CN107747136A - Cocoon manipulator is dragged for without thread cocoon - Google Patents
Cocoon manipulator is dragged for without thread cocoon Download PDFInfo
- Publication number
- CN107747136A CN107747136A CN201711209322.7A CN201711209322A CN107747136A CN 107747136 A CN107747136 A CN 107747136A CN 201711209322 A CN201711209322 A CN 201711209322A CN 107747136 A CN107747136 A CN 107747136A
- Authority
- CN
- China
- Prior art keywords
- cocoon
- claw hook
- box
- net pocket
- pocket frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01B—MECHANICAL TREATMENT OF NATURAL FIBROUS OR FILAMENTARY MATERIAL TO OBTAIN FIBRES OF FILAMENTS, e.g. FOR SPINNING
- D01B7/00—Obtaining silk fibres or filaments
- D01B7/04—Reeling silk
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
Abstract
The invention discloses one kind cocoon manipulator is dragged for without thread cocoon, including be located in reeling vessel to cocoon box, frame is provided with the side of reeling vessel, the rocking bar driven by motion driving mechanism is housed in frame, net pocket frame is provided with rocker front end, net pocket frame includes four radial direction pawls being circumferentially distributed on net pocket frame body, is hinged with claw hook in the front end of radial direction pawl, a claw hook is provided with magnet wherein；Dredger is provided between adjacent claw hook, chain is connected with each claw hook front end, four chains are connected after being connected by the movable end of electric cylinders of the drawstring with being located at vertically on net pocket frame body；Magnet sensor is provided with a box angle to cocoon box.Than prior art, the present invention can solve the problems, such as that the existing removing without thread cocoon in cocoon box also needs to manual operation.
Description
Technical field
The present invention relates to reeling machine manufacturing technology field, especially a kind of dress for being used in automatic silk reeling machine fish for no thread cocoon
Put.
Background technology
Automatic silk reeling machine is to give thread filature base feed by silkwoon coccon feeding machine, and most silkwoon coccon feeding machine is included by multiple driving-chains
What bar drove gives cocoon box along reeling vessel operation；After silkwoon coccon feeding machine is supplying to supply thread filature at silk by giving to cocoon box, cocoon box is given
In also leave part without thread cocoon, if removed not in time, the normal supply of the next cycle groped end cocoon of silkwoon coccon feeding machine can be influenceed.It is logical
It is often to drag for cocoon manipulator equipped with one in reeling vessel side, this, which drags for cocoon manipulator, includes frame, is equipped with and passes through in the frame
The rocking bar of motion driving mechanism driving, rocking bar drag for the cocoon string bag equipped with one；Motion driving mechanism is by being arranged on above reeling vessel
The signal of detection sensor drives the string bag on rocking bar to carrying out dragging for cocoon without thread cocoon in cocoon box；Because the existing string bag can only
The phenomenon for the subregion in cocoon box, easily occurring slipping through the net without thread cocoon is touched, makes without thread cocoon to be difficult to thoroughly in cocoon box
Remove, it is still necessary to by manually to being cleared up to cocoon box, adding artificial workload.
The content of the invention
The technical problems to be solved by the invention are to provide one kind and without thread cocoon drag for cocoon manipulator, existing in cocoon box to solve
The removing without thread cocoon the problem of also needing to manual operation.
The technical proposal for solving the technical problem of the invention is：This no thread cocoon drags for cocoon manipulator, including is located at reel silk from cocoons
Cocoon box is given in silk groove, frame is provided with the side of the reeling vessel, is equipped with the frame and is driven by motion driving mechanism
Rocking bar, be provided with net pocket frame in the rocker front end, the net pocket frame includes four be circumferentially distributed on net pocket frame body
Radial direction pawl, claw hook is hinged with the front end of the radial direction pawl, a claw hook is provided with magnet wherein；Set between adjacent claw hook
Have dredger, be connected with chain in each claw hook front end, four chains be connected after by drawstring with being located at institute vertically
The movable end for stating the electric cylinders on net pocket frame body is connected；Magnet sensor is provided with a box angle to cocoon box；Institute
Stating claw hook has montant portion and is located at the aduncate bending part in front end at montant subordinate end, when the montant portion of the claw hook is in
During vertical state, the line of the bending part of the relative claw hook gives the cornerwise length of cocoon box less than described.
Above-mentioned no thread cocoon is dragged in cocoon manipulator technical scheme, and more specifically technical scheme can also be：It is described to cocoon box
Upper shed is square.
Further：The net pocket frame body is cylinder, and the electric cylinders are located in the centre bore of the net pocket frame body.
