阅读说明：本技术 一种打结网编织机自动对中取放线盘装置 (A kind of knotted net braider automatic centering pick-and-place wire coil device ) 是由 孙志军 张玉井 杜诚杰 郝志昌 于 2019-07-23 设计创作，主要内容包括：本发明公开了一种打结网编织机自动对中取放线盘装置,其特征在于,包括用于放置梭盘的纬箱组件,纬箱组件的底部设有控制纬箱组件移动的纬箱移动机构,纬箱组件的上方设有用于取放线盘的机器人取放盘组件,机器人取放盘组件固定在可以左右移动的线盘小车上。本发明装置的精度高,机构组成简易,且可靠性高；可以取代人工更换线盘模式,提高生产效率；能够实现一人操控多台机器,节省人力,且能够提高设备的机电一体化程度；机器人末端执行机构能够实现与线盘自动对中。(The invention discloses a kind of knotted net braider automatic centerings to pick and place wire coil device, it is characterized in that, including the latitude box assembly for placing shuttle disk, the bottom of latitude box assembly is equipped with the mobile Wei Xiang mobile mechanism of control latitude box assembly, the top of latitude box assembly is equipped with the robot for picking and placing drum and picks and places disk component, and robot picks and places disk component and is fixed on the drum trolley that can be moved left and right.The precision of apparatus of the present invention is high, and mechanism composition is simple, and high reliablity；Artificial replacement drum mode can be replaced, improve production efficiency；It can be realized a people and manipulate more machines, save manpower, and can be improved the electromechanical integration degree of equipment；Robot end executing agency can be realized and drum automatic centering.)

1. a kind of knotted net braider automatic centering picks and places wire coil device, which is characterized in that including the latitude case for placing shuttle disk Component, the bottom of latitude box assembly are equipped with the mobile Wei Xiang mobile mechanism of control latitude box assembly, and the top of latitude box assembly, which is equipped with, to be used for The robot for picking and placing drum (6) picks and places disk component, and robot picks and places disk component and is fixed on the drum trolley that can be moved left and right (13) on.

2. a kind of knotted net braider automatic centering as described in claim 1 picks and places wire coil device, which is characterized in that described It includes wearing plate rail (4) that robot, which picks and places disk component, wears plate rail (4) on the end flange of robot (7), robot (7) is logical It crosses robot mounting plate (20) to be fixed on drum trolley (13), robot mounting plate is fixed with motor mounting rack on (20) (17), the robot mobile motor (15) for driving drum trolley (13) mobile, machine are fixed on motor mounting rack (17) People's mobile motor (15) is connect with retarder (16).

3. a kind of knotted net braider automatic centering as claimed in claim 2 picks and places wire coil device, which is characterized in that described Drum trolley (13) is made of 4 wheels (21) and two trolley rotation axis (22), the both ends point of two trolley rotation axis (22) It is not connect with 4 wheels (21), two trolley rotation axis (22) are connect by belt pulley with driven synchronous belt (19), driven synchronization Band (19) belt pulley is connect with active synchronization band (18), and active synchronization band (18) is connect by belt pulley with retarder (16).

4. a kind of knotted net braider automatic centering as claimed in claim 1 or 2 picks and places wire coil device, which is characterized in that institute The drum trolley (13) stated is set on guide rail (14).

5. a kind of knotted net braider automatic centering as claimed in claim 2 picks and places wire coil device, which is characterized in that described It wears plate rail (4) to be collectively constituted by optical axis and the dish axle of wearing with automatic centering function, wears dish axle equipped with concaveconvex shape structure.

6. a kind of knotted net braider automatic centering as described in claim 1 picks and places wire coil device, which is characterized in that described Latitude box assembly includes latitude case lower plate (8), and latitude case lower plate (8) two sides are fixed with latitude case foreboard (3), latitude case back plate (23) respectively to be connected It connects, the lower end surface of latitude case lower plate (8) is connect with Wei Xiang mobile mechanism, and latitude case foreboard (3) passes through front baffle fixed plate (2) and shuttle disk Front baffle (1) connection, latitude case back plate (23) are connect by rear bulkhead fixed plate (24) with shuttle disk rear bulkhead (25), shuttle disk front baffle (1) and on shuttle disk rear bulkhead (25) it is supported by shuttle disk (5), is equipped on shuttle disk front baffle (1) and shuttle disk rear bulkhead (25) jointly The groove that shuttle disk interval is divided.

