CN216037917U - Big end and small end distinguishing module and spinning yarn inserting robot with same - Google Patents

Abstract

The utility model relates to a big and small head distinguishing module and a spinning yarn inserting robot with the same, wherein the big and small head distinguishing module comprises: a blanking bin; the large and small head distinguishing sensor is arranged on the blanking bin and used for detecting the position of the large and small head of the cop; two first unipolar cylinders, two first unipolar cylinder intervals set up in the outside of blanking storehouse, and the loose axle of first unipolar cylinder passes in the blanking storehouse lateral wall stretches into the blanking storehouse, and can retract under the drive of first unipolar cylinder. Above-mentioned big end is distinguished module, the loose axle of two first unipolar cylinders can be selected according to big end and distinguish the testing result of sensor and withdraw to make the cop drop with big end gesture down, distinguish the process convenient, swift, have higher reliability.

Description

Big end and small end distinguishing module and spinning yarn inserting robot with same

The application is a divisional application of the Chinese utility model patent application with the application number of 202021515549.1, entitled "textile yarn inserting robot for replacing textile employees" filed by the applicant at 2020-07-28.

Technical Field

The utility model relates to the technical field of spinning industry self-winding processes, in particular to a large and small head distinguishing module and a spinning yarn inserting robot with the same.

Background

As a labor-intensive industry, the textile industry carries out automatic transformation on the existing equipment along with the economic development and industrial upgrading of China, and has great significance for replacing repeated and boring work of workers with intelligent robots. The winding process is an important link of the textile industry, the labor cost is high, one winding machine can complete daily production only by 3-5 yarn inserting workers, the yarn inserting workers repeatedly take yarn drums, extract yarn ends and put the yarn drums into a yarn storage every day, and the winding workshop generally has the defects of high noise pollution, large amount of short and small fibers in the air and threatens the health of the workers due to the working environment. Therefore, the intelligent improvement of the spooling workshop is realized, the working environment of workers is improved, and the labor pressure of a textile mill is reduced.

The yarn feeding device is an important device in a spooling workshop, and the big end and the small end of the cop need to be distinguished, so that the big end of the cop is downwards arranged in the accommodating cavity, and therefore, how to design a device capable of automatically distinguishing the big end and the small end of the cop is one of the difficulties faced by the technical personnel in the field at present.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide a large and small head distinguishing module and a spinning yarn inserting robot provided with the same, and the large and small head distinguishing module and the spinning yarn inserting robot provided with the same can achieve the technical effect of automatically distinguishing the large and small heads of the cop.

According to an aspect of the present application, there is provided a size resolution module, including:

a blanking bin;

the big and small head resolution sensor is arranged on the blanking bin and used for detecting the position of the big and small head of the cop; and

two first unipolar cylinders, two first unipolar cylinder intervals set up in the outside of blanking storehouse, the loose axle of first unipolar cylinder passes the blanking storehouse lateral wall stretches into in the blanking storehouse, and can retract under the drive of first unipolar cylinder.

In one embodiment, the size resolution module further includes a sensor contact plate disposed on the blanking bin at a side of the size resolution sensor.

In one embodiment, the big-end and small-end resolution module further comprises a correlation sensor, and the correlation sensor is located between the two first single-axis cylinders.

In one embodiment, the size resolution module further includes:

the feeding conveyor belt driving motor is electrically connected with the feeding conveyor belt, and the feeding conveyor belt driving motor is used for driving the feeding conveyor belt to move; and

the pushing cylinder is connected with the material pushing plate;

the material pushing cylinder and the blanking bin are respectively positioned on two sides of the material conveying belt.

In one embodiment, the big-small head distinguishing module further comprises a material buffer plate and a hall sensor, the material buffer plate is arranged at one end of the material conveying belt, and the hall sensor is arranged at one side of the material conveying belt.

In one embodiment, the big and small head distinguishing module further comprises a material pushing baffle plate, and the material pushing baffle plate is rotatably arranged between the material arrival conveyor belt and the blanking bin.

In one embodiment, the big-small head distinguishing module further comprises two detection bin outer mounting plates and two balance contact plates, the two detection bin outer mounting plates are arranged on two sides of the blanking bin at intervals, the two balance contact plates are respectively arranged on the two detection bin outer mounting plates, and the upper side of the material pushing baffle plate is arranged on the two balance contact plates through a rotating shaft.

In one embodiment, the large and small resolution module further comprises a large and small resolution module mounting plate, the material conveying belt driving motor is arranged on the large and small resolution module mounting plate, and the material conveying belt is arranged on the large and small resolution module mounting plate.

