CN108286095B - Yarn cylinder grabbing equipment - Google Patents
Yarn cylinder grabbing equipment Download PDFInfo
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- CN108286095B CN108286095B CN201810273989.1A CN201810273989A CN108286095B CN 108286095 B CN108286095 B CN 108286095B CN 201810273989 A CN201810273989 A CN 201810273989A CN 108286095 B CN108286095 B CN 108286095B
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- D—TEXTILES; PAPER
- D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
- D01H—SPINNING OR TWISTING
- D01H9/00—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine
- D01H9/02—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for removing completed take-up packages and replacing by bobbins, cores, or receptacles at take-up stations; Transferring material between adjacent full and empty take-up elements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Mechanical Engineering (AREA)
- Textile Engineering (AREA)
- Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
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Abstract
The invention relates to yarn barrel grabbing equipment, in the use process, position information and model information of yarn barrels arranged side by side are acquired through a position acquisition mechanism, then the position compensation mechanism slides according to the information, so that position compensation is realized, a product to be grabbed corresponds to a corresponding first grabbing mechanism or a second grabbing mechanism, whole-row grabbing is realized, and grabbing efficiency is improved. Moreover, based on the characteristics of yarn section of thick bamboo weaving in the textile industry, through setting up first grabbing mechanism and second grabbing mechanism in turn, make yarn section of thick bamboo grabbing device can adapt to the whole up of little head of whole row yarn section of thick bamboo, perhaps big head little head is the mode of placing up in turn, enlarges yarn section of thick bamboo grabbing device's application scope.
Description
Technical Field
The invention relates to a clamp, in particular to a yarn barrel grabbing device.
Background
With the continuous development of the automation industry, a certain processing process is finished by a machine, and the development trend is that the machine is used for finishing the certain processing process. Particularly, in the production line, a machine is adopted to complete certain actions, so that the efficiency can be ensured, and the machining precision can be improved. The clamp is an important device for ensuring that the machine can normally complete the machining process. The clamp can enable the carrying procedure in the production and processing to be completed efficiently. Particularly in the textile industry, the disassembly and the picking and placing of the spindle are a complicated process, the up-and-down conveying process of the spindle is generally realized through corresponding clamps, and the working efficiency of the common clamps is lower.
Disclosure of Invention
Based on this, it is necessary to provide a yarn package gripping apparatus that expands the application range while ensuring gripping efficiency.
The technical scheme is as follows:
the utility model provides a yarn section of thick bamboo snatchs equipment, includes installation slide, position acquisition mechanism, a plurality of interval set up first snatch mechanism and establishes a plurality of position compensation mechanisms on the installation slide side by side, is equipped with the second and snatchs the mechanism between adjacent first snatch mechanism, the one end of position compensation mechanism with installation slide sliding connection, the other end of position compensation mechanism with first snatch mechanism or second snatch the mechanism and be connected, first snatch mechanism with all be equipped with the second snatch portion that can pass the little head of yarn bobbin on the second snatch mechanism, first snatch mechanism is equipped with the big first snatch portion that can pass the yarn bobbin, first snatch portion is located the one end that the second snatch portion is close to the position compensation mechanism, the external diameter of first snatch portion is greater than the diameter of the little head of yarn bobbin, the position acquisition mechanism is used for acquireing the positional information and the model information of each yarn bobbin of placing side by side, position compensation mechanism gives corresponding first snatch mechanism or second snatch mechanism position compensation according to positional information and model information for first snatch mechanism or corresponding yarn bobbin with corresponding the second snatch mechanism.