7. a kind of knotted net braider automatic centering as described in claim 1 picks and places wire coil device, which is characterized in that described Wei Xiang mobile mechanism includes the latitude case mobile motor retarder (28) and latitude case mobile motor (29) being mounted on rack (10), latitude Case mobile motor (29) is connect with latitude case mobile motor retarder (28), is set on the output shaft of latitude case mobile motor retarder (28) Have gear (27), gear (27) engages connection with rack gear (26), and rack gear (26) is fixedly arranged at the lower end surface of latitude box assembly, latitude box assembly Two sides set there are two two side guide rollers of latitude case (9), many places are evenly equipped under roller mounting frame (12) and latitude case in rack (10) Portion's guide roller (11).

Technical field

The present invention relates to a kind of knotted net braiding equipments more particularly to a kind of knotted net braider automatic centering to pick and place drum Device belongs to textile equipment technical field.

Background technique

With the development of high-performance fiber technology and the innovation of braiding network technology, the netting gear demand that deep-sea fishing increases, no It is disconnected to derive the high-end net class product new demands such as aquafarm, marine territory protection, key project protection, drive the braiding of net class Technology is constantly brought forth new ideas with equipment.Knotted net braider is the key that above-mentioned net class product production equipment, directly affects net class The quality and efficiency of product.

The mode that knotted net braider picks and places drum at present is still manual operation, due to shuttle box capacity, load-bearing capacity etc. Limited, it is few to deposit yarn amount, therefore needs to be replaced frequently drum for weft drum small volume, and in order to not conform to grid during knitmesh Mesh number amount controls in the reasonable scope, and operator need to often shut down random replacement drum, and when replacing drum, operator needs curved Drum is put into behind designated position after taking out in shuttle disk and new drum is put into shuttle disk again and turns back on operation by waist, general Knotted net braider has several hundred a shuttle disks and drum, so the process for picking and placing drum is not only time-consuming and laborious, weaves knotted net Knitmesh low efficiency, the large labor intensity of machine.

Summary of the invention

The technical problem to be solved by the present invention is solving the problems, such as how to realize automatic replacement drum.

In order to solve the above-mentioned technical problem, the technical solution of the present invention is to provide a kind of knotted net braider automatic centerings Pick and place wire coil device, which is characterized in that including the latitude box assembly for placing shuttle disk, the bottom of latitude box assembly is equipped with control latitude case The mobile Wei Xiang mobile mechanism of component, the top of latitude box assembly are equipped with the robot for picking and placing drum and pick and place disk component, machine People picks and places disk component and is fixed on the drum trolley that can be moved left and right.

Preferably, it includes wearing plate rail that the robot, which picks and places disk component, wears plate rail on the end flange of robot, Robot is fixed on drum trolley by robot mounting plate, and motor mounting rack, motor peace are fixed on robot mounting plate The robot mobile motor being fixed with for driving drum trolley mobile is shelved, robot mobile motor is connect with retarder.

Preferably, the drum trolley is made of 4 wheels and two trolley rotation axis, and the two of two trolley rotation axis End is connect with 4 wheels respectively, and two trolley rotation axis pass through belt pulley and driven synchronous band connection, driven synchronous belt belt pulley With active synchronization band connection, active synchronization band is connect by belt pulley with retarder.

Preferably, the drum trolley is set on guide rail.

Preferably, the plate rail of wearing is collectively constituted by optical axis and the dish axle of wearing with automatic centering function, is worn in dish axle Equipped with concaveconvex shape structure.

