CN109436951A - Full-automatic coiling production line and its processing method - Google Patents
Full-automatic coiling production line and its processing method Download PDFInfo
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- CN109436951A CN109436951A CN201811552218.2A CN201811552218A CN109436951A CN 109436951 A CN109436951 A CN 109436951A CN 201811552218 A CN201811552218 A CN 201811552218A CN 109436951 A CN109436951 A CN 109436951A
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- silk
- looping disk
- automatic
- threadlike body
- coil winding
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 30
- 238000003672 processing method Methods 0.000 title claims abstract description 7
- 238000004804 winding Methods 0.000 claims abstract description 66
- 238000012546 transfer Methods 0.000 claims description 20
- 239000002390 adhesive tape Substances 0.000 claims description 16
- 238000010191 image analysis Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 9
- 238000005516 engineering process Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 8
- 238000009966 trimming Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000010008 shearing Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000009466 transformation Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000008961 swelling Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
- B65H67/04—Arrangements for removing completed take-up packages and or replacing by cores, formers, or empty receptacles at winding or depositing stations; Transferring material between adjacent full and empty take-up elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
- B65H54/40—Arrangements for rotating packages
- B65H54/54—Arrangements for supporting cores or formers at winding stations; Securing cores or formers to driving 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
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/70—Other constructional features of yarn-winding machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H65/00—Securing material to cores or formers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
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- Engineering & Computer Science (AREA)
- Textile Engineering (AREA)
- Replacement Of Web Rolls (AREA)
Abstract
Present invention discloses Full-automatic coiling production line and its processing methods, and production line includes an at least automatic feeder, for supplying silk threadlike body；An at least coil winding machine, for fixing looping disk and driving its rotation；Looping disk can be moved on coil winding machine and remove looping disk from coil winding machine by looping disk automatic loading and unloading robot, and when carrying out the crawl and cutting of silk threadlike body, the position of silk threadlike body is determined by vision positioning.This programme looping disk automatic loading and unloading robot and automatic feeder and coil winding machine cooperation realize feeding, spiral, blanking full process automatization, provide a kind of automatic winding production line completely new, device structure is simple, winding process is easily controllable, in addition, vision positioning technology is effectively suitable for linear or filamentary matters position accurate determination, automatically to grab, trimming provide possibility, and the flexibility of vision positioning is good, accuracy is good, high-efficient, to be conducive to improve the efficiency of coiling.
Description
Technical field
The present invention relates to spooling equipments, especially Full-automatic coiling production line and its processing method.
Background technique
Coil winding machine, is the equipment being wound into linear or Filamentous object on specific workpiece, and existing coil winding machine is carrying out
When coiling, generally require that manually looping disk is placed on coil winding machine and is removed the looping disk on coil winding machine, artificial upper and lower volume
The mode of charging tray needs to configure special messenger's operation, increases the human cost and large labor intensity of enterprise, with current automation, intelligence
The industrial development trend of energyization is disagreed.
In addition, being difficult to determine the position of silk thread, general tool by sensor etc. since the size of the objects such as silk thread is smaller
There is the coil winding machine of trimming function that linear or filamentary matters can only often be made to be moved to a certain fixed position or be moved to shearing equipment
Position, then cut by trimming equipment, the flexibility of this trimming mode is poor, and control is required it is high, also,
One coil winding machine must just configure a set of corresponding structure and control system, and the cost of equipment is big.
Meanwhile Filamentous or thread-shaped body is difficult to position, therefore the end of a thread end of Filamentous or thread-shaped body is being wound into coiled strip
When on disk, the crawl that could carry out the end of a thread in conjunction with clamping jaw by certain pin configuration is generally required, this pin configuration is often
More complicated to occur knotting to avoid silk threadlike body, can not be successfully the problem of supply, this not only increases the overall structure of equipment,
The requirement of control is also higher；Also, each coil winding machine must configure special pin configuration and grab cable architecture and just be able to achieve certainly
Dynamic coiling, from the point of view of the production line of a set of more coil winding machines, the corresponding cost of equipment is also greatly increased.
Summary of the invention
The object of the invention is to it is raw to provide a kind of Full-automatic coiling in order to solve the above-mentioned problems in the prior art
Producing line and its processing method.