In one embodiment, the reducer distinguishing module further includes a material pushing cylinder mounting support plate, the material pushing cylinder mounting support plate is disposed on the reducer distinguishing module mounting base plate, and the material pushing cylinder is disposed on the material pushing cylinder mounting support plate.

According to another aspect of the application, a spinning yarn inserting robot is provided, and the spinning yarn inserting robot comprises the large and small head distinguishing module.

Above-mentioned big end is distinguished module, the loose axle of two first unipolar cylinders can be selected according to big end and distinguish the testing result of sensor and withdraw to make the cop drop with big end gesture down, distinguish the process convenient, swift, have higher reliability.

Drawings

Fig. 1 is a perspective view of a textile yarn inserting robot provided in an embodiment of the present invention;

FIG. 2 is a perspective view of the storage bin module;

FIG. 3 is a bottom view of FIG. 2;

FIG. 4 is a perspective view of the transport module;

FIG. 5 is a front view of FIG. 4;

FIG. 6 is a perspective view of a vertical lift module;

FIG. 7 is a schematic structural diagram of a vertical lift module;

FIG. 8 is a schematic structural view of a cop engaging mechanism of a vertical lift module;

FIG. 9 is a perspective view of a lateral transport module;

FIG. 10 is a perspective view of a cross conveyor unit of the cross conveyor module;

FIG. 11 is another perspective view of the cross conveyor unit of the cross conveyor module;

FIG. 12 is a perspective view of the reducer resolution module;

FIG. 13 is another perspective view of the case resolution module;

fig. 14 is a perspective view of a receiving module in perspective view;

fig. 15 is another perspective view of the receiving module;

FIG. 16 is a schematic structural diagram of a stub finding module;

fig. 17 is a perspective view of a gripper plate of a robot gripping module.

The reference numbers illustrate:

1 is an AGV trolley module; 2 is a storage bin module; 3 is a conveying module; 4 is a vertical lifting module; 5 is a transverse transportation module; 6 is a big-small head distinguishing module; 7 is a receiving module; 8 is a frame; 9 is a thread end finding module; 10 is a manipulator grabbing module; 11 is a fixed guide rail module;

201 is a square through frame; 202 is a storage bin; 203 is a side mounting plate; 204 is a loose material structure mounting bottom plate; 205 is a loose material guide shaft; 206 is a loose material cylinder; 207 is a loose material inserting plate;

301, an upper stock bin module and 302 are supporting round rods; 303 is a first edge guard; 304 is a current limiting plate; 305 is a feeding conveyor belt; 306 is a conveyor belt support; 307 is a grating; 308 is an aluminum profile supporting frame; 309 is a feeding driving motor;

the device comprises a vertical lifting module 402, a cop fitting mechanism 403, a thread cutting module 404 and a feeding buffer module 405;

a feeding bin 40101 and a detection grating 40102;

the automatic edge protection device comprises a first driving motor 40201, a second guide plate 40202, a pallet conveyor 40203, a second edge protection plate 40204, a conveyor protection cover 40205, a bracket 40206, a mounting angle code 40207 and a second driving shaft 40208;

501 is a transverse conveying unit;

50101 is transverse conveyor belt mounting base plate; 50102 is a material blocking cylinder; 50103 is a material turning bin; 50104 is incoming material sensor; 50105 vertical striker plate; 50106 is a transverse conveyor belt support plate; 50107 ultra-thin grating; 50108 a transverse conveyor belt driving motor;

601 is a big and small head distinguishing module mounting bottom plate; 602, a supporting plate is arranged on the material pushing cylinder; 603 is a material pushing cylinder; 604 is a rear side plate; 605 is a material pushing plate; 606 is a pusher striker plate; 607 is a big and small head resolution sensor; 608 is the sensor contact plate; 609 is a blanking bin; 610 is an arrival conveying belt; 611, a drive motor of the material conveying belt; 612 is a first single-shaft cylinder; 613 is a mounting plate at the inner side of the detection bin; 614 is a balanced contact plate; 615 is a Hall sensor; 616 is a material-arriving buffer plate; 617 is a mounting plate outside the detection bin; 618 is a detection bin bottom plate; 619 is a correlation sensor;

