阅读说明：本技术 一种枪刺地毯智能机器人用纱线回退装置 (Yarn backspacing device for intelligent robot for gun-punched carpet ) 是由 邱晓东 于 2020-06-29 设计创作，主要内容包括：本发明涉及一种枪刺地毯智能机器人用纱线回退装置,安装在地毯制作机械手的机架上,包括设夹线机构、回退机构,以及控制器；夹线机构包括引线框和推杆,引线框上固定有一固定夹线板,且引线框的另一侧设置有活动夹线板,活动夹线板在与纱线相背的一侧与推杆的一端固定连接,推杆的另一端连接有第一驱动器；回退机构包括第二驱动器和固定引线框的回退座,第二驱动器固定安装在机架上,第二驱动器动力输出端与回退座固定连接。本发明可在簇绒枪头回到待机状态时通过控制器带动夹线机构夹线配合回退机构将纱线抽回适当的长度,以减少剪刀部位的纱线长度,提高地毯底背的平整性。(The invention relates to a yarn backspacing device for a gun-punched carpet intelligent robot, which is arranged on a rack of a carpet manufacturing manipulator and comprises a yarn clamping mechanism, a backspacing mechanism and a controller, wherein the yarn clamping mechanism is arranged on the rack; the yarn clamping mechanism comprises a lead frame and a push rod, a fixed clamping plate is fixed on the lead frame, a movable clamping plate is arranged on the other side of the lead frame, the movable clamping plate is fixedly connected with one end of the push rod on the side opposite to the yarn, and the other end of the push rod is connected with a first driver; the backspacing mechanism comprises a second driver and a backspacing seat for fixing the lead frame, the second driver is fixedly installed on the rack, and the power output end of the second driver is fixedly connected with the backspacing seat. According to the invention, when the tufting gun head returns to the standby state, the controller drives the yarn clamping mechanism to clamp the yarn and match with the retraction mechanism to draw the yarn back to a proper length, so that the length of the yarn at the position of the scissors is reduced, and the smoothness of the bottom back of the carpet is improved.)

1. The utility model provides a yarn returns back device for rifle thorn carpet intelligent robot, installs in the frame of carpet preparation manipulator which characterized in that: the yarn feeding device comprises a yarn clamping mechanism, a backspacing mechanism and a controller, wherein the yarn clamping mechanism and the backspacing mechanism are arranged on a yarn path;

the yarn clamping mechanism comprises a lead frame and a push rod, the lead frame is sleeved outside the yarn, a fixed clamping plate is fixed on one side of the yarn on the lead frame, a movable clamping plate arranged opposite to the fixed clamping plate is arranged on the other side of the yarn in the lead frame, the movable clamping plate is fixedly connected with one end of the push rod on one side opposite to the yarn, the other end of the push rod penetrates through the lead frame, and a first driver capable of pushing the push rod to drive the movable clamping plate and the fixed clamping plate to clamp tightly is connected outside the lead frame;

the backspacing mechanism comprises a second driver and a backspacing seat for fixing the lead frame, the second driver is fixedly installed on the rack, and the power output end of the second driver is fixedly connected with the backspacing seat.

2. The yarn backing device for the intelligent robot for gun-tufted carpets according to claim 1, characterized in that: the first driver is a first air cylinder, the second driver is a second air cylinder, the end part of the push rod is fixed with a piston rod of the first air cylinder, and the backspacing seat is fixed with a piston rod of the second air cylinder.

3. The yarn backing device for the intelligent robot for gun-tufted carpets according to claim 2, characterized in that: the gas pipeline of the first cylinder is provided with a clamping pneumatic valve capable of controlling the first cylinder to act, the gas pipeline of the second cylinder is provided with a backing pneumatic valve capable of controlling the second cylinder to act, and the clamping pneumatic valve and the backing pneumatic valve are respectively electrically connected with the output end of the controller.

