CN109592505A - Winding roll automatic carrying machine working and winding roll automatic loading and unloading robot - Google Patents
Winding roll automatic carrying machine working and winding roll automatic loading and unloading robot Download PDFInfo
- Publication number
- CN109592505A CN109592505A CN201811556578.XA CN201811556578A CN109592505A CN 109592505 A CN109592505 A CN 109592505A CN 201811556578 A CN201811556578 A CN 201811556578A CN 109592505 A CN109592505 A CN 109592505A
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- Prior art keywords
- winding roll
- machine working
- carrying machine
- joint robot
- roll automatic
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- 238000004804 winding Methods 0.000 title claims abstract description 138
- 238000012546 transfer Methods 0.000 claims description 15
- 239000002390 adhesive tape Substances 0.000 claims description 14
- 238000005452 bending Methods 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000010008 shearing Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000008961 swelling Effects 0.000 description 1
Classifications
-
- 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
- B65H67/0405—Arrangements for removing completed take-up packages or for loading an empty core
-
- 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
- B65H2701/35—Ropes, lines
-
- 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
- B65H2701/36—Wires
Landscapes
- Replacement Of Web Rolls (AREA)
Abstract
Present invention discloses winding roll automatic carrying machine working and winding roll automatic loading and unloading robots, wherein, winding roll automatic carrying machine working, including six-joint robot, the free end of the six-joint robot is provided with clamp, the clamp includes two.This programme deft design, structure is simple, make clamping jaw that there is the arcuate structure with winding roll form fit, it is gripped so as to stable from the periphery of winding roll, in conjunction with six-joint robot, the carrying problem of winding roll a small range is effectively realized, is created condition for the automatic feeding, discharge of winding roll, overall structure is easily achieved simultaneously, convenient for control.
Description
Technical field
The present invention relates to apparatus for spooling thread-like products field, especially winding roll automatic carrying machine working and winding roll automatic loading/unloading machines
People.
Background technique
For various silks, line product, generally requires for silk, line to be wound into and form final product on reel, it is existing each
Kind coil winding machine, can be carried out effectively the winding of silk, line, but when carrying out coiling, generally requires manually to place wire spool
It is removed from coil winding machine to coil winding machine or by the wire spool on coil winding machine, the mode of artificial wire spool up and down needs to configure special messenger
Operation, increases the human cost and large labor intensity of enterprise, disagrees with current automation, intelligentized industrial development trend
Back.
Summary of the invention
The object of the invention is in order to solve the above-mentioned problems in the prior art, provide a kind of winding roll to remove automatically
Fortune machine and winding roll automatic loading and unloading robot.
The purpose of the present invention is achieved through the following technical solutions:
Winding roll automatic carrying machine working, including six-joint robot, the free end of the six-joint robot are provided with clamp, the clamp
Can be and the matched arc surface of winding roll towards and away from mobile clamping jaw, the opposite end face of two clamping jaws including two.
Preferably, in the winding roll automatic carrying machine working, it is perpendicular that the tail end of each clamping jaw is provided with one
Baffle.
Preferably, in the winding roll automatic carrying machine working, 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 winding roll.
Preferably, in the winding roll automatic carrying machine working, two clamping jaws are set to the two of a double-slider electric cylinders
On a sliding block.
Preferably, in the winding roll automatic carrying machine working, the free end of the six-joint robot is additionally provided with for cutting
The cutter device of fracture of wire line.
Preferably, in the winding roll automatic carrying machine working, the free end of the six-joint robot also sets up tape-stripping
Device.
Preferably, in the winding roll automatic carrying machine working, the free end of the six-joint robot, which is additionally provided with, to be clamped
The line grabbing device of the end of a thread.
Preferably, in the winding roll automatic carrying machine working, the free end of the six-joint robot is additionally provided with image and adopts
Acquisition means, to acquire the image of vision positioning silk thread position.
Preferably, in the winding roll automatic carrying machine working, the six-joint robot is set to the movement of its movement of driving
On device.
Winding roll automatic loading and unloading robot further includes for placing including any of the above-described winding roll automatic carrying machine working
The load transfer station of the mounting table of blank coil drum and the winding roll for placing coiling.
The advantages of technical solution of the present invention, is mainly reflected in:
This programme deft design, structure is simple, so that clamping jaw is had the arcuate structure with winding roll form fit, so as to stabilization
The periphery of slave winding roll gripped, in conjunction with six-joint robot, effective solution winding roll removing in a small range
Fortune problem creates condition for the automatic feeding, discharge of winding roll, while ensure that the stability of carrying, and overall structure is easy
In realization, convenient for control.