The purpose of the present invention is achieved through the following technical solutions:
Full-automatic coiling production line, including
An at least coil winding machine, for fixing looping disk and driving its rotation；
An at least automatic feeder, for the looping disk on the coil winding machine；
Looping disk automatic loading and unloading robot, the silk thread that looping disk can be moved on coil winding machine and supply automatic feeder
Shape body is wound to looping disk, and the silk threadlike body on the looping disk for completing coiling is cut off and takes looping disk from coil winding machine
Under, when carrying out the crawl and cutting of silk threadlike body, the position of silk threadlike body is determined by vision positioning.
Preferably, in the Full-automatic coiling production line, it is provided with clamping jaw on the coil winding machine, is cut by silk threadlike body
Before disconnected, the silk threadlike body between automatic feeder and looping disk is gripped.
Preferably, in the Full-automatic coiling production line, the looping disk automatic loading and unloading robot includes
Six-joint robot, the clamp for driving its free end to be arranged is mobile,
Clamp, for clamping looping disk；
The silk threadlike body of cutter device, silk threadlike body and automatic feeder supply on the looping disk by coiling is cut off；
Line grabbing device can grab the silk threadlike body of automatic feeder supply；
Image collecting device, for acquiring image to carry out the positioning of a threadlike body；
Mounting table, for placing blank coil charging tray；
Load transfer station, for placing the looping disk for being wound with a threadlike body.
Preferably, in the Full-automatic coiling production line, the clamp include two can be towards and away from mobile folder
Pawl, the opposite end face of two clamping jaws are the arc surface with the Curvature Matching of the block plate of looping disk.
Preferably, in the Full-automatic coiling production line, it is perpendicular that the tail end of each clamping jaw is provided with one
Baffle.
Preferably, in the Full-automatic coiling production line, the position on the arc surface by two close end is respectively formed with
The spacing of arc-shaped slot, two arc-shaped slots is equal with the distance between two block plates of looping disk.
Preferably, in the Full-automatic coiling production line, the free end of the six-joint robot is additionally provided with for inciting somebody to action
The fixed adhesive tape sticking device of the end of a thread of silk threadlike body on looping disk.
Preferably, in the Full-automatic coiling production line, the automatic feeder and coil winding machine match one by one, they
Quantity is not less than, and the six-joint robot, mounting table and load transfer station are set in the mobile device of their movements of one driving.
Preferably, in the Full-automatic coiling production line, the load transfer station is dynamic transfer machine.
Full-automatic coiling production line processing method, includes the following steps:
S1, six-joint robot driving clamping jaw are moved to one looping disk of clamping at mounting table and are moved on the spool of coil winding machine admittedly
It is fixed；
S2, the image analysis of image acquisition device silk threadlike body obtain its position, and six-joint robot drives line grabbing device to move
It moves silk thread shape body position to be grabbed, drives line grabbing device to be moved to silk threadlike body on the spool of blank coil charging tray after crawl,
Coil winding machine is actuated for coiling；
S3, coiling terminate, and the image analysis of image acquisition device silk threadlike body obtains its position, and six-joint robot driving is cut
It cuts device and is moved to silk thread shape body position, and the silk threadlike body between looping disk and automatic feeder is cut off；
S4, six-joint robot drive adhesive tape sticking device that the end of a thread of the silk threadlike body on looping disk is carried out stickup fixation；
S5, six-joint robot driving clamp removes looping disk from coil winding machine to be moved on load transfer station；
S6 repeats S1-S5 step.
The advantages of technical solution of the present invention, is mainly reflected in:
This programme deft design, structure is simple, looping disk automatic loading and unloading robot have looping disk automatic loading/unloading, trimming,
The function of line is grabbed, realizes that feeding, spiral, the overall process of blanking are automatic so as to be effectively combined automatic feeder and coil winding machine
Change, a kind of automatic winding production line completely new, device structure is simple, winding process is easily controllable is provided, in addition, passing through view
Feel the use of location technology, linear or filamentary matters position accurate determination can be suitable for, effectively automatically to grab, cutting
Line provides possibility, and the flexibility of vision positioning is good, accuracy is good, high-efficient, to be conducive to improve the efficiency of coiling.
Make clamping jaw that there is the arcuate structure with looping disk form fit, is carried out so as to stable from the periphery of looping disk
It grips, in conjunction with six-joint robot, effective solution carrying problem of the looping disk in a small range, is the automatic of looping disk
Feeding, discharge creates condition, while ensure that the stability of carrying, and overall structure is easily achieved, convenient for control.