By adopting the above-described technical solution, the present invention has the advantages that compared with prior art：1st, due to
Include circumferentially being evenly equipped with four radial direction pawls on the net pocket frame body of net pocket frame, claw hook is hinged with the front end of radial direction pawl, at it
In a claw hook be provided with magnet, the line of the bending part of relative claw hook, which is less than, gives cocoon box cornerwise length, in use, energy
Ensure that claw hook smoothly enters and drag for cocoon to cocoon box；2nd, this without thread cocoon drag for cocoon manipulator can quickly by cocoon box without the clear of thread cocoon
Remove, handled again without the artificial later stage.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 and Fig. 3 is the structural representation of the net pocket frame of the present invention.
Fig. 4 is that the claw hook of the present invention enters the schematic diagram to cocoon box.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described：
It is as shown in Figure 1 without thread cocoon drag for cocoon manipulator include being located in reeling vessel 1 to cocoon box 2, being provided with above reeling vessel 1
Laser spy amount first 3 automatically；The present embodiment is square to the upper shed of cocoon box 2, and the box body to cocoon box 2 is square；In filature
The side of groove 1 is provided with a frame 6, and the rocking bar 5 driven by motion driving mechanism is housed in frame 6, welded in the front end of rocking bar 5
A net pocket frame 4 is connected to, the net pocket frame 4 includes four radial direction pawls 42 being circumferentially distributed on net pocket frame body 41, this implementation
The net pocket frame body 41 of example is cylinder；One claw hook 43 is hinged with by hinge 47 in the front end of each radial direction pawl, wherein
One claw hook 43 is provided with magnet sensor 44, and magnet sensor 44 is connected with controller signals；Claw hook 43 have montant portion and
Be located at the aduncate bending part in front end at montant subordinate end, magnet sensor 44 be located at the montant of one of claw hook 43 with
The outside of bending part junction；Dredger 46 is connected between adjacent claw hook 43；Connected in the bending part front end of each claw hook 43
Have a chain 45, this four chains 45 be connected after by drawstring 48 and the electric cylinders 7 that are vertically located on net pocket frame body 41
Movable end 71 is connected, and electric cylinders 7 are arranged on the centre bore of net pocket frame body 41；At the bottom to a box angle of cocoon box 2
Provided with to cocoon box phase magnet 21；When the montant portion of claw hook 43 is in vertical state, the folding of relative claw hook in four claw hooks 43
The line of turn of bilge, which is less than, gives cocoon box 2 cornerwise length, so that four claw hooks 43 can be lowered into smoothly in cocoon box 2；This reality
The magnet sensor 44 on the outside of the bending part of a claw hook of example is applied with being connect to the phase magnetic of cocoon box phase magnet 21, relative pawl
It it is 8 millimeters on the outside of the bending part of hook 43 and to the distance of the inward flange at the box angle of cocoon box 2, as shown in Figure 2, Figure 3 and Figure 4.
During work, laser above reeling vessel 1 being carried out to cocoon box 2 of passing through out of reeling vessel 1 of first 3 pairs of spy amount automatically
Scanning, scanning signal is sent to controller, and controller sends working signal and driven to the motion driving mechanism in frame 6, motion
Motivation structure drive rocker 5 to close to cocoon box 2, draw close phase magnetic from trend cocoon box phase magnet 21 and connect, and works as magnetic by magnet sensor 44
Fe sensor 44 is drawn close phase magnetic with cocoon box phase magnet 21 and connect, and signal is issued controller by magnet sensor 44, and controller is sent
To electric cylinders 7, electric cylinders 7 drive is about to dredger 46 on its movable end 71 and collapses working signal, will be pulled out in cocoon box 2 without thread cocoon,
When due to the montant portion of claw hook being in vertical state, the line of the bending part of relative claw hook, which is less than, gives cocoon box cornerwise length,
It can ensure that claw hook smoothly enters to cocoon box 2；This without thread cocoon drag for cocoon manipulator can quickly by the removing without thread cocoon in cocoon box,
Handled again without the artificial later stage.
Claims (3)
1. one kind without thread cocoon drags for cocoon manipulator, including be located in reeling vessel to cocoon box, be provided with machine in the side of the reeling vessel
Frame, the rocking bar by motion driving mechanism driving is housed in the frame, it is characterised in that：The string bag is provided with the rocker front end
Frame, the net pocket frame include four radial direction pawls being circumferentially distributed on net pocket frame body, are hinged in the front end of the radial direction pawl
There is claw hook, a claw hook is provided with magnet wherein；Dredger is provided between adjacent claw hook, is connected in each claw hook front end
Have chain, four chains be connected after by drawstring and the movable end phase for the electric cylinders being located at vertically on the net pocket frame body
Connection；Magnet sensor is provided with a box angle to cocoon box；The claw hook has montant portion and is located at the montant portion
The aduncate bending part in front end of lower end, when the montant portion of the claw hook is in vertical state, the folding of the relative claw hook
The line of turn of bilge gives the cornerwise length of cocoon box described in being less than.
2. no thread cocoon according to claim 1 drags for cocoon manipulator, it is characterised in that：The upper shed to cocoon box is pros
Shape.