When crawl is effectively guaranteed in the setting of baffle, the restriction of winding roll position avoids winding roll 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 winding roll
It answers, and card slot can adequately realize that the position of winding roll is fixed, and avoids the problem that it falls off from clamp, ensure that carrying
Stability and reliability.
The setting of cutter device, adhesive tape sticking device, line grabbing device enriches the function of carrying implement so that carrying implement in addition to
It is able to carry out the carrying of charging tray, additionally it is possible to which the end of a thread after tangent line is effectively ensured can be fixed effectively, and coiling is avoided to dissipate
Random situation carries out providing possibility for the full process automatization of spiral.
The use of vision positioning technology can effectively be suitable for the accurate determination of the positions of slender bodies such as line, silk, be
It automatically grabs filament and is wound on wire spool and provide convenience.
By transfer robot setting on the mobile apparatus, so as to realize one-to-many service, be conducive to save equipment at
This, makes full use of the time of each station coiling, improves processing efficiency.
The winding roll automatic loading and unloading robot of this programme has the function of winding roll automatic loading/unloading, trimming, grabs line, from
And can be effectively combined automatic feeder and coil winding machine realize feeding, spiral, blanking full process automatization, provide one kind
The automatic winding production line completely new, device structure is simple, winding process is easily controllable, in addition, passing through vision positioning technology
Using, can effectively be suitable for linear or filamentary matters position accurate determination, automatically to grab, trimming provides can
Can, and the flexibility of vision positioning is good, accuracy is good, high-efficient, to be conducive to improve the efficiency of coiling.
On the mobile apparatus by the setting of winding roll 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 winding roll 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 winding roll automatic loading and unloading robot minimizes, while providing convenience for the blanking of subsequent winding roll.
Detailed description of the invention
Fig. 1 is the perspective view of winding roll automatic carrying machine working of the invention；
Fig. 2 is the front elevation of clamp of the invention；
Fig. 3 is the back view of clamp of the invention；
Fig. 4 is the schematic diagram of load transfer station of the invention；
Fig. 5 is the perspective view of Full-automatic coiling production line of the invention；
Fig. 6 is the structural schematic diagram of the automatic feeder and coil winding machine in 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 winding roll automatic carrying machine working disclosed with reference to the accompanying drawing to the present invention is illustrated, as shown in Fig. 1 comprising
Six-joint robot 1, the six-joint robot 1 can be the six-joint robot of known various brands, various models, be known skill
Art, details are not described herein again, certainly, 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,
The free end for repeating no more the six-joint robot 1 is provided with clamp 2.
As shown in attached drawing 1, attached drawing 2, 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 winding roll 10, the arc surface 211 can be with the spool of the winding roll 10
102 Curvature Matching, can also be with the Curvature Matching of the block plate 101 of winding roll 10, the preferably Curvature Matching with block plate 101.
Specifically, as shown in Fig. 2, two clamping jaws 21 are preferably driven using a double-slider electric cylinders 23
Dynamic, the double-slider electric cylinders 23 are arranged on the turntable 11 of the free end of the six-joint robot 1, divide on two sliding block 231
It is not provided with a bracket 24, a clamping jaw 21 is set on each bracket 24, the clamping jaw 21 includes and the bracket
The mounting base 214 of 24 connections and the arc fixture block 213 being bolted in the mounting base 214, the center of the arc fixture block 213
Region is through-hole, and the tail end of each clamping jaw 21 is provided with a perpendicular baffle 22, and the baffle 22 protrudes from described
Arc surface 211, the position on the arc surface 211 by two close end are respectively formed with arc-shaped slot 212, two arc-shaped slots 212
Spacing it is equal with the distance between two block plates 101 of winding roll 10, and the width of two arc-shaped slots 212 and the block plate
101 it is of same size, so as to convenient for snapping onto winding roll 10 quickly in arc-shaped slot 212.
Further, before removing the winding roll of the spiral on coil winder and changing empty winding roll, needing first will volume
Line on drum or silk cut blend compounds band and the end of a thread region patch are got up in order to avoid silk thread is loose, corresponding, in the six axis machine
The free end of people 1 is additionally provided with cutter device 3 and adhesive tape sticking device 4 for cutting off silk thread.
Specifically, as shown in Fig. 3, 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 be set on plate 25, the gum outlet of the adhesive tape sticking device 4 to the clamping jaw 21
Distance be greater than the cutter device 3 arrive the clamping jaw 21 distance.
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 winding roll 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.
