moved to the thread 70 between the fuse 303 and the lower partition column 302, preferably with the thread end grasping device 10 on the right side thereof, and then, the grasping rod 102 is first switched from the contracted state to the state of being extended from the sleeve 101 and the telescopic rod 102 is abutted against the thread 80, while the notch 1022 of the grasping rod 102 is facing the thread 80 or the thread 80 is located in the notch of the grasping rod 102.
S40, as shown in fig. 13, the grasping rod 102 of the thread end grasping device 10 is contracted, the hook 1021 at the front end of the grasping rod 102 hooks the thread 80 between the fuse 303 and the lower partition post 302, and the thread 80 is fixed by the engagement of the hook 1021 and the sleeve 101.
S50, where the pneumatic cylinder 3071 of the pneumatic jaw 307 is actuated to clamp the wire between the notches 3074 of its two jaws 3072, 3073, as shown in fig. 13.
S60, the cylinder 3033 of the fuse 303 is then actuated to clamp and fuse a wire passing between the first fuse block 3031 and the second fuse block 3032 as shown in fig. 13.
S70, finally, as shown in fig. 13, the moving means 20 drives the thread end catching means 10 to move leftward and frontward so as to tighten the thread end caught by the thread end catching means in the loop 70 formed on the outer peripheral surface thereof. Specifically, the sleeve of the thread end grasping device 10 is first withdrawn from the loop 70 to penetrate the thread end grasped by the sleeve into the loop 70, and then the thread end grasping device 10 pulls the thread end to the left side to tighten the loop 70 with the thread end into a knot.
And blanking the wire spool after the binding is finished.
After the blanking is completed and the empty wire spool is updated, the stub clamped by the pneumatic clamping jaw 307 needs to be wound on a new wire spool, and the stub is tightened by the simulation robot for explanation, and the specific process is as follows:
s80, as shown in fig. 14, the moving device 20 drives the thread-end grasping device 10 to move to the thread 90 between the thread supply device 50 and the upper partition column 301, at this time, the grasping rod 102 of the thread-end grasping device 10 keeps extending state, the notch on it faces to the thread 90 and the grasping rod abuts against the thread 90 or the thread 90 is located at the notch of the grasping rod 102, when the grasping rod 102 contracts, it drives the thread 90 to move into the sleeve and cooperates with the sleeve to clamp the thread 90.
S90, the air cylinder 3071 of the pneumatic jaw 307 drives the two jaws open, so that the pneumatic jaw 307 releases the wire end held thereby.
S100, the moving device 20 drives the thread end grasping device 10 to wind the thread grasped by the thread end grasping device on the winding disc of the winding machine for 2 to 3 turns according to the winding direction of the thread.
And S200, finally, starting an electric cylinder 401 and an air cylinder 403 of the thread end fixing mechanism 40 to enable the roller 405 to be attached to the thread end to fix the thread end, and then starting the winding machine to perform winding.
Further, in order to facilitate the automatic loading and unloading of the wire spool, as shown in fig. 1, the moving device 20 is further connected to a wire spool clamping jaw, and the thread end gripping device 10 is connected to the moving device 20 through the wire spool clamping jaw.
As shown in fig. 15, the wire spool clamping jaw includes a connecting seat 1, a bearing plate 2, a base plate 3 and a cylinder 4 are disposed at a front end surface of the connecting seat 1, the cylinder 4 is fixed on the base plate 3 and is connected with a transmission plate 5 through a cylinder shaft, the transmission plate 5 is connected with at least three claw bodies 7 through a link type transmission mechanism 6 fixed on the bearing plate 2, one end of each of the claw bodies 7 is pivotally connected with the base plate 3, the other end extends to a front end of the bearing plate 2, and each claw body 7 is pivotally connected with a same-direction end of a first driving rod 61 and a second driving rod 62 of the link type transmission mechanism 6 and is driven by the cylinder 4 to rotate around a pivot connected with the base plate 3.