4. The yarn backing device for the intelligent robot for gun-tufted carpets according to claim 3, wherein: the input end of the controller is electrically connected with a standby state detection sensor which can detect whether the manipulator tufting gun head returns to a standby state.

5. The yarn rewinding device for the smart robot for gun-tufted carpets according to claim 2 or 3, characterized in that: the piston rod of the first cylinder is vertically arranged, and the piston rod of the second cylinder is transversely arranged.

6. The yarn backing device for the intelligent robot for gun-tufted carpets according to claim 1, characterized in that: the backspacing seat is connected with the rack in a sliding mode through a guide rail, the guide rail is arranged on the rack and is parallel to the piston rod of the second driver, and a sliding groove matched with the guide rail is formed in the backspacing seat.

7. The yarn backing device for the smart robot for gun-tufted carpet of claim 6, wherein: the guide rail is a dovetail guide rail, and the sliding groove on the backspacing seat is a dovetail groove.

Technical Field

The invention relates to the technical field of carpet processing, in particular to a yarn backspacing device for an intelligent robot for a gun-punched carpet.

Background

When the carpet manufacturing manipulator is used for manufacturing a cut pile carpet and narrowing a needle, the manipulator is required to cut off yarns by using scissors, and part of the yarns cut off by the scissors is remained outside the tufting gun head, so that when the equipment is used for next processing action, the positions of the scissors are not flat due to overlong surplus yarns, the manufactured carpet bottom back is affected, the product quality and the whole effect are influenced, and the waste of the yarns is also caused to a certain extent.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the yarn returning device for the intelligent robot for the gun-punched carpet, which can control the cooperation of the yarn clamping mechanism and the returning mechanism through the controller to return the yarn to a proper length so as to avoid the problem that the bottom and the back of the carpet are not flat due to the overlong residual length of the yarn at the scissors part.

The invention is realized by the following technical scheme:

the yarn returning device for the intelligent robot for the gun-punched carpet is arranged on a rack of a carpet manufacturing manipulator and comprises a yarn clamping mechanism, a returning mechanism and a controller, wherein the yarn clamping mechanism and the returning mechanism are arranged on a yarn path, and the controller can respectively control the action of the yarn clamping mechanism and the action of the returning mechanism;

the yarn clamping mechanism comprises a lead frame and a push rod, the lead frame is sleeved outside the yarn, a fixed clamping plate is fixed on one side of the yarn on the lead frame, a movable clamping plate arranged opposite to the fixed clamping plate is arranged on the other side of the yarn in the lead frame, the movable clamping plate is fixedly connected with one end of the push rod on one side opposite to the yarn, the other end of the push rod penetrates through the lead frame, and a first driver capable of pushing the push rod to drive the movable clamping plate and the fixed clamping plate to clamp tightly is connected outside the lead frame;

the backspacing mechanism comprises a second driver and a backspacing seat for fixing the lead frame, the second driver is fixedly installed on the rack, and the power output end of the second driver is fixedly connected with the backspacing seat.

This scheme is through design thread clamping mechanism with roll back the mechanism, utilizes the controller control thread clamping mechanism to carry out the centre gripping to the yarn when tufting rifle head gets back to standby state, and the cooperation rolls back the mechanism and drives thread clamping mechanism wholly and rolls back, accomplishes the action of taking out of yarn, avoids scissors position yarn surplus length overlength to lead to the problem emergence of carpet back unevenness.

Furthermore, the first driver is a first air cylinder, the second driver is a second air cylinder, the end part of the push rod is fixed with a piston rod of the first air cylinder, and the backspacing seat is fixed with a piston rod of the second air cylinder.

Furthermore, a clamping pneumatic valve capable of controlling the first air cylinder to act is installed on the air pipeline of the first air cylinder, a backspacing pneumatic valve capable of controlling the second air cylinder to act is installed on the air pipeline of the second air cylinder, and the clamping pneumatic valve and the backspacing pneumatic valve are respectively electrically connected with the output end of the controller.