701 is an upper material receiving bottom plate; 702 is a stepper motor; 703 is a material receiving barrel; 704 is a receiving barrel mounting plate; 705 is a first synchronous belt; 706 is a plywood; 707 is a conical opening and closing charging barrel; 708 is a second single-shaft cylinder; 709 is an opening and closing connecting rod; 710 is a slipway cylinder; 711 is a lower receiving bottom plate; 712 is the upper bottom plate of the mobile receiving platform; 713 is a lower bottom plate of the movable material receiving platform; 714 is an upper connecting rod and a lower connecting rod; 715 is a large-caliber opening clamp; 716 is a first guide plate;

a wire scraping unit 901, a wire sucking unit 902 and an up-suction negative pressure generating box 903;

1001 is a clamping jaw; 1002 is a jaw mounting plate.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the utility model.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Referring to fig. 1 to 5, the utility model provides a textile yarn inserting robot for replacing textile employees, which comprises an AGV trolley module 1, a storage bin module 2, a conveying module 3, a vertical lifting module 4, a transverse transportation module 5, a large and small head distinguishing module 6, a material receiving module 7, a rack 8, a yarn finding head module 9 and a manipulator grabbing module 10.

The storage bin module 2 is fixed at the tail part of the AGV trolley module 1 and used for storing cop.

The conveying module 3 is fixed on the AGV trolley module 1 and is positioned right below the discharge port of the storage bin module 2, and is used for conveying the cop in the storage bin module 2 to the vertical lifting module 4.

The vertical lifting module 4 is fixed on the frame, and the bottom of the vertical lifting module is fixedly butted with a discharge hole of the conveying module 3 and used for vertically lifting the cop to the transverse conveying module 5.

The transverse transportation module 5 is positioned behind the vertical lifting module 4, is fixed on the frame 8, and is used for receiving the cop conveyed by the vertical lifting module 4 and conveying the cop to the size resolution module 6.

The large and small head distinguishing module 6 is horizontally arranged on one side of the transverse conveying mechanism 5 and is used for distinguishing the large and small heads of the cop.

The material receiving module 7 is located right below the large and small head distinguishing module 6, is installed inside the rack 8, and is used for receiving the cop falling from the large and small head distinguishing module 6.

The frame 8 is arranged on the AGV trolley module 1; the thread end finding module 9 is arranged on the table board of the frame 8, and the working position of the thread end finding module is the terminal point of the material receiving position of the material receiving module 7 and is used for finding out the thread end of the cop.

The manipulator grabbing module 9 is positioned in front of the material receiving module 7, is arranged on the rack 8 and is used for grabbing the cop finding out the thread end.

The utility model provides a spinning yarn inserting robot, which comprises: the AGV trolley module is used as a carrier of the whole textile yarn inserting robot; the storage bin module is used for storing and taking a large number of cop yarns and reducing the manual yarn taking frequency; the conveying module, the vertical lifting module, the transverse conveying module, the large and small head distinguishing module and the material receiving module are used for sequencing disordered cop yarns individually and freely receiving materials according to a required state; the thread end finding module is used for simulating manual thread end finding, finding out a tubular yarn end and placing the tubular yarn end at a specified position; and the manipulator grabbing module is used for grabbing the finished cop so as to place the cop into a cop station of the bobbin winder. Namely, the yarn inserting robot can be used for simply transforming the existing bobbin winder, so that the existing bobbin winder has the function of automatically inserting yarns.

Storage bin module

As shown in fig. 8 and 9, in one embodiment, the storage bin module 2 includes a storage bin 202 with a funnel-shaped structure, and the bottom of the storage bin 202 is provided with an opening which is located right above the conveying module 3 and is used for storing the cop;

the storage bin module 2 further comprises a material port anti-blocking device for preventing the bobbin yarn from being stacked and blocking the discharge port.

The material opening anti-blocking device comprises a material loosening structure mounting base plate 204, a material loosening insertion plate 207, a material loosening guide shaft 205 and a material loosening air cylinder 206.

The loosening structure mounting bottom plate 204 is connected with the storage bin 202; the loose material cylinder 206, the loose material guide shaft 205 and the loose material inserting plate 207 are arranged on the loose material structure mounting bottom plate 204, the loose material inserting plate 207 is connected with the loose material guide shaft 205 and the loose material cylinder 206, and the loose material cylinder 206 provides power for forward and backward movement to enable the loose material inserting plate 207 to move along the loose material guide shaft 205, so that cop is loosened to prevent accumulation.

As shown in fig. 10 and 11, in one embodiment, the conveying module 3 includes a supporting rod 302, two first edge protection plates 303, a current limiting plate 304, a feeding conveyor 305, a conveyor support 306, a first grating 307, an aluminum profile support frame 308, and a feeding driving motor 309.