As shown in fig. 15, the connecting socket 1 includes a main body 11 and flanges 12 and 13 located at two ends of the main body 11, and the flanges 12 and 13 are formed with connecting holes located outside the main body 11. The flange 13 is used for connecting the moving device 20, the front end face of the flange 12 is connected with the bearing plate 2 through a group of columns 14, the bearing plate 2 is disc-shaped, the bearing plate is coaxial with the flange 12, a group of notches 22 opposite to the positions of the claws 7 are formed on the circumferential surface of the bearing plate, a sleeve of the thread end grabbing device 10 is fixed on the circumferential surface of the bearing plate 2, and the push-pull device 103 of the thread end grabbing device is fixed on the back surface of the bearing plate 2.
As shown in fig. 16, a set of circular mounting holes 23 is formed on the front surface of the carrier plate 2, the circular mounting holes 23 are coaxial with the carrier plate 2, a first magnet 8 is disposed in each mounting hole 23, the first magnet 8 can be a magnet or an electromagnet, etc., and they can be fixed in the mounting holes 23 by glue or bolts, etc., preferably, each first magnet 8 can float up and down relative to the carrier plate 2.
As shown in fig. 16, that is, the mounting hole 23 is a counter bore, and the front end opening is smaller than the rear end opening, each magnet is bolt-shaped and is slidably limited in one counter bore, a back plate 24 covering the mounting hole 23 is screwed at the rear end surface of the carrier plate 2, a spring (not shown in the figure) is arranged between the bottom of the first magnet 8 and the back plate 24, one end of the spring abuts against the bottom surface of the magnet 8, and the other end abuts against the back plate 24, so that the first magnet 8 can move downward relative to the carrier plate 2 when being subjected to a downward pressure, and when no pressure is applied, the first magnet is reset under the reaction force of the spring.
Further, as shown in fig. 16, coaxial through holes 21 are formed at the centers of the carrier plate 2 and the back plate 24, the through hole 21 is a circular hole and has a diameter smaller than that of a circle enclosed by the mounting hole 23, namely, the round hole is positioned in the space enclosed by the magnet, the back end surface of the bearing plate 2 is provided with an air charging and discharging joint 9 which is opposite to the through hole 21, the inflation and deflation joint 9 is used for matching with a structure needing inflation and deflation, for example, the inflation and deflation can be carried out on an inflatable shaft, as shown in figure 17, which comprises a base 91 fixed on the back panel 23, an air nozzle 92 arranged on the base 91, an air charging and discharging passage 93 communicated with the air passage of the air tap 92 is formed on the base 91, the air inlet and outlet of the air charging and discharging channel 93 is positioned on the side wall of the base 91, thereby facilitating the connection of an air source and avoiding the interference with the connecting rod type transmission mechanism 6.
As shown in fig. 16, a group of pillars 25 is further vertically disposed on the rear end surface of the carrier plate 2, the pillars 25 are distributed on the periphery of the back plate 24, and the pillars 25 are fixedly connected to the base plate 3, the base plate 3 is preferably a square plate, the cylinder 4 is fixed at the center position of the rear end surface of the base plate 3, the cylinder shaft thereof is inserted into the through hole 31 in the center of the base plate 3, the transmission plate 5 includes a flat plate 51 parallel to the base plate 3 and a connector 52 located in the center of the flat plate 51, inserted into the through hole 31 and screwed with the cylinder shaft 41 of the cylinder 4, four pivot connection portions 53 are formed on the transmission plate 5 and equally divide the periphery of the transmission plate 5, and the pivot connection portions 53 are connected to the link transmission mechanism 6.
