TWI889115B - Yarn tube automatic knotting machine tying mechanism and tying method - Google Patents

Abstract

A wire tying mechanism and a wire tying method for an automatic yarn bobbin knotting machine, the wire tying mechanism comprises a frame operated and moved by a multi-axis mechanical arm, the frame is provided with a clamping rod controlled by an infinitely rotating electric clamping claw to open and close and rotate, and the frame is also provided with a round push rod that can move between a working position and an original position; the wire suction mechanism pulls a terminal strand of a yarn bobbin to form a stretched strand between the yarn bobbin and the wire suction mechanism; the clamping rod and the round push rod use the stretched strand to cooperate with the revolution and rotation of the yarn bobbin to form a slipknot on the yarn bobbin to prevent the strand on the yarn bobbin from loosening.

Description

Yarn tube automatic knotting machine’s tying mechanism and tying method

The present invention relates to an automated knotting technology for carbon fiber yarn bundle bobbins.

The carbon fiber bundle is wound on a core to form a yarn tube. The carbon fiber bundle has an end section on the yarn tube. If the end section is kept free and not tied, it is very easy to cause the bundle on the yarn tube to loosen.

In order to solve the above problems, the present invention proposes an automatic yarn tube knotting machine, which includes a yarn suction mechanism and a yarn tying mechanism. The present invention relates to the yarn tying mechanism and the yarn tying method.

Technical features and effects of the invention:

A wire tying mechanism and a wire tying method for an automatic yarn bobbin knotting machine, the wire tying mechanism comprises a frame operated and moved by a multi-axis mechanical arm, the frame is provided with a clamping rod controlled by an infinitely rotating electric clamping claw to open and close and rotate, and the frame is also provided with a round push rod that can move between a working position and an original position; the wire suction mechanism pulls a terminal strand of a yarn bobbin to form a stretched strand between the yarn bobbin and the wire suction mechanism; the clamping rod and the round push rod use the stretched strand to cooperate with the revolution and rotation of the yarn bobbin to form a slipknot on the yarn bobbin to prevent the strand on the yarn bobbin from loosening.

1: Wire suction mechanism

100: Suction disc

2: Binding mechanism

3: Yarn tube pick-and-place machine

4: Robot arm joint

5: Rack

10: Binding unit

11: Wire clamping rod

12: Infinitely rotating electric gripper

13: Round putter

131: Connectors

14: Guidance module

141:Move sub

15: Linear drive

151:Driver

20: Yarn tube

21: Final strands

22: Stretching the tow

23: Twisting part

24: Wire Tow Loop

25: Slipknot

A: Arrow

B: Arrow

[Figure 1] Schematic diagram of the coordination between the wire-binding mechanism, the wire-taking mechanism and the wire-sucking mechanism of the present invention.

[Figure 2] A three-dimensional appearance diagram of the first viewing angle of the wire-binding mechanism of the present invention.

[Figure 3] A second-angle three-dimensional appearance diagram of the wire-tying mechanism of the present invention.

[Figure 4] Top view of the wire-binding mechanism of the present invention.

[Figure 5] Bottom view of the wire-tying mechanism of the present invention.

[Figure 6] A top view and a schematic diagram of the binding mechanism of the present invention in action.

[Figure 7] Schematic diagram of the coordination between the wire-binding mechanism and the wire-sucking mechanism of the present invention.

[Figure 8] One of the schematic diagrams of the wire-tying action of the present invention.

[Figure 9] The second schematic diagram of the wire-tying action of the present invention.

[Figure 10] The third schematic diagram of the wire-tying operation of the present invention.

[Figure 11] The fourth schematic diagram of the wire-tying operation of the present invention.

[Figure 12] The fifth schematic diagram of the wire-tying operation of the present invention.

[Figure 13] The sixth schematic diagram of the wire-tying operation of the present invention.

[Figure 14] The seventh schematic diagram of the wire-tying operation of the present invention.

[Figure 15] The eighth schematic diagram of the wire-tying operation of the present invention.

[Figure 16] The ninth schematic diagram of the wire-tying operation of the present invention.

[Figure 17] The tenth schematic diagram of the wire-tying operation of the present invention.