Furthermore, the input end of the controller is electrically connected with a standby state detection sensor which can detect whether the manipulator tufting gun head returns to a standby state.

The input end of the controller carries out signal input through the standby state detection sensor, when the input end detects that the manipulator tufting gun head returns to the standby state, signals can be input to the controller, and the controller controls the corresponding pneumatic valves on the first air cylinder and the second air cylinder according to signal output control signals, so that automatic operation is realized.

Preferably, the piston rod of the first cylinder is vertically arranged, and the piston rod of the second cylinder is transversely arranged.

The vertical setting of the piston rod of first cylinder can press from both sides the yarn tight through the vertical motion of piston rod, and the horizontal setting of the piston rod of second cylinder will press from both sides the thread clamping mechanism of tight yarn and back a certain distance through the lateral motion of piston rod, realizes the function that backs down of yarn.

Preferably, the backspacing seat is slidably connected with the frame through a guide rail, the guide rail is arranged on the frame and is parallel to the second driver piston rod, and the backspacing seat is provided with a sliding groove matched with the guide rail.

The backspacing seat is connected with the rack in a sliding mode through the guide rail, the guide rail can play a role in guiding and limiting the backspacing seat, and when the second cylinder pushes the backspacing seat to drive yarns in the lead frame to backspace, the stability of the backspacing seat can be guaranteed.

Preferably, the guide rail is a dovetail guide rail, and the sliding groove on the backspacing seat is a dovetail groove.

The dovetail groove is matched with the dovetail guide rail, so that stability is guaranteed, and meanwhile, a certain overturning moment is achieved.

The invention has the beneficial effects that:

the standby state detection sensor inputs signals to the controller, the controller controls the clamping pneumatic valve to control the first air cylinder to stretch out the piston rod to clamp the yarn in the lead frame, the controller sends back a pneumatic valve action signal after 1 second delay, the piston rod of the second air cylinder is controlled to drive the lead frame to draw the yarn back to a proper length, and the problem that the residual length of the yarn at the position of the scissors is too long to cause unevenness of the bottom and the back of the carpet is avoided. Through the cooperation of the standby state detection sensor, the controller and the pneumatic valve, the automatic control is realized, the working efficiency of carpet processing is improved, and the carpet processing quality is improved.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is an enlarged schematic view at A in FIG. 1 (initial state of the thread clamping mechanism);

FIG. 3 is an enlarged schematic view of the cable clamping mechanism at A in FIG. 1 (working state);

fig. 4 is a control diagram of the controller according to the present invention.

Shown in the figure:

1. the yarn guide device comprises a rack, 2, yarns, 3, a lead frame, 4, a second cylinder, 5, a dovetail guide rail, 6, a backspacing seat, 7, a movable clamp, 8, a fixed clamp, 9, a push rod, 10, a first cylinder, 11, a piston rod of the second cylinder, 12, a piston rod of the first cylinder, 13, a detection sensor, 14, a controller, 15, a clamping pneumatic valve and 16, a backspacing pneumatic valve.

Detailed Description

In order to clearly illustrate the technical features of the present solution, the present solution is explained below by way of specific embodiments.

A yarn returning device for an intelligent robot for a gun-punched carpet is arranged on a rack 1 of a carpet manufacturing manipulator and comprises a yarn clamping mechanism, a returning mechanism and a controller 14, wherein the yarn clamping mechanism and the returning mechanism are arranged on a yarn 21 path, and the controller 14 can respectively control the action of the yarn clamping mechanism and the action of the returning mechanism.