Specifically, as shown in fig. 2 and 18, the link-type transmission mechanism 6 includes a link 63 corresponding to each of the claw bodies 7 and having one end pivotally connected to one pivot connection portion 53 of the transmission plate 5, the link 63 is connected to the transmission plate 5 through a first connection shaft 65, and the link 63 is preferably H-shaped, two short arms 631 having one open end of the link 63 are located outside two protrusions 531, 532 of the pivot connection portion 53, a second connection shaft 66 is disposed between the two short arms 632 of the other end of the link 63, the second connection shaft 66 slidably penetrates through a first kidney-shaped hole 641 on a base 64, the base 64 is fixed on the back plate 24, and the length direction of the first kidney-shaped hole 641 is the same as the extending direction of the support 25; a first connecting shaft 65 connecting the connecting rod 63 and the transmission plate 5 is pivotally connected to the circular hole 611 at one end of the first driving rod 61, one end of the first driving rod 61 connected to the first connecting shaft 65 is located between the two bosses of the pivotal connection portion 53, and the other end of the first driving rod 61 is pivotally connected to the pawl 7. The second connecting shaft 66 connecting the link 63 and the base 64 is pivotally connected to the kidney-shaped hole 621 of the second driving lever 62, the other end of the second driving lever 62 is pivotally connected to the pawl body 7, and the connection point of the second driving lever 62 to the pawl body 7 is located at the front end of the connection point of the first driving lever 61 to the pawl body 7, so that the first driving lever 61 and the second driving lever 62 are in a parallel or approximately parallel state.
The quantity of the claw bodies 7 can be set according to the needs, such as 3, 4 or more, preferably the claw bodies 7 are 4, and the claw bodies are distributed in a square shape, so that on one hand, uniform clamping of the wire winding disc at all places can be guaranteed, excessive load of the local claw bodies 7 caused by uneven stress during grabbing is avoided, meanwhile, the space occupied by the connecting rod type transmission mechanism 6 can be minimized, and interference with other structures is avoided.
As shown in fig. 18, each of the claw bodies 7 includes a swing arm 71, one end of the swing arm 71 is pivotally connected to the connecting portion 31 on the side surface of the base plate 3, the front end of the swing arm 71 extends to the front of the carrying plate 2 and is opposite to a position of a notch 22 on the side surface of the carrying plate 2, and the swing arm 71 can be partially or completely embedded into the notch 22 when it is in a retracted state. The front end of the swing arm 71 is provided with a limit block 72, the limit block 72 and the front end of the swing arm 71 form a clamping groove 73, the width of the clamping groove 73 is larger than the thickness of the blocking disc at one end of the wire spool, and therefore the wire spool with different blocking disc thicknesses can be clamped by the claw body.
The use method of the wire spool clamping jaw is described below by taking the wire spool which can be attracted by a magnet as an example, specifically, how to perform the loading and unloading operation, before the grabbing, the clamping jaw body 7 is kept in an open state, the cylinder shaft of the cylinder 4 is in an extended state, and when the grabbing, the method specifically includes the following steps:
and S1, driving the coil winding clamping jaw through the moving device 20 to enable the bearing plate 2 to be parallel to and opposite to the blocking disc at one end of the coil winding, so that the first magnet 8 on the bearing plate 2 is adsorbed at the end face of the blocking disc of the coil winding.
S2, the cylinder 4 is actuated to retract the cylinder shaft, which causes the driving plate 5 to move toward the cylinder 4, thereby driving the connecting rod 63 connected thereto to move toward the cylinder 4, further driving the second driving rod 62 connected to the connecting rod 43 to move toward the substrate 3, and simultaneously moving the end of the first driving rod 4 connected to the driving plate 5 toward the substrate 3, so that the first driving rod 61 and the second driving rod 62 apply a pulling force to the claw 7, thereby causing the four claws 7 to rotate and contract around their pivot connection points with the substrate 3, thereby causing the four claws to clamp the blocking disk adsorbed by the first magnet 8 between the claws and the first magnet 8 or the bearing plate 2, and causing the first magnet 8 to press down due to the clamping force applied to the blocking disk.
S3, the moving device 20 drives the spool clamping jaws to move the spool clamped on the spool clamping jaws to a state that the central hole of the spool is coaxial with an air expansion shaft, and the spool is sleeved on the air expansion shaft.
And S4, finally, starting the air cylinder 4 to open the four claw bodies 7, driving the inflation and deflation joints on the bearing plate to be in butt joint with the air nozzles of the inflatable shaft by the moving device 20, opening an air source, inflating the inflatable shaft, and expanding the inflatable shaft to fix the wire spool.