The feeding conveyor belt 305 is arranged on the conveyor belt bracket 306, and one end of the feeding conveyor belt 305 is provided with an upper storage bin 10101 for conveying the cop from the storage bin to the vertical lifting module.

The feeding driving motor 309 is connected with the feeding conveyor belt 305, and is used for driving the feeding conveyor belt to move.

First edge guards 303 are provided on both sides of the feed conveyor 305 to prevent the cop from falling out of the outside.

The upper side of the restrictor plate 304 is disposed on the two first edge guards 303 through a rotating shaft; two ends of the supporting round bar 302 are respectively connected with two first edge guard plates 303; the conveyor belt bracket 306 is arranged on the aluminum profile support frame 308.

The first grating 307 is disposed on the first edge guard 303 and is used for detecting whether a cop exists on the feeding conveyor 305.

Vertical lifting module

As shown in fig. 7-9, in one embodiment, the vertical lifting module 4 includes a vertical lifting module 402, a cop applying mechanism 403, a trimming module 404, and a feeding buffer module 405.

The vertical lift module 402 is used to separate the cop and transport the cop vertically.

A cop applying mechanism 403 is provided on the vertical lift module 402. The cop engaging mechanism 403 is used to engage the cop against the surface of the vertical lift module 402.

A thread trimming module 404 is disposed on the vertical lift module 402 above the cop applying mechanism 403. The thread cutting module 404 is used for cutting off the thread end of the overlong cop, preventing thread from being left to influence feeding and influencing the next processing procedure.

A loading buffer module 405 is provided on top of the vertical lifting module 402. The feeding buffer module 405 is used for preventing the cop from being thrown out at the highest point due to inertia, so that the cop can be stably conveyed.

By applying the technical scheme of the utility model, the feeding bin module, the cop joint mechanism, the thread cutting module and the feeding buffer module are all integrated on the vertical lifting module, so that the integrated textile cop lifting mechanism is simple in structure, high in integration level and small in size.

Further, in some embodiments, the vertical lift module 402 includes a bracket 40206 and a second guide plate 40202, a pallet conveyor 40203, a second edge guard 40204, a conveyor protective cover 40205 disposed on the bracket 40206; two sides of the supporting plate conveyor belt 40203 are sequentially provided with a second guide plate 40202 and a second edge protection plate 40204 from bottom to top, and the conveyor belt protection cover 40205 is arranged at the top of the supporting plate conveyor belt 40203.

The second guide plate 40202 serves to guide the cop into the pallet conveyor 40203. The layer board is provided with the layer board at the interval on layer board conveyer belt 40203, can be with single separation of cop to promote in order. The second edge guard 40204 ensures that the cop is on the pallet belt 40203 and prevents it from falling. Conveyer belt protecting cover 40205 sets up at the top of layer board conveyer belt 40203, can effectively avoid the cop to drop.

Further, the vertical lift module 402 further comprises a first driving motor 40201 and a second driving shaft 40208, the first driving motor 40201 is connected to the second driving shaft 40208, and the second driving shaft 40208 is disposed on the bracket 40206 and connected to the pallet conveyor 40205. The driving motor 40204 is a power source, and drives the second driving shaft 40208 to rotate, and then the second driving shaft 40208 drives the supporting plate conveyor belt 40205 to move.

Further, the cop attaching mechanism 403 includes a setting spring mounting plate 40301 and a setting spring 40302 arranged on the setting spring mounting plate 40301; two ends of the kick-out spring plate mounting plate 40301 are respectively mounted on the second edge guard plates 40204 on two sides of the supporting plate conveyor belt 40203. The material shifting elastic sheet 40302 points to the supporting plate conveying belt 40203 in an inclined mode, and the cop is pushed by the material shifting elastic sheet 40302, so that the cop is tightly attached to the supporting plate conveying belt 40203, and the cop is prevented from falling from the supporting plate conveying belt 40203.

The work flow when the vertical lifting module is used for feeding is as follows:

a. the upper storage bin module limits the number of the cop yarns, realizes quantity control and conveys the cop yarns to the bottom of the vertical lifting module;

b. the vertical lifting module realizes the single separation of the cop and orderly arrangement and lifting;

c. the cop attaching mechanisms are arranged on two sides of the edge guard plate and span the vertical lifting module, and the cops are tightly attached to the surface of the supporting plate conveying belt after passing through the cop attaching mechanisms;

d. the moving direction of the thread cutting module is vertical to the vertical lifting direction of the cop, so that thread cutting in the lifting process of the cop can be completed;

e. the feeding buffer module is positioned at the topmost end of the vertical lifting module, and when the cop reaches the topmost end of the vertical lifting module, the cop is subjected to buffer acting force, so that the cop is prevented from being thrown out due to inertia force.