In order to facilitate the explanation of the central idea of the present invention in the above invention content column, it is expressed by a specific embodiment. The various objects in the embodiments are depicted according to the proportions, sizes, deformations or displacements suitable for the description, rather than being drawn according to the proportions of the actual components. And In the following description, the same and symmetrically configured components are represented by the same number. The clockwise, counterclockwise, and hour directions used in the following description are all explained according to the viewing direction and cannot be interpreted as a limitation of the present invention.

As shown in Figures 1 and 2, the present invention is an automatic knotting machine for yarn tubes 20, which includes a yarn suction mechanism 1 and a yarn tying mechanism 2. A yarn tube pick-up and placement machine 3 takes the yarn tube 20 off the yarn rack and transfers it to the yarn suction mechanism 1, which draws out the terminal yarn bundle 21 on the yarn tube 20 (as shown in Figure 7) for the yarn tying mechanism 2 to tie the yarn. The yarn suction mechanism 1 is not the main technical feature of the present invention, and the invention has been applied for, so the present case does not elaborate on the yarn suction mechanism 1.

In Figures 1 and 2, the wire-binding mechanism 2 is coupled to the yarn tube pick-and-place machine 3, and the yarn tube pick-and-place machine 3 is provided with a robot arm coupling portion 4, which is coupled to an operating end (not shown) of a multi-axis robot arm (not shown). The multi-axis robot arm controls the movement of the yarn tube pick-and-place machine 3 and the wire-binding mechanism 2. However, it is not limited to this, and the wire-binding mechanism 2 can be an independent mechanism, and its movement is controlled by another multi-axis robot arm (not shown).

As shown in Figures 2 to 6, the tying mechanism 2 includes a plurality of tying units 10, and the plurality of tying units 10 are integrated on a frame 5.

The wire-binding unit 10 includes a set of wire clamping rods 11, an infinitely rotating electric clamping claw 12, a round push rod 13, a guide module 14, and a linear drive 15.

The group of clamping bars 11 is combined with the infinitely rotating electric clamping claw 12, and the infinitely rotating electric clamping claw 12 controls the opening and closing movement and infinite rotation of the group of clamping bars 11. The infinitely rotating electric clamping claw 12 is fixed to the frame 5.

The round push rod 13 extends through the bottom of the frame 5 and can reciprocate along the Y-axis direction of the frame 5. The position of the round push rod 13 is adjacent to the clamping rod 11, and the position height is lower than the clamping rod 11. The round push rod 13 is provided with a connecting piece 131.

The guide module 14 is disposed at the bottom of the frame 5 and connected to the round push rod 13 to stabilize the reciprocating movement of the round push rod 13 to prevent it from shaking and deflecting. The guide module 14 is a linear slide rail in the figure, and a moving member 141 thereon is connected to the connecting member 131 to stabilize the movement of the round push rod 13.

A linear actuator 15 can be a magnetically coupled rodless cylinder, but is not limited thereto. Other linear actuators are also applicable to the present invention. The linear actuator 15 includes a driving member 151, which is connected to the connecting member 131 of the round push rod 13 to drive the round push rod 13 to reciprocate along the Y axis.

In the example, several of the round push rods 13 share one linear actuator 15.

As shown in Figures 6 and 7, the linear actuator 15 and the guide module 14 are used to control and stabilize the reciprocating movement of the round push rod 13, so that the round push rod 13 is pushed to the front of the frame 5 to a working position (as shown in Figure 6), or retracted to the original position hidden at the bottom of the frame 5 (as shown in Figure 5). It is known to those skilled in the art that the round push rod 13, the linear actuator 15 and the guide module 14 of the present invention can also be replaced by a retractable power cylinder and its piston rod, but it is not limited to this. Other retractable or reciprocating devices can also be applied to the present invention.

The above is an introduction to the wire-tying mechanism 2 of the present invention. The following is an introduction to the wire-tying action of the present invention.

As shown in Figure 7, the wire suction mechanism 1 draws out a terminal wire bundle 21 on the yarn drum 20, so that there is a stretched wire bundle 22 between the yarn drum 20 and the wire suction disk 100 of the wire suction mechanism 1, and the round push rod 13 and the wire clamping rod 11 both point to the stretched wire bundle 22.