The above-mentioned scheme provides a yarn section of thick bamboo snatchs equipment, mainly acquires the positional information and the model information of each yarn section of thick bamboo of placing side by side through the position acquisition mechanism, then establishes the position compensation mechanism on the installation slide side by side and do corresponding positional compensation according to above-mentioned positional information and model information for connect the first mechanism or the second mechanism of snatching of the position compensation mechanism other end correspond with corresponding yarn section of thick bamboo, be convenient for once realize the snatch process of a plurality of yarn section of thick bamboo that set up side by side, improve snatch efficiency. In the textile industry, the whole row of bobbins can be placed in such a way that all small ends face upwards or the large ends and the small ends face upwards alternately based on the shape characteristics of the bobbins. Therefore, through the mode that sets up first snatchs the mechanism with the second and snatchs the mechanism in turn, first snatchs the mechanism and both is equipped with the second that can pass the little head of yarn bobbin and snatchs the portion, also is equipped with the first portion of snatching that can pass the big head of yarn bobbin in the one end that first snatchs the portion and be close to position compensation mechanism, second snatchs the mechanism and is equipped with the little head second that can pass the yarn bobbin snatchs the portion for yarn bobbin snatchs equipment can satisfy the mode of placing of yarn bobbin in the textile industry, enlarges application scope, realizes the snatch process of whole range yarn bobbin simultaneously, improves and snatchs efficiency. Specifically, in the use, if the whole row of bobbins are placed in a manner that all small ends face upwards, after each bobbin corresponds to the first grabbing mechanism or the second grabbing mechanism, the bobbin grabbing device is moved downwards, so that the second grabbing parts of the first grabbing mechanism and the second grabbing mechanism extend into the corresponding bobbins, and the grabbing process is realized. When the whole row of yarn bobbins are placed in a mode that big ends and small ends are alternately upwards, the yarn bobbin grabbing device is moved downwards, the first grabbing part of the first grabbing mechanism penetrates through the big ends of the yarn bobbins to stretch into the yarn bobbins, at the moment, the second grabbing part of the second grabbing mechanism corresponding to the small ends of the yarn bobbins upwards also penetrates through the small ends of the corresponding yarn bobbins to stretch into the yarn bobbins, and then a grabbing process is implemented. Moreover, based on the fact that the outer diameter of the first grabbing part of the first grabbing mechanism is larger than the diameter of the small end of the yarn bobbin, and all the first grabbing mechanisms and the second grabbing mechanisms synchronously move downwards in the use process, the grabbing equipment can adapt to two placing modes of the yarn bobbin in the textile industry only by means of alternately distributing the first grabbing mechanisms and the second grabbing mechanisms.
Further, the position acquisition mechanism is connected to one side of the installation slide plate, a sucker mechanism for sucking a partition plate between the yarn cylinder layer and the yarn cylinder layer is arranged on the other side of the installation slide plate, the position compensation mechanism is installed on the bottom surface of the installation slide plate, and a support column is arranged on the top surface of the installation slide plate.
Further, the position compensation mechanism comprises a first sliding unit and a second sliding unit, the second sliding unit is connected between the first sliding unit and the first grabbing mechanism or the second grabbing mechanism, the first sliding unit is in sliding connection with the mounting sliding plate, the second sliding unit is in sliding connection with the first grabbing mechanism or the second grabbing mechanism, the sliding direction of the first sliding unit relative to the mounting sliding plate is a first direction, the sliding direction of the second sliding unit relative to the first grabbing mechanism or the second grabbing mechanism is a second direction, and the first direction and the second direction are in an included angle or are perpendicular.
Further, the first sliding unit includes bed plate and two backup pads of relative setting, the one end of two backup pads with the second sliding unit is connected, the other end of two backup pads with the bed plate is connected, forms and holds the chamber hold the intracavity along keeping away from in proper order in the direction of bed plate be equipped with harmonic reducer, partition panel and the servo of first drive, the bed plate is kept away from the side of backup pad is equipped with gear and slider, the harmonic reducer connects first drive servo with between the gear, the installation slide with the side that position compensation mechanism is connected is equipped with slide rail and rack, the slider is installed on the slide rail, the gear with the rack meshing.
Further, the number of the sliding blocks is two, the sliding blocks are respectively distributed on two sides of the gear, two sliding rails matched with the sliding blocks are arranged on the installation sliding plate, and the sliding rails and the racks are longitudinally arranged on the installation sliding plate.
Further, the second sliding unit comprises a second driving servo and a sliding table module which are connected with each other, the first grabbing mechanism or the second grabbing mechanism is connected to a sliding plate of the sliding table module, the side surface, opposite to the sliding plate, of the sliding table module is a first side surface, and the first sliding unit is connected to the first side surface.
Further, the position acquisition mechanism comprises a driving motor, a transmission mechanism, a belt linear module and a photographing unit, wherein the belt linear module is connected with the installation sliding plate and is parallel to the installation sliding plate, the transmission mechanism is connected between the driving motor and the belt linear module, and the photographing unit is connected with a module sliding plate of the belt linear module.