When crawl is effectively guaranteed in the setting of baffle, the restriction of looping disk position avoids looping disk that from may being projected into folder
Possibility outside pawl, simultaneously because being provided with card slot, baffle can effectively guarantee the block plate and two groove positions pair of looping disk
It answers, and card slot can adequately realize that the position of looping disk is fixed, and avoids the problem that it falls off from clamp, ensure that carrying
Stability and reliability.
The setting of adhesive tape sticking device, the end of a thread after can effectively ensure that tangent line can be fixed effectively, and coiling is avoided
There is situation at random, while enriching function, further improves the degree of automation.
On the mobile apparatus by the setting of looping disk automatic loading and unloading robot, and make multiple feeding machines and coil winding machine side by side
Setting, can be realized one-to-many service, be had by a looping disk automatic loading and unloading robot and multiple coil winding machine cooperatings
Conducive to equipment cost is saved, the coiling time of each station is made full use of, improves processing efficiency, and keep mounting table and load transfer station same
Moved further, it may not be necessary to corresponding structure be separately configured for each coil winding machine, be conducive to simplify device structure, reduce cost.
The setting of dynamic load transfer station takes full advantage of the space of trolley, makes under the conditions of keeping device structure more compact
The structure for obtaining looping disk automatic loading and unloading robot minimizes, while providing convenience for the blanking of subsequent looping disk.
The move mode of tramcar is convenient for the rational deployment and adjustment producing line of equipment, flexible in application.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the structural schematic diagram of the automatic feeder and coil winding machine in the present invention；
Fig. 3 is the perspective view of looping disk automatic loading and unloading robot of the invention；
Fig. 4 is the front elevation of clamp of the invention；
Fig. 5 is the back view of clamp of the invention；
Fig. 6 is the schematic diagram of load transfer station of the invention.
Specific embodiment
The purpose of the present invention, advantage and feature, by by the non-limitative illustration of preferred embodiment below carry out diagram and
It explains.These embodiments are only the prominent examples using technical solution of the present invention, it is all take equivalent replacement or equivalent transformation and
The technical solution of formation, all falls within the scope of protection of present invention.
In the description of scheme, it should be noted that term " center ", "upper", "lower", "left", "right", "front", "rear",
The orientation or positional relationship of the instructions such as "vertical", "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings,
It is merely for convenience of description and simplification description, rather than the device or element of indication or suggestion meaning there must be specific side
Position is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " the
Two ", " third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.Also, in the description of scheme
In, it is proximal end by the direction of proximal operator using operator as reference, the direction far from operator is distal end.
The Full-automatic coiling production line disclosed with reference to the accompanying drawing to the present invention is illustrated, as shown in Fig. 1 comprising
An at least automatic feeder 20, for supplying silk threadlike body；
An at least coil winding machine 30, for fixing looping disk 10 and driving its rotation；
Looping disk 10 can be moved on coil winding machine 30 and supply automatic feeder by looping disk automatic loading and unloading robot 40
Silk threadlike body be wound to looping disk 10, and by the silk threadlike body cutting on the looping disk 10 for completing coiling and by looping disk from
It is removed on coil winding machine 30, when carrying out the crawl and cutting of silk threadlike body, the position of silk threadlike body is determined by vision positioning,
The crawl of silk threadlike body herein refers to the movement of the end of a thread part for the silk threadlike body that crawl automatic feeder 20 is supplied, the silk thread
The cutting of shape body refers to the movement of the silk threadlike body cutting on automatic feeder 20 and coil winding machine between looping disk 10.
Wherein, the equipment that the automatic feeder 20 and coil winding machine 30 can be known various brands and model, and
The automatic feeder 20 makes a threadlike body reciprocally mobile from one end of the spool of the looping disk when supplying silk threadlike body
To the other end, to guarantee the uniformity that silk threadlike body is distributed on looping disk 10, and the shaft 301 of the coil winding machine 30 is swollen
Swelling shaft is known technology herein, repeats no more so as to effectively carry out the fixation of looping disk 10.
Also, as shown in attached drawing 1, attached drawing 2, manipulator 302, the manipulator 302 are provided on the coil winding machine 30
Top and the close automatic feeder 20 positioned at the shaft 301 of the coil winding machine, the manipulator 302 includes cylinder 3021
And the clamping jaw 3022 for rotating and switching between opening and closing is driven by the cylinder, before by the cutting of silk threadlike body,
Silk threadlike body between automatic feeder 20 and looping disk 10 is gripped, thus automatically upper and lower for subsequent looping disk
Expect that convenience is created in the positioning of robot 40 and crawl silk threadlike body.