During blanking, the working process of the wire spool clamping jaw is as follows;
and S5, the moving device 20 drives the reel clamping jaws to enable the air inflation and deflation joints on the reel clamping jaws to be in butt joint with air nozzles of an air inflation shaft on the winding machine for air deflation.
S6, the moving device 20 drives the loading plate 2 of the spool clamping jaw to be parallel to and opposite to the blocking plate at one end of the spool, so that the first magnet 8 on the loading plate 2 is adsorbed at the end face of the blocking plate of the spool;
s7, the cylinder 4 is actuated to retract the cylinder shaft, so that the 4 claws are retracted to clamp the outer end of the spool, and then the spool jaws are driven by the moving device 20 to move the spool to a specified position for blanking.
The automatic winding system disclosed by the scheme comprises the wire end tightening simulation robot, and further comprises at least one set of a winding machine 200 and a wire supply machine 300 shown in the attached drawing 19.
Finally, when the wire end binding simulation robot and the automatic winding system work, the start-stop and working state of various electrical devices such as various cylinders, motors, electric cylinders and the like can be controlled by various known control devices such as a control device formed by a PLC and an industrial computer and by combining various sensors such as a proximity sensor, a laser ranging sensor and the like, which are known technologies and are not described in detail herein.
The invention has various embodiments, and all technical solutions formed by adopting equivalent transformation or equivalent transformation are within the protection scope of the invention.
Claims (10)
1. End of a thread binding emulation robot, its characterized in that: comprises that
A thread end gripping device (10) having a structure for pulling and gripping a thread-like object;
the moving device (20) is connected with the thread head gripping device (10) and drives the thread head gripping device to move;
the guide fusing device (30) comprises an upper partition column (301) and a lower partition column (302) which have height difference and are horizontally arranged, and a fuse (303) positioned between the upper partition column and the lower partition column;
in the first state, the upper breaking column (301) and the lower breaking column (302) can be matched with at least one side plate thereof to limit the linear object from moving outwards from the guide fusing device;
in a second state, notches which are in the same position and used for allowing the linear objects to pass through are formed in the upper partition column (301) and the lower partition column (302) respectively;
the fuse (303) fuses a wire located between the upper separation post (301) and the lower limit position (302) when the upper separation post (301) and the lower separation post (302) are in the first state.
2. The thread end binding simulation robot according to claim 1, wherein: the thread head grabbing device (10) comprises a sleeve (101) fixed on the circumferential surface of the bearing plate (2), a grabbing rod (102) with the front end protruding out of the sleeve (101) is slidably arranged in the sleeve (101), the front end of the grabbing rod (102) is provided with a hook body (102), and the rear end of the grabbing rod is connected with a push-pull device (103) driving the grabbing rod to slide in the sleeve (101) in a reciprocating mode.
3. The thread end binding simulation robot according to claim 2, wherein: a limit groove (1011) close to the front end of the sleeve (101) is formed on the circumferential surface of the sleeve.
4. The thread end binding simulation robot according to claim 2, wherein: a second magnet is arranged near the hook body (102).
5. The thread end binding simulation robot according to any one of claims 1 to 4, wherein: the upper partition column (301) comprises a first column body (3011) and a second column body (3012) which are coaxial, the first column body (3011) is fixed to the first side plate (304), the second column body (3012) is fixed to a telescopic shaft of an air cylinder (3013), and the air cylinder (3013) is fixed to the second side plate (305).
6. The thread end binding simulation robot according to claim 5, wherein: and a limiting groove (3014) close to the free end of the second column body (3012) is formed on the circumferential surface of the second column body.
7. The thread end binding simulation robot according to claim 1, wherein: and a Y-shaped guider (306) is further arranged between the upper partition column and the lower partition column, and a guide notch (3061) which is the same as the extending direction of the guide notch is formed on the vertical rod of the Y-shaped guider (306).
8. The thread end binding simulation robot according to claim 1, wherein: and a pneumatic clamping jaw (307) is arranged between the upper partition column and the fuse (303) and can clamp a linear object between the upper partition column and the fuse.