Preferably, the latitude box assembly includes latitude case lower plate, latitude case lower plate two sides respectively with latitude case foreboard, latitude case back plate It is fixedly connected, the lower end surface of latitude case lower plate is connect with Wei Xiang mobile mechanism, before latitude case foreboard is by front baffle fixed plate and shuttle disk Partition connection, latitude case back plate are connect by rear bulkhead fixed plate with shuttle disk rear bulkhead, in shuttle disk front baffle and shuttle disk rear bulkhead altogether With shuttle disk is supported by, the groove for dividing shuttle disk interval is equipped in shuttle disk front baffle and shuttle disk rear bulkhead.

Preferably, the Wei Xiang mobile mechanism includes that rack-mounted latitude case mobile motor retarder and latitude case move Dynamic motor, latitude case mobile motor are connect with latitude case mobile motor retarder, and the output shaft of latitude case mobile motor retarder is equipped with Gear, wheel and rack engagement connection, rack gear are fixedly arranged at the lower end surface of latitude box assembly, and the two sides of latitude box assembly set that there are two latitude casees Two side guide rollers, many places are evenly equipped with roller mounting frame and latitude lower box part guide roller in rack.

The precision of apparatus of the present invention is high, and mechanism composition is simple, and high reliablity；Automatic exchange drum can be achieved, replace Artificial replacement drum mode, improves production efficiency；It can be realized a people and manipulate more machines, save manpower, reduce labor intensity, And it can be improved the electromechanical integration degree of equipment；Robot end executing agency can be realized and drum automatic centering.

Detailed description of the invention

Fig. 1 is the partial schematic diagram that a kind of knotted net braider automatic centering picks and places wire coil device；

Fig. 2 is the schematic diagram of Wei Xiang mobile mechanism；

Fig. 3 is the global schematic diagram that a kind of knotted net braider automatic centering picks and places wire coil device；

Fig. 4 is robot end executing agency schematic diagram.

Specific embodiment

In order to make the present invention more obvious and understandable, hereby with preferred embodiment, and attached drawing is cooperated to be described in detail below.

The present invention is that a kind of knotted net braider automatic centering picks and places wire coil device, as shown in Figure 1-Figure 3, by latitude case group Part, Wei Xiang mobile mechanism, robot picks and places disk component, drum trolley 13 forms；

Latitude box assembly is placed in left and right sidesing wall plate (i.e. rack 10), latitude box assembly include shuttle disk 5, shuttle disk front baffle 1, it is preceding every Plate fixed plate 2, latitude case foreboard 3, latitude case back plate 23, shuttle disk rear bulkhead 25, rear bulkhead fixed plate 24 and latitude case lower plate 8.Before latitude case Plate 3, latitude case back plate 23 and latitude case lower plate 8 are consolidated, and provide accommodation space for shuttle disk 5.8 lower end surface of latitude case lower plate is latitude case Component provides guiding, i.e. the lower end surface of latitude case lower plate 8 is connect with Wei Xiang mobile mechanism, and latitude case foreboard 3 passes through front baffle fixed plate 2 It is connect with shuttle disk front baffle 1, latitude case back plate 23 is connect by rear bulkhead fixed plate 24 with shuttle disk rear bulkhead 25.Shuttle disk front baffle 1 Shuttle disk 5 is supported jointly with shuttle disk rear bulkhead 25, and several shuttle disks are segmented in fixed interval by the groove by processing on partition, Warp thread is facilitated to pass through from shuttle disk two sides.

Wei Xiang mobile mechanism includes rack gear 26, gear 27, latitude case mobile motor retarder 28, latitude case mobile motor 29, latitude Two side guide rollers 9 of case, roller mounting frame 12 and latitude lower box part guide roller 11.Latitude case mobile motor retarder 28 and latitude case move Dynamic motor 29 is mounted in rack 10, and gear 27 is installed on the output shaft of latitude case mobile motor retarder 28.Rack gear 26 is fixedly arranged at The lower end surface of latitude case lower plate 8.Two two side guide rollers 9 of latitude case are fixedly arranged at latitude case two sides.Under roller mounting frame 12 and latitude case Portion's guide roller 11 is mounted in rack 10, is evenly distributed at five on the length direction of latitude case.29 output torque of latitude case mobile motor To latitude case mobile motor retarder 28 and gear 27, gear 27 and rack gear 26 are engaged, and keep rack gear 26 mobile, final to drive latitude case group Part is mobile.