Further, the shooting unit comprises a camera fixing plate and a camera, one end of the camera fixing plate is connected with the module sliding plate, the other end of the camera fixing plate is connected with the camera, a camera light source is arranged at the other end of the camera, and a camera shield is arranged on the periphery of the camera.
Further, the sucking disc mechanism comprises a connecting plate, an air cylinder, a vacuum sponge sucking disc and a laser displacement sensor, one end of the connecting plate is connected with the installation sliding plate, the other end of the connecting plate is connected to the outer side wall of the air cylinder, the output end of the air cylinder is connected with the vacuum sponge sucking disc and the laser displacement sensor, and the laser displacement sensor is located on one side of the vacuum sponge sucking disc and used for detecting the distance between the partition plate and the vacuum sponge sucking disc.
Further, the sucker mechanism further comprises a transition plate, the side wall of the transition plate is connected with the output end of the air cylinder, the vacuum sponge sucker is located on the other side of the transition plate, a plurality of spring buffer rods are arranged between the transition plate and the vacuum sponge sucker, and the laser displacement sensor is connected with the transition plate.
Drawings
Fig. 1 is a schematic structural view of a yarn bobbin gripping device according to the present embodiment;
fig. 2 is a schematic structural view of another view angle of the bobbin gripping device according to the present embodiment;
fig. 3 is a schematic structural view of a second grabbing mechanism according to the present embodiment;
fig. 4 is a schematic structural view of a position acquisition mechanism according to the present embodiment;
fig. 5 is a schematic diagram of a sucker mechanism according to the present embodiment.
Reference numerals illustrate:
10. the bobbin gripping device, 11, mounting slide plate, 12, position acquisition mechanism, 121, driving motor, 122, transmission mechanism, 123, belt straight line module, 1231, module slide plate, 124, photographing unit, 1241, camera fixing plate, 1242, camera light source, 1243, camera shield, 13, position compensation mechanism, 131, first slide unit, 1311, base plate, 1312, support plate, 1313, harmonic reducer, 1314, partition plate, 1315, first driving servo, 1316, gear, 1317, slide block, 132, second slide unit, 1321, second driving servo, 1322, slide table module, 1323, slide plate, 14, first gripping mechanism, 15, second gripping mechanism, 16, suction cup mechanism, 161, connecting plate, 162, cylinder, 163, vacuum sponge suction cup, 164, laser displacement sensor, 165, transition plate, 166, spring buffer rod, 17, support column.
Description of the embodiments
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1, in one embodiment, a yarn bobbin gripping device 10 is provided, which comprises a mounting slide 11, a position acquisition mechanism 12, a plurality of first gripping mechanisms 14 arranged at intervals and a plurality of position compensation mechanisms 13 arranged on the mounting slide 11 side by side, wherein a second gripping mechanism 15 is arranged between adjacent first gripping mechanisms 14, one end of each position compensation mechanism 13 is slidably connected with the mounting slide 11, the other end of each position compensation mechanism 13 is connected with the first gripping mechanism 14 or the second gripping mechanism 15, each of the first gripping mechanism 14 and the second gripping mechanism 15 is provided with a second gripping part capable of penetrating through the small end of a yarn bobbin, each first gripping mechanism 14 is provided with a first gripping part capable of penetrating through the large end of the yarn bobbin, the first gripping part is positioned at one end of each second gripping part close to the position compensation mechanism 13, the outer diameter of the small end of the yarn bobbin is larger than the diameter of the small end of the yarn bobbin, the position acquisition mechanism 12 is used for acquiring position information and information of each yarn bobbin placed side by side, and the position compensation mechanism 13 and the position compensation mechanism 14 and the position compensation mechanism 15 are respectively provided with a corresponding first gripping mechanism 14 or the corresponding gripping mechanism 14.