3. no thread cocoon according to claim 1 or 2 drags for cocoon manipulator, it is characterised in that：The net pocket frame body is cylinder
Body, the electric cylinders are located in the centre bore of the net pocket frame body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711209322.7A CN107747136A (en) | 2017-11-27 | 2017-11-27 | Cocoon manipulator is dragged for without thread cocoon |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711209322.7A CN107747136A (en) | 2017-11-27 | 2017-11-27 | Cocoon manipulator is dragged for without thread cocoon |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107747136A true CN107747136A (en) | 2018-03-02 |
Family
ID=61252336
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711209322.7A Withdrawn CN107747136A (en) | 2017-11-27 | 2017-11-27 | Cocoon manipulator is dragged for without thread cocoon |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107747136A (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU38890A1 (en) * | 1932-09-01 | 1934-09-30 | Г.С. Окунь | Cocooning machine |
| JPH10156658A (en) * | 1996-11-30 | 1998-06-16 | Ochiai Nexus:Kk | Clamp device |
| CN2446136Y (en) * | 2000-09-30 | 2001-09-05 | 杭州纺织机械有限公司 | Automatic checking and metering device for feeding cocoon to automatic reeling machine |
| CN2573512Y (en) * | 2002-09-28 | 2003-09-17 | 杭州纺织机械有限公司 | Cocoon feeding device of cocoon supply box |
| US20120286535A1 (en) * | 2011-05-11 | 2012-11-15 | Seiko Epson Corporation | Robot hand and robot |
| CN202759913U (en) * | 2012-09-11 | 2013-03-06 | 鹤壁佳多科工贸有限责任公司 | Grass grasping device of wheat midge intelligent soil washing device |
| CN204644508U (en) * | 2015-02-04 | 2015-09-16 | 宜州市恒业茧丝有限责任公司 | A kind of silkwoon coccon feeding machine of automatic silk reeling machine is without the automatic Lao Jian mechanism of thread cocoon |
| CN105382834A (en) * | 2015-11-30 | 2016-03-09 | 太原科技大学 | Three-freedom-degree controllable mechanical manipulator |
| CN106344159A (en) * | 2016-09-21 | 2017-01-25 | 东莞市联洲知识产权运营管理有限公司 | Surgical robot provided with swing grippers |
| CN106591960A (en) * | 2016-12-20 | 2017-04-26 | 佛山市飞时达新材料科技有限公司 | Intelligent living pupa reeling machine |
| CN107350374A (en) * | 2014-12-17 | 2017-11-17 | 佛山市艾乐博机器人科技有限公司 | A kind of automatic manipulator |
| CN207512319U (en) * | 2017-11-27 | 2018-06-19 | 鹿寨县贵盛茧丝工贸有限公司 | No thread cocoon drags for cocoon manipulator |
-
2017
- 2017-11-27 CN CN201711209322.7A patent/CN107747136A/en not_active Withdrawn
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU38890A1 (en) * | 1932-09-01 | 1934-09-30 | Г.С. Окунь | Cocooning machine |
| JPH10156658A (en) * | 1996-11-30 | 1998-06-16 | Ochiai Nexus:Kk | Clamp device |
| CN2446136Y (en) * | 2000-09-30 | 2001-09-05 | 杭州纺织机械有限公司 | Automatic checking and metering device for feeding cocoon to automatic reeling machine |
| CN2573512Y (en) * | 2002-09-28 | 2003-09-17 | 杭州纺织机械有限公司 | Cocoon feeding device of cocoon supply box |
| US20120286535A1 (en) * | 2011-05-11 | 2012-11-15 | Seiko Epson Corporation | Robot hand and robot |
| CN202759913U (en) * | 2012-09-11 | 2013-03-06 | 鹤壁佳多科工贸有限责任公司 | Grass grasping device of wheat midge intelligent soil washing device |
| CN107350374A (en) * | 2014-12-17 | 2017-11-17 | 佛山市艾乐博机器人科技有限公司 | A kind of automatic manipulator |
| CN204644508U (en) * | 2015-02-04 | 2015-09-16 | 宜州市恒业茧丝有限责任公司 | A kind of silkwoon coccon feeding machine of automatic silk reeling machine is without the automatic Lao Jian mechanism of thread cocoon |
| CN105382834A (en) * | 2015-11-30 | 2016-03-09 | 太原科技大学 | Three-freedom-degree controllable mechanical manipulator |
| CN106344159A (en) * | 2016-09-21 | 2017-01-25 | 东莞市联洲知识产权运营管理有限公司 | Surgical robot provided with swing grippers |
| CN106591960A (en) * | 2016-12-20 | 2017-04-26 | 佛山市飞时达新材料科技有限公司 | Intelligent living pupa reeling machine |
| CN207512319U (en) * | 2017-11-27 | 2018-06-19 | 鹿寨县贵盛茧丝工贸有限公司 | No thread cocoon drags for cocoon manipulator |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180302 |
|
| WW01 | Invention patent application withdrawn after publication |