Transverse transport module

Referring to fig. 10 to 12, in an embodiment, the transverse transport module 5 includes a transverse transfer unit 501. The transverse conveying unit 501 comprises a transverse conveying belt mounting base plate 50101, a material blocking cylinder 50102, a material overturning bin 50103, an incoming material sensor 50104, a vertical material blocking plate 50105, a transverse conveying belt supporting plate 50106, an ultrathin grating 50107 and a transverse conveying belt driving motor 50108.

The material blocking cylinder 50102 is arranged on the transverse conveyor belt mounting base plate 50101, and the vertical material blocking plate 50105 is connected with the material blocking cylinder 50102. The transverse conveyance belt support plate 50106 is provided on the transverse conveyance belt mounting base plate 50101, and the transverse conveyance belt is provided on the transverse conveyance belt support plate 50106. The material turning cabin 50103 is provided with a material leaking plate which inclines towards the transverse conveyor belt, and the lower side of the material leaking plate is provided with the transverse conveyor belt. Coming material sensor 50104 locates the upside of flitch that leaks for whether have the cop on the flitch that leaks.

The ultrathin grating 50107 is arranged on one side of the transverse conveying belt and used for detecting whether cop exists on the transverse conveying belt or not. A cross conveyor drive motor 50108 is electrically connected to the cross conveyor for driving the cross conveyor to move.

The material leaking plate is provided with a telescopic opening; the vertical striker plate 50105 can extend out of or retract back from the telescopic opening under the driving of the striker cylinder 50102. When the vertical striker plate 50105 extends out, the cop is blocked; when retracted, the cop can slide down along the leaking plate.

Big and small head resolution module

As shown in fig. 12 and 13, in an embodiment, the big-small resolution module 6 includes a big-small resolution module mounting bottom plate 601, a material pushing cylinder mounting support plate 602, a material pushing cylinder 603, a rear side plate 604, a material pushing plate 605, a material pushing baffle plate 606, a big-small resolution sensor 607, a sensor contact plate 608, a blanking bin 609, a material feeding belt 610, a material feeding belt driving motor 611, two first single-shaft cylinders 612, a detection bin inner side mounting plate 613, two balance contact plates 614, a hall sensor 615, a material feeding buffer plate 616, a detection bin outer side mounting plate 617, a detection bin bottom plate 618, and an opposite emission sensor 619.

The material conveying belt driving motor 611 is arranged on the large and small head distinguishing module mounting base plate 601; the material conveying belt 610 is arranged on the large and small head distinguishing module mounting base plate 601.

The incoming material conveyor belt driving motor 611 is electrically connected to the incoming material conveyor belt 610 for driving the incoming material conveyor belt 610 to move.

The material pushing cylinder 603 and the material dropping bin 609 are respectively positioned at two sides of the material conveying belt 610.

The material pushing cylinder mounting support plate 602 is disposed on the large and small head resolution module mounting base plate 601.

The pushing cylinder 603 is disposed on the pushing cylinder mounting support plate 602, and is connected to the pushing plate 605.

The big and small head resolution sensor 607 is arranged on the blanking bin 609; a sensor contact plate 608 is disposed on the hopper 609 on the side of the big-end resolution sensor 607.

The big-small head distinguishing sensor is used for detecting the position of the big-small head of the cop.

Two first single-shaft cylinders 612 are arranged at the outer side of the blanking bin 609 at intervals, and the movable shaft of the first single-shaft cylinder 612 penetrates through a through hole in the side wall of the blanking bin 609 to extend into the blanking bin 609 and can retract under the driving of the first single-shaft cylinder 612.

In the concrete application, the movable shaft of only one single-shaft cylinder retracts, so that the big end of the cop falls down, and the purpose of distinguishing the big end and the small end of the cop is further realized.

The correlation sensor 619 is provided between the two first single-axis cylinders 612. The correlation sensor 619 is arranged between the two first single-shaft cylinders 612 and used for detecting whether the cop pushed out by the material pushing cylinder is in place or not and detecting whether redundant cop exists at the position or not before the equipment is started.