As shown in Figure 8, the round push rod 13 moves and extends to the working position, located below the stretched yarn bundle 22, and the rod body contacts the stretched yarn bundle 22. At this time, if the round push rod 13 is taken as the center of the circle, the yarn drum 20 is at the ten o'clock direction of the round push rod 13.

As shown in FIGS. 9 and 10 , the yarn suction mechanism 1 is controlled by another multi-axis robot arm to perform a counterclockwise circular motion of about 350 degrees (as indicated by arrow A). The circular motion causes the yarn drum 20 to revolve about 350 degrees around the round push rod 13 and then stop just above the round push rod 13; in other words, the yarn drum 20 rotates counterclockwise from the aforementioned ten o'clock direction to the twelve o'clock direction. During the revolution, the round push rod 13 always contacts the stretched yarn bundle 22. After the revolution, the round push rod 13 pulls out a yarn bundle ring 24 surrounding the yarn bundle 20 from the yarn drum 20, and the end segment of the yarn bundle 21 is still pulled by the yarn suction mechanism 1.

As shown in Figure 11, the round push rod 13 returns to its original position, thereby disengaging from the bundle ring 24. At the same time, the frame 5 moves toward the yarn drum 20, allowing the clamping rod 11 to penetrate into the bundle ring 24. The clamping rod 11 opens to open the bundle ring 24.

As shown in Figure 12, the clamping rod 11 is controlled by the infinitely rotating electric clamping claw 12 to rotate two and a quarter turns, and the clamping rod 11 twists the bundle ring 24 to form a twisted portion 23; the clamping rod 11 remains in the bundle ring 24 and points to the stretched bundle 22.

As shown in Figure 13, the frame 5 drives the clamping rod 11 to move toward the stretched yarn bundle 22. After the clamping rod 11 closes and clamps the stretched yarn bundle 22, the wire suction mechanism 1 releases the terminal yarn bundle 21.

As shown in Figures 14 to 17, the frame 5 drives the clamping rod 11 to move horizontally in the direction of retreating from the yarn bundle ring 24 (as shown by arrow B), and the stretched yarn bundle 22 clamped by the clamping rod 11 is folded and inserted into the yarn bundle ring 24 to form a slipknot 25; at the same time, the yarn drum 20 is controlled by a rotary motor (not shown) of the yarn suction mechanism 1 and rotates counterclockwise, tightening the yarn bundle and the slipknot 25 on the yarn drum 20, completing the action of knotting the yarn drum 20.

According to the above description, the tying mechanism 2 of the present invention implements a tying method, which forms a slipknot 25 with the end strand 21 of the yarn tube 20 to prevent the strand on the yarn tube 20 from loosening. The tying method includes:

Step 1, a yarn suction mechanism 1 pulls a terminal yarn bundle 21 of a yarn drum 20, so that a stretched yarn bundle 22 is formed between the yarn drum 20 and the yarn suction mechanism 1;

Step 2, the frame 5 is controlled by the multi-axis robot arm so that the round push rod 13 and the wire clamping rod 11 are both directed toward the stretched yarn bundle 22;

Step 3, the round push rod 13 is extended to the working position, the round push rod 13 is located below the stretched yarn bundle 22, and the rod body of the round push rod 13 contacts the stretched yarn bundle 22;

Step 4, the yarn suction mechanism 1 performs a circular motion, so that the yarn drum 20 performs a revolution step around the round push rod 13; during the revolution step, the round push rod 13 continuously contacts the stretched yarn bundle 22, and when the revolution step ends, the round push rod 13 pulls out a yarn bundle ring 24 that surrounds the yarn drum 20 from the yarn drum 20;

Step 5, the round push rod 13 moves to the original position and disengages from the yarn bundle ring 24; at the same time, the frame 5 moves toward the yarn drum 20, actuating the clamping rod 11 to penetrate into the yarn bundle ring 24, and the clamping rod 11 opens to open the yarn bundle ring 24;