9. The use method of the thread end binding simulation robot is characterized in that: the method comprises the following steps:
s10, the moving device (20) drives the thread end grabbing device (10) to poke the thread (60) between the thread supply device (40) and the wire spool (50) to the direction of the guide fusing device (30), and the thread end grabbing device (10) moves to the position above the upper isolating column (301) in the second state and is deviated to one side of the pneumatic clamping jaw;
s20, the upper partition column (301) and the lower partition column (302) are switched to a first state;
s30, the moving device (20) drives the thread end grabbing device (10) to poke the thread (60) between the lower isolating column (302) and the wire spool for one circle along the winding direction (A) of the thread and enables the thread end grabbing device (10) to move to the thread between the fuse (303) and the lower isolating column (302);
s40, the grabbing rod (102) of the thread end grabbing device (10) grabs the thread between the fuse (303) and the lower partition column (302);
s50, the pneumatic clamping jaws are started to clamp the thread between the two clamping heads;
s60, the fuse is started to fuse the wire passing through the fuse block;
and S70, the moving device (20) drives the thread end grabbing device (10) to tighten the thread end grabbed by the thread end grabbing device.
10. The use method of the thread end tightening simulation robot according to claim 9, characterized in that: also comprises
S80, the moving device (20) drives the thread head grabbing device (10) to move to the position of the thread between the thread supply device (40) and the upper partition column, and the grabbing rod (102) contracts to clamp the thread;
s90, the pneumatic clamping jaw starts to loosen the clamped wire end;
and S100, the moving device (20) drives the thread end grabbing device (10) to wind and fix the thread grabbed by the thread end grabbing device on a wire winding disc on a wire winding machine.
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| CN201910851083.8A CN110625624B (en) | 2019-09-10 | 2019-09-10 | Wire end fastening simulation robot and using method thereof |
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| CN201910851083.8A CN110625624B (en) | 2019-09-10 | 2019-09-10 | Wire end fastening simulation robot and using method thereof |
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| CN111392511A (en) * | 2020-04-26 | 2020-07-10 | 苏州智殷自动化有限公司 | Automatic wire spool loading and unloading system for tire steel wire winding device |
| CN111392510A (en) * | 2020-04-26 | 2020-07-10 | 苏州智殷自动化有限公司 | Automatic assembling and disassembling method for wire spool of tire steel wire winding device |
| CN113547047A (en) * | 2021-07-22 | 2021-10-26 | 苏州江锦自动化科技有限公司 | Automatic steel wire punching device and method |
| CN114194942A (en) * | 2021-12-31 | 2022-03-18 | 无锡巨一同创科技有限公司 | Automatic wire coil assembling and disassembling equipment of wire stretcher and wire leading processing method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113547047B (en) * | 2021-07-22 | 2024-01-26 | 苏州江锦自动化科技有限公司 | Automatic steel wire perforating device and method |
| CN114194942A (en) * | 2021-12-31 | 2022-03-18 | 无锡巨一同创科技有限公司 | Automatic wire coil assembling and disassembling equipment of wire stretcher and wire leading processing method thereof |
| CN114194942B (en) * | 2021-12-31 | 2024-02-20 | 无锡巨一同创科技股份有限公司 | Wire coiling machine wire coil loading and unloading automation equipment and wire-guiding processing method thereof |
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Application publication date: 20191231 Assignee: Suzhou Heyu Finance Leasing Co.,Ltd. Assignor: SUZHOU JIANGJIN AUTOMATION TECHNOLOGY Co.,Ltd. Contract record no.: X2022320010033 Denomination of invention: A simulation robot for tightening thread ends and its usage method Granted publication date: 20231027 License type: Exclusive License Record date: 20240204 |
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Denomination of invention: A simulation robot for tightening thread ends and its usage method Granted publication date: 20231027 Pledgee: Suzhou Heyu Finance Leasing Co.,Ltd. Pledgor: SUZHOU JIANGJIN AUTOMATION TECHNOLOGY Co.,Ltd. Registration number: Y2022320010801 |
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