The yarn bobbin grabbing device 10 provided by the above scheme is provided with the plurality of position compensation mechanisms 13 on the installation slide plate 11, after the position acquisition mechanism 12 acquires the position information and the model information of each yarn bobbin placed side by side, each position compensation mechanism 13 performs corresponding position compensation according to the position information and the model information, so that the first grabbing mechanism 14 or the second grabbing mechanism 15 connected to the position compensation mechanism 13 moves to a proper position, thereby simultaneously realizing the grabbing process of the whole yarn bobbins and improving the grabbing efficiency. Moreover, the first gripping portion of the first gripping mechanism 14 is capable of gripping a yarn package with the large end facing upward, the second gripping portion of the first gripping mechanism 14 is capable of gripping a yarn package with the small end facing upward, and the second gripping mechanism 15 is only capable of gripping a yarn package with the small end facing upward. The outer diameter of the first grabbing part in the first grabbing mechanism 14 is larger than the diameter of the small end of the yarn bobbin, so that the first grabbing part cannot extend into the small end of the yarn bobbin, the first grabbing mechanism 14 and the second grabbing mechanism 15 in the yarn bobbin grabbing device 10 are located at the same horizontal level, namely the same distance as the corresponding yarn bobbins, so that when the yarn bobbin grabbing device is moved downwards as a whole, the grabbing process can be realized only if the first grabbing parts of the first grabbing mechanism 14 extend into the large end of the yarn bobbin in an alternating arrangement mode of the first grabbing mechanism 14 and the second grabbing mechanism 15, and meanwhile, the second grabbing parts of the second grabbing mechanism 15 can extend into the small end of the yarn bobbin. For the characteristics of putting of yarn section of thick bamboo in the textile industry, when setting up first snatch mechanism 14 and second snatch mechanism 15, adopt first snatch mechanism 14 and second snatch mechanism 15 mode of putting in turn for yarn section of thick bamboo snatch equipment 10 can enough satisfy simultaneously and snatch the demand of whole row of yarn section of thick bamboo that the little head was up, also can snatch whole row of yarn section of thick bamboo that big head was placed up and little head was up in turn, when improving snatch efficiency, enlarge yarn section of thick bamboo snatch equipment 10's application range.
In the above-mentioned embodiment of the yarn bobbin gripping device 10, during the use process, the position information and the model information acquired by the position acquiring mechanism 12 are compared with corresponding preset parameters to determine the model and the position of each yarn bobbin, so that after each position compensating mechanism 13 moves to a proper position, each yarn bobbin can correspond to the gripping mechanism of the corresponding model, and wait for further gripping process. In the above-mentioned embodiments, the first gripping mechanism 14 may have different depths extending into the bobbin, and the sizes of the yarn bobbins that can be gripped may be different. Specifically, the first gripping means 14 has a large portion extending into the bobbin, so that when the first gripping portion (the second gripping means 15 does not have this structure) extends into the bobbin, the first gripping means 14 can grip the bobbin with the large end facing upward. When the first gripping means 14 extend into fewer parts, only the second gripping means extend into the yarn bobbin, which is mainly used for gripping the small-end up yarn bobbin.
The position obtaining mechanism 12 in the above-mentioned solution is mainly used for obtaining position information and model information of the yarn packages, and may be connected to the mounting slide 11 or other support members, so long as it can obtain the position information and the model information, and the position compensating mechanism 13 can perform corresponding position compensation according to the position information and the model information.
Further, as shown in fig. 1 and 2, in one embodiment, the position acquisition mechanism 12 is connected to one side of the mounting slide 11, the other side of the mounting slide 11 is provided with a suction cup mechanism 16 for sucking up a partition plate between yarn drum layers, the position compensation mechanism 13 is mounted on the bottom surface of the mounting slide 11, and the top surface of the mounting slide 11 is provided with a support column 17.
In order to improve the overall usability of the bobbin gripping device 10, the position acquisition mechanism 12 is provided on one side of the mounting slide 11, and the suction cup mechanism 16 is provided on the other side of the mounting slide 11. In the use process, firstly, the suction disc mechanism 16 is utilized to suck the partition plate between the yarn bobbin layers, then the yarn bobbin grabbing device 10 is integrally moved, the position acquisition mechanism 12 is utilized to scan the whole row of yarn bobbins to acquire position information and model information, and finally, the position compensation mechanism 13 is moved according to the position information and the model information, so that the yarn bobbins with the big ends facing upwards correspond to the first grabbing mechanism 14. The whole package of the bobbin gripping device 10 is then moved downwards by means of the support column 17, and a gripping process is performed.