As shown in attached drawing 3, attached drawing 5, the looping disk automatic loading and unloading robot 40 is included at least
Six-joint robot 1, the clamp 2 for driving its free end to be arranged are mobile；
Clamp 2, for clamping looping disk 10；
Cutter device 3, the silk threadlike body that silk threadlike body and automatic feeder 20 on the looping disk by coiling are supplied are cut off；
Line grabbing device 5 can grab the silk threadlike body of the supply of automatic feeder 20；
Image collecting device 6, for acquiring image to carry out the positioning of a threadlike body；
Mounting table 8, for placing blank coil charging tray；
Load transfer station 9, for placing the looping disk for being wound with a threadlike body.
Wherein, the six-joint robot 1 can be the six-joint robot of known various brands, various models, be known
Technology, details are not described herein again, also, in other embodiments, drives the movement of clamp 2 that can also use other feasible knots
Structure, what such as multiple inductance cooperatively formed can carry out the mobile structure of tri- axis of XYZ or similar structure etc., be known technology,
It repeats no more.
As shown in attached drawing 3, attached drawing 4, the clamp 2 can be towards and away from mobile clamping jaw 21, two clamping jaws including two
21 opposite end faces be with the matched arc surface 211 of looping disk 10, the arc surface 211 can be with the spool of the looping disk 10
102 Curvature Matching can also be with the Curvature Matching of the block plate 101 of looping disk 10, the preferably Curvature Matching with block plate 101.
Specifically, two clamping jaws 21 are preferably driven using a double-slider electric cylinders 23, the double-slider
Electric cylinders 23 are arranged on the turntable 11 of the free end of the six-joint robot 1, and a branch is respectively arranged on two sliding block 31
A clamping jaw 21 is arranged on each bracket 24 for frame 24, and the clamping jaw 21 includes the mounting base connecting with the bracket 24
212 and it is bolted the arc fixture block 213 of the mounting base 212, the central area of the arc fixture block 213 is through-hole, each
The tail end 213 of the clamping jaw 21 is provided with a perpendicular baffle 22, and the baffle 22 protrudes from the arc surface 211, institute
It states the position on arc surface 211 by two close end and is respectively formed with arc-shaped slot 212, the spacing and coiled strip of two arc-shaped slots 212
The distance between two block plates 101 of disk 10 are equal, and the width phase of the width of two arc-shaped slots 212 and the block plate 101
Together, so as to convenient for snapping onto looping disk quickly in arc-shaped slot.
Further, it before being removed the looping disk of the spiral on coil winding machine 30 and changing empty looping disk, first will need
Line or silk on looping disk cut blend compounds band and the end of a thread region patch are got up, corresponding, corresponding, as shown in Fig. 5, described
The free end of six-joint robot 1 is additionally provided with cutter device 3 for cutting off silk thread and by the line of silk threadlike body on looping disk
The fixed adhesive tape sticking device 4 of head.
Specifically, as shown in Fig. 5, a mounting plate 25 is provided in the outside of a bracket 24, in the installation
The cutter device 3 and adhesive tape sticking device 4 are set on plate 25.
The cutter device 3 is including cylinder 31 and two especially driving rotations to cut in closure with what opening state switched
Cutter 32, under normality, the cylinder 31 opens two shear knives 32, and when shearing, cylinder 31 drives two shear knives 32 opposite
Rotation, and make their blade by positioned at blade between line or silk cutting.
The adhesive tape sticking device 4 is structure identical with the correction tape that student uses, as shown in Fig. 5, the adhesive tape
The distance of the gum outlet of sticking device 4 to the clamping jaw 21 is greater than the distance that the cutter device 3 arrives clamping jaw 21, i.e. 5 institute of attached drawing
Show, the cutter device 3 is located at the left side of the gum outlet of the adhesive tape sticking device 4, and the adhesive tape of the adhesive tape sticking device 4
Width and the looping disk 10 spool 101 similar width, thus when the end of a thread for carrying out silk threadlike body is fixed, without examining
Consider its position on spool 101, a rubberizing operation can cover entire spool.
