整经机筒子架自动换筒机器人机械机构设计

根据整经车间的实际生产情况及筒子上落原理,综合考虑多种类型筒子架的结构特征,设计了一款通用型整经机筒子架自动换筒机器人。该机器人的机械结构主要包括换筒单元与换箱单元两部分。其中换筒单元由换筒底座机构、多关节机械臂机构、换筒夹具机构3部分组成;换箱单元由换箱底座机构、机械臂机构、换箱夹具机构、吸盘机构4部分组成。在控制系统的配合下,换筒机器人可实现满筒与空筒的自动上落、满箱与空箱的自动搬换以及移开隔板等功能。同时,为便于配合换筒机器人工作,设计了一款既有利于筒子在车间存储、运输,又能保证筒纱卷装质量的筒子存储箱。换筒机器人与筒子存储箱配合使用,可以替代人工完成筒子架换筒工作。

Mechanical mechanism design of automatic barrel-changing robot for warping machine barrel frame

According to the producing practice in warping workshop and the principle of cylinders raising up and falling down,considering structure features of varied types of cylinder shelves,a general robot is designed for automatically cylinder changing on cylinder shelves for warping machine.The mechanism of the robot includes two parts such as cylinders changing unit and cases changing unit.The cylinders changing unit consists of three parts including cylinder changing base mechanism,multi-joint arm mechanism and cylinder changing fixture mechanism.The cases changing unit includes four parts such as base mechanism,arm mechanism,fixture mechanism and suction cup mechanism.In the cooperation with the control system,the robot could achieve the function that the full and empty cylinders raise up and fall down automatically,the full and empty cases deliver and transfer automatically and that the partitions move automatically.Meanwhile,in order to cooperate with the robot,a cylinder storage case is designed and it is beneficial for cylinder storage and transporting in workshops and is able to guarantee the quality of the yarn.The cylinder changing robot can replace the manual work to complete the cylinder changing.