The position compensation mechanism 13 drives the first gripping mechanism 14 or the second gripping mechanism 15 to move to a proper position mainly by sliding in different directions. Further specifically, as shown in fig. 3, in one embodiment, the position compensation mechanism 13 includes a first sliding unit 131 and a second sliding unit 132, where the second sliding unit 132 is connected between the first sliding unit 131 and the first grabbing mechanism 14 or the second grabbing mechanism 15, the first sliding unit 131 is slidably connected with the mounting slide 11, the second sliding unit 132 is slidably connected with the first grabbing mechanism 14 or the second grabbing mechanism 15, the sliding direction of the first sliding unit 131 relative to the mounting slide 11 is a first direction, the sliding direction of the second sliding unit 132 relative to the first grabbing mechanism 14 or the second grabbing mechanism 15 is a second direction, and the first direction and the second direction form an included angle or are perpendicular. In use, the first gripping mechanism 14 or the second gripping mechanism 15 is moved to a proper position by the sliding of the first sliding unit 131 relative to the mounting slide 11 and the sliding of the first gripping mechanism 14 or the second gripping mechanism 15 relative to the second sliding unit 132.
Further specifically, as shown in fig. 3, in one embodiment, the first sliding unit 131 includes a base plate 1311 and two opposite support plates 1312, one end of each of the two support plates 1312 is connected to the second sliding unit 132, the other end of each of the two support plates 1312 is connected to the base plate 1311 to form a receiving cavity, a harmonic reducer 1313, a partition plate 1314 and a first driving servo 1315 are sequentially disposed in the receiving cavity in a direction away from the base plate 1311, a gear 1316 and a slider 1317 are disposed on a side of the base plate 1311 away from the support plate 1312, the harmonic reducer 1313 is connected between the first driving servo 1315 and the gear 1316, a slide rail and a rack bar 1317 are disposed on a side of the mounting slide 11 connected to the position compensation mechanism 13, and the gear 1316 is engaged with the rack bar.
In the use process, the first driving servo 1315 drives the harmonic reducer 1313 to operate, the harmonic reducer 1313 drives the gear 1316 to rotate, and the position compensation mechanism 13 slides relative to the mounting slide 11 through the engagement between the gear 1316 and the rack and the sliding between the slide block 1317 and the slide rail. Moreover, by the cooperation of the first driving servo 1315 and the harmonic reducer 1313, the whole position compensation process is more accurate, and the working accuracy of the bobbin gripping device 10 is improved.
Further, the first and second sliding units 131 and 132 in the above-described scheme realize the accurate gripping process mainly by sliding in two directions to realize the position compensation of the first and second gripping mechanisms 14 and 15, as long as the first and second sliding units 131 and 132 can realize the above objects by sliding. Specifically, in one embodiment, as shown in fig. 3, two sliding blocks 1317 are distributed on two sides of the gear 1316, two sliding rails matched with the sliding blocks 1317 are disposed on the mounting sliding plate 11, and the sliding rails and the rack are both longitudinally disposed on the mounting sliding plate 11. By providing two sliding blocks 1317 and further arranging the sliding rails in parallel with the rack, the sliding process of the first sliding unit 131 is more flexible.
In further detail, in one embodiment, as shown in fig. 3, the second sliding unit 132 includes a second driving servo 1321 and a sliding table module 1322 that are connected to each other, the first gripping mechanism 14 or the second gripping mechanism 15 is connected to a sliding plate 1323 of the sliding table module 1322, a side of the sliding table module 1322 opposite to the sliding plate 1323 is a first side, and the first sliding unit 131 is connected to the first side. Specifically, when the first sliding unit 131 is disposed according to the above specific structure, the first side is connected to the support plate 1312, so as to support the second sliding unit 132.
It has been further pointed out in the foregoing embodiments that the position acquisition mechanism 12 is mainly used for acquiring position information and model information of the entire yarn package. Specifically, as shown in fig. 4, in one embodiment, the position obtaining mechanism 12 includes a driving motor 121, a transmission mechanism 122, a belt straight line module 123, and a photographing unit 124, the belt straight line module 123 is connected to the mounting slide 11 and is disposed parallel to the mounting slide 11, the transmission mechanism 122 is connected between the driving motor 121 and the belt straight line module 123, and the photographing unit 124 is connected to a module sliding plate 1231 of the belt straight line module 123. In the use process, the driving motor 121 transmits the motion to the belt linear module 123 through the transmission mechanism 122, and then the module sliding plate 1231 of the belt linear module 123 is brought to the photographing unit 124 to move, so that the photographing process of the whole yarn barrel is realized. Also, in order to improve accuracy of the position information and the model information and to reduce difficulty of data processing, the belt line module 123 is disposed parallel to the mounting slide 11.