As shown in Fig. 5, the line grabbing device 5 is set on the mounting plate 25, and it is located at the cutter device 3
Between the gum outlet of adhesive tape sticking device 4 comprising cylinder 51 and especially driving rotation between opening and closing to switch
Fixture block 52, be formed with sawtooth 53 on the clamping face of two fixture blocks 52, so as to which the fixing of clamping is effectively ensured, to avoid
The problem of being loosened when pulling silk threadlike body.
In addition, since Filamentous or thread-shaped body is often relatively thin, not will pass through sensor etc. when carrying out tangent line and grabbing the end of a thread
It is positioned, it is therefore preferable that use the mode of vision positioning to determine the position of silk thread, it is corresponding, as shown in Fig. 5, in institute
The free end for stating six-joint robot 1 is additionally provided with image collecting device 6, to acquire the image of vision positioning silk thread position, institute
Image collecting device 6 is stated to be set in the double-slider electric cylinders 23 comprising camera 61 and light source 62, the camera 61 and
Light source 62 is respectively positioned between the cutter device and adjacent clamping jaw 21, and 62 position of light source is adjustably arranged in described
23 side of double-slider electric cylinders is specifically bolted in the double-slider electric cylinders 23, the connection by a connection piece 63
The kidney-shaped connecting hole 631 for connecting the support plate in the double-slider electric cylinders 23 is provided on part 63, by changing in support plate
The position adjustment of connector 63 can be realized in position of the connecting hole in kidney-shaped connecting hole 631, and vision positioning can be herein
The various feasible processes known, are known technology, repeat no more.
As shown in attached drawing 1, attached drawing 3, the mounting table 8 is a common platform, and the load transfer station 9 can be only one
A platform as mounting table 8, is also possible to dynamic transfer machine, preferably dynamic load transfer station.
As shown in Fig. 6, the load transfer station 9 includes support platform 91, and two are provided in the support platform 91 under
State the vertical guide rail 92 of moving direction and the rack gear 93 parallel with the guide rail 92 of electric vehicle 72, the guide rail 92 is from described
One end of support platform 91 extends to the other end and is respectively arranged with limited block 98 at their both ends, the rack gear 93 with
The engagement of one gear 94, the gear 94 connect motor 95, and the motor 95 is connected with loading plate 96, and the loading plate 96 passes through cunning
Plate 97 is slidably disposed on two guide rails 92, and there are two limits parallel with the guide rail 92 in the upper surface of the loading plate 96
Position item 961 forms the limiting slot for limiting looping disk.
Certainly, in other embodiments, the load transfer station 9 can also be various pipelines, such as belt conveyor line, dynamic
Or unpowered roller pipeline or other can with the mechanism that can be realized linear movement.
In addition, for the ease of carrying out work by a looping disk automatic loading and unloading robot 40 and more coil winding machine cooperations
Make, as shown in attached drawing 1, attached drawing 3, the looping disk automatic loading and unloading robot 40 is made to be set to the mobile device of its movement of driving
On 7, the mobile device 7 can be various feasible equipment or structure, for example, the AGV trolley with independent navigation, have from
Intelligent robot, unmanned plane or the motor-driven carrier moved along guide rail of leading boat, such as tramcar, naturally it is also possible to be other knots
Structure, the preferably described mobile device 7 are tramcar, as shown in Fig. 1 comprising a guide rail 71 extending in a straight line, and
The electric vehicle 72 that can be slided along the guide rail 71, is known technology herein, repeats no more；And the coil winding machine 30 is symmetrical
The two sides of the guide rail 71 are set.
In the operational process of whole equipment, the electrical equipments such as each electric cylinders, cylinder, motor, automatic feeder, coil winding machine
Start and stop and working condition switching can be controlled by the signal combination software programming of various sensors, preferably through various biographies
Sensor (not shown) combination PLC control system (not shown) controls, and is known technology, repeats no more herein.
When above-mentioned Full-automatic coiling production line is processed, process is as follows:
The end of a thread for the silk threadlike body for manually or by automation equipment supplying the automatic feeder 20 passes through the manipulator
And the silk threadlike body is clamped by the manipulator 302, this certain step is not certain, it is only necessary to supply automatic feeder 20
The end of a thread for the silk threadlike body answered, which is exposed outside, to be crawled.