The rear side plate 604 is positioned between the material pushing cylinder 603 and the material conveying belt 610; the two detection bin outer side mounting plates 617 are arranged at intervals on two sides of the blanking bin 609, and the two balance contact plates 614 are respectively arranged on the two detection bin outer side mounting plates 617; the material pushing baffle 606 is positioned between the material conveying belt 610 and the blanking bin 609, and the upper side of the material pushing baffle is arranged on the two balance contact plates 614 through a rotating shaft; the arrival buffer plate 616 is disposed at one end of the arrival conveyor belt 610; a hall sensor 615 is provided on one side of the material conveyor 610.

The test chamber inside mounting plate 613 is located inside the blanking chamber 609 and the test chamber bottom plate 618 is located inside the blanking chamber 609.

The resolution principle of the reducer resolution module is as follows:

the bobbin enters the material conveying belt 610 from the previous process, the bobbin is conveyed forwards along with the material conveying belt 610, and the front end of the bobbin touches the material buffer plate 616, so that the hall sensor 615 is triggered to give a bobbin in-place signal; pushing out by a material pushing cylinder 603, and pushing the cop to a blanking position of a blanking bin 609; in this process, the large end of the cop touches the sensor contact plate 608 to trigger the big-small resolution sensor 607, the big-small resolution sensor 607 feeds back the signal to the processing program, and the processing program sends a signal to the left and right first single-shaft cylinders 612 to determine the left or right first single-shaft cylinders to retract, so that the large end of the cop falls downwards.

Material receiving module

As shown in fig. 15 and fig. 16, in an embodiment, the material receiving module 7 includes an upper material receiving bottom plate 701, a stepping motor 702, a plurality of material receiving cylinders 703, a material receiving cylinder mounting plate 704, a first synchronous belt 705, an opening plate 706, a plurality of tapered opening and closing material receiving cylinders 707, a second single-axis cylinder 708, an opening and closing connecting rod 709, a sliding table cylinder 710, a lower material receiving bottom plate 711, a movable material receiving table upper bottom plate 712, a movable material receiving table lower bottom plate 713, an upper and lower connecting rod 714, a large-diameter opening clamp 715, a first guide plate 716, and a first negative pressure generating box 717.

The stepping motor 702 is disposed on the upper receiving bottom plate 701. The receiving barrel mounting plate 704 is arranged on the upper receiving bottom plate 701; a plurality of receiving barrels 703 are disposed at intervals on the receiving barrel mounting plate 704. The stepping motor 702 is connected with the receiving barrel mounting plate 704 through a first synchronous belt 705; the opening plate 706 is arranged on the upper material receiving bottom plate 701, the stepping motor 702 can drive the material receiving cylinder mounting plate 704 to slide above the opening plate 706, an opening corresponding to the material receiving cylinder 703 is formed in the opening plate 706, and the cop can fall into the opening from the material receiving cylinder 703.

The large-caliber opening clamp 716 is arranged below the upper receiving bottom plate 701, is connected with the opening plate 706, and is used for driving the opening of the opening plate 706 to be opened or closed. A plurality of tapered opening and closing charging barrels 707 are provided below opening plate 706 at intervals, and correspond to the openings of opening plate 706, respectively. The second single-shaft cylinder 708 is arranged below the upper material receiving bottom plate 701, and the second single-shaft cylinder 708 is connected with the opening and closing connecting rod 709; the opening and closing connecting rods 709 are respectively connected with a plurality of conical opening and closing charging barrels 707; the second single-shaft cylinder 708 drives the conical opening and closing charging barrel 707 to open or close through an opening and closing connecting rod 709.

The conical opening and closing charging barrel 707 is arranged on the upper bottom plate 712 of the movable receiving platform; the movable receiving platform lower bottom plate 713 is arranged below the movable receiving platform upper bottom plate 712 at intervals, and two ends of the upper and lower connecting rods 714 are respectively connected with the movable receiving platform lower bottom plate 713 and the movable receiving platform upper bottom plate 712.

The movable material receiving platform lower bottom plate 713 is arranged on the lower material receiving bottom plate 711. The sliding table air cylinder 710 is arranged on the lower receiving base plate 711, and the sliding table air cylinder 710 is connected with the movable receiving table lower base plate 713 and used for driving the movable receiving table lower base plate 713 to move. The first negative pressure generating box 717 is arranged between the movable receiving platform lower bottom plate 713 and the movable receiving platform upper bottom plate 712; first negative pressure generation case 717 links to each other with connecing the material base for connect the material base to provide the negative pressure. The material receiving base is arranged on an upper bottom plate of the movable material receiving platform, is positioned below the conical opening and closing blanking barrel and is used for receiving the cop falling from the conical opening and closing blanking barrel.