More specifically, in one embodiment, to further improve the photographing accuracy of the photographing unit 124 and the accuracy and reliability of the acquired data, as shown in fig. 4, the photographing unit 124 includes a camera fixing plate 1241 and a camera, one end of the camera fixing plate 1241 is connected with the module sliding plate 1231, the other end of the camera fixing plate 1241 is connected with the camera, the other end of the camera is provided with a camera light source 1242, and the periphery of the camera is provided with a camera shield 1243. The photographing unit 124 needs to quickly acquire the data of the whole yarn bobbin in the working process, so that the light and stability of the photographing environment have higher requirements, and the camera light source 1242 is arranged at one end of the camera, so that the light in the photographing range of the camera is consistent, the accuracy of the data is improved, and meanwhile, the dependence of the grabbing mechanism on the external environment is reduced.
Further, in one embodiment, as shown in fig. 5, the chuck mechanism 16 includes a connection plate 161, a cylinder 162, a vacuum sponge chuck 163, and a laser displacement sensor 164, one end of the connection plate 161 is connected to the mounting slide 11, the other end of the connection plate 161 is connected to an outer sidewall of the cylinder 162, an output end of the cylinder 162 is connected to the vacuum sponge chuck 163 and the laser displacement sensor 164, and the laser displacement sensor 164 is located at one side of the vacuum sponge chuck 163 for detecting a distance between the partition plate and the vacuum sponge chuck 163. In the use, through vacuum sponge sucking disc 163 absorbs the baffle, moreover through further setting up laser displacement sensor 164 detects vacuum sponge sucking disc 163 with the distance between the baffle for vacuum sponge sucking disc 163 can more accurate reliable absorb the baffle.
Further, in order to avoid that the suction cup reduces impact on other components in the bobbin gripping device 10 during the process of sucking the partition plate, as shown in fig. 5, in one embodiment, a transition plate 165 is further disposed in the suction cup mechanism 16, a side wall of the transition plate 165 is connected to an output end of the air cylinder 162, the vacuum sponge suction cup 163 is located at the other side of the transition plate 165, a plurality of spring buffer rods 166 are disposed between the transition plate 165 and the vacuum sponge suction cup 163, and the laser displacement sensor 164 is connected to the transition plate 165. The spring buffer rod 166 can play a good role in buffering the vacuum sponge sucker 163 in the process of sucking the partition plate.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. The utility model provides a yarn section of thick bamboo snatchs equipment, its characterized in that includes installation slide, position acquisition mechanism, a plurality of interval setting first snatch mechanism and establishes a plurality of position compensation mechanism side by side on the installation slide, is equipped with the second and snatchs the mechanism between adjacent first snatch mechanism, the one end of position compensation mechanism with installation slide sliding connection, the other end of position compensation mechanism with first snatch mechanism or second snatch mechanism are connected, first snatch mechanism with all be equipped with the second snatch portion that can pass the little head of yarn bobbin on the second snatch mechanism, first snatch mechanism is equipped with the first snatch portion that can pass the big head of yarn bobbin, first snatch portion is located the one end that the second snatch portion is close to the position compensation mechanism, the external diameter of first snatch portion is greater than the diameter of the little head of yarn bobbin, position acquisition mechanism is used for obtaining the position information and the model information of each yarn bobbin placed side by side, position compensation mechanism gives corresponding first snatch mechanism or second snatch mechanism position compensation according to position information and model information for first snatch mechanism or corresponding yarn bobbin with corresponding snatch mechanism.
2. The yarn bobbin gripping apparatus as in claim 1, wherein the position acquisition mechanism is connected to one side of the mounting slide plate, the other side of the mounting slide plate is provided with a suction cup mechanism for sucking a partition plate between the yarn bobbin layer and the yarn bobbin layer, the position compensation mechanism is mounted on a bottom surface of the mounting slide plate, and a support column is provided on a top surface of the mounting slide plate.
3. The bobbin gripping device according to claim 1, wherein the position compensation mechanism comprises a first sliding unit and a second sliding unit, the second sliding unit is connected between the first sliding unit and the first gripping mechanism or the second gripping mechanism, the first sliding unit is slidably connected with the mounting slide plate, the second sliding unit is slidably connected with the first gripping mechanism or the second gripping mechanism, the sliding direction of the first sliding unit relative to the mounting slide plate is a first direction, the sliding direction of the second sliding unit relative to the first gripping mechanism or the second gripping mechanism is a second direction, and the first direction and the second direction are arranged at an included angle or vertically.