S1, the top for the looping disk 10 that the six-joint robot 1 drives the clamp 2 to be moved at mounting table 8, and
And so that two clamping jaw 21 is located at the two sides of the looping disk 10, the starting of double-slider electric cylinders 23 make two clamping jaws 21 move towards by
Looping disk 10 clamps, and it is coaxial with the shaft 301 of coil winding machine 30 then to make the centre bore of looping disk by six-joint robot 1, and makes
Shaft 301 is inserted into the centre bore of looping disk, and the expansion of shaft 301 is fixed by the looping disk 10.
S2, the six-joint robot 1 drive image collecting device 6 to the image of suitable shooting angle acquisition silk threadlike body
And analyzed to obtain the position of a threadlike body by PLC control system, then, the six-joint robot 1 drives line grabbing device 5 to be moved to
Silk thread shape body position, two fixture block 52 closure carry out the crawl of silk threadlike body, and line is grabbed in the driving of six-joint robot 1 after crawl
Silk threadlike body is moved at the spool 101 of the looping disk on coil winding machine by device 5, and makes a threadlike body from the top of spool 101
Around to lower section and contact a threadlike body with the surface of spool, naturally it is also possible to so that a threadlike body is wound a few on spool, this
The starting of Shi Suoshu coil winding machine 30 drives the rotation of looping disk 10 to carry out coiling.Also, it, can be with before the starting of coil winding machine 30
Coiling is carried out again after silk threadlike body is fixed on the looping disk 10 by the adhesive tape sticking device 4.
S3, after coiling, the automatic feeder 20 stops feed, and coil winding machine 30 stops, and sets on the coil winding machine 30
The manipulator 301 set grips silk threadlike body, and the six-joint robot 1 drives image collecting device 6 to suitable shooting
The image of angle acquisition silk threadlike body and the position for analyzing to obtain the silk threadlike body between manipulator and looping disk by PLC control system
Set, six-joint robot driving cutter device 3 is moved to silk thread shape body position, and will be located at looping disk and automatic feeder it
Between silk threadlike body cutting, specifically by between the manipulator 301 and looping disk 10 silk threadlike body cut off.Certainly, herein
It can also not have to manipulator 302 and clamp a threadlike body.
S4, the six-joint robot 1 drive the adhesive tape sticking device 4 will be after the shearing of the silk threadlike body on looping disk
The end of a thread region carries out stickup fixation, it is of course also possible to first pass through adhesive tape before shearing and consolidate the silk threadlike body on looping disk
It is fixed.
S5, the six-joint robot 1 drives the clamp to be moved at the looping disk on the coil winding machine, according to S1 step
Process crawl coil winding machine on coiled strip, and it is removed from coil winding machine and is moved on load transfer station 9.
S6 repeats S1-S5 step.
In two rows of coil winding machines 30, when the coil winding machine on some is idle, the electric vehicle 70 drives the looping disk
Automatic loading and unloading robot 40 is moved to the position of corresponding coil winding machine 30, carries out feeding according to S1, S2 step；When a certain coil winding machine
After coiled strip wire winding on 30, the electric vehicle 70 drives the looping disk automatic loading and unloading robot 40 to be moved to accordingly
The position of coil winding machine 30, carries out looping disk blanking according to S3-S5 step, carries out looping disk feeding according still further to S1-S2 step；Work as institute
When stating the looping disk 10 after placing full coiling on load transfer station 9, the motor 95 starts, and rotates the gear 94, the gear
94 move along the rack gear 93, thus make the loading plate being connected to motor 96 extend to outside the support platform 91 carry out it is artificial or
Automation equipment blanking.
Still there are many embodiment, all technical sides formed using equivalents or equivalent transformation by the present invention
Case is within the scope of the present invention.
Claims (10)
1. Full-automatic coiling production line, it is characterised in that: including
An at least coil winding machine (30), for fixing looping disk (10) and driving its rotation；
An at least automatic feeder (20) supplies silk threadlike body for the looping disk (10) on the coil winding machine (30)；
Looping disk (10) can be moved on coil winding machine (30) and by Automatic-feeding by looping disk automatic loading and unloading robot (40)
The silk threadlike body of machine supply is wound to looping disk (10), and simultaneously by the silk threadlike body cutting on the looping disk (10) for completing coiling
Looping disk is removed from coil winding machine (30), when carrying out the crawl and cutting of silk threadlike body, silk is determined by vision positioning
The position of threadlike body.