The receiving module further includes a first guiding plate 716, and the first guiding plate 716 is located on one side of the upper bottom plate 712 of the movable receiving platform and fixed on the rack. The guiding edge of the first guiding plate 716 is a slant plate, and the position is fixed, and the function is to guide the movable material receiving base to a preset position, and by means of the slant action of the first guiding plate, 3 material receiving bases are positioned on the same horizontal line and just positioned below the conical opening and closing material dropping barrel.

The working principle is as follows: the original positions of the middle material receiving base and the material receiving bases on the two sides are staggered relatively and distributed in a shape of a Chinese character 'pin'; wherein, the middle material receiving base is provided with a spring, and the other end of the spring is connected with the upper bottom plate 712 of the movable material receiving platform; when the three material receiving bases are in original positions, the springs are unfolded, and the three material receiving bases are distributed in a delta-shaped structure; when equipment receives and connects the material signal, slip table cylinder 710 moves toward first deflector 716's direction, and the material base that connects in the middle supports first deflector 716 and receives the hypotenuse guide effect of first deflector 716, can be pushed by first deflector 716 to connect the material base to be in same water flat line position with other 2, and the spring is in compression state this moment, fig. 15 promptly. At this time, the positions of the three material receiving bases correspond to the position of the tapered opening and closing material dropping barrel 707, and can receive the cop.

After receiving the cop, toper switching charging barrel 707 is opened, leaves the cop, treats that the cop is done and looks for the end of a thread process after, and slip table cylinder 710 removes to the direction of keeping away from first deflector 716, drives the cop and goes to the position that the manipulator snatched, and the middle material base that connects supports first deflector 716, and three material base that connects distributes for article font structure to primary position, and the manipulator of being convenient for snatchs the cop.

Find the end of a thread module

Referring to fig. 16, in an embodiment, the line head finding module 9 includes a line scraping unit 901 and a line sucking unit 902.

The wire scraping unit 901 and the wire sucking unit 902 are both arranged on the machine platform, and the wire scraping unit 901 and the wire sucking unit 902 are arranged at intervals; the material receiving and downward sucking unit is arranged on the lower side of the line sucking unit, and the line cutting unit 90209 is arranged on the line sucking unit 902.

The yarn scraping unit 901 is used for scraping the yarn on the surface of the cop. The thread suction unit 902 is used to suck out the thread end of the yarn of the cop. The thread cutting unit is used for cutting off overlong threads. The material receiving and sucking-down unit is used for receiving the thread end of the yarn into the yarn barrel of the cop.

Look for drive mechanism such as end of a thread module make full use of cylinder, motor, will scrape get the end of a thread, absorb the end of a thread, blow up the end of a thread etc. function integration to one look for the end of a thread mechanism for accomplish the integrated miniaturization of the device of complete end of a thread action of looking for, can integrate and remove the AGV dolly, realize looking for the end of a thread mechanism and can be in the whole production line round trip movement of autowinder, and can look for the end of a thread to handle in real time at arbitrary station of cone winder, do well in advance for effective the input of cop.

Manipulator grabbing module

As shown in fig. 17, in one embodiment, the robot gripping module 10 includes a jaw 1001 and a jaw mounting plate 1002, the jaw 1001 being disposed on the jaw mounting plate 1002. The clamping jaw is used for grabbing the cop.

The equipment provided by the utility model has the following working procedures:

1) starting the equipment;

2) the feeding cylinder retracts, the material loosening inserting plate retracts, and the bin opening of the storage bin is opened, so that the cop falls into the conveying module;

3) starting the vertical lifting module, moving the AGV trolley module to an empty yarn station of the bobbin winder, and waiting for putting the cop into the empty yarn station;

4) the conveying belt of the conveying module feeds materials forwards to the upper storage bin;

5) when the sensors on the two sides of the upper storage bin detect the cop, the conveying belt stops, and the cop in the upper storage bin is waited to be completely transferred to the vertical lifting module;

6) the vertical lifting module vertically lifts the cop to the feeding buffer mechanism;

7) the feeding buffer mechanism conveys the cop to a transverse transportation module;

8, setting and comparing a correlation sensor on the feeding buffer mechanism and an incoming material sensor of the transverse transportation module to judge whether the cop is empty;

if the correlation sensor and the incoming material sensor do not receive signals, the vertical lifting module continues to feed;

if the correlation sensor receives a signal and the incoming material sensor does not receive a signal, the empty pipe is judged to enter an empty pipe recovery bin;

if the correlation sensor and the incoming material sensor receive signals, the effective cop is judged to be available, and the effective cop is sent to the big-end and small-end distinguishing module;