4. A yarn package gripping apparatus as in claim 3, wherein the first sliding unit comprises a base plate and two support plates arranged opposite to each other, one ends of the two support plates are connected with the second sliding unit, the other ends of the two support plates are connected with the base plate to form a holding chamber, a harmonic reducer, a partition plate and a first driving servo are sequentially arranged in the holding chamber along a direction away from the base plate, a gear and a slider are arranged on a side surface of the base plate away from the support plates, the harmonic reducer is connected between the first driving servo and the gear, a slide rail and a rack are arranged on a side surface of the mounting slide plate connected with the position compensation mechanism, and the slider is mounted on the slide rail, and the gear is meshed with the rack.
5. The yarn bobbin gripping apparatus as in claim 4, wherein the number of the sliding blocks is two, the sliding blocks are respectively distributed on two sides of the gear, two sliding rails matched with the sliding blocks are arranged on the mounting sliding plate, and the sliding rails and the racks are longitudinally arranged on the mounting sliding plate.
6. A yarn bobbin gripping apparatus as claimed in claim 3, characterised in that the second slide unit comprises a second drive servo and a slide module which are connected to each other, the first or second gripping means being connected to a slide plate of the slide module, the side of the slide module opposite to the slide plate being a first side, the first slide unit being connected to the first side.
7. The yarn bobbin gripping apparatus as in any one of claims 1 to 6, wherein the position acquisition mechanism includes a driving motor, a transmission mechanism, a belt line module connected with the mounting slide plate and disposed parallel to the mounting slide plate, and a photographing unit connected between the driving motor and the belt line module, the photographing unit being connected with a module sliding plate of the belt line module.
8. The yarn bobbin gripping apparatus as in claim 7, wherein the photographing unit includes a camera fixing plate and a camera, one end of the camera fixing plate is connected with the module sliding plate, the other end of the camera fixing plate is connected with the camera, the other end of the camera is provided with a camera light source, and a camera shield is provided at an outer circumference of the camera.
9. The yarn bobbin gripping apparatus as claimed in claim 2, wherein the suction cup mechanism includes a connection plate, a cylinder, a vacuum sponge suction cup and a laser displacement sensor, one end of the connection plate is connected with the mounting slide plate, the other end of the connection plate is connected to an outer side wall of the cylinder, an output end of the cylinder is connected with the vacuum sponge suction cup and the laser displacement sensor, and the laser displacement sensor is located at one side of the vacuum sponge suction cup for detecting a distance between the partition plate and the vacuum sponge suction cup.
10. The yarn package grasping apparatus according to claim 9, wherein the suction cup mechanism further comprises a transition plate, a side wall of the transition plate is connected with an output end of the cylinder, the vacuum sponge suction cup is located at the other side of the transition plate, a plurality of spring buffer rods are arranged between the transition plate and the vacuum sponge suction cup, and the laser displacement sensor is connected with the transition plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810273989.1A CN108286095B (en) | 2018-03-29 | 2018-03-29 | Yarn cylinder grabbing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810273989.1A CN108286095B (en) | 2018-03-29 | 2018-03-29 | Yarn cylinder grabbing equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108286095A CN108286095A (en) | 2018-07-17 |
| CN108286095B true CN108286095B (en) | 2023-07-07 |
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| CN110356927A (en) * | 2019-06-21 | 2019-10-22 | 青岛科捷机器人有限公司 | A kind of grasping mechanism suitable for cylinder tube |
| CN112919256B (en) * | 2021-01-22 | 2022-08-30 | 武汉裕大华纺织有限公司 | Photoelectric detection device of cylinder grabbing machine |
| CN115610786B (en) * | 2022-10-10 | 2023-08-25 | 广州盛原成自动化科技有限公司 | Cheese removes bagging apparatus and warping string yarn equipment |
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| CN103204307A (en) * | 2013-03-25 | 2013-07-17 | 江西金源纺织有限公司 | Delta-shaped packing method for cheeses |
| CN103434826A (en) * | 2013-08-30 | 2013-12-11 | 天津工业大学 | Automatic cheese collecting and conveying system |
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| CN108286095A (en) | 2018-07-17 |
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