The clamping mechanism comprises a lead frame 3 and a push rod 9, the lead frame 3 is sleeved outside the yarn 2, a fixed clamping plate 8 is fixed on one side of the yarn 2 on the lead frame 3, a movable clamping plate 7 which is arranged opposite to the fixed clamping plate 8 is arranged on the other side of the yarn 2 in the lead frame 3, the movable clamping plate 7 is fixedly connected with one end of the push rod 9 on one side back to the yarn 2, the other end of the push rod 9 penetrates through the lead frame 3, and a first driver which can push the push rod 9 to drive the movable clamping plate 7 to clamp the fixed clamping plate 8 is connected outside the lead frame 3. According to the invention, the lead frame 3 is of a square tube structure, the fixed clamping plate 8 is arranged on the top surface of the lead frame 3, the movable clamping plate 8 is positioned below the fixed clamping plate 8, and the push rod 9 clamps the movable clamping plate 7 and the fixed clamping plate 8 through vertical movement.

The backspacing mechanism comprises a second driver and a backspacing seat 6 for fixing the lead frame 3, the second driver is fixedly installed on the rack 1, and the power output end of the second driver is fixedly connected with the backspacing seat 6. The backspacing seat 6 is connected with the frame 1 in a sliding mode through a guide rail, the guide rail is arranged on the frame 1 and is parallel to the second driver piston rod 11, and a sliding groove matched with the guide rail is formed in the backspacing seat 6. The guide rail is a dovetail guide rail 5, and the sliding groove on the backspacing seat 6 is a dovetail groove.

In the invention, the first driver is a first air cylinder 10, the second driver is a second air cylinder 4, the end part of the push rod 9 is fixed with a piston rod 12 of the first air cylinder 10, and the backspacing seat 6 is fixed with a piston rod 11 of the second air cylinder. The piston rod 12 of the first cylinder is vertically arranged, and the piston rod 11 of the second cylinder is transversely arranged.

A clamping pneumatic valve 15 which can control the action of the first cylinder 10 is arranged on a gas pipeline of the first cylinder 10, a retraction pneumatic valve 16 which can control the action of the second cylinder 4 is arranged on a gas pipeline of the second cylinder 4, and the clamping pneumatic valve 15 and the retraction pneumatic valve 16 are respectively and electrically connected with the output end of the controller 14. The input end of the controller 14 is electrically connected with a standby state detection sensor 13 which can detect whether the manipulator tufting gun head returns to a standby state. The controller 14, the detection sensor 13 and the like in the invention are all powered by a power supply of the carpet manufacturing manipulator.

When the carpet manufacturing manipulator works, the yarn 2 needs to be continuously pulled and the tufting gun head is used for processing the yarn 2 to carpet base cloth, when the tufting gun head moves back, the yarn 2 at the gun head needs to be cut off by using scissors, the carpet base cloth can be normally processed when the gun head extends next time, when the retreating device is used, the position of the tufting gun head is detected by the detection sensor 13, when the tufting gun head returns to a standby state, the detection sensor 13 sends a signal to the controller 14, the controller 14 outputs a control signal, the clamping pneumatic valve 15 acts, the piston rod 12 of the first air cylinder extends out to drive the movable clamp plate 7 at the end part and the yarn 2 to be clamped with the fixed clamp plate 8 in the lead frame 3, the controller 14 controls the retreating pneumatic valve 16 to act after delaying for one second, and the piston rod 11 of the second air cylinder extends out to drive the retreating seat 6 and the lead frame 3 fixed with the retreating seat 6 to integrally retreat to the opposite direction of the, the stroke of the second cylinder 4 is the retreat distance of the yarn 2. After the retracting operation is completed, the controller 14 controls the first cylinder 10 of the wire clamping mechanism to reversely move to drive the push rod 9 and the movable wire clamping plate 7 to return to the initial positions, and simultaneously controls the second cylinder 4 to reversely move to drive the retracting seat 6 and the lead frame 3 to return to the initial positions to wait for the next retracting operation.

Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention can be implemented by or using the prior art, and will not be described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present invention and not for limiting the present invention, and the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and shall also fall within the scope of the claims of the present invention.