9) the large and small head distinguishing module detects the bobbin yarn, starts the material pushing cylinder, pushes the bobbin yarn to the blanking bin and triggers the large and small head distinguishing sensor;

10) the two second single-shaft cylinders judge retraction according to the signals of the big-small head resolution sensor so as to enlarge the cop

The head falls into the receiving module;

11) the receiving module sequentially receives a plurality of cop yarns and simultaneously sends the plurality of cop yarns to the thread end finding module;

12) after the cop is fixed by the yarn end finding module, the yarn end is rubbed by a friction wheel, sucked out by the negative pressure generating box and enters the through hole in the cop tube, and the yarn end finding process is finished;

13) the mechanical arm grabbing module grabs the cop with the found thread end and puts the cop into an empty yarn station to be thrown;

14) and after the first feeding is finished, circularly entering the next process.

The equipment provided by the utility model has the functions of replacing staff to carry out high-intensity work and carrying out rapid feeding and material supplementing. The existing working mode of the automatic winder equipment is that a material feeding and supplementing machine is pushed to make a round trip on a production line by a skip car manually, the alarm fault existing in the automatic winder equipment is also processed, more manpower physical power is consumed, the environment of a spinning workshop is poor, the manual working efficiency is limited greatly, and the production demand of the production line is difficult to meet by the actual working efficiency. The equipment uses the AGV trolley as a carrier, and the loaded cop can replace manual pushing in a production line to perform line patrol work; arranging disordered cop yarns in order through a cop yarn arranging module, finding thread ends attached to the surfaces of the cop yarns at the same time, and placing the thread ends in hollow parts of the cop yarns; and (4) putting the processed cop into a working position of an automatic winder by using a manipulator. And sending a material shortage signal to the AGV through the upper computer, moving the AGV to a material shortage position, and then delivering the cop by using the manipulator. Meanwhile, the operation time of each module of the whole equipment is connected in parallel, so that the working efficiency is greatly improved, one worker can watch a plurality of pieces of equipment, and the problem of the fault of the automatic winder is solved.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A size resolution module, the size resolution module comprising:

a blanking bin;

the big and small head resolution sensor is arranged on the blanking bin and used for detecting the position of the big and small head of the cop; and

two first unipolar cylinders, two first unipolar cylinder intervals set up in the outside of blanking storehouse, the loose axle of first unipolar cylinder passes the blanking storehouse lateral wall stretches into in the blanking storehouse, and can retract under the drive of first unipolar cylinder.

2. The size resolution module according to claim 1, further comprising a sensor contact plate disposed on the blanking bin on a side of the size resolution sensor.

3. The big-small head resolution module according to claim 1, further comprising a correlation sensor located between the two first single-axis cylinders.

4. The size resolution module according to any one of claims 1 to 3, further comprising:

the feeding conveyor belt driving motor is electrically connected with the feeding conveyor belt, and the feeding conveyor belt driving motor is used for driving the feeding conveyor belt to move; and

the pushing cylinder is connected with the material pushing plate;

the material pushing cylinder and the blanking bin are respectively positioned on two sides of the material conveying belt.

5. The size resolution module according to claim 4, further comprising a material buffer plate and a Hall sensor, wherein the material buffer plate is disposed at one end of the material conveyor belt, and the Hall sensor is disposed at one side of the material conveyor belt.

6. The big and small head distinguishing module according to claim 4, further comprising a material pushing baffle plate, wherein the material pushing baffle plate is rotatably arranged between the material conveying belt and the blanking bin.

7. The big and small head resolution module according to claim 6, further comprising two detection bin outer mounting plates and two balance contact plates, wherein the two detection bin outer mounting plates are arranged on two sides of the blanking bin at intervals, the two balance contact plates are respectively arranged on the two detection bin outer mounting plates, and the upper side of the material pushing striker plate is arranged on the two balance contact plates through a rotating shaft.

8. The size resolution module according to claim 4, further comprising a size resolution module mounting base plate, wherein the arrival conveyor belt driving motor is disposed on the size resolution module mounting base plate, and wherein the arrival conveyor belt is disposed on the size resolution module mounting base plate.

9. The big-small head resolution module according to claim 8, further comprising a material-pushing cylinder mounting support plate disposed on the big-small head resolution module mounting base plate, wherein the material-pushing cylinder is disposed on the material-pushing cylinder mounting support plate.

10. A robot for inserting yarn into textile, characterized in that the robot comprises the big-end and small-end distinguishing module according to any one of claims 1 to 9.

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