Robot pick and place disk component include wear plate rail 4, robot 7, guide rail 14, robot mobile motor 15, retarder 16, Motor mounting rack 17, active synchronization band 18, driven synchronous belt 19, robot mounting plate 20, wheel 21, trolley rotation axis 22.It wears Plate rail 4 is mounted on the end flange of robot 7.Robot 7 is fixed on by robot mounting plate 20 by 4 wheels 21 and two In the moving trolley that a trolley rotation axis 22 forms, i.e. drum trolley 13.Robot mobile motor 15 and retarder 16 pass through electricity Machine mounting rack 17 is fixedly arranged on robot mounting plate 20.Moving trolley drives retarder 16 and master by robot mobile motor 15 Dynamic synchronous belt 18, is transmitted to driven synchronous belt 19 for power by active synchronization band 18, to make trolley rotation axis 22 rotate, finally Moving trolley band mobile robot is allowed to move on guide rail 14.The section of guide rail 14 is I-shaped.Plate rail 4 is worn by optical axis and is machined with The dish axle of wearing of concaveconvex shape collectively constitutes, to realize that difference takes purpose.Have concaveconvex shape wears dish axle with automatic centering function Can, dish axle insertion 6 centre bore of drum will be worn, mobile mechanical arm realizes the movement of automatic clamping and placing disk.It can be by line when picking and placing drum Disk is automatically divided into fixed intervals, to facilitate subsequent technique；Optical axis is used for the special occasions for not needing to separate drum.

Drum trolley 13 is set on guide rail 14, so that drum trolley 13 moves on fixed guide rail 14.Drum trolley 13 is by 4 A wheel 21 and two trolley rotation axis 22 form, and the both ends of two trolley rotation axis 22 are connect with 4 wheels 21 respectively, and two Trolley rotation axis 22 is connect by belt pulley with driven synchronous belt 19, and driven 19 belt pulley of synchronous belt and active synchronization band 18 connect It connects, active synchronization band 18 is connect by belt pulley with retarder 16.

Rack gear 26 in Wei Xiang mobile mechanism passes through the rack gear mounting plate and latitude case group that are mounted on 8 lower end surface of latitude case lower plate Part connection.Latitude case mobile motor 29 is mounted in rack 10, the output shaft gear 27 and tooth of latitude case mobile motor retarder 28 Item 26 engages, and rack gear 26 drives latitude box assembly to move together.

Pick-and-place principle of the invention is as follows:

When the yarn in shuttle disk 5 is finished, when needing replacing drum 6, by being located at the latitude case moving machine below latitude box assembly Structure controls the movement of latitude case, and latitude box assembly is made to move to the position for being close to comb hook support, then by the connection of 7 end arm of robot It wears plate rail 4 to penetrate into the centre bore of drum 6, then robot arm is lifted, due to wearing the automatic centering function of plate rail 4, line Disk 6 can automatically be divided into fixed intervals, facilitate the operation of subsequent technique, then drum 6 is put into drum trolley 13, keep solid Fixed interval, facilitates the operation of subsequent technique, and 7 end arm of robot reduces certain distance, it is taken out from the centre bore of drum 6 Out, drum trolley 13 moves up out operating space in fixed guide rail, into subsequent processing.It is then opposite mistake when placing drum 6 Journey.If wire spool 6 is manual operation, it can carry out taking disk with the optical axis for wearing plate rail 4.

Specific work process of the invention is as follows:

(1) latitude case mobile motor 29 drives output torque to latitude case mobile motor retarder 28 and gear 27,27 He of gear Rack gear 26 engages, and keeps rack gear 26 mobile, final to drive latitude box assembly mobile.

(2) robot 7 is placed in moving trolley, and robot mobile motor 15 drives active synchronization band 18, is driven driven Synchronous belt 19 rotates trolley rotation axis 22.Finally, moving trolley carries robot 7 and moves on guide rail 14.

(3) dish axle is worn in the arm end flange connection of robot 7, is executed according to 7 desired guiding trajectory of robot and is picked and placed drum Movement.

It loops back and forth like this, just can complete the automatic clamping and placing of drum.