2. Full-automatic coiling production line according to claim 1, it is characterised in that: be provided with folder on the coil winding machine (30)
Pawl (301) presss from both sides the silk threadlike body between automatic feeder (20) and looping disk (10) before by the cutting of silk threadlike body
Hold fixation.
3. Full-automatic coiling production line according to claim 1, it is characterised in that: the looping disk automatic loading/unloading machine
People (40) includes
Six-joint robot (1), the clamp (2) for driving its free end to be arranged are mobile；
Clamp (2), for clamping looping disk (10)；
Cutter device (3), the silk threadlike body of silk threadlike body and automatic feeder (20) supply on the looping disk by coiling
Cutting；
Line grabbing device (5) can grab the silk threadlike body of automatic feeder (20) supply；
Image collecting device (6), for acquiring image to carry out the positioning of a threadlike body.
4. Full-automatic coiling production line according to claim 3, it is characterised in that: the clamp (2) can phase including two
To with backwards to mobile clamping jaw (21), the opposite end face of two clamping jaws (21) is the curvature with the block plate (101) of looping disk (10)
Matched arc surface (211).
5. Full-automatic coiling production line according to claim 4, it is characterised in that: the tail end of each clamping jaw (21) is set
It is equipped with a perpendicular baffle (22).
6. Full-automatic coiling production line according to claim 4, it is characterised in that: close to two on the arc surface (211)
The position at end is respectively formed with arc-shaped slot (212), the spacing of two arc-shaped slots (212) and two block plates of looping disk (10)
The distance between (101) equal.
7. Full-automatic coiling production line according to claim 3, it is characterised in that: the freedom of the six-joint robot (1)
End is additionally provided with for the adhesive tape sticking device (4) that the end of a thread of silk threadlike body on looping disk is fixed.
8. Full-automatic coiling production line according to claim 3, it is characterised in that: the looping disk automatic loading/unloading machine
People (40) further includes mounting table (8), for placing blank coil charging tray；
Load transfer station (9), for placing the looping disk for being wound with a threadlike body, the load transfer station (9) is dynamic transfer machine.
9. -8 any Full-automatic coiling production line according to claim 1, it is characterised in that: the automatic feeder (20)
It is matched not less than 2 and one by one with the quantity of coil winding machine (30), the looping disk automatic loading and unloading robot (40) is set to one
In mobile device (7).
10. Full-automatic coiling production line processing method, characterized by the following steps:
S1, six-joint robot driving clamping jaw are moved to one looping disk of clamping at mounting table and are moved on the spool of coil winding machine admittedly
It is fixed；
S2, the image analysis of image acquisition device silk threadlike body obtain its position, and six-joint robot drives line grabbing device to move
It moves silk thread shape body position to be grabbed, drives line grabbing device to be moved to silk threadlike body on the spool of blank coil charging tray after crawl,
Coil winding machine is actuated for coiling；
S3, coiling terminate, and the image analysis of image acquisition device silk threadlike body obtains its position, and six-joint robot driving is cut
It cuts device and is moved to silk thread shape body position, and the silk threadlike body between looping disk and automatic feeder is cut off；
S4, six-joint robot drive adhesive tape sticking device that the end of a thread of the silk threadlike body on looping disk is carried out stickup fixation；
S5, six-joint robot driving clamp removes looping disk from coil winding machine to be moved on load transfer station；
S6 repeats S1-S5 step.
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| CN201811552218.2A CN109436951A (en) | 2018-12-19 | 2018-12-19 | Full-automatic coiling production line and its processing method |
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| CN201811552218.2A CN109436951A (en) | 2018-12-19 | 2018-12-19 | Full-automatic coiling production line and its processing method |
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| CN201811552218.2A Pending CN109436951A (en) | 2018-12-19 | 2018-12-19 | Full-automatic coiling production line and its processing method |
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| CN111204613A (en) * | 2020-01-02 | 2020-05-29 | 中特科技工业(青岛)有限公司 | Unloading mechanism in transmission for full-automatic wire winding production line |
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| CN114955730A (en) * | 2022-06-22 | 2022-08-30 | 厦门斯普机电有限公司 | Electric winding and feeding and discharging device |
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| CN115303891A (en) * | 2022-08-26 | 2022-11-08 | 江苏贝尔机械有限公司 | Driving formula duplex position flexible tube rolling machine |
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