Further, it after empty winding roll 10 is replaced on coil winder, needs the end of a thread of cutting being wound into the winding roll
Coiling is carried out on 10, it is corresponding, it is additionally provided with the line grabbing device 5 that can clamp the end of a thread in the free end of the six-joint robot 1, has
Body, as shown in Fig. 3, the line grabbing device 5 is set on the mounting plate 25, and it is located at 3 He of cutter device
Between the gum outlet of adhesive tape sticking device 4 comprising cylinder 51 and especially driving rotate to switch between opening and closing
Fixture block 52 is formed with sawtooth 53 on the clamping face of two fixture blocks 52.
In addition, since line, silk are often relatively thin, not will pass through sensor etc. when carrying out tangent line and grabbing the end of a thread and positioned,
It is therefore preferable that use the mode of vision positioning to determine the position of silk thread, and it is corresponding, in the free end of the six-joint robot 1
It is additionally provided with image collecting device 6, to acquire the image of vision positioning silk thread position, as shown in Fig. 3, described image acquisition
Device 6 be set to it is in the double-slider electric cylinders 23 and ipsilateral with the mounting plate 25, be located at the mounting plate 25 top,
Including camera 61 and light source 62, the camera 61 and light source 62 be respectively positioned on the cutter device 3 and with the line grabbing device 3
Between closer clamping jaw 21, the double-slider electric cylinders 23 are adjustably arranged in spacing of the light source 62 apart from the mounting plate 25
Side is specifically bolted in the double-slider electric cylinders 23 by a connection piece 63, is provided on the connector 63
The kidney-shaped connecting hole (not shown) for connecting the support plate in the double-slider electric cylinders 23, by changing the connection in support plate
The position adjustment of connector 63 can be realized in position of the hole in kidney-shaped connecting hole.
Also, for the ease of being worked by a winding roll automatic carrying machine working and more coil winder cooperations, such as
Shown in attached drawing 1, it is set to the six-joint robot 1 in the mobile device 7 of its movement of driving, the mobile device 7 can be
Various feasible equipment or structure, for example, the AGV trolley with independent navigation, the intelligent robot with independent navigation, nobody
Machine or the motor-driven carrier moved along guide rail, such as tramcar, naturally it is also possible to be other structures, the preferably described mobile device 7 is
Tramcar, as shown in Fig. 1 comprising a guide rail 71 extending in a straight line, and the electricity that can be slided along the guide rail 71
Motor-car 72, is known technology herein, repeats no more；And following coil winding machines 30 is symmetrically arranged in the two of the guide rail 71
Side.
Further, present invention further teaches winding roll automatic loading and unloading robots, as shown in Fig. 1, including above-mentioned volume
Drum automatic carrying machine working further includes the load transfer station of the mounting table 8 for placing blank coil drum and the winding roll for placing coiling
9。
Wherein, as shown in Fig. 1, the mounting table 8 and load transfer station 9 are arranged at the electric vehicle 72 of the tramcar
On, also, the mounting table 8 is a common platform, the load transfer station 9 can be only one as mounting table 8
Platform is also possible to dynamic transfer machine, preferably dynamic load transfer station.
As shown in Fig. 4, the load transfer station 9 includes support platform 91, is provided with two and institute in the support platform 91
State the vertical guide rail 92 of moving direction and the rack gear 93 parallel with the guide rail of trolley 81, the guide rail 92 is from the support
One end of platform 91 extends to the other end and is respectively arranged with limited block 98, the rack gear 93 and a tooth at their both ends
94 engagement of wheel, the gear 94 connect motor 95, and the motor 95 is connected with loading plate 96, and the loading plate 96 passes through slide plate 97
It is slidably disposed on two guide rails 92, there are two positive stop strips parallel with the guide rail 92 in the upper surface of the loading plate 96
961, they form the limiting slot for limiting winding roll 10.
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.
This programme further discloses a kind of Full-automatic coiling production line, as shown in Fig. 5 comprising
An at least automatic feeder 20, for supplying silk threadlike body；
An at least coil winding machine 30, for fixing winding roll 10 and driving its rotation；
And above-mentioned winding roll automatic loading and unloading robot 40, winding roll 10 can be moved on coil winding machine 30 and will be rolled up
Drum 10 is removed from coil winding machine 30, when carrying out the crawl and cutting of silk threadlike body, determines silk thread shape by vision positioning
The position of body, the herein crawl of silk threadlike body refer to the dynamic of the end of a thread part for the silk threadlike body that crawl automatic feeder 20 is supplied
Make, the cutting of the silk threadlike body refers to the silk threadlike body cutting on automatic feeder 20 and coil winding machine between winding roll 10
Movement.
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 winding roll when supplying silk threadlike body
To the other end, to guarantee the uniformity that silk threadlike body is distributed on winding roll 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 winding roll 10.