Step 6, the clamping rod 11 is controlled by the infinitely rotating electric clamping claw 12 to rotate at least two turns, and the clamping rod 11 twists the bundle loop 24 to form a twisted portion 23 on the bundle loop 24; the clamping rod 11 is kept in the bundle loop 24 and points to the stretched bundle 22;

Step 7, the frame 5 drives the clamping rod 11 to move toward the stretched yarn bundle 22, and after the clamping rod 11 closes and clamps the stretched yarn bundle 22, the wire suction mechanism 1 releases the terminal yarn bundle 21;

Step 8, the frame 5 drives the clamping rod 11 to move horizontally in the direction of retreating from the yarn bundle ring 24, and the yarn drum 20 is controlled by a rotary motor of the yarn suction mechanism 1 to rotate at a predetermined angle. The stretched yarn bundle 22 clamped by the clamping rod 11 is folded and inserted into the yarn bundle ring 24, and is tightened to form a slipknot 25.

1: Wire suction mechanism

100: Suction disc

2: Binding mechanism

10: Binding unit

11: Wire clamping rod

12: Infinitely rotating electric gripper

13: Round putter

20: Yarn tube

21: Final strands

22: Stretching the tow

Claims (2)

A yarn bobbin automatic knotting machine has a tying mechanism, the automatic knotting machine includes a slurry suction mechanism and a tying mechanism; the slurry suction mechanism draws out a terminal yarn bundle on a yarn bobbin, so that a stretched yarn bundle exists between the yarn bobbin and the slurry suction mechanism; the tying mechanism includes: a frame, an operating end of a multi-axis robot arm is connected to the frame and controls the movement of the frame; a round push rod is arranged on the frame, and is driven by a linear driver to reciprocate along a Y axis of the frame to a position working position and an original position; the round push rod pulls out a wire bundle ring around the yarn drum through the stretched wire bundle; a set of clamping rods is combined with an infinitely rotating electric clamping claw fixed to the frame; the infinitely rotating electric clamping claw controls the opening and closing movement and self-rotation of the clamping rod, so that the clamping rod opens the wire bundle ring and rotates several times to form a twisted part, and then the clamping rod clamps the stretched wire bundle; under the control of the frame, the clamping rod clamps the stretched wire bundle and passes into the wire bundle ring to tighten it to form a slipknot. A method for tying a yarn of a yarn automatic knotting machine as described in claim 1, comprising: step 1, a yarn suction mechanism pulls a terminal yarn bundle of a yarn drum, so that a stretched yarn bundle is formed between the yarn drum and the yarn suction mechanism; step 2, the frame is controlled by the multi-axis mechanical arm, so that the round push rod and the clamping rod are both pointed to the stretched yarn bundle; step 3, the round push rod is extended to the working position, and the round push rod is located at the stretched yarn bundle. The rod body of the round push rod contacts the stretched yarn bundle below the yarn bundle; step 4, the yarn suction mechanism performs a revolving action, so that the yarn drum performs a revolution step around the round push rod; during the revolution step, the round push rod continues to contact the stretched yarn bundle, and when the revolution step ends, the round push rod pulls out a yarn bundle loop around the yarn drum from the yarn drum; step 5, the round push rod moves to the original position and detaches from the yarn bundle loop; at the same time When the frame moves toward the yarn drum, the clamping rod is driven to penetrate into the bundle loop, and the clamping rod is opened to stretch the bundle loop; step 6, the clamping rod is controlled by the infinitely rotating electric clamping claw to rotate at least two circles, and the clamping rod twists the bundle loop to form a twisted portion on the bundle loop; the clamping rod is kept in the bundle loop and points to the stretched bundle; step 7, the frame drives the The clamping rod moves toward the direction of the stretched yarn bundle, and after the clamping rod closes and clamps the stretched yarn bundle, the wire suction mechanism releases the terminal yarn bundle; Step 8, the frame drives the clamping rod to move horizontally in the direction of withdrawing from the yarn bundle loop, and the yarn drum is controlled by a rotary motor of the wire suction mechanism to rotate at a predetermined angle, and the stretched yarn bundle clamped by the clamping rod is folded in half and inserted into the yarn bundle loop, and is tightened to form a slipknot.

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