Also, as shown in attached drawing 5, attached drawing 6, 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 winding roll 10 is gripped, thus automatically upper and lower for subsequent winding roll
Expect that convenience is created in the positioning of robot 40 and crawl silk threadlike body.
In the operational process of entire machine, the start and stop and work of the electrical equipments such as each cylinder, motor, image capture device
The switching of state can be controlled by the signal combination software programming of various sensors, preferably through various sensors (figure
In be not shown) controlled in conjunction with PLC control system (not shown), be known technology, repeat 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 winding roll 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 winding roll 10, the starting of double-slider electric cylinders 23 make two clamping jaws 21 move towards by
Winding roll 10 clamps, and it is coaxial with the shaft 301 of coil winding machine 30 then to make the centre bore of winding roll by six-joint robot 1, and makes
Shaft 301 is inserted into the centre bore of winding roll, and the expansion of shaft 301 is fixed by the winding roll 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 winding roll 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 winding roll 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 winding roll 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 winding roll 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 winding roll and automatic feeder it
Between silk threadlike body cutting, specifically by between the manipulator 301 and winding roll 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 winding roll
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 winding roll
It is fixed.
S5, the six-joint robot 1 drives the clamp to be moved at the winding roll 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 winding roll
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 spiral wire winding on 30, the electric vehicle 70 drives the winding roll automatic loading and unloading robot 40 to be moved to accordingly
The position of coil winding machine 30, carries out winding roll blanking according to S3-S5 step, carries out winding roll feeding according still further to S1-S2 step；Work as institute
When stating the winding roll 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. winding roll automatic carrying machine working, it is characterised in that: including six-joint robot (1), the free end of the six-joint robot (1)
Be provided with clamp (2), the clamp (2) include two can be towards and away from mobile clamping jaw (21), two clamping jaws (21) are opposite
End face be and winding roll (10) matched arc surface (211).
2. winding roll automatic carrying machine working according to claim 1, it is characterised in that: the tail end of each clamping jaw (21) is set
It is equipped with a perpendicular baffle (22).
3. winding roll automatic carrying machine working according to claim 1, 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 winding roll (10)
The distance between (101) equal.
4. winding roll automatic carrying machine working according to claim 1, it is characterised in that: two clamping jaws (21) are set to one
On two sliding blocks of a double-slider electric cylinders (23).
5. winding roll automatic carrying machine working according to claim 1, it is characterised in that: the freedom of the six-joint robot (1)
End is additionally provided with the cutter device (3) for cutting off silk thread.
6. winding roll automatic carrying machine working according to claim 1, it is characterised in that: the freedom of the six-joint robot (1)
End also sets up adhesive tape sticking device (4).
7. winding roll automatic carrying machine working according to claim 1, it is characterised in that: the freedom of the six-joint robot (1)
End is additionally provided with the line grabbing device (5) that can clamp the end of a thread.
8. winding roll automatic carrying machine working according to claim 1, it is characterised in that: the freedom of the six-joint robot (1)
End is additionally provided with the image collecting device (6) of vision positioning.
9. -8 any winding roll automatic carrying machine working according to claim 1, it is characterised in that: the six-joint robot (1)
It is set in the mobile device (7) of its movement of driving.
10. winding roll automatic loading and unloading robot, it is characterised in that: automatic including any winding roll of claim 1-9
Carrying implement further includes the load transfer station (9) of the winding roll for placing the mounting table of blank coil drum (8) and for placing coiling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811556578.XA CN109592505A (en) | 2018-12-19 | 2018-12-19 | Winding roll automatic carrying machine working and winding roll automatic loading and unloading robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811556578.XA CN109592505A (en) | 2018-12-19 | 2018-12-19 | Winding roll automatic carrying machine working and winding roll automatic loading and unloading robot |
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| Publication Number | Publication Date |
|---|---|
| CN109592505A true CN109592505A (en) | 2019-04-09 |
Family
ID=65964105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811556578.XA Pending CN109592505A (en) | 2018-12-19 | 2018-12-19 | Winding roll automatic carrying machine working and winding roll automatic loading and unloading robot |
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| CN (1) | CN109592505A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113044669A (en) * | 2021-04-20 | 2021-06-29 | 苏州江锦自动化科技有限公司 | Automatic threading device, winding system and automatic threading method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113044669A (en) * | 2021-04-20 | 2021-06-29 | 苏州江锦自动化科技有限公司 | Automatic threading device, winding system and automatic threading method |
| CN113044669B (en) * | 2021-04-20 | 2024-03-01 | 苏州江锦自动化科技有限公司 | Automatic threading device, winding system and